Class: SDN::CLI::Provisioner
- Inherits:
-
Object
- Object
- SDN::CLI::Provisioner
- Defined in:
- lib/sdn/cli/provisioner.rb
Instance Attribute Summary collapse
-
#addr ⇒ Object
readonly
Returns the value of attribute addr.
-
#ns ⇒ Object
readonly
Returns the value of attribute ns.
-
#sdn ⇒ Object
readonly
Returns the value of attribute sdn.
-
#win ⇒ Object
readonly
Returns the value of attribute win.
Instance Method Summary collapse
- #ilt2? ⇒ Boolean
-
#initialize(sdn, addr = nil) ⇒ Provisioner
constructor
A new instance of Provisioner.
- #print_help ⇒ Object
- #process ⇒ Object
- #refresh ⇒ Object
- #reversed_int ⇒ Object
- #stop ⇒ Object
- #wait_for_stop ⇒ Object
Constructor Details
#initialize(sdn, addr = nil) ⇒ Provisioner
Returns a new instance of Provisioner.
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# File 'lib/sdn/cli/provisioner.rb', line 10 def initialize(sdn, addr = nil) @sdn = sdn @reversed = false @pulse_count = 10 if addr @addr = addr = Message.parse_address(addr) else puts "Discovering motor..." = sdn.ensure(Message::GetNodeAddr.new) puts "Found #{.node_type}" @addr = addr = .src end puts "Preparing to provision motor #{Message.print_address(addr)}" = sdn.ensure(Message::GetNodeLabel.new(addr)) node_type = .node_type @ns = ns = (node_type == :st50ilt2) ? Message::ILT2 : Message print "Motor is currently labeled '#{.label}'; " \ "what would you like to change it to (blank to leave alone)? " new_label = $stdin.gets unless new_label == "\n" new_label.strip! sdn.ensure(ns::SetNodeLabel.new(addr, new_label)) end # make sure some limits exist unless ns == Message::ILT2 limits = sdn.ensure(Message::GetMotorLimits.new(addr)) if limits.up_limit.nil? || limits.down_limit.nil? sdn.ensure(Message::SetMotorLimits.new(addr, :delete, :up)) sdn.ensure(Message::SetMotorLimits.new(addr, :delete, :down)) sdn.ensure(Message::SetMotorLimits.new(addr, :current_position, :up)) sdn.ensure(Message::SetMotorLimits.new(addr, :specified_position, :down, 500)) end end Curses.init_screen begin Curses.noecho Curses.crmode Curses.nonl Curses.curs_set(0) @win = Curses.stdscr process rescue Interrupt # exitting rescue => e win.setpos(0, 0) win.addstr(e.inspect) win.addstr("\n") win.addstr(e.backtrace.join("\n")) win.refresh sleep 10 ensure Curses.close_screen end end |
Instance Attribute Details
#addr ⇒ Object (readonly)
Returns the value of attribute addr.
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# File 'lib/sdn/cli/provisioner.rb', line 8 def addr @addr end |
#ns ⇒ Object (readonly)
Returns the value of attribute ns.
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# File 'lib/sdn/cli/provisioner.rb', line 8 def ns @ns end |
#sdn ⇒ Object (readonly)
Returns the value of attribute sdn.
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# File 'lib/sdn/cli/provisioner.rb', line 8 def sdn @sdn end |
#win ⇒ Object (readonly)
Returns the value of attribute win.
