static const char *handle_z_probe(struct GCodeParser *p, const char *line) {
char letter;
float value;
float feedrate = -1;
float probe_thickness = 0;
const char *remaining_line;
while ((remaining_line = gparse_pair(p, line, &letter, &value))) {
const float unit_value = value * p->unit_to_mm_factor;
if (letter == 'F') feedrate = f_param_to_feedrate(unit_value);
else if (letter == 'Z') probe_thickness = value * p->unit_to_mm_factor;
else break;
line = remaining_line;
}
// Probe for the travel endstop
float probed_pos;
if (p->callbacks.probe_axis(p->callbacks.user_data, feedrate, AXIS_Z,
&probed_pos)) {
p->axes_pos[AXIS_Z] = probed_pos;
// Doing implicit G92 here. Is this what we want ? Later, this might
// be part of tool-offset or something.
p->global_offset_g92[AXIS_Z] = (p->axes_pos[AXIS_Z] - probe_thickness)
- p->current_origin[AXIS_Z];
set_current_origin(p, p->current_origin, p->global_offset_g92);
}
return line;
}
// For we just generate an arc by emitting many small steps for
// now. TODO(hzeller): actually generate a curve profile for that.
// With G17, G18, G19, the plane was selected before.
// X, Y, Z: new position (two in the plane, one for the helix.
// I, J, K: offset to center, corresponding to X,Y,Z.
// Only the two in the given plane are relevant.
// F : Optional feedrate.
// P : number of turns. currently ignored.
// R : TODO: implement. Modern systems allow that.
static const char *handle_arc(struct GCodeParser *p,
const char *line,
int is_cw) {
const char *remaining_line;
float target[GCODE_NUM_AXES];
float offset[GCODE_NUM_AXES] = {0};
float feedrate = -1;
float value;
char letter;
int turns = 1;
memcpy(target, p->axes_pos, GCODE_NUM_AXES * sizeof(*target));
while ((remaining_line = gparse_pair(p, line, &letter, &value))) {
const float unit_value = value * p->unit_to_mm_factor;
if (letter == 'X') target[AXIS_X] = abs_axis_pos(p, AXIS_X, unit_value);
else if (letter == 'Y') target[AXIS_Y] = abs_axis_pos(p, AXIS_Y, unit_value);
else if (letter == 'Z') target[AXIS_Z] = abs_axis_pos(p, AXIS_Z, unit_value);
else if (letter == 'I') offset[AXIS_X] = unit_value;
else if (letter == 'J') offset[AXIS_Y] = unit_value;
else if (letter == 'K') offset[AXIS_Z] = unit_value;
else if (letter == 'F') feedrate = f_param_to_feedrate(unit_value);
else if (letter == 'P') turns = (int)value; // currently ignored
// TODO: 'R'
else break;
line = remaining_line;
}
// Should the arc parameters be sanity checked?
if (turns < 0 || turns > 4) {
fprintf(stderr, "G-Code Syntax Error: handle_arc: turns=%d (must be 1-4)\n",
turns);
return remaining_line;
}
struct ArcCallbackData cb_arc_data;
cb_arc_data.parser = p;
cb_arc_data.feedrate = feedrate;
arc_gen(p->arc_normal, is_cw, p->axes_pos, offset, target,
&arc_callback, &cb_arc_data);
return line;
}
static const char *handle_move(struct GCodeParser *p,
const char *line, int force_change) {
char axis_l;
float value;
int any_change = force_change;
float feedrate = -1;
const char *remaining_line;
AxesRegister new_pos;
memcpy(new_pos, p->axes_pos, sizeof(new_pos));
while ((remaining_line = gparse_pair(p, line, &axis_l, &value))) {
const float unit_value = value * p->unit_to_mm_factor;
if (axis_l == 'F') {
feedrate = f_param_to_feedrate(unit_value);
any_change = 1;
}
else {
const enum GCodeParserAxis update_axis = gcodep_letter2axis(axis_l);
if (update_axis == GCODE_NUM_AXES)
break; // Invalid axis: possibly start of new command.
new_pos[update_axis] = abs_axis_pos(p, update_axis, unit_value);
any_change = 1;
}
line = remaining_line;
}
char did_move = 0;
if (any_change) {
if (p->modal_g0_g1) {
did_move = p->callbacks.coordinated_move(p->callbacks.user_data,
feedrate, new_pos);
} else {
did_move = p->callbacks.rapid_move(p->callbacks.user_data,
feedrate, new_pos);
}
}
if (did_move) {
memcpy(p->axes_pos, new_pos, sizeof(p->axes_pos));
}
return line;
}