remove unsupported touchprobe module, has been archived in branch archive/touchprobe

this has not been compiled in a year or more and it out of date.

diff --git a/src/modules/tools/touchprobe/Touchprobe.cpp b/src/modules/tools/touchprobe/Touchprobe.cpp
deleted file mode 100644 (file)
index 830a112..0000000
--- a/src/modules/tools/touchprobe/Touchprobe.cpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
-      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
-      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.
-      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.
-      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "Touchprobe.h"
-
-#include "BaseSolution.h"
-
-#define touchprobe_enable_checksum           CHECKSUM("touchprobe_enable")
-#define touchprobe_log_enable_checksum       CHECKSUM("touchprobe_log_enable")
-#define touchprobe_logfile_name_checksum     CHECKSUM("touchprobe_logfile_name")
-#define touchprobe_log_rotate_mcode_checksum CHECKSUM("touchprobe_log_rotate_mcode")
-#define touchprobe_pin_checksum              CHECKSUM("touchprobe_pin")
-#define touchprobe_debounce_count_checksum   CHECKSUM("touchprobe_debounce_count")
-
-#define touchprobe_enable_checksum           CHECKSUM("touchprobe_enable")
-#define touchprobe_log_enable_checksum       CHECKSUM("touchprobe_log_enable")
-#define touchprobe_logfile_name_checksum     CHECKSUM("touchprobe_logfile_name")
-#define touchprobe_log_rotate_mcode_checksum CHECKSUM("touchprobe_log_rotate_mcode")
-#define touchprobe_pin_checksum              CHECKSUM("touchprobe_pin")
-#define touchprobe_debounce_count_checksum   CHECKSUM("touchprobe_debounce_count")
-
-
-void Touchprobe::on_module_loaded() {
-    // if the module is disabled -> do nothing
-    this->enabled = THEKERNEL->config->value( touchprobe_enable_checksum )->by_default(false)->as_bool();
-    if( !(this->enabled) ){
-        // as this module is not needed free up the resource
-        delete this;
-        return;
-    }
-    this->probe_rate = 5;
-    // load settings
-    this->on_config_reload(this);
-    // register event-handlers
-    register_for_event(ON_CONFIG_RELOAD);
-    register_for_event(ON_GCODE_RECEIVED);
-    register_for_event(ON_IDLE);
-}
-
-void Touchprobe::on_config_reload(void* argument){
-    if (THEKERNEL->robot->actuators.size() > 3) {
-        THEKERNEL->streams->printf("Touchpprobe in use withmore than 3 motors - may need port\n");
-    }
-    this->pin.from_string(  THEKERNEL->config->value(touchprobe_pin_checksum)->by_default("nc" )->as_string())->as_input();
-    this->debounce_count =  THEKERNEL->config->value(touchprobe_debounce_count_checksum)->by_default(100  )->as_number();
-
-    this->steppers[0] = THEKERNEL->robot->actuators[0];
-    this->steppers[1] = THEKERNEL->robot->actuators[1];
-    this->steppers[2] = THEKERNEL->robot->actuators[2];
-
-    this->should_log = this->enabled = THEKERNEL->config->value( touchprobe_log_enable_checksum )->by_default(false)->as_bool();
-    if( this->should_log){
-        this->filename = THEKERNEL->config->value(touchprobe_logfile_name_checksum)->by_default("/sd/probe_log.csv")->as_string();
-        this->mcode = THEKERNEL->config->value(touchprobe_log_rotate_mcode_checksum)->by_default(0)->as_int();
-        this->logfile = NULL;
-    }
-}
-
-void Touchprobe::wait_for_touch(int distance[]){
-    unsigned int debounce = 0;
-    while(true){
-        THEKERNEL->call_event(ON_IDLE);
-        // if no stepper is moving, moves are finished and there was no touch
-        if( ((this->steppers[0]->moving ? 0:1 ) + (this->steppers[1]->moving ? 0:1 ) + (this->steppers[2]->moving ? 0:1 )) == 3 ){
-            return;
-        }
-        // if the touchprobe is active...
-        if( this->pin.get() ){
-            //...increase debounce counter...
-            if( debounce < debounce_count) {
-                // ...but only if the counter hasn't reached the max. value
-                debounce++;
-            } else {
-                // ...otherwise stop the steppers, return its remaining steps
-                for( int i=0; i<3; i++ ){
-                    distance[i] = 0;
-                    if ( this->steppers[i]->moving ){
-                        distance[i] =  this->steppers[i]->stepped;
-                        distance[i] *= this->steppers[i]->direction ? -1 : 1;
-                        this->steppers[i]->move(0,0);
-                    }
-                }
-                return;
-            }
-        }else{
-            // The probe was not hit yet, reset debounce counter
-            debounce = 0;
-        }
-    }
