GCode-based drivers: deduplicate code, remove spaces from output

Author: mgmax

src/main/java/de/thomas_oster/liblasercut/drivers/GenericGcodeDriver.java

@@ -527,17 +527,20 @@ protected void setFocus(PrintStream out, double focus) throws IOException {
   protected void move(PrintStream out, double x, double y, double resolution) throws IOException {
     x = isFlipXaxis() ? getBedWidth() - Util.px2mm(x, resolution) : Util.px2mm(x, resolution);
     y = isFlipYaxis() ? getBedHeight() - Util.px2mm(y, resolution) : Util.px2mm(y, resolution);
-    currentSpeed = getTravel_speed();
+
+    String append = "";
 
     if (blankLaserDuringRapids)
     {
       currentPower = Double.NaN; // set to invalid value to force new S-value at next G1
-      sendLine("G0 X%s Y%s F%d S0", formatDouble(x, getGCodeDigits()), formatDouble(y, getGCodeDigits()), (int) (travel_speed));
-    }
-    else
+      append = " S0";    }
+    if (isSendFeedDuringRapids())
     {
-      sendLine("G0 X%s Y%s F%d", formatDouble(x, getGCodeDigits()), formatDouble(y, getGCodeDigits()), (int) (travel_speed));
+      currentSpeed = getTravel_speed();
+      append += String.format(FORMAT_LOCALE, " F%f", currentSpeed);
     }
+      sendLine("G0 X%s Y%s " + append, formatDouble(x, getGCodeDigits()), formatDouble(y, getGCodeDigits()), (int) (travel_speed));
+
   }
 
   protected void line(PrintStream out, double x, double y, double resolution) throws IOException {
@@ -588,6 +591,11 @@ private void writeShutdownCode() throws IOException {
 
   protected void sendLine(String text, Object... parameters) throws IOException
   {
+    if (text.startsWith("G0") || text.startsWith("G1")) {
+      // Remove spaces from all standard moves.
+      // Leave all other commands unchanged because they could be user-specific display messages from the init code.
+      text = text.replace(" ", "");
+    }
     out.format(FORMAT_LOCALE, text+LINEEND(), parameters);
     out.flush();
     if (isWaitForOKafterEachLine())
@@ -916,14 +924,14 @@ else if (this.port != null)
   public void sendJob(LaserJob job, ProgressListener pl, List<String> warnings) throws IllegalJobException, Exception {
     sendOrSaveJob(job, pl, warnings, null);
   }
-
+  
   /***
    * Send the job to the port or file.
    * If a filePrintStream is given (!= null), write the job to the file.
    * Else (filePrintStream = null), connect to the configured network port or serial port.
    */
   public void sendOrSaveJob(LaserJob job, ProgressListener pl, List<String> warnings, PrintStream filePrintStream) throws IllegalJobException, Exception {
-
+    
     pl.progressChanged(this, 0);
     pl.taskChanged(this, "checking job");
     checkJob(job);
@@ -933,7 +941,7 @@ public void sendOrSaveJob(LaserJob job, ProgressListener pl, List<String> warnin
       if (filePrintStream != null) { // write to file
         this.out = filePrintStream;
     } else { // send to network
-    connect(pl);
+      connect(pl);
     }
     pl.taskChanged(this, "sending");
     try {
@@ -944,7 +952,7 @@ public void sendOrSaveJob(LaserJob job, ProgressListener pl, List<String> warnin
       if (filePrintStream != null) { // write to file
         filePrintStream.close();
       } else { // send to network
-      disconnect(this.jobName);
+        disconnect(this.jobName);
       }
     }
     pl.taskChanged(this, "sent.");
@@ -1300,4 +1308,16 @@ public GenericGcodeDriver clone() {
     return clone;
   }
 
+  /**
+   * Send the F (travelFeed) during G0 rapid moves?
+   *
+   * true: Yes. Best for compatibility.
+   * false: No. Shorter G-Code and still works for standards-compliant G-Code interpreters. (Note that G0 means "move as fast as possible", so specifying a feed-speed makes no sense.)
+   */
+  // TODO: make configurable in the future
+  protected boolean isSendFeedDuringRapids()
+  {
+    return true;
+  }
+
 }

src/main/java/de/thomas_oster/liblasercut/drivers/Grbl.java

@@ -114,9 +114,12 @@ public String getModelName()
   protected void sendLineWithoutWait(String text, Object... parameters) throws IOException
   {
     boolean wasSetWaitingForOk = isWaitForOKafterEachLine();
-    setWaitForOKafterEachLine(false);
-    sendLine(text, parameters);
-    setWaitForOKafterEachLine(wasSetWaitingForOk);
+    try {
+      setWaitForOKafterEachLine(false);
+      sendLine(text, parameters);
+    } finally {
+      setWaitForOKafterEachLine(wasSetWaitingForOk);
+    }
   }
 
