stepus53/EggbotWireless
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move command execution out of main.cpp

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This commit is contained in:
Stepan Usatiuk
2019-07-22 11:51:24 +03:00
parent 86e5584641
commit e641afeac8
6 changed files with 120 additions and 89 deletions
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22
Firmware/EggbotWireless/include/Executor.h Normal file
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@@ -0,0 +1,22 @@
#ifndef EXECUTOR_H
#define EXECUTOR_H
#include <Arduino.h>
#include <Wire.h>
#include "common/Commands.h"
class Executor
{
private:
/* data */
public:
Executor(/* args */);
void execCommand(Command command);
I2CStatusMsg status();
};
#endif

2
Firmware/EggbotWireless/include/Globals.h
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@@ -3,7 +3,9 @@
#include <Arduino.h>
#include "Power.h"
#include "Executor.h"
Power power;
Executor executor;
#endif // GLOBALS_H

76
Firmware/EggbotWireless/src/Executor.cpp Normal file
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@@ -0,0 +1,76 @@
#include "Executor.h"
Executor::Executor() {}
void Executor::execCommand(Command command) {
if (command.type != CommandType::unk) {
Wire.beginTransmission(8);
byte buffer[7][sizeof(float)];
command.toBytes(buffer[0]);
for (int i = 0; i < 7; i++) {
/*
float dbg;
bytesToFloat(&dbg, buffer[i]);
Serial.println(dbg);
*/
Wire.write(buffer[i], sizeof(float));
}
Wire.endTransmission();
} else {
Serial.println("OK");
return;
}
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
return;
}
if (command.type == CommandType::M99) {
Wire.requestFrom(8, 5 * sizeof(float));
float resp[5];
byte buffer[sizeof(float)];
for (int i = 0; i < 5; i++) {
for (unsigned int j = 0; j < sizeof(float); j++) {
while (!Wire.available()) {
}
buffer[j] = Wire.read();
}
bytesToFloat(&resp[i], buffer);
}
Serial.println("Status:");
Serial.print("X: ");
Serial.println(resp[servoRot]);
Serial.print("Y: ");
Serial.println(resp[eggRot]);
Serial.print("Xmm: ");
Serial.println(resp[servoPos]);
Serial.print("Ymm: ");
Serial.println(resp[eggPos]);
Serial.print("PEN: ");
Serial.println(resp[penPos]);
return;
}
}
I2CStatusMsg Executor::status() {
unsigned long reqTime = millis();
Wire.requestFrom(8, 1);
while (!Wire.available()) {
if (millis() - reqTime > 100) {
Wire.requestFrom(8, 1);
reqTime = millis();
}
}
int resp = Wire.read();
return static_cast<I2CStatusMsg>(resp);
}

90
Firmware/EggbotWireless/src/main.cpp
View File

@@ -2,73 +2,12 @@
#include <ESP8266WiFi.h>
#include <Ticker.h>
#include <Wire.h>
#include "GCodeParser.h"
#include "Globals.h"
#include "Power.h"
#include "GCodeParser.h"
#include "common/Commands.h"
String inString;
bool waitingForNext = false;
void execCommand(Command command) {
if (command.type != CommandType::unk) {
Wire.beginTransmission(8);
byte buffer[7][sizeof(float)];
command.toBytes(buffer[0]);
for (int i = 0; i < 7; i++) {
/*
float dbg;
bytesToFloat(&dbg, buffer[i]);
Serial.println(dbg);
*/
Wire.write(buffer[i], sizeof(float));
}
Wire.endTransmission();
} else {
Serial.println("OK");
return;
}
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
Wire.requestFrom(8, 1);
waitingForNext = true;
return;
}
if (command.type == CommandType::M99) {
Wire.requestFrom(8, 5 * sizeof(float));
float resp[5];
byte buffer[sizeof(float)];
for (int i = 0; i < 5; i++) {
for (int j = 0; j < sizeof(float); j++) {
while (!Wire.available()) {
}
buffer[j] = Wire.read();
}
bytesToFloat(&resp[i], buffer);
}
Serial.println("Status:");
Serial.print("X: ");
Serial.println(resp[servoRot]);
Serial.print("Y: ");
Serial.println(resp[eggRot]);
Serial.print("Xmm: ");
Serial.println(resp[servoPos]);
Serial.print("Ymm: ");
Serial.println(resp[eggPos]);
Serial.print("PEN: ");
Serial.println(resp[penPos]);
return;
}
}
void setup() {
Serial.begin(115200);
@@ -80,7 +19,7 @@ unsigned long commandTime = 0;
constexpr unsigned long commandTimeout = 20000;
void loop() {
if(millis() - commandTime > commandTimeout) {
if (millis() - commandTime > commandTimeout) {
power.disable12v();
}
while (Serial.available() > 0) {
@@ -89,32 +28,23 @@ void loop() {
if (inChar == '\n') {
inString.trim();
if(!power.isEnabled12v()){
if (!power.isEnabled12v()) {
power.enable12v();
delay(100);
}
execCommand(parseGCode(inString));
executor.execCommand(parseGCode(inString));
commandTime = millis();
unsigned long reqTime = millis();
while (waitingForNext) {
while (!Wire.available()) {
if (millis() - reqTime > 100) {
Wire.requestFrom(8, 1);
reqTime = millis();
}
}
int response = Wire.read();
if (response == WAIT) {
I2CStatusMsg response;
do {
response = executor.status();
if (response == I2CStatusMsg::WAIT) {
delay(1);
Wire.requestFrom(8, 1);
reqTime = millis();
} else if (response == NEXT) {
} else if (response == I2CStatusMsg::NEXT) {
Serial.println("OK");
waitingForNext = false;
} else {
Serial.println("Error");
}
}
} while (response != I2CStatusMsg::NEXT);
inString = "";
}
}