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