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/*
* InputMonitor.cpp
*
* Created on: 17 Sep 2019
* Author: David
*/
#include "InputMonitor.h"
#if SUPPORT_CAN_EXPANSION
#include <CanMessageFormats.h>
#include <Hardware/IoPorts.h>
#include <CAN/CanInterface.h>
#include <CanMessageBuffer.h>
InputMonitor * volatile InputMonitor::monitorsList = nullptr;
InputMonitor * volatile InputMonitor::freeList = nullptr;
ReadWriteLock InputMonitor::listLock;
bool InputMonitor::Activate() noexcept
{
bool ok = true;
if (!active)
{
if (threshold == 0)
{
// Digital input
const irqflags_t flags = cpu_irq_save();
ok = port.AttachInterrupt(CommonDigitalPortInterrupt, InterruptMode::change, CallbackParameter(this));
state = port.ReadDigital();
cpu_irq_restore(flags);
}
else
{
// Analog port
state = port.ReadAnalog() >= threshold;
ok = port.SetAnalogCallback(CommonAnalogPortInterrupt, CallbackParameter(this), 1);
}
active = true;
whenLastSent = millis();
}
return ok;
}
void InputMonitor::Deactivate() noexcept
{
//TODO
active = false;
}
// Return the analog value of this input
uint16_t InputMonitor::GetAnalogValue() const noexcept
{
return (threshold != 0) ? port.ReadAnalog()
: port.ReadDigital() ? 0xFFFF
: 0;
}
void InputMonitor::DigitalInterrupt() noexcept
{
const bool newState = port.ReadDigital();
if (newState != state)
{
state = newState;
if (active)
{
sendDue = true;
CanInterface::WakeAsyncSenderFromIsr();
}
}
}
void InputMonitor::AnalogInterrupt(uint16_t reading) noexcept
{
const bool newState = reading >= threshold;
if (newState != state)
{
state = newState;
if (active)
{
sendDue = true;
CanInterface::WakeAsyncSenderFromIsr();
}
}
}
/*static*/ void InputMonitor::Init() noexcept
{
// Nothing needed here yet
}
/*static*/ void InputMonitor::CommonDigitalPortInterrupt(CallbackParameter cbp) noexcept
{
static_cast<InputMonitor*>(cbp.vp)->DigitalInterrupt();
}
/*static*/ void InputMonitor::CommonAnalogPortInterrupt(CallbackParameter cbp, uint16_t reading) noexcept
{
static_cast<InputMonitor*>(cbp.vp)->AnalogInterrupt(reading);
}
/*static*/ ReadLockedPointer<InputMonitor> InputMonitor::Find(uint16_t hndl) noexcept
{
ReadLocker lock(listLock);
InputMonitor *current = monitorsList;
while (current != nullptr && current->handle != hndl)
{
current = current->next;
}
return ReadLockedPointer<InputMonitor>(lock, current);
}
// Delete a monitor. Must own the write lock before calling this.
/*static*/ bool InputMonitor::Delete(uint16_t hndl) noexcept
{
InputMonitor *prev = nullptr, *current = monitorsList;
while (current != nullptr)
{
if (current->handle == hndl)
{
current->Deactivate();
if (prev == nullptr)
{
monitorsList = current->next;
}
else
{
prev->next = current->next;
}
current->next = freeList;
freeList = current;
return true;
}
prev = current;
current = current->next;
}
return false;
}
/*static*/ GCodeResult InputMonitor::Create(const CanMessageCreateInputMonitor& msg, size_t dataLength, const StringRef& reply, uint8_t& extra) noexcept
{
WriteLocker lock(listLock);
Delete(msg.handle.u.all); // delete any existing monitor with the same handle
// Allocate a new one
InputMonitor *newMonitor;
if (freeList == nullptr)
{
newMonitor = new InputMonitor;
}
else
{
newMonitor = freeList;
freeList = newMonitor->next;
}
newMonitor->handle = msg.handle.u.all;
newMonitor->active = false;
newMonitor->state = false;
newMonitor->minInterval = msg.minInterval;
newMonitor->threshold = msg.threshold;
newMonitor->sendDue = false;
String<StringLength50> pinName;
pinName.copy(msg.pinName, msg.GetMaxPinNameLength(dataLength));
if (newMonitor->port.AssignPort(pinName.c_str(), reply, PinUsedBy::endstop, (msg.threshold == 0) ? PinAccess::read : PinAccess::readAnalog))
{
newMonitor->next = monitorsList;
monitorsList = newMonitor;
const bool ok = newMonitor->Activate();
extra = (newMonitor->state) ? 1 : 0;
if (!ok)
{
