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 using namespace std;
  19
  20 #define JOGGING_SPEED_MM_MIN 1200
  21
  22 ControlScreen::ControlScreen(){
  23     this->control_mode = NULL_CONTROL_MODE;
  24 }
  25
  26 void ControlScreen::on_enter(){
  27     this->panel->enter_menu_mode();
  28     this->panel->setup_menu(4);
  29     get_current_pos(this->pos);
  30     this->refresh_menu();
  31     this->pos_changed= false;
  32 }
  33
  34 // called in on_idle()
  35 void ControlScreen::on_refresh(){
  36     if( this->panel->menu_change() ){
  37         this->refresh_menu();
  38     }
  39
  40     if(this->control_mode == AXIS_CONTROL_MODE) {
  41
  42         if( this->panel->click() ){
  43             this->enter_menu_control();
  44             this->refresh_menu();
  45
  46         }else if(this->panel->control_value_change()) {
  47             this->pos[this->controlled_axis-'X'] = this->panel->get_control_value();
  48             this->panel->lcd->setCursor(0,2);
  49             this->display_axis_line(this->controlled_axis);
  50             this->pos_changed= true; // make the gcode in main_loop
  51         }
  52
  53     }else{
  54         if( this->panel->click() ){
  55             this->clicked_menu_entry(this->panel->menu_current_line());
  56         }
  57     }
  58 }
  59
  60 // queuing gcodes needs to be done from main loop
  61 void ControlScreen::on_main_loop() {
  62     // change actual axis value
  63     if(!this->pos_changed) return;
  64     this->pos_changed= false;
  65
  66     set_current_pos(this->controlled_axis, this->pos[this->controlled_axis-'X']);
  67 }
  68
  69 void ControlScreen::display_menu_line(uint16_t line){
  70     // in menu mode
  71     switch( line ){
  72         case 0: this->panel->lcd->printf("Back");  break;
  73         case 1: this->display_axis_line('X'); break;
  74         case 2: this->display_axis_line('Y'); break;
  75         case 3: this->display_axis_line('Z'); break;
  76     }
  77 }
  78
  79 void ControlScreen::display_axis_line(char axis){
  80     this->panel->lcd->printf("Move %c    %8.3f", axis, this->pos[axis-'X']);
  81 }
  82
  83
  84 void ControlScreen::clicked_menu_entry(uint16_t line){
  85     switch( line ){
  86         case 0: this->panel->enter_screen(this->parent   ); break;
  87         case 1: this->enter_axis_control('X'); break;
  88         case 2: this->enter_axis_control('Y'); break;
  89         case 3: this->enter_axis_control('Z'); break;
  90     }
  91 }
  92
  93 void ControlScreen::enter_axis_control(char axis){
  94     this->control_mode = AXIS_CONTROL_MODE;
  95     this->controlled_axis = axis;
  96     this->panel->enter_control_mode(this->jog_increment, this->jog_increment/10);
  97     this->panel->set_control_value(this->pos[axis-'X']);
  98     this->panel->lcd->clear();
  99     this->panel->lcd->setCursor(0,2);
 100     this->display_axis_line(this->controlled_axis);
 101 }
 102
 103 void ControlScreen::enter_menu_control(){
 104     this->control_mode = NULL_CONTROL_MODE;
 105     this->panel->enter_menu_mode();
 106 }
 107
 108
 109 void ControlScreen::get_current_pos(double *cp){
 110     void *returned_data;
 111
 112     bool ok= THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 113     if(ok) {
 114         double *p= static_cast<double *>(returned_data);
 115         cp[0]= p[0];
 116         cp[1]= p[1];
 117         cp[2]= p[2];
 118     }
 119 }
 120 void ControlScreen::set_current_pos(char axis, double p){
 121     // change pos by issuing a G0 Xnnn
 122     char buf[32];
 123     int n= snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(panel->get_jogging_speed(axis)));
 124     string g(buf, n);
 125     send_gcode(g);
 126 }
 127
 128 void ControlScreen::send_gcode(std::string g) {
 129     Gcode gcode(g, &(StreamOutput::NullStream));
 130     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode );
 131 }
 132