#include "libs/utils.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
-#include "modules/robot/Conveyor.h"
+#include "Conveyor.h"
#include "DirHandle.h"
#include "mri.h"
#include "version.h"
#include "Thermistor.h"
#include "md5.h"
#include "utils.h"
+#include "AutoPushPop.h"
#include "system_LPC17xx.h"
#include "LPC17xx.h"
case 'G':
// issue get state
get_command("state", new_message.stream);
- new_message.stream->printf("ok\n");
+ //new_message.stream->printf("ok\n"); // sending this while printing will cause ok count to get out of sync
break;
case 'X':
new_message.stream->printf("ok\n");
break;
+ case 'J':
+ // instant jog command
+ jog(possible_command, new_message.stream);
+ break;
+
default:
new_message.stream->printf("error:Invalid statement\n");
break;
} else if (cmd == "fire") {
// these are handled by Laser module
- } else if (cmd == "ok") {
- // probably an echo so reply ok
- new_message.stream->printf("ok\n");
+ } else if (cmd.substr(0, 2) == "ok") {
+ // probably an echo so ignore the whole line
+ //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());
uploading= false;
} else {
- if ((cnt%400) == 0) {
- // HACK ALERT to get around fwrite corruption close and re open for append
- fclose(fd);
- fd = fopen(upload_filename.c_str(), "a");
+ if ((cnt%1000) == 0) {
// we need to kick things or they die
THEKERNEL->call_event(ON_IDLE);
}
}
} else if (what == "pos") {
- // convenience to call all the various M114 variants
+ // convenience to call all the various M114 variants, shows ABC axis where relevant
std::string buf;
THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear();
THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear();
stream->printf(" Paste the above in the M305 S0 command, then save with M500\n");
}else{
char buf[80];
- int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3);
+ size_t n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3);
+ if(n > sizeof(buf)) n= sizeof(buf);
string g(buf, n);
Gcode gcode(g, &(StreamOutput::NullStream));
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode );
#endif
}
-// used to test out the get public data events for switch
+// set or get switch state for a named switch
void SimpleShell::switch_command( string parameters, StreamOutput *stream)
{
string type = shift_parameter( parameters );
string value = shift_parameter( parameters );
bool ok = false;
- if(value == "on" || value == "off") {
- bool b = value == "on";
- ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b );
- } else {
- float v = strtof(value.c_str(), NULL);
- ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v );
- }
- if (ok) {
- stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str());
- } else {
- stream->printf("%s is not a known switch device\r\n", type.c_str());
+ if(value.empty()) {
+ // get switch state
+ struct pad_switch pad;
+ bool ok = PublicData::get_value(switch_checksum, get_checksum(type), 0, &pad);
+ if (!ok) {
+ stream->printf("unknown switch %s.\n", type.c_str());
+ return;
+ }
+ stream->printf("switch %s is %d\n", type.c_str(), pad.state);
+
+ }else{
+ // set switch state
+ if(value == "on" || value == "off") {
+ bool b = value == "on";
+ ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b );
+ } else {
+ float v = strtof(value.c_str(), NULL);
+ ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v );
+ }
+ if (ok) {
+ stream->printf("switch %s set to: %s\n", type.c_str(), value.c_str());
+ } else {
+ stream->printf("%s is not a known switch device\n", type.c_str());
+ }
}
}
// runs several types of test on the mechanisms
void SimpleShell::test_command( string parameters, StreamOutput *stream)
{
+ AutoPushPop app; // this will save the state and restore it on exit
string what = shift_parameter( parameters );
if (what == "jog") {
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
toggle= !toggle;
}
stream->printf("done\n");
stream->printf("%s\n", cmd);
message.message= cmd;
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THECONVEYOR->wait_for_idle();
}
// leave it where it started
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
- THEROBOT->pop_state();
+ THEROBOT->pop_state();
stream->printf("done\n");
}else if (what == "square") {
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
- }
+ }
stream->printf("done\n");
}else if (what == "raw") {
// reset the position based on current actuator position
THEROBOT->reset_position_from_current_actuator_position();
- stream->printf("done\n");
+ //stream->printf("done\n");
}else {
stream->printf("usage:\n test jog axis distance iterations [feedrate]\n");
}
}
+void SimpleShell::jog(string parameters, StreamOutput *stream)
+{
+ // $J X0.1 F0.5
+ int n_motors= THEROBOT->get_number_registered_motors();
+
+ // get axis to move and amount (X0.1)
+ // for now always 1 axis
+ size_t npos= parameters.find_first_of("XYZABC");
+ if(npos == string::npos) {
+ stream->printf("usage: $J X|Y|Z|A|B|C 0.01 [F0.5]\n");
+ return;
+ }
+
+ string s = parameters.substr(npos);
+ if(s.empty() || s.size() < 2) {
+ stream->printf("usage: $J X0.01 [F0.5]\n");
+ return;
+ }
+ char ax= toupper(s[0]);
+ uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3;
+ if(a >= n_motors) {
+ stream->printf("error:bad axis\n");
+ return;
+ }
+
+ float d= strtof(s.substr(1).c_str(), NULL);
+
+ float delta[n_motors];
+ for (int i = 0; i < n_motors; ++i) {
+ delta[i]= 0;
+ }
+ delta[a]= d;
+
+ // get speed scale
+ float scale= 1.0F;
+ npos= parameters.find_first_of("F");
+ if(npos != string::npos && npos+1 < parameters.size()) {
+ scale= strtof(parameters.substr(npos+1).c_str(), NULL);
+ }
+
+ THEROBOT->push_state();
+ float rate_mm_s= THEROBOT->actuators[a]->get_max_rate() * scale;
+ THEROBOT->delta_move(delta, rate_mm_s, n_motors);
+
+ // turn off queue delay and run it now
+ THECONVEYOR->force_queue();
+ THEROBOT->pop_state();
+ //stream->printf("Jog: %c%f F%f\n", ax, d, scale);
+}
+
void SimpleShell::help_command( string parameters, StreamOutput *stream )
{
stream->printf("Commands:\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("switch name [value]\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