Put Light Curtain Logic back into safety module. Clean up a few things.

3 files changed, 65 insertions, 1 deletions

diff --git a/Arduino/ems-light/Configuration.h b/Arduino/ems-light/Configuration.h
index 5a54e0b..822846d 100755
--- a/Arduino/ems-light/Configuration.h
+++ b/Arduino/ems-light/Configuration.h
@@ -24,6 +24,17 @@
 #ifndef E_STOP_PULLED
 #define E_STOP_PULLED 1
 #endif
+
+//
+// Define LIGHT_CURTAIN pins to enable light curtain
+//
+//#define LIGHT_CURTAIN_OSDD_PIN    5
+//#define LIGHT_CURTAIN_START_PIN   6
+#define LIGHT_CURTAIN_START LOW
+#define LIGHT_CURTAIN_STOP HIGH
+#define LIGHT_CURTAIN_OK LOW
+#define LIGHT_CURTAIN_NOT_CLEAR HIGH
+
 //
 // Define K1_PIN if konactor is connected to machine
 //
diff --git a/Arduino/ems-light/Monitor.cpp b/Arduino/ems-light/Monitor.cpp
index b4a9de6..90ba398 100755
--- a/Arduino/ems-light/Monitor.cpp
+++ b/Arduino/ems-light/Monitor.cpp
@@ -146,6 +146,7 @@ void Monitor::init(){
     
     clock.init(); // needed to timestamp debug statement.
     
+    registerAction(_SYN_, &ACK);
     registerAction(_DVL_, &DVL);
     registerAction(_GIT_, &GIT);
     registerAction(_HLP_, &HLP);
diff --git a/Arduino/ems-light/SafetyThird.h b/Arduino/ems-light/SafetyThird.h
index 8fa4f13..3b318a5 100755
--- a/Arduino/ems-light/SafetyThird.h
+++ b/Arduino/ems-light/SafetyThird.h
@@ -65,11 +65,34 @@ class SafetyThird {
 private:
     bool _eStop;
     bool _prevEStop;
+    bool _prevLightCurtain;
     // put the contactor variables back here
     // mebby look at the light curtain as well
     Task _doDoRunRun;
     
 public:
+
+    bool _lightCurtain;
+    bool _lightCurtainReset;
+
+#ifdef LIGHT_CURTAIN_START_PIN
+    static void LCS(uint8_t kwIndex, uint8_t verb, char *args) {
+        //
+        // set logic here
+        //
+        monitor.update("LCS","%s",safety._lightCurtain?"ON":"OFF");
+        safety.first();
+    }
+
+    static void LCR(uint8_t kwIndex, uint8_t verb, char *args) {
+        if (verb=='!') {
+            safety._lightCurtainReset = (atoi(args));
+            digitalWrite(LIGHT_CURTAIN_START_PIN,safety._lightCurtainReset);
+        }
+        safety.first();
+        monitor.update("LCR","%s",safety._lightCurtainReset?"ON":"OFF");
+    }
+#endif
     
     static void run() {safety.first();}
     
@@ -80,6 +103,12 @@ public:
 #else
         _eStop = false;
 #endif
+
+#ifdef LIGHT_CURTAIN_OSDD_PIN
+        _lightCurtain = (digitalRead(LIGHT_CURTAIN_OSDD_PIN) == LIGHT_CURTAIN_NOT_CLEAR);
+#else
+        _lightCurtain = false;
+#endif
         if ((machine.inSafeStateToRun)
             && (_eStop)
             )
@@ -102,7 +131,22 @@ public:
 #endif
             }
         }
-        
+        //
+        // this is rough... Fix when there is hardware to test with
+        //
+        if(_lightCurtain!=_prevLightCurtain) {
+            if (_lightCurtain) {
+#ifdef K1_PIN
+                digitalWrite(K1_PIN,KONTACTOR_OFF);
+#endif
+            } else {
+#ifdef K1_PIN
+                digitalWrite(K1_PIN,KONTACTOR_OFF);
+#endif≥                
+            }
+            monitor.update("LCS","%s",_lightCurtain?"ON":"OFF");
+        }
+        _prevLightCurtain=_lightCurtain;
         _prevEStop=_eStop;
     }
     uint redLightVal; // red led value prolly bad style
@@ -125,6 +169,14 @@ public:
         //  Might move this to machine or other more generic place.
         //  http://www.arduino.org/learning/reference/analogwriteresolution
         analogWriteResolution(ANALOG_WRITE_RESOLUTION);
+#ifdef LIGHT_CURTAIN_RESET_PIN
+        _lightCurtainReset = true;
+        digitalWrite(LIGHT_CURTAIN_START_PIN,LIGHT_CURTAIN_START);
+#else
+        _lightCurtainReset = false;
+#endif
+        _prevLightCurtain=false;
+        _prevEStop=false;
         
         redLight(redLightVal=RED_OFF);
         _doDoRunRun.set(77L, TASK_FOREVER, &run);