81 lines
2.4 KiB
Elixir
81 lines
2.4 KiB
Elixir
defmodule Farmbot.Firmware do
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@moduledoc "Allows communication with the firmware."
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use GenStage
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require Logger
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@handler Application.get_env(:farmbot, :behaviour)[:firmware_handler] || raise("No fw handler.")
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defdelegate move_absolute(vec3), to: @handler
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defdelegate calibrate(axis), to: @handler
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defdelegate update_param(param, val), to: @handler
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defdelegate read_param(param), to: @handler
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defdelegate emergency_lock(), to: @handler
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defdelegate emergency_unlock(), to: @handler
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defdelegate find_home(axis), to: @handler
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defdelegate read_pin(pin, mode), to: @handler
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defdelegate write_pin(pin, mode, value), to: @handler
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@doc "Start the firmware services."
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def start_link do
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GenStage.start_link(__MODULE__, [], name: __MODULE__)
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end
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## GenStage
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defmodule State do
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defstruct idle: false
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end
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def init([]) do
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{:producer_consumer, %State{}, subscribe_to: [@handler], dispatcher: GenStage.BroadcastDispatcher}
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end
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def handle_events(gcodes, _from, state) do
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{diffs, state} = handle_gcodes(gcodes, state)
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{:noreply, diffs, state}
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end
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defp handle_gcodes(codes, state, acc \\ [])
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defp handle_gcodes([], state, acc), do: {Enum.reverse(acc), state}
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defp handle_gcodes([code | rest], state, acc) do
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case handle_gcode(code, state) do
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{nil, state} -> handle_gcodes(rest, state, acc)
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{key, diff, state} -> handle_gcodes(rest, state, [{key, diff} | acc])
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end
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end
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defp handle_gcode({:debug_message, _message}, state) do
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{nil, state}
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end
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defp handle_gcode({:report_current_position, x, y, z}, state) do
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{:location_data, %{position: %{x: round(x), y: round(y), z: round(z)}}, state}
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end
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defp handle_gcode({:report_encoder_position_scaled, x, y, z}, state) do
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{:location_data, %{scaled_encoders: %{x: x, y: y, z: z}}, state}
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end
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defp handle_gcode({:report_encoder_position_raw, x, y, z}, state) do
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{:location_data, %{raw_encoders: %{x: x, y: y, z: z}}, state}
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end
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defp handle_gcode({:report_end_stops, xa, xb, ya, yb, za, zb}, state) do
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diff = %{end_stops: %{xa: xa, xb: xb, ya: ya, yb: yb, za: za, zb: zb}}
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{:location_data, diff, state}
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{nil, state}
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end
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defp handle_gcode(:idle, state) do
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{:informational_settings, %{busy: false}, %{state | idle: true}}
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end
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defp handle_gcode(code, state) do
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Logger.warn("unhandled code: #{inspect(code)}")
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{nil, state}
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end
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end
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