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
  16 #include "MRI_Hooks.h"
  17
  18 Switch::Switch(){}
  19
  20 Switch::Switch(uint16_t name){
  21     this->name_checksum = name;
  22     //this->dummy_stream = &(StreamOutput::NullStream);
  23 }
  24
  25 void Switch::on_module_loaded(){
  26     this->input_pin_state = true;
  27     this->switch_state = true;
  28
  29     register_for_event(ON_CONFIG_RELOAD);
  30     this->register_for_event(ON_GCODE_RECEIVED);
  31     this->register_for_event(ON_GCODE_EXECUTE);
  32
  33     // Settings
  34     this->on_config_reload(this);
  35
  36     // input pin polling
  37     this->kernel->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
  38
  39     // PWM
  40     this->kernel->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
  41 }
  42
  43
  44 // Get config
  45 void Switch::on_config_reload(void* argument){
  46     this->input_pin.from_string(this->kernel->config->value(switch_checksum, this->name_checksum, input_pin_checksum    )->by_default("nc")->as_string())->as_input();
  47     this->input_pin_behavior     = this->kernel->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum     )->by_default(momentary_checksum)->as_number();
  48     this->input_on_command     = this->kernel->config->value(switch_checksum, this->name_checksum, input_on_command_checksum     )->by_default("")->as_string();
  49     this->input_off_command    = this->kernel->config->value(switch_checksum, this->name_checksum, input_off_command_checksum    )->by_default("")->as_string();
  50     this->switch_state         = this->kernel->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
  51     this->output_pin.from_string(this->kernel->config->value(switch_checksum, this->name_checksum, output_pin_checksum    )->by_default("nc")->as_string())->as_output();
  52     this->output_pin.set(this->kernel->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(0)->as_number() );
  53     this->output_on_command     = this->kernel->config->value(switch_checksum, this->name_checksum, output_on_command_checksum     )->by_default("")->as_string();
  54     this->output_off_command    = this->kernel->config->value(switch_checksum, this->name_checksum, output_off_command_checksum    )->by_default("")->as_string();
  55
  56     set_low_on_debug(output_pin.port_number, output_pin.pin);
  57 }
  58
  59
  60 void Switch::on_gcode_received(void* argument){
  61     Gcode* gcode = static_cast<Gcode*>(argument);
  62     // Add the gcode to the queue ourselves if we need it
  63     if( ( input_on_command.length() > 0 && gcode->command.compare(0, input_on_command.length(), input_on_command) )
  64         || ( input_off_command.length() > 0 && gcode->command.compare(0, input_off_command.length(), input_off_command) ) ){
  65         gcode->mark_as_taken();
  66         if( this->kernel->conveyor->queue.size() == 0 ){
  67             this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
  68         }else{
  69             Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
  70             block->append_gcode(gcode);
  71         }
  72     }
  73 }
  74
  75 // Turn pin on and off
  76 void Switch::on_gcode_execute(void* argument){
  77     Gcode* gcode = static_cast<Gcode*>(argument);
  78     if(gcode->command.compare(0, input_on_command.length(), input_on_command)){
  79         if (gcode->has_letter('S'))
  80         {
  81             int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
  82             if (v)
  83                 this->output_pin.pwm(v);
  84             else
  85                 this->output_pin.set(0);
  86         }
  87         else
  88         {
  89             // Turn pin on
  90             this->output_pin.set(1);
  91         }
  92     }
  93     else if(gcode->command.compare(0, input_off_command.length(), input_off_command)){
  94         // Turn pin off
  95         this->output_pin.set(0);
  96     }
  97 }
  98
  99 //TODO: Make this use InterruptIn
 100 //Check the state of the button and act accordingly
 101 uint32_t Switch::pinpoll_tick(uint32_t dummy){
 102     // If pin changed
 103     if(this->input_pin_state != this->input_pin.get()){
 104         this->input_pin_state = this->input_pin.get();
 105         // If pin high
 106         if( this->input_pin_state ){
 107             // if switch is a toggle switch
 108             if( this->input_pin_behavior == toggle_checksum ){
 109                 this->flip();
 110             // else default is momentary
 111             }
 112             else{
 113                 this->flip();
 114             }
 115         // else if button released
 116         }else{
 117             // if switch is momentary
 118             if( !this->input_pin_behavior == toggle_checksum ){
 119                 this->flip();
 120             }
 121         }
 122     }
 123     return 0;
 124 }
 125
 126 void Switch::flip(){
 127     this->switch_state = !this->switch_state;
 128     if( this->switch_state ){
 129         this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
 130     }else{
 131         this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
 132     }
 133 }
 134
 135 void Switch::send_gcode(std::string msg, StreamOutput* stream) {
 136     struct SerialMessage message;
 137     message.message = msg;
 138     message.stream = stream;
 139     this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 140 }
 141