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/*-----------------------------------------------------------------SafetyThird.h
*
* *********************** Don't put safety third !!!! *************************
*
* This is a reminder not to put safety third like your workplace does.
* (after corporate profits and management whim)
*
* Author: Donald Delmar Davis, Suspect Devices
* Liscence: "Simplified BSD License"
*
* Copyright (c) 2016, Donald Delmar Davis, Suspect Devices
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in thedocumentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*-----------------------------------------------------------------------------*/
/*
* The safteyThird module is a place for items relating to the safety of machines.
* Examples include:
* Watchdog timer (a mechanism for keeping code from running away from its job)
* K1, K2 ( in large machinery a pair of Kontactors designed to drop power )
* E-stop ( A big red button or a lanyard for emergencies)
* Light Curtain (a device to keep fingers from getting into dangerous areas)
* red. (lights or other indicators that there may be problems.
*/
#ifndef SafetyThird_h
#define SafetyThird_h
#include "Configuration.h"
#include "Monitor.h"
class SafetyThird;
extern SafetyThird safety;
#define RED_FULL_ON (255 * (1 << (ANALOG_WRITE_RESOLUTION - 8)))
#define RED_OFF 0
// preprocessor logic for core specific WDT implimentation here....
#include <Adafruit_SleepyDog.h>
static void RED (uint8_t kwIndex, uint8_t verb,char *args) ;
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();}
void first () { // could also be called paranoia.
#ifdef E_STOP_PIN
_eStop = (digitalRead(E_STOP_PIN)==E_STOP_PULLED );
#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)
)
{
monitor.update("STP","1 ESTOP Pushed: Initiating Emergency Stop");
machine.setState(STATE_E_SHUTDOWN);
}
if (_eStop!=_prevEStop) {
_eStop = _prevEStop;
if (_eStop){
// probably should warn or alert!
monitor.update("STP","1 ESTOP Pushed: Contactors are OFF");
#ifdef K1_PIN
digitalWrite(K1_PIN,KONTACTOR_OFF);
#endif
} else {
monitor.update("STP","0 E-STOP Released: Contactors are ON");
#ifdef K1_PIN
digitalWrite(K1_PIN,KONTACTOR_ON);
#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
void redLight(int newVal) {
if(newVal!=redLightVal) {
redLightVal=newVal;
monitor.update("RED","%d",redLightVal);
}
#ifdef SAFETY_LAMP_PIN
analogWrite(SAFETY_LAMP_PIN, safety.redLightVal * (1 << (ANALOG_WRITE_RESOLUTION - 8) ) );
#endif
}
void init() {
#ifdef E_STOP_PIN
pinMode (E_STOP_PIN, INPUT_PULLUP);
#endif
// 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);
machine.todolist.addTask(_doDoRunRun);
_doDoRunRun.enable();
monitor.registerAction(_RED_, &RED);
}
};
static void RED (uint8_t kwIndex, uint8_t verb,char *args) {
// monitor update?
safety.redLight(atol(args));
}
#endif
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