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
  18
  19 #include "MRI_Hooks.h"
  20
  21 #define    startup_state_checksum       CHECKSUM("startup_state")
  22 #define    startup_value_checksum       CHECKSUM("startup_value")
  23 #define    input_pin_checksum           CHECKSUM("input_pin")
  24 #define    input_pin_behavior_checksum  CHECKSUM("input_pin_behavior")
  25 #define    toggle_checksum              CHECKSUM("toggle")
  26 #define    momentary_checksum           CHECKSUM("momentary")
  27 #define    input_on_command_checksum    CHECKSUM("input_on_command")
  28 #define    input_off_command_checksum   CHECKSUM("input_off_command")
  29 #define    output_pin_checksum          CHECKSUM("output_pin")
  30 #define    output_on_command_checksum   CHECKSUM("output_on_command")
  31 #define    output_off_command_checksum  CHECKSUM("output_off_command")
  32
  33 Switch::Switch(){}
  34
  35 Switch::Switch(uint16_t name){
  36     this->name_checksum = name;
  37     //this->dummy_stream = &(StreamOutput::NullStream);
  38 }
  39
  40 void Switch::on_module_loaded(){
  41     this->input_pin_state = true;
  42     this->switch_state = true;
  43     this->switch_changed = false;
  44
  45     register_for_event(ON_CONFIG_RELOAD);
  46     this->register_for_event(ON_GCODE_RECEIVED);
  47     this->register_for_event(ON_GCODE_EXECUTE);
  48     this->register_for_event(ON_MAIN_LOOP);
  49     this->register_for_event(ON_GET_PUBLIC_DATA);
  50     this->register_for_event(ON_SET_PUBLIC_DATA);
  51
  52     // Settings
  53     this->on_config_reload(this);
  54
  55     // input pin polling
  56     THEKERNEL->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
  57
  58     // PWM
  59     THEKERNEL->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
  60 }
  61
  62
  63 // Get config
  64 void Switch::on_config_reload(void* argument){
  65     this->input_pin.from_string( THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_checksum )->by_default("nc")->as_string())->as_input();
  66     this->input_pin_behavior =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum )->by_default(momentary_checksum)->as_number();
  67     std::string input_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, input_on_command_checksum )->by_default("")->as_string();
  68     std::string input_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_off_command_checksum )->by_default("")->as_string();
  69     this->output_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, output_pin_checksum )->by_default("nc")->as_string())->as_output();
  70     this->output_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, output_on_command_checksum )->by_default("")->as_string();
  71     this->output_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, output_off_command_checksum )->by_default("")->as_string();
  72     this->switch_state =         THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
  73     this->switch_value =         THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_value_checksum )->by_default(this->output_pin.max_pwm())->as_number();
  74     if(this->switch_state)
  75         this->output_pin.set(this->switch_value);
  76     else
  77         this->output_pin.set(0);
  78
  79     set_low_on_debug(output_pin.port_number, output_pin.pin);
  80
  81     // Set the on/off command codes, Use GCode to do the parsing
  82     input_on_command_letter= 0;
  83     input_off_command_letter= 0;
  84
  85     if(!input_on_command.empty()) {
  86         Gcode gc(input_on_command, NULL);
  87         if(gc.has_g){
  88             input_on_command_letter= 'G';
  89             input_on_command_code= gc.g;
  90         } else if(gc.has_m) {
  91             input_on_command_letter= 'M';
  92             input_on_command_code= gc.m;
  93         }
  94     }
  95     if(!input_off_command.empty()) {
  96         Gcode gc(input_off_command, NULL);
  97         if(gc.has_g){
  98             input_off_command_letter= 'G';
  99             input_off_command_code= gc.g;
 100         } else if(gc.has_m) {
 101             input_off_command_letter= 'M';
 102             input_off_command_code= gc.m;
 103         }
 104     }
 105
 106 }
 107
 108 bool Switch::match_input_gcode(const Gcode* gcode) const {
 109     return ((input_on_command_letter  == 'M' && gcode->has_m && gcode->m == input_on_command_code) ||
 110            (input_on_command_letter  == 'G' && gcode->has_g && gcode->g == input_on_command_code));
 111 }
 112
 113 bool Switch::match_output_gcode(const Gcode* gcode) const {
 114     return ((input_off_command_letter == 'M' && gcode->has_m && gcode->m == input_off_command_code) ||
