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/*
* GCodes3.cpp
*
* Created on: 5 Dec 2017
* Author: David
* This file contains functions that are called form file GCodes2.cpp to execute various G and M codes.
*/
#include "GCodes.h"
#include "GCodeBuffer.h"
#include "Heating/Heat.h"
#include "Movement/Move.h"
#include "RepRap.h"
#include "Tools/Tool.h"
#if HAS_WIFI_NETWORKING
#include "FirmwareUpdater.h"
#endif
// Set or print the Z probe. Called by G31.
// Note that G31 P or G31 P0 prints the parameters of the currently-selected Z probe.
GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, StringRef& reply)
{
int32_t zProbeType = 0;
bool seenT = false;
gb.TryGetIValue('T',zProbeType, seenT);
if (zProbeType == 0)
{
zProbeType = platform.GetZProbeType();
}
ZProbeParameters params = platform.GetZProbeParameters(zProbeType);
bool seen = false;
gb.TryGetFValue(axisLetters[X_AXIS], params.xOffset, seen);
gb.TryGetFValue(axisLetters[Y_AXIS], params.yOffset, seen);
gb.TryGetFValue(axisLetters[Z_AXIS], params.height, seen);
gb.TryGetIValue('P', params.adcValue, seen);
if (gb.Seen('C'))
{
params.temperatureCoefficient = gb.GetFValue();
seen = true;
if (gb.Seen('S'))
{
params.calibTemperature = gb.GetFValue();
}
else
{
// Use the current bed temperature as the calibration temperature if no value was provided
params.calibTemperature = platform.GetZProbeTemperature();
}
}
if (seen)
{
if (!LockMovementAndWaitForStandstill(gb))
{
return GCodeResult::notFinished;
}
platform.SetZProbeParameters(zProbeType, params);
}
else if (seenT)
{
// Don't bother printing temperature coefficient and calibration temperature because we will probably remove them soon
reply.printf("Threshold %" PRIi32 ", trigger height %.2f, offsets X%.1f Y%.1f", params.adcValue, (double)params.height, (double)params.xOffset, (double)params.yOffset);
}
else
{
const int v0 = platform.GetZProbeReading();
int v1, v2;
switch (platform.GetZProbeSecondaryValues(v1, v2))
{
case 1:
reply.printf("%d (%d)", v0, v1);
break;
case 2:
reply.printf("%d (%d, %d)", v0, v1, v2);
break;
default:
reply.printf("%d", v0);
break;
}
}
return GCodeResult::ok;
}
// This handles G92. Return true if completed, false if it needs to be called again.
GCodeResult GCodes::SetPositions(GCodeBuffer& gb)
{
// Don't wait for the machine to stop if only extruder drives are being reset.
// This avoids blobs and seams when the gcode uses absolute E coordinates and periodically includes G92 E0.
AxesBitmap axesIncluded = 0;
for (size_t axis = 0; axis < numVisibleAxes; ++axis)
{
if (gb.Seen(axisLetters[axis]))
{
const float axisValue = gb.GetFValue();
if (axesIncluded == 0)
{
if (!LockMovementAndWaitForStandstill(gb)) // lock movement and get current coordinates
{
return GCodeResult::notFinished;
}
}
SetBit(axesIncluded, axis);
currentUserPosition[axis] = axisValue * distanceScale;
}
}
// Handle any E parameter in the G92 command
if (gb.Seen(extrudeLetter))
{
virtualExtruderPosition = gb.GetFValue() * distanceScale;
}
if (axesIncluded != 0)
{
ToolOffsetTransform(currentUserPosition, moveBuffer.coords);
if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, LowestNBits<AxesBitmap>(numVisibleAxes), false)) // pretend that all axes are homed
{
ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position
}
reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
axesHomed |= reprap.GetMove().GetKinematics().AxesAssumedHomed(axesIncluded);
#if SUPPORT_ROLAND
if (reprap.GetRoland()->Active())
{
for(size_t axis = 0; axis < AXES; axis++)
{
if (!reprap.GetRoland()->ProcessG92(moveBuffer[axis], axis))
{
return GCodeResult::notFinished;
}
}
}
#endif
}
return GCodeResult::ok;
}
// Offset the axes by the X, Y, and Z amounts in the M code in gb. The actual movement occurs on the next move command.
// It's not clear from the description in the reprap.org wiki whether offsets are cumulative or not. We assume they are.
