bool do_move(state_t *s)
{
return queue_move(move_me(s, 1, 0))
|| queue_move(move_me(s, -1, 0))
|| queue_move(move_me(s, 0, 1))
|| queue_move(move_me(s, 0, -1));
}
int main()
{
state_t *s = parse_board(
#define BIG 0
#if BIG == 0
8, 7,
"#######"
"# #"
"# #"
"#. # #"
"#. $$ #"
"#.$$ #"
"#.# @#"
"#######"
#elif BIG == 1
5, 13,
"#############"
"# # #"
"# $$$$$$$ @#"
"#....... #"
"#############"
#elif BIG == 2
5, 13,
"#############"
"#... # #"
"#.$$$$$$$ @#"
"#... #"
"#############"
#else
11, 19,
" ##### "
" # # "
" # # "
" ### #$## "
" # # "
"### #$## # ######"
"# # ## ##### .#"
"# $ $ ..#"
"##### ### #@## .#"
" # #########"
" ####### "
#endif
);
show_board(s);
extend_table();
queue_move(s);
for (int i = 0; !done; i++) {
printf("depth %d\r", i);
fflush(stdout);
state_t *head = next_level;
for (next_level = NULL; head && !done; head = head->qnext)
do_move(head);
if (!next_level) {
puts("no solution?");
return 1;
}
}
printf("press any key to see moves\n");
getchar(), puts("\033[H\033[J");
show_moves(done);
#if 0
free(buckets);
free(board);
free(goals);
free(live);
while (block_root) {
void *tmp = block_root->next;
free(block_root);
block_root = tmp;
}
#endif
return 0;
}
void queue_move_all(thread_queue *dst, thread_queue *src)
{
thread *th;
while(th = queue_next(src))
queue_move(dst, src, th);
}
/**
\brief Execute the command stored in com.
*/
void process_command(GCode *com)
{
unsigned long codenum; //throw away variable
#ifdef INCLUDE_DEBUG_COMMUNICATION
if(DEBUG_COMMUNICATION) {
if(GCODE_HAS_G(com) || (GCODE_HAS_M(com) && com->M!=111)) {
gcode_command_finished(); // free command cache
previous_millis_cmd = millis();
return;
}
}
#endif
if(GCODE_HAS_G(com))
{
switch(com->G)
{
case 0: // G0 -> G1
case 1: // G1
if(get_coordinates(com)) // For X Y Z E F
queue_move(ALWAYS_CHECK_ENDSTOPS);
break;
case 4: // G4 dwell
codenum = 0;
if(GCODE_HAS_P(com)) codenum = com->P; // milliseconds to wait
if(GCODE_HAS_S(com)) codenum = (long)com->S * 1000; // seconds to wait
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ) {
gcode_read_serial();
manage_temperatures(false);
}
break;
case 20: // Units to inches
unit_inches = 1;
break;
case 21: // Units to mm
unit_inches = 0;
break;
case 28: {//G28 Home all Axis one at a time
wait_until_end_of_move();
float saved_feedrate = printer_state.feedrate;
for(byte i=0; i < 4; i++) {
printer_state.destinationSteps[i] = printer_state.currentPositionSteps[i];
}
byte home_all_axis = !(GCODE_HAS_X(com) || GCODE_HAS_Y(com) || GCODE_HAS_Z(com));
if(home_all_axis || GCODE_HAS_X(com)) {
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
printer_state.destinationSteps[0] = 1.5 * printer_state.xMaxSteps * X_HOME_DIR;
printer_state.currentPositionSteps[0] = -printer_state.destinationSteps[0];
printer_state.feedrate = homing_feedrate[0];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[0] = 0;
printer_state.destinationSteps[0] = axis_steps_per_unit[0]*-5 * X_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[0] = axis_steps_per_unit[0]*10 * X_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[0] = (X_HOME_DIR == -1) ? 0 : printer_state.xMaxSteps;
printer_state.destinationSteps[0] = printer_state.currentPositionSteps[0];
}
}
if(home_all_axis || GCODE_HAS_Y(com)) {
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
printer_state.currentPositionSteps[1] = 0;
printer_state.destinationSteps[1] = 1.5 * printer_state.yMaxSteps * Y_HOME_DIR;
printer_state.currentPositionSteps[1] = -printer_state.destinationSteps[1];
printer_state.feedrate = homing_feedrate[1];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[1] = 0;
printer_state.destinationSteps[1] = axis_steps_per_unit[1]*-5 * Y_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[1] = axis_steps_per_unit[1]*10 * Y_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[1] = (Y_HOME_DIR == -1) ? 0 : printer_state.yMaxSteps;
printer_state.destinationSteps[1] = printer_state.currentPositionSteps[1];
}
}
if(home_all_axis || GCODE_HAS_Z(com)) {
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
printer_state.currentPositionSteps[2] = 0;
