#include "libs/Module.h"
#include "libs/Kernel.h"
+#include "libs/SerialMessage.h"
#include <math.h>
#include "Switch.h"
#include "libs/Pin.h"
+#include "modules/robot/Conveyor.h"
#include "MRI_Hooks.h"
Switch::Switch(uint16_t name){
this->name_checksum = name;
+ //this->dummy_stream = &(StreamOutput::NullStream);
}
void Switch::on_module_loaded(){
+ this->input_pin_state = true;
+ this->switch_state = true;
+ this->switch_changed = false;
+
register_for_event(ON_CONFIG_RELOAD);
+ this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GCODE_EXECUTE);
+ this->register_for_event(ON_MAIN_LOOP);
// Settings
this->on_config_reload(this);
+ // input pin polling
+ THEKERNEL->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
+
// PWM
- this->kernel->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
+ THEKERNEL->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
}
// Get config
void Switch::on_config_reload(void* argument){
- this->on_m_code = this->kernel->config->value(switch_checksum, this->name_checksum, on_m_code_checksum )->required()->as_number();
- this->off_m_code = this->kernel->config->value(switch_checksum, this->name_checksum, off_m_code_checksum )->required()->as_number();
- this->output_pin.from_string(this->kernel->config->value(switch_checksum, this->name_checksum, output_pin_checksum )->required()->as_string())->as_output();
- this->output_pin.set(this->kernel->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(0)->as_number() );
+ this->input_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_checksum )->by_default("nc")->as_string())->as_input();
+ this->input_pin_behavior = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum )->by_default(momentary_checksum)->as_number();
+ this->input_on_command = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_on_command_checksum )->by_default("")->as_string();
+ this->input_off_command = THEKERNEL->config->value(switch_checksum, this->name_checksum, input_off_command_checksum )->by_default("")->as_string();
+ this->output_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, output_pin_checksum )->by_default("nc")->as_string())->as_output();
+ this->output_on_command = THEKERNEL->config->value(switch_checksum, this->name_checksum, output_on_command_checksum )->by_default("")->as_string();
+ this->output_off_command = THEKERNEL->config->value(switch_checksum, this->name_checksum, output_off_command_checksum )->by_default("")->as_string();
+ this->switch_state = THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
+ this->switch_value = THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_value_checksum )->by_default(this->output_pin.max_pwm())->as_number();
+ if(this->switch_state)
+ this->output_pin.set(this->switch_value);
+ else
+ this->output_pin.set(0);
set_low_on_debug(output_pin.port_number, output_pin.pin);
}
+
+void Switch::on_gcode_received(void* argument){
+ Gcode* gcode = static_cast<Gcode*>(argument);
+ // Add the gcode to the queue ourselves if we need it
+ if (( input_on_command.length() > 0 && ! gcode->command.compare(0, input_on_command.length(), input_on_command) ) ||
+ ( input_off_command.length() > 0 && ! gcode->command.compare(0, input_off_command.length(), input_off_command) ) )
+ {
+ THEKERNEL->conveyor->append_gcode(gcode);
+ }
+}
+
// Turn pin on and off
void Switch::on_gcode_execute(void* argument){
Gcode* gcode = static_cast<Gcode*>(argument);
- if( gcode->has_m){
- int code = gcode->m;
- if( code == this->on_m_code ){
- if (gcode->has_letter('S'))
- {
- int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
- if (v)
- this->output_pin.pwm(v);
- else
- this->output_pin.set(0);
+ if(! gcode->command.compare(0, input_on_command.length(), input_on_command)){
+ if (gcode->has_letter('S'))
+ {
+ int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
+ if (v) {
+ this->output_pin.pwm(v);
+ this->switch_value = v;
+ this->switch_state = true;
}
- else
- {
- // Turn pin on
- this->output_pin.set(1);
+ else {
+ this->output_pin.set(0);
+ this->switch_state = false;
}
}
- if( code == this->off_m_code ){
- // Turn pin off
+ else
+ {
+ // Turn pin on
+ this->output_pin.pwm(this->switch_value);
+ this->switch_state = true;
+ }
+ }
+ else if(! gcode->command.compare(0, input_off_command.length(), input_off_command)){
+ // Turn pin off
+ this->output_pin.set(0);
+ this->switch_state = false;
+ }
+}
+
+void Switch::on_main_loop(void* argument){
+ if(this->switch_changed){
+ if(this->switch_state){
+ this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
+ this->output_pin.pwm(this->switch_value);
+ }else{
+ this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
this->output_pin.set(0);
}
+ this->switch_changed=false;
}
}
+
+//TODO: Make this use InterruptIn
+//Check the state of the button and act accordingly
+uint32_t Switch::pinpoll_tick(uint32_t dummy){
+ // If pin changed
+ bool current_state = this->input_pin.get();
+ if(this->input_pin_state != current_state){
+ this->input_pin_state = current_state;
+ // If pin high
+ if( this->input_pin_state ){
+ // if switch is a toggle switch
+ if( this->input_pin_behavior == toggle_checksum ){
+ this->flip();
+ // else default is momentary
+ }
+ else{
+ this->flip();
+ }
+ // else if button released
+ }else{
+ // if switch is momentary
+ if( !this->input_pin_behavior == toggle_checksum ){
+ this->flip();
+ }
+ }
+ }
+ return 0;
+}
+
+void Switch::flip(){
+ this->switch_state = !this->switch_state;
+ this->switch_changed = true;
+}
+
+void Switch::send_gcode(std::string msg, StreamOutput* stream) {
+ struct SerialMessage message;
+ message.message = msg;
+ message.stream = stream;
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+}
+
HCoop / clinton / Smoothieware.git / blobdiff