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gcodemarlin.cpp
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/****************************************************************
* gcode.cpp
* GrblHoming - zapmaker fork on github
* Marlin adaptation and ZLeveling code by Gonzalo López 2014
*
* 15 Nov 2012
* GPL License (see LICENSE file)
* Software is provided AS-IS
****************************************************************/
#include "gcodemarlin.h"
#include "SpilineInterpolate3D.h"
#include "LinearInterpolate3D.h"
#include "SingleInterpolate.h"
#include "basicgeometry.h"
#include "gcommands.h"
#include <QObject>
#include <iostream>
#include <QList>
//The minimal grid size will be divided by this number to get the max segment size.
#define SEGMENT_SIZE_DIVIDER 3
#define debug(format, ...) diag("%s - " format, __FUNCTION__, ##__VA_ARGS__)
GCodeMarlin::GCodeMarlin()
: errorCount(0), doubleDollarFormat(false),
incorrectMeasurementUnits(false), incorrectLcdDisplayUnits(false),
sliderZCount(0),
interpolator(NULL),
manualFeedSetted(false),
numaxis(DEFAULT_AXIS_COUNT)
{
// use base class's timer - use it to capture random text from the controller
lastLevelingPoint = Point(0, 0, 0);
startTimer(1000);
}
void GCodeMarlin::openPort(QString commPortStr, QString baudRate)
{
numaxis = controlParams.useFourAxis ? MAX_AXIS_COUNT : DEFAULT_AXIS_COUNT;
currComPort = commPortStr;
port.setCharSendDelayMs(controlParams.charSendDelayMs);
if (port.OpenComport(commPortStr, baudRate))
{
emit portIsOpen(true);
}
else
{
emit portIsClosed(false);
QString msg = tr("Can't open COM port ") + commPortStr;
sendMsg(msg);
addList(msg);
warn("%s", qPrintable(msg));
addList(tr("-Is hardware connected to USB?") );
addList(tr("-Is correct port chosen?") );
addList(tr("-Does current user have sufficient permissions?") );
#if defined(Q_OS_LINUX)
addList("-Is current user in sudoers group?");
#endif
}
}
// Slot for interrupting current operation or doing a clean reset of grbl without changing position values
void GCodeMarlin::sendControllerReset()
{
sendGcodeLocal("M999", true, SHORT_WAIT_SEC);
}
void GCodeMarlin::sendControllerUnlock()
{
sendGcodeLocal(SET_UNLOCK_STATE_V08c);
}
// Slot for gcode-based 'zero out the current position values without motion'
void GCodeMarlin::controllerSetHome()
{
gotoXYZFourth("G92 X0 Y0 Z0");
}
void GCodeMarlin::goToHome()
{
sendGcodeLocal("G28");
pollPosWaitForIdle();
}
// Slot called from other threads (i.e. main window, grbl dialog, etc.)
void GCodeMarlin::sendGcode(QString line)
{
// empty line means we have just opened the com port
if (line.length() == 0)
{
resetState.set(false);
QString result;
if (shutdownState.get() || resetState.get())
return;
// it is possible that we are already connected and missed the
// signon banner. Force a reset (is this ok?) to get the banner
emit addListOut("M115");
const char * m115 = "M115\n";
diag(qPrintable(tr("SENDING: M115) to check presence of Marlin\n"))) ;
emit addList(QString(m115));
if (!port.SendBuf(m115, 5))
{
QString msg = tr("Sending to port failed");
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsg(msg);
return;
}
if (!waitForStartupBanner(result, SHORT_WAIT_SEC, true))
return;
}
else
{
pollPosWaitForIdle();
// normal send of actual commands
sendGcodeLocal(line, false);
}
pollPosWaitForIdle();
}
// keep polling our position and state until we are done running
void GCodeMarlin::pollPosWaitForIdle()
{
for (int i = 0; i < 10000; i++)
{
bool ret = sendGcodeLocal(REQUEST_CURRENT_POS);
if (!ret)
{
break;
}
if (machineCoordLastIdlePos == machineCoord
&& workCoordLastIdlePos == workCoord)
{
break;
}
machineCoordLastIdlePos = machineCoord;
workCoordLastIdlePos = workCoord;
if (shutdownState.get())
return;
}
}
// Slot called from other thread that returns whatever text comes back from the controller
void GCodeMarlin::sendGcodeAndGetResult(int id, QString line)
{
QString result;
emit sendMsg("");
resetState.set(false);
if (!sendGcodeInternal(line, result, false, SHORT_WAIT_SEC, false))
result.clear();
emit gcodeResult(id, result);
}
// To be called only from this class, not from other threads. Use above two methods for that.
