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);
}
