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# File 'lib/sdn/cli/mqtt/subscriptions.rb', line 5
def handle_message(topic, value)
SDN.logger.info "got #{value.inspect} at #{topic}"
if (match = topic.match(%r{^#{Regexp.escape(@base_topic)}/(?<addr>\h{6})/(?<property>discover|label|control|jog-(?<jog_type>pulses|ms)|position-pulses|position-percent|ip|reset|(?<speed_type>up-speed|down-speed|slow-speed)|up-limit|down-limit|direction|ip(?<ip>\d+)-(?<ip_type>pulses|percent)|groups)/set$}))
addr = Message.parse_address(match[:addr])
property = match[:property]
if property == 'position-percent' && value =~ /^(?:UP|DOWN|STOP)$/i
property = "control"
value = value.downcase
end
mqtt_addr = Message.print_address(addr).gsub('.', '')
motor = @motors[mqtt_addr]
is_group = Message.is_group_address?(addr)
group = @groups[mqtt_addr]
follow_up = motor&.node_type == :st50ilt2 ? Message::ILT2::GetMotorPosition.new(addr) :
Message::GetMotorStatus.new(addr)
ns = motor&.node_type == :st50ilt2 ? Message::ILT2 : Message
message = case property
when 'discover'
follow_up = nil
if value == "discover"
enqueue(MessageAndRetries.new(Message::GetNodeAddr.new(addr), 1, 2), 2)
end
nil
when 'label'
follow_up = Message::GetNodeLabel.new(addr)
ns::SetNodeLabel.new(addr, value) unless is_group
when 'control'
case value
when 'up', 'down'
(motor&.node_type == :st50ilt2 ? ns::SetMotorPosition : Message::MoveTo).
new(addr, "#{value}_limit".to_sym)
when 'stop'
motor&.node_type == :st50ilt2 ? ns::SetMotorPosition.new(addr, :stop) : Message::Stop.new(addr)
when 'next_ip'
motor&.node_type == :st50ilt2 ? ns::SetMotorPosition.new(addr, :next_ip_down) :
Message::MoveOf.new(addr, :next_ip)
when 'previous_ip'
motor&.node_type == :st50ilt2 ? ns::SetMotorPosition.new(addr, :next_ip_up) :
Message::MoveOf.new(addr, :previous_ip)
when 'wink'
Message::Wink.new(addr)
when 'refresh'
follow_up = nil
(motor&.node_type == :st50ilt2 ? ns::GetMotorPosition : Message::GetMotorStatus).
new(addr)
end
when /jog-(?:pulses|ms)/
value = value.to_i
(motor&.node_type == :st50ilt2 ? ns::SetMotorPosition : Message::MoveOf).
new(addr, "jog_#{value < 0 ? :up : :down }_#{match[:jog_type]}".to_sym, value.abs)
when 'reset'
return unless Message::SetFactoryDefault::RESET.keys.include?(value.to_sym)
Message::SetFactoryDefault.new(addr, value.to_sym)
when 'position-pulses', 'position-percent', 'ip'
if value == 'REFRESH'
follow_up = nil
(motor&.node_type == :st50ilt2 ? ns::GetMotorPosition : Message::GetMotorStatus).
new(addr)
else
(motor&.node_type == :st50ilt2 ? ns::SetMotorPosition : Message::MoveTo).
new(addr, property.sub('position-', 'position_').to_sym, value.to_i)
end
when 'direction'
return if is_group
follow_up = Message::GetMotorDirection.new(addr)
return unless %w{standard reversed}.include?(value)
Message::SetMotorDirection.new(addr, value.to_sym)
when 'up-limit', 'down-limit'
return if is_group
if %w{delete current_position jog_ms jog_pulses}.include?(value)
type = value.to_sym
value = 10
else
type = :specified_position
end
target = property == 'up-limit' ? :up : :down
follow_up = Message::GetMotorLimits.new(addr)
Message::SetMotorLimits.new(addr, type, target, value.to_i)
when /^ip\d-(?:pulses|percent)$/
return if is_group
ip = match[:ip].to_i
return unless (1..16).include?(ip)
follow_up = ns::GetMotorIP.new(addr, ip)
if motor&.node_type == :st50ilt2
value = if value == 'delete'
nil
elsif value == 'current_position'
motor.position_pulses
elsif match[:ip_type] == 'pulses'
value.to_i
else
value.to_f / motor.down_limit * 100
end
ns::SetMotorIP.new(addr, ip, value)
else
type = if value == 'delete'
:delete
elsif value == 'current_position'
:current_position
elsif match[:ip_type] == 'pulses'
:position_pulses
else
:position_percent
end
Message::SetMotorIP.new(addr, type, ip, value.to_i)
end
when 'up-speed', 'down-speed', 'slow-speed'
return if is_group
return unless motor
follow_up = Message::GetMotorRollingSpeed.new(addr)
message = Message::SetMotorRollingSpeed.new(addr,
up_speed: motor.up_speed,
down_speed: motor.down_speed,
slow_speed: motor.slow_speed)
message.send(:"#{property.sub('-', '_')}=", value.to_i)
message
when 'groups'
return if is_group
return unless motor
messages = motor.set_groups(value)
@mutex.synchronize do
messages.each { |m| @queues[0].push(MessageAndRetries.new(m, 5, 0)) }
@cond.signal
end
nil
end
if motor
motor.last_action = message.class if [Message::MoveTo, Message::Move, Message::Wink, Message::Stop].include?(message.class)
end
if message
message.ack_requested = true if message.class.name !~ /^SDN::Message::Get/
@mutex.synchronize do
@queues[0].push(MessageAndRetries.new(message, 5, 0))
if follow_up
@queues[1].push(MessageAndRetries.new(follow_up, 5, 1)) unless @queues[1].any? { |mr| mr.message == follow_up }
end
@cond.signal
end
end
end
end
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