Grbl v1.1 support and some other things

GokoFeature/feature.xml

@@ -684,7 +684,7 @@ Public License instead of this License.  But first, please read
 
    <url>
       <update label="Goko Update site" url="http://update.goko.fr/0.3.3"/>
-      <discovery label="Goko" url="http://www.goko.fr/"/>
+      <discovery label="Goko" url="https://www.goko.fr/"/>
    </url>
 
    <includes
@@ -925,4 +925,18 @@ Public License instead of this License.  But first, please read
          version="0.0.0"
          unpack="false"/>
 
+   <plugin
+         id="org.goko.controller.grbl.commons"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
+   <plugin
+         id="org.goko.controller.grbl.v11"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
 </feature>

org.goko.controller.g2core/src/org/goko/controller/g2core/controller/G2CoreControllerService.java

@@ -455,7 +455,9 @@ public CompletionService<ProbeResult> probe(List<ProbeRequest> lstProbeRequest)
 	 */
 	@Override
 	public void handleProbeResult(boolean probeSuccess, Tuple6b probePosition) throws GkException {
-		probeUtility.handleProbeResult(probeSuccess, probePosition);
+		if(probeUtility != null){
+			probeUtility.handleProbeResult(probeSuccess, probePosition);
+		}
 	}
 
 

org.goko.controller.grbl.commons/.classpath

@@ -3,5 +3,6 @@
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7"/>
 	<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
 	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="ui"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

org.goko.controller.grbl.commons/.gitignore

@@ -1 +1,2 @@
 /bin/
+/target/

org.goko.controller.grbl.commons/META-INF/MANIFEST.MF

@@ -33,7 +33,9 @@ Require-Bundle: org.goko.core,
 Export-Package: org.goko.controller.grbl.commons,
  org.goko.controller.grbl.commons.bean,
  org.goko.controller.grbl.commons.configuration,
+ org.goko.controller.grbl.commons.configuration.editors,
  org.goko.controller.grbl.commons.configuration.settings,
  org.goko.controller.grbl.commons.jog,
+ org.goko.controller.grbl.commons.probe,
  org.goko.controller.grbl.commons.schedule,
  org.goko.controller.grbl.commons.topic

org.goko.controller.grbl.commons/src/org/goko/controller/grbl/commons/AbstractGrblCommunicator.java

@@ -62,6 +62,7 @@ public abstract class AbstractGrblCommunicator<C extends AbstractGrblConfigurati
 	/** UI Log service */	
 	private IApplicativeLogService applicativeLogService;
 
+
 	/**
 	 * Constructor
 	 */
@@ -124,7 +125,7 @@ public void onConnectionEvent(EnumConnectionEvent event) throws GkException {
 	 * @throws GkException GkException
 	 */
 	protected void handleIncomingData(String data) throws GkException{
-		String trimmedData = StringUtils.trim(data);
+		String trimmedData = StringUtils.trim(StringUtils.defaultString(data));
 		if(StringUtils.isNotEmpty(trimmedData)){
 			/* Received OK response */
 			if(StringUtils.equals(trimmedData, Grbl.OK_RESPONSE)){
@@ -142,35 +143,59 @@ protected void handleIncomingData(String data) throws GkException{
 			}else if(StringUtils.startsWith(trimmedData, "Grbl")){
 				handleHeader(trimmedData);
 			/* Received a configuration confirmation */
-			}else if(StringUtils.defaultString(trimmedData).matches("\\$[0-9]*=.*")){
+			}else if(trimmedData.matches("\\$[0-9]*=.*")){
 				handleConfigurationReading(trimmedData);
 
