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Universal Gcode Sender Library
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/*
Copyright 2013-2018 Will Winder
This file is part of Universal Gcode Sender (UGS).
UGS is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
UGS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with UGS. If not, see gcodeList = TinyGUtils.convertStatusReportToGcode(jo);
gcodeList.forEach(gcode -> updateParserModalState(new GcodeCommand(gcode)));
// Notify our listeners about the new status
controllerStatus = TinyGUtils.updateControllerStatus(controllerStatus, getCurrentGcodeState(), jo);
dispatchStatusString(controllerStatus);
// Notify state change to our listeners
UGSEvent.ControlState newControlState = getControlState(controllerStatus.getState());
if (!previousControlState.equals(newControlState)) {
LOGGER.log(Level.FINE, "Changing state from " + previousControlState + " to " + newControlState);
setCurrentState(newControlState);
}
}
private void sendInitCommands() {
// Enable JSON mode
// 0=text mode, 1=JSON mode
comm.queueStringForComm("{ej:1}");
// JSON verbosity
// 0=silent, 1=footer, 2=messages, 3=configs, 4=linenum, 5=verbose
comm.queueStringForComm("{jv:4}");
// Queue report verbosity
// 0=off, 1=filtered, 2=verbose
comm.queueStringForComm("{qv:0}");
// Status report verbosity
// 0=off, 1=filtered, 2=verbose
comm.queueStringForComm("{sv:1}");
// Request firmware settings
comm.queueStringForComm("$$");
// Configure status reports
comm.queueStringForComm("{sr:{posx:t, posy:t, posz:t, mpox:t, mpoy:t, mpoz:t, plan:t, vel:t, unit:t, stat:t, dist:t, admo:t, frmo:t, coor:t}}");
// Request initial status report
comm.queueStringForComm("{sr:n}");
comm.streamCommands();
// Refresh the status update
setStatusUpdateRate(getStatusUpdateRate());
}
@Override
public void updateParserModalState(GcodeCommand command) {
// Prevent internal TinyG commands to update the parser modal state
if(!command.getCommandString().startsWith("{")) {
super.updateParserModalState(command);
}
}
@Override
public void performHomingCycle() throws Exception {
sendCommandImmediately(new GcodeCommand("G28.2 Z0 X0 Y0"));
}
@Override
public void resetCoordinatesToZero() throws Exception {
String command = TinyGUtils.generateResetCoordinatesToZeroCommand(controllerStatus, getCurrentGcodeState());
sendCommandImmediately(new GcodeCommand(command));
}
@Override
public void returnToHome() throws Exception {
if (controllerStatus.getWorkCoord().getZ() < 0) {
sendCommandImmediately(new GcodeCommand("G90 G0 Z0"));
}
sendCommandImmediately(new GcodeCommand("G90 G0 X0 Y0"));
sendCommandImmediately(new GcodeCommand("G90 G0 Z0"));
}
@Override
public void killAlarmLock() throws Exception {
sendCommandImmediately(new GcodeCommand(TinyGUtils.COMMAND_KILL_ALARM_LOCK));
}
@Override
public void toggleCheckMode() throws Exception {
throw new UnsupportedOperationException(NOT_SUPPORTED_YET);
}
@Override
public void viewParserState() throws Exception {
if (this.isCommOpen()) {
sendCommandImmediately(new GcodeCommand(TinyGUtils.COMMAND_STATUS_REPORT));
}
}
@Override
public void softReset() throws Exception {
// TODO This doesn't work, it will disconnect from the host
//this.comm.sendByteImmediately(TinyGUtils.COMMAND_RESET);
this.comm.sendByteImmediately(TinyGUtils.COMMAND_KILL_JOB);
this.comm.sendByteImmediately(TinyGUtils.COMMAND_QUEUE_FLUSH);
this.comm.sendByteImmediately((byte) '\n');
sendInitCommands();
}
@Override
public void setWorkPosition(Axis axis, double position) throws Exception {
String command = TinyGUtils.generateSetWorkPositionCommand(controllerStatus, getCurrentGcodeState(), axis, position);
sendCommandImmediately(new GcodeCommand(command));
}
@Override
protected void isReadyToStreamCommandsEvent() throws Exception {
// Not needed yet
}
@Override
protected void isReadyToSendCommandsEvent() throws Exception {
// Not needed yet
}
@Override
protected void statusUpdatesEnabledValueChanged(boolean enabled) {
// We don't care about this
}
@Override
protected void statusUpdatesRateValueChanged(int rate) {
// Status report interval in milliseconds (50ms minimum interval)
comm.queueStringForComm("{si:" + rate + "}");
}
@Override
public void sendOverrideCommand(Overrides command) throws Exception {
throw new UnsupportedOperationException(NOT_SUPPORTED_YET);
}
@Override
public String getFirmwareVersion() {
return firmwareVersion;
}
@Override
public ControllerState getState() {
if (controllerStatus == null) {
return ControllerState.UNKNOWN;
}
return controllerStatus.getState();
}
@Override
public UGSEvent.ControlState getControlState() {
return getControlState(getState());
}
protected UGSEvent.ControlState getControlState(ControllerState controllerState) {
switch (controllerState) {
case JOG:
case RUN:
return COMM_SENDING;
case HOLD:
case DOOR:
return COMM_SENDING_PAUSED;
case IDLE:
if (isStreaming()) {
return COMM_SENDING_PAUSED;
} else {
return COMM_IDLE;
}
case ALARM:
return COMM_IDLE;
case CHECK:
if (isStreaming() && comm.isPaused()) {
return COMM_SENDING_PAUSED;
} else if (isStreaming() && !comm.isPaused()) {
return COMM_SENDING;
} else {
return COMM_CHECK;
}
default:
return COMM_IDLE;
}
}
}
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