// Wraps sendGcodeInternal() to allow proper handling of failure cases, etc.
bool GCodeMarlin::sendGcodeLocal(QString line, bool recordResponseOnFail /* = false */, int waitSec /* = -1 */, int currLine /* = 0 */)
{
QString result;
sendMsg("");
resetState.set(false);
bool ret = sendGcodeInternal(line, result, recordResponseOnFail, waitSec, currLine);
if (shutdownState.get())
return false;
if (!ret && (!recordResponseOnFail || resetState.get()))
{
if (!resetState.get())
emit stopSending();
if (!ret && resetState.get())
{
resetState.set(false);
port.Reset();
}
}
resetState.set(false);
return ret;
}
bool GCodeMarlin::checkMarlin(const QString& result)
{
if (result.contains("Marlin"))
{
QRegExp rx("FIRMWARE_NAME:(.*) FIRMWARE_URL:(.*) PROTOCOL_VERSION:(\\d+)\\.(\\d+) MACHINE_TYPE:(\\w*).*");
if (rx.indexIn(result) != -1 && rx.captureCount() > 0)
{
QStringList list = rx.capturedTexts();
if (list.size() >= 3)
{
int majorVer = list.at(3).toInt();
int minorVer = list.at(4).toInt();
QByteArray tmp = list.at(1).toLocal8Bit();
//const char * url = tmp.constData();
tmp = list.at(1).toLocal8Bit();
const char * marlinStr = tmp.constData();
tmp = list.at(5).toLocal8Bit();
const char * machineType = tmp.constData();
diag(qPrintable(tr("Firmware: %s\n")),marlinStr);
//diag(qPrintable(tr("Url: %s\n")), url);
diag(qPrintable(tr("Protocol version: %d.%d\n")), majorVer, minorVer);
diag(qPrintable(tr("Machine: %s\n")), machineType);
}
}
return true;
}
return false;
}
// Wrapped method. Should only be called from above method.
bool GCodeMarlin::sendGcodeInternal(QString line, QString& result, bool recordResponseOnFail, int waitSec, int currLine /* = 0 */)
{
if (!port.isPortOpen())
{
QString msg = tr("Port not available yet") ;
err("%s", msg.toLocal8Bit().constData());
emit addList(msg);
emit sendMsg(msg);
return false;
}
bool sentReqForLocation = false;
if (!line.compare(REQUEST_CURRENT_POS))
{
sentReqForLocation = true;
}
// adds to UI list, but prepends a > indicating a sent command
if (!sentReqForLocation)// if requesting location, don't add that "noise" to the output view
{
emit addListOut(line);
}
if (line.size() == 0 || (!line.endsWith('\r')))
line.append('\r');
char buf[TX_BUF_SIZE + 1] = {0};
if (line.length() >= TX_BUF_SIZE)
{
QString msg = tr("Line too big for marling buffer: ").append(line);
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsg(msg);
return false;
}
QByteArray data = line.toLatin1();
memcpy(buf, data.constData(), data.size());
diag(qPrintable(tr("SENDING[%d]: %s\n")), currLine, buf);
int waitSecActual = waitSec == -1 ? controlParams.waitTime : waitSec;
if (!port.SendBuf(buf, line.length()))
{
QString msg = tr("Sending to port failed") ;
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsg(msg);
return false;
}
else
{
if (!waitForOk(result, waitSecActual, sentReqForLocation, false))
{
diag(qPrintable(tr("WAITFOROK FAILED\n")));
if (shutdownState.get())
return false;
if (!recordResponseOnFail && !(resetState.get() || abortState.get()))
{
QString msg = tr("Wait for ok failed");
emit addList(msg);
emit sendMsg(msg);
}
return false;
}
}
return true;
}
bool GCodeMarlin::waitForOk(QString& result, int waitSec, bool sentReqForLocation, bool finalize)
{
Q_UNUSED(waitSec)
Q_UNUSED(finalize)
char tmp[RX_BUF_SIZE + 1] = {0};
bool status = true;