   /**
@@ -158,43 +161,11 @@ protected String waitForIdentificationLine(ProgressListener pl) throws IOExcepti
     return null;
   }
 
-  /**
-   * Send a G0 rapid move to Grbl.
-   * Doesn't include travel speed since grbl ignores that anyway.
-   */
   @Override
-  protected void move(PrintStream out, double x, double y, double resolution) throws IOException {
-    x = isFlipXaxis() ? getBedWidth() - Util.px2mm(x, resolution) : Util.px2mm(x, resolution);
-    y = isFlipYaxis() ? getBedHeight() - Util.px2mm(y, resolution) : Util.px2mm(y, resolution);
-    currentSpeed = getTravel_speed();
-    if (blankLaserDuringRapids)
-    {
-      currentPower = -1; // set to invalid value to force new S-value at next G1
-      sendLine("G0 X%f Y%f S0", x, y);
-    }
-    else
+  protected boolean isSendFeedDuringRapids()
     {
-      sendLine("G0 X%f Y%f", x, y);
-    }
-  }
-  
-  /**
-   * Send a line of gcode to the cutter, stripping out any whitespace in the process
-   */
-  @Override
-  protected void sendLine(String text, Object... parameters) throws IOException
-  {
-    out.format(FORMAT_LOCALE, text.replace(" ", "")+LINEEND(), parameters);
-    // System.out.println(String.format(FORMAT_LOCALE, "> "+text+LINEEND(), parameters));
-    out.flush();
-    if (isWaitForOKafterEachLine())
-    {
-      String line = waitForLine();
-      if (!"ok".equals(line))
-      {
-        throw new IOException("Lasercutter did not respond 'ok', but '"+line+"'instead.");
-      }
-    }
+    // Grbl ignores the F parameter during G0.
+    return false;
   }
 