GCodeResult GCodes::OffsetAxes(GCodeBuffer& gb)
{
for (size_t drive = 0; drive < numVisibleAxes; drive++)
{
if (gb.Seen(axisLetters[drive]))
{
axisOffsets[drive] += gb.GetFValue() * distanceScale;
}
}
return GCodeResult::ok;
}
// Define the probing grid, called when we see an M557 command
GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, StringRef &reply)
{
if (gb.Seen('P'))
{
reply.copy("Error: M557 P parameter is no longer supported. Use a bed.g file instead.\n");
return GCodeResult::error;
}
if (!LockMovement(gb)) // to ensure that probing is not already in progress
{
return GCodeResult::notFinished;
}
bool seenX = false, seenY = false, seenR = false, seenS = false;
float xValues[2];
float yValues[2];
float spacings[2] = { DefaultGridSpacing, DefaultGridSpacing };
if (gb.TryGetFloatArray('X', 2, xValues, reply, seenX, false))
{
return GCodeResult::error;
}
if (gb.TryGetFloatArray('Y', 2, yValues, reply, seenY, false))
{
return GCodeResult::error;
}
if (gb.TryGetFloatArray('S', 2, spacings, reply, seenS, true))
{
return GCodeResult::error;
}
float radius = -1.0;
gb.TryGetFValue('R', radius, seenR);
if (!seenX && !seenY && !seenR && !seenS)
{
// Just print the existing grid parameters
if (defaultGrid.IsValid())
{
reply.copy("Grid: ");
defaultGrid.PrintParameters(reply);
}
else
{
reply.copy("Grid is not defined");
}
return GCodeResult::ok;
}
if (seenX != seenY)
{
reply.copy("specify both or neither of X and Y in M577");
return GCodeResult::error;
}
if (!seenX && !seenR)
{
// Must have given just the S parameter
reply.copy("specify at least radius or X,Y ranges in M577");
return GCodeResult::error;
}
if (!seenX)
{
if (radius > 0)
{
const float effectiveXRadius = floorf((radius - 0.1)/spacings[0]) * spacings[0];
xValues[0] = -effectiveXRadius;
xValues[1] = effectiveXRadius + 0.1;
const float effectiveYRadius = floorf((radius - 0.1)/spacings[1]) * spacings[1];
yValues[0] = -effectiveYRadius;
yValues[1] = effectiveYRadius + 0.1;
}
else
{
reply.copy("M577 radius must be positive unless X and Y are specified");
return GCodeResult::error;
}
}
if (defaultGrid.Set(xValues, yValues, radius, spacings))
{
return GCodeResult::ok;
}
const float xRange = (seenX) ? xValues[1] - xValues[0] : 2 * radius;
const float yRange = (seenX) ? yValues[1] - yValues[0] : 2 * radius;
reply.copy("bad grid definition: ");
defaultGrid.PrintError(xRange, yRange, reply);
return GCodeResult::error;
}
// Handle M558
GCodeResult GCodes::SetOrReportZProbe(GCodeBuffer& gb, StringRef &reply)
{
bool seenType = false, seenParam = false;
// We must get and set the Z probe type first before setting the dive height etc., because different probe types may have different parameters
if (gb.Seen('P')) // probe type
{
platform.SetZProbeType(gb.GetIValue());
seenType = true;
}
ZProbeParameters params = platform.GetCurrentZProbeParameters();
gb.TryGetFValue('H', params.diveHeight, seenParam); // dive height
if (gb.Seen('F')) // feed rate i.e. probing speed
{
params.probeSpeed = gb.GetFValue() * SecondsToMinutes;
seenParam = true;
}
if (gb.Seen('T')) // travel speed to probe point
{
params.travelSpeed = gb.GetFValue() * SecondsToMinutes;
seenParam = true;
}
if (gb.Seen('I'))
{
params.invertReading = (gb.GetIValue() != 0);
seenParam = true;