result.clear();
while (!result.contains(RESPONSE_OK) && !result.contains(RESPONSE_ERROR) && !resetState.get())
{
int n = port.PollComportLine(tmp, RX_BUF_SIZE);
if (n < 0)
{
QString Mes(tr("Error reading data from COM port\n")) ;
err(qPrintable(Mes));
}
else if (n > 0)
{
tmp[n] = 0;
result.append(tmp);
QString tmpTrim(tmp);
int pos = tmpTrim.indexOf(port.getDetectedLineFeed());
if (pos != -1)
tmpTrim.remove(pos, port.getDetectedLineFeed().size());
QString received(tmp);
if (!received.isEmpty()){
diag(qPrintable(tr("GOT:%s\n")), tmpTrim.toLocal8Bit().constData());
if (!received.contains(RESPONSE_OK) && !received.contains(RESPONSE_ERROR))
{
parseCoordinates(received);
}
}
} else {
//Limit CPU usage while waiting for data.
QThread::usleep(4000);
}
}
if (shutdownState.get())
{
return false;
}
if (status)
{
if (resetState.get())
{
QString msg(tr("Wait interrupted by user"));
err("%s", qPrintable(msg));
emit addList(msg);
}
}
if (result.contains(RESPONSE_ERROR))
{
errorCount++;
// skip over errors
//status = false;
}
QStringList list = QString(result).split(port.getDetectedLineFeed());
QStringList listToSend;
for (int i = 0; i < list.size(); i++)
{
if (list.at(i).length() > 0 && list.at(i) != RESPONSE_OK && !sentReqForLocation && !list.at(i).startsWith("MPos:["))
listToSend.append(list.at(i));
}
sendStatusList(listToSend);
if (resetState.get())
{
// we have been told by the user to stop.
status = false;
}
return status;
}
bool GCodeMarlin::waitForStartupBanner(QString& result, int waitSec, bool failOnNoFound)
{
char tmp[RX_BUF_SIZE + 1] = {0};
int count = 0;
int waitCount = waitSec * 10;// multiplier depends on sleep values below
bool status = true;
result.clear();
while (!resetState.get())
{
int n = port.PollComportLine(tmp, RX_BUF_SIZE);
if (n == 0)
{
count++;
SLEEP(100);
}
else if (n < 0)
{
err(qPrintable(tr("Error reading data from COM port\n")) );
}
else
{
tmp[n] = 0;
result.append(tmp);
QString tmpTrim(tmp);
int pos = tmpTrim.indexOf(port.getDetectedLineFeed());
if (pos != -1)
tmpTrim.remove(pos, port.getDetectedLineFeed().size());
diag(qPrintable(tr("GOT:%s\n")), tmpTrim.toLocal8Bit().constData());
if (tmpTrim.length() > 0)
{
if (!checkMarlin(tmpTrim))
{
if (failOnNoFound)
{
QString msg(tr("Expecting Marlin version string. Unable to parse response."));
emit addList(msg);
emit sendMsg(msg);
closePort(false);
}
status = false;
}
else
{
pollPosWaitForIdle();
emit enableGrblDialogButton();
}
break;
}
}
SLEEP(100);
if (count > waitCount)
{
if (failOnNoFound)
{
// waited too long for a response, fail
QString msg(tr("No data from COM port after connect. Expecting Grbl version string."));
emit addList(msg);
emit sendMsg(msg);
closePort(false);
}
status = false;
break;
}
}
if (shutdownState.get())
{
return false;
}
if (status)
{
if (resetState.get())
{
QString msg(tr("Wait interrupted by user (startup)"));
err("%s", qPrintable(msg));
emit addList(msg);
}
}
if (result.contains(RESPONSE_ERROR))
{
errorCount++;
// skip over errors
//status = false;
}
QStringList list = QString(result).split(port.getDetectedLineFeed());
QStringList listToSend;
for (int i = 0; i < list.size(); i++)
{
if (list.at(i).length() > 0 && list.at(i) != RESPONSE_OK)
listToSend.append(list.at(i));
}
sendStatusList(listToSend);
if (resetState.get())
{
// we have been told by the user to stop.
