void sigfunc(int sig)
{
if(sig != SIGINT)
return;
else
{
if (cancel == 0)
{
cancel = 1;
printf("press ctrl+c again to pause program\n");
}
else if (cancel == 1)
{
cancel = 2;
int laser=laserOn;
setLaser(POW_OFF);
printf("press 'e' to end program\n");
printf("press any other key to resume program\n");
int input = getInputChar();
if (input=='e')
exit (0);
setLaser(laser);
cancel=0;
}
else
{
printf("Thanks for flying plotd\n");
setLaser(POW_OFF);
pfio_write_output(0x00);
pfio_deinit();
exit (0);
}
}
}
void pfio_digital_write(char pin_number, char value)
{
char pin_bit_mask = pfio_get_pin_bit_mask(pin_number);
char old_pin_values = pfio_read_output();
char new_pin_values;
if (value > 0)
new_pin_values = old_pin_values | pin_bit_mask;
else
new_pin_values = old_pin_values & ~pin_bit_mask;
#ifdef VERBOSE_MODE
printf("digital_write: pin number %d, value %d\n", pin_number, value);
printf("pin bit mask: 0x%x\n", pin_bit_mask);
printf("old pin values: 0x%x\n", old_pin_values);
printf("new pin values: 0x%x\n", new_pin_values);
printf("\n");
#endif
pfio_write_output(new_pin_values);
}
int main(void)
{
// init IOs
signal(SIGINT,sigfunc);
if (pfio_init() < 0)
exit(-1);
// init PWM
if (wiringPiSetup () == -1)
exit (1);
pinMode (1, PWM_OUTPUT);
laserPower = POW_MED;
setZero(JUMP);
printf("plotd: daemon ready\n");
manualControl();
pfio_write_output(0x00);
pfio_deinit();
return 0;
}
int manualControl(void)
{
int input;
do
{
printf("\n");
input = getInputChar();
switch (input)
{
case 'w':
moveUp(JUMP);
break;
case 'x':
moveDown(JUMP);
break;
case 'd':
moveRight(JUMP);
break;
case 'a':
moveLeft(JUMP);
break;
case 'z':
setZero(JUMP);
break;
case 'm':
getMax(JUMP);
break;
case 'p':
printf("Current position X:%d, Y:%d\n",posX,posY);
break;
case 'r':
printf("Parsing input.nc\n");
readGCodeFile("input.nc");
break;
case 'o':
do {
printf("Set offset to:\n");
printf("0) none (default)\n");
printf("1) A4\n");
input=getInputChar();
}
while (input<'0'||input>'1');
if(input=='0')
{
setZero(JUMP);
}
else
{
setZero(JUMP);
printf("Set offset to A4\n");
move2pos(47, 0, JUMP);
posX = 0;
posY = 0;
printf("offset reached\n");
}
break;
break;
case 'l':
do {
printf("Set laser output power to:\n");
printf("1) low\n");
printf("2) medium (default)\n");
printf("3) high\n");
printf("4) maximum\n");
input=getInputChar();
}
while (input<'1'||input>'4');
if(input=='4')
{
laserPower=POW_MAX;
printf("Setting laser to maximum output power\n");
}
else if(input=='3')
{
laserPower=POW_HI;
printf("Setting laser to high output power\n");
}
else if(input=='2')
{
laserPower=POW_MED;
printf("Setting laser to medium output power\n");
}
else
{
laserPower=POW_LOW;
printf("Setting laser to low output power\n");
}
break;
case 's':
do {
printf("Set speed to:\n");
printf("0) auto (default)\n");
printf("1) SNAIL\n");
printf("2) XSLOW\n");
printf("3) SLOW\n");
printf("4) MEDIUM\n");
printf("5) FAST\n");
input=getInputChar();
}
while (input<'0'||input>'5');
if(input=='5')
{
autoSpeed=FALSE;
manSpeed = FAST;
printf("Setting speed to FAST\n");
}
else if(input=='4')
{
autoSpeed=FALSE;
manSpeed = MEDIUM;
printf("Setting speed to MEDIUM\n");
}
else if(input=='3')
{
autoSpeed=FALSE;
manSpeed = SLOW;
printf("Setting speed to SLOW\n");
}
else if(input=='2')
{
autoSpeed=FALSE;
manSpeed = XSLOW;
printf("Setting speed to XSLOW\n");
}
else if(input=='1')
{
autoSpeed=FALSE;
manSpeed = SNAIL;
printf("Setting speed to SNAIL\n");
}
else
{
autoSpeed=TRUE;
printf("Setting speed to auto\n");
}
break;
case 'b':
initImageIn();
parseImage();
drawImage();
break;
case 'q':
exit(0);
break;
default:
printf("available functions:\n");
printf("w move up\n");
printf("x move down\n");
printf("d move right\n");
printf("a move left\n");
printf("z move to pos 0/0 and reset step counter\n");
printf("m move to max position\n");
printf("l set power of laser\n");
printf("s set speed\n");
printf("o set offset\n");
printf("p print current position\n");
printf("r read and plot file\n");
printf("h show this help\n");
printf("q quit\n");
printf("b read bitmap\n");
printf("b set lines to skip\n");// todo
break;
}
setLaser(POW_OFF);
pfio_write_output(0x00);
}
while (input != 'q');
return OK;
}
