#include "Robot.h"
#include "ToolManagerPublicAccess.h"
#include "GcodeDispatch.h"
+#include "BaseSolution.h"
+#include "StepperMotor.h"
+#include "Configurator.h"
#include "TemperatureControlPublicAccess.h"
#include "EndstopsPublicAccess.h"
#include "SDFAT.h"
#include "Thermistor.h"
#include "md5.h"
+#include "utils.h"
#include "system_LPC17xx.h"
#include "LPC17xx.h"
gcode->stream->printf("End file list\r\n");
} else if (gcode->m == 30) { // remove file
- rm_command("/sd/" + args, gcode->stream);
-
- } else if(gcode->m == 501) { // load config override
- if(args.empty()) {
- load_command("/sd/config-override", gcode->stream);
- } else {
- load_command("/sd/config-override." + args, gcode->stream);
- }
-
- } else if(gcode->m == 504) { // save to specific config override file
- if(args.empty()) {
- save_command("/sd/config-override", gcode->stream);
- } else {
- save_command("/sd/config-override." + args, gcode->stream);
- }
+ if(!args.empty() && !THEKERNEL->is_grbl_mode())
+ rm_command("/sd/" + args, gcode->stream);
}
}
}
case 'G':
// issue get state
get_command("state", new_message.stream);
+ new_message.stream->printf("ok\n");
break;
case 'X':
THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
- new_message.stream->printf("[Caution: Unlocked]\n");
+ new_message.stream->printf("[Caution: Unlocked]\nok\n");
break;
case '#':
grblDP_command("", new_message.stream);
+ new_message.stream->printf("ok\n");
break;
case 'H':
if(THEKERNEL->is_grbl_mode()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
// issue G28.2 which is force homing cycle
Gcode gcode("G28.2", new_message.stream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
//new_message.stream->printf("Received %s\r\n", possible_command.c_str());
string cmd = shift_parameter(possible_command);
- // find command and execute it
- if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
- new_message.stream->printf("error:Unsupported command\n");
+ // Configurator commands
+ if (cmd == "config-get"){
+ THEKERNEL->configurator->config_get_command( possible_command, new_message.stream );
+
+ } else if (cmd == "config-set"){
+ THEKERNEL->configurator->config_set_command( possible_command, new_message.stream );
+
+ } else if (cmd == "config-load"){
+ THEKERNEL->configurator->config_load_command( possible_command, new_message.stream );
+
+ } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") {
+ // these are handled by Player module
+
+ } else if (cmd == "ok") {
+ // probably an echo so reply ok
+ new_message.stream->printf("ok\n");
+
+ }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
+ new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str());
}
}
}
}
// we have been asked to delay before cat, probably to allow time to issue upload command
- while(delay-- > 0) {
- for (int i = 0; i < 10; ++i) {
- wait_ms(100);
- THEKERNEL->call_event(ON_IDLE);
- }
+ if(delay > 0) {
+ safe_delay(delay*1000);
}
// Open file
while(fgets(buf, sizeof buf, fp) != NULL) {
stream->printf(" %s", buf);
if(buf[0] == ';') continue; // skip the comments
- struct SerialMessage message = {&(StreamOutput::NullStream), buf};
- THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
+ // NOTE only Gcodes and Mcodes can be in the config-override
+ Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode);
+ delete gcode;
+ THEKERNEL->call_event(ON_IDLE);
}
stream->printf("config override file executed\n");
fclose(fp);
// show free memory
void SimpleShell::mem_command( string parameters, StreamOutput *stream)
{
- bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
unsigned long heap = (unsigned long)_sbrk(0);
unsigned long m = g_maximumHeapAddress - heap;
stream->printf("Unused Heap: %lu bytes\r\n", m);
[TLO:0.000]
[PRB:0.000,0.000,0.000:0]
*/
+
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
+
std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
+ if(verbose) {
+ char current_wcs= std::get<0>(v[0]);
+ stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str());
+ }
+
int n= std::get<1>(v[0]);
for (int i = 1; i <= n; ++i) {
- stream->printf("[%s:%1.3f,%1.3f,%1.3f]\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
+ stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
}
float *rd;
PublicData::get_value( endstops_checksum, saved_position_checksum, &rd );
- stream->printf("[G28:%1.3f,%1.3f,%1.3f]\n", rd[0], rd[1], rd[2]);
- stream->printf("[G30:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F); // not implemented
+ stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", rd[0], rd[1], rd[2]);
+ stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented
- stream->printf("[G92:%1.3f,%1.3f,%1.3f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
- stream->printf("[TL0:%1.3f]\n", std::get<2>(v[n+2]));
+ stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
+ if(verbose) {
+ stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", std::get<0>(v[n+2]), std::get<1>(v[n+2]), std::get<2>(v[n+2]));
+ }else{
