syact 0.12.1-alpha

A library to control motors (mainly stepper motors) and components, read data from sensors and more
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99

use core::sync::atomic::AtomicBool;

use alloc::sync::Arc;
use atomic_float::AtomicF32;
use embedded_hal::digital::InputPin;
use serde::{Serialize, Deserialize};
use syunit::*;

use crate::Setup;
use crate::act::{Interruptor, InterruptReason};
use crate::meas::Measurable;

/// A simple endswitch that can trigger when reaching a destination
#[derive(Serialize, Deserialize)]
pub struct EndSwitch<P : InputPin> {
    trigger : bool,
    _dir : Option<Direction>, 
    temp_dir : Option<Direction>,

    #[serde(skip)]
    sys_pin : P
}

impl<P : InputPin> EndSwitch<P> {
    /// Creates a new end switch
    pub fn new(trigger : bool, dir : Option<Direction>, sys_pin : P) -> Self {
        Self {
            trigger,
            _dir: dir,
            temp_dir: None,

            sys_pin
        }
    }
}

impl<P : InputPin> Measurable<bool> for EndSwitch<P> {
    type Error = P::Error; 

    fn meas(&mut self) -> Result<bool, Self::Error> {
        self.sys_pin.is_high().map(|v| v == self.trigger)
    }
}

impl<P : InputPin> Interruptor for EndSwitch<P> {
    fn dir(&self) -> Option<Direction> {
        self._dir.or(self.temp_dir)
    }

    fn set_temp_dir(&mut self, dir_opt : Option<Direction>) {
        self.temp_dir = dir_opt;
    }

    fn check(&mut self, _gamma : &Arc<AtomicF32>) -> Option<InterruptReason> {
        // unwraping unsafe is safe, as no error can occur
        if unsafe { self.sys_pin.is_high().unwrap_unchecked() } == self.trigger {    
            Some(InterruptReason::EndReached)
        } else {
            None
        }
    }
}

// Virtual
pub struct VirtualEndSwitch {
    pub vpin : Arc<AtomicBool>,
    _dir : Option<Direction>,
    temp_dir : Option<Direction>
}

impl VirtualEndSwitch {
    pub fn new(def : bool, _dir : Option<Direction>) -> Self {
        VirtualEndSwitch { 
            vpin: Arc::new(AtomicBool::new(def)),
            _dir,
            temp_dir: None
        }
    }
}

impl Setup for VirtualEndSwitch { }

impl Interruptor for VirtualEndSwitch {
    fn dir(&self) -> Option<Direction> {
        self._dir.or(self.temp_dir)
    }

    fn set_temp_dir(&mut self, dir_opt : Option<Direction>) {
        self.temp_dir = dir_opt;
    } 
    
    fn check(&mut self, _gamma : &Arc<AtomicF32>) -> Option<InterruptReason> {
        if self.vpin.load(core::sync::atomic::Ordering::Relaxed) {
            Some(InterruptReason::EndReached)
        } else {
            None
        }
    }
}