314 lines
8.9 KiB
Elixir
314 lines
8.9 KiB
Elixir
defmodule FarmbotCore.FirmwareSideEffects do
|
|
@moduledoc "Handles firmware data and syncing it with BotState."
|
|
@behaviour FarmbotFirmware.SideEffects
|
|
require Logger
|
|
require FarmbotCore.Logger
|
|
alias FarmbotCore.{Asset, BotState, FirmwareEstopTimer, Leds}
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_position(x: x, y: y, z: z) do
|
|
:ok = BotState.set_position(x, y, z)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_load([u, x, v, y, w, z]) do
|
|
:ok = BotState.set_load(x, y, z)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_position_change([{axis, 0.0}]) do
|
|
FarmbotCore.Logger.warn(1, "#{axis}-axis stopped at home")
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_position_change([{axis, _}]) do
|
|
FarmbotCore.Logger.warn(1, "#{axis}-axis stopped at maximum")
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_axis_state([{axis, state}]) do
|
|
BotState.set_axis_state(axis, state)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_axis_timeout(axis) do
|
|
FarmbotCore.Logger.error(1, "#{axis}-axis timed out waiting for movement to complete")
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_home_complete(_) do
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_calibration_state([{_axis, _state}]) do
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_encoders_scaled(x: x, y: y, z: z) do
|
|
:ok = BotState.set_encoders_scaled(x, y, z)
|
|
end
|
|
|
|
# this is a bug in the firmware code i think
|
|
def handle_encoders_scaled([]), do: :noop
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_encoders_raw(x: x, y: y, z: z) do
|
|
:ok = BotState.set_encoders_raw(x, y, z)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_parameter_value([{param, value}]) do
|
|
:ok = BotState.set_firmware_config(param, value)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_parameter_calibration_value([{param, value}]) do
|
|
%{param => value}
|
|
|> Asset.update_firmware_config!()
|
|
|> Asset.Private.mark_dirty!(%{})
|
|
|
|
:ok
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_pin_value(p: pin, v: value) do
|
|
:ok = BotState.set_pin_value(pin, value)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_software_version([version]) do
|
|
:ok = BotState.set_firmware_version(version)
|
|
|
|
case String.split(version, ".") do
|
|
# Ramps
|
|
[_, _, _, "R"] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("arduino")
|
|
[_, _, _, "R", _] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("arduino")
|
|
|
|
# Farmduino
|
|
[_, _, _, "F"] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino")
|
|
[_, _, _, "F", _] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino")
|
|
|
|
# Farmduino V14
|
|
[_, _, _, "G"] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino_k14")
|
|
[_, _, _, "G", _] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino_k14")
|
|
|
|
# Farmduino V15
|
|
[_, _, _, "H"] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino_k15")
|
|
[_, _, _, "H", _] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("farmduino_k15")
|
|
|
|
# Express V10
|
|
[_, _, _, "E"] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("express_k10")
|
|
[_, _, _, "E", _] ->
|
|
_ = Leds.red(:solid)
|
|
:ok = BotState.set_firmware_hardware("express_k10")
|
|
|
|
[_, _, _, "S"] ->
|
|
_ = Leds.red(:slow_blink)
|
|
:ok = BotState.set_firmware_version("none")
|
|
:ok = BotState.set_firmware_hardware("none")
|
|
[_, _, _, "S", _] ->
|
|
_ = Leds.red(:slow_blink)
|
|
:ok = BotState.set_firmware_version("none")
|
|
:ok = BotState.set_firmware_hardware("none")
|
|
end
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_end_stops(_) do
|
|
:noop
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_busy(busy) do
|
|
:ok = BotState.set_firmware_busy(busy)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_idle(idle) do
|
|
_ = FirmwareEstopTimer.cancel_timer()
|
|
:ok = BotState.set_firmware_unlocked()
|
|
:ok = BotState.set_firmware_idle(idle)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_emergency_lock() do
|
|
_ = FirmwareEstopTimer.start_timer()
|
|
_ = Leds.yellow(:slow_blink)
|
|
:ok = BotState.set_firmware_locked()
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_emergency_unlock() do
|
|
_ = FirmwareEstopTimer.cancel_timer()
|
|
_ = Leds.yellow(:off)
|
|
:ok = BotState.set_firmware_unlocked()
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_input_gcode({_, {:unknown, _}}) do
|
|
:ok
|
|
end
|
|
|
|
def handle_input_gcode({:unknown, _}) do
|
|
:ok
|
|
end
|
|
|
|
def handle_input_gcode(code) do
|
|
string_code = FarmbotFirmware.GCODE.encode(code)
|
|
should_log? = Asset.fbos_config().firmware_input_log
|
|
should_log? && FarmbotCore.Logger.debug(3, "Firmware input: " <> string_code)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_output_gcode(code) do
|
|
string_code = FarmbotFirmware.GCODE.encode(code)
|
|
should_log? = Asset.fbos_config().firmware_output_log
|
|
should_log? && FarmbotCore.Logger.debug(3, "Firmware output: " <> string_code)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def handle_debug_message([message]) do
|
|
fbos_config = Asset.fbos_config()
|
|
should_log? = fbos_config.firmware_debug_log || fbos_config.arduino_debug_messages
|
|
should_log? && do_send_debug_message(message)
