void Robot::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(robot_checksum)) return;
if(pdr->second_element_is(speed_override_percent_checksum)) {
// NOTE do not use this while printing!
float t = *static_cast<float *>(pdr->get_data_ptr());
// enforce minimum 10% speed
if (t < 10.0F) t = 10.0F;
this->seconds_per_minute = t / 0.6F; // t * 60 / 100
pdr->set_taken();
} else if(pdr->second_element_is(current_position_checksum)) {
float *t = static_cast<float *>(pdr->get_data_ptr());
for (int i = 0; i < 3; i++) {
this->last_milestone[i] = this->to_millimeters(t[i]);
}
float actuator_pos[3];
arm_solution->cartesian_to_actuator(last_milestone, actuator_pos);
for (int i = 0; i < 3; i++)
actuators[i]->change_last_milestone(actuator_pos[i]);
pdr->set_taken();
}
}
void Extruder::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(extruder_checksum)) return;
// handle extrude rates request from robot
if(pdr->second_element_is(target_checksum)) {
// disabled extruders do not reply NOTE only one enabled extruder supported
if(!this->enabled) return;
float *d = static_cast<float *>(pdr->get_data_ptr());
float target = d[0]; // the E passed in on Gcode is in mm³ (maybe absolute or relative)
float isecs = d[1]; // inverted secs
// check against maximum speeds and return rate modifier
d[1] = check_max_speeds(target, isecs);
pdr->set_taken();
return;
}
// save or restore state
if(pdr->second_element_is(save_state_checksum)) {
this->saved_current_position = this->current_position;
this->saved_absolute_mode = this->absolute_mode;
pdr->set_taken();
} else if(pdr->second_element_is(restore_state_checksum)) {
// NOTE this only gets called when the queue is empty so the milestones will be the same
this->milestone_last_position= this->current_position = this->saved_current_position;
this->milestone_absolute_mode= this->absolute_mode = this->saved_absolute_mode;
pdr->set_taken();
}
}
void TemperatureControl::on_set_public_data(void* argument){
PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
if(!pdr->starts_with(temperature_control_checksum)) return;
if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
// ok this is targeted at us, so set the temp
float t= *static_cast<float*>(pdr->get_data_ptr());
this->set_desired_temperature(t);
pdr->set_taken();
}
void Switch::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(switch_checksum)) return;
if(!pdr->second_element_is(this->name_checksum)) return; // likely fan, but could be anything
// ok this is targeted at us, so set the value
if(pdr->third_element_is(state_checksum)) {
bool t = *static_cast<bool *>(pdr->get_data_ptr());
this->switch_state = t;
pdr->set_taken();
this->switch_changed= true;
} else if(pdr->third_element_is(value_checksum)) {
float t = *static_cast<float *>(pdr->get_data_ptr());
this->switch_value = t;
pdr->set_taken();
}
}
void TemperatureControl::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(temperature_control_checksum)) return;
if(!pdr->second_element_is(this->name_checksum)) return;
// ok this is targeted at us, so set the temp
// NOTE unlike the M code this will set the temp now not when the queue is empty
float t = *static_cast<float *>(pdr->get_data_ptr());
this->set_desired_temperature(t);
pdr->set_taken();
}
void Panel::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(panel_checksum)) return;
if(!pdr->second_element_is(panel_display_message_checksum)) return;
string *s = static_cast<string *>(pdr->get_data_ptr());
if (s->size() > 20) {
this->message = s->substr(0, 20);
} else {
this->message= *s;
}
}
void Robot::on_set_public_data(void* argument){
PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
if(!pdr->starts_with(robot_checksum)) return;
if(pdr->second_element_is(speed_override_percent_checksum)) {
// NOTE do not use this while printing!
double t= *static_cast<double*>(pdr->get_data_ptr());
// enforce minimum 10% speed
if (t < 10.0) t= 10.0;
this->seconds_per_minute= t * 0.6;
pdr->set_taken();
}
}
void TemperatureControl::on_get_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(temperature_control_checksum)) return;
if(pdr->second_element_is(pool_index_checksum)) {
// asking for our instance pointer if we have this pool_index
if(pdr->third_element_is(this->pool_index)) {
static void *return_data;
return_data = this;
pdr->set_data_ptr(&return_data);
pdr->set_taken();
}
}else if(pdr->second_element_is(poll_controls_checksum)) {
// polling for all temperature controls
// add our data to the list which is passed in via the data_ptr
std::vector<struct pad_temperature> *v= static_cast<std::vector<pad_temperature>*>(pdr->get_data_ptr());
struct pad_temperature t;
// setup data
t.current_temperature = this->get_temperature();
t.target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature;
t.pwm = this->o;
t.designator= this->designator;
t.id= this->name_checksum;
v->push_back(t);
pdr->set_taken();
}else if(pdr->second_element_is(current_temperature_checksum)) {
// if targeted at us
if(pdr->third_element_is(this->name_checksum)) {
// ok this is targeted at us, so set the requ3sted data in the pointer passed into us
struct pad_temperature *t= static_cast<pad_temperature*>(pdr->get_data_ptr());
t->current_temperature = this->get_temperature();
t->target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature;
t->pwm = this->o;
t->designator= this->designator;
t->id= this->name_checksum;
pdr->set_taken();
}
}
}