192 lines
4.1 KiB
C++
192 lines
4.1 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Main Program
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This firmware is intended to be a fully object-oriented highly modular control program for
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RepRap self-replicating 3D printers.
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It owes a lot to Marlin and to the original RepRap FiveD_GCode.
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General design principles:
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* Control by RepRap G Codes. These are taken to be machine independent, though some may be unsupported.
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* Full use of C++ OO techniques,
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* Make classes hide their data,
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* Make everything as stateless as possible,
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* No use of conditional compilation except for #include guards - if you need that, you should be
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forking the repository to make a new branch - let the repository take the strain,
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* Concentration of all machine-dependent defintions and code in Platform.h and Platform.cpp,
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* No specials for (X,Y) or (Z) - all movement is 3-dimensional,
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* Try to be efficient in memory use, but this is not critical,
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* Labour hard to be efficient in time use, and this is critical,
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* Don't abhor floats - they work fast enough if you're clever,
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* Don't avoid arrays and structs/classes,
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* Don't avoid pointers,
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* Use operator and function overloading where appropriate, particularly for vector algebra.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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// If this goes in the right place (Platform.h) the compile fails. Why? - AB
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#include <SPI.h>
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#include <Ethernet.h>
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#include <SD.h>
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#include "RepRapFirmware.h"
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// We just need one instance of RepRap; everything else is contaied within it and hidden
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RepRap reprap;
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//*************************************************************************************************
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// Do nothing more in the constructor; put what you want in RepRap:Init()
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RepRap::RepRap()
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{
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active = false;
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platform = new Platform(this);
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webserver = new Webserver(platform);
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gCodes = new GCodes(platform, webserver);
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move = new Move(platform, gCodes);
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heat = new Heat(platform, gCodes);
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}
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void RepRap::Init()
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{
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platform->Init();
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gCodes->Init();
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webserver->Init();
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move->Init();
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heat->Init();
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dbg = true;
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platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n");
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active = true;
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}
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void RepRap::Exit()
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{
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active = false;
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heat->Exit();
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move->Exit();
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gCodes->Exit();
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webserver->Exit();
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platform->Exit();
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}
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void RepRap::Spin()
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{
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if(!active)
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return;
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platform->Spin();
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webserver->Spin();
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gCodes->Spin();
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move->Spin();
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heat->Spin();
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}
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void RepRap::Interrupt()
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{
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}
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//*************************************************************************************************
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// Utilities and storage not part of any class
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static long precision[] = {0,10,100,1000,10000,100000,1000000,10000000,100000000};
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char* ftoa(char *a, const float& f, int prec)
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{
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char *ret = a;
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long whole = (long)f;
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sprintf(a,"%d",whole);
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while (*a != '\0') a++;
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*a++ = '.';
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long decimal = abs((long)((f - (float)whole) * precision[prec]));
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sprintf(a,"%d",decimal);
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return ret;
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}
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// String testing
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boolean StringEndsWith(char* string, char* ending)
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{
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int j = strlen(string);
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int k = strlen(ending);
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if(k > j)
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return false;
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return(StringEquals(&string[j - k], ending));
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}
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boolean StringEquals(char* s1, char* s2)
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{
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int i = 0;
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while(s1[i] && s2[i])
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{
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if(tolower(s1[i]) != tolower(s2[i]))
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return false;
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i++;
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}
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return !(s1[i] || s2[i]);
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}
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boolean StringStartsWith(char* string, char* starting)
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{
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int j = strlen(string);
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int k = strlen(starting);
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if(k > j)
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return false;
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for(int i = 0; i < k; i++)
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if(string[i] != starting[i])
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return false;
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return true;
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}
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int StringContains(char* string, char* match)
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{
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int i = 0;
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int count = 0;
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while(string[i])
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{
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if(string[i++] == match[count])
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{
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count++;
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if(!match[count])
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return i;
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} else
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count = 0;
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}
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return -1;
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}
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