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Add AT+Rx commands to read out the actual waypoint configuration from the mower #129

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Add AT+Rx commands to read out the actual waypoint configuration from the mower #129

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d22e9bc
Add AT+Rx commands to read out the actual mower waypoint configuration
SirVival71 May 7, 2023
ca1e7f3
Merge branch 'master' into ReadActualUsedWayPointConfiguration
SirVival71 Jul 19, 2023
1de1ece
Merge branch 'master' into ReadActualUsedWayPointConfiguration
SirVival71 Sep 22, 2023
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306 changes: 306 additions & 0 deletions sunray/comm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
#include "mqtt.h"
#include "httpserver.h"
#include "ble.h"
#include "map.h"

#ifdef __linux__
#include <BridgeClient.h>
Expand Down Expand Up @@ -372,6 +373,300 @@ void cmdExclusionCount(){
}


// request output of waypoints count
// RN
// returns RN,#peri,#excl,#dock,#mow,#free (,chksum)
void cmdReadWayCount(){
String s = F("RN,");
s += maps.perimeterPoints.numPoints;
s += F(",");
s += maps.exclusionPointsCount;
s += F(",");
s += maps.dockPoints.numPoints;
s += F(",");
s += maps.mowPoints.numPoints;
s += F(",");
s += maps.freePoints.numPoints;

cmdAnswer(s);
}


// request output of exclusion count
// RNX
// returns RNX,cntExclusions,cntPointsExclusion1,cntPointsExclusion2,cntPointsExclusion3,cntPointsExclusion4,... (,chksum)
void cmdReadExclusionCount(){
String s = F("RNX,");
s += maps.exclusions.numPolygons;
for (int i=0; i < maps.exclusions.numPolygons; i++){
s += F(",");
s += maps.exclusions.polygons[i].numPoints;
}

cmdAnswer(s);
}


// request output of perimeter points
// RP or RP,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma)
// returns RP,x,y,x,y,x,y,x,y,...
void cmdReadPerimeterPoints(){
int StartIdx = 0;
int EndIdx = 0;
if (cmd.length() == 5){ // Only RP
EndIdx = maps.perimeterPoints.numPoints;
} else { // RP,StartIdx,NumberOfPoints,
int counter = 0;
int lastCommaIdx = 0;
for (int idx=0; idx < cmd.length(); idx++){
char ch = cmd[idx];
//Serial.print("ch=");
//Serial.println(ch);
if ((ch == ',') || (idx == (cmd.length()-1))){
int intValue = cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1).toInt();
/*CONSOLE.print("PerimeterPoint ");
CONSOLE.print(intValue);
CONSOLE.print("/");
CONSOLE.print(cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1));
CONSOLE.print("/ ");
CONSOLE.print(cmd.length());
CONSOLE.print("/ ");
CONSOLE.print(counter);
CONSOLE.print(",");
CONSOLE.println(lastCommaIdx); */
if (counter == 1){
if (intValue < maps.perimeterPoints.numPoints) {StartIdx = intValue;}
else {StartIdx = maps.perimeterPoints.numPoints;}
} else if (counter == 2){
if ((StartIdx+intValue) < maps.perimeterPoints.numPoints) {EndIdx = StartIdx + intValue;}
else {EndIdx = maps.perimeterPoints.numPoints;}
}
counter++;
lastCommaIdx = idx;
}
}
}
String s = F("RP"); // response
for (int i=StartIdx; i < EndIdx; i++){
s += F(",");
s += maps.perimeterPoints.points[i].x();
s += F(",");
s += maps.perimeterPoints.points[i].y();
}

