src/modules/tools/switch/Switch.cpp

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Module.h"
   9 #include "libs/Kernel.h"
  10 #include "libs/SerialMessage.h"
  11 #include <math.h>
  12 #include "Switch.h"
  13 #include "libs/Pin.h"
  14 #include "modules/robot/Conveyor.h"
  15 #include "PublicDataRequest.h"
  16 #include "SwitchPublicAccess.h"
  17 #include "SlowTicker.h"
  18 #include "Config.h"
  19 #include "Gcode.h"
  20 #include "checksumm.h"
  21 #include "ConfigValue.h"
  22 #include "libs/StreamOutput.h"
  23
  24 #include "MRI_Hooks.h"
  25
  26 #define    startup_state_checksum       CHECKSUM("startup_state")
  27 #define    startup_value_checksum       CHECKSUM("startup_value")
  28 #define    input_pin_checksum           CHECKSUM("input_pin")
  29 #define    input_pin_behavior_checksum  CHECKSUM("input_pin_behavior")
  30 #define    toggle_checksum              CHECKSUM("toggle")
  31 #define    momentary_checksum           CHECKSUM("momentary")
  32 #define    input_on_command_checksum    CHECKSUM("input_on_command")
  33 #define    input_off_command_checksum   CHECKSUM("input_off_command")
  34 #define    output_pin_checksum          CHECKSUM("output_pin")
  35 #define    output_type_checksum         CHECKSUM("output_type")
  36 #define    max_pwm_checksum             CHECKSUM("max_pwm")
  37 #define    output_on_command_checksum   CHECKSUM("output_on_command")
  38 #define    output_off_command_checksum  CHECKSUM("output_off_command")
  39
  40 Switch::Switch() {}
  41
  42 Switch::Switch(uint16_t name)
  43 {
  44     this->name_checksum = name;
  45     //this->dummy_stream = &(StreamOutput::NullStream);
  46 }
  47
  48 void Switch::on_module_loaded()
  49 {
  50     this->switch_changed = false;
  51
  52     this->register_for_event(ON_GCODE_RECEIVED);
  53     this->register_for_event(ON_GCODE_EXECUTE);
  54     this->register_for_event(ON_MAIN_LOOP);
  55     this->register_for_event(ON_GET_PUBLIC_DATA);
  56     this->register_for_event(ON_SET_PUBLIC_DATA);
  57
  58     // Settings
  59     this->on_config_reload(this);
  60 }
  61
  62
  63 // Get config
  64 void Switch::on_config_reload(void *argument)
  65 {
  66     this->input_pin.from_string( THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_checksum )->by_default("nc")->as_string())->as_input();
  67     this->input_pin_behavior =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum )->by_default(momentary_checksum)->as_number();
  68     std::string input_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, input_on_command_checksum )->by_default("")->as_string();
  69     std::string input_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_off_command_checksum )->by_default("")->as_string();
  70     this->output_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, output_pin_checksum )->by_default("nc")->as_string())->as_output();
  71     this->output_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, output_on_command_checksum )->by_default("")->as_string();
  72     this->output_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, output_off_command_checksum )->by_default("")->as_string();
  73     this->switch_state =         THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
  74     string type =                THEKERNEL->config->value(switch_checksum, this->name_checksum, output_type_checksum )->by_default("pwm")->as_string();
  75
  76     if(type == "pwm") this->output_type= PWM;
  77     else if(type == "digital") this->output_type= DIGITAL;
  78     else this->output_type= PWM; // unkown type default to pwm
  79
  80     if(this->output_pin.connected()) {
  81         if(this->output_type == PWM) {
  82             this->output_pin.max_pwm(THEKERNEL->config->value(switch_checksum, this->name_checksum, max_pwm_checksum )->by_default(255)->as_number());
  83             this->switch_value = THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_value_checksum )->by_default(this->output_pin.max_pwm())->as_number();
  84             if(this->switch_state) {
  85                 this->output_pin.pwm(this->switch_value); // will be truncated to max_pwm
  86             } else {
  87                 this->output_pin.set(false);
  88             }
  89         } else {
  90             this->output_pin.set(this->switch_state);
  91         }
  92     }
  93
  94     set_low_on_debug(output_pin.port_number, output_pin.pin);
  95
  96     // Set the on/off command codes, Use GCode to do the parsing
  97     input_on_command_letter = 0;
  98     input_off_command_letter = 0;
  99
 100     if(!input_on_command.empty()) {
 101         Gcode gc(input_on_command, NULL);
 102         if(gc.has_g) {
 103             input_on_command_letter = 'G';
 104             input_on_command_code = gc.g;
 105         } else if(gc.has_m) {
 106             input_on_command_letter = 'M';
 107             input_on_command_code = gc.m;
 108         }
 109     }
 110     if(!input_off_command.empty()) {
 111         Gcode gc(input_off_command, NULL);
 112         if(gc.has_g) {
 113             input_off_command_letter = 'G';
 114             input_off_command_code = gc.g;
 115         } else if(gc.has_m) {
 116             input_off_command_letter = 'M';
 117             input_off_command_code = gc.m;
 118         }
 119     }
 120
 121     if(input_pin.connected()) {
 122         // set to initial state
 123         this->input_pin_state = this->input_pin.get();
 124         // input pin polling
 125         THEKERNEL->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
 126     }
 127
 128     if(this->output_type == PWM && this->output_pin.connected()) {
 129         // PWM
 130         THEKERNEL->slow_ticker->attach(1000, &this->output_pin, &Pwm::on_tick);
 131     }
 132 }
 133
 134 bool Switch::match_input_on_gcode(const Gcode *gcode) const
 135 {
 136     return ((input_on_command_letter == 'M' && gcode->has_m && gcode->m == input_on_command_code) ||
