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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| #include "keyence_commands.hpp" | ||
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| #include <cstdint> | ||
| #include <thread> | ||
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| #include "core/logger.hpp" | ||
| #include "core/time.hpp" | ||
| #include "core/types.hpp" | ||
| #include "sensors/keyence.hpp" | ||
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| namespace hyped::debug { | ||
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| core::Result KeyenceCommands::addCommands(core::ILogger &logger, | ||
| std::shared_ptr<Repl> &repl, | ||
| core::ITimeSource &time, | ||
| toml::v3::node_view<toml::v3::node> config) | ||
| { | ||
| const auto optional_pin = config["pin"].value<std::uint8_t>(); | ||
| if (!optional_pin) { | ||
| logger.log(core::LogLevel::kFatal, "Invalid pin"); | ||
| return core::Result::kFailure; | ||
| } | ||
| const auto pin = *optional_pin; | ||
| const auto gpio = repl->getGpio(); | ||
| auto optional_keyence = sensors::Keyence::create(logger, gpio, pin); | ||
| if (!optional_keyence) { | ||
| logger.log(core::LogLevel::kFatal, "Failed to create keyence sensor"); | ||
| return core::Result::kFailure; | ||
| } | ||
| const auto keyence = *optional_keyence; | ||
| const std::string keyence_command_name = "keyence read"; | ||
| const std::string keyence_command_usage = "keyence read <time> <interval>"; | ||
| const std::string keyence_command_description | ||
| = "Read from the keyence sensor every <interval> seconds for <time> seconds"; | ||
| const auto keyence_command_handler = [&logger, keyence, &time](std::vector<std::string> args) { | ||
| if (args.size() != 2) { | ||
| logger.log(core::LogLevel::kFatal, "Invalid number of arguments"); | ||
| return; | ||
| } | ||
| const std::uint32_t run_time = std::stoul(args[0], nullptr, 10); | ||
| const std::uint32_t interval = std::stof(args[1]); | ||
| const auto start_time = time.now(); | ||
| auto count = 0; | ||
| while (time.now() - start_time < std::chrono::seconds(run_time)) { | ||
| const auto result = keyence->updateStripeCount(); | ||
| if (result != core::Result::kSuccess) { | ||
| logger.log(core::LogLevel::kFatal, "Failed to update stripe count"); | ||
| return; | ||
| } | ||
| const auto stripe_count = keyence->getStripeCount(); | ||
| if (stripe_count != count) { | ||
| logger.log(core::LogLevel::kInfo, "Stripe count: %d", stripe_count); | ||
| count = stripe_count; | ||
| } | ||
| std::this_thread::sleep_for(std::chrono::seconds(interval)); | ||
| } | ||
| }; | ||
| auto keyence_command = std::make_unique<Command>(keyence_command_name, | ||
| keyence_command_description, | ||
| keyence_command_usage, | ||
| keyence_command_handler); | ||
| repl->addCommand(std::move(keyence_command)); | ||
| return core::Result::kSuccess; | ||
| } | ||
|
|
||
| } // namespace hyped::debug |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| #pragma once | ||
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| #include <memory> | ||
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| #include <core/logger.hpp> | ||
| #include <core/types.hpp> | ||
| #include <debug/repl.hpp> | ||
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| namespace hyped::debug { | ||
|
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| class KeyenceCommands { | ||
| public: | ||
| /** | ||
| * @brief Add commands to the REPL for reading from keyence stripe counters | ||
| * | ||
| * @param logger | ||
| * @param repl | ||
| * @param config | ||
| * @return core::Result kSuccess if commands were added successfully, kFailure otherwise | ||
| */ | ||
| static core::Result addCommands(core::ILogger &logger, | ||
| std::shared_ptr<Repl> &repl, | ||
| core::ITimeSource &time, | ||
| toml::v3::node_view<toml::v3::node> config); | ||
| }; | ||
|
|
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| } // namespace hyped::debug |
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