cmdAnswer(s);
}


// request output of dock points
// RD or RD,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma)
// returns RD,x,y,x,y,x,y,x,y,...
void cmdReadDockPoints(){
int StartIdx = 0;
int EndIdx = 0;
if (cmd.length() == 5){ // Only RD
EndIdx = maps.dockPoints.numPoints;
} else { // RD,StartIdx,NumberOfPoints,
int counter = 0;
int lastCommaIdx = 0;
for (int idx=0; idx < cmd.length(); idx++){
char ch = cmd[idx];
//Serial.print("ch=");
//Serial.println(ch);
if ((ch == ',') || (idx == (cmd.length()-1))){
int intValue = cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1).toInt();
/*CONSOLE.print("DockPoint ");
CONSOLE.print(intValue);
CONSOLE.print("/");
CONSOLE.print(cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1));
CONSOLE.print("/ ");
CONSOLE.print(cmd.length());
CONSOLE.print("/ ");
CONSOLE.print(counter);
CONSOLE.print(",");
CONSOLE.println(lastCommaIdx); */
if (counter == 1){
if (intValue < maps.dockPoints.numPoints) {StartIdx = intValue;}
else {StartIdx = maps.dockPoints.numPoints;}
} else if (counter == 2){
if ((StartIdx+intValue) < maps.dockPoints.numPoints) {EndIdx = StartIdx + intValue;}
else {EndIdx = maps.dockPoints.numPoints;}
}
counter++;
lastCommaIdx = idx;
}
}
}
String s = F("RD"); // response
for (int i=StartIdx; i < EndIdx; i++){
s += F(",");
s += maps.dockPoints.points[i].x();
s += F(",");
s += maps.dockPoints.points[i].y();
}

cmdAnswer(s);
}


// request output of mow points
// RM or RM,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma)
// returns RM,x,y,x,y,x,y,x,y,...
void cmdReadMowPoints(){
int StartIdx = 0;
int EndIdx = 0;
if (cmd.length() == 5){ // Only RM
EndIdx = maps.mowPoints.numPoints;
} else { // RM,StartIdx,NumberOfPoints,
int counter = 0;
int lastCommaIdx = 0;
for (int idx=0; idx < cmd.length(); idx++){
char ch = cmd[idx];
//Serial.print("ch=");
//Serial.println(ch);
if ((ch == ',') || (idx == (cmd.length()-1))){
int intValue = cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1).toInt();
/*CONSOLE.print("PerimeterPoint ");
CONSOLE.print(intValue);
CONSOLE.print("/");
CONSOLE.print(cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1));
CONSOLE.print("/ ");
CONSOLE.print(cmd.length());
CONSOLE.print("/ ");
CONSOLE.print(counter);
CONSOLE.print(",");
CONSOLE.println(lastCommaIdx); */
if (counter == 1){
if (intValue < maps.mowPoints.numPoints) {StartIdx = intValue;}
else {StartIdx = maps.mowPoints.numPoints;}
} else if (counter == 2){
if ((StartIdx+intValue) < maps.mowPoints.numPoints) {EndIdx = StartIdx + intValue;}
else {EndIdx = maps.mowPoints.numPoints;}
}
counter++;
lastCommaIdx = idx;
}
}
}
String s = F("RM"); // response
for (int i=StartIdx; i < EndIdx; i++){
s += F(",");
s += maps.mowPoints.points[i].x();
s += F(",");
s += maps.mowPoints.points[i].y();
}

cmdAnswer(s);
}


// request output of free points
// RF or RF,StartIdx,NumberOfPoints,ChkSum (value of ChkSum is not important; important is the presence of the comma)
// returns RF,x,y,x,y,x,y,x,y,...
void cmdReadFreePoints(){
int StartIdx = 0;
int EndIdx = 0;
if (cmd.length() == 5){ // Only RF
EndIdx = maps.freePoints.numPoints;
} else { // RF,StartIdx,NumberOfPoints,
int counter = 0;
int lastCommaIdx = 0;
for (int idx=0; idx < cmd.length(); idx++){
char ch = cmd[idx];
//Serial.print("ch=");
//Serial.println(ch);
if ((ch == ',') || (idx == (cmd.length()-1))){
int intValue = cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1).toInt();
/*CONSOLE.print("PerimeterPoint ");
CONSOLE.print(intValue);
CONSOLE.print("/");
CONSOLE.print(cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1));
CONSOLE.print("/ ");
CONSOLE.print(cmd.length());
CONSOLE.print("/ ");
CONSOLE.print(counter);
CONSOLE.print(",");
CONSOLE.println(lastCommaIdx); */
if (counter == 1){
if (intValue < maps.freePoints.numPoints) {StartIdx = intValue;}
else {StartIdx = maps.freePoints.numPoints;}
} else if (counter == 2){
if ((StartIdx+intValue) < maps.freePoints.numPoints) {EndIdx = StartIdx + intValue;}
else {EndIdx = maps.freePoints.numPoints;}
}
counter++;
lastCommaIdx = idx;
}
}
}
String s = F("RF"); // response
for (int i=StartIdx; i < EndIdx; i++){
s += F(",");
s += maps.freePoints.points[i].x();
s += F(",");
s += maps.freePoints.points[i].y();
}

