Class: SDN::CLI::Simulator::MockMotor

Inherits:
Object
  • Object
show all
Defined in:
lib/sdn/cli/simulator.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(client) ⇒ MockMotor

Returns a new instance of MockMotor.



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# File 'lib/sdn/cli/simulator.rb', line 7

def initialize(client)
  @client = client
  self.address = Message.parse_address("00.00.00")
  self.node_type = :st30
  self.label = ""
  self.ips = Array.new(16)
  self.groups = Array.new(16)
  self.ir_channels = 0
  self.lock_priority = 0
end

Instance Attribute Details

#address ⇒ Object

Returns the value of attribute address.



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# File 'lib/sdn/cli/simulator.rb', line 5

def address
  @address
end

#down_limit ⇒ Object

Returns the value of attribute down_limit.



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# File 'lib/sdn/cli/simulator.rb', line 5

def down_limit
  @down_limit
end

#groups ⇒ Object

Returns the value of attribute groups.



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# File 'lib/sdn/cli/simulator.rb', line 5

def groups
  @groups
end

#ips ⇒ Object

Returns the value of attribute ips.



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# File 'lib/sdn/cli/simulator.rb', line 5

def ips
  @ips
end

#ir_channels ⇒ Object

Returns the value of attribute ir_channels.



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# File 'lib/sdn/cli/simulator.rb', line 5

def ir_channels
  @ir_channels
end

#label ⇒ Object

Returns the value of attribute label.



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# File 'lib/sdn/cli/simulator.rb', line 5

def label
  @label
end

#lock_priority ⇒ Object

Returns the value of attribute lock_priority.



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# File 'lib/sdn/cli/simulator.rb', line 5

def lock_priority
  @lock_priority
end

#network_lock_priority ⇒ Object

Returns the value of attribute network_lock_priority.



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# File 'lib/sdn/cli/simulator.rb', line 5

def network_lock_priority
  @network_lock_priority
end

#node_type ⇒ Object

Returns the value of attribute node_type.



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# File 'lib/sdn/cli/simulator.rb', line 5

def node_type
  @node_type
end

#position_pulses ⇒ Object

Returns the value of attribute position_pulses.



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# File 'lib/sdn/cli/simulator.rb', line 5

def position_pulses
  @position_pulses
end

#up_limit ⇒ Object

Returns the value of attribute up_limit.



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# File 'lib/sdn/cli/simulator.rb', line 5

def up_limit
  @up_limit
end

Instance Method Details

#ack(message) ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 167

def ack(message)
  return unless message.ack_requested
  respond(Message::Ack.new(message.dest))
end

#nack(message, error_code = nil) ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 172

def nack(message, error_code = nil)
  return unless message.ack_requested
  respond(Message::Nack.new(message.dest))
end

#process ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 18

def process
  loop do
    @client.receive do |message|
      SDN.logger.info "Received #{message.inspect}"
      next unless message.is_a?(Message::ILT2::MasterControl) ||
        message.dest == address ||
        message.dest == BROADCAST_ADDRESS
  
      case message
      when Message::GetGroupAddr
        next nack(message) unless (1..16).include?(message.group_index)
        respond(message.src, Message::PostGroupAddr.new(message.group_index, groups[message.group_index - 1]))
      when Message::GetMotorIP
        next nack(message) unless (1..16).include?(message.ip)
        respond(message.src, Message::PostMotorIP.new(message.ip, ips[message.ip - 1], to_percent(ips[message.ip - 1])))
      when Message::GetMotorLimits
        respond(message.src, Message::PostMotorLimits.new(up_limit, down_limit))
      when Message::GetMotorPosition
        respond(message.src, Message::PostMotorPosition.new(
          position_pulses,
          to_percent(position_pulses),
          ips.index(position_pulses)&.+(1)
        ))
      when Message::GetNodeAddr; respond(message.src, Message::PostNodeAddr.new)
      when Message::GetNodeLabel; respond(message.src, Message::PostNodeLabel.new(label))
      when Message::ILT2::GetIRConfig; respond(message.src, Message::ILT2::PostIRConfig.new(ir_channels))
      when Message::ILT2::GetLockStatus; respond(message.src, Message::ILT2::PostLockStatus.new(lock_priority))
      when Message::ILT2::GetMotorIP; respond(message.src, Message::ILT2::PostMotorIP.new(message.ip, ips[message.ip - 1]))
      when Message::ILT2::GetMotorPosition; respond(message.src, Message::ILT2::PostMotorPosition.new(position_pulses, to_percent(position_pulses)))
      when Message::ILT2::GetMotorSettings; respond(message.src, Message::ILT2::PostMotorSettings.new(down_limit))
      when Message::ILT2::SetIRConfig; self.ir_channels = message.channels
      when Message::ILT2::SetLockStatus; self.lock_priority = message.priority
      when Message::ILT2::SetMotorIP
        next nack(message) unless (1..16).include?(message.ip)
        ips[message.ip - 1] = message.value
        ack(message)
      when Message::ILT2::SetMotorPosition
        next nack(message) unless down_limit

