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/****************************************************************************************************
RepRapFirmware - G Codes
This class interprets G Codes from one or more sources, and calls the functions in Move, Heat etc
that drive the machine to do what the G Codes command.
-----------------------------------------------------------------------------------------------------
Version 0.1
13 February 2013
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#ifndef GCODES_H
#define GCODES_H
#define STACK 5
#define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode
// Small class to hold an individual GCode
class GCodeBuffer
{
public:
GCodeBuffer(Platform* p, char* id);
void Init();
bool Put(char c);
bool Seen(char c);
float GetFValue();
int GetIValue();
long GetLValue();
char* GetString();
char* Buffer();
bool Finished();
void SetFinished(bool f);
private:
Platform* platform;
char gcodeBuffer[GCODE_LENGTH];
char* identity;
int gcodePointer;
int readPointer;
bool inComment;
bool finished;
};
//****************************************************************************************************
// The GCode interpreter
class GCodes
{
public:
GCodes(Platform* p, Webserver* w);
void Spin();
void Init();
void Exit();
void RunConfigurationGCodes();
bool ReadMove(float* m, bool& ce);
bool ReadHeat(float* h);
void QueueFileToPrint(char* fileName);
bool GetProbeCoordinates(int count, float& x, float& y, float& z);
bool PrintingAFile();
void Diagnostics();
private:
bool AllMovesAreFinishedAndMoveBufferIsLoaded();
bool ActOnGcode(GCodeBuffer* gb);
bool SetUpMove(GCodeBuffer* gb);
bool DoDwell(GCodeBuffer *gb);
bool DoHome();
bool DoSingleZProbe();
bool DoMultipleZProbe();
bool SetOffsets(GCodeBuffer *gb);
bool SetPositions(GCodeBuffer *gb);
void LoadMoveBufferFromGCode(GCodeBuffer *gb);
bool NoHome();
bool Push();
bool Pop();
int8_t Heater(int8_t head);
Platform* platform;
bool active;
Webserver* webserver;
float dwellTime;
bool dwellWaiting;
GCodeBuffer* webGCode;
GCodeBuffer* fileGCode;
GCodeBuffer* serialGCode;
// bool webGCodeFinished;
// bool fileGCodeFinished;
bool moveAvailable;
bool heatAvailable;
float moveBuffer[DRIVES+1]; // Last is feedrate
bool checkEndStops;
bool drivesRelative; // All except X, Y and Z
bool axesRelative; // X, Y and Z
bool drivesRelativeStack[STACK];
bool axesRelativeStack[STACK];
float feedrateStack[STACK];
int8_t stackPointer;
char gCodeLetters[DRIVES + 1]; // Extra is for F
float lastPos[DRIVES - AXES]; // Just needed for relative moves.
float distanceScale;
FileStore* fileBeingPrinted;
FileStore* fileToPrint;
int8_t selectedHead;
bool homeX;
bool homeY;
bool homeZ;
bool homeXQueued;
bool homeYQueued;
bool homeZQueued;
float gFeedRate;
int probeCount;
int8_t probeMoveCount;
bool probeMoveQueued;
float bedZs[NUMBER_OF_PROBE_POINTS];
bool zProbesSet;
};
//*****************************************************************************************************
// Get an Int after a G Code letter
inline int GCodeBuffer::GetIValue()
{
return (int)GetLValue();
}
inline char* GCodeBuffer::Buffer()
{
return gcodeBuffer;
}
inline bool GCodeBuffer::Finished()
{
return finished;
}
inline void GCodeBuffer::SetFinished(bool f)
{
finished = f;
}
inline bool GCodes::PrintingAFile()
{
return fileBeingPrinted != NULL;
}
inline bool GCodes::NoHome()
{
return !(homeX || homeY || homeZ);
}
// This function takes care of the fact that the heater and head indices
// don't match because the bed is heater 0.
inline int8_t GCodes::Heater(int8_t head)
{
return head+1;
}
#endif
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