status = false;
}
return status;
}
void GCodeMarlin::parseCoordinates(const QString& received)
{
QString format(".*X:(-*\\d+\\.\\d+) *Y:(-*\\d+\\.\\d+) *Z:(-*\\d+\\.\\d+).*");
QRegExp rx = QRegExp(format);
if (rx.indexIn(received) != -1 && rx.captureCount() > 0)
{
QStringList list = rx.capturedTexts();
machineCoord.x = list.at(1).toFloat();
machineCoord.y = list.at(2).toFloat();
machineCoord.z = list.at(3).toFloat();
workCoord.x = machineCoord.x;
workCoord.y = machineCoord.y;
workCoord.z = machineCoord.z;
if (numaxis == MAX_AXIS_COUNT)
workCoord.fourth = list.at(4).toFloat();
workCoord.sliderZIndex = sliderZCount;
if (numaxis == DEFAULT_AXIS_COUNT)
diag(qPrintable(tr("Decoded: MPos: %f,%f,%f WPos: %f,%f,%f\n")),
machineCoord.x, machineCoord.y, machineCoord.z,
workCoord.x, workCoord.y, workCoord.z
);
else if (numaxis == MAX_AXIS_COUNT)
diag(qPrintable(tr("Decoded:MPos: %f,%f,%f,%f WPos: %f,%f,%f,%f\n")),
machineCoord.x, machineCoord.y, machineCoord.z, machineCoord.fourth,
workCoord.x, workCoord.y, workCoord.z, workCoord.fourth
);
emit updateCoordinates(machineCoord, workCoord);
emit setLivePoint(workCoord.x, workCoord.y, controlParams.useMm, true);//TODO revise the true. See grbl implementation.
}
}
void GCodeMarlin::sendStatusList(QStringList& listToSend)
{
if (listToSend.size() > 1)
{
emit addListFull(listToSend);
}
else if (listToSend.size() == 1)
{
emit addList(listToSend.at(0));
}
}
// called once a second to capture any random strings that come from the controller
void GCodeMarlin::timerEvent(QTimerEvent *event)
{
Q_UNUSED(event)
if (port.isPortOpen())
{
char tmp[RX_BUF_SIZE + 1] = {0};
QString result;
for (int i = 0; i < 10 && !shutdownState.get() && !resetState.get(); i++)
{
int n = port.PollComport(tmp, RX_BUF_SIZE);
if (n == 0)
break;
tmp[n] = 0;
result.append(tmp);
diag(qPrintable(tr("GOT-TE:%s\n")), tmp);
}
if (shutdownState.get())
{
return;
}
QStringList list = QString(result).split(port.getDetectedLineFeed());
QStringList listToSend;
for (int i = 0; i < list.size(); i++)
{
if (list.at(i).length() > 0 && (list.at(i) != "ok" || (list.at(i) == "ok" && abortState.get())))
listToSend.append(list.at(i));
}
sendStatusList(listToSend);
}
}
void GCodeMarlin::sendFile(QString path)
{
addList(QString(tr("Sending file '%1'")).arg(path));
//Set absolute coordinates
sendGcodeLocal("G90\r");
pollPosWaitForIdle();
lastLevelingPoint = Point(workCoord.x, workCoord.y, workCoord.z);
setProgress(0);
emit setQueuedCommands(0, false);
grblCmdErrors.clear();
grblFilteredCmds.clear();
errorCount = 0;
abortState.set(false);
QFile file(path);
if (file.open(QFile::ReadOnly))
{
QTime totalTime(0,0,0);
totalTime.start();
float totalLineCount = 0;
QTextStream code(&file);
while ((code.atEnd() == false))
{
totalLineCount++;
code.readLine();
}
if (totalLineCount == 0)
totalLineCount = 1;
code.seek(0);
rcvdI = 0;
emit resetTimer(true);
int currLine = 0;
bool xyRateSet = false;
do
{
QString strline = code.readLine();
debug("Input line: %s", strline.toStdString().c_str());
emit setVisCurrLine(currLine + 1);
if (controlParams.filterFileCommands)
{
trimToEnd(strline, '(');
trimToEnd(strline, ';');
trimToEnd(strline, '%');
}
strline = strline.trimmed();
if (strline.size() > 0)
{
if (controlParams.filterFileCommands)
{
strline = strline.toUpper();
//Add an space between parameters.
