#include "WatchScreen.h"
#include "libs/nuts_bolts.h"
#include "libs/utils.h"
-#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
#include "Robot.h"
#include "modules/robot/Conveyor.h"
#include "modules/utils/player/PlayerPublicAccess.h"
#include "PublicData.h"
#include "SwitchPublicAccess.h"
#include "checksumm.h"
-#include "TemperatureControlPool.h"
-
+#include "StepperMotor.h"
+#include "BaseSolution.h"
#include <math.h>
#include <string.h>
void WatchScreen::on_enter()
{
THEPANEL->lcd->clear();
- THEPANEL->setup_menu(4);
+ THEPANEL->setup_menu(7);
get_current_status();
- get_current_pos(this->pos);
+ get_wpos();
get_sd_play_info();
this->current_speed = lroundf(get_current_speed());
this->refresh_screen(false);
THEPANEL->enter_control_mode(1, 0.5);
THEPANEL->set_control_value(this->current_speed);
-
- // enumerate temperature controls
- temp_controllers.clear();
- std::vector<struct pad_temperature> controllers;
- bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
- if (ok) {
- for (auto &c : controllers) {
- temp_controllers.push_back(c.id);
- }
- }
-}
-
-static struct pad_temperature getTemperatures(uint16_t heater_cs)
-{
- struct pad_temperature temp;
- PublicData::get_value( temperature_control_checksum, current_temperature_checksum, heater_cs, &temp );
- return temp;
}
void WatchScreen::on_refresh()
update_counts++;
if ( update_counts % 20 == 0 ) {
get_sd_play_info();
- get_current_pos(this->pos);
+ get_wpos();
get_current_status();
if (this->speed_changed) {
this->issue_change_speed = true; // trigger actual command to change speed
}
this->refresh_screen(THEPANEL->lcd->hasGraphics() ? true : false); // graphics screens should be cleared
-
- // for LCDs with leds set them according to heater status
- bool bed_on= false, hotend_on= false, is_hot= false;
- uint8_t heon=0, hemsk= 0x01; // bit set for which hotend is on bit0: hotend1, bit1: hotend2 etc
- for(auto id : temp_controllers) {
- struct pad_temperature c= getTemperatures(id);
- if(c.current_temperature > 50) is_hot= true; // anything is hot
- if(c.designator.front() == 'B' && c.target_temperature > 0) bed_on= true; // bed on/off
- if(c.designator.front() == 'T') { // a hotend by convention
- if(c.target_temperature > 0){
- hotend_on= true;// hotend on/off (anyone)
- heon |= hemsk;
- }
- hemsk <<= 1;
- }
- }
-
- THEPANEL->lcd->setLed(LED_BED_ON, bed_on);
- THEPANEL->lcd->setLed(LED_HOTEND_ON, hotend_on);
- THEPANEL->lcd->setLed(LED_HOT, is_hot);
-
- THEPANEL->lcd->setLed(LED_FAN_ON, this->fan_state);
-
- if (THEPANEL->lcd->hasGraphics()) {
- // display the graphical icons below the status are
- // for (int i = 0; i < 5; ++i) {
- // THEPANEL->lcd->bltGlyph(i*24, 42, 16, 16, icons, 15, i*24, 0);
- // }
- if(heon&0x01) THEPANEL->lcd->bltGlyph(0, 42, 16, 16, icons, 2, 0, 0);
- if(heon&0x02) THEPANEL->lcd->bltGlyph(27, 42, 16, 16, icons, 2, 0, 16);
- if(heon&0x04) THEPANEL->lcd->bltGlyph(55, 42, 16, 16, icons, 2, 0, 32);
-
- if (bed_on)
- THEPANEL->lcd->bltGlyph(83, 42, 16, 16, icons, 2, 0, 48);
-
- if(this->fan_state)
- THEPANEL->lcd->bltGlyph(111, 42, 16, 16, icons, 2, 0, 64);
- }
}
}
+void WatchScreen::get_wpos()
+{
+ // get real time positions
+ // current actuator position in mm
+ ActuatorCoordinates current_position{
+ THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
+ THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