}
gb.TryGetFValue('R', params.recoveryTime, seenParam); // Z probe recovery time
gb.TryGetFValue('S', params.extraParam, seenParam); // extra parameter for experimentation
if (seenParam)
{
platform.SetZProbeParameters(platform.GetZProbeType(), params);
}
if (!(seenType || seenParam))
{
reply.printf("Z Probe type %d, invert %s, dive height %.1fmm, probe speed %dmm/min, travel speed %dmm/min, recovery time %.2f sec",
platform.GetZProbeType(), (params.invertReading) ? "yes" : "no", (double)params.diveHeight,
(int)(params.probeSpeed * MinutesToSeconds), (int)(params.travelSpeed * MinutesToSeconds), (double)params.recoveryTime);
}
return GCodeResult::ok;
}
// Handle M581 and M582
GCodeResult GCodes::CheckOrConfigureTrigger(GCodeBuffer& gb, StringRef& reply, int code)
{
if (gb.Seen('T'))
{
unsigned int triggerNumber = gb.GetIValue();
if (triggerNumber < MaxTriggers)
{
if (code == 582)
{
uint32_t states = platform.GetAllEndstopStates();
if ((triggers[triggerNumber].rising & states) != 0 || (triggers[triggerNumber].falling & ~states) != 0)
{
SetBit(triggersPending, triggerNumber);
}
}
else
{
bool seen = false;
if (gb.Seen('C'))
{
seen = true;
triggers[triggerNumber].condition = gb.GetIValue();
}
else if (triggers[triggerNumber].IsUnused())
{
triggers[triggerNumber].condition = 0; // this is a new trigger, so set no condition
}
if (gb.Seen('S'))
{
seen = true;
int sval = gb.GetIValue();
TriggerInputsBitmap triggerMask = 0;
for (size_t axis = 0; axis < numTotalAxes; ++axis)
{
if (gb.Seen(axisLetters[axis]))
{
SetBit(triggerMask, axis);
}
}
if (gb.Seen(extrudeLetter))
{
uint32_t eStops[MaxExtruders];
size_t numEntries = MaxExtruders;
gb.GetUnsignedArray(eStops, numEntries);
for (size_t i = 0; i < numEntries; ++i)
{
if (eStops[i] < MaxExtruders)
{
SetBit(triggerMask, eStops[i] + E0_AXIS);
}
}
}
switch(sval)
{
case -1:
if (triggerMask == 0)
{
triggers[triggerNumber].rising = triggers[triggerNumber].falling = 0;
}
else
{
triggers[triggerNumber].rising &= (~triggerMask);
triggers[triggerNumber].falling &= (~triggerMask);
}
break;
case 0:
triggers[triggerNumber].falling |= triggerMask;
break;
case 1:
triggers[triggerNumber].rising |= triggerMask;
break;
default:
platform.Message(ErrorMessage, "Bad S parameter in M581 command\n");
}
}
if (!seen)
{
reply.printf("Trigger %u fires on a rising edge on ", triggerNumber);
ListTriggers(reply, triggers[triggerNumber].rising);
reply.cat(" or a falling edge on ");
ListTriggers(reply, triggers[triggerNumber].falling);
reply.cat(" endstop inputs");
if (triggers[triggerNumber].condition == 1)
{
reply.cat(" when printing from SD card");
}
}
}
return GCodeResult::ok;
}
else
{
reply.copy("Trigger number out of range");
return GCodeResult::error;
}
}
reply.copy("Missing T parameter");
return GCodeResult::error;
}
// Deal with a M584
GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, StringRef& reply)
{
if (!LockMovementAndWaitForStandstill(gb)) // we also rely on this to retrieve the current motor positions to moveBuffer
{
return GCodeResult::notFinished;
}
bool seen = false, badDrive = false;
const char *lettersToTry = "XYZUVWABC";
char c;
while ((c = *lettersToTry) != 0)
{
if (gb.Seen(c))
{
// Found an axis letter. Get the drivers to assign to this axis.
