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/*
* Trigger.cpp
*
* Created on: 6 Jun 2019
* Author: David
*/
#include "TriggerItem.h"
#include <Platform/RepRap.h>
#include "GCodes.h"
#include <PrintMonitor/PrintMonitor.h>
#include "GCodeBuffer/GCodeBuffer.h"
TriggerItem::TriggerItem() noexcept : condition(0)
{
}
// Initialise the trigger
void TriggerItem::Init() noexcept
{
highLevelEndstops.Clear();
lowLevelEndstops.Clear();
highLevelInputs.Clear();
lowLevelInputs.Clear();
condition = 0;
}
// Return true if this trigger is unused, i.e. it doesn't watch any pins
bool TriggerItem::IsUnused() const noexcept
{
return highLevelEndstops.IsEmpty() && lowLevelEndstops.IsEmpty() && highLevelInputs.IsEmpty() && lowLevelInputs.IsEmpty();
}
// Check whether this trigger is active and update the input states. This is called in a polling loop, so it needs to be fast.
// TODO when we switch to interrupt-driven endstops, make this interrupt-driven instead
bool TriggerItem::Check() noexcept
{
bool triggered = false;
// Check the endstops
const AxesBitmap endstopsMonitored = highLevelEndstops | lowLevelEndstops;
if (endstopsMonitored.IsNonEmpty())
{
EndstopsManager& endstops = reprap.GetPlatform().GetEndstops();
endstopsMonitored.Iterate([this, &endstops, &triggered](unsigned int axis, unsigned int)
{
const bool stopped = endstops.Stopped(axis);
if (stopped != endstopStates.IsBitSet(axis))
{
if (stopped)
{
endstopStates.SetBit(axis);
if (highLevelEndstops.IsBitSet(axis))
{
triggered = true;
}
}
else
{
endstopStates.ClearBit(axis);
if (lowLevelEndstops.IsBitSet(axis))
{
triggered = true;
}
}
}
}
);
}
const InputPortsBitmap portsMonitored = highLevelInputs | lowLevelInputs;
if (portsMonitored.IsNonEmpty())
{
Platform& platform = reprap.GetPlatform();
portsMonitored.Iterate([this, &platform, &triggered](unsigned int inPort, unsigned int)
{
const bool isActive = reprap.GetPlatform().GetGpInPort(inPort).GetState();
if (isActive != inputStates.IsBitSet(inPort))
{
if (isActive)
{
inputStates.SetBit(inPort);
if (highLevelInputs.IsBitSet(inPort))
{
triggered = true;
}
}
else
{
inputStates.ClearBit(inPort);
if (lowLevelInputs.IsBitSet(inPort))
{
triggered = true;
}
}
}
}
);
}
return triggered &&
(condition == 0
|| (condition == 1 && reprap.GetPrintMonitor().IsPrinting())
|| (condition == 2 && !reprap.GetPrintMonitor().IsPrinting())
);
}
// Handle M581 for this trigger
GCodeResult TriggerItem::Configure(unsigned int number, GCodeBuffer &gb, const StringRef &reply)
{
bool seen = false;
if (gb.Seen('R'))
{
seen = true;
condition = gb.GetIValue();
}
else if (IsUnused())
{
condition = 0; // this is a new trigger, so set no condition
}
const int sParam = (gb.Seen('S')) ? gb.GetIValue() : 1;
if (gb.Seen('P'))
{
// We need a try..catch block here so that if we pass an array we do not abort when trying to read a single value
try
{
if (gb.GetIValue() == -1)
{
Init(); // P-1 clears all inputs and sets condition to 0
return GCodeResult::ok;
}
} catch (const GCodeException&) { }
gb.Seen('P');
seen = true;
uint32_t inputNumbers[MaxGpInPorts];
size_t numValues = MaxGpInPorts;
gb.GetUnsignedArray(inputNumbers, numValues, false);
const InputPortsBitmap portsToWaitFor = InputPortsBitmap::MakeFromArray(inputNumbers, numValues);
if (sParam < 0)
{
highLevelInputs &= ~portsToWaitFor;
lowLevelInputs &= ~portsToWaitFor;
}
else
{
((sParam >= 1) ? highLevelInputs : lowLevelInputs) |= portsToWaitFor;
}
}
AxesBitmap endstopsToWaitFor;
for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
{
if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis]))
{
seen = true;
endstopsToWaitFor.SetBit(axis);
}
}
if (sParam < 0)
{
highLevelEndstops &= ~endstopsToWaitFor;
lowLevelEndstops &= ~endstopsToWaitFor;
}
else
{
((sParam >= 1) ? highLevelEndstops : lowLevelEndstops) |= endstopsToWaitFor;
}
inputStates.Clear();
(void)Check(); // set up initial input states
if (!seen)
{
reply.printf("Trigger %u ", number);
if (IsUnused())
{
reply.cat("is not configured");
}
else
{
if (condition < 0)
{
reply.cat("if enabled would fire on a");
}
else if (condition == 1)
{
reply.cat("fires only when printing on a");
}
else if (condition == 2)
{
reply.cat("fires only when not printing on a");
}
else
{
reply.cat("fires on a");
}
const bool hasHighLevel = !highLevelEndstops.IsEmpty() || !highLevelInputs.IsEmpty();
if (hasHighLevel)
{
reply.cat(" rising edge of endstops/inputs");
AppendInputNames(highLevelEndstops, highLevelInputs, reply);
}
const bool hasLowLevel = !lowLevelEndstops.IsEmpty() || !lowLevelInputs.IsEmpty();
if (hasLowLevel)
{
if (hasHighLevel)
{
reply.cat(" or a");
}
reply.cat(" falling edge of endstops/inputs");
AppendInputNames(lowLevelEndstops, lowLevelInputs, reply);
}
}
}
return GCodeResult::ok;
}
// Handle M582 for this trigger
bool TriggerItem::CheckLevel() noexcept
{
endstopStates = lowLevelEndstops;
inputStates = lowLevelInputs;
return Check();
}
void TriggerItem::AppendInputNames(AxesBitmap endstops, InputPortsBitmap inputs, const StringRef &reply) noexcept
{
if (endstops.IsEmpty() && inputs.IsEmpty())
{
reply.cat(" (none)");
}
else
{
const char* const axisLetters = reprap.GetGCodes().GetAxisLetters();
endstops.Iterate([axisLetters, &reply](unsigned int axis, unsigned int) noexcept { reply.catf(" %c", axisLetters[axis]); } );
inputs.Iterate([&reply](unsigned int port, unsigned int) noexcept { reply.catf(" %d", port); } );
}
}
// End
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