/**
* @brief Returns the ID of the command and make cmd_ready point to after
* the command in the string.
*
* @param cmd The command.
* @param cmd_ready Pointer to be placed after the command in the string.
*
* @return The command ID.
*/
static uint16_t get_command_id(char *cmd, char ** const cmd_ready)
{
char *my_cmd = skip_spaces(cmd);
if (is_num(*my_cmd))
return str_to_int(my_cmd, cmd_ready);
else {
for (int i = 0; i < N_CMD; i++) {
char *aux_cmd = has_command(cmd_list[i], my_cmd);
if (aux_cmd) {
if (cmd_ready)
*cmd_ready = aux_cmd;
return i + 1;
}
}
return 0;
}
}
//Read the string and execute instructions
void GcodeProcessor::process_string(char instruction[])
{
//the character / means delete block... used for comments and stuff.
if (instruction[0] == '/'
|| instruction[0] == ';'
|| instruction[0] == '#'){
return;
}
// float currentPosition[] ={getUnitsX(), getUnitsY(), getUnitsZ() };
Point currentPosition = getMachine().getCurrentPosition();
Point target ;
int code = 0;
//Get Target
target.x = currentPosition.x ;
target.y = currentPosition.y ;
target.z = currentPosition.z ;
if (has_command('X', instruction)) target.x = search_string('X', instruction);
if (has_command('Y', instruction)) target.y = search_string('Y', instruction);
if (has_command('Z', instruction)) target.z = search_string('Z', instruction);
if(!abs_mode){
target.x = currentPosition.x + search_string('X', instruction);
target.y = currentPosition.y + search_string('Y', instruction);;
target.z = currentPosition.z + search_string('X', instruction);;
}
//set our target.
// getMachine().set_target(target);
double feedrate = search_string('F', instruction);
if (feedrate > 0) nominalFeedRate = feedrate;
// handle no G code but has Coordinates remember the last feed rate
if( ( has_command('X', instruction) ||
has_command('Y', instruction) ||
has_command('Z', instruction))&&
! has_command('G', instruction)){
// setFeedRate(nominalFeedRate);
getMachine().goTo(target);
}
if ( has_command('G', instruction) )
{
//which one?
code = (int)search_string('G', instruction);
switch (code)
{
//Rapid Positioning
case 0:
getMachine().setMaxFeedRate();
getMachine().goTo(target);
break;
//Linear Interpolation
case 1:
getMachine().setFeedRate(nominalFeedRate);
getMachine().goTo(target);
break;
//Clockwise arc
case 2:
//Counterclockwise arc
case 3:
// Centre coordinates are always relative
centr.x = search_string('I', instruction) + currentPosition.x;
centr.y = search_string('J', instruction) + currentPosition.y;
centr.z = target.z;
bool clockwise;
clockwise = (code==2);
getMachine().moveAlongCurve( centr, target, clockwise);
break;
case 4:
// delay(1000*(int)search_string('P', instruction, size));
break;
//Inches for Units
case 20:
getMachine().setInches();
break;
//mm for Units
case 21:
getMachine().setMillimeters();
break;
//go home.
case 28:
getMachine().goToOrigin();
break;
//go home via an intermediate point.
case 30:
getMachine().setMaxFeedRate();
getMachine().goTo(target);
//go home.
getMachine().goToOrigin();
break;
//Absolute Positioning
case 90:
abs_mode = true;
break;
//Incremental Positioning
case 91:
abs_mode = false;
break;
//Set as home
case 92:
getMachine().setPosition(Point());
break;
/*
//Inverse Time Feed Mode
case 93:
break; //TODO: add this
//Feed per Minute Mode
case 94:
break; //TODO: add this
*/
default:
break;
// Serial.print("huh? G");
// Serial.println(code,DEC);
}
}
if (has_command('F', instruction))
{
double rate = search_string('F', instruction);
getMachine().setFeedRate(rate);
nominalFeedRate = rate;
}
//find us an m code.
if (has_command('M', instruction))
{
code = search_string('M', instruction);
switch (code)
{
//TODO: this is a bug because search_string returns 0. gotta fix that.
case 0:
true;
break;
/*
case 0:
//todo: stop program
break;
case 1:
//todo: optional stop
break;
case 2:
//todo: program end
break;
*/
//set max extruder speed, 0-255 PWM
// case 100:
// extruder_speed = (int)(search_string('P', instruction, size));
// break;
//
// //turn extruder on, forward
// case 101:
// extruder_set_direction(1);
// extruder_set_speed(extruder_speed);
// break;
//
// //turn extruder on, reverse
// case 102:
// extruder_set_direction(0);
// extruder_set_speed(extruder_speed);
// break;
//
// //turn extruder off
// case 103:
// extruder_set_speed(0);
// break;
//
// //custom code for temperature control
// case 104:
// extruder_set_temperature((int)search_string('P', instruction, size));
//
// //warmup if we're too cold.
// while (extruder_get_temperature() < extruder_target_celsius)
// {
// extruder_manage_temperature();
// Serial.print("T:");
// Serial.println(extruder_get_temperature());
// delay(1000);
// }
//
// break;
//
// //custom code for temperature reading
// case 105:
// Serial.print("T:");
// Serial.println(extruder_get_temperature());
// break;
//
// //turn fan on
// case 106:
// extruder_set_cooler(255);
// break;
//
// //turn fan off
// case 107:
// extruder_set_cooler(0);
// break;
default:
break;
// Serial.print("Huh? M");
// Serial.println(code);
}
}
//tell our host we're done.
// Serial.println("ok");
// Serial.println(line, DEC);
}
