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