Implement pause switch and button press
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3d9779d483
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GPG key ID:
61C1E13067E0018E
3 changed files with 121 additions and 14 deletions
69
Cargo.lock
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69
Cargo.lock
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@ -320,6 +320,21 @@ dependencies = [
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"log",
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]
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[[package]]
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name = "futures"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
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dependencies = [
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"futures-channel",
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"futures-core",
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"futures-executor",
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"futures-io",
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"futures-sink",
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"futures-task",
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"futures-util",
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]
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[[package]]
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name = "futures-channel"
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version = "0.3.28"
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@ -327,6 +342,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
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dependencies = [
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"futures-core",
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"futures-sink",
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]
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[[package]]
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@ -335,6 +351,17 @@ version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
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[[package]]
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name = "futures-executor"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ccecee823288125bd88b4d7f565c9e58e41858e47ab72e8ea2d64e93624386e0"
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dependencies = [
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"futures-core",
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"futures-task",
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"futures-util",
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]
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[[package]]
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name = "futures-io"
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version = "0.3.28"
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@ -356,6 +383,47 @@ dependencies = [
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"waker-fn",
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]
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[[package]]
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name = "futures-macro"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.16",
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]
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[[package]]
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name = "futures-sink"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
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[[package]]
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name = "futures-task"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
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[[package]]
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name = "futures-util"
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version = "0.3.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
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dependencies = [
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"futures-channel",
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"futures-core",
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"futures-io",
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"futures-macro",
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"futures-sink",
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"futures-task",
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"memchr",
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"pin-project-lite",
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"pin-utils",
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"slab",
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]
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[[package]]
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name = "glob"
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version = "0.3.1"
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@ -677,6 +745,7 @@ dependencies = [
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"configparser",
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"derivative",
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"fern",
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"futures",
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"leptess",
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"log",
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"opencv",
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@ -10,6 +10,7 @@ async-std = "1.12.0"
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configparser = "3.0.2"
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derivative = "2.2.0"
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fern = "0.6.2"
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futures = "0.3.28"
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leptess = "0.14.0"
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log = "0.4.17"
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opencv = { version = "0.82.0", features = ["clang-runtime"] }
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@ -3,6 +3,7 @@ use async_std::sync::*;
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use rppal::gpio::{Gpio,OutputPin,InputPin,Trigger,Level};
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use std::thread;
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use std::result::Result;
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use futures::executor;
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use std::fmt;
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const TRAVEL_DISTANCE_FACTOR:f64 = 0.95;
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@ -41,12 +42,12 @@ pub struct FixtureInitError;
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impl fmt::Display for GpioError {
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fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
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write!(f, "Bad GPIO settings for fixture")
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write!(f, "Bad fixture GPIO settings")
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}
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}
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impl fmt::Display for FixtureInitError {
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fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
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write!(f, "Invalid PWM value for fixture")
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write!(f, "Invalid fixture PWM value")
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}
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}
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@ -74,24 +75,22 @@ impl Fixture{
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match possible_run_pin{
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Ok(run_pin) =>{
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_ = run_pin.into_input_pulldown().set_async_interrupt(Trigger::Both, |switch_state|{
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_ = async{
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let mut move_allowed = MOVE_LOCK.write().await;
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match switch_state {
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Level::Low=> {
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*move_allowed = false;
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}
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Level::High => {
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*move_allowed = true;
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}
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};
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let mut move_allowed = executor::block_on(MOVE_LOCK.write());
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match switch_state {
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Level::Low=> {
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*move_allowed = false;
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}
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Level::High => {
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*move_allowed = true;
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}
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};
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});
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},
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Err(_) => {}
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}
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while let Err(_) = output.find_distance() {};
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while let Err(_) = output.find_distance(){};
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return Ok(output);
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}
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@ -101,16 +100,24 @@ impl Fixture{
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(self.upper_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
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if upper_limit.is_high(){
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{
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while !*executor::block_on(MOVE_LOCK.read()) {}
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motor_direction_pin.set_low();
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motor_enable_pin.set_high()
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}
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thread::sleep(Duration::from_millis(500));
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motor_enable_pin.set_low()
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}
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while !*executor::block_on(MOVE_LOCK.read()){}
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motor_direction_pin.set_high();
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motor_enable_pin.set_high();
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let mut counter = 0;
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for _ in 0..TIMEOUT {
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while !*executor::block_on(MOVE_LOCK.read()){
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motor_enable_pin.set_low();
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}
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if *executor::block_on(MOVE_LOCK.read()) && motor_enable_pin.is_set_low(){
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motor_enable_pin.set_high();
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}
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if upper_limit.is_high() { break; }
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counter += 1;
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thread::sleep(POLL_DELAY);
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@ -129,9 +136,16 @@ impl Fixture{
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//Time travel time to lower limit switch
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if let (Some(lower_limit), Some(motor_direction_pin), Some(motor_enable_pin)) =
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(self.lower_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
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while !*executor::block_on(MOVE_LOCK.read()){}
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motor_direction_pin.set_low();
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motor_enable_pin.set_high();
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for _ in 0..TIMEOUT{
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while !*executor::block_on(MOVE_LOCK.read()){
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motor_enable_pin.set_low();
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}
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if *executor::block_on(MOVE_LOCK.read()) && motor_enable_pin.is_set_low(){
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motor_enable_pin.set_high();
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}
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if lower_limit.is_high() { break; }
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down_counter += 1;
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thread::sleep(POLL_DELAY);
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@ -141,9 +155,16 @@ impl Fixture{
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//Time travel time to upper limit switch
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if let (Some(upper_limit), Some(motor_direction_pin), Some(motor_enable_pin)) =
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(self.upper_limit.as_mut(), self.motor_direction.as_mut(), self.motor_enable.as_mut()){
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while !*executor::block_on(MOVE_LOCK.read()){}
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motor_direction_pin.set_low();
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motor_enable_pin.set_high();
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for _ in 0..TIMEOUT{
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while !*executor::block_on(MOVE_LOCK.read()){
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motor_enable_pin.set_low();
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}
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if *executor::block_on(MOVE_LOCK.read()) && motor_enable_pin.is_set_low(){
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motor_enable_pin.set_high();
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}
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if upper_limit.is_high() { break; }
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up_counter += 1;
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thread::sleep(POLL_DELAY);
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@ -178,9 +199,16 @@ impl Fixture{
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if let (Some(motor_direction_pin), Some(motor_enable_pin)) =
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(self.motor_direction.as_mut(), self.motor_enable.as_mut()){
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while !*executor::block_on(MOVE_LOCK.read()){}
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motor_direction_pin.set_low();
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motor_enable_pin.set_high();
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for _ in 0..move_polls{
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while !*executor::block_on(MOVE_LOCK.read()){
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motor_enable_pin.set_low();
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}
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if *executor::block_on(MOVE_LOCK.read()) && motor_enable_pin.is_set_low(){
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motor_enable_pin.set_high();
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}
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if limit_sense.is_high() { break; }
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thread::sleep(POLL_DELAY);
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}
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@ -188,4 +216,13 @@ impl Fixture{
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return limit_sense.is_high();
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}
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pub fn push_button(&mut self){
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if let Some(piston_enable) = self.piston_enable.as_mut(){
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while !*executor::block_on(MOVE_LOCK.read()){}
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piston_enable.set_high();
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thread::sleep(Duration::from_secs(1));
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piston_enable.set_low();
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}
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}
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}
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