diff --git a/cli.cpp b/cli.cpp new file mode 100644 index 0000000000000000000000000000000000000000..42751bcc4e769506ee883d63e71cde1915210622 --- /dev/null +++ b/cli.cpp @@ -0,0 +1,239 @@ + +#include "cli.h" + +void Cli::resetNextWord () +{ + _currentWordIndex = -1; +} + +const char* Cli::findNextWord () +{ + if (_currentWordIndex >= 0) + // skip current word + while (_currentWordIndex < (int)_currentInput.length()) + { + if (_currentInput[_currentWordIndex] == 32) + break; + _currentWordIndex++; + } + else + _currentWordIndex = 0; + + // skip spaces + while (_currentWordIndex < (int)_currentInput.length()) + { + if (_currentInput[_currentWordIndex] != 32) + break; + _currentWordIndex++; + } + + const char* ret = _currentWordIndex < (int)_currentInput.length()? _currentInput.c_str() + _currentWordIndex: nullptr; + + for (_currentWordEndIndex = _currentWordIndex; _currentInput.c_str()[_currentWordEndIndex] > 32; _currentWordEndIndex++); + +#if 0 + if (ret) + Serial.printf("# found new start of word '%s'\n", ret); + else + Serial.printf("# no more word?\n"); +#endif + return ret; +} + +void Cli::copyNextToTemp () +{ + if (!findNextWord()) + { + _temp = emptyString; + return; + } + int start = _currentWordIndex; + int end = _currentWordEndIndex; + if (start < end) + _temp = _currentInput.substring(start, end); + else + _temp.clear(); +} + +bool Cli::kw (const __FlashStringHelper* keyWord, const char* input) +{ + // return true if input matches keyWord + auto len = strlen_P((PGM_P)keyWord); + return len && strncasecmp_P((PGM_P)keyWord, input, len) == 0; +} + +bool Cli::kw (const __FlashStringHelper* keyWord) +{ + return kw(keyWord, _currentInput.c_str() + _currentWordIndex); +} + +void Cli::syntax (const __FlashStringHelper* cmd) +{ + syntax((PGM_P)cmd); +} + +void Cli::syntax (const char* cmd) +{ + if (!cmd || kw(F("AT"), cmd)) Serial.printf("%sAT -> OK\n", _msgHeader.c_str()); + if (!cmd || kw(F("HELP"), cmd)) Serial.printf("%sHELP [CMD]\n", _msgHeader.c_str()); + if (!cmd || kw(F("RAT"), cmd)) Serial.printf("%sRAT [ C ] - set or show rate (UM/MM/UH/MH)\n", _msgHeader.c_str()); + if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ | ] - set volume or unit (UL / ML)\n", _msgHeader.c_str()); + if (!cmd || kw(F("DIA"), cmd)) Serial.printf("%sDIA [ ] - set or show inside syringe diameter (in mm)\n", _msgHeader.c_str()); + if (!cmd || kw(F("DIR"), cmd)) Serial.printf("%sDIR [ INF | WDR ] - set or show direction (INFuse / WithDRaw)\n", _msgHeader.c_str()); + if (!cmd || kw(F("FIL"), cmd)) Serial.printf("%sFIL - start filling using direction at rate for volume\n", _msgHeader.c_str()); + if (!cmd || kw(F("STP"), cmd)) Serial.printf("%sSTP - stop\n", _msgHeader.c_str()); + if (!cmd || kw(F("DIS"), cmd)) Serial.printf("%sDIS - show volume dispensed\n", _msgHeader.c_str()); +} + +void Cli::answer (bool ok, const String& error_message) const +{ + Serial.printf("%s%s", _msgHeader.c_str(), ok? "OK": "ERROR"); + if (!ok && error_message.length()) + Serial.printf(" (%s)", error_message.c_str()); + Serial.printf("\n"); +} + +void Cli::loop (Stream& input) +{ + while (true) + { + if (!input.available()) + return; + int c = input.read(); + if (c == 13) + break; + if (c >= 32 && c <= 127) + _currentInput += (char)c; + // ignore other chars + } + + resetNextWord(); + + Syringe::Syringe_configuration_t conf = syringe.configuration(); + + if (findNextWord()) + { + if (kw(F("AT"))) + { + answer(true); + } + else if (kw(F("HELP"))) + { + copyNextToTemp(); + if (_temp.length()) + syntax(_temp.c_str()); + else + syntax(); + } + else if (kw(F("RAT"))) + { + copyNextToTemp(); + if (_temp.equalsIgnoreCase(F("C"))) + { + copyNextToTemp(); + conf.rate_ul_per_s = atof(_temp.c_str()); + copyNextToTemp(); + if (_temp.length() == 