printer_state.destinationSteps[2] = 1.5 * printer_state.zMaxSteps * Z_HOME_DIR;
printer_state.currentPositionSteps[2] = -printer_state.destinationSteps[2];
printer_state.feedrate = homing_feedrate[2];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[2] = 0;
printer_state.destinationSteps[2] = axis_steps_per_unit[2]*-2 * Z_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[2] = axis_steps_per_unit[2]*10 * Z_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[2] = (Z_HOME_DIR == -1) ? 0 : printer_state.zMaxSteps;
printer_state.destinationSteps[2] = printer_state.currentPositionSteps[2];
}
}
printer_state.feedrate = saved_feedrate;
}
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(GCODE_HAS_X(com)) printer_state.currentPositionSteps[0] = com->X*axis_steps_per_unit[0]*(unit_inches?25.4:1.0)-printer_state.offsetX;
if(GCODE_HAS_Y(com)) printer_state.currentPositionSteps[1] = com->Y*axis_steps_per_unit[1]*(unit_inches?25.4:1.0)-printer_state.offsetY;
if(GCODE_HAS_Z(com)) printer_state.currentPositionSteps[2] = com->Z*axis_steps_per_unit[2]*(unit_inches?25.4:1.0);
if(GCODE_HAS_E(com)) {
printer_state.currentPositionSteps[3] = com->E*axis_steps_per_unit[3]*(unit_inches?25.4:1.0);
}
break;
}
previous_millis_cmd = millis();
}
else if(GCODE_HAS_M(com)) { // Process M Code
switch( com->M ) {
#ifdef SDSUPPORT
case 20: // M20 - list SD card
out.println_P(PSTR("Begin file list"));
root.ls();
out.println_P(PSTR("End file list"));
break;
case 21: // M21 - init SD card
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive) {
sdmode = false;
file.close();
if (file.open(&root, com->text, O_READ)) {
out.print_P(PSTR("File opened:"));
out.print(com->text);
out.print_P(PSTR(" Size:"));
out.println(file.fileSize());
sdpos = 0;
filesize = file.fileSize();
out.println_P(PSTR("File selected"));
}
else {
out.println_P(PSTR("file.open failed"));
}
}
break;
case 24: //M24 - Start SD print
if(sdactive) {
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode) {
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && GCODE_HAS_S(com)) {
sdpos = com->S;
file.seekSet(sdpos);
}
break;
case 27: //M27 - Get SD status
if(sdactive) {
out.print_P(PSTR("SD printing byte "));
out.print(sdpos);
out.print("/");
out.println(filesize);
} else {
out.println_P(PSTR("Not SD printing"));
}
break;
case 28: //M28 - Start SD write
if(sdactive) {
char* npos = 0;
file.close();
sdmode = false;
if (!file.open(&root,com->text, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
out.print_P(PSTR("open failed, File: "));
out.print(com->text);
out.print_P(PSTR("."));
} else {
savetosd = true;
out.print_P(PSTR("Writing to file: "));
out.println(com->text);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
case 30: // M30 filename - Delete file
if(sdactive) {
sdmode = false;
file.close();
if(SdFile::remove(&root, com->text)) {
out.println_P(PSTR("File deleted"));
} else {
out.println_P(PSTR("Deletion failed"));
}
}
break;
#endif
case 104: // M104
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
if (GCODE_HAS_S(com)) extruder_set_temperature(com->S);
break;
case 140: // M140 set bed temp
if(DEBUG_DRYRUN) break;
if (GCODE_HAS_S(com)) heated_bed_set_temperature(com->S);
break;
case 105: // M105 get temperature. Always returns the current temperature, doesn't wait until move stopped
print_temperatures();
break;
case 109: // M109 - Wait for extruder heater to reach target.
{
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
if (GCODE_HAS_S(com)) extruder_set_temperature(com->S);
if(current_extruder->currentTemperatureC >= current_extruder->targetTemperature) break;
codenum = millis();
long waituntil = 0;
while(waituntil==0 || (waituntil!=0 && waituntil>millis())) {
if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up.
print_temperatures();
codenum = millis();
}
manage_temperatures(false);
gcode_read_serial();
if(waituntil==0 && current_extruder->currentTemperatureC >= current_extruder->targetTemperatureC)
waituntil = millis()+1000*(long)current_extruder->watchPeriod; // now wait for temp. to stabalize
}
}
break;
case 190: // M190 - Wait bed for heater to reach target.
