bool FUNCREFPCTARGET::execute(void)
{
bool result= false;
static VPVIEWMASTER viewmaster= 0;
VPREFERENCE target= 0;
result= ((viewmaster || getMachine().ReadMem((VPVOID)reltolinear(MASTER2_IMAGE),&viewmaster,sizeof(viewmaster)))
&& getMachine().ReadMem((VPVOID)&viewmaster->target,&target,sizeof(target))
&& setref(target));
return result;
}
bool FUNCFIRSTITEM::execute(void)
{
bool result= false;
static VPCELLMASTER cellmaster= 0;
VPCELLPTR pcellptr;
TES3CELLPTR cellptr;
VPCELL intcell= 0;
VPREFERENCE ref= 0;
// 2005-07-02 CDC
int i;
exteriors[0] = 0;
if((cellmaster || getMachine().ReadMem((VPVOID)reltolinear(MASTERCELL_IMAGE),&cellmaster,sizeof(cellmaster)))
&& getMachine().ReadMem((VPVOID)&cellmaster->interiorcell,&intcell,sizeof(intcell)))
{
if(intcell)
result= getMachine().ReadMem((VPVOID)&intcell->otheritems.first,&ref,sizeof(ref));
else
{
if(getMachine().ReadMem((VPVOID)&cellmaster->exteriorcells[CENTRE],&pcellptr,sizeof(pcellptr))
&& getMachine().ReadMem((VPVOID)pcellptr,&cellptr,sizeof(cellptr)))
{
if(cellptr.size==1)
{
result= getMachine().ReadMem((VPVOID)&cellptr.first->otheritems.first,&ref,sizeof(ref));
for ( i=0; i<8; i++ ) // Read the other 8 exteriors too
{
if(getMachine().ReadMem((VPVOID)&cellmaster->exteriorcells[(i<4?i:i+1)],&pcellptr,sizeof(pcellptr))
&& getMachine().ReadMem((VPVOID)pcellptr,&cellptr,sizeof(cellptr)))
{
if(cellptr.size==1)
getMachine().ReadMem((VPVOID)&cellptr.first->otheritems.first,&exteriors[i],sizeof(VPREFERENCE));
else
{
exteriors[i] = 0;
i = 9;
}
}
}
}
else
result= true;
}
}
}
result= getMachine().push((VMREGTYPE)ref) && result;
return result;
}
void IState::TransitToState( IState* nextState,const ElapsedTime& t )
{
if(IStateMachine* pMachine = getMachine() )
{
pMachine->ChangeState(nextState,t);
}
}
void IState::TransitToState( IState* nextState,CARCportEngine* pEngine )
{
if(IStateMachine* pMachine = getMachine() )
{
pMachine->ChangeState(nextState,pEngine);
}
}
bool FUNCFIRSTSTATIC::execute(void)
{
bool result = false;
static VPCELLMASTER cellmaster= 0;
VPCELLPTR pcellptr;
TES3CELLPTR cellptr;
VPCELL intcell= 0;
VPREFERENCE ref= 0;
exteriors[0] = 0;
if((cellmaster || getMachine().ReadMem((VPVOID)reltolinear(MASTERCELL_IMAGE),&cellmaster,sizeof(cellmaster)))
&& getMachine().ReadMem((VPVOID)&cellmaster->interiorcell,&intcell,sizeof(intcell)))
{
if(intcell)
result = getMachine().ReadMem((VPVOID)&intcell->statics.first,&ref,sizeof(ref));
else
{
if(getMachine().ReadMem((VPVOID)&cellmaster->exteriorcells[CENTRE],&pcellptr,sizeof(pcellptr))
&& getMachine().ReadMem((VPVOID)pcellptr,&cellptr,sizeof(cellptr)))
{
if(cellptr.size==1)
result= getMachine().ReadMem((VPVOID)&cellptr.first->statics.first,&ref,sizeof(ref));
else
result= true;
}
}
}
result= getMachine().push((VMREGTYPE)ref) && result;
return result;
}
bool FUNCREF::execute(void)
{
VMREGTYPE pref= 0;
bool result= (getMachine().pop(pref)
&& setref((VPREFERENCE)pref));
return result;
}
bool FUNCNEXTREF::execute(void)
{
bool result= false;
VMREGTYPE pref;
VPREFERENCE next= 0;
if(getMachine().pop(pref))
{
VPREFERENCE ref= (VPREFERENCE)pref;
int i;
getMachine().ReadMem((VPVOID)&ref->next,&next,sizeof(next));
while ( !next && exteriors[0] )
{
ref = exteriors[0];
for ( i=0; i<8; i++ )
exteriors[i] = exteriors[i+1];
getMachine().ReadMem((VPVOID)&ref->next,&next,sizeof(next));
}
result= getMachine().push((VMREGTYPE)next);
}
return result;
}
//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);
}
void paraNode()
/* paraNode - a net server. */
{
char *line;
char *command;
struct sockaddr_in sai;
/* We have to know who we are... */
hostName = getMachine();
initRandom();
getTicksToHundreths();
/* log init */
if (optionExists("log"))
logOpenFile("paraNode", optionVal("log", NULL));
else
logOpenSyslog("paraNode", optionVal("logFacility", NULL));
logSetMinPriority(optionVal("logMinPriority", "info"));
logInfo("starting paraNode on %s", hostName);
/* Make job lists. */
jobsRunning = newDlList();
jobsFinished = newDlList();
/* Set up socket and self to listen to it. */
ZeroVar(&sai);
sai.sin_family = AF_INET;
sai.sin_port = htons(paraNodePort);
sai.sin_addr.s_addr = INADDR_ANY;
mainRudp = rudpMustOpenBound(&sai);
mainRudp->maxRetries = 12;
/* Event loop. */
findNow();
for (;;)
{
/* Get next incoming message and optionally check to make
* sure that it's from a host we trust, and check signature
* on first bit of incoming data. */
if (pmReceive(&pmIn, mainRudp))
{
findNow();
if (hubName == NULL || ntohl(pmIn.ipAddress.sin_addr.s_addr) == hubIp
|| ntohl(pmIn.ipAddress.sin_addr.s_addr) == localIp)
{
/* Host and signature look ok, read a string and
* parse out first word as command. */
line = pmIn.data;
logDebug("message from %s: \"%s\"",
paraFormatIp(ntohl(pmIn.ipAddress.sin_addr.s_addr)),
line);
command = nextWord(&line);
if (command != NULL)
{
if (sameString("quit", command))
break;
else if (sameString("run", command))
doRun(line, &pmIn.ipAddress);
else if (sameString("jobDone", command))
jobDone(line);
else if (sameString("status", command))
doStatus();
else if (sameString("kill", command))
doKill(line);
else if (sameString("check", command))
doCheck(line, &pmIn.ipAddress);
else if (sameString("resurrect", command))
doResurrect(line, &pmIn.ipAddress);
else if (sameString("listJobs", command))
listJobs();
else if (sameString("fetch", command))
doFetch(line);
else
logWarn("invalid command: \"%s\"", command);
}
logDebug("done command");
}
else
{
logWarn("command from unauthorized host %s",
paraFormatIp(ntohl(pmIn.ipAddress.sin_addr.s_addr)));
}
}
}
rudpClose(&mainRudp);
}