0) + conf.rate_ul_per_s *= 60; // default uL/mn + else if (_temp.equalsIgnoreCase(F("us"))) + conf.rate_ul_per_s *= 1; + else if (_temp.equalsIgnoreCase(F("ms"))) + conf.rate_ul_per_s *= 1000; + else if (_temp.equalsIgnoreCase(F("um"))) + conf.rate_ul_per_s *= 60; + else if (_temp.equalsIgnoreCase(F("mm"))) + conf.rate_ul_per_s *= 1000 * 60.0; + else if (_temp.equalsIgnoreCase(F("uh"))) + conf.rate_ul_per_s *= 3600; + else if (_temp.equalsIgnoreCase(F("mh"))) + conf.rate_ul_per_s *= 1000 * 3600.0; + else + conf.rate_ul_per_s = -1; + answer(syringe.configureSyringe(conf), F("invalid 'RAT C rate [unit]'")); + } + else if (_temp.length() > 0) + answer(false, F("RAT must be followed by C")); + + Serial.printf("%sRAT: %g ul/mn\n", _msgHeader.c_str(), + syringe.configuration().rate_ul_per_s / 60); + + } + else if (kw(F("VOL"))) + { + copyNextToTemp(); + while (_temp.length()) + { + if (isdigit(_temp[0])) + conf.volume_value = atof(_temp.c_str()); + else if (_temp.equalsIgnoreCase(F("ul"))) + conf.volume_unit_ul = 1; + else if (_temp.equalsIgnoreCase(F("ml"))) + conf.volume_unit_ul = 1000; + else if (_temp.equalsIgnoreCase(F("cl"))) + conf.volume_unit_ul = 10000; + else if (_temp.equalsIgnoreCase(F("dl"))) + conf.volume_unit_ul = 100000; + else if (_temp.equalsIgnoreCase(F("l"))) + conf.volume_unit_ul = 1000000; + answer(syringe.configureSyringe(conf), F("invalid volume or volume unit")); + copyNextToTemp(); + } + + Serial.printf("%sVOL: %g ul\n", _msgHeader.c_str(), + syringe.configuration().volume_value * syringe.configuration().volume_unit_ul); + } + else if (kw(F("DIA"))) + { + copyNextToTemp(); + if (_temp.length()) + { + conf.diameter_mm = atof(_temp.c_str()); + answer(syringe.configureSyringe(conf), F("invalid diameter")); + } + Serial.printf("%sDIA: %g mm\n", _msgHeader.c_str(), syringe.configuration().diameter_mm); + } + else if (kw(F("DIR"))) + { + copyNextToTemp(); + if (_temp.length()) + { + if (_temp.equalsIgnoreCase(F("inf"))) + conf.direction = 1; + else if (_temp.equalsIgnoreCase(F("wdr"))) + conf.direction = -1; + else + conf.direction = 0; + answer(syringe.configureSyringe(conf), F("invalid direction -> INF | WDR")); + } + Serial.printf("%sDIR: %s\n", _msgHeader.c_str(), + syringe.configuration().direction > 0? "INFuse": "WithDRaw"); + } + else if (kw(F("FIL"))) + { + syringe.fill(); + answer(true); + } + else if (kw(F("STP"))) + { + syringe.setEmergency(); + syringe.stayHere(); + syringe.setEmergency(false); + answer(true); + } + else if (kw(F("DIS"))) + { + Serial.printf("%sDIS: I %g W %g UL\n", _msgHeader.c_str(), + conf.direction > 0? syringe.mmToMm3(syringe.stepToMm(syringe.whereStep())): 0, + conf.direction > 0? 0 : syringe.mmToMm3(syringe.stepToMm(syringe.whereStep()))); + } + else + { + Serial.printf("%sinvalid command '%s'\n", _msgHeader.c_str(), _currentInput.c_str() + _currentWordIndex); + } + } + + if (findNextWord()) + Serial.printf("%sgarbage at end of line: '%s'\n", _msgHeader.c_str(), _currentInput.c_str() + _currentWordIndex); + resetNextWord(); + _currentInput.clear(); +} diff --git a/cli.h b/cli.h new file mode 100644 index 0000000000000000000000000000000000000000..1eac3bda6e2db03f051871ae90dc055299b7aa19 --- /dev/null +++ b/cli.h @@ -0,0 +1,39 @@ + +#pragma once + +#include + +#include "syringe.h" + +class Cli +{ +private: + + Syringe& syringe; + + String _currentInput; + String _temp; + String _msgHeader = "#CLI: "; + int _currentWordIndex; + int _currentWordEndIndex; + + void resetNextWord (); + const char* findNextWord (); + void copyNextToTemp (); + bool kw (const __FlashStringHelper* keyWord, const char* input); + bool kw (const __FlashStringHelper* keyWord); + void syntax (const __FlashStringHelper* cmd); + void syntax (const char* cmd = nullptr); + void answer (bool ok, const