src/modules/utils/panel/screens/ControlScreen.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/Kernel.h"
   9 #include "libs/SerialMessage.h"
  10 #include "Panel.h"
  11 #include "PanelScreen.h"
  12 #include "MainMenuScreen.h"
  13 #include "ControlScreen.h"
  14 #include "libs/nuts_bolts.h"
  15 #include "libs/utils.h"
  16 #include <string>
  17 #include "modules/robot/RobotPublicAccess.h"
  18 #include "PublicData.h"
  19 #include "checksumm.h"
  20
  21 #include <math.h>
  22
  23 using namespace std;
  24
  25 #define NULL_CONTROL_MODE        0
  26 #define AXIS_CONTROL_MODE        1
  27 #define INCREMENT_SELECTION_MODE 2
  28
  29 ControlScreen::ControlScreen()
  30 {
  31     this->control_mode = NULL_CONTROL_MODE;
  32 }
  33
  34 void ControlScreen::on_enter()
  35 {
  36     THEPANEL->enter_menu_mode();
  37     THEPANEL->setup_menu(4);
  38     get_current_pos(this->pos);
  39     this->refresh_menu();
  40     this->pos_changed = false;
  41 }
  42
  43 // called in on_idle()
  44 void ControlScreen::on_refresh()
  45 {
  46     if ( THEPANEL->menu_change() ) {
  47         this->refresh_menu();
  48     }
  49
  50     if (this->control_mode == AXIS_CONTROL_MODE) {
  51
  52         if ( THEPANEL->click() ) {
  53             this->enter_menu_control();
  54             this->refresh_menu();
  55
  56         } else if (THEPANEL->control_value_change()) {
  57             this->pos[this->controlled_axis - 'X'] = THEPANEL->get_control_value();
  58             THEPANEL->lcd->setCursor(0, 2);
  59             this->display_axis_line(this->controlled_axis);
  60             this->pos_changed = true; // make the gcode in main_loop
  61         }
  62
  63     } else {
  64         if ( THEPANEL->click() ) {
  65             this->clicked_menu_entry(THEPANEL->get_menu_current_line());
  66         }
  67     }
  68 }
  69
  70 // queuing gcodes needs to be done from main loop
  71 void ControlScreen::on_main_loop()
  72 {
  73     // change actual axis value
  74     if (!this->pos_changed) return;
  75     this->pos_changed = false;
  76
  77     set_current_pos(this->controlled_axis, this->pos[this->controlled_axis - 'X']);
  78 }
  79
  80 void ControlScreen::display_menu_line(uint16_t line)
  81 {
  82     // in menu mode
  83     switch ( line ) {
  84         case 0: THEPANEL->lcd->printf("Back");  break;
  85         case 1: this->display_axis_line('X'); break;
  86         case 2: this->display_axis_line('Y'); break;
  87         case 3: this->display_axis_line('Z'); break;
  88     }
  89 }
  90
  91 void ControlScreen::display_axis_line(char axis)
  92 {
  93     THEPANEL->lcd->printf("Move %c    %8.3f", axis, this->pos[axis - 'X']);
  94 }
  95
  96
  97 void ControlScreen::clicked_menu_entry(uint16_t line)
  98 {
  99     switch ( line ) {
 100         case 0: THEPANEL->enter_screen(this->parent   ); break;
 101         case 1: this->enter_axis_control('X'); break;
 102         case 2: this->enter_axis_control('Y'); break;
 103         case 3: this->enter_axis_control('Z'); break;
 104     }
 105 }
 106
 107 void ControlScreen::enter_axis_control(char axis)
 108 {
 109     this->control_mode = AXIS_CONTROL_MODE;
 110     this->controlled_axis = axis;
 111     THEPANEL->enter_control_mode(this->jog_increment, this->jog_increment / 10);
 112     THEPANEL->set_control_value(this->pos[axis - 'X']);
 113     THEPANEL->lcd->clear();
 114     THEPANEL->lcd->setCursor(0, 2);
 115     this->display_axis_line(this->controlled_axis);
 116 }
 117
 118 void ControlScreen::enter_menu_control()
 119 {
 120     this->control_mode = NULL_CONTROL_MODE;
 121     THEPANEL->enter_menu_mode();
 122 }
 123
 124 void ControlScreen::get_current_pos(float *cp)
 125 {
 126     void *returned_data;
 127
 128     bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 129     if (ok) {
 130         float *p = static_cast<float *>(returned_data);
 131         cp[0] = p[0];
 132         cp[1] = p[1];
 133         cp[2] = p[2];
 134     }
 135 }
 136
 137 void ControlScreen::set_current_pos(char axis, float p)
 138 {
 139     // change pos by issuing a G0 Xnnn
 140     char buf[32];
 141     int n = snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(THEPANEL->get_jogging_speed(axis)));
 142     string g(buf, n);
 143     send_gcode(g);
 144 }