statewise control back online

axl @ bda32c5b

-Subproject commit 0b8fc43e4c0ac860abc96a51eccc5d222ed11bb6
+Subproject commit bda32c5b94c68a6f674d8ccac94a9abf4524e9d5

firmware/axl-stepper/src/main.cpp

@@ -20,8 +20,8 @@
 //OSAP osap("axl-stepper_y-right");
 //OSAP osap("axl-stepper_x");
 //OSAP osap("axl-stepper_e");
-OSAP osap("axl-stepper_z");
-//OSAP osap("axl-stepper_rl");
+// OSAP osap("axl-stepper_z");
+OSAP osap("axl-stepper_rl");
 // OSAP osap("axl-stepper_rr");
 
 // -------------------------------------------------------- 0: USB Serial 
@@ -54,8 +54,7 @@ Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
 
 // -------------------------------------------------------- 3: Axl Modal Requests 
 
-EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
-  /*
+EP_ONDATA_RESPONSES onStateRequestData(uint8_t* data, uint16_t len){
   // check for partner-config badness, 
   if(len != AXL_NUM_DOF * 4 + 2){ OSAP::error("state req has bad DOF count"); return EP_ONDATA_REJECT; }
   // we have accel, rate, posn data, 
@@ -96,44 +95,43 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
         break;
     }
   }
-  */
   // since we routinely update it w/ actual states (not requests) 
   return EP_ONDATA_REJECT;
 }
 
-Endpoint statesEP(&osap, "states", onStateData);
+Endpoint stateRequestsEP(&osap, "stateRequests", onStateRequestData);
 
 // -------------------------------------------------------- 4: Axl Queue Addition 
 
 EP_ONDATA_RESPONSES onSegmentData(uint8_t* data, uint16_t len){
   // careful, if you add a new field in axlPlannedSegment_t, recall you have to copy 
   // it manually into the buffer (!) 
-  axlPlannedSegment_t move;
+  axlPlannedSegment_t segment;
   uint16_t rptr = 0;
-  // location of move-in-sequence, to count continuity, 
-  move.segmentNumber = ts_readUint32(data, &rptr);
+  // location of segment-in-sequence, to count continuity, 
+  segment.segmentNumber = ts_readUint32(data, &rptr);
   // which actuator is requested to ack this mfer, 
-  move.returnActuator = ts_readUint8(data, &rptr);
+  segment.returnActuator = ts_readUint8(data, &rptr);
   // is it the end of this stream ?
-  move.isLastSegment = ts_readBoolean(data, &rptr);
-  OSAP::debug("segnum, isLast " + String(move.segmentNumber) + ", " + String(move.isLastSegment));
-  // unit vector describing move's direction, 
+  segment.isLastSegment = ts_readBoolean(data, &rptr);
+  OSAP::debug("segnum, isLast " + String(segment.segmentNumber) + ", " + String(segment.isLastSegment));
+  // unit vector describing segment's direction, 
   for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
-    move.unitVector.axis[a] = ts_readFloat32(data, &rptr);
+    segment.unitVector.axis[a] = ts_readFloat32(data, &rptr);
   }
   // start vel, accel-rate (up, and down), max velocity, final velocity, distance (all +ve)
-  move.vi = ts_readFloat32(data, &rptr);
-  move.accel = ts_readFloat32(data, &rptr);
-  move.vmax = ts_readFloat32(data, &rptr);
-  move.vf = ts_readFloat32(data, &rptr);
-  move.distance = ts_readFloat32(data, &rptr);
+  segment.vi = ts_readFloat32(data, &rptr);
+  segment.accel = ts_readFloat32(data, &rptr);
+  segment.vmax = ts_readFloat32(data, &rptr);
+  segment.vf = ts_readFloat32(data, &rptr);
+  segment.distance = ts_readFloat32(data, &rptr);
   // and send it... 
-  axl_addMoveToQueue(move);
+  axl_addSegmentToQueue(segment);
   // don't write to endpoint... 
   return EP_ONDATA_REJECT;
 }
 
-Endpoint precalculatedMoveEP(&osap, "segmentsIn", onSegmentData);
+Endpoint precalculatedSegmentEP(&osap, "segmentsIn", onSegmentData);
 
 // -------------------------------------------------------- 5: Halt Input 
 
@@ -216,7 +214,7 @@ void loop() {
   if(axlDataLen){
     segmentAckOutEP.write(axlData, axlDataLen);
   }
-  // check for queueMoveComplete 
+  // check for queueSegmentComplete 
   axlDataLen = axl_getSegmentCompleteMsg(axlData);
   if(axlDataLen){
     segmentCompleteOutEP.write(axlData, axlDataLen);