ControlScreen.cpp

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 #include "libs/Kernel.h"
00009 #include "libs/SerialMessage.h"
00010 #include "Panel.h"
00011 #include "PanelScreen.h"
00012 #include "MainMenuScreen.h"
00013 #include "ControlScreen.h"
00014 #include "libs/nuts_bolts.h"
00015 #include "libs/utils.h"
00016 #include <string>
00017 #include "modules/robot/RobotPublicAccess.h"
00018 using namespace std;
00019 
00020 ControlScreen::ControlScreen()
00021 {
00022     this->control_mode = NULL_CONTROL_MODE;
00023 }
00024 
00025 void ControlScreen::on_enter()
00026 {
00027     this->panel->enter_menu_mode();
00028     this->panel->setup_menu(4);
00029     get_current_pos(this->pos);
00030     this->refresh_menu();
00031     this->pos_changed = false;
00032 }
00033 
00034 // called in on_idle()
00035 void ControlScreen::on_refresh()
00036 {
00037     if ( this->panel->menu_change() ) {
00038         this->refresh_menu();
00039     }
00040 
00041     if (this->control_mode == AXIS_CONTROL_MODE) {
00042 
00043         if ( this->panel->click() ) {
00044             this->enter_menu_control();
00045             this->refresh_menu();
00046 
00047         } else if (this->panel->control_value_change()) {
00048             this->pos[this->controlled_axis - 'X'] = this->panel->get_control_value();
00049             this->panel->lcd->setCursor(0, 2);
00050             this->display_axis_line(this->controlled_axis);
00051             this->pos_changed = true; // make the gcode in main_loop
00052         }
00053 
00054     } else {
00055         if ( this->panel->click() ) {
00056             this->clicked_menu_entry(this->panel->get_menu_current_line());
00057         }
00058     }
00059 }
00060 
00061 // queuing gcodes needs to be done from main loop
00062 void ControlScreen::on_main_loop()
00063 {
00064     // change actual axis value
00065     if (!this->pos_changed) return;
00066     this->pos_changed = false;
00067 
00068     set_current_pos(this->controlled_axis, this->pos[this->controlled_axis - 'X']);
00069 }
00070 
00071 void ControlScreen::display_menu_line(uint16_t line)
00072 {
00073     // in menu mode
00074     switch ( line ) {
00075         case 0: this->panel->lcd->printf("Back");  break;
00076         case 1: this->display_axis_line('X'); break;
00077         case 2: this->display_axis_line('Y'); break;
00078         case 3: this->display_axis_line('Z'); break;
00079     }
00080 }
00081 
00082 void ControlScreen::display_axis_line(char axis)
00083 {
00084     this->panel->lcd->printf("Move %c    %8.3f", axis, this->pos[axis - 'X']);
00085 }
00086 
00087 
00088 void ControlScreen::clicked_menu_entry(uint16_t line)
00089 {
00090     switch ( line ) {
00091         case 0: this->panel->enter_screen(this->parent   ); break;
00092         case 1: this->enter_axis_control('X'); break;
00093         case 2: this->enter_axis_control('Y'); break;
00094         case 3: this->enter_axis_control('Z'); break;
00095     }
00096 }
00097 
00098 void ControlScreen::enter_axis_control(char axis)
00099 {
00100     this->control_mode = AXIS_CONTROL_MODE;
00101     this->controlled_axis = axis;
00102     this->panel->enter_control_mode(this->jog_increment, this->jog_increment / 10);
00103     this->panel->set_control_value(this->pos[axis - 'X']);
00104     this->panel->lcd->clear();
00105     this->panel->lcd->setCursor(0, 2);
00106     this->display_axis_line(this->controlled_axis);
00107 }
00108 
00109 void ControlScreen::enter_menu_control()
00110 {
00111     this->control_mode = NULL_CONTROL_MODE;
00112     this->panel->enter_menu_mode();
00113 }
00114 
00115 void ControlScreen::get_current_pos(float *cp)
00116 {
00117     void *returned_data;
00118 
00119     bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
00120     if (ok) {
00121         float *p = static_cast<float *>(returned_data);
00122         cp[0] = p[0];
00123         cp[1] = p[1];
00124         cp[2] = p[2];
00125     }
00126 }
00127 
00128 void ControlScreen::set_current_pos(char axis, float p)
00129 {
00130     // change pos by issuing a G0 Xnnn
00131     char buf[32];
00132     int n = snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(panel->get_jogging_speed(axis)));
00133     string g(buf, n);
00134     send_gcode(g);
00135 }