   @Override

test-output/de.thomas_oster.liblasercut.drivers.GenericGcodeDriver.out

@@ -1,75 +1,75 @@
 G21
 G90
-G0 Z0
-G0 X0.508 Y0.508 F3600
-G1 X25.4 Y50.8 S1 F1200
-G1 X50.8 Y0
-G0 X101.6 Y0 F3600
-G1 X76.2 Y5.08 F1200
-G1 X76.1492 Y20.32
-G1 X76.1492 Y22.86
-G1 X76.0984 Y25.4
-G1 X76.1492 Y30.48
-G1 X76.2 Y45.72
-G1 X101.6 Y50.8
-G0 X0 Y1.8796 F3600
-G1 X0.6604 Y1.8796 S0 F1200
-G1 X0.762 Y1.8796 S1
-G1 X0.8636 Y1.8796
-G1 X0.9144 Y1.8796
-G1 X1.0668 Y1.8796
-G1 X1.1176 Y1.8796
-G1 X6.096 Y1.8796 S0
-G0 X0 Y1.9304 F3600
-G1 X0.6604 Y1.9304 F1200
-G1 X0.8128 Y1.9304 S1
-G1 X0.8636 Y1.9304
-G1 X0.9652 Y1.9304
-G1 X1.0668 Y1.9304
-G1 X1.1176 Y1.9304
-G1 X6.096 Y1.9304 S0
-G0 X0 Y1.9812 F3600
-G1 X0.6604 Y1.9812 F1200
-G1 X1.1176 Y1.9812 S1
-G1 X6.096 Y1.9812 S0
-G0 X0 Y2.032 F3600
-G1 X0.6604 Y2.032 F1200
-G1 X0.762 Y2.032 S1
-G1 X1.1176 Y2.032
-G1 X6.096 Y2.032 S0
-G0 X0 Y2.0828 F3600
-G1 X0.6604 Y2.0828 F1200
-G1 X1.1176 Y2.0828 S1
-G1 X6.096 Y2.0828 S0
-G0 X0 Y2.1336 F3600
-G1 X0.6604 Y2.1336 F1200
-G1 X0.762 Y2.1336 S1
-G1 X1.1176 Y2.1336
-G1 X6.096 Y2.1336 S0
-G0 X0 Y3.9116 F3600
-G1 X2.2352 Y3.9116 F1200
-G1 X2.3368 Y3.9116 S1
-G1 X2.3876 Y3.9116 S0
-G1 X2.54 Y3.9116 S1
-G1 X7.5184 Y3.9116 S0
-G0 X0 Y3.9624 F3600
-G1 X2.286 Y3.9624 F1200
-G1 X2.3368 Y3.9624 S1
-G1 X2.4384 Y3.9624 S0
-G1 X2.54 Y3.9624 S1
-G1 X7.5184 Y3.9624 S0
-G0 X0 Y4.0132 F3600
-G1 X2.1336 Y4.0132 F1200
-G1 X2.1844 Y4.0132 S1
-G1 X2.2352 Y4.0132 S0
-G1 X2.5908 Y4.0132 S1
-G1 X7.5692 Y4.0132 S0
-G0 X0 Y4.064 F3600
-G1 X2.2352 Y4.064 F1200
-G1 X2.5908 Y4.064 S0
-G1 X7.5692 Y4.064 S0
-G0 X0 Y4.1656 F3600
-G1 X2.1336 Y4.1656 F1200
-G1 X2.2352 Y4.1656 S1
-G1 X7.2136 Y4.1656 S0
-G0 X0 Y0
+G0Z0
+G0X0.508Y0.508F3600.000000
+G1X25.4Y50.8S1F1200
+G1X50.8Y0
+G0X101.6Y0F3600.000000
+G1X76.2Y5.08F1200
+G1X76.1492Y20.32
+G1X76.1492Y22.86
+G1X76.0984Y25.4
+G1X76.1492Y30.48
+G1X76.2Y45.72
+G1X101.6Y50.8
+G0X0Y1.8796F3600.000000
+G1X0.6604Y1.8796S0F1200
+G1X0.762Y1.8796S1
+G1X0.8636Y1.8796
+G1X0.9144Y1.8796
+G1X1.0668Y1.8796
+G1X1.1176Y1.8796
+G1X6.096Y1.8796S0
+G0X0Y1.9304F3600.000000
+G1X0.6604Y1.9304F1200
+G1X0.8128Y1.9304S1
+G1X0.8636Y1.9304
+G1X0.9652Y1.9304
+G1X1.0668Y1.9304
+G1X1.1176Y1.9304
+G1X6.096Y1.9304S0
+G0X0Y1.9812F3600.000000
+G1X0.6604Y1.9812F1200
+G1X1.1176Y1.9812S1
+G1X6.096Y1.9812S0
+G0X0Y2.032F3600.000000
+G1X0.6604Y2.032F1200
+G1X0.762Y2.032S1
+G1X1.1176Y2.032
+G1X6.096Y2.032S0
+G0X0Y2.0828F3600.000000
+G1X0.6604Y2.0828F1200
+G1X1.1176Y2.0828S1
+G1X6.096Y2.0828S0
+G0X0Y2.1336F3600.000000
+G1X0.6604Y2.1336F1200
+G1X0.762Y2.1336S1
+G1X1.1176Y2.1336
+G1X6.096Y2.1336S0
+G0X0Y3.9116F3600.000000
+G1X2.2352Y3.9116F1200
+G1X2.3368Y3.9116S1
+G1X2.3876Y3.9116S0
+G1X2.54Y3.9116S1
+G1X7.5184Y3.9116S0
+G0X0Y3.9624F3600.000000
+G1X2.286Y3.9624F1200
+G1X2.3368Y3.9624S1
+G1X2.4384Y3.9624S0
+G1X2.54Y3.9624S1
+G1X7.5184Y3.9624S0
+G0X0Y4.0132F3600.000000
+G1X2.1336Y4.0132F1200
+G1X2.1844Y4.0132S1
+G1X2.2352Y4.0132S0
+G1X2.5908Y4.0132S1
+G1X7.5692Y4.0132S0
+G0X0Y4.064F3600.000000
+G1X2.2352Y4.064F1200
+G1X2.5908Y4.064S0
+G1X7.5692Y4.064S0
+G0X0Y4.1656F3600.000000
+G1X2.1336Y4.1656F1200
+G1X2.2352Y4.1656S1
+G1X7.2136Y4.1656S0
+G0X0Y0