 			/* Received a probe result */
-			}else if(StringUtils.defaultString(trimmedData).matches("\\$[PRB*]")){
+			}else if(trimmedData.matches("\\[PRB.*]")){
 				//[PRB:0.000,0.000,0.000:0]
 				handleProbeResult(trimmedData);
 			/* Received a work position report */
-			}else if(StringUtils.defaultString(trimmedData).matches("\\[G5.*\\]")){
+			}else if(trimmedData.matches("\\[TLO.*]")){
+				//[PRB:0.000,0.000,0.000:0]
+				handleToolLengthOffset(trimmedData);
+			/* Received a work position report */
+			}else if(trimmedData.matches("\\[G5.*\\]")){
 				handleCoordinateSystemOffset(trimmedData);
-
+
+			}else if(trimmedData.matches("\\[MSG:.*\\]")){
+				handleMessage(trimmedData);
 			/* Received an offset position report */
-			}else if(StringUtils.defaultString(trimmedData).matches("\\[(G92|G28|G30).*\\]")){					
+			}else if(trimmedData.matches("\\[(G92|G28|G30).*\\]")){					
 //				Tuple6b targetPoint = new Tuple6b().setNull();
 //				String coordinateSystemName = parseCoordinateSystem(trimmedData, targetPoint);
 //				grbl.setOffsetCoordinate(coordinateSystemName, targetPoint);
 				// TODO Handle G92
 			/* Parser state report */
-			}else if(StringUtils.defaultString(trimmedData).matches("\\[GC:.*\\]")){
-				//grbl.receiveParserState(StringUtils.substringBetween(trimmedData, "[","]"));
+			}else if(trimmedData.matches("\\[GC:.*\\]")){
 				handleParserState(trimmedData);
-			/* Unkown format received */
+			/* Unknown format received */
+			}else if(trimmedData.startsWith("ALARM")){
+				handleAlarm(trimmedData);
 			}else{
-				LOG.error("Ignoring received data "+ trimmedData);
-				applicativeLogService.warning("Ignoring received data "+ trimmedData, "Grbl Communicator");
+				if(!handleCustomIncomingData(trimmedData)){
+					LOG.error("Ignoring received data "+ trimmedData);
+					applicativeLogService.warning("Ignoring received data "+ trimmedData, "Grbl Communicator");
+				}
 			}
 		}
 	}
 
+	/**
+	 * @param trimmedData
+	 */
+	protected abstract void handleMessage(String trimmedData) throws GkException;
+
+
+	/**
+	 * Allow subclasses to handle custom data
+	 * @param trimmedData the raw data
+	 * @return <code>true</code> if data were processed, <code>false</code> otherwise
+	 */
+	protected boolean handleCustomIncomingData(String trimmedData) {
+		return false;
+	}
+
 	/**
 	 * @param trimmedData
 	 */
@@ -181,6 +206,16 @@ protected void handleIncomingData(String data) throws GkException{
 	 */
 	protected abstract void handleParserState(String trimmedData) throws GkException;
 
+	/**
+	 * @param trimmedData
+	 */
+	protected abstract void handleToolLengthOffset(String trimmedData) throws GkException;
+
+	/**
+	 * @param trimmedData
+	 */
+	protected abstract void handleAlarm(String trimmedData) throws GkException;
+
 	/**
 	 * @param trimmedData
 	 * @throws GkException 
@@ -351,6 +386,21 @@ public final void sendImmediately(String data, boolean useEndLineCharacter) thro
 		getConnectionService().send(lstBytes, DataPriority.IMPORTANT);
 	}
 
+	/**
+	 * Sends the given byte over the connection service with high priority
+	 * @param lstByte the list of byte to send
+	 * @param useEndLineCharacter <code>true</code> to append end line characters before sending, <code>false</code> otherwise
+	 * @throws GkException GkException
+	 */
+	public final void sendImmediately(byte data, boolean useEndLineCharacter) throws GkException{
+		List<Byte> lstBytes = new ArrayList<>();
+		lstBytes.add(data);
+		if(useEndLineCharacter){
+			addEndLineCharacter(lstBytes);
+		}
+		getConnectionService().send(lstBytes, DataPriority.IMPORTANT);
+	}
+
 	/**
 	 * Sends the given list of byte over the connection service with high priority
 	 * @param lstByte the list of byte to send

org.goko.controller.grbl.commons/src/org/goko/controller/grbl/commons/AbstractGrblControllerService.java

@@ -74,6 +74,7 @@
 import org.goko.core.gcode.rs274ngcv3.context.GCodeContextObservable;
 import org.goko.core.gcode.rs274ngcv3.element.InstructionProvider;
 import org.goko.core.gcode.service.IExecutionService;
+import org.goko.core.gcode.service.IGCodeExecutionListener;
 import org.goko.core.log.GkLog;
 import org.goko.core.math.Tuple6b;
 
@@ -88,7 +89,7 @@ public abstract class AbstractGrblControllerService <M extends MachineState,
 													 C extends AbstractGrblConfiguration<C>,
 													 P extends AbstractGrblCommunicator<C, M, T>,
 													 J extends AbstractGrblJogger<C, M, T>,
-													 X extends AbstractGrblExecutor<T>> extends EventDispatcher implements IGrblControllerService<C, M> {
+													 X extends AbstractGrblExecutor<T>> extends EventDispatcher implements IGrblControllerService<C, M>,IGCodeExecutionListener<ExecutionTokenState, IExecutionToken<ExecutionTokenState>> {
 	/** Log */
 	private static final GkLog LOG = GkLog.getLogger(AbstractGrblControllerService.class);
 	/** GCode service*/
@@ -134,6 +135,7 @@ public AbstractGrblControllerService(S internalState, C configuration) throws Gk
 		this.jogger = createJogger();
 		this.executor = createExecutor();
 		this.statusPoller = new GrblStatusPoller(this);
+		getInternalState().setActivePolling(true);
 		this.pendingCommandsCount = new AtomicInteger(0);
 	}
 