seen = true;
size_t numValues = MaxDriversPerAxis;
uint32_t drivers[MaxDriversPerAxis];
gb.GetUnsignedArray(drivers, numValues);
// Check all the driver numbers are in range
AxisDriversConfig config;
config.numDrivers = numValues;
for (size_t i = 0; i < numValues; ++i)
{
if (drivers[i] >= DRIVES)
{
badDrive = true;
}
else
{
config.driverNumbers[i] = (uint8_t)drivers[i];
}
}
if (badDrive)
{
break;
}
// Find the drive number allocated to this axis, or allocate a new one if necessary
size_t drive = 0;
while (drive < numTotalAxes && axisLetters[drive] != c)
{
++drive;
}
if (drive < MaxAxes)
{
if (drive == numTotalAxes)
{
axisLetters[drive] = c; // assign the drive to this drive letter
moveBuffer.coords[drive] = 0.0; // user has defined a new axis, so set its position
currentUserPosition[drive] = 0.0; // set its requested user position too in case it is visible
++numTotalAxes;
numVisibleAxes = numTotalAxes; // assume any new axes are visible unless there is a P parameter
}
reprap.GetMove().SetNewPosition(moveBuffer.coords, true); // tell the Move system where any new axes are
platform.SetAxisDriversConfig(drive, config);
if (numTotalAxes + numExtruders > DRIVES)
{
numExtruders = DRIVES - numTotalAxes; // if we added axes, we may have fewer extruders now
}
}
}
++lettersToTry;
}
if (gb.Seen(extrudeLetter))
{
seen = true;
size_t numValues = DRIVES - numTotalAxes;
uint32_t drivers[MaxExtruders];
gb.GetUnsignedArray(drivers, numValues);
numExtruders = numValues;
for (size_t i = 0; i < numValues; ++i)
{
if (drivers[i] >= DRIVES)
{
badDrive = true;
}
else
{
platform.SetExtruderDriver(i, (uint8_t)drivers[i]);
}
}
}
if (badDrive)
{
reply.copy("Invalid driver number");
return GCodeResult::error;
}
else
{
if (gb.Seen('P'))
{
seen = true;
const int nva = gb.GetIValue();
if (nva >= (int)MinAxes && (unsigned int)nva <= numTotalAxes)
{
numVisibleAxes = (size_t)nva;
}
else
{
reply.copy("Invalid number of visible axes");
return GCodeResult::error;
}
}
if (!seen)
{
reply.copy("Driver assignments:");
for (size_t drive = 0; drive < numTotalAxes; ++ drive)
{
reply.cat(' ');
const AxisDriversConfig& axisConfig = platform.GetAxisDriversConfig(drive);
char c = axisLetters[drive];
for (size_t i = 0; i < axisConfig.numDrivers; ++i)
{
reply.catf("%c%u", c, axisConfig.driverNumbers[i]);
c = ':';
}
}
reply.cat(' ');
char c = extrudeLetter;
for (size_t extruder = 0; extruder < numExtruders; ++extruder)
{
reply.catf("%c%u", c, platform.GetExtruderDriver(extruder));
c = ':';
}
reply.catf(", %u axes visible", numVisibleAxes);
}
}
return GCodeResult::ok;
}
// Deal with a M585
GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, StringRef& reply)
{
if (reprap.GetCurrentTool() == nullptr)
{
reply.copy("No tool selected!");
return GCodeResult::error;
}
if (!LockMovementAndWaitForStandstill(gb))
{
return GCodeResult::notFinished;
}
for (size_t axis = 0; axis < numTotalAxes; axis++)
{
if (gb.Seen(axisLetters[axis]))
{
// Get parameters first and check them
const int endStopToUse = gb.Seen('E') ? gb.GetIValue() : 0;
if (endStopToUse < 0 || endStopToUse > (int)DRIVES)
{
reply.copy("Invalid endstop number");
return GCodeResult::error;
break;
}
// Save the current axis coordinates
memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, ARRAY_SIZE(currentUserPosition) * sizeof(currentUserPosition[0]));
// Prepare another move similar to G1 .. S3
moveBuffer.moveType = 3;
if (endStopToUse == 0)
{
moveBuffer.endStopsToCheck = 0;
SetBit(moveBuffer.endStopsToCheck, axis);
}
else
{
moveBuffer.endStopsToCheck = UseSpecialEndstop;
SetBit(moveBuffer.endStopsToCheck, endStopToUse);
}
moveBuffer.xAxes = DefaultXAxisMapping;
moveBuffer.yAxes = DefaultYAxisMapping;
moveBuffer.usePressureAdvance = false;
moveBuffer.filePos = noFilePosition;
moveBuffer.canPauseAfter = false;
moveBuffer.canPauseBefore = true;
// Decide which way and how far to go
if (gb.Seen('R'))
{