        self.position_pulses = case message.target_type
        when :up_limit; 0
        when :down_limit; down_limit
        when :ip
          next nack(message) unless (1..16).include?(message.target)
          next nack(message) unless ips[message.target]
          ips[message.target]
        when :position_pulses
          next nack(message) if message.target - 1 > down_limit
          message.target - 1
        when :jog_up_pulses; [0, position_pulses - message.target].max
        when :jog_down_pulses; [down_limit, position_pulses + message.target].min
        when :position_percent
          next nack(message) if message.target > 100
          to_pulses(message.target.to_f)
        end
        ack(message)
      when Message::ILT2::SetMotorSettings
        if message.down_limit != 0
          self.down_limit = message.down_limit
          self.position_pulses = message.position_pulses
        end
      when Message::MoveTo
        next nack(message) unless down_limit
        next nack(message) unless %I{up_limit down_limit ip position_pulses position_percent}.include?(message.target_type)
        
        self.position_pulses = case message.target_type
        when :up_limit; 0
        when :down_limit; down_limit;
        when :ip
          next nack(message) unless (1..16).include?(message.target)
          next nack(message) unless ips[message.target - 1]
          ips[message.target - 1]
        when :position_pulses
          next nack(message) if message.target > down_limit
          message.target
        when :position_percent
          next nack(message) if message.target > 100
          to_pulses(message.target)
        end
        ack(message)
      when Message::SetGroupAddr
        next nack(message) unless (1..16).include?(message.group_index)
        groups[message.group_index - 1] = message.group_address == [0, 0, 0] ? nil : message.group_address
        ack(message)
      when Message::SetMotorIP
        next nack(message) unless (1..16).include?(message.ip) || message.type == :distribute

        case message.type
        when :delete
          ips[message.ip - 1] = nil
          ack(message)
        when :current_position
          ips[message.ip - 1] = position_pulses
          ack(message)
        when :position_pulses
          ips[message.ip - 1] = message.value
          ack(message)
        when :position_percent
          pulses = to_pulses(message.value)
          if pulses
            ips[message.ip - 1] = pulses
            ack(message)
          else
            nack(message)
          end
        when :distribute
          next nack(message) unless down_limit
          next nack(message) unless (1..15).include?(message.value)
          span = down_limit / (message.value + 1)
          current = 0
          (0...message.value).each do |ip|
            ips[ip] = (current += span)
          end
          (message.value...16).each do |ip|
            ips[ip] = nil
          end
          ack(message)
        end
      when Message::SetMotorLimits
        next nack(message) unless [:up, :down].include?(message.target)
        next nack(message) unless [:jog_pulses].include?(message.type)

        self.up_limit ||= 0
        self.down_limit ||= 0
        self.position_pulses ||= 0

        next nack(message) if message.target == :up && position_pulses != 0
        next nack(message) if message.target == :down && position_pulses != down_limit

        case message.type
        when :jog_pulses
          self.down_limit += message.value
          self.position_pulses += message.value if message.target == :down
        end
        ack(message)
      when Message::SetNodeLabel; self.label = message.label; ack(message)
      end
    end
  end
end

#respond(dest, message) ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 177

def respond(dest, message)
  message.src = address
  message.node_type = node_type
  message.dest = dest
  SDN.logger.info "Sending #{message.inspect}"
  @client.send(message)
end

#to_percent(pulses) ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 159

def to_percent(pulses)
  pulses && down_limit ? 100.0 * pulses / down_limit : nil
end

#to_pulses(percent) ⇒ Object 



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# File 'lib/sdn/cli/simulator.rb', line 163

def to_pulses(percent)
  percent && down_limit ? down_limit * percent / 100 : nil
end