X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/255219dc38c8dfc04a884724317baa855c52a5c6..922f169dba03c9f249a0746dbab0efde0ad10dc1:/src/libs/Kernel.cpp

diff --git a/src/libs/Kernel.cpp b/src/libs/Kernel.cpp
index bbd260e5..83fe48c2 100644
--- a/src/libs/Kernel.cpp
+++ b/src/libs/Kernel.cpp
@@ -28,6 +28,7 @@
 #include "EndstopsPublicAccess.h"
 #include "Configurator.h"
 #include "SimpleShell.h"
+#include "TemperatureControlPublicAccess.h"
 
 #ifndef NO_TOOLS_LASER
 #include "Laser.h"
@@ -49,7 +50,6 @@
 #define grbl_mode_checksum                          CHECKSUM("grbl_mode")
 #define feed_hold_enable_checksum                   CHECKSUM("enable_feed_hold")
 #define ok_per_line_checksum                        CHECKSUM("ok_per_line")
-#define new_status_format_checksum                  CHECKSUM("new_status_format")
 
 Kernel* Kernel::instance;
 
@@ -119,8 +119,6 @@ Kernel::Kernel()
     // we expect ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code
     this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
 
-    this->new_status_format = this->config->value( new_status_format_checksum )->by_default(false)->as_bool();
-
     this->add_module( this->serial );
 
     // HAL stuff
@@ -207,56 +205,44 @@ std::string Kernel::get_query_string()
         size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(mpos[0]), robot->from_millimeters(mpos[1]), robot->from_millimeters(mpos[2]));
         if(n > sizeof(buf)) n= sizeof(buf);
 
-        if(new_status_format) {
-            str.append("|MPos:").append(buf, n);
+        str.append("|MPos:").append(buf, n);
 
 #if MAX_ROBOT_ACTUATORS > 3
-            // deal with the ABC axis (E will be A)
-            for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
-                // current actuator position
-                n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
-                if(n > sizeof(buf)) n= sizeof(buf);
-                str.append(buf, n);
-            }
-#endif
-
-        }else{
-            str.append(",MPos:").append(buf, n);
+        // deal with the ABC axis (E will be A)
+        for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
+            // current actuator position
+            n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
+            if(n > sizeof(buf)) n= sizeof(buf);
+            str.append(buf, n);
         }
+#endif
 
         // work space position
         Robot::wcs_t pos = robot->mcs2wcs(mpos);
         n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
         if(n > sizeof(buf)) n= sizeof(buf);
 
-        if(new_status_format) {
-            str.append("|WPos:").append(buf, n);
-            // current feedrate
-            float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
-            n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
-            if(n > sizeof(buf)) n= sizeof(buf);
-            str.append(buf, n);
-            float sr= robot->get_s_value();
-            n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
-            if(n > sizeof(buf)) n= sizeof(buf);
-            str.append(buf, n);
-
-            // current Laser power
-            #ifndef NO_TOOLS_LASER
-                Laser *plaser= nullptr;
-                if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
-                   float lp= plaser->get_current_power();
-                    n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
-                    if(n > sizeof(buf)) n= sizeof(buf);
-                    str.append(buf, n);
-                }
-            #endif
-
-        }else{
-            str.append(",WPos:").append(buf, n);
-        }
-
-        str.append(">\r\n");
+        str.append("|WPos:").append(buf, n);
+        // current feedrate
+        float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
+        n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
+        if(n > sizeof(buf)) n= sizeof(buf);
+        str.append(buf, n);
+        float sr= robot->get_s_value();
+        n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
+        if(n > sizeof(buf)) n= sizeof(buf);
+        str.append(buf, n);
+
+        // current Laser power
+        #ifndef NO_TOOLS_LASER
+            Laser *plaser= nullptr;
+            if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
+               float lp= plaser->get_current_power();
+                n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
+                if(n > sizeof(buf)) n= sizeof(buf);
+                str.append(buf, n);
+            }
+        #endif
 
     } else {
         // return the last milestone if idle
@@ -265,41 +251,48 @@ std::string Kernel::get_query_string()
         Robot::wcs_t mpos = robot->get_axis_position();
         size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(mpos)), robot->from_millimeters(std::get<Y_AXIS>(mpos)), robot->from_millimeters(std::get<Z_AXIS>(mpos)));
         if(n > sizeof(buf)) n= sizeof(buf);
-        if(new_status_format) {
-            str.append("|MPos:").append(buf, n);
-#if MAX_ROBOT_ACTUATORS > 3
-            // deal with the ABC axis (E will be A)
-            for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
-                // current actuator position
-                n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
-                if(n > sizeof(buf)) n= sizeof(buf);
-                str.append(buf, n);
-            }
-#endif
 
-        }else{
-            str.append(",MPos:").append(buf, n);
+        str.append("|MPos:").append(buf, n);
+
+#if MAX_ROBOT_ACTUATORS > 3
+        // deal with the ABC axis (E will be A)
+        for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
+            // current actuator position
+            n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
+            if(n > sizeof(buf)) n= sizeof(buf);
+            str.append(buf, n);
         }
+#endif
 
         // work space position
         Robot::wcs_t pos = robot->mcs2wcs(mpos);
         n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
         if(n > sizeof(buf)) n= sizeof(buf);
-        if(new_status_format) {
-            str.append("|WPos:").append(buf, n);
-        }else{
-            str.append(",WPos:").append(buf, n);
-        }
+        str.append("|WPos:").append(buf, n);
 
-        if(new_status_format) {
-            float fr= robot->from_millimeters(robot->get_feed_rate());
-            n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
-            if(n > sizeof(buf)) n= sizeof(buf);
-            str.append(buf, n);
-        }
+        float fr= robot->from_millimeters(robot->get_feed_rate());
+        n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
+        if(n > sizeof(buf)) n= sizeof(buf);
+        str.append(buf, n);
+    }
 
-        str.append(">\r\n");
+    // if not grbl mode get temperatures
+    if(!is_grbl_mode()) {
+        struct pad_temperature temp;
+        // scan all temperature controls
+        std::vector<struct pad_temperature> controllers;
+        bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
+        if (ok) {
+            char buf[32];
+            for (auto &c : controllers) {
+                size_t n= snprintf(buf, sizeof(buf), "|%s:%1.1f,%1.1f", c.designator.c_str(), c.current_temperature, c.target_temperature);
+                if(n > sizeof(buf)) n= sizeof(buf);
+                str.append(buf, n);
+            }
+        }
     }
+
+    str.append(">\n");
     return str;
 }