-}
-
-
-void Touchprobe::flush_log(){
-    //FIXME *sigh* fflush doesn't work as expected, see: http://mbed.org/forum/mbed/topic/3234/ or http://mbed.org/search/?type=&q=fflush
-    //fflush(logfile);
-    fclose(logfile);
-    //can't reopen the file here -> crash
-    logfile = NULL;
-}
-// Workaround for the close<->reopen crash, which itself is a workaround for wrong (or unimplemented) fflush behaviour
-void Touchprobe::on_idle(void* argument){
-    if( this->logfile == NULL) {
-        // NOTE: File creation is buggy, a file may appear but writing to it will fail
-        this->logfile = fopen( filename.c_str(), "a");
-    }
-}
-
-void Touchprobe::on_gcode_received(void* argument)
-{
-    Gcode* gcode = static_cast<Gcode*>(argument);
-    Robot* robot = THEKERNEL->robot;
-
-    if( gcode->has_g) {
-        if( gcode->g == 31 ) {
-            float tmp[3], pos[3];
-            ActuatorCoordinates mm;
-            int steps[3];
-            // first wait for an empty queue i.e. no moves left
-            THEKERNEL->conveyor->wait_for_empty_queue();
-
-            robot->get_axis_position(pos);
-            for(char c = 'X'; c <= 'Z'; c++){
-                if( gcode->has_letter(c) ){
-                    tmp[c-'X'] = robot->to_millimeters(gcode->get_value(c)) - ( robot->absolute_mode ? pos[c-'X'] : 0 );
-                }else{
-                    tmp[c-'X'] = 0;
-                }
-            }
-            if( gcode->has_letter('F') )            {
-                this->probe_rate = robot->to_millimeters( gcode->get_value('F') ) / robot->seconds_per_minute;
-            }
-            robot->arm_solution->cartesian_to_actuator(tmp, mm);
-            for (int c = 0; c < 3; c++)
-                steps[c] = mm[c] * robot->actuators[c]->steps_per_mm;
-
-            if( ((abs(steps[0]) > 0 ? 1:0) + (abs(steps[1]) > 0 ? 1:0) + (abs(steps[2]) > 0 ? 1:0)) != 1 ){
-                return; //TODO coordinated movement not supported yet
-            }
-
-            // Enable the motors
-            THEKERNEL->stepper->turn_enable_pins_on();
-            // move
-            for(char c='X'; c<='Z'; c++){
-                tmp[c - 'X'] = robot->actuators[c - 'X']->steps_per_mm;
-                if( steps[c-'X'] == 0 ){
-                    continue;
-                }
-                bool dir = steps[c-'X'] < 0;
-                // tmp is steps/mm, probe_rate in mm/s -> speed needs steps/s
-                this->steppers[c-'X']->set_speed(this->probe_rate * robot->actuators[c]->steps_per_mm);
-                this->steppers[c-'X']->move(dir,abs(steps[c-'X']));
-            }
-
-            wait_for_touch(steps);
-            // calculate new position
-            for(char c='X'; c<='Z'; c++){
-                robot->reset_axis_position(pos[c-'X'] + mm[c-'X'], c-'X');
-            }
-
-            if( this->should_log ){
-                robot->get_axis_position(pos);
-                fprintf(logfile,"%1.3f %1.3f %1.3f\n", robot->from_millimeters(pos[0]), robot->from_millimeters(pos[1]), robot->from_millimeters(pos[2]) );
-                flush_log();
-            }
-        }
-    }else if(gcode->has_m) {
-        // log rotation
-        // for now this only writes a separator
-        // TODO do a actual log rotation
-        if( this->mcode != 0 && this->should_log && gcode->m == this->mcode){
-            string name;
-            fputs("--\n",logfile);
-            flush_log();
-        }
-    }
-}
-

diff --git a/src/modules/tools/touchprobe/Touchprobe.h b/src/modules/tools/touchprobe/Touchprobe.h
deleted file mode 100644 (file)
index 4fc1f1d..0000000
--- a/src/modules/tools/touchprobe/Touchprobe.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
-      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.
-      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.
-      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef TOUCHPROBE_H_
-#define TOUCHPROBE_H_
-
-#include "libs/Module.h"
-
-class Touchprobe: public Module {
-    private:
-        void wait_for_touch(int distance[]);
-        void flush_log();
-
-        FILE*          logfile;
-        string         filename;
-        StepperMotor*  steppers[3];
-        Pin            pin;
-        unsigned int   debounce_count;
-
-    public:
-        void on_module_loaded();
-        void on_config_reload(void* argument);
-        void on_gcode_received(void* argument);
-        void on_idle(void* argument);
-
-        float         probe_rate;
-        unsigned int   mcode;
-        bool           enabled;
-        bool           should_log;
-};
-
-#endif /* TOUCHPROBE_H_ */