Add missing E-Stop enable/disable command

include/serial/command_handlers/index.h

@@ -11,7 +11,7 @@ namespace OpenShock::Serial::CommandHandlers {
   OpenShock::Serial::CommandGroup EchoHandler();
   OpenShock::Serial::CommandGroup ValidGpiosHandler();
   OpenShock::Serial::CommandGroup RfTxPinHandler();
-  OpenShock::Serial::CommandGroup ESStopPinHandler();
+  OpenShock::Serial::CommandGroup EStopHandler();
   OpenShock::Serial::CommandGroup DomainHandler();
   OpenShock::Serial::CommandGroup AuthTokenHandler();
   OpenShock::Serial::CommandGroup LcgOverrideHandler();
@@ -23,15 +23,16 @@ namespace OpenShock::Serial::CommandHandlers {
   OpenShock::Serial::CommandGroup RfTransmitHandler();
   OpenShock::Serial::CommandGroup FactoryResetHandler();
 
-  inline std::vector<OpenShock::Serial::CommandGroup> AllCommandHandlers() {
+  inline std::vector<OpenShock::Serial::CommandGroup> AllCommandHandlers()
+  {
     return {
       VersionHandler(),
       RestartHandler(),
       SysInfoHandler(),
       EchoHandler(),
       ValidGpiosHandler(),
       RfTxPinHandler(),
-      ESStopPinHandler(),
+      EStopHandler(),
       DomainHandler(),
       AuthTokenHandler(),
       LcgOverrideHandler(),

src/serial/command_handlers/estop.cpp

@@ -0,0 +1,84 @@
+#include "serial/command_handlers/common.h"
+
+#include "config/Config.h"
+#include "Convert.h"
+#include "EStopManager.h"
+
+void _handleEStopEnabledCommand(std::string_view arg, bool isAutomated)
+{
+  bool enabled;
+  if (arg.empty()) {
+    if (!OpenShock::Config::GetEStopEnabled(enabled)) {
+      SERPR_ERROR("Failed to get EStop enabled from config");
+      return;
+    }
+
+    // Get EStop enabled
+    SERPR_RESPONSE("EStopEnabled|%s", enabled ? "true" : "false");
+    return;
+  }
+
+  if (!OpenShock::Convert::ToBool(arg, enabled)) {
+    SERPR_ERROR("Invalid argument (must be a boolean)");
+    return;
+  }
+
+  if (!OpenShock::EStopManager::SetEStopEnabled(enabled)) {
+    SERPR_ERROR("Failed to set EStop enabled");
+    return;
+  }
+
+  if (!OpenShock::Config::SetEStopEnabled(enabled)) {
+    SERPR_ERROR("Failed to save config");
+    return;
+  }
+
+  SERPR_SUCCESS("Saved config");
+}
+
+void _handleEStopPinCommand(std::string_view arg, bool isAutomated)
+{
+  gpio_num_t estopPin;
+  if (arg.empty()) {
+    if (!OpenShock::Config::GetEStopGpioPin(estopPin)) {
+      SERPR_ERROR("Failed to get EStop pin from config");
+      return;
+    }
+
+    // Get EStop pin
+    SERPR_RESPONSE("EStopPin|%hhi", static_cast<int8_t>(estopPin));
+    return;
+  }
+
+  if (!OpenShock::Convert::ToGpioNum(arg, estopPin)) {
+    SERPR_ERROR("Invalid argument (number invalid or out of range)");
+    return;
+  }
+
+  if (!OpenShock::EStopManager::SetEStopPin(estopPin)) {
+    SERPR_ERROR("Failed to set EStop pin");
+    return;
+  }
+
+  if (!OpenShock::Config::SetEStopGpioPin(estopPin)) {
+    SERPR_ERROR("Failed to save config");
+    return;
+  }
+
+  SERPR_SUCCESS("Saved config");
+}
+
+OpenShock::Serial::CommandGroup OpenShock::Serial::CommandHandlers::EStopHandler()
+{
+  auto group = OpenShock::Serial::CommandGroup("estop"sv);
+
+  auto& getEnabledCommand = group.addCommand("enabled"sv, "Get the E-Stop enabled state."sv, _handleEStopEnabledCommand);
+  auto& setEnabledCommand = group.addCommand("enabled"sv, "Set the E-Stop enabled state."sv, _handleEStopEnabledCommand);
+  setEnabledCommand.addArgument("enabled"sv, "must be a boolean"sv, "true"sv);
+
+  auto& getPinCommand = group.addCommand("pin"sv, "Get the GPIO pin used for the E-Stop."sv, _handleEStopPinCommand);
+  auto& setPinCommand = group.addCommand("pin"sv, "Set the GPIO pin used for the E-Stop."sv, _handleEStopPinCommand);
+  setPinCommand.addArgument("pin"sv, "must be a number"sv, "4"sv);
+
+  return group;
+}