String& error_message = emptyString) const; + +public: + + Cli (Syringe& syringe, int bufferLen = 32): syringe(syringe) + { + _currentInput.reserve(bufferLen); + _temp.reserve(bufferLen); + resetNextWord(); + } + + void loop (Stream& input); +}; diff --git a/docs/contrib/NE-1000-Syringe-Pump-User-Manual.pdf b/docs/contrib/NE-1000-Syringe-Pump-User-Manual.pdf new file mode 100644 index 0000000000000000000000000000000000000000..fb0e8fb8db85419ef4574f1e1039ecaca6c6ddd1 Binary files /dev/null and b/docs/contrib/NE-1000-Syringe-Pump-User-Manual.pdf differ diff --git a/host_gui/make.sh b/host_gui/make.sh index 36a876f3e7075b901c9ecf221333d6a4c26563ec..f0537cbc2cea916f4c2475225bd2b67370084d53 100755 --- a/host_gui/make.sh +++ b/host_gui/make.sh @@ -1,21 +1,21 @@ #!/bin/sh -ex +firefox=true +[ -z "$1" ] || firefox=false + pwd=$(pwd) cd ${ESP8266ARDUINO}/tests/host make FORCE32=0 ssl -make -j 10 FORCE32=0 D=1 USERCFLAGS="-I ${ARDUINOLIB}/emuAsync/replacement" ULIBDIRS=${ARDUINOLIB}/emuAsync:${ARDUINOLIB}/ESPUI:${ARDUINOLIB}/ArduinoJson:${ARDUINOLIB}/arduinoWebSockets ${pwd}/../pousseseringue-arduino +make -j 10 FORCE32=0 USERCFLAGS="-I ${ARDUINOLIB}/emuAsync/replacement" ULIBDIRS=${ARDUINOLIB}/emuAsync:${ARDUINOLIB}/ESPUI:${ARDUINOLIB}/ArduinoJson:${ARDUINOLIB}/arduinoWebSockets ${pwd}/../pousseseringue-arduino -(./bin/pousseseringue-arduino/pousseseringue-arduino -b "$@" 2>&1 | grep -v '^http-server loop: conn=') & pid=$! -trap "kill ${pid}" EXIT INT +$firefox && ( + true '----------------------------------------' + true '----------- starting firefox -----------' + true '----------------------------------------' + sleep 5 + firefox -new-window http://localhost:9080 +) & -sleep 1 -true '----------------------------------------' -true '----------- starting firefox -----------' -true '----------------------------------------' -sleep 4 -firefox -new-window http://localhost:9080 +./bin/pousseseringue-arduino/pousseseringue-arduino "$@" -while true; do - true '^C to quit' - read junk -done +stty sane diff --git a/motor.cpp b/motor.cpp index 51c65e2d56757543d3a2e3b4dc75ab8963a224d1..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 100644 --- a/motor.cpp +++ b/motor.cpp @@ -1,19 +0,0 @@ -#include "motor.h" - -// Global object -Motor motor; - -void Motor::reset() -{ - // Open full -} - -void Motor::turn(bool direction, float duration, float speed) -{ - // Direction: push (true) or pull (false) - // Duration: in s - // Speed: in mm/min - - // This function is in charge of converting the - // linar speed in mm/min to angular speed in steps/min -} diff --git a/motor.h b/motor.h index 4b0b65fc018f34e16d17c098f00f7efa17a7552a..a3849003b6037e5cbff740a6d83cf1a62cf019a5 100644 --- a/motor.h +++ b/motor.h @@ -1,13 +1,123 @@ #pragma once +#if CORE_MOCK +class AccelStepper +{ +}; +#else +#include +#endif + class Motor { public: - void reset(); - void turn(bool direction, float duration, float speed); -private: - int current_step_count = 0; -}; + using MotorHardware_t = AccelStepper; + + Motor (AccelStepper& stepper): stepper(stepper) + { + setSpeedMmPerSec(1); + setAccelMmPerSecPerSec(0.01); // <----- this is not yet configured by user + } + + void setPhysical (int stepsPerRevolution, float mmPerRevolution) + { + this->stepsPerRevolution = stepsPerRevolution; + this->mmPerRevolution = mmPerRevolution; + } + + void setSpeedMmPerSec (float mmPerSec) + { + Serial.printf("motor: set speed: %g mm/s\n", mmPerSec); + Serial.printf("motor: set speed: %g st/s\n", mmToStep(mmPerSec)); +#if !CORE_MOCK + stepper.setMaxSpeed(mmToStep(mmPerSec)); +#endif + } + + void setAccelMmPerSecPerSec (float mmPerSecPerSec) + { + Serial.printf("motor: set accel: %g mm/s/s\n", mmPerSecPerSec); + Serial.printf("motor: set accel: %g st/s/s\n", mmToStep(mmPerSecPerSec)); + _retainAccel = mmPerSecPerSec; +#if !CORE_MOCK + stepper.setAcceleration(mmToStep(mmPerSecPerSec)); +#endif + } + + float mmToStep (float mm) const + { + return mm * stepsPerRevolution / mmPerRevolution; + } + + float stepToMm (int step) const + { + return step * mmPerRevolution / stepsPerRevolution; + } + int whereStep () + { +#if CORE_MOCK + return 0; +#else + return stepper.currentPosition(); +#endif + } + + void moveToMm (float mm) + { + Serial.printf("motor: move to: %g mm\n", mm); + moveToStep(mmToStep(mm)); + } + + void moveToStep (int step) + { + Serial.printf("motor: move to: %d step\n", step); + Serial.printf("motor: currently at: %ld step\n", stepper.currentPosition()); +#if !CORE_MOCK + cli(); + setAccelMmPerSecPerSec(_retainAccel); + stepper.moveTo(step); + sei(); +#endif + } + + void stop () + { +#if !CORE_MOCK + cli(); + stepper.stop(); + sei(); +#endif + } + + void reset() + { +#if !CORE_MOCK + stop(); + cli(); + stepper.setCurrentPosition(0); + sei(); +#endif + } + + void stayHere () + { +#if !CORE_MOCK + cli(); + stepper.setAcceleration(1e20); + stepper.moveTo(stepper.currentPosition()); // change target to here + setAccelMmPerSecPerSec(_retainAccel); + sei(); +#endif + } + +protected: + + int stepsPerRevolution = 1; + float mmPerRevolution = 1; + float _retainAccel = -1; + + AccelStepper& stepper; +}; diff --git a/pousseseringue-arduino.cpp b/pousseseringue-arduino.cpp index ed4a1eb9823fe17b28db09610cd6782a1272e4ec..7da6892b06ab7a6146a9c3c357ca7e4b347b790d 100644 --- a/pousseseringue-arduino.cpp +++ b/pousseseringue-arduino.cpp @@ -3,12 +3,9 @@ // Feather LCD // Feather motor controler -#if 0 -#define STASSID "laas-capture" -#define STAPSK "" -#else +#ifndef STASSID #define STASSID "laas-welcome" -#define STAPSK "WifiLAAS2018" // this password is wrong +#define STAPSK "WifiLAAS2022" // this password is wrong #endif #define NAME "PousseSeringue" @@ -19,43 +16,40 @@ #define BTNC 2 // gpio C adafruit feather oled 128x32 #define OLED_I2C 0x3c // adafruit feather oled 128x32 -#if 1 // 1 for laas board - // A4988 PINOUT #define DIR 15 // esp8266 gpio #define STEP 13 // esp8266 gpio #define SLEEP 12 // esp8266 gpio -#else // primilinary proto pinout - -#warning WARNING NOT LAAS BOARD ! - -// A4988 PINOUT -#define DIR 12 // esp8266 gpio -#define STEP 13 // esp8266 gpio -#define SLEEP 14 // esp8266 gpio - -#endif // proto pinout +#ifndef BAUDRATE +#define BAUDRATE 9600 +#endif // should this be configurable through a GUI ? #define MOTOR_STEPS 200 // 17HS19 #define MICROSTEPS_CONF 16 // hardware configuration: A4988's MS1,MS2,MS3 tied up -#define STEPPER_RPM 60 // some value is necessary for the driver XXXXX see below - -#define STEP_DURATION_MIN_MS 2 -#define STEP_DURATION_DEFAULT_MS 5 - - - #include // internal, wifi library #include // internal, access point mode +#include + #if !CORE_MOCK #include // https://github.com/greiman/SSD1306Ascii -#include +SSD1306AsciiWire oled; #endif // !CORE_MOCK + + +#include "motor.h" +#if CORE_MOCK +AccelStepper stepper; +#else +AccelStepper stepper(AccelStepper::DRIVER, STEP, DIR); +#endif + + #include "Debouncer.h" // local, debouncer, short counter, long detector #include "syringe.h" +#include "cli.h" #include "common.h" @@ -67,32 +61,29 @@ millis_t nowMs; // to update on main loop(): "nowMs = millis();" Debouncer bA, bB, bC; -#if !CORE_MOCK -AccelStepper stepper(AccelStepper::DRIVER, STEP,DIR); -SSD1306AsciiWire oled; -#endif // !CORE_MOCK constexpr int DNS_PORT = 53; DNSServer dnsServer; char ssid[65]; -Modes mode = Modes::TURN; +Modes mode = Modes::RPM; +bool stepperMoving = false; millis_t lastMoveMs = 0; int move = 0; // TURN mode constexpr float step2deg = 360.0 / MOTOR_STEPS / MICROSTEPS_CONF; // deg for 1 step -int steps = MOTOR_STEPS * MICROSTEPS_CONF / 100; // =1/100 turn +int steps = MOTOR_STEPS * MICROSTEPS_CONF / 4; // =1/4 turn // RPM mode -int stepsPerDuration = 1; -int stepDurationMs = STEP_DURATION_DEFAULT_MS; -float stepsPerDuration2rpm () { return 60.0 * stepsPerDuration / ((MOTOR_STEPS * MICROSTEPS_CONF) * (stepDurationMs / 1000.0)); } +int stepsPerSeconds = MOTOR_STEPS * MICROSTEPS_CONF / 2; +float stepsPerSeconds2rpm () { return 60.0 * stepsPerSeconds / (MOTOR_STEPS * MICROSTEPS_CONF); } int rpming = 0; // -1, 0 or +1 // single syringe global instance -Syringe syringe; +Syringe syringe(stepper); +Cli console(syringe); const char* oledMode () { @@ -122,28 +113,28 @@ void oledRedisplay () switch (mode) { case Modes::TURN: - oled.printf("<%g dR < ", move); move += shortp * steps; - move += longp * MOTOR_STEPS * MICROSTEPS_CONF; + move += longp * MOTOR_STEPS * MICROSTEPS_CONF; // long: one turn + Serial.printf("%d\n", move); +#if !CORE_MOCK + cli(); + stepper.moveTo(move); + sei(); +#endif // !CORE_MOCK break; + case Modes::TURNSetup: steps += shortp; - steps += longp * 10; + steps += longp * MOTOR_STEPS * MICROSTEPS_CONF / 16; oledRedisplay(); +#if !CORE_MOCK + cli(); + stepper.setCurrentPosition(0); + sei(); +#endif // !CORE_MOCK break; + case Modes::RPM: if (longp) - rpming = longp; // move will be increased in main loop - if (shortp) - move = 0; // stop moving + { + rpming = longp? (oldrpming > 1? -1: 1): 0; + if (rpming) + { +#if !CORE_MOCK + cli(); + stepper.setSpeed(stepsPerSeconds); + sei(); +#endif // !CORE_MOCK + Serial.printf("StepPerSecs=%d (%g RPM)\n", stepsPerSeconds, stepsPerSeconds2rpm()); + //stepper.setMaxSpeed(400); + } + } break; + case Modes::RPMSetup: - if ((stepDurationMs += longp) < STEP_DURATION_MIN_MS) - stepDurationMs = STEP_DURATION_MIN_MS; - if ((stepsPerDuration += shortp) < 1) - stepsPerDuration = 1; + if ((stepsPerSeconds += longp * MOTOR_STEPS * MICROSTEPS_CONF / 16) < 1) + stepsPerSeconds = 1; + if ((stepsPerSeconds += shortp) < 1) + stepsPerSeconds = 1; oledRedisplay(); break; + default: Serial.printf("press not handled in buttons()\n"); } } +#if !CORE_MOCK + +IRAM_ATTR +void stepperRun () +{ + if (syringe.emergency()) + return; + cli(); + if (rpming) + stepperMoving = stepper.runSpeed(); + else + stepperMoving = stepper.run(); + sei(); +} + +#endif // !CORE_MOCK void setup() { - Serial.begin(9600); + Serial.begin(BAUDRATE); Serial.setDebugOutput(true); #if !CORE_MOCK Wire.begin(); @@ -226,16 +261,20 @@ void setup() delay(500); #if !CORE_MOCK + // initialize hardware + oled.begin(&OLED_HW, OLED_I2C); oled.setFont(System5x7); oled.setScrollMode(SCROLL_MODE_AUTO); oled.clear(); oled.println("Booting...\n"); -#endif // !CORE_MOCK -#if !CORE_MOCK - stepper.setMaxSpeed(10000); - stepper.setAcceleration(10000); - stepper.moveTo(200); + + syringe.setPhysical(MOTOR_STEPS * MICROSTEPS_CONF, 0.1 /*mm/rev XXX ???*/); + + pinMode(SLEEP, OUTPUT); + digitalWrite(SLEEP, 0); + + #endif // !CORE_MOCK uint8_t mac[6]; @@ -261,15 +300,29 @@ void setup() pinMode(BTNA, INPUT_PULLUP); pinMode(BTNB, INPUT_PULLUP); pinMode(BTNC, INPUT_PULLUP); - + oledRedisplay(); + +#if !CORE_MOCK +#ifdef ISR_ATTR + timer1_isr_init(); + timer1_enable(TIM_DIV1, TIM_EDGE, TIM_LOOP); + timer1_attachInterrupt(stepperRun); + timer1_write(microsecondsToClockCycles(100)); +#else + #warning =================================================================================================== + #warning "Please use the ISR version of AccelStepper (git clone -b isr https://github.com/d-a-v/AccelStepper)" + #warning =================================================================================================== + schedule_recurrent_function_us([](){ stepperRun(); return true; }, 1); +#endif +#endif } void loop() { nowMs = millis(); - + #if CORE_MOCK