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Blizzard Finnegan 2023-05-23 16:09:38 -04:00
parent 690bb1acf2
commit 3d9779d483
Signed by: blizzardfinnegan
GPG key ID: 61C1E13067E0018E
3 changed files with 690 additions and 26 deletions
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@ -11,6 +11,113 @@ dependencies = [
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version = "0.48.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"

1
Cargo.toml
View file

@ -6,6 +6,7 @@ edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
async-std = "1.12.0"
configparser = "3.0.2"
derivative = "2.2.0"
fern = "0.6.2"

192
src/gpio_facade.rs
View file

@ -1,6 +1,9 @@
use std::time::Duration;
use rppal::gpio::{Gpio,OutputPin,InputPin};
use async_std::sync::*;
use rppal::gpio::{Gpio,OutputPin,InputPin,Trigger,Level};
use std::thread;
use std::result::Result;
use std::fmt;
const TRAVEL_DISTANCE_FACTOR:f64 = 0.95;
const POLL_DELAY:Duration = Duration::from_millis(10);
@ -12,40 +15,177 @@ const RUN_SWITCH_ADDR:u8 = 10;
const UPPER_LIMIT_ADDR:u8 = 23;
const LOWER_LIMIT_ADDR:u8 = 24;
static MOVE_LOCK:RwLock<bool> = RwLock::new(true);
pub struct Fixture{
gpio_api:Gpio,
travel_distance: u32,
safe_to_run: bool,
motor_direction:OutputPin,
motor_enable: OutputPin,
piston_enable: OutputPin,
upper_limit: InputPin,
lower_limit: InputPin,
run_switch: InputPin
motor_direction:Option<OutputPin>,
motor_enable: Option<OutputPin>,
piston_enable: Option<OutputPin>,
upper_limit: Option<InputPin>,
lower_limit: Option<InputPin>,
}
pub enum Direction{Up,Down}
impl Drop for Fixture{
fn drop(&mut self) {
self.reset_arm();
}
}
#[derive(Debug,Clone)]
pub struct GpioError;
pub struct FixtureInitError;
impl fmt::Display for GpioError {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
write!(f, "Bad GPIO settings for fixture")
}
}
impl fmt::Display for FixtureInitError {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
write!(f, "Invalid PWM value for fixture")
}
}
impl Fixture{
pub fn new() -> Self{
let mut gpio = Gpio::new().unwrap();
let output = Self{
//modify implementation to allow for multiple fixtures simultaneously
pub fn new() -> Result<Self,GpioError>{
let gpio = Gpio::new().unwrap();
let mut output = Self{
gpio_api:gpio,
safe_to_run:true,
travel_distance: u32::MAX,
motor_direction: gpio.get(MOTOR_DIRECTION_ADDR).unwrap().into_output_low(),
motor_enable: gpio.get(MOTOR_ENABLE_ADDR).unwrap().into_output_low(),
piston_enable: gpio.get(PISTON_ADDR).unwrap().into_output_low(),
upper_limit: gpio.get(UPPER_LIMIT_ADDR).unwrap().into_input_pulldown(),
lower_limit: gpio.get(LOWER_LIMIT_ADDR).unwrap().into_input_pulldown(),
run_switch: gpio.get(RUN_SWITCH_ADDR).unwrap().into_input_pulldown(),
motor_direction: None,
motor_enable: None,
piston_enable: None,
upper_limit: None,
lower_limit: None,
};
output.run_switch.set_async_interrupt(rppal::gpio::Trigger::RisingEdge, move||{
output.safe_to_run = false;
while output.run_switch.is_low() {}
output.safe_to_run = true;
});
output.motor_enable = Some(output.gpio_api.get(MOTOR_ENABLE_ADDR).unwrap().into_output_low());
output.motor_direction = Some(output.gpio_api.get(MOTOR_DIRECTION_ADDR).unwrap().into_output_low());
output.piston_enable = Some(output.gpio_api.get(PISTON_ADDR).unwrap().into_output_low());
output.upper_limit = Some(output.gpio_api.get(UPPER_LIMIT_ADDR).unwrap().into_input_pulldown());
output.lower_limit = Some(output.gpio_api.get(LOWER_LIMIT_ADDR).unwrap().into_input_pulldown());
let possible_run_pin = output.gpio_api.get(RUN_SWITCH_ADDR);
match possible_run_pin{
Ok(run_pin) =>{
_ = run_pin.into_input_pulldown().set_async_interrupt(Trigger::Both, |switch_state|{
_ = async{
let mut move_allowed = MOVE_LOCK.write().await;
match switch_state {
Level::Low=> {
*move_allowed = false;
}
Level::High => {
*move_allowed = true;
}
};
};
});
},
Err(_) => {}
}
while let Err(_) = output.find_distance() {};
return Ok(output);
}
fn reset_arm(&mut self) -> &mut Self{
//if(self.upper_limit.
fn reset_arm(&mut self) -> u16{
if let (Some(upper_limit), Some(motor_direction_pin), Some(motor_enable_pin)) =
(self.upper_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
if upper_limit.is_high(){
{
motor_direction_pin.set_low();
motor_enable_pin.set_high()
}
thread::sleep(Duration::from_millis(500));
motor_enable_pin.set_low()
}
motor_direction_pin.set_high();
motor_enable_pin.set_high();
let mut counter = 0;
for _ in 0..TIMEOUT {
if upper_limit.is_high() { break; }
counter += 1;
thread::sleep(POLL_DELAY);
}
motor_enable_pin.set_low();
if counter < TIMEOUT { return counter; }
};
return 0;
}
fn find_distance(&mut self) -> Result<(),FixtureInitError>{
if self.reset_arm() == 0 { return Err(FixtureInitError); }
let mut down_counter:u32 = 0;
let mut up_counter:u32 = 0;
//Time travel time to lower limit switch
if let (Some(lower_limit), Some(motor_direction_pin), Some(motor_enable_pin)) =
(self.lower_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
motor_direction_pin.set_low();
motor_enable_pin.set_high();
for _ in 0..TIMEOUT{
if lower_limit.is_high() { break; }
down_counter += 1;
thread::sleep(POLL_DELAY);
}
}
//Time travel time to upper limit switch
if let (Some(upper_limit), Some(motor_direction_pin), Some(motor_enable_pin)) =
(self.upper_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
motor_direction_pin.set_low();
motor_enable_pin.set_high();
for _ in 0..TIMEOUT{
if upper_limit.is_high() { break; }
up_counter += 1;
thread::sleep(POLL_DELAY);
}
}
self.travel_distance = std::cmp::min(up_counter,down_counter);
return Ok(())
}
pub fn goto_limit(&mut self, direction:Direction) -> bool{
let ref mut limit_sense:InputPin;
match direction{
Direction::Down => {
if let Some(obj) = self.lower_limit.as_mut() {
limit_sense = obj;
}
else { return false; }
},
Direction::Up => {
if let Some(obj) = self.upper_limit.as_mut() {
limit_sense = obj;
}
else { return false; }
}
}
if limit_sense.is_high() { return true; }
let move_polls = (self.travel_distance as f64 * TRAVEL_DISTANCE_FACTOR) as u64;
if let (Some(motor_direction_pin), Some(motor_enable_pin)) =
(self.motor_direction.as_mut(), self.motor_enable.as_mut()){
motor_direction_pin.set_low();
motor_enable_pin.set_high();
for _ in 0..move_polls{
if limit_sense.is_high() { break; }
thread::sleep(POLL_DELAY);
}
}
return limit_sense.is_high();
}
}