static stat_t _homing_axis_move(int8_t axis, float target, float velocity) { float vect[] = {0,0,0,0,0,0}; float flags[] = {false, false, false, false, false, false}; vect[axis] = target; flags[axis] = true; cm_set_feed_rate(velocity); mp_flush_planner(); // don't use cm_request_queue_flush() here cm_request_cycle_start(); ritorno(cm_straight_feed(vect, flags)); return (STAT_EAGAIN); }
stat_t feedRateOverride_Macro(void) { switch (state) { case 0: cm_request_feedhold(); state++; break; case 1: cm_request_cycle_start(); state++; break; default:state = 0; macro_func_ptr = _command_dispatch; return (STAT_OK); } _execute_gcode_block(); return (STAT_OK); }
stat_t arcoOK_Macro(void) { uint32_t lRet = pdFALSE; // set initial state for new move // memset(&gp, 0, sizeof(gp)); // clear all parser values // memset(&cm.gf, 0, sizeof(GCodeInput_t)); // clear all next-state flags // memset(&cm.gn, 0, sizeof(GCodeInput_t)); // clear all next-state values // cm.gn.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block if (xMacroArcoOkSync == true) { switch (state) { case 0: pl_arcook_start(); lRet = xSemaphoreTake( xArcoOkSync, pdMS_TO_TICKS(3000) ); if (lRet == pdFALSE) { uint32_t qSend = ARCO_OK_FAILED; xQueueSend( qKeyboard, &qSend, 0 ); macro_func_ptr = command_idle; xMacroArcoOkSync = false; // isCuttingSet(true); return (STAT_OK); } else { cm_request_cycle_start(); stopDuringCut_Set(false); delay_thcStartStop(true); xMacroArcoOkSync = false; state = 0; macro_func_ptr = _command_dispatch; return (STAT_OK); } break; default: break; } _execute_gcode_block(); } return (STAT_OK); }
stat_t _command_dispatch() { #ifdef __AVR stat_t status; // read input line or return if not a completed line // xio_gets() is a non-blocking workalike of fgets() while (true) { if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) { cs.bufp = cs.in_buf; break; } // handle end-of-file from file devices if (status == STAT_EOF) { // EOF can come from file devices only if (cfg.comm_mode == TEXT_MODE) { fprintf_P(stderr, PSTR("End of command file\n")); } else { rpt_exception(STAT_EOF); // not really an exception } tg_reset_source(); // reset to default source } return (status); // Note: STAT_EAGAIN, errors, etc. will drop through } #endif // __AVR #ifdef __ARM // detect USB connection and transition to disconnected state if it disconnected if (SerialUSB.isConnected() == false) cs.state = CONTROLLER_NOT_CONNECTED; // read input line and return if not a completed line if (cs.state == CONTROLLER_READY) { if (read_line(cs.in_buf, &cs.read_index, sizeof(cs.in_buf)) != STAT_OK) { cs.bufp = cs.in_buf; return (STAT_OK); // This is an exception: returns OK for anything NOT OK, so the idler always runs } } else if (cs.state == CONTROLLER_NOT_CONNECTED) { if (SerialUSB.isConnected() == false) return (STAT_OK); cm_request_queue_flush(); rpt_print_system_ready_message(); cs.state = CONTROLLER_STARTUP; } else if (cs.state == CONTROLLER_STARTUP) { // run startup code cs.state = CONTROLLER_READY; } else { return (STAT_OK); } cs.read_index = 0; #endif // __ARM #ifdef __RX stat_t status; parse_gcode_func_selection(CODE_PARSER); // read input line or return if not a completed line // xio_gets() is a non-blocking workalike of fgets() while (true) { if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) { cs.bufp = cs.in_buf; break; } // handle end-of-file from file devices if (status == STAT_EOF) { // EOF can come from file devices only //gfilerunning = false; xio_close(cs.primary_src); // macro_func_ptr = command_idle; if (cfg.comm_mode == TEXT_MODE) { fprintf_P(stderr, PSTR("End of command file\n")); } else { rpt_exception(STAT_EOF); // not really an exception } tg_reset_source(); // reset to default source } return (status); // Note: STAT_EAGAIN, errors, etc. will drop through } #endif // __AVR // set up the buffers cs.linelen = strlen(cs.in_buf)+1; // linelen only tracks primary input strncpy(cs.saved_buf, cs.bufp, SAVED_BUFFER_LEN-1); // save input buffer for reporting // dispatch the new text line switch (toupper(*cs.bufp)) { // first char case '!': { cm_request_feedhold(); break; } // include for AVR diagnostics and ARM serial case '%': { cm_request_queue_flush(); break; } case '~': { cm_request_cycle_start(); break; } case NUL: { // blank line (just a CR) if (cfg.comm_mode != JSON_MODE) { text_response(STAT_OK, cs.saved_buf); } break; } case '$': case '?': case 'H': { // text mode input cfg.comm_mode = TEXT_MODE; text_response(text_parser(cs.bufp), cs.saved_buf); break; } case '{': { // JSON input cfg.comm_mode = JSON_MODE; json_parser(cs.bufp); break; } default: { // anything else must be Gcode if (cfg.comm_mode == JSON_MODE) { // run it as JSON... strncpy(cs.out_buf, cs.bufp, INPUT_BUFFER_LEN -8); // use out_buf as temp sprintf((char *)cs.bufp,"{\"gc\":\"%s\"}\n", (char *)cs.out_buf); // '-8' is used for JSON chars json_parser(cs.bufp); } else { //...or run it as text text_response(gc_gcode_parser(cs.bufp), cs.saved_buf); } } } return (STAT_OK); }