added TeAmanagement

TeAmanagement/teacmd.h

@@ -0,0 +1,50 @@
+/*
+ * This file is part of the TeAman project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "cmdlnopts.h"
+
+int client_proc(int sock, glob_pars *P);
+void set_validator(glob_pars *P);
+int parse_incoming_string(char *str, int l, char *hdrname);
+int validate_cmd(char *str, int l);
+
+
+// steps into MM and vice versa
+#define TEASTEPS_MM(steps)  (steps/200.)
+#define TEAMM_STEPS(mm)     ((int)(mm * 200.))
+
+// tea commands
+#define TEACMD_POSITION     "abspos"
+#define TEACMD_RELPOSITION  "relpos"
+#define TEACMD_SLOWMOVE     "relslow"
+#define TEACMD_SETPOS       "setpos"
+#define TEACMD_GOTOZERO     "gotoz"
+#define TEACMD_STATUS       "state"
+
+typedef enum{
+    STP_RELAX,      // 0 - no moving
+    STP_ACCEL,      // 1 - start moving with acceleration
+    STP_MOVE,       // 2 - moving with constant speed
+    STP_MVSLOW,     // 3 - moving with slowest constant speed (end of moving)
+    STP_DECEL,      // 4 - moving with deceleration
+    STP_STALL,      // 5 - stalled
+    STP_ERR,        // 6 - wrong/error state
+    STP_AMOUNT
+} teastate;