@@ -366,9 +368,7 @@ public void setConnectionService(ISerialConnectionService connectionService) thr
 	 * @throws GkException GkException
 	 */
 	public void refreshStatus() throws GkException{
-		if(isActivePollingEnabled()){
-			communicator.send( Grbl.CURRENT_STATUS, false );
-		}
+		communicator.send( Grbl.CURRENT_STATUS, false );		
 	}
 
 	public void refreshSpaceCoordinates() throws GkException{
@@ -569,6 +569,7 @@ public void applyConfiguration(C configuration) throws GkException {
 				// End of dirty hack to avoid flooding Grbl RX buffer. Need to work on a proper solution
 			}			
 		}
+		notifyConfigurationChanged();
 		this.configuration = configuration;
 	}
 
@@ -715,6 +716,11 @@ public Unit<Length> getCurrentUnit() {
 	@Override
 	public void setActivePollingEnabled(boolean enabled) throws GkException {
 		getInternalState().setActivePolling(enabled);
+		if(enabled){
+			statusPoller.start();
+		}else{
+			statusPoller.stop();
+		}
 	}
 
 	/** (inheritDoc)
@@ -776,7 +782,7 @@ public void importFrom(InputStream inputStream) throws GkException {
 			}
 		}
 		scanner.close();
-		setConfiguration(cfg);
+		applyConfiguration(cfg);
 	}
 
 	/** (inheritDoc)
@@ -866,7 +872,7 @@ protected void notifyConfigurationSettingChanged(String identifier, String oldVa
 	 */
 	@Override
 	public void resetGrbl() throws GkException {		
-		communicator.sendImmediately(String.valueOf(Grbl.RESET_COMMAND), false);
+		communicator.sendImmediately(Grbl.RESET_COMMAND, false);
 	}
 
 	/**
@@ -883,13 +889,6 @@ public P getCommunicator() {
 		return communicator;
 	}
 
-	/**
-	 * @return the gcodeService
-	 */
-	public IRS274NGCService getGcodeService() {
-		return gcodeService;
-	}
-
 	/**
 	 * @param communicator the communicator to set
 	 */
@@ -945,11 +944,81 @@ public int getPendingCommandsCount() {
 
 	protected void decreasePendingCommands(){
 		pendingCommandsCount.set(Math.max(0, pendingCommandsCount.get() - 1));
-		System.out.println( "pendingCommandsCount: -1  = "+pendingCommandsCount.get());
 	}
 
 	protected void increasePendingCommands(){
 		pendingCommandsCount.set(Math.max(0, pendingCommandsCount.get() + 1));
-		System.out.println( "pendingCommandsCount: +1  = "+pendingCommandsCount.get());
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onQueueExecutionStart()
+	 */
+	@Override
+	public void onQueueExecutionStart() throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onExecutionStart(org.goko.core.gcode.execution.IExecutionToken)
+	 */
+	@Override
+	public void onExecutionStart(IExecutionToken<ExecutionTokenState> token) throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onExecutionCanceled(org.goko.core.gcode.execution.IExecutionToken)
+	 */
+	@Override
+	public void onExecutionCanceled(IExecutionToken<ExecutionTokenState> token) throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onExecutionPause(org.goko.core.gcode.execution.IExecutionToken)
+	 */
+	@Override
+	public void onExecutionPause(IExecutionToken<ExecutionTokenState> token) throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onExecutionResume(org.goko.core.gcode.execution.IExecutionToken)
+	 */
+	@Override
+	public void onExecutionResume(IExecutionToken<ExecutionTokenState> token) throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onExecutionComplete(org.goko.core.gcode.execution.IExecutionToken)
+	 */
+	@Override
+	public void onExecutionComplete(IExecutionToken<ExecutionTokenState> token) throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onQueueExecutionComplete()
+	 */
+	@Override
+	public void onQueueExecutionComplete() throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeTokenExecutionListener#onQueueExecutionCanceled()
+	 */
+	@Override
+	public void onQueueExecutionCanceled() throws GkException {
+
+	}
+
+	/** (inheritDoc)
+	 * @see org.goko.core.gcode.service.IGCodeLineExecutionListener#onLineStateChanged(org.goko.core.gcode.execution.IExecutionToken, java.lang.Integer)
+	 */
+	@Override
+	public void onLineStateChanged(IExecutionToken<ExecutionTokenState> token, Integer idLine) throws GkException {
+
 	}
 }