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Our changes to LaosLaser #8

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Our changes to LaosLaser #8

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9dd1d14
Added better manual movement code (untested because i don't have acce…
Aug 11, 2013
8546fef
added cancel-function to RUNNING-mode
Aug 11, 2013
16e616a
Added cancel function to HOMING-mode
Aug 11, 2013
18a4502
changed OPTIMIZATION flag because of weird lags
Aug 11, 2013
a7e04b2
merged with upstream, no idea what i'm doing
Aug 11, 2013
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60 changes: 31 additions & 29 deletions laser/LaosMenu/LaosMenu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -175,6 +175,27 @@ void LaosMenu::SetScreen(char *msg) {
Handle();
}

/**
*** Check if cancel button is pressed (should only be used while running jobs!)
**/
void LaosMenu::checkCancel() {
c = dsp->read();
if(c==K_CANCEL || !mot->isStart()/* || mot->endstopReached()*/){
fclose(runfile);
runfile = NULL;
screen = MAIN;
canceled=1;
mot->clearBuffer();
mot->reset();
mot->isHome=false;
printf("cancel pressed!\r\n");
}
if(c==K_FUP){
skipped=1;
}
}


/**
*** Handle menu system
*** Read keys, and plan next action on the screen, output screen if
Expand Down Expand Up @@ -253,27 +274,8 @@ void LaosMenu::Handle() {
break;

case MOVE: // pos xy
mot->getPosition(&x, &y, &z);
xt = x; yt= y;
switch ( c ) {
case K_DOWN: y+=100*speed; break;
case K_UP: y-=100*speed; break;
case K_LEFT: x-=100*speed; break;
case K_RIGHT: x+=100*speed; break;
case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
case K_FUP: screen=FOCUS; break;
case K_FDOWN: screen=FOCUS; break;
case K_ORIGIN: screen=ORIGIN; break;
}
if ((mot->queue() < 5) && ( (x!=xt) || (y != yt) )) {
mot->moveTo(x, y, z, speed/2);
printf("Move: %d %d %d %d\n", x,y,z, speed);
} else {
// if (! mot->ready())
// printf("Buffer vol\n");
}
args[0]=x-xoff;
args[1]=y-yoff;
mot->manualMove();
screen=MAIN;
break;

case FOCUS: // focus
Expand Down Expand Up @@ -393,12 +395,6 @@ void LaosMenu::Handle() {

case RUNNING: // Screen while running
switch ( c ) {
/* case K_CANCEL:
while (mot->queue());
mot->reset();
if (runfile != NULL) fclose(runfile);
runfile=NULL; screen=MAIN; menu=MAIN;
break; */
default:
if (runfile == NULL) {
runfile = sd.openfile(jobname, "rb");
Expand All @@ -407,15 +403,21 @@ void LaosMenu::Handle() {
else
mot->reset();
} else {
canceled=0;
#ifdef READ_FILE_DEBUG
printf("Parsing file: \n");
#endif
while ((!feof(runfile)) && mot->ready())
while (!canceled && ((!feof(runfile)) && mot->ready())){
checkCancel();
mot->write(readint(runfile));
}
while(!canceled && mot->queue()>0){
checkCancel();
}
#ifdef READ_FILE_DEBUG
printf("File parsed \n");
#endif
if (feof(runfile) && mot->ready()) {
if (!canceled && feof(runfile) && mot->ready()) {
fclose(runfile);
runfile = NULL;
mot->moveTo(cfg->xrest, cfg->yrest, cfg->zrest);
Expand Down
13 changes: 12 additions & 1 deletion laser/LaosMenu/LaosMenu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@ extern "C" void mbed_reset();

extern void plan_get_current_position_xyz(float *x, float *y, float *z);

extern LaosMotion *mot;

class LaosMenu {
public:
/** Make new LaosMenu object.
Expand All @@ -58,7 +60,8 @@ class LaosMenu {
void SetScreen(int screen);
void SetScreen(char *s);
void SetFileName(char * name);

void checkCancel();

private:
// LaosDisplay *display;
int args[5];
Expand All @@ -67,6 +70,14 @@ class LaosMenu {
int speed;
char jobname[MAXFILESIZE];

// button input character
int c;

// cancel/skip markers
int canceled=0;
int skipped=0;


// menu states
int screen, prevscreen, lastscreen;
unsigned char menu, ipfield, iofield;
Expand Down
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