X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/ed5e53ced390fc19380a48070cb7a5566746cebc..18ca10a33a1ecb389a234eceea3631f2751aea6d:/src/modules/utils/simpleshell/SimpleShell.cpp

diff --git a/src/modules/utils/simpleshell/SimpleShell.cpp b/src/modules/utils/simpleshell/SimpleShell.cpp
index d2e47189..e05942ab 100644
--- a/src/modules/utils/simpleshell/SimpleShell.cpp
+++ b/src/modules/utils/simpleshell/SimpleShell.cpp
@@ -12,7 +12,7 @@
 #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"
@@ -244,6 +244,11 @@ void SimpleShell::on_console_line_received( void *argument )
                 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;
@@ -896,7 +901,8 @@ void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stre
             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 );
@@ -1120,7 +1126,7 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
         // 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");
@@ -1130,6 +1136,56 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
     }
 }
 
+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");