void SimpleShell::on_console_line_received( void *argument )
{
SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+ string possible_command = new_message.message;
- // ignore comments and blank lines and if this is a G code then also ignore it
- char first_char = new_message.message[0];
- if(strchr(";( \n\rGMTN", first_char) != NULL) return;
+ // ignore anything that is not lowercase or a $ as it is not a command
+ if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) {
+ return;
+ }
- string possible_command = new_message.message;
+ // it is a grbl compatible command
+ if(possible_command[0] == '$' && possible_command.size() >= 2) {
+ switch(possible_command[1]) {
+ case 'G':
+ // issue get state
+ get_command("state", new_message.stream);
+ break;
+
+ case 'X':
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("[Caution: Unlocked]\n");
+ break;
+
+ case '#':
+ grblDP_command("", new_message.stream);
+ break;
+
+ case 'H':
+ {
+ // issue G28.3 which is force homing cycle
+ Gcode gcode("G28.3", new_message.stream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
+ }
+ break;
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
- string cmd = shift_parameter(possible_command);
+ default:
+ new_message.stream->printf("error: Invalid statement\n");
+ break;
+ }
+
+ }else{
- // find command and execute it
- parse_command(cmd.c_str(), possible_command, new_message.stream);
+ //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");
+ }
+ }
}
// Act upon an ls command
}
}
+void SimpleShell::grblDP_command( string parameters, StreamOutput *stream)
+{
+ /*
+ [G54:95.000,40.000,-23.600]
+ [G55:0.000,0.000,0.000]
+ [G56:0.000,0.000,0.000]
+ [G57:0.000,0.000,0.000]
+ [G58:0.000,0.000,0.000]
+ [G59:0.000,0.000,0.000]
+ [G28:0.000,0.000,0.000]
+ [G30:0.000,0.000,0.000]
+ [G92:0.000,0.000,0.000]
+ [TLO:0.000]
+ [PRB:0.000,0.000,0.000:0]
+ */
+ std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
+ 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("[G28:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F);
+ stream->printf("[G30:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F);
+ 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]));
+
+ // TODO this shoul dbe 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);
+}
+
// used to test out the get public data events
void SimpleShell::get_command( string parameters, StreamOutput *stream)
{
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]));
} 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 T%d F%1.1f]\n",
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.1f]\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 :
THEKERNEL->robot->absolute_mode ? 90 : 91,
get_active_tool(),
THEKERNEL->robot->get_feed_rate());
+
+ } else {
+ stream->printf("error: unknown option %s\n", what.c_str());
}
}
stream->printf("ls [-s] [folder]\r\n");
stream->printf("cd folder\r\n");
stream->printf("pwd\r\n");
- stream->printf("cat file [limit]\r\n");
+ stream->printf("cat file [limit] [-d 10]\r\n");
stream->printf("rm file\r\n");
stream->printf("mv file newfile\r\n");
stream->printf("remount\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