Merge pull request #802 from engigeer/PR_dist_to_go

Add realtime report of distance-to-go

config.h

@@ -730,6 +730,15 @@ Enabling this setting enables status reporting while homing.
 #define DEFAULT_REPORT_WHEN_HOMING Off // Default off. Set to \ref On or 1 to enable.
 #endif
 
+/*! \def DEFAULT_REPORT_DISTANCE_TO_GO
+\brief
+If set to \ref Off or 0 the `|DTG:` distance-to-go element is not included in the real time report.
+\internal Bit 13 in settings.status_report.
+*/
+#if !defined DEFAULT_REPORT_DISTANCE_TO_GO || defined __DOXYGEN__
+#define DEFAULT_REPORT_DISTANCE_TO_GO On // Default on. Set to \ref Off or 0 to disable.
+#endif
+
 ///@}
 
 /*! @name $11 - Setting_JunctionDeviation

planner.c

@@ -417,6 +417,7 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
     block->offset_id = pl_data->offset_id;
     block->output_commands = pl_data->output_commands;
     block->message = pl_data->message;
+    memcpy(block->target_mm, target, sizeof(float) * N_AXIS);
 
     // Copy position data based on type of motion being planned.
     memcpy(position_steps, block->condition.system_motion ? sys.position : pl.position, sizeof(position_steps));

planner.h

@@ -82,6 +82,7 @@ typedef struct plan_block {
     gc_override_flags_t overrides;  // Block bitfield variable for overrides
     planner_cond_t condition;       // Block bitfield variable defining block run conditions. Copied from pl_line_data.
     int32_t line_number;            // Block line number for real-time reporting. Copied from pl_line_data.
+    float target_mm[N_AXIS];        // Block target end location in mm for real-time reporting of distance to go.
 
     // Fields used by the motion planner to manage acceleration. Some of these values may be updated
     // by the stepper module during execution of special motion cases for replanning purposes.

report.c

@@ -1154,7 +1154,7 @@ void report_realtime_status (stream_write_ptr stream_write)
     static bool probing = false;
 
     uint_fast8_t idx;
-    float print_position[N_AXIS], wco[N_AXIS];
+    float print_position[N_AXIS], wco[N_AXIS], dist_remaining[N_AXIS];
     report_tracking_flags_t report = system_get_rt_report_flags(), delayed_report = {};
     probe_state_t probe_state = {
         .connected = On,
@@ -1254,6 +1254,21 @@ void report_realtime_status (stream_write_ptr stream_write)
             stream_write(appendbuf(2, "|Ln:", uitoa((uint32_t)cur_block->line_number)));
     }
 
+    if(settings.status_report.distance_to_go) {
+        // Report distance-to-go in current block (i.e., difference between target / end-of-block) and current position)
+        plan_block_t *cur_block = plan_get_current_block();
+        if (cur_block != NULL) {
+            system_convert_array_steps_to_mpos(dist_remaining, sys.position);
+
+            for(idx = 0; idx < N_AXIS; idx++) {
+                dist_remaining[idx] = cur_block->target_mm[idx] - dist_remaining[idx];
+            }
+
+            hal.stream.write_all("|DTG:");
+            hal.stream.write_all(get_axis_values(dist_remaining));
+        }
+    }   
+
     spindle_ptrs_t *spindle_0;
     spindle_state_t spindle_0_state;
 

settings.c

@@ -162,6 +162,7 @@ PROGMEM const settings_t defaults = {
     .status_report.alarm_substate = DEFAULT_REPORT_ALARM_SUBSTATE,
     .status_report.run_substate = DEFAULT_REPORT_RUN_SUBSTATE,
     .status_report.when_homing = DEFAULT_REPORT_WHEN_HOMING,
+    .status_report.distance_to_go = DEFAULT_REPORT_DISTANCE_TO_GO,
     .limits.flags.hard_enabled = DEFAULT_HARD_LIMIT_ENABLE,
     .limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
     .limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
@@ -2014,7 +2015,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_GangedDirInvertMask, Group_Stepper, "Ganged axes direction invert", NULL, Format_Bitfield, ganged_axes, NULL, NULL, Setting_IsExtendedFn, set_ganged_dir_invert, get_int, is_setting_available },
      { Setting_SpindlePWMOptions, Group_Spindle, "PWM spindle options", NULL, Format_XBitfield, "Enable,RPM controls spindle enable signal,Disable laser mode capability", NULL, NULL, Setting_IsExtendedFn, set_pwm_options, get_int, is_setting_available },
 #if COMPATIBILITY_LEVEL <= 1
-     { Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state,Line numbers,Feed & speed,Pin state,Work coordinate offset,Overrides,Probe coordinates,Buffer sync on WCO change,Parser state,Alarm substatus,Run substatus,Enable when homing", NULL, NULL, Setting_IsExtendedFn, set_report_mask, get_int, NULL },
+     { Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state,Line numbers,Feed & speed,Pin state,Work coordinate offset,Overrides,Probe coordinates,Buffer sync on WCO change,Parser state,Alarm substatus,Run substatus,Enable when homing,Distance-to-go", NULL, NULL, Setting_IsExtendedFn, set_report_mask, get_int, NULL },
 #else
      { Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state", NULL, NULL, Setting_IsLegacyFn, set_report_mask, get_int, NULL },
 #endif

settings.h

@@ -641,7 +641,8 @@ typedef union {
                  alarm_substate     :1,
                  run_substate       :1,
                  when_homing        :1,
-                 unassigned         :3;
+                 distance_to_go     :1,
+                 unassigned         :2;
     };
 } reportmask_t;