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Intermediate checkpoint for isolating Gcode parser

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This commit is contained in:
Alden Hart
2017-01-12 08:52:12 -05:00
parent d98a74fa62
commit ca546db67d
10 changed files with 310 additions and 111 deletions
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153
g2core/gcode_parser.cpp
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@@ -27,16 +27,101 @@
#include "util.h"
#include "xio.h" // for char definitions
GCodeParser gp;
// Structures used by Gcode parser
/* TODO
A series of leakages of the gp.gn and gp.gf structs that should be parameterized in the function arguments:
- cm_set_g10_data()
- cm_set_tl_offset()
- cm_mfo_enable()
- cycle_homing / _get_next_axis()
- others?
*/
typedef struct GCodeInput { // Gcode model inputs - meaning depends on context
uint8_t next_action; // handles G modal group 1 moves & non-modals
cmMotionMode motion_mode; // Group1: G0, G1, G2, G3, G38.2, G80, G81, G82
// G83, G84, G85, G86, G87, G88, G89
uint8_t program_flow; // used only by the gcode_parser
uint32_t linenum; // N word
float target[AXES]; // XYZABC where the move should go
uint8_t H_word; // H word - used by G43s
uint8_t L_word; // L word - used by G10s
float feed_rate; // F - normalized to millimeters/minute
uint8_t feed_rate_mode; // See cmFeedRateMode for settings
float parameter; // P - parameter used for dwell time in seconds, G10 coord select...
float arc_radius; // R - radius value in arc radius mode
float arc_offset[3]; // IJK - used by arc commands
bool m48_enable; // M48/M49 input (enables for feed and spindle)
bool mfo_control; // M50 feedrate override control
bool mto_control; // M50.1 traverse override control
bool sso_control; // M51 spindle speed override control
uint8_t select_plane; // G17,G18,G19 - values to set plane to
uint8_t units_mode; // G20,G21 - 0=inches (G20), 1 = mm (G21)
uint8_t coord_system; // G54-G59 - select coordinate system 1-9
uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
uint8_t arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets
uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode
uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53)
uint8_t tool; // Tool after T and M6 (tool_select and tool_change)
uint8_t tool_select; // T value - T sets this value
uint8_t tool_change; // M6 tool change flag - moves "tool_select" to "tool"
uint8_t mist_coolant; // TRUE = mist on (M7), FALSE = off (M9)
uint8_t flood_coolant; // TRUE = flood on (M8), FALSE = off (M9)
uint8_t spindle_control; // 0=OFF (M5), 1=CW (M3), 2=CCW (M4)
float spindle_speed; // in RPM
float spindle_override_factor; // 1.0000 x S spindle speed. Go up or down from there
uint8_t spindle_override_enable; // TRUE = override enabled
} GCodeInput_t;
typedef struct GCodeFlags { // Gcode model input flags
bool next_action;
bool motion_mode;
bool modals[MODAL_GROUP_COUNT];
bool program_flow;
bool linenum;
bool target[AXES];
bool H_word;
bool L_word;
bool feed_rate;
bool feed_rate_mode;
bool m48_enable;
bool mfo_control;
bool mto_control;
bool sso_control;
bool select_plane;
bool units_mode;
bool coord_system;
bool path_control;
bool distance_mode;
bool arc_distance_mode;
bool origin_offset_mode;
bool absolute_override;
bool tool;
bool tool_select;
bool tool_change;
bool mist_coolant;
bool flood_coolant;
bool spindle_control;
bool spindle_speed;
bool spindle_override_factor;
bool spindle_override_enable;
bool parameter;
bool arc_radius;
bool arc_offset[3];
} GCodeFlags_t;
typedef struct GCodeParser {
GCodeInput_t gn; // gcode input values - transient
GCodeFlags_t gf; // gcode input flags - transient
} GCodeParser_t;
//extern GCodeParser_t gp;
GCodeParser gp;
// local helper functions and macros
static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag);
@@ -568,8 +653,15 @@ static stat_t _parse_gcode_block(char *buf, char *active_comment)
case 9: SET_MODAL (MODAL_GROUP_M8, flood_coolant, false);
case 48: SET_MODAL (MODAL_GROUP_M9, m48_enable, true);
case 49: SET_MODAL (MODAL_GROUP_M9, m48_enable, false);
case 50: SET_MODAL (MODAL_GROUP_M9, mfo_enable, true);
case 51: SET_MODAL (MODAL_GROUP_M9, sso_enable, true);
case 50: SET_MODAL (MODAL_GROUP_M9, mfo_control, true);
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_M9, mfo_control, true);
case 1: SET_MODAL (MODAL_GROUP_M9, mto_control, true);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
// case 50: SET_MODAL (MODAL_GROUP_M9, mfo_control, true);