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
#if HEATED_BED_SENSOR_TYPE!=0
if (GCODE_HAS_S(com)) heated_bed_set_temperature(com->S);
codenum = millis();
while(current_bed_raw < target_bed_raw) {
if( (millis()-codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up.
print_temperatures();
codenum = millis();
}
manage_temperatures(false);
}
#endif
break;
case 106: //M106 Fan On
wait_until_end_of_move();
if (GCODE_HAS_S(com)) {
digitalWrite(FAN_PIN, HIGH);
analogWrite(FAN_PIN, constrain(com->S,0,255) );
}
else
digitalWrite(FAN_PIN, HIGH);
break;
case 107: //M107 Fan Off
wait_until_end_of_move();
analogWrite(FAN_PIN, 0);
digitalWrite(FAN_PIN, LOW);
break;
case 80: // M81 - ATX Power On
wait_until_end_of_move();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
break;
case 81: // M81 - ATX Power Off
wait_until_end_of_move();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
break;
case 82:
relative_mode_e = false;
break;
case 83:
relative_mode_e = true;
break;
case 84:
if(GCODE_HAS_S(com)) {
stepper_inactive_time = com->S * 1000;
}
else {
wait_until_end_of_move();
kill(true);
}
break;
case 85: // M85
if(GCODE_HAS_S(com))
max_inactive_time = (long)com->S * 1000;
else
max_inactive_time = 0;
break;
case 92: // M92
if(GCODE_HAS_X(com)) axis_steps_per_unit[0] = com->X;
if(GCODE_HAS_Y(com)) axis_steps_per_unit[1] = com->Y;
if(GCODE_HAS_Z(com)) axis_steps_per_unit[2] = com->Z;
if(GCODE_HAS_E(com)) current_extruder->stepsPerMM = com->E;
update_ramps_parameter();
break;
case 111:
if(GCODE_HAS_S(com)) debug_level = com->S;
if(DEBUG_DRYRUN) { // simulate movements without printing
extruder_set_temperature(0);
#if HEATED_BED_TYPE!=0
target_bed_raw = 0;
#endif
}
break;
case 115: // M115
out.println_P(PSTR("FIRMWARE_NAME:Repetier FIRMWARE_URL:https://github.com/repetier/Repetier-Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 REPETIER_PROTOCOL:1"));
break;
case 114: // M114
out.print_float_P(PSTR("X:"),printer_state.currentPositionSteps[0]*inv_axis_steps_per_unit[0]*(unit_inches?0.03937:1));
out.print_float_P(PSTR(" Y:"),printer_state.currentPositionSteps[1]*inv_axis_steps_per_unit[1]*(unit_inches?0.03937:1));
out.print_float_P(PSTR(" Z:"),printer_state.currentPositionSteps[2]*inv_axis_steps_per_unit[2]*(unit_inches?0.03937:1));
out.println_float_P(PSTR(" E:"),printer_state.currentPositionSteps[3]*inv_axis_steps_per_unit[3]*(unit_inches?0.03937:1));
break;
case 119: // M119
wait_until_end_of_move();
#if (X_MIN_PIN > -1)
out.print_P(PSTR("x_min:"));
out.print_P((digitalRead(X_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (X_MAX_PIN > -1)
out.print_P(PSTR("x_max:"));
out.print_P((digitalRead(X_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Y_MIN_PIN > -1)
out.print_P(PSTR("y_min:"));
out.print_P((digitalRead(Y_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Y_MAX_PIN > -1)
out.print_P(PSTR("y_max:"));
out.print_P((digitalRead(Y_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Z_MIN_PIN > -1)
out.print_P(PSTR("z_min:"));
out.print_P((digitalRead(Z_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Z_MAX_PIN > -1)
out.print_P(PSTR("z_max:"));
out.print_P((digitalRead(Z_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
out.println();
break;
#ifdef RAMP_ACCELERATION
case 201: // M201
if(GCODE_HAS_X(com)) axis_steps_per_sqr_second[0] = com->X * axis_steps_per_unit[0];
if(GCODE_HAS_Y(com)) axis_steps_per_sqr_second[1] = com->Y * axis_steps_per_unit[1];
