towards new-queue tests

axl @ be9a5a91

-Subproject commit 2715834fbc79e77f061f0812234ab3a8eeb14f27
+Subproject commit be9a5a919bc9c6324f4ce6dcdfccac6837b659df

firmware/axl-stepper/src/main.cpp

@@ -24,11 +24,35 @@ OSAP osap("axl-stepper_z");
 //OSAP osap("axl-stepper_rl");
 //OSAP osap("axl-stepper_rr");
 
+// -------------------------------------------------------- 0: USB Serial 
+
 VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial);
 
-VBus_UCBusDrop vbUCBusDrop(&osap, "ucBusDrop");
+// -------------------------------------------------------- 1: Bus Drop 
+
+VBus_UCBusDrop vbUCBusDrop(&osap, "ucBusDrop"); 
+
+// -------------------------------------------------------- 2: AXL Settings
+
+EP_ONDATA_RESPONSES onAXLSettingsData(uint8_t* data, uint16_t len){
+  // jd, then pairs of accel & vel limits,
+  axlSettings_t settings;
+  uint16_t rptr = 0;
+  for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
+    settings.accelLimits.axis[a] = ts_readFloat32(data, &rptr);
+    settings.velocityLimits.axis[a] = ts_readFloat32(data, &rptr);
+  }
+  settings.queueStartDelayMS = ts_readUint32(data, &rptr);
+  settings.ourActuatorID = ts_readUint8(data, &rptr);
+  // ship em... 
+  axl_setSettings(settings);
+  // don't stash data, 
+  return EP_ONDATA_ACCEPT;
+}
+
+Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
 
-// -------------------------------------------------------- 2: States
+// -------------------------------------------------------- 3: Axl Modal Requests 
 
 EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
   /*
@@ -79,39 +103,9 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
 
 Endpoint statesEP(&osap, "states", onStateData);
 
-// -------------------------------------------------------- 3: Halt
-
-EP_ONDATA_RESPONSES onHaltData(uint8_t* data, uint16_t len){
-  axl_halt(AXL_HALT_REQUEST);
-  return EP_ONDATA_REJECT;
-}
-
-Endpoint haltInEP(&osap, "haltInput", onHaltData);
-Endpoint haltOutEP(&osap, "haltOutput");
-
-// -------------------------------------------------------- 5: AXL Settings
+// -------------------------------------------------------- 4: Axl Queue Addition 
 
-EP_ONDATA_RESPONSES onAXLSettingsData(uint8_t* data, uint16_t len){
-  // jd, then pairs of accel & vel limits,
-  axlSettings_t settings;
-  uint16_t rptr = 0;
-  for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
-    settings.accelLimits.axis[a] = ts_readFloat32(data, &rptr);
-    settings.velocityLimits.axis[a] = ts_readFloat32(data, &rptr);
-  }
-  settings.queueStartDelayMS = ts_readUint32(data, &rptr);
-  settings.outActuatorID = ts_readUint8(data, &rptr);
-  // ship em... 
-  axl_setSettings(settings);
-  // don't stash data, 
-  return EP_ONDATA_ACCEPT;
-}
-
-Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
-
-// -------------------------------------------------------- 8: Precalcd-move-adder;
-
-EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
+EP_ONDATA_RESPONSES onPlannedMoveData(uint8_t* data, uint16_t len){
   axlPlannedSegment_t move;
   uint16_t rptr = 0;
   // location of move-in-sequence, to count continuity, 
@@ -134,10 +128,23 @@ EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
   return EP_ONDATA_REJECT;
 }
 
-Endpoint precalculatedMoveEP(&osap, "plannedMovesIn", onPrecalculatedMoveData);
+Endpoint precalculatedMoveEP(&osap, "plannedMovesIn", onPlannedMoveData);
+
+// -------------------------------------------------------- 5: Halt Input 
+
+EP_ONDATA_RESPONSES onHaltInData(uint8_t* data, uint16_t len){
+  axl_halt(AXL_HALT_REQUEST);
+  return EP_ONDATA_REJECT;
+}
+
+Endpoint haltInEP(&osap, "haltIn", onHaltInData);
+
+// -------------------------------------------------------- 6, 7: Outputs
 
+Endpoint queueAckOutEP(&osap, "queueAckOut");
+Endpoint haltOutEP(&osap, "haltOut");
 
-// -------------------------------------------------------- 6: Motor Settings
+// -------------------------------------------------------- 8: Motor Settings
 
 uint8_t axisPick = 0;
 boolean invert = false; 
@@ -196,14 +203,12 @@ void loop() {
   // check for halt info... 
   axlDataLen = axl_getHaltPacket(axlData);
   if(axlDataLen){
-    #warning here - ibid, stick in endpoint, 
+    haltOutEP.write(axlData, axlDataLen);
   }
   // check for on-queue-completion info... 
   axlDataLen = axl_getQueueAck(axlData);
   if(axlDataLen){
-    #warning here - if we have an ack, stick it in the endpoint... 
-    // and if that endpoint isn't clear to write, we're fukd, halt! 
-    // and add an axl_halt(<string>) option to print those messages 
+    queueAckOutEP.write(axlData, axlDataLen);
   }
   // refresh stepper hw, 
   stepper_hw->dacRefresh();