Switch.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/Module.h"
00009 #include "libs/Kernel.h"
00010 #include "libs/SerialMessage.h"
00011 #include <math.h>
00012 #include "Switch.h"
00013 #include "libs/Pin.h"
00014 #include "modules/robot/Conveyor.h"
00015 #include "PublicDataRequest.h"
00016 #include "SwitchPublicAccess.h"
00017 
00018 
00019 #include "MRI_Hooks.h"
00020 
00021 #define    startup_state_checksum       CHECKSUM("startup_state")
00022 #define    startup_value_checksum       CHECKSUM("startup_value")
00023 #define    input_pin_checksum           CHECKSUM("input_pin")
00024 #define    input_pin_behavior_checksum  CHECKSUM("input_pin_behavior")
00025 #define    toggle_checksum              CHECKSUM("toggle")
00026 #define    momentary_checksum           CHECKSUM("momentary")
00027 #define    input_on_command_checksum    CHECKSUM("input_on_command")
00028 #define    input_off_command_checksum   CHECKSUM("input_off_command")
00029 #define    output_pin_checksum          CHECKSUM("output_pin")
00030 #define    output_on_command_checksum   CHECKSUM("output_on_command")
00031 #define    output_off_command_checksum  CHECKSUM("output_off_command")
00032 
00033 Switch::Switch(){}
00034 
00035 Switch::Switch(uint16_t name){
00036     this->name_checksum = name;
00037     //this->dummy_stream = &(StreamOutput::NullStream);
00038 }
00039 
00040 void Switch::on_module_loaded(){
00041     this->input_pin_state = true;
00042     this->switch_state = true;
00043     this->switch_changed = false;
00044 
00045     register_for_event(ON_CONFIG_RELOAD);
00046     this->register_for_event(ON_GCODE_RECEIVED);
00047     this->register_for_event(ON_GCODE_EXECUTE);
00048     this->register_for_event(ON_MAIN_LOOP);
00049     this->register_for_event(ON_GET_PUBLIC_DATA);
00050     this->register_for_event(ON_SET_PUBLIC_DATA);
00051 
00052     // Settings
00053     this->on_config_reload(this);
00054 
00055     // input pin polling
00056     THEKERNEL->slow_ticker->attach( 100, this, &Switch::pinpoll_tick);
00057 
00058     // PWM
00059     THEKERNEL->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
00060 }
00061 
00062 
00063 // Get config
00064 void Switch::on_config_reload(void* argument){
00065     this->input_pin.from_string( THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_checksum )->by_default("nc")->as_string())->as_input();
00066     this->input_pin_behavior =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_pin_behavior_checksum )->by_default(momentary_checksum)->as_number();
00067     std::string input_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, input_on_command_checksum )->by_default("")->as_string();
00068     std::string input_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, input_off_command_checksum )->by_default("")->as_string();
00069     this->output_pin.from_string(THEKERNEL->config->value(switch_checksum, this->name_checksum, output_pin_checksum )->by_default("nc")->as_string())->as_output();
00070     this->output_on_command =    THEKERNEL->config->value(switch_checksum, this->name_checksum, output_on_command_checksum )->by_default("")->as_string();
00071     this->output_off_command =   THEKERNEL->config->value(switch_checksum, this->name_checksum, output_off_command_checksum )->by_default("")->as_string();
00072     this->switch_state =         THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(false)->as_bool();
00073     this->switch_value =         THEKERNEL->config->value(switch_checksum, this->name_checksum, startup_value_checksum )->by_default(this->output_pin.max_pwm())->as_number();
00074     if(this->switch_state)
00075         this->output_pin.set(this->switch_value);
00076     else
00077         this->output_pin.set(0);
00078 
00079     set_low_on_debug(output_pin.port_number, output_pin.pin);
00080 
00081     // Set the on/off command codes, Use GCode to do the parsing
00082     input_on_command_letter= 0;
00083     input_off_command_letter= 0;
00084 
00085     if(!input_on_command.empty()) {
00086         Gcode gc(input_on_command, NULL);
00087         if(gc.has_g){
00088             input_on_command_letter= 'G';
00089             input_on_command_code= gc.g;
00090         } else if(gc.has_m) {
00091             input_on_command_letter= 'M';
00092             input_on_command_code= gc.m;
00093         }
00094     }
00095     if(!input_off_command.empty()) {
00096         Gcode gc(input_off_command, NULL);
00097         if(gc.has_g){
00098             input_off_command_letter= 'G';
00099             input_off_command_code= gc.g;
00100         } else if(gc.has_m) {
00101             input_off_command_letter= 'M';
00102             input_off_command_code= gc.m;
00103         }
00104     }
00105 
00106 }
00107 
00108 bool Switch::match_input_gcode(const Gcode* gcode) const {
00109     return ((input_on_command_letter  == 'M' && gcode->has_m && gcode->m == input_on_command_code) ||
00110            (input_on_command_letter  == 'G' && gcode->has_g && gcode->g == input_on_command_code));