reply.copy("Failed to set pin change interrupt");
return GCodeResult::error;
}
return GCodeResult::ok;
}
newMonitor->next = freeList;
freeList = newMonitor;
return GCodeResult::error;
}
/*static*/ GCodeResult InputMonitor::Change(const CanMessageChangeInputMonitor& msg, const StringRef& reply, uint8_t& extra) noexcept
{
if (msg.action == CanMessageChangeInputMonitor::actionDelete)
{
WriteLocker lock(listLock);
if (Delete(msg.handle.u.all))
{
return GCodeResult::ok;
}
reply.printf("Board %u does not have input handle %04x", CanInterface::GetCanAddress(), msg.handle.u.all);
return GCodeResult::warning; // only a warning when deleting a non-existent handle
}
auto m = Find(msg.handle.u.all);
if (m.IsNull())
{
reply.printf("Board %u does not have input handle %04x", CanInterface::GetCanAddress(), msg.handle.u.all);
return GCodeResult::error;
}
GCodeResult rslt;
switch (msg.action)
{
case CanMessageChangeInputMonitor::actionDoMonitor:
rslt = (m->Activate()) ? GCodeResult::ok : GCodeResult::error;
break;
case CanMessageChangeInputMonitor::actionDontMonitor:
m->Deactivate();
rslt = GCodeResult::ok;
break;
case CanMessageChangeInputMonitor::actionReturnPinName:
m->port.AppendPinName(reply);
reply.catf(", min interval %ums", m->minInterval);
rslt = GCodeResult::ok;
break;
case CanMessageChangeInputMonitor::actionChangeThreshold:
m->threshold = msg.param;
rslt = GCodeResult::ok;
break;
case CanMessageChangeInputMonitor::actionChangeMinInterval:
m->minInterval = msg.param;
rslt = GCodeResult::ok;
break;
default:
reply.printf("ChangeInputMonitor action #%u not implemented", msg.action);
rslt = GCodeResult::error;
break;
}
extra = (m->state) ? 1 : 0;
return rslt;
}
// Check the input monitors and add any pending ones to the message
// Return the number of ticks before we should be woken again, or TaskBase::TimeoutUnlimited if we shouldn't be work until an input changes state
/*static*/ uint32_t InputMonitor::AddStateChanges(CanMessageInputChanged *msg) noexcept
{
uint32_t timeToWait = TaskBase::TimeoutUnlimited;
ReadLocker lock(listLock);
const uint32_t now = millis();
for (InputMonitor *p = monitorsList; p != nullptr; p = p->next)
{
if (p->sendDue)
{
const uint32_t age = now - p->whenLastSent;
if (age >= p->minInterval)
{
bool monitorState;
{
InterruptCriticalSectionLocker ilock;
p->sendDue = false;
monitorState = p->state;
}
if (msg->AddEntry(p->handle, monitorState))
{
p->whenLastSent = now;
}
else
{
p->sendDue = true;
return 1;
}
}
else
{
// The state has changed but we've recently sent a state change for this input
const uint32_t timeLeft = p->minInterval - age;
if (timeLeft < timeToWait)
{
timeToWait = timeLeft;
}
}
}
}
return timeToWait;
}
// Read the specified inputs. The incoming message is a CanMessageReadInputsRequest. We return a CanMessageReadInputsReply in the same buffer.
/*static*/ void InputMonitor::ReadInputs(CanMessageBuffer *buf) noexcept
{
// Extract data before we overwrite the message
const CanMessageReadInputsRequest& req = buf->msg.readInputsRequest;
const CanAddress srcAddress = buf->id.Src();
const uint16_t rid = req.requestId;
const uint16_t mask = req.mask.u.all;
const uint16_t pattern = req.pattern.u.all & mask;
// Construct the new message in the same buffer
auto reply = buf->SetupResponseMessage<CanMessageReadInputsReply>(rid, CanInterface::GetCanAddress(), srcAddress);
unsigned int count = 0;
ReadLocker lock(listLock);
InputMonitor *h = monitorsList;
while (h != nullptr && count < ARRAY_SIZE(reply->results))
{
if ((h->handle & mask) == pattern)
{
reply->results[count].handle.Set(h->handle);
reply->results[count].value = h->GetAnalogValue();
++count;
}
h = h->next;
}
reply->numReported = count;
reply->resultCode = (uint32_t)GCodeResult::ok;
buf->dataLength = reply->GetActualDataLength();
}
#endif // SUPPORT_CAN_EXPANSION
// End
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