int main (int argc, char **argv)
{
FILE * gcodeFile;
char lineBuffer[1024];
char * lineBufferPointer = &lineBuffer[0];
GCODE_STATE previous_command; //stores the previous gcode command
GCODE_STATE current_command; //stores the next gcode command
init_gcode_state(&previous_command);
init_gcode_state(¤t_command);
gcodeFile = fopen("test.gcode","r");
if(gcodeFile == NULL){
printf("Error: file dosen't exist");
return -1;
}
printf ("GCode interpreter test\n");
while(fgets(lineBuffer, 1024, gcodeFile) != NULL){
//reset the line buffer pointer to the start of the line
lineBufferPointer = &lineBuffer[0];
previous_command = current_command;
current_command = parse_gcode(lineBufferPointer);
print_state(current_command);
}
fclose(gcodeFile);
return 0; // make sure your main returns int
}
int main(int argc, char *argv[]) {
FILE *parFile = fopen(GCODE_PARAMETER_STORE, "r");
FILE *inputFile = (argc > 1 ? fopen(argv[1], "r") : stdin);
char line[0xFF];
init_parameters(parFile);
init_machine(NULL);
init_stacks(NULL);
init_tools(NULL);
init_input(inputFile);
//TODO: align API, add done_gcode_state().
init_gcode_state(NULL);
init_cycles(NULL);
//TODO: align API, make it take a pointer to init data.
init_queue();
init_checker(NULL);
while(machine_running() && gcode_running() && fetch_line_input(line)) {
if(gcode_check(line)) update_gcode_state(line);
move_machine_queue();
}
/* Flush movement queue */
while(move_machine_queue());
done_checker();
done_queue();
done_cycles();
done_input();
done_tools();
done_stacks();
done_machine();
done_parameters();
return 0;
}
int main(void)
{
setup();
char response_buffer[128];
bool resend = false;
GCODE_STATE previous_command; //stores the previous gcode command
GCODE_STATE current_command; //stores the next gcode command
init_gcode_state(&previous_command);
init_gcode_state(¤t_command);
KINEMATIC_STATE current;
KINEMATIC_STATE goal;
init_kinematic_state(¤t);
init_kinematic_state(&goal);
test_extuder(4000,4000);
calibrate(6000,3000);
while (1){
//should echo back any string sent to board over serial
usbd_poll(usbd_dev);
if(strlen(usb_buf) > 0){
//if it's a re-sent command we don't want to overwrite the previous
//command with something broken
if (resend == false){
previous_command = current_command;
}else{
//clear the resend
resend = false;
}
current_command = parse_gcode(usb_buf);
clear_USB_buffer();
current_command.x_offset = previous_command.x_offset;
current_command.y_offset = previous_command.y_offset;
current_command.z_offset = previous_command.z_offset;
current_command.extrude_offset = previous_command.extrude_offset;
//current_command.feed_rate = previous_command.feed_rate;
//Handle checksums
if(current_command.checksum_set){
if (current_command.checksum != current_command.calculated_checksum){
//if things get buggered, send a resend command
sprintf(response_buffer, "rs %i\n", current_command.line_number);
write_serial(response_buffer);
resend = true;
continue;
}
}
//Handle GCommands
if (current_command.g_command_set){
//G0 Rapid move
//G1 Controlled move
if (current_command.g_command == 0.0f || current_command.g_command == 1.0f){
if (current_command.x_set) goal.x = current_command.x + current_command.x_offset;
if (current_command.y_set) goal.y = current_command.y + current_command.y_offset;
//remember - z is inverted
if (current_command.z_set) goal.z = (-current_command.z) + current_command.z_offset;
if (current_command.extrude_length_set) goal.extrude_length = current_command.extrude_length + current_command.extrude_offset;
if(current_command.feed_rate_set){
goal.feed_rate = current_command.feed_rate;
}else{
//current_command.feed_rate = previous_command.feed_rate;
//goal.feed_rate = current_command.feed_rate;
}
current = line_generator(current, goal, step_motors);
}
//G92 Set Position (without move)
if (current_command.g_command == 92.0f){
if (current_command.x_set){
current_command.x_offset = current.x - current_command.x;
}
if (current_command.y_set){
current_command.y_offset = current.y - current_command.y;
}
if (current_command.z_set){
//remember - z is inverted
current_command.z_offset = current.z - (-current_command.z);
}
if (current_command.extrude_length_set){
current_command.extrude_offset = current.extrude_length - current_command.extrude_length;
}
}
}
if (current_command.m_command_set){
//TODO: Sort the spindle code out so that it can be rotated in both directions
//for now it is only used to control an acuator which is off or on.
//M3 Spindle ON clockwise
if (current_command.m_command == 3.0f){
set_spindle(true);
}
//M4 Spindle ON counter-clockwise
if (current_command.m_command == 3.0f){
set_spindle(true);
}
//M5 Spindle OFF
if (current_command.m_command == 5.0f){
set_spindle(false);
}
//M105 get extruder temperature
if (current_command.m_command == 105.0f){
sprintf(response_buffer, "ok\n T:%d", read_adc());
write_serial_string(response_buffer);
continue;
}
}
//DO NOT PUT CODE BELOW THIS POINT UNLESS THE "continue"'s in the above code
//are taken care of or not important.
//use the repsponse buffer because fuckit
sprintf(response_buffer, "ok\n");
write_serial_string(response_buffer);
}
}
}