 137             (input_on_command_letter == 'G' && gcode->has_g && gcode->g == input_on_command_code));
 138 }
 139
 140 bool Switch::match_input_off_gcode(const Gcode *gcode) const
 141 {
 142     return ((input_off_command_letter == 'M' && gcode->has_m && gcode->m == input_off_command_code) ||
 143             (input_off_command_letter == 'G' && gcode->has_g && gcode->g == input_off_command_code));
 144 }
 145
 146 void Switch::on_gcode_received(void *argument)
 147 {
 148     Gcode *gcode = static_cast<Gcode *>(argument);
 149     // Add the gcode to the queue ourselves if we need it
 150     if (match_input_on_gcode(gcode) || match_input_off_gcode(gcode)) {
 151         THEKERNEL->conveyor->append_gcode(gcode);
 152     }
 153 }
 154
 155 // Turn pin on and off
 156 void Switch::on_gcode_execute(void *argument)
 157 {
 158     Gcode *gcode = static_cast<Gcode *>(argument);
 159
 160     if(match_input_on_gcode(gcode)) {
 161         int v;
 162         if (this->output_type == PWM) {
 163             // PWM output pin turn on (or off if S0)
 164             if(gcode->has_letter('S')) {
 165                 v = round(gcode->get_value('S') * output_pin.max_pwm() / 255.0); // scale by max_pwm so input of 255 and max_pwm of 128 would set value to 128
 166                 this->output_pin.pwm(v);
 167                 this->switch_state= (v > 0);
 168             } else {
 169                 this->output_pin.pwm(this->switch_value);
 170                 this->switch_state= (this->switch_value > 0);
 171             }
 172         } else {
 173             // logic pin turn on
 174             this->output_pin.set(true);
 175             this->switch_state = true;
 176         }
 177     } else if(match_input_off_gcode(gcode)) {
 178         this->switch_state = false;
 179         if (this->output_type == PWM) {
 180             // PWM output pin
 181             this->output_pin.set(false);
 182         } else {
 183             // logic pin turn off
 184             this->output_pin.set(false);
 185         }
 186     }
 187 }
 188
 189 void Switch::on_get_public_data(void *argument)
 190 {
 191     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 192
 193     if(!pdr->starts_with(switch_checksum)) return;
 194
 195     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
 196
 197     // ok this is targeted at us, so send back the requested data
 198     // this must be static as it will be accessed long after we have returned
 199     static struct pad_switch pad;
 200     pad.name = this->name_checksum;
 201     pad.state = this->switch_state;
 202     pad.value = this->switch_value;
 203
 204     pdr->set_data_ptr(&pad);
 205     pdr->set_taken();
 206 }
 207
 208 void Switch::on_set_public_data(void *argument)
 209 {
 210     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 211
 212     if(!pdr->starts_with(switch_checksum)) return;
 213
 214     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
 215
 216     // ok this is targeted at us, so set the value
 217     if(pdr->third_element_is(state_checksum)) {
 218         bool t = *static_cast<bool *>(pdr->get_data_ptr());
 219         this->switch_state = t;
 220         pdr->set_taken();
 221         this->switch_changed= true;
 222
 223     } else if(pdr->third_element_is(value_checksum)) {
 224         float t = *static_cast<float *>(pdr->get_data_ptr());
 225         this->switch_value = t;
 226         this->switch_changed= true;
 227         pdr->set_taken();
 228     }
 229 }
 230
 231 void Switch::on_main_loop(void *argument)
 232 {
 233     if(this->switch_changed) {
 234         if(this->switch_state) {
 235             if(!this->output_on_command.empty()) this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
 236             if(this->output_pin.connected()) {
 237                 if(this->output_type == PWM)
 238                     this->output_pin.pwm(this->switch_value); // this requires the value has been set otherwise it switches on to whatever it last was
 239                 else
 240                     this->output_pin.set(true);
 241             }
 242
 243         } else {
 244             if(!this->output_off_command.empty()) this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
 245             if(this->output_pin.connected()) {
 246                 if(this->output_type == PWM)
 247                     this->output_pin.set(false);
 248                 else
 249                     this->output_pin.set(false);
 250             }
 251         }
 252         this->switch_changed = false;
 253     }
 254 }
 255
 256 // TODO Make this use InterruptIn
 257 // Check the state of the button and act accordingly
 258 uint32_t Switch::pinpoll_tick(uint32_t dummy)
 259 {
 260     if(!input_pin.connected()) return 0;
 261
 262     // If pin changed
 263     bool current_state = this->input_pin.get();
 264     if(this->input_pin_state != current_state) {
 265         this->input_pin_state = current_state;
 266         // If pin high
 267         if( this->input_pin_state ) {
 268             // if switch is a toggle switch
 269             if( this->input_pin_behavior == toggle_checksum ) {
 270                 this->flip();
 271                 // else default is momentary
 272             } else {
 273                 this->flip();
 274             }
 275             // else if button released
 276         } else {
 277             // if switch is momentary
 278             if( this->input_pin_behavior == momentary_checksum ) {
 279                 this->flip();
 280             }
 281         }
 282     }
 283     return 0;
 284 }
 285
 286 void Switch::flip()
 287 {
 288     this->switch_state = !this->switch_state;
 289     this->switch_changed = true;
 290 }
 291
 292 void Switch::send_gcode(std::string msg, StreamOutput *stream)
 293 {
 294     struct SerialMessage message;
 295     message.message = msg;
 296     message.stream = stream;
 297     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 298 }
 299