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Fix probing on Grbl
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@cncgoko
cncgoko committed Nov 3, 2017
1 parent d0c685b commit b061897
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Showing 23 changed files with 419 additions and 297 deletions.
54 changes: 52 additions & 2 deletions ...ller.grbl.commons/src/org/goko/controller/grbl/commons/AbstractGrblControllerService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,7 @@ public abstract class AbstractGrblControllerService <M extends MachineState,
/** Jog runnable */
private J jogger;
public AtomicInteger pendingCommandsCount;
public Integer plannerBufferCapacity;

/**
* Constructor
Expand Down Expand Up @@ -485,7 +486,7 @@ public void startMotion() throws GkException{
communicator.send( startResumeCommand, false );
if(executionService.getExecutionState() == ExecutionState.PAUSED){
executionService.resumeQueueExecution();
}else{
}else if(executionService.getExecutionState() == ExecutionState.RUNNING){
executionService.beginQueueExecution(ExecutionQueueType.DEFAULT);
}
}
Expand Down Expand Up @@ -550,6 +551,14 @@ public int getAvailablePlannerBuffer() throws GkException {
return grblState.getAvailablePlannerBuffer();
}

/** (inheritDoc)
* @see org.goko.controller.grbl.commons.IGrblControllerService#isPlannerBufferEmpty()
*/
@Override
public boolean isPlannerBufferEmpty() throws GkException {
return getAvailablePlannerBuffer() >= plannerBufferCapacity;
}

/**
* @return
* @return the configuration
Expand Down Expand Up @@ -715,7 +724,29 @@ public void resetCurrentCoordinateSystem() throws GkException {
*/
@Override
public void updateCoordinateSystemPosition(ICoordinateSystem cs, Tuple6b position) throws GkException {
throw new GkTechnicalException("TO DO"); // FIXME
String cmd = "G10";
switch (cs.getCode()) {
case "G54": cmd +="P1";
break;
case "G55": cmd +="P2";
break;
case "G56": cmd +="P3";
break;
case "G57": cmd +="P4";
break;
case "G58": cmd +="P5";
break;
case "G59": cmd +="P6";
break;
default: throw new GkFunctionalException("GRBL-002", cs.getCode());
}
Tuple6b mPos = new Tuple6b(position);
cmd += "L2";
cmd += "X"+getPositionAsString(mPos.getX());
cmd += "Y"+getPositionAsString(mPos.getY());
cmd += "Z"+getPositionAsString(mPos.getZ());
communicator.send(cmd, true);
communicator.send(Grbl.VIEW_PARAMETERS, true );
}

/**
Expand Down Expand Up @@ -770,6 +801,10 @@ public IExecutionService<ExecutionTokenState, IExecutionToken<ExecutionTokenStat
public void setExecutionService(IExecutionService<ExecutionTokenState, IExecutionToken<ExecutionTokenState>> executionService) throws GkException {
this.executionService = executionService;
this.executor.setExecutionService(executionService);
this.executionService.addExecutionListener(ExecutionQueueType.DEFAULT, getExecutor());
this.executionService.addExecutionListener(ExecutionQueueType.SYSTEM, getExecutor());
this.executionService.addExecutionListener(ExecutionQueueType.DEFAULT, this);
this.executionService.addExecutionListener(ExecutionQueueType.SYSTEM, this);
this.executionService.setExecutor(executor);//new GrblDebugExecutor(gcodeService));
}

Expand Down Expand Up @@ -959,6 +994,7 @@ public void onConnected() throws GkException {
@Override
public void onDisconnected() throws GkException {
getStatusPoller().stop();
plannerBufferCapacity = null;
}

/**
Expand Down Expand Up @@ -1059,4 +1095,18 @@ public void turnSpindleOnCcw() throws GkException{
public void turnSpindleOff() throws GkException{
getCommunicator().turnSpindleOff();
}

/**
* @return the plannerBufferCapacity
*/
public Integer getPlannerBufferCapacity() {
return plannerBufferCapacity;
}

/**
* @param plannerBufferCapacity the plannerBufferCapacity to set
*/
public void setPlannerBufferCapacity(Integer plannerBufferCapacity) {
this.plannerBufferCapacity = plannerBufferCapacity;
}
}
7 changes: 7 additions & 0 deletions ...ko.controller.grbl.commons/src/org/goko/controller/grbl/commons/AbstractGrblExecutor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,13 @@ public void confirmNextLineExecution() throws GkException{
}
}

/** (inheritDoc)
* @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#isTokenComplete()
*/
@Override
public boolean isTokenComplete() throws GkException {
return super.isTokenComplete() && grblService.isPlannerBufferEmpty();
}
/**
* Notify the parent executor if the conditions are met
* @throws GkException GkException
Expand Down
4 changes: 2 additions & 2 deletions org.goko.controller.grbl.commons/src/org/goko/controller/grbl/commons/AbstractGrblState.java
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Original file line number Diff line number Diff line change
Expand Up @@ -257,11 +257,11 @@ public void setMachinePosition(Tuple6b position) throws GkException {
}

public Tuple6b getCoordinateSystemOffset(ICoordinateSystem cs) throws GkException {
return offsets.get(cs);
return offsets.get(cs) == null ? new Tuple6b() : new Tuple6b( offsets.get(cs) );
}

public void setCoordinateSystemOffset(ICoordinateSystem cs, Tuple6b offset) throws GkException {
offsets.put(cs, offset);
offsets.put(cs, new Tuple6b( offset ));
if(gcodeContext != null){
gcodeContext.setCoordinateSystemData(cs, offset);
}
Expand Down
7 changes: 7 additions & 0 deletions ....controller.grbl.commons/src/org/goko/controller/grbl/commons/IGrblControllerService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,13 @@ public interface IGrblControllerService<C extends AbstractGrblConfiguration<C>,
* @throws GkException GkException
*/
int getAvailablePlannerBuffer() throws GkException;