// Use relative probing radius if the R parameter is present
moveBuffer.coords[axis] += gb.GetFValue();
}
else
{
// Move to axis minimum if S1 is passed or to the axis maximum otherwise
moveBuffer.coords[axis] = (gb.Seen('S') && gb.GetIValue() > 0) ? platform.AxisMinimum(axis) : platform.AxisMaximum(axis);
}
// Zero every extruder drive
for (size_t drive = numTotalAxes; drive < DRIVES; drive++)
{
moveBuffer.coords[drive] = 0.0;
}
moveBuffer.hasExtrusion = false;
// Deal with feed rate
if (gb.Seen(feedrateLetter))
{
const float rate = gb.GetFValue() * distanceScale;
gb.MachineState().feedrate = rate * SecondsToMinutes; // don't apply the speed factor to homing and other special moves
}
moveBuffer.feedRate = gb.MachineState().feedrate;
// Kick off new movement
segmentsLeft = 1;
gb.SetState(GCodeState::probingToolOffset);
}
}
return GCodeResult::ok;
}
// Deal with a M905
GCodeResult GCodes::SetDateTime(GCodeBuffer& gb, StringRef& reply)
{
const time_t now = platform.GetDateTime();
struct tm timeInfo;
gmtime_r(&now, &timeInfo);
bool seen = false;
if (gb.Seen('P'))
{
seen = true;
// Set date
String<12> dateString;
gb.GetPossiblyQuotedString(dateString.GetRef());
if (strptime(dateString.Pointer(), "%Y-%m-%d", &timeInfo) == nullptr)
{
reply.copy("Invalid date format");
return GCodeResult::error;
}
}
if (gb.Seen('S'))
{
seen = true;
// Set time
String<12> timeString;
gb.GetPossiblyQuotedString(timeString.GetRef());
if (strptime(timeString.Pointer(), "%H:%M:%S", &timeInfo) == nullptr)
{
reply.copy("Invalid time format");
return GCodeResult::error;
}
}
if (seen)
{
platform.SetDateTime(mktime(&timeInfo));
}
else
{
// Report current date and time
if (platform.IsDateTimeSet())
{
reply.printf("Current date and time: %04u-%02u-%02u %02u:%02u:%02u",
timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday,
timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
}
else
{
reply.copy("Clock has not been set");
}
}
return GCodeResult::ok;
}
// Handle M997
GCodeResult GCodes::UpdateFirmware(GCodeBuffer& gb, StringRef &reply)
{
if (!LockMovementAndWaitForStandstill(gb))
{
return GCodeResult::notFinished;
}
reprap.GetHeat().SwitchOffAll(true); // turn all heaters off because the main loop may get suspended
DisableDrives(); // all motors off
if (firmwareUpdateModuleMap == 0) // have we worked out which modules to update?
{
// Find out which modules we have been asked to update
if (gb.Seen('S'))
{
uint32_t modulesToUpdate[3];
size_t numUpdateModules = ARRAY_SIZE(modulesToUpdate);
gb.GetUnsignedArray(modulesToUpdate, numUpdateModules);
for (size_t i = 0; i < numUpdateModules; ++i)
{
uint32_t t = modulesToUpdate[i];
if (t >= NumFirmwareUpdateModules)
{
reply.printf("Invalid module number '%" PRIu32 "'\n", t);
firmwareUpdateModuleMap = 0;
return GCodeResult::error;
break;
}
firmwareUpdateModuleMap |= (1u << t);
}
}
else
{
firmwareUpdateModuleMap = (1u << 0); // no modules specified, so update module 0 to match old behaviour
}
if (firmwareUpdateModuleMap == 0)
{
return GCodeResult::ok; // nothing to update
}
// Check prerequisites of all modules to be updated, if any are not met then don't update any of them
#if HAS_WIFI_NETWORKING
if (!FirmwareUpdater::CheckFirmwareUpdatePrerequisites(firmwareUpdateModuleMap, reply))
{
firmwareUpdateModuleMap = 0;
return GCodeResult::error;
}
#endif
if ((firmwareUpdateModuleMap & 1) != 0 && !platform.CheckFirmwareUpdatePrerequisites(reply))
{
firmwareUpdateModuleMap = 0;
return GCodeResult::error;
}
}
// If we get here then we have the module map, and all prerequisites are satisfied
isFlashing = true; // this tells the web interface and PanelDue that we are about to flash firmware
if (DoDwellTime(gb, 1000) == GCodeResult::notFinished) // wait a second so all HTTP clients and PanelDue are notified
{
return GCodeResult::notFinished;
}
gb.SetState(GCodeState::flashing1);
return GCodeResult::ok;
}
// End
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