+ stream->printf("[TL0:%1.4f]\n", std::get<2>(v[n+2]));
+ }
- // TODO this should be the last probe position, which will be this if probe was the last thing done
- float current_machine_pos[3];
- THEKERNEL->robot->get_axis_position(current_machine_pos);
- stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS], 0);
+ // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
+ float px, py, pz;
+ uint8_t ps;
+ std::tie(px, py, pz, ps) = THEKERNEL->robot->get_last_probe_position();
+ stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", px, py, pz, ps);
}
-// used to test out the get public data events
void SimpleShell::get_command( string parameters, StreamOutput *stream)
{
string what = shift_parameter( parameters );
}
}
- } else if (what == "pos") {
+ } else if (what == "fk" || what == "ik") {
+ string p= shift_parameter( parameters );
+ bool move= false;
+ if(p == "-m") {
+ move= true;
+ p= shift_parameter( parameters );
+ }
+
+ std::vector<float> v= parse_number_list(p.c_str());
+ if(p.empty() || v.size() < 1) {
+ stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n");
+ return;
+ }
+
+ float x= v[0];
+ float y= (v.size() > 1) ? v[1] : x;
+ float z= (v.size() > 2) ? v[2] : y;
+
+ if(what == "fk") {
+ // do forward kinematics on the given actuator position and display the cartesian coordinates
+ ActuatorCoordinates apos{x, y, z};
+ float pos[3];
+ THEKERNEL->robot->arm_solution->actuator_to_cartesian(apos, pos);
+ stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n",
+ pos[0], pos[1], pos[2],
+ lroundf(x*THEKERNEL->robot->actuators[0]->get_steps_per_mm()),
+ lroundf(y*THEKERNEL->robot->actuators[1]->get_steps_per_mm()),
+ lroundf(z*THEKERNEL->robot->actuators[2]->get_steps_per_mm()));
+ x= pos[0];
+ y= pos[1];
+ z= pos[2];
+
+ }else{
+ // do inverse kinematics on the given cartesian position and display the actuator coordinates
+ float pos[3]{x, y, z};
+ ActuatorCoordinates apos;
+ THEKERNEL->robot->arm_solution->cartesian_to_actuator(pos, apos);
+ stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]);
+ }
+
+ if(move) {
+ // move to the calculated, or given, XYZ
+ char cmd[64];
+ snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z);
+ struct SerialMessage message;
+ message.message = cmd;
+ message.stream = &(StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ THEKERNEL->conveyor->wait_for_empty_queue();
+ }
+
+ } else if (what == "pos") {
// convenience to call all the various M114 variants
char buf[64];
THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
} else if (what == "wcs") {
// print the wcs state
- std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
- char current_wcs= std::get<0>(v[0]);
- stream->printf("current WCS: %s\n", wcs2gcode(current_wcs).c_str());
- int n= std::get<1>(v[0]);
- for (int i = 1; i <= n; ++i) {
- stream->printf("%s: %1.4f, %1.4f, %1.4f\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
- }
-
- stream->printf("G92: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
- stream->printf("ToolOffset: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+2]), std::get<1>(v[n+2]), std::get<2>(v[n+2]));
+ grblDP_command("-v", stream);
} else if (what == "state") {
// also $G
// [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
- stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.1f]\n",
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n",
THEKERNEL->gcode_dispatch->get_modal_command(),
wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(),
THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 :
get_active_tool(),
THEKERNEL->robot->get_feed_rate());
+ } else if (what == "status") {
+ // also ? on serial and usb
+ stream->printf("%s\n", THEKERNEL->get_query_string().c_str());
+
} else {
stream->printf("error:unknown option %s\n", what.c_str());
}
void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream)
{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
Thermistor::print_predefined_thermistors(stream);
+ #endif
}
void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream)
{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
string s = shift_parameter( parameters );
int saveto= -1;
// see if we have -sn as first argument
// give help
stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
}
+ #endif
}
// used to test out the get public data events for switch
do {
size_t n= fread(buf, 1, sizeof buf, lp);
if(n > 0) md5.update(buf, n);
+ THEKERNEL->call_event(ON_IDLE);
} while(!feof(lp));
stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str());
stream->printf("break - break into debugger\r\n");
stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
+ stream->printf("get [pos|wcs|state|status|fk|ik]\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
- stream->printf("get pos\r\n");
- stream->printf("get wcs\r\n");
- stream->printf("get state\r\n");
stream->printf("net\r\n");
stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
HCoop / clinton / Smoothieware.git / blobdiff