|
|
end
|
|
|
|
# TODO(Rick): 0 means OK, but firmware debug logs say "error 0". Why?
|
|
def do_send_debug_message("error 0"), do: do_send_debug_message("OK")
|
|
|
|
def do_send_debug_message(message) do
|
|
FarmbotCore.Logger.debug(3, "Firmware debug message: " <> message)
|
|
end
|
|
|
|
@impl FarmbotFirmware.SideEffects
|
|
def load_params do
|
|
conf = Asset.firmware_config()
|
|
known_params(conf)
|
|
end
|
|
|
|
def known_params(conf) do
|
|
Map.take(conf, [
|
|
:param_e_stop_on_mov_err,
|
|
:param_mov_nr_retry,
|
|
:movement_timeout_x,
|
|
:movement_timeout_y,
|
|
:movement_timeout_z,
|
|
:movement_keep_active_x,
|
|
:movement_keep_active_y,
|
|
:movement_keep_active_z,
|
|
:movement_home_at_boot_x,
|
|
:movement_home_at_boot_y,
|
|
:movement_home_at_boot_z,
|
|
:movement_invert_endpoints_x,
|
|
:movement_invert_endpoints_y,
|
|
:movement_invert_endpoints_z,
|
|
:movement_enable_endpoints_x,
|
|
:movement_enable_endpoints_y,
|
|
:movement_enable_endpoints_z,
|
|
:movement_invert_motor_x,
|
|
:movement_invert_motor_y,
|
|
:movement_invert_motor_z,
|
|
:movement_secondary_motor_x,
|
|
:movement_secondary_motor_invert_x,
|
|
:movement_steps_acc_dec_x,
|
|
:movement_steps_acc_dec_y,
|
|
:movement_steps_acc_dec_z,
|
|
:movement_stop_at_home_x,
|
|
:movement_stop_at_home_y,
|
|
:movement_stop_at_home_z,
|
|
:movement_home_up_x,
|
|
:movement_home_up_y,
|
|
:movement_home_up_z,
|
|
:movement_step_per_mm_x,
|
|
:movement_step_per_mm_y,
|
|
:movement_step_per_mm_z,
|
|
:movement_min_spd_x,
|
|
:movement_min_spd_y,
|
|
:movement_min_spd_z,
|
|
:movement_home_spd_x,
|
|
:movement_home_spd_y,
|
|
:movement_home_spd_z,
|
|
:movement_max_spd_x,
|
|
:movement_max_spd_y,
|
|
:movement_max_spd_z,
|
|
:movement_invert_2_endpoints_x,
|
|
:movement_invert_2_endpoints_y,
|
|
:movement_invert_2_endpoints_z,
|
|
:movement_motor_current_x,
|
|
:movement_motor_current_y,
|
|
:movement_motor_current_z,
|
|
:movement_stall_sensitivity_x,
|
|
:movement_stall_sensitivity_y,
|
|
:movement_stall_sensitivity_z,
|
|
:movement_microsteps_x,
|
|
:movement_microsteps_y,
|
|
:movement_microsteps_z,
|
|
:encoder_enabled_x,
|
|
:encoder_enabled_y,
|
|
:encoder_enabled_z,
|
|
:encoder_type_x,
|
|
:encoder_type_y,
|
|
:encoder_type_z,
|
|
:encoder_missed_steps_max_x,
|
|
:encoder_missed_steps_max_y,
|
|
:encoder_missed_steps_max_z,
|
|
:encoder_scaling_x,
|
|
:encoder_scaling_y,
|
|
:encoder_scaling_z,
|
|
:encoder_missed_steps_decay_x,
|
|
:encoder_missed_steps_decay_y,
|
|
:encoder_missed_steps_decay_z,
|
|
:encoder_use_for_pos_x,
|
|
:encoder_use_for_pos_y,
|
|
:encoder_use_for_pos_z,
|
|
:encoder_invert_x,
|
|
:encoder_invert_y,
|
|
:encoder_invert_z,
|
|
:movement_axis_nr_steps_x,
|
|
:movement_axis_nr_steps_y,
|
|
:movement_axis_nr_steps_z,
|
|
:movement_stop_at_max_x,
|
|
:movement_stop_at_max_y,
|
|
:movement_stop_at_max_z,
|
|
:pin_guard_1_pin_nr,
|
|
:pin_guard_1_time_out,
|
|
:pin_guard_1_active_state,
|
|
:pin_guard_2_pin_nr,
|
|
:pin_guard_2_time_out,
|
|
:pin_guard_2_active_state,
|
|
:pin_guard_3_pin_nr,
|
|
:pin_guard_3_time_out,
|
|
:pin_guard_3_active_state,
|
|
:pin_guard_4_pin_nr,
|
|
:pin_guard_4_time_out,
|
|
:pin_guard_4_active_state,
|
|
:pin_guard_5_pin_nr,
|
|
:pin_guard_5_time_out,
|
|
:pin_guard_5_active_state
|
|
])
|
|
end
|
|
end
|