cmdAnswer(s);
}


// request output of exclusion points
// RX,ExclusionIdx,ChkSum or RX,ExclusionIdx,StartIdx,NumberOfPoints,ChkSum ExclusionIdx [0-n] (value of ChkSum is not important; important is the presence of the comma)
// returns RX,x,y,x,y,x,y,x,y,...
void cmdReadExclusionPoints(){
int ExclusionIdx = 0;
int StartIdx = 0;
int EndIdx = 0; // init EndIdx = 0 to avoid output of points if wrong command parameters are given
int counter = 0;
int lastCommaIdx = 0;
for (int idx=0; idx < cmd.length(); idx++){
char ch = cmd[idx];
//Serial.print("ch=");
//Serial.println(ch);
if ((ch == ',') || (idx == (cmd.length()-1))){
int intValue = cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1).toInt();
/*CONSOLE.print("ExclusionPoint ");
CONSOLE.print(intValue);
CONSOLE.print("/");
CONSOLE.print(cmd.substring(lastCommaIdx+1, ch==',' ? idx : idx+1));
CONSOLE.print("/ ");
CONSOLE.print(cmd.length());
CONSOLE.print("/ ");
CONSOLE.print(counter);
CONSOLE.print(",");
CONSOLE.println(lastCommaIdx); */
if (counter == 1){
if (intValue < maps.exclusions.numPolygons){ // set ExclusionIdx [0-n]
ExclusionIdx = intValue;
EndIdx = maps.exclusions.polygons[ExclusionIdx].numPoints; // set EndIdx to numPoints to handle case Only RX,ExclusionIdx,ChkSum
} else { // handle no valid ExclusionNumber
ExclusionIdx = maps.exclusions.numPolygons;
counter = 10;
}
} else if (counter == 2){ // set StartIdx if exists in commandstring
if (intValue < maps.exclusions.polygons[ExclusionIdx].numPoints) {StartIdx = intValue;}
else {StartIdx = maps.exclusions.polygons[ExclusionIdx].numPoints;}
} else if (counter == 3){ // handle NumberOfPoints if exists in commandstring
if ((StartIdx+intValue) < maps.exclusions.polygons[ExclusionIdx].numPoints) {EndIdx = StartIdx + intValue;}
else {EndIdx = maps.exclusions.polygons[ExclusionIdx].numPoints;}
}
counter++;
lastCommaIdx = idx;
}
}
String s = F("RX"); // response
for (int i=StartIdx; i < EndIdx; i++){
s += F(",");
s += maps.exclusions.polygons[ExclusionIdx].points[i].x();
s += F(",");
s += maps.exclusions.polygons[ExclusionIdx].points[i].y();
}

cmdAnswer(s);
}


// request position mode
void cmdPosMode(){
if (cmd.length()<6) return;
Expand Down Expand Up @@ -874,6 +1169,17 @@ void processCmd(bool checkCrc, bool decrypt){
if (cmd[3] == 'W') cmdWaypoint();
if (cmd[3] == 'N') cmdWayCount();
if (cmd[3] == 'X') cmdExclusionCount();
if (cmd[3] == 'R'){ // Handling for apps to read out to actual used perimeter, exclusion, docking, waypoint values from mower to be able to use the same configuration in several app devices without needed internet server copy process
if (cmd[4] == 'N'){ // Read Counts
if ((cmd.length() > 5) && (cmd[5] == 'X')) cmdReadExclusionCount(); // Read ExclusionCount Values
else cmdReadWayCount(); // Read WayCount Values
}
if (cmd[4] == 'P') cmdReadPerimeterPoints();
if (cmd[4] == 'D') cmdReadDockPoints();
if (cmd[4] == 'M') cmdReadMowPoints();
if (cmd[4] == 'F') cmdReadFreePoints();
if (cmd[4] == 'X') cmdReadExclusionPoints();
}
if (cmd[3] == 'V') cmdVersion();
if (cmd[3] == 'P') cmdPosMode();
if (cmd[3] == 'T'){
Expand Down