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# File 'lib/sdn/cli/provisioner.rb', line 8 def win @win end |
Instance Method Details
#ilt2? ⇒ Boolean
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# File 'lib/sdn/cli/provisioner.rb', line 259 def ilt2? ns == Message::ILT2 end |
#print_help ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 170 def print_help win.setpos(0, 0) win.addstr(<<~TEXT) Move the motor. Keys: Esc stop movement \u2191 go to upper limit \u2193 go to lower limit \u2190 jog up #{@pulse_count} pulses \u2192 jog down #{@pulse_count} pulses > increase jog size < decrease jog size u set upper limit at current position l set lower limit at current position r reverse motor TEXT if ilt2? win.addstr("R reverse motor (but leave position alone)\n") else win.addstr("! factory reset\n") end win.addstr("q quit\n") win.refresh end |
#process ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 74 def process win.keypad = true print_help refresh wait_for_stop loop do char = win.getch case char when 27 # Esc stop refresh when Curses::Key::UP if ilt2? sdn.ensure(Message::ILT2::SetMotorPosition.new(addr, :up_limit)) else sdn.ensure(Message::MoveTo.new(addr, :up_limit)) end wait_for_stop when Curses::Key::DOWN if ilt2? sdn.ensure(Message::ILT2::SetMotorPosition.new(addr, :down_limit)) else sdn.ensure(Message::MoveTo.new(addr, :down_limit)) end wait_for_stop when Curses::Key::LEFT if @pos < @pulse_count sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @limit + @pulse_count - @pos, @pulse_count)) refresh end if ilt2? sdn.ensure(Message::ILT2::SetMotorPosition.new(addr, :jog_up_pulses, @pulse_count)) else sdn.ensure(Message::MoveOf.new(addr, :jog_up_pulses, @pulse_count)) end wait_for_stop when Curses::Key::RIGHT if @limit - @pos < @pulse_count sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @pos + @pulse_count, @pos)) refresh end if ilt2? sdn.ensure(Message::ILT2::SetMotorPosition.new(addr, :jog_down_pulses, @pulse_count)) else sdn.ensure(Message::MoveOf.new(addr, :jog_down_pulses, @pulse_count)) end wait_for_stop when "u" if ilt2? sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @limit - @pos, 0)) else sdn.ensure(Message::SetMotorLimits.new(addr, :current_position, :up)) end refresh when "l" if ilt2? sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @pos, @pos)) else sdn.ensure(Message::SetMotorLimits.new(addr, :current_position, :down)) end refresh when "r" @reversed = !@reversed if ilt2? sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @limit, @limit - @pos)) else sdn.ensure(Message::SetMotorDirection.new(addr, @reversed ? :reversed : :standard)) end refresh when "R" next unless ilt2? @reversed = !@reversed sdn.ensure(Message::ILT2::SetMotorSettings.new(addr, reversed_int, @limit, @pos)) refresh when "!" next if ilt2? sdn.send(Message::SetFactoryDefault.new(addr)) break when "<" @pulse_count /= 2 if @pulse_count > 5 print_help when ">" @pulse_count *= 2 print_help when "q" break end end end |
#refresh ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 231 def refresh pos = sdn.ensure(ns::GetMotorPosition.new(addr)) @pos = pos.position_pulses if ilt2? settings = sdn.ensure(Message::ILT2::GetMotorSettings.new(addr)) @limit = settings.limit else limits = sdn.ensure(Message::GetMotorLimits.new(addr)) @limit = limits.down_limit direction = sdn.ensure(Message::GetMotorDirection.new(addr)) @reversed = direction.direction == :reversed end win.setpos(14, 0) win.addstr("Position: #{@pos}\n") win.addstr("Limit: #{@limit}\n") win.addstr("Reversed: #{@reversed}\n") win.refresh end |
#reversed_int ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 263 def reversed_int @reversed ? 1 : 0 end |
#stop ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 251 def stop if ilt2? sdn.ensure(Message::ILT2::SetMotorPosition.new(addr, :stop)) else sdn.ensure(Message::Stop.new(addr)) end end |
#wait_for_stop ⇒ Object
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# File 'lib/sdn/cli/provisioner.rb', line 195 def wait_for_stop win.setpos(13, 0) win.addstr("Moving...\n") loop do win.nodelay = true stop if win.getch == 27 # Esc sdn.send(ns::GetMotorPosition.new(addr)) unless ilt2? sleep 0.1 sdn.send(ns::GetMotorStatus.new(addr)) end sdn.receive(0.1) do || if .is_a?(ns::PostMotorPosition) last_pos = @pos @pos = .position_pulses win.setpos(14, 0) win.addstr("Position: #{@pos}\n") end if (ilt2? && last_pos == @pos) || (.is_a?(Message::PostMotorStatus) && .state != :running) win.setpos(13, 0) win.addstr("\n") win.nodelay = false refresh return # rubocop:disable Lint/NonLocalExitFromIterator end end sleep 0.1 end end |