// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
// for a user to select the desired real-time data.
uint8_t idx;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys.position,sizeof(sys.position));
float print_position[N_AXIS];
// Report current machine state
switch (sys.state) {
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
case STATE_MOTION_CANCEL: // Report run state.
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
case STATE_SAFETY_DOOR: printPgmString(PSTR("<Door")); break;
}
// If reporting a position, convert the current step count (current_position) to millimeters.
if (bit_istrue(settings.status_report_mask,(BITFLAG_RT_STATUS_MACHINE_POSITION | BITFLAG_RT_STATUS_WORK_POSITION))) {
system_convert_array_steps_to_mpos(print_position,current_position);
}
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) {
printPgmString(PSTR(",MPos:"));
for (idx=0; idx< N_AXIS; idx++) {
printFloat_CoordValue(print_position[idx]);
if (idx < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
}
// Report work position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) {
printPgmString(PSTR(",WPos:"));
for (idx=0; idx< N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
printFloat_CoordValue(print_position[idx]);
if (idx < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
}
// Returns the number of active blocks are in the planner buffer.
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) {
printPgmString(PSTR(",Buf:"));
print_uint8_base10(plan_get_block_buffer_count());
}
// Report serial read buffer status
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) {
printPgmString(PSTR(",RX:"));
print_uint8_base10(serial_get_rx_buffer_count());
}
#ifdef USE_LINE_NUMBERS
// Report current line number
printPgmString(PSTR(",Ln:"));
int32_t ln=0;
plan_block_t * pb = plan_get_current_block();
if(pb != NULL) {
ln = pb->line_number;
}
printInteger(ln);
#endif
#ifdef REPORT_REALTIME_RATE
// Report realtime rate
printPgmString(PSTR(",F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
printPgmString(PSTR(",Lim:"));
print_unsigned_int8(limits_get_state(),2,N_AXIS);
}
#ifdef REPORT_CONTROL_PIN_STATE
printPgmString(PSTR(",Ctl:"));
print_uint8_base2(CONTROL_PIN & CONTROL_MASK);
#endif
printPgmString(PSTR(">\r\n"));
}
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
// for a user to select the desired real-time data.
uint8_t i;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys.position,sizeof(sys.position));
float print_position[N_AXIS];
// Report current machine state
switch (sys.state) {
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
}
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) {
printPgmString(PSTR(",MPos:"));
// print_position[X_AXIS] = 0.5*current_position[X_AXIS]/settings.steps_per_mm[X_AXIS];
// print_position[Z_AXIS] = 0.5*current_position[Y_AXIS]/settings.steps_per_mm[Y_AXIS];
// print_position[Y_AXIS] = print_position[X_AXIS]-print_position[Z_AXIS]);
// print_position[X_AXIS] -= print_position[Z_AXIS];
// print_position[Z_AXIS] = current_position[Z_AXIS]/settings.steps_per_mm[Z_AXIS];
for (i=0; i< N_AXIS; i++) {
print_position[i] = current_position[i]/settings.steps_per_mm[i];
printFloat_CoordValue(print_position[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
}
// Report work position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) {
printPgmString(PSTR(",WPos:"));
for (i=0; i< N_AXIS; i++) {
print_position[i] -= gc_state.coord_system[i]+gc_state.coord_offset[i];
if (i == TOOL_LENGTH_OFFSET_AXIS) { print_position[i] -= gc_state.tool_length_offset; }
printFloat_CoordValue(print_position[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
}
// Returns the number of active blocks are in the planner buffer.
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) {
printPgmString(PSTR(",Buf:"));
print_uint8_base10(plan_get_block_buffer_count());
}
// Report serial read buffer status
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) {
printPgmString(PSTR(",RX:"));
print_uint8_base10(serial_get_rx_buffer_count());
}
#ifdef USE_LINE_NUMBERS
// Report current line number
printPgmString(PSTR(",Ln:"));
int32_t ln=0;
plan_block_t * pb = plan_get_current_block();
if(pb != NULL) {
ln = pb->line_number;
}
printInteger(ln);
#endif
#ifdef REPORT_REALTIME_RATE
// Report realtime rate
printPgmString(PSTR(",F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
printPgmString(PSTR(">\r\n"));
}