bool changeA = false; bool changeB = false; @@ -287,7 +340,7 @@ void loop() // are not cleared until they are read int shortA = bA.shortCount(); bool longA = bA.longState(); - + buttons(shortA, longA); } @@ -303,24 +356,13 @@ void loop() { int shortB = bB.shortCount(); bool longB = bB.longState(); - + if (longB) changeMode(); (void)shortB; - - move = 0; } - // Stepper - #if !CORE_MOCK - if (stepper.distanceToGo() == 0) - { - stepper.moveTo(-stepper.currentPosition()); - Serial.println("Rotating Motor in opposite direction..."); - } - stepper.run(); - #endif // !CORE_MOCK + console.loop(Serial); webLoop(); - - dnsServer.processNextRequest(); // AP redirection + dnsServer.processNextRequest(); // access-point redirection } diff --git a/pousseseringue-arduino.ino b/pousseseringue-arduino.ino index e70951cbf584db88608da47144d6c847bb6d8936..e3e70bcc95a52ecce0d4c4136ec6f8aaa52acae7 100644 --- a/pousseseringue-arduino.ino +++ b/pousseseringue-arduino.ino @@ -1,10 +1,11 @@ // please edit this file: pousseseringue-arduino.cpp -// Pour la compilation locale sur le PC +// needed for compilation on host #if CORE_MOCK #include "pousseseringue-arduino.cpp" #include "web.cpp" #include "syringe.cpp" #include "motor.cpp" + #include "cli.cpp" #endif // !CORE_MOCK diff --git a/pousseseringue-arduino.ino.globals.h-template b/pousseseringue-arduino.ino.globals.h-template new file mode 100644 index 0000000000000000000000000000000000000000..dd1b1ccb0fb6935d7b55f4f652130d04bfc65f84 --- /dev/null +++ b/pousseseringue-arduino.ino.globals.h-template @@ -0,0 +1,10 @@ + +// this file is included first with git version or from release 3.1 of the esp8266 arduino core + +#undef STASSID +#undef STAPSK + +#define STASSID "hackaton" +#define STAPSK "WifiLAAS2022" // changeme + +#define BAUDRATE 74880 diff --git a/syringe.cpp b/syringe.cpp index 7a831b35bb0534fb3399e8761f9798699438bffd..a5880900bff9d53eee0df0ba8df43458155ec66d 100644 --- a/syringe.cpp +++ b/syringe.cpp @@ -2,149 +2,191 @@ #include "syringe.h" -float Syringe::volumeToDistance(float volume) +float Syringe::mm3ToMm (float mm3) const +{ + return mm3 / (pow(current_configuration.diameter_mm / 2, 2) * M_PI); +} + +float Syringe::mmToMm3 (float mm) const +{ + return mm * (pow(current_configuration.diameter_mm / 2, 2) * M_PI); +} + +float Syringe::confToMm () const +{ + return current_configuration.direction * mm3ToMm(current_configuration.volume_value * current_configuration.volume_unit_ul); +} + +void Syringe::fill () { - // Volume is in mL => convert to mm³ - float volume_in_mm3 = 1000*volume; + setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s)); + moveToMm(confToMm()); +} + +bool Syringe::configureSyringe(const Syringe_configuration_t& config) +{ + if (config.diameter_mm <= 0) + return false; + + if (config.volume_value < 0) + return false; + + if (config.volume_unit_ul <= 0) + return false; - // Distance to travel is in mm => use syringe piston surface in mm² - float distance = volume_in_mm3/this->piston_surface; + if (config.rate_ul_per_s <= 0) + return false; - return distance; + if (config.direction != 1 && config.direction != -1) + return false; + + this->current_configuration = config; + + this->piston_surface = M_PI * pow(config.diameter_mm,2) / 4.; + this->is_configured = true; + + return true; } -void Syringe::configureSyringe(Syringe_configuration_t config) +#if 0 +float Syringe::volumeToDistance(float volume) { - this->current_configuration = config; - this->piston_surface = M_PI * pow(config.diameter,2) / 4.; + // Volume is in mL => convert to mm³ + float volume_in_mm3 = 1000*volume; + + // Distance to travel is in mm => use syringe piston surface in mm² + float distance = volume_in_mm3/this->piston_surface; - this->is_configured = true; + return distance; } +#endif +#if 0 void Syringe::setInitialContent(float initial_volume) { - this->remaining_volume = initial_volume; + this->remaining_volume = initial_volume; } void Syringe::moveMotor(bool direction, float duration, float speed) { - float quantity = speed*this->piston_surface*duration; - if (direction == true) - { - if (quantity <= this->remaining_volume) - { - this->remaining_volume -= quantity; - } - else - { - quantity = this->remaining_volume; - this->remaining_volume = 0; - } - } - else - { - if (this->remaining_volume + quantity <= this->current_configuration.capacity) - { - this->remaining_volume += quantity; - } - else - { - quantity = this->current_configuration.capacity - this->remaining_volume; - this->remaining_volume = this->current_configuration.capacity; - } - } - - // TODO: recompute duration to match quantity before sending commande to motor - motor.turn(direction, duration, speed); + float quantity = speed*this->piston_surface*duration; + if (direction == true) + { + if (quantity <= this->remaining_volume) + { + this->remaining_volume -= quantity; + } + else + { + quantity = this->remaining_volume; + this->remaining_volume = 0; + } + } + else + { + if (this->remaining_volume + quantity <= this->current_configuration.capacity_ul) + { + this->remaining_volume += quantity; + } + else + { + quantity = this->current_configuration.capacity_ul - this->remaining_volume; + this->remaining_volume = this->current_configuration.capacity_ul; + } + } + + // TODO: recompute duration to match quantity before sending commande to motor + motor.turn(direction, duration, speed); } void Syringe::reset() { - // TODO: go back to home. At which speed? - float speed = 100; // Default to 10 cm/min - this->pull(this->current_configuration.capacity, speed); + // TODO: go back to home. At which speed? + float speed = 100; // Default to 10 cm/min + this->pull(this->current_configuration.capacity_ul, speed); } void Syringe::push(float volume, float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - // Volume in mL, throughput in µL/min, duration in min - this->pushFor(volume/throughput, throughput); + // Volume in mL, throughput in µL/min, duration in min + this->pushFor(volume/throughput, throughput); } void Syringe::pushAll(float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - this->push(this->current_configuration.capacity, throughput); + this->push(this->current_configuration.capacity_ul, throughput); } void Syringe::pushFor(float duration, float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - float volume = throughput*duration; - float distance = this->volumeToDistance(volume); - float speed = distance/duration; + float volume = throughput*duration; + float distance = this->volumeToDistance(volume); + float speed = distance/duration; - this->moveMotor(true, duration, speed); + this->moveMotor(true, duration, speed); } void Syringe::pushVol(float volume, float duration) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - float throughput = volume/duration; - this->push(volume, throughput); + float throughput = volume/duration; + this->push(volume, throughput); } void Syringe::pull(float volume, float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - // Volume in mL, throughput in µL/min, duration in min - this->pullFor(volume/throughput, throughput); + // Volume in mL, throughput in µL/min, duration in min + this->pullFor(volume/throughput, throughput); } void Syringe::pullAll(float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - this->pull(this->current_configuration.capacity, throughput); + this->pull(this->current_configuration.capacity_ul, throughput); } void Syringe::pullFor(float duration, float throughput) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - float volume = throughput*duration; - float distance = this->volumeToDistance(volume); - float speed = distance/duration; + float volume = throughput*duration; + float distance = this->volumeToDistance(volume); + float speed = distance/duration; - this->moveMotor(false, duration, speed); + this->moveMotor(false, duration, speed); } void Syringe::pullVol(float volume, float duration) { - // Ensure syringe is configured before using it - if (this->is_configured == false) - return; + // Ensure syringe is configured before using it + if (this->is_configured == false) + return; - float throughput = volume/duration; - this->pull(volume, throughput); + float throughput = volume/duration; + this->pull(volume, throughput); } +#endif diff --git a/syringe.h b/syringe.h index 49dea578113e5d65ed020218cd2830f5d604ddd5..facb017a0c275489a864d50fb32c7fe1c583a811 100644 --- a/syringe.h +++ b/syringe.h @@ -3,31 +3,53 @@ #include "motor.h" -class Syringe +//template +class Syringe: public Motor { public: - /** - * Diameter in mm - * Capacity in mL - */ + typedef struct { - int diameter; - int capacity; + float mmPerTurn; + float diameter_mm; + float capacity_ul; + float rate_ul_per_s; + float volume_value; // see volume_unit_ul + float volume_unit_ul; // volume in ul = volume_value * volume_unit_ul + int direction; } Syringe_configuration_t; + private: + float volumeToDistance(float volume); void moveMotor(bool direction, float duration, float speed); public: + + Syringe (MotorHardware_t& stepper): Motor(stepper) + { + } + + const bool emergency () const { return _emergency; } + void setEmergency (bool emergency = true) { _emergency = emergency; } + + const Syringe_configuration_t& configuration () const { return current_configuration; }; + // Configuration - void configureSyringe(Syringe_configuration_t config); + + bool configureSyringe(const Syringe_configuration_t& config); void setInitialContent(float initial_volume); - // Actions - void reset(); + float mm3ToMm (float mm3) const; + float mmToMm3 (float mm) const; + float confToMm () const; + // Actions + + void fill (); + +#if 0 void push(float volume, float throughput); // Volume in mL, throughput in µL/min void pushAll(float throughput); // Throughput in µL/min void pushFor(float duration, float throughput); // Duration in min, throughput in µL/min @@ -37,12 +59,24 @@ public: void pullAll(float throughput); // Throughput in µL/min void pullFor(float duration, float throughput); // Duration in min, throughput in µL/min void pullVol(float volume, float duration); // Volume in mL, duration in min +#endif private: - Syringe_configuration_t current_configuration = {0}; + + Syringe_configuration_t current_configuration = + { + .diameter_mm = 10, + .rate_ul_per_s = 5, + .volume_value = 50, + .volume_unit_ul = 1, + .direction = 1, + +// .capacity_ul = 1000, + }; + + bool _emergency = false; + bool is_configured = false; float remaining_volume = 0; float piston_surface = 0; - - Motor motor; }; diff --git a/web.cpp b/web.cpp index b2b0794b03f37f23bac52961981caa58a16eb180..7658a59203c7f5af4bac6467df83dcbc8616e60a 100644 --- a/web.cpp +++ b/web.cpp @@ -30,7 +30,7 @@ void buttonCallback(Control *sender, int type) { switch (type) { case B_DOWN: Serial.println("Button DOWN"); - syringe.push(1, 1); + //syringe.push(1, 1); break; case B_UP: @@ -82,10 +82,11 @@ void selectExample(Control *sender, int value) { Serial.println(sender->value); } +uint8_t mock_read_uart(void); void webSetup () { - ESPUI.setVerbosity(Verbosity::VerboseJSON); + //ESPUI.setVerbosity(Verbosity::VerboseJSON); status = ESPUI.addControl(ControlType::Label, "Status:", "Stop", ControlColor::Turquoise); @@ -134,7 +135,6 @@ void webSetup () * password, for example begin("ESPUI Control", "username", "password") */ - ESPUI.begin("ESPUI Control"); }