00111 }
00112 
00113 bool Switch::match_output_gcode(const Gcode* gcode) const {
00114     return ((input_off_command_letter == 'M' && gcode->has_m && gcode->m == input_off_command_code) ||
00115             (input_off_command_letter == 'G' && gcode->has_g && gcode->g == input_off_command_code));
00116 }
00117 
00118 void Switch::on_gcode_received(void* argument){
00119     Gcode* gcode = static_cast<Gcode*>(argument);
00120     // Add the gcode to the queue ourselves if we need it
00121     if (match_input_gcode(gcode) || match_output_gcode(gcode)) {
00122         THEKERNEL->conveyor->append_gcode(gcode);
00123     }
00124 }
00125 
00126 // Turn pin on and off
00127 void Switch::on_gcode_execute(void* argument){
00128     Gcode* gcode = static_cast<Gcode*>(argument);
00129 
00130     if(match_input_gcode(gcode)) {
00131         if (gcode->has_letter('S'))
00132         {
00133             int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
00134             if (v) {
00135                 this->output_pin.pwm(v);
00136                 this->switch_value = v;
00137                 this->switch_state = true;
00138             }
00139             else {
00140                 this->output_pin.set(0);
00141                 this->switch_state = false;
00142             }
00143 
00144         } else {
00145             // Turn pin on
00146             this->output_pin.pwm(this->switch_value);
00147             this->switch_state = true;
00148         }
00149 
00150     } else if(match_output_gcode(gcode)) {
00151         // Turn pin off
00152         this->output_pin.set(0);
00153         this->switch_state = false;
00154     }
00155 }
00156 
00157 void Switch::on_get_public_data(void* argument){
00158     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
00159 
00160     if(!pdr->starts_with(switch_checksum)) return;
00161 
00162     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
00163 
00164     // ok this is targeted at us, so send back the requested data
00165     // this must be static as it will be accessed long after we have returned
00166     static struct pad_switch pad;
00167     pad.name= this->name_checksum;
00168     pad.state= this->switch_state;
00169     pad.value= this->switch_value;
00170 
00171     pdr->set_data_ptr(&pad);
00172     pdr->set_taken();
00173 }
00174 
00175 void Switch::on_set_public_data(void* argument){
00176     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
00177 
00178     if(!pdr->starts_with(switch_checksum)) return;
00179 
00180     if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
00181 
00182     // ok this is targeted at us, so set the value
00183     if(pdr->third_element_is(state_checksum)) {
00184         bool t= *static_cast<bool*>(pdr->get_data_ptr());
00185         this->switch_state = t;
00186         pdr->set_taken();
00187     }
00188     else if(pdr->third_element_is(value_checksum)) {
00189         float t= *static_cast<float*>(pdr->get_data_ptr());
00190         this->switch_value = t;
00191         pdr->set_taken();
00192     }
00193 }
00194 
00195 void Switch::on_main_loop(void* argument){
00196     if(this->switch_changed){
00197         if(this->switch_state){
00198             this->send_gcode( this->output_on_command, &(StreamOutput::NullStream) );
00199             this->output_pin.pwm(this->switch_value);
00200         }else{
00201             this->send_gcode( this->output_off_command, &(StreamOutput::NullStream) );
00202             this->output_pin.set(0);
00203         }
00204         this->switch_changed=false;
00205     }
00206 }
00207 
00208 //TODO: Make this use InterruptIn
00209 //Check the state of the button and act accordingly
00210 uint32_t Switch::pinpoll_tick(uint32_t dummy){
00211     // If pin changed
00212     bool current_state = this->input_pin.get();
00213     if(this->input_pin_state != current_state){
00214         this->input_pin_state = current_state;
00215         // If pin high
00216         if( this->input_pin_state ){
00217             // if switch is a toggle switch
00218             if( this->input_pin_behavior == toggle_checksum ){
00219                 this->flip();
00220             // else default is momentary
00221             }
00222             else{
00223                 this->flip();
00224             }
00225         // else if button released
00226         }else{
00227             // if switch is momentary
00228             if( !this->input_pin_behavior == toggle_checksum ){
00229                 this->flip();
00230             }
00231         }
00232     }
00233     return 0;
00234 }
00235 
00236 void Switch::flip(){
00237     this->switch_state = !this->switch_state;
00238     this->switch_changed = true;
00239 }
00240 
00241 void Switch::send_gcode(std::string msg, StreamOutput* stream) {
00242     struct SerialMessage message;
00243     message.message = msg;
00244     message.stream = stream;
00245     THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
00246 }
00247