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     this->switch_changed = false;
  29
  30     register_for_event(ON_CONFIG_RELOAD);
  31     this->register_for_event(ON_GCODE_RECEIVED);
  32     this->register_for_event(ON_GCODE_EXECUTE);
  33     this->register_for_event(ON_MAIN_LOOP);
  34
  35     // Settings
  36     this->on_config_reload(this);
  37
  38     // input pin polling
  39     THEKERNEL->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
  40
  41     // PWM
  42     THEKERNEL->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
  43 }
  44
  45
  46 // Get config
  47 void Switch::on_config_reload(void* argument){
  48     this->input_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_checksum    )->by_default("nc")->as_string())->as_input();
  49     this->input_pin_behavior     = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum     )->by_default(momentary_checksum)->as_number();
  50     this->input_on_command     = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_on_command_checksum     )->by_default("")->as_string();
  51     this->input_off_command    = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_off_command_checksum    )->by_default("")->as_string();
  52     this->output_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, output_pin_checksum    )->by_default("nc")->as_string())->as_output();
  53     this->output_on_command     = THEKERNEL->config->value(switch_checksum, this->name_checksum, output_on_command_checksum     )->by_default("")->as_string();
  54     this->output_off_command    = THEKERNEL->config->value(switch_checksum, this->name_checksum, output_off_command_checksum    )->by_default("")->as_string();
  55     this->switch_state         = THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
  56     this->switch_value         = THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_value_checksum )->by_default(this->output_pin.max_pwm())->as_number();
  57     if(this->switch_state)
  58         this->output_pin.set(this->switch_value);
  59     else
  60         this->output_pin.set(0);
  61
  62     set_low_on_debug(output_pin.port_number, output_pin.pin);
  63 }
  64
  65
  66 void Switch::on_gcode_received(void* argument){
  67     Gcode* gcode = static_cast<Gcode*>(argument);
  68     // Add the gcode to the queue ourselves if we need it
  69     if (( input_on_command.length() > 0 && ! gcode->command.compare(0, input_on_command.length(), input_on_command) ) ||
  70         ( input_off_command.length() > 0 && ! gcode->command.compare(0, input_off_command.length(), input_off_command) ) )
  71     {
  72         THEKERNEL->conveyor->append_gcode(gcode);
  73     }
  74 }
  75
  76 // Turn pin on and off
  77 void Switch::on_gcode_execute(void* argument){
  78     Gcode* gcode = static_cast<Gcode*>(argument);
  79     if(! gcode->command.compare(0, input_on_command.length(), input_on_command)){
  80         if (gcode->has_letter('S'))
  81         {
  82             int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
  83             if (v) {
  84                 this->output_pin.pwm(v);
  85                 this->switch_value = v;
  86                 this->switch_state = true;
  87             }
  88             else {
  89                 this->output_pin.set(0);
  90                 this->switch_state = false;
  91             }
  92         }
  93         else
  94         {
  95             // Turn pin on
  96             this->output_pin.pwm(this->switch_value);
  97             this->switch_state = true;
  98         }
  99     }
 100     else if(! gcode->command.compare(0, input_off_command.length(), input_off_command)){
 101         // Turn pin off
 102         this->output_pin.set(0);
 103         this->switch_state = false;
 104     }
 105 }
 106
 107 void Switch::on_main_loop(void* argument){
 108     if(this->switch_changed){
 109         if(this->switch_state){
 110             this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
 111             this->output_pin.pwm(this->switch_value);
 112         }else{
 113             this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
 114             this->output_pin.set(0);
 115         }
 116         this->switch_changed=false;
 117     }
 118 }
 119
 120 //TODO: Make this use InterruptIn
 121 //Check the state of the button and act accordingly
 122 uint32_t Switch::pinpoll_tick(uint32_t dummy){
 123     // If pin changed
 124     bool current_state = this->input_pin.get();
 125     if(this->input_pin_state != current_state){
 126         this->input_pin_state = current_state;
 127         // If pin high
 128         if( this->input_pin_state ){
 129             // if switch is a toggle switch
 130             if( this->input_pin_behavior == toggle_checksum ){
 131                 this->flip();
 132             // else default is momentary
 133             }
 134             else{
 135                 this->flip();
 136             }
 137         // else if button released
 138         }else{
 139             // if switch is momentary
 140             if( !this->input_pin_behavior == toggle_checksum ){
 141                 this->flip();
 142             }
 143         }
 144     }
 145     return 0;
 146 }
 147
 148 void Switch::flip(){
 149     this->switch_state = !this->switch_state;
 150     this->switch_changed = true;
 151 }
 152
 153 void Switch::send_gcode(std::string msg, StreamOutput* stream) {
 154     struct SerialMessage message;
 155     message.message = msg;
 156     message.stream = stream;
 157     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
 158 }
 159