test-output/de.thomas_oster.liblasercut.drivers.Grbl.out

@@ -1 +1 @@
-G21G90M3G0Z0S0G0X0.508000Y0.508000S0G1X25.4Y50.8S1000F1200G1X50.8Y0G0X101.600000Y0.000000S0G1X76.2Y5.08S1000F1200G1X76.1492Y20.32G1X76.1492Y22.86G1X76.0984Y25.4G1X76.1492Y30.48G1X76.2Y45.72G1X101.6Y50.8G0X0.000000Y1.879600S0G1X0.6604Y1.8796S0F1200G1X0.762Y1.8796S1000G1X0.8636Y1.8796G1X0.9144Y1.8796G1X1.0668Y1.8796G1X1.1176Y1.8796G1X6.096Y1.8796S0G0X0.000000Y1.930400S0G1X0.6604Y1.9304S0F1200G1X0.8128Y1.9304S1000G1X0.8636Y1.9304G1X0.9652Y1.9304G1X1.0668Y1.9304G1X1.1176Y1.9304G1X6.096Y1.9304S0G0X0.000000Y1.981200S0G1X0.6604Y1.9812S0F1200G1X1.1176Y1.9812S1000G1X6.096Y1.9812S0G0X0.000000Y2.032000S0G1X0.6604Y2.032S0F1200G1X0.762Y2.032S1000G1X1.1176Y2.032G1X6.096Y2.032S0G0X0.000000Y2.082800S0G1X0.6604Y2.0828S0F1200G1X1.1176Y2.0828S1000G1X6.096Y2.0828S0G0X0.000000Y2.133600S0G1X0.6604Y2.1336S0F1200G1X0.762Y2.1336S1000G1X1.1176Y2.1336G1X6.096Y2.1336S0G0X0.000000Y3.911600S0G1X2.2352Y3.9116S0F1200G1X2.3368Y3.9116S1000G1X2.3876Y3.9116S0G1X2.54Y3.9116S1000G1X7.5184Y3.9116S0G0X0.000000Y3.962400S0G1X2.286Y3.9624S0F1200G1X2.3368Y3.9624S1000G1X2.4384Y3.9624S0G1X2.54Y3.9624S1000G1X7.5184Y3.9624S0G0X0.000000Y4.013200S0G1X2.1336Y4.0132S0F1200G1X2.1844Y4.0132S750G1X2.2352Y4.0132S0G1X2.5908Y4.0132S750G1X7.5692Y4.0132S0G0X0.000000Y4.064000S0G1X2.2352Y4.064S0F1200G1X2.5908Y4.064S500G1X7.5692Y4.064S0G0X0.000000Y4.165600S0G1X2.1336Y4.1656S0F1200G1X2.2352Y4.1656S1000G1X7.2136Y4.1656S0M5G0X0Y0
+G21G90M3G0Z0S0G0X0.508Y0.508S0G1X25.4Y50.8S1000F1200G1X50.8Y0G0X101.6Y0S0G1X76.2Y5.08S1000G1X76.1492Y20.32G1X76.1492Y22.86G1X76.0984Y25.4G1X76.1492Y30.48G1X76.2Y45.72G1X101.6Y50.8G0X0Y1.8796S0G1X0.6604Y1.8796S0G1X0.762Y1.8796S1000G1X0.8636Y1.8796G1X0.9144Y1.8796G1X1.0668Y1.8796G1X1.1176Y1.8796G1X6.096Y1.8796S0G0X0Y1.9304S0G1X0.6604Y1.9304S0G1X0.8128Y1.9304S1000G1X0.8636Y1.9304G1X0.9652Y1.9304G1X1.0668Y1.9304G1X1.1176Y1.9304G1X6.096Y1.9304S0G0X0Y1.9812S0G1X0.6604Y1.9812S0G1X1.1176Y1.9812S1000G1X6.096Y1.9812S0G0X0Y2.032S0G1X0.6604Y2.032S0G1X0.762Y2.032S1000G1X1.1176Y2.032G1X6.096Y2.032S0G0X0Y2.0828S0G1X0.6604Y2.0828S0G1X1.1176Y2.0828S1000G1X6.096Y2.0828S0G0X0Y2.1336S0G1X0.6604Y2.1336S0G1X0.762Y2.1336S1000G1X1.1176Y2.1336G1X6.096Y2.1336S0G0X0Y3.9116S0G1X2.2352Y3.9116S0G1X2.3368Y3.9116S1000G1X2.3876Y3.9116S0G1X2.54Y3.9116S1000G1X7.5184Y3.9116S0G0X0Y3.9624S0G1X2.286Y3.9624S0G1X2.3368Y3.9624S1000G1X2.4384Y3.9624S0G1X2.54Y3.9624S1000G1X7.5184Y3.9624S0G0X0Y4.0132S0G1X2.1336Y4.0132S0G1X2.1844Y4.0132S750G1X2.2352Y4.0132S0G1X2.5908Y4.0132S750G1X7.5692Y4.0132S0G0X0Y4.064S0G1X2.2352Y4.064S0G1X2.5908Y4.064S500G1X7.5692Y4.064S0G0X0Y4.1656S0G1X2.1336Y4.1656S0G1X2.2352Y4.1656S1000G1X7.2136Y4.1656S0M5G0X0Y0