strline.replace(QRegExp("([A-Z])"), " \\1");
strline = removeUnsupportedCommands(strline);
}
CodeCommand * currentCommand = makeLineMarlinFriendly(strline);
//if the current command is null, then
if (currentCommand != NULL)
{
QList<CodeCommand*> levelingList;
if (controlParams.useZLevelingData && interpolator != NULL)
{
//We need to change the Z value using the interpolator
levelingList = levelLine(currentCommand);
} else {
levelingList.append(currentCommand);
}
//As the leveling may generate various lines, we need to cicle every one of then performing the rest of the proccesses.
int size = levelingList.size();
QString rateLimitMsg;
QList<CodeCommand*> outputList;
for (int i = 0; i<size; i++)
{
if (controlParams.reducePrecision)
{
//reducePrecision(levelingList.at(i));
}
if (controlParams.zRateLimit)
{
// outputList.append(doZRateLimit(levelingList.at(i), rateLimitMsg, xyRateSet));
}
else
{
outputList.append(levelingList.at(i));
}
}
bool ret = false;
foreach (CodeCommand* outputCommand, outputList)
{
computeCoordinates(*outputCommand);
ret = sendGcodeLocal(outputCommand->toString(), false, -1, currLine + 1);
delete outputCommand;
if (!ret)
break;
}
if (rateLimitMsg.size() > 0)
addList(rateLimitMsg);
if (!ret)
{
abortState.set(true);
break;
}
}
} else {
debug("No output line ");
}
float percentComplete = (currLine * 100.0) / totalLineCount;
setProgress((int)percentComplete);
currLine++;
} while ((code.atEnd() == false) && (!abortState.get()));
file.close();
sendGcodeLocal(REQUEST_CURRENT_POS);
emit resetTimer(false);
if (shutdownState.get())
{
return;
}
QString msg;
if (!abortState.get())
{
setProgress(100);
if (errorCount > 0)
{
msg = QString(tr("Code sent successfully with %1 error(s):")).arg(QString::number(errorCount));
emit sendMsg(msg);
emit addList(msg);
foreach(QString errItem, grblCmdErrors)
{
emit sendMsg(errItem);
}
emit addListFull(grblCmdErrors);
}
else
{
msg = tr("Code sent successfully with no errors.");
emit sendMsg(msg);
emit addList(msg);
}
if (grblFilteredCmds.size() > 0)
{
msg = QString(tr("Filtered %1 commands:")).arg(QString::number(grblFilteredCmds.size()));
emit sendMsg(msg);
emit addList(msg);
foreach(QString errItem, grblFilteredCmds)
{
emit sendMsg(errItem);
}
emit addListFull(grblFilteredCmds);
}
}
else
{
msg = tr("Process interrupted.");
emit sendMsg(msg);
emit addList(msg);
}
int ms = totalTime.elapsed();
int hours = ms / 1000 / 3600;
ms = ms - (hours * 3600 * 1000);
int min = ms / 60 / 1000;
ms = ms - (min * 60 * 1000);
int s = ms / 1000;
ms = ms - (s * 1000);
msg = QString(tr("Time elapsed: %1h, %2m, %3s, %4ms")).arg(QString::number(hours), QString::number(min), QString::number(s), QString::number(ms));
emit sendMsg(msg);
emit addList(msg);
}
pollPosWaitForIdle();
if (!resetState.get())
{
emit stopSending();
}
emit setQueuedCommands(0, false);
}
CodeCommand * GCodeMarlin::makeLineMarlinFriendly(const QString &line)
{
debug("Input line: %s", line.toStdString().c_str());
//TODO make this value a config option.