+ };
+
+ // get machine position from the actuator position using FK
+ float mpos[3];
+ THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, mpos);
+ Robot::wcs_t wpos= THEKERNEL->robot->mcs2wcs(mpos);
+ this->wpos[0]= THEKERNEL->robot->from_millimeters(std::get<X_AXIS>(wpos));
+ this->wpos[1]= THEKERNEL->robot->from_millimeters(std::get<Y_AXIS>(wpos));
+ this->wpos[2]= THEKERNEL->robot->from_millimeters(std::get<Z_AXIS>(wpos));
+ this->mpos[0]= THEKERNEL->robot->from_millimeters(mpos[0]);
+ this->mpos[1]= THEKERNEL->robot->from_millimeters(mpos[1]);
+ this->mpos[2]= THEKERNEL->robot->from_millimeters(mpos[2]);
+}
+
// queuing gcodes needs to be done from main loop
void WatchScreen::on_main_loop()
{
// fetch the data we are displaying
void WatchScreen::get_current_status()
{
- // get fan status
+ // get spindle status
struct pad_switch s;
bool ok = PublicData::get_value( switch_checksum, fan_checksum, 0, &s );
if (ok) {
- this->fan_state = s.state;
+ this->spindle_state = s.state;
} else {
- // fan probably disabled
- this->fan_state = false;
+ // spindle probably disabled
+ this->spindle_state = false;
}
}
{
// in menu mode
switch ( line ) {
- case 0:
- {
- auto& tm= this->temp_controllers;
- if(tm.size() > 0) {
- // only if we detected heaters in config
- int n= 0;
- if(tm.size() > 2) {
- // more than two temps we need to cycle between them
- n= update_counts/100; // increments every 5 seconds
- int ntemps= (tm.size()+1)/2;
- n= n%ntemps; // which of the pairs of temps to display
- }
-
- int off= 0;
- for (size_t i = 0; i < 2; ++i) {
- size_t o= i+(n*2);
- if(o>tm.size()-1) break;
- struct pad_temperature temp= getTemperatures(tm[o]);
- int t= std::min(999, (int)roundf(temp.current_temperature));
- int tt= roundf(temp.target_temperature);
- THEPANEL->lcd->setCursor(off, 0); // col, row
- off += THEPANEL->lcd->printf("%s:%03d/%03d ", temp.designator.substr(0, 2).c_str(), t, tt);
- }
-
- }else{
- //THEPANEL->lcd->printf("No Heaters");
- }
- break;
- }
- case 1: THEPANEL->lcd->printf("X%4d Y%4d Z%7.2f", (int)round(this->pos[0]), (int)round(this->pos[1]), this->pos[2]); break;
- case 2: THEPANEL->lcd->printf("%3d%% %2lu:%02lu %3u%% sd", this->current_speed, this->elapsed_time / 60, this->elapsed_time % 60, this->sd_pcnt_played); break;
- case 3: THEPANEL->lcd->printf("%19s", this->get_status()); break;
+ case 0: THEPANEL->lcd->printf(" WCS MCS "); break;
+ case 1: THEPANEL->lcd->printf("X %8.3f %8.3f", wpos[0], mpos[0]); break;
+ case 2: THEPANEL->lcd->printf("Y %8.3f %8.3f", wpos[1], mpos[1]); break;
+ case 3: THEPANEL->lcd->printf("Z %8.3f %8.3f", wpos[2], mpos[2]); break;
+ case 4: THEPANEL->lcd->printf("%3d%% %2lu:%02lu %3u%% sd", this->current_speed, this->elapsed_time / 60, this->elapsed_time % 60, this->sd_pcnt_played); break;
+ case 5: THEPANEL->lcd->printf("%19s", this->get_status()); break;
}
}
return THEPANEL->getMessage().c_str();
if (THEKERNEL->is_halted())
- return "HALTED Reset or M999";
+ return "ALARM";
if (THEPANEL->is_suspended())
return "Suspended";
return THEPANEL->get_playing_file();
if (!THEKERNEL->conveyor->is_queue_empty())
- return "Printing";
+ return "Running";
const char *ip = get_network();
if (ip == NULL) {
- return "Smoothie ready";
+ return "Idle";
} else {
return ip;
}
HCoop / clinton / Smoothieware.git / blobdiff