stepus53/EggbotWireless
1
0
Fork 0
mirror of https://github.com/usatiuk/EggbotWireless.git synced 2025-10-26 16:57:48 +01:00
Code Issues Packages Projects Releases Wiki Activity

move command execution out of main.cpp

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

22
Firmware/EggbotWireless/include/Executor.h Normal file
View File

@@ -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
View File

@@ -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
View File

@@ -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 = "";
}
}

13
Firmware/MotorControl/src/main.cpp
View File

@@ -65,7 +65,7 @@ void receiveEvent(int howMany) {
byte txBuffer[5][sizeof(float)];
void requestEvent() {
if (command.type == CommandType::M99) {
if (command.type == CommandType::M99 && newCommand) {
floatToBytes(txBuffer[0], servoStepper.getPos());
floatToBytes(txBuffer[1], eggStepper.getPos());
@@ -74,10 +74,11 @@ void requestEvent() {
floatToBytes(txBuffer[4], (float)pen.getEngaged());
Wire.write(txBuffer[0], 5 * sizeof(float));
newCommand = false;
} else if (executing || newCommand) {
Wire.write(WAIT);
Wire.write(static_cast<int>(I2CStatusMsg::WAIT));
} else {
Wire.write(NEXT);
Wire.write(static_cast<int>(I2CStatusMsg::NEXT));
}
}
@@ -85,6 +86,7 @@ void execCommand() {
executing = true;
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
newCommand = false;
if (command.type == CommandType::G01) {
needAdjust = true;
} else {
@@ -109,9 +111,9 @@ void execCommand() {
}
adjustRPM();
return;
}
return;
}
void setup() {
@@ -161,7 +163,6 @@ void updateExecution() {
void loop() {
if (newCommand) {
newCommand = false;
execCommand();
}
updateExecution();

6
Firmware/common/Commands.h
View File

@@ -7,12 +7,12 @@ enum bcAxis {
Z = 3,
};
enum I2CMessage {
WAIT,
enum class I2CStatusMsg {
WAIT = 0,
NEXT,
};
enum StatusMSG {
enum PosMsg {
servoRot,
eggRot,
servoPos,