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# File 'lib/sdn/cli/mqtt/subscriptions.rb', line 7
def handle_message(topic, value)
SDN.logger.info "Got #{value.inspect} at #{topic}"
unless (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|i
p(?<ip>\d+)-(?<ip_type>pulses|percent)|
groups)/
set$}x))
return
end
addr = Message.parse_address(match[:addr])
property = match[:property]
if property == "position-percent" && value =~ /^(?:UP|DOWN|STOP)$/i
property = "control"
value = value.downcase
end
mqtt_addr = Message.print_address(addr).delete(".")
motor = @motors[mqtt_addr]
is_group = Message.group_address?(addr)
follow_up = if motor&.node_type == :st50ilt2
Message::ILT2::GetMotorPosition.new(addr)
else
Message::GetMotorStatus.new(addr)
end
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, 50))
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")
when "stop"
if motor&.node_type == :st50ilt2
ns::SetMotorPosition.new(addr,
:stop)
else
Message::Stop.new(addr)
end
when "next_ip"
if motor&.node_type == :st50ilt2
ns::SetMotorPosition.new(addr, :next_ip_down)
else
Message::MoveOf.new(addr, :next_ip)
end
when "previous_ip"
if motor&.node_type == :st50ilt2
ns::SetMotorPosition.new(addr, :next_ip_up)
else
Message::MoveOf.new(addr, :previous_ip)
end
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.negative? ? :up : :down}_#{match[:jog_type]}", value.abs)
when "reset"
return unless Message::SetFactoryDefault::RESET.key?(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).cover?(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| @queue.push(MessageAndRetries.new(m, 5, 0)) }
@cond.signal
end
nil
end
if motor && [Message::MoveTo,
Message::Move,
Message::Wink,
Message::Stop].include?(message.class)
motor.last_action = message.class
end
return unless message
message.ack_requested = true unless /^SDN::Message::Get/.match?(message.class.name)
@mutex.synchronize do
@queue.push(MessageAndRetries.new(message, 5, 0))
if follow_up && @queue.none? do |mr|
mr.message == follow_up
end
@queue.push(MessageAndRetries.new(follow_up, 5, 1))
end
@cond.signal
end
end
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