case 51: SET_MODAL (MODAL_GROUP_M9, sso_control, true);
case 100: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_COMMAND_SYNC);
case 101: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_WAIT);
default: status = STAT_MCODE_COMMAND_UNSUPPORTED;
@@ -653,24 +745,25 @@ static stat_t _execute_gcode_block(char *active_comment)
EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode); // G93, G94
EXEC_FUNC(cm_set_feed_rate, feed_rate); // F
EXEC_FUNC(cm_set_spindle_speed, spindle_speed); // S
// EXEC_FUNC(cm_spindle_override_factor, spindle_override_factor);
if (gp.gf.sso_control) { // spindle speed override
ritorno(cm_sso_control(gp.gn.parameter, gp.gf.parameter));
}
EXEC_FUNC(cm_select_tool, tool_select); // tool_select is where it's written
EXEC_FUNC(cm_change_tool, tool_change); // M6
EXEC_FUNC(cm_spindle_control, spindle_control); // spindle CW, CCW, OFF
/*
EXEC_FUNC(cm_feed_rate_override_enable, feed_rate_override_enable);
EXEC_FUNC(cm_traverse_override_enable, traverse_override_enable);
EXEC_FUNC(cm_spindle_override_enable, spindle_override_enable);
EXEC_FUNC(cm_override_enables, override_enables);
*/
EXEC_FUNC(cm_mist_coolant_control, mist_coolant); // M7, M9
EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // M8, M9 also disables mist coolant if OFF
EXEC_FUNC(cm_m48_enable, m48_enable);
EXEC_FUNC(cm_mfo_enable, mfo_enable);
// EXEC_FUNC(cm_mfo_enable, feed_rate_override_factor);
// EXEC_FUNC(cm_sso_enable, sso_enable);
if (gp.gf.mfo_control) { // manual feedrate override
ritorno(cm_mfo_control(gp.gn.parameter, gp.gf.parameter));
}
if (gp.gf.mto_control) { // manual traverse override
ritorno(cm_mto_control(gp.gn.parameter, gp.gf.parameter));
}
if (gp.gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
ritorno(cm_dwell(gp.gn.parameter)); // return if error, otherwise complete the block
}
@@ -680,11 +773,11 @@ static stat_t _execute_gcode_block(char *active_comment)
switch (gp.gn.next_action) { // Tool length offsets
case NEXT_ACTION_SET_TL_OFFSET: { // G43
ritorno(cm_set_tl_offset(gp.gn.H_word, false));
ritorno(cm_set_tl_offset(gp.gn.H_word, gp.gf.H_word, false));
break;
}
case NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET: { // G43.2
ritorno(cm_set_tl_offset(gp.gn.H_word, true));
ritorno(cm_set_tl_offset(gp.gn.H_word, gp.gf.H_word, true));
break;
}
case NEXT_ACTION_CANCEL_TL_OFFSET: { // G49
@@ -694,8 +787,9 @@ static stat_t _execute_gcode_block(char *active_comment)
}
EXEC_FUNC(cm_set_coord_system, coord_system); // G54, G55, G56, G57, G58, G59
// EXEC_FUNC(cm_set_path_control, path_control); // G61, G61.1, G64
if(gp.gf.path_control) { status = cm_set_path_control(MODEL, gp.gn.path_control); }
if (gp.gf.path_control) { // G61, G61.1, G64
status = cm_set_path_control(MODEL, gp.gn.path_control);
}
EXEC_FUNC(cm_set_distance_mode, distance_mode); // G90, G91
EXEC_FUNC(cm_set_arc_distance_mode, arc_distance_mode); // G90.1, G91.1
@@ -707,16 +801,19 @@ static stat_t _execute_gcode_block(char *active_comment)
case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gp.gn.target, gp.gf.target); break;} // G30
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(); break;} // G28.2
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(gp.gn.target, gp.gf.target); break;} // G28.2
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gp.gn.target, gp.gf.target); break;}// G28.3
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(); break;} // G28.4
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(gp.gn.target, gp.gf.target); break;} // G28.4
case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(gp.gn.target, gp.gf.target, true, true); break;} // G38.2
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(gp.gn.target, gp.gf.target, false, true); break;} // G38.3
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(gp.gn.target, gp.gf.target, true, false); break;} // G38.4
case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(gp.gn.target, gp.gf.target, false, false); break;} // G38.5
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gp.gn.parameter, gp.gn.L_word, gp.gn.target, gp.gf.target); break;}
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gp.gn.parameter, gp.gf.parameter,
gp.gn.L_word, gp.gf.L_word,
gp.gn.target, gp.gf.target); break;}
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gp.gn.target, gp.gf.target); break;}// G92
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;} // G92.1
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;} // G92.2