169 lines
4.6 KiB
Elixir
169 lines
4.6 KiB
Elixir
defmodule Farmbot.Core.FirmwareSideEffects do
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@moduledoc "Handles firmware data and syncing it with BotState."
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@behaviour Farmbot.Firmware.SideEffects
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alias Farmbot.Core.FirmwareEstopTimer
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require Logger
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require Farmbot.Logger
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def handle_position(x: x, y: y, z: z) do
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:ok = Farmbot.BotState.set_position(x, y, z)
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end
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def handle_position_change([{_axis, _value}]) do
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:noop
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end
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def handle_axis_state([{_axis, _state}]) do
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:noop
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end
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def handle_calibration_state([{_axis, _state}]) do
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:noop
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end
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def handle_encoders_scaled(x: x, y: y, z: z) do
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:ok = Farmbot.BotState.set_encoders_scaled(x, y, z)
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end
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def handle_encoders_raw(x: x, y: y, z: z) do
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:ok = Farmbot.BotState.set_encoders_raw(x, y, z)
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end
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def handle_paramater_value([{param, value}]) do
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:ok = Farmbot.BotState.set_firmware_config(param, value)
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end
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def handle_pin_value(p: pin, v: value) do
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:ok = Farmbot.BotState.set_pin_value(pin, value)
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end
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def handle_software_version([version]) do
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:ok = Farmbot.BotState.set_firmware_version(version)
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end
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def handle_end_stops(_) do
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:noop
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end
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def handle_busy(busy) do
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:ok = Farmbot.BotState.set_firmware_busy(busy)
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end
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def handle_emergency_lock() do
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_ = FirmwareEstopTimer.start_timer()
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:ok = Farmbot.BotState.set_firmware_locked()
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end
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def handle_emergency_unlock() do
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_ = FirmwareEstopTimer.cancel_timer()
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:ok = Farmbot.BotState.set_firmware_unlocked()
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end
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def handle_input_gcode(code) do
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should_log? = Farmbot.Asset.fbos_config().firmware_input_log
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should_log? && Farmbot.Logger.debug(3, inspect(code))
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end
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def handle_output_gcode(code) do
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should_log? = Farmbot.Asset.fbos_config().firmware_output_log
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should_log? && Farmbot.Logger.debug(3, inspect(code))
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end
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def handle_debug_message([message]) do
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should_log? = Farmbot.Asset.fbos_config().firmware_debug_log
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should_log? && Farmbot.Logger.debug(3, "Arduino debug message: " <> message)
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end
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def load_params do
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conf = Farmbot.Asset.firmware_config()
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Map.take(conf, [
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:param_e_stop_on_mov_err,
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:param_mov_nr_retry,
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:movement_timeout_x,
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:movement_timeout_y,
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:movement_timeout_z,
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:movement_keep_active_x,
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:movement_keep_active_y,
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:movement_keep_active_z,
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:movement_home_at_boot_x,
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:movement_home_at_boot_y,
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:movement_home_at_boot_z,
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:movement_invert_endpoints_x,
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:movement_invert_endpoints_y,
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:movement_invert_endpoints_z,
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:movement_enable_endpoints_x,
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:movement_enable_endpoints_y,
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:movement_enable_endpoints_z,
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:movement_invert_motor_x,
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:movement_invert_motor_y,
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:movement_invert_motor_z,
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:movement_secondary_motor_x,
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:movement_secondary_motor_invert_x,
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:movement_steps_acc_dec_x,
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:movement_steps_acc_dec_y,
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:movement_steps_acc_dec_z,
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:movement_stop_at_home_x,
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:movement_stop_at_home_y,
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:movement_stop_at_home_z,
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:movement_home_up_x,
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:movement_home_up_y,
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:movement_home_up_z,
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:movement_step_per_mm_x,
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:movement_step_per_mm_y,
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:movement_step_per_mm_z,
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:movement_min_spd_x,
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:movement_min_spd_y,
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:movement_min_spd_z,
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:movement_home_spd_x,
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:movement_home_spd_y,
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:movement_home_spd_z,
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:movement_max_spd_x,
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:movement_max_spd_y,
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:movement_max_spd_z,
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:encoder_enabled_x,
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:encoder_enabled_y,
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:encoder_enabled_z,
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:encoder_type_x,
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:encoder_type_y,
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:encoder_type_z,
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:encoder_missed_steps_max_x,
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:encoder_missed_steps_max_y,
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:encoder_missed_steps_max_z,
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:encoder_scaling_x,
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:encoder_scaling_y,
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:encoder_scaling_z,
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:encoder_missed_steps_decay_x,
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:encoder_missed_steps_decay_y,
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:encoder_missed_steps_decay_z,
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:encoder_use_for_pos_x,
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:encoder_use_for_pos_y,
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:encoder_use_for_pos_z,
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:encoder_invert_x,
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:encoder_invert_y,
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:encoder_invert_z,
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:movement_axis_nr_steps_x,
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:movement_axis_nr_steps_y,
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:movement_axis_nr_steps_z,
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:movement_stop_at_max_x,
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:movement_stop_at_max_y,
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:movement_stop_at_max_z,
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:pin_guard_1_pin_nr,
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:pin_guard_1_time_out,
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:pin_guard_1_active_state,
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:pin_guard_2_pin_nr,
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:pin_guard_2_time_out,
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:pin_guard_2_active_state,
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:pin_guard_3_pin_nr,
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:pin_guard_3_time_out,
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:pin_guard_3_active_state,
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:pin_guard_4_pin_nr,
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:pin_guard_4_time_out,
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:pin_guard_4_active_state,
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:pin_guard_5_pin_nr,
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:pin_guard_5_time_out,
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:pin_guard_5_active_state
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])
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end
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end
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