/**
* Returns <code>true</code> if the planner buffer is completely empty (no motion running)
* @return an integer
* @throws GkException GkException
*/
boolean isPlannerBufferEmpty() throws GkException;

/**
* Sends the given GCode line
Expand Down
6 changes: 3 additions & 3 deletions ...goko.controller.grbl.commons/src/org/goko/controller/grbl/commons/probe/ProbeUtility.java
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ public void prepare(List<ProbeRequest> lstProbeRequest) throws GkException {
for (int i = 0; i < lstProbeRequest.size(); i++) {
ProbeCallable probeCallable = new ProbeCallable();
this.lstProbeCallable.add(probeCallable);
completionService.submit(probeCallable);
this.completionService.submit(probeCallable);
}

probeGCodeProvider = getProbingCode(lstProbeRequest, gcodeContextProvider.getGCodeContext());
Expand Down Expand Up @@ -92,14 +92,14 @@ public boolean isProbingInProgress(){
* @throws GkException GkException
*/
public void handleProbeResult(boolean probed, Tuple6b position) throws GkException{
if(CollectionUtils.isNotEmpty(lstProbeCallable)){
if(isProbingInProgress()){
ProbeResult probeResult = new ProbeResult();
probeResult.setProbed(probed);
probeResult.setProbedPosition(position);

ProbeCallable callable = lstProbeCallable.remove(0);
callable.setProbeResult(probeResult);
}
}
}

public void cancelActiveProbing() throws GkException{
Expand Down
26 changes: 25 additions & 1 deletion org.goko.controller.grbl.v08/src/org/goko/controller/grbl/v08/GrblControllerService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -806,7 +806,31 @@ public void resetCurrentCoordinateSystem() throws GkException {
*/
@Override
public void updateCoordinateSystemPosition(ICoordinateSystem cs, Tuple6b position) throws GkException {
throw new GkTechnicalException("TO DO"); // FIXME
String cmd = "G10";
switch (cs.getCode()) {
case "G54": cmd +="P1";
break;
case "G55": cmd +="P2";
break;
case "G56": cmd +="P3";
break;
case "G57": cmd +="P4";
break;
case "G58": cmd +="P5";
break;
case "G59": cmd +="P6";
break;
default: throw new GkFunctionalException("GRBL-002", cs.getCode());
}
Tuple6b offsets = getCoordinateSystemOffset(getCurrentCoordinateSystem());
Tuple6b mPos = new Tuple6b(getPosition());
mPos = mPos.add(offsets);
cmd += "L2";
cmd += "X"+getPositionAsString(mPos.getX());
cmd += "Y"+getPositionAsString(mPos.getY());
cmd += "Z"+getPositionAsString(mPos.getZ());
communicator.send(GkUtils.toBytesList(cmd));
communicator.send(GkUtils.toBytesList(Grbl.VIEW_PARAMETERS));
}

/**
Expand Down
33 changes: 29 additions & 4 deletions org.goko.controller.grbl.v09/src/org/goko/controller/grbl/v09/GrblControllerService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -855,7 +855,31 @@ public void resetCurrentCoordinateSystem() throws GkException {
*/
@Override
public void updateCoordinateSystemPosition(ICoordinateSystem cs, Tuple6b position) throws GkException {
throw new GkTechnicalException("TO DO"); // FIXME
String cmd = "G10";
switch (cs.getCode()) {
case "G54": cmd +="P1";
break;
case "G55": cmd +="P2";
break;
case "G56": cmd +="P3";
break;
case "G57": cmd +="P4";
break;
case "G58": cmd +="P5";
break;
case "G59": cmd +="P6";
break;
default: throw new GkFunctionalException("GRBL-002", cs.getCode());
}
Tuple6b offsets = getCoordinateSystemOffset(getCurrentCoordinateSystem());
Tuple6b mPos = new Tuple6b(getPosition());
mPos = mPos.add(offsets);
cmd += "L2";
cmd += "X"+getPositionAsString(mPos.getX());
cmd += "Y"+getPositionAsString(mPos.getY());
cmd += "Z"+getPositionAsString(mPos.getZ());
communicator.send(GkUtils.toBytesList(cmd));
communicator.send(GkUtils.toBytesList(Grbl.VIEW_PARAMETERS));
}

/**
Expand Down Expand Up @@ -1030,11 +1054,12 @@ public CompletionService<ProbeResult> probe(List<ProbeRequest> lstProbeRequest)
}

probeGCodeProvider = getZProbingCode(lstProbeRequest, getGCodeContext());
probeGCodeProvider.setCode("TinyG probing");
probeGCodeProvider.setCode("Grbl probing");
gcodeService.addGCodeProvider(probeGCodeProvider);
probeGCodeProvider = gcodeService.getGCodeProvider(probeGCodeProvider.getId());// Required since internally the provider is a new one
executionService.addToExecutionQueue(probeGCodeProvider);
executionService.beginQueueExecution(ExecutionQueueType.DEFAULT);
executionService.clearExecutionQueue(ExecutionQueueType.SYSTEM);
executionService.addToExecutionQueue(ExecutionQueueType.SYSTEM, probeGCodeProvider);
executionService.beginQueueExecution(ExecutionQueueType.SYSTEM);

return completionService;
}
Expand Down
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