float g0feed = 300;
QString tmp = line.trimmed();
tmp = tmp.toUpper();
//Marlin does not suppor the F command, it must be inside a G0 or G1 command, so prepend G1 to the command.
if (tmp.at(0) == 'F')
{
QRegExp rx("F(\\d+)");
if (rx.indexIn(tmp) != -1 && rx.captureCount() > 0)
{
QStringList list = rx.capturedTexts();
bool ok = false;
float feed = list.at(1).toFloat(&ok);
if (ok)
{
lastExplicitFeed = feed;
}
}
debug("OutLine: %s", (QString("G1 ") + tmp).toStdString().c_str());
return new GCodeCommand(1, tmp, controlParams.fourthAxisType);//QString("G1 ") + tmp;
}
if (tmp.at(0) == 'X' || tmp.at(0) == 'Y' || tmp.at(0) == 'Z')
{
//This is a modal command. Marlin does not support modal command, so prepend the last Gcommand seen.
debug("OutLine: %s", (lastGCommand + QString(" ") + tmp).toStdString().c_str());
return new GCodeCommand(lastGCommand, tmp, controlParams.fourthAxisType);// + QString(" ") + tmp;
}
if (tmp.at(0) == 'G')
{
//A few modifications must be done to G0 and G{1,2,3} commands.
//Marling treats G0 as if it were G1, so the machine will not move at the maximun speed but at the last one.
//This can cause some problems, so we define a "G0 feed speed", and we append this speed to every G0 command.
//This has a side efect, in the next G{1,2,3} command, Marlin will use the G0 feed speed if no speed is specified, so
//we need to save the last non G0 speed, and manually append it to every G1 command that has no F parameter.
QRegExp rx("G(\\d+)(.*)");
if (rx.indexIn(tmp) != -1 && rx.captureCount() > 0)
{
QStringList list = rx.capturedTexts();
bool ok = false;
int commandCode = list.at(1).toInt(&ok);
lastGCommand = commandCode;
QString parameters = list.at(2);
if (commandCode == 0)
{
if (parameters.indexOf("F") < 0)
{
//There is no F parameter, just append it.
manualFeedSetted = true;
GCodeCommand * c = new GCodeCommand(0, parameters, controlParams.fourthAxisType);
c->setF(g0feed);
debug("OutLine G0 : %s", c->toString().toStdString().c_str());
return c;// tmp + " F" + QString().setNum(g0feed);
}
} else if (commandCode == 1 || commandCode == 2 || commandCode == 3)
{
int i = parameters.indexOf("F");
if (i < 0 && manualFeedSetted)
{
//Restore the last saved feed
manualFeedSetted = false;
GCodeCommand * c = new GCodeCommand(commandCode, parameters, controlParams.fourthAxisType);
c->setF(lastExplicitFeed);
debug("OutLine G%d: %s",commandCode, c->toString().toStdString().c_str());
return c;//tmp + " F" + QString().setNum(lastExplicitFeed);
} else if (i >= 0)
{
QRegExp exp("F(\\d+\\.*\\d*)");//Can feed speed be negative? if so, then change the regex by "F(-*\\d+\\.*\\d*)"
if (exp.indexIn(parameters) != -1 && rx.captureCount() > 0)
{
QStringList lst = exp.capturedTexts();
ok = false;
float feed = lst.at(1).toFloat(&ok);
if (ok)
lastExplicitFeed = feed;
}
//As this command has explicit feed, we can turn off the manual feed flag.
manualFeedSetted = false;
//We need to send the command anyway, because there can be some axis positioning besides the F value
//Normal G1 command with F
GCodeCommand *c = new GCodeCommand(commandCode, parameters, controlParams.fourthAxisType);
debug("OutLine G%d_F: %s", commandCode, c->toString().toStdString().c_str());
return c;
} else {
//Normal G1 command without F but with no manual feed setted also.