if(GCODE_HAS_Z(com)) axis_steps_per_sqr_second[2] = com->Z * axis_steps_per_unit[2];
if(GCODE_HAS_E(com)) axis_steps_per_sqr_second[3] = com->E * axis_steps_per_unit[3];
break;
case 202: // M202
if(GCODE_HAS_X(com)) axis_travel_steps_per_sqr_second[0] = com->X * axis_steps_per_unit[0];
if(GCODE_HAS_Y(com)) axis_travel_steps_per_sqr_second[1] = com->Y * axis_steps_per_unit[1];
if(GCODE_HAS_Z(com)) axis_travel_steps_per_sqr_second[2] = com->Z * axis_steps_per_unit[2];
if(GCODE_HAS_E(com)) axis_travel_steps_per_sqr_second[3] = com->E * axis_steps_per_unit[3];
break;
#endif
case 203: // M203 Temperature monitor
if(GCODE_HAS_S(com)) manage_monitor = com->S;
if(manage_monitor==100) manage_monitor=NUM_EXTRUDER; // Set 100 to heated bed
break;
case 205: // M205 Show EEPROM settings
epr_output_settings();
break;
case 206: // M206 T[type] P[pos] [Sint(long] [Xfloat] Set eeprom value
#if EEPROM_MODE!=0
epr_update(com);
#else
out.println_P(PSTR("Error: No EEPROM support compiled."));
#endif
break;
case 222: //M222 F_CPU / S
if(GCODE_HAS_S(com))
out.println_long_P(PSTR("F_CPU/x="),CPUDivU2(com->S));
break;
case 223:
if(GCODE_HAS_S(com)) {
extruder_enable();
printer_state.extruderStepsNeeded+=(int)com->S;
out.println_int_P(PSTR("Added to:"),printer_state.extruderStepsNeeded);
}
break;
#ifdef USE_ADVANCE
case 232:
out.print_int_P(PSTR("Max advance="),maxadv);
if(maxadv>0)
out.println_float_P(PSTR(", speed="),maxadvspeed);
else
out.println();
maxadv=0;
maxadvspeed=0;
break;
#endif
#if USE_OPS==1
case 231: // M231 S<OPS_MODE> X<Min_Distance> Y<Retract> Z<Backslash> F<ReatrctMove>
if(GCODE_HAS_S(com) && com->S>=0 && com->S<3)
printer_state.opsMode = com->S;
if(GCODE_HAS_X(com) && com->X>=0)
printer_state.opsMinDistance = com->X;
if(GCODE_HAS_Y(com) && com->Y>=0)
printer_state.opsRetractDistance = com->Y;
if(GCODE_HAS_Z(com) && com->Z>=-printer_state.opsRetractDistance)
printer_state.opsRetractBackslash = com->Z;
if(GCODE_HAS_F(com) && com->F>=0 && com->F<=100)
printer_state.opsMoveAfter = com->F;
extruder_select(current_extruder->id);
if(printer_state.opsMode==0) {
out.println_P(PSTR("OPS disabled"));
} else {
if(printer_state.opsMode==1)
out.print_P(PSTR("OPS classic mode:"));
else
out.print_P(PSTR("OPS fast mode:"));
out.print_float_P(PSTR("min distance = "),printer_state.opsMinDistance);
out.print_float_P(PSTR(", retract = "),printer_state.opsRetractDistance);
out.print_float_P(PSTR(", backslash = "),printer_state.opsRetractDistance);
if(printer_state.opsMode==2)
out.print_float_P(PSTR(", move after = "),printer_state.opsMoveAfter);
out.println();
}
#ifdef DEBUG_OPS
out.println_int_P(PSTR("Timer diff"),printer_state.timer0Interval);
out.println_int_P(PSTR("Ret. steps:"),printer_state.opsRetractSteps);
out.println_int_P(PSTR("PushBack Steps:"),printer_state.opsPushbackSteps);
out.println_int_P(PSTR("Move after steps:"),printer_state.opsMoveAfterSteps);
#endif
break;
#endif
}
} else if(GCODE_HAS_T(com)) { // Process T code
wait_until_end_of_move();
extruder_select(com->T);
} else {
if(DEBUG_ERRORS) {
out.print_P(PSTR("Unknown command:"));
gcode_print_command(com);
out.println();
}
}
#ifdef ECHO_ON_EXECUTE
if(DEBUG_ECHO) {
out.print_P(PSTR("Echo:"));
gcode_print_command(com);
out.println();
}
#endif
gcode_command_finished(); // free command cache
}
void scheduler_wake(thread_queue *q)
{
queue_move(&main_queue, q, q->first);
}