 115             (input_off_command_letter == 'G' && gcode->has_g && gcode->g == input_off_command_code));
 116 }
 117
 118 void Switch::on_gcode_received(void* argument){
 119     Gcode* gcode = static_cast<Gcode*>(argument);
 120     // Add the gcode to the queue ourselves if we need it
 121     if (match_input_gcode(gcode) || match_output_gcode(gcode)) {
 122         THEKERNEL->conveyor->append_gcode(gcode);
 123     }
 124 }
 125
 126 // Turn pin on and off
 127 void Switch::on_gcode_execute(void* argument){
 128     Gcode* gcode = static_cast<Gcode*>(argument);
 129
 130     if(match_input_gcode(gcode)) {
 131         if (gcode->has_letter('S'))
 132         {
 133             int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
 134             if (v) {
 135                 this->output_pin.pwm(v);
 136                 this->switch_value = v;
 137                 this->switch_state = true;
 138             }
 139             else {
 140                 this->output_pin.set(0);
 141                 this->switch_state = false;
 142             }
 143
 144         } else {
 145             // Turn pin on
 146             this->output_pin.pwm(this->switch_value);
 147             this->switch_state = true;
 148         }
 149
 150     } else if(match_output_gcode(gcode)) {
 151         // Turn pin off
 152         this->output_pin.set(0);
 153         this->switch_state = false;
 154     }
 155 }
 156
 157 void Switch::on_get_public_data(void* argument){
 158     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 159
 160     if(!pdr->starts_with(switch_checksum)) return;
 161
 162     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
 163
 164     // ok this is targeted at us, so send back the requested data
 165     // this must be static as it will be accessed long after we have returned
 166     static struct pad_switch pad;
 167     pad.name= this->name_checksum;
 168     pad.state= this->switch_state;
 169     pad.value= this->switch_value;
 170
 171     pdr->set_data_ptr(&pad);
 172     pdr->set_taken();
 173 }
 174
 175 void Switch::on_set_public_data(void* argument){
 176     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 177
 178     if(!pdr->starts_with(switch_checksum)) return;
 179
 180     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
 181
 182     // ok this is targeted at us, so set the value
 183     if(pdr->third_element_is(state_checksum)) {
 184         bool t= *static_cast<bool*>(pdr->get_data_ptr());
 185         this->switch_state = t;
 186         pdr->set_taken();
 187     }
 188     else if(pdr->third_element_is(value_checksum)) {
 189         float t= *static_cast<float*>(pdr->get_data_ptr());
 190         this->switch_value = t;
 191         pdr->set_taken();
 192     }
 193 }
 194
 195 void Switch::on_main_loop(void* argument){
 196     if(this->switch_changed){
 197         if(this->switch_state){
 198             this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
 199             this->output_pin.pwm(this->switch_value);
 200         }else{
 201             this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
 202             this->output_pin.set(0);
 203         }
 204         this->switch_changed=false;
 205     }
 206 }
 207
 208 //TODO: Make this use InterruptIn
 209 //Check the state of the button and act accordingly
 210 uint32_t Switch::pinpoll_tick(uint32_t dummy){
 211     // If pin changed
 212     bool current_state = this->input_pin.get();
 213     if(this->input_pin_state != current_state){
 214         this->input_pin_state = current_state;
 215         // If pin high
 216         if( this->input_pin_state ){
 217             // if switch is a toggle switch
 218             if( this->input_pin_behavior == toggle_checksum ){
 219                 this->flip();
 220             // else default is momentary
 221             }
 222             else{
 223                 this->flip();
 224             }
 225         // else if button released
 226         }else{
 227             // if switch is momentary
 228             if( !this->input_pin_behavior == toggle_checksum ){
 229                 this->flip();
 230             }
 231         }
 232     }
 233     return 0;
 234 }
 235
 236 void Switch::flip(){
 237     this->switch_state = !this->switch_state;
 238     this->switch_changed = true;
 239 }
 240
 241 void Switch::send_gcode(std::string msg, StreamOutput* stream) {
 242     struct SerialMessage message;
 243     message.message = msg;
 244     message.stream = stream;
 245     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 246 }
 247