GCodeCommand *c = new GCodeCommand(commandCode, parameters, controlParams.fourthAxisType);
debug("OutLine G%d_noF: %s", commandCode, c->toString().toStdString().c_str());
return c;
}
} else {
GCodeCommand *c = new GCodeCommand(commandCode, parameters, controlParams.fourthAxisType);
debug("OutLine GXX: %s", c->toString().toStdString().c_str());
return c;
}
}
}
debug("OutLine M: %s", line.toStdString().c_str());
MCodeCommand *m = NULL;
try{
m = new MCodeCommand(line);
} catch (CodeCommandException &e)
{
addList(e.getMessage().append(":").append(line));
m = NULL;
}
return m;
}
QList<CodeCommand *> GCodeMarlin::levelLine(CodeCommand* command)
{
QList<CodeCommand*> resultList;
if (command->getType() == CodeCommand::G_COMMAND && (command->getCommand() == 0 || command->getCommand() == 1))
{
GCodeCommand* gCommand = static_cast<GCodeCommand*>(command);
Point lastPoint(lastLevelingPoint);
bool hasX, hasY, hasZ;
hasX = gCommand->getX(lastLevelingPoint.x);
hasY = gCommand->getY(lastLevelingPoint.y);
hasZ = gCommand->getZ(lastLevelingPoint.z);
//TODO think about what to do with the fourth axis.
if (!(hasX | hasY | hasZ))
{
//The command has only F or F and Fourth
resultList.append(command);
return resultList;
}
Point newPoint(lastLevelingPoint);
//Clear the Z component to calculate the distance between points in the XY plane only.
Point lastPointNoZ = lastPoint;
lastPointNoZ.z = 0;
Point newPointNoZ = newPoint;
newPointNoZ.z = 0;
double lenght = Distance(lastPointNoZ, newPointNoZ);
debug("Old point: (%.2f,%.2f,%.2f) - New Point: (%.2f,%.2f,%.2f)", lastPoint.x, lastPoint.y, lastPoint.z,
newPoint.x, newPoint.y, newPoint.z);
QList<Point> pointList;
double maxSegmentSize = fmin(interpolator->xGridSize(), interpolator->yGridSize()) * (1.0/SEGMENT_SIZE_DIVIDER);
debug("Segment size: %.3f Max segment size: %.3f", lenght, maxSegmentSize);
//If the distance between the old point and the new one is bigger than the threshold, split the segment.
if (lenght > maxSegmentSize)
{
int segmentCount = ceil(lenght / maxSegmentSize);
debug("Splitting segment in %d", segmentCount);
double segmentSize = lenght / segmentCount;
Vector d = newPoint - lastPoint;
d = normalize(d);
double delta = 0;
for(int i = 1; i<segmentCount; i++)
{
Point dst = lastPoint + d * (segmentSize*i);
interpolator->interpolate(dst.x, dst.y, delta);
dst.z += delta;
dst.z -= controlParams.zLevelingOffset;
pointList.append(dst);
debug("Segment intermediate point: (%.2f,%.2f,%.2f)", dst.x, dst.y, dst.z);
}
}
double delta = 0;
interpolator->interpolate(newPoint.x, newPoint.y, delta);
newPoint.z += delta;
newPoint.z -= controlParams.zLevelingOffset;
debug("Segment last point: (%.2f,%.2f,%.2f)",newPoint.x, newPoint.y, newPoint.z);
//Create a new command for every intermediate point.
Point tmpPoint;
foreach(tmpPoint, pointList){