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Refactor GenericGCode, fix some bugs #177

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dd51990
GenericGcodeDriver: Fix Z-axis initialization, deduplicate
mgmax Dec 8, 2021
5106508
GCode-based drivers: deduplicate code, remove spaces from output
mgmax Dec 8, 2021
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89 changes: 62 additions & 27 deletions src/main/java/de/thomas_oster/liblasercut/drivers/GenericGcodeDriver.java
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
import de.thomas_oster.liblasercut.VectorCommand;
import de.thomas_oster.liblasercut.VectorPart;
import de.thomas_oster.liblasercut.platform.Util;
import static de.thomas_oster.liblasercut.utils.Assertion.assertThat;
import net.sf.corn.httpclient.HttpClient;
import net.sf.corn.httpclient.HttpResponse;
import purejavacomm.CommPort;
Expand All @@ -56,6 +57,7 @@
import java.net.URI;
import java.net.URISyntaxException;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Enumeration;
import java.util.LinkedList;
import java.util.List;
Expand Down Expand Up @@ -496,11 +498,11 @@ protected void writeVectorGCode(VectorPart vp, double resolution) throws Unsuppo
}
}
}
protected double currentPower = -1;
protected double currentSpeed = -1;
private double nextPower = -1;
private double nextSpeed = -1;
private double currentFocus = 0;
protected double currentPower = Double.NaN;
protected double currentSpeed = Double.NaN;
private double nextPower = Double.NaN;
private double nextSpeed = Double.NaN;
private double currentFocus = Double.NaN;

protected void setSpeed(double speedInPercent) {
nextSpeed = speedInPercent;
Expand All @@ -509,7 +511,7 @@ protected void setSpeed(double speedInPercent) {
protected void setPower(double powerInPercent) {
nextPower = powerInPercent/100.0*spindleMax;
}

protected void setFocus(PrintStream out, double focus) throws IOException {

if (currentFocus != focus) {
Expand All @@ -519,36 +521,40 @@ protected void setFocus(PrintStream out, double focus) throws IOException {
currentPower = -1; // set to invalid value to force new S-value at next G1
}
sendLine("G0 Z%s" + append, formatDouble(focus, getGCodeDigits()));
currentFocus = focus;
currentFocus = focus;
}
}

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 = -1; // 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
currentPower = Double.NaN; // set to invalid value to force new S-value at next G1
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 {
x = isFlipXaxis() ? getBedWidth() - Util.px2mm(x, resolution) : Util.px2mm(x, resolution);
y = isFlipYaxis() ? getBedHeight() - Util.px2mm(y, resolution) : Util.px2mm(y, resolution);
String append = "";

assertThat(!Double.isNaN(nextPower));
if (nextPower != currentPower)
{
append += String.format(FORMAT_LOCALE, " S%s", formatDouble(nextPower, getSCodeDigits()));
currentPower = nextPower;
}
assertThat(!Double.isNaN(nextSpeed));
if (nextSpeed != currentSpeed)
{
append += String.format(FORMAT_LOCALE, " F%d", (int) (max_speed*nextSpeed/100.0));
Expand Down Expand Up @@ -586,6 +592,11 @@ 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())
Expand Down Expand Up @@ -912,31 +923,47 @@ else if (this.port != null)

@Override
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);
this.currentPower = -1;
this.currentSpeed = -1;

pl.taskChanged(this, "checking job");
checkJob(job);
this.jobName = job.getName()+".gcode";
job.applyStartPoint();
pl.taskChanged(this, "connecting...");
connect(pl);
if (filePrintStream != null) { // write to file
this.out = filePrintStream;
} else { // send to network
connect(pl);
}
pl.taskChanged(this, "sending");
try {
writeJobCode(job, pl);
disconnect(job.getName()+".gcode");
}
catch (IOException e) {
finally {
pl.taskChanged(this, "disconnecting");
disconnect(this.jobName);
throw e;
if (filePrintStream != null) { // write to file
filePrintStream.close();
} else { // send to network
disconnect(this.jobName);
}
}
pl.taskChanged(this, "sent.");
pl.progressChanged(this, 100);
}

public void writeJobCode(LaserJob job, ProgressListener pl) throws IOException {
currentPower = Double.NaN;
currentSpeed = Double.NaN;
currentFocus = Double.NaN;
writeInitializationCode();
pl.progressChanged(this, 20);
int i = 0;
Expand Down Expand Up @@ -965,16 +992,12 @@ public void writeJobCode(LaserJob job, ProgressListener pl) throws IOException {

@Override
public void saveJob(OutputStream fileOutputStream, LaserJob job) throws IllegalJobException, Exception {
this.currentPower = -1;
this.currentSpeed = -1;

checkJob(job);
boolean wasSetWaitingForOk = isWaitForOKafterEachLine();
try (PrintStream ps = new LinefeedPrintStream(fileOutputStream))
{
this.out = ps;
setWaitForOKafterEachLine( false );
writeJobCode(job, new ProgressListenerDummy());
sendOrSaveJob(job, new ProgressListenerDummy(), new ArrayList<String>(), ps);
} finally {
setWaitForOKafterEachLine(wasSetWaitingForOk);
}
Expand Down Expand Up @@ -1307,4 +1330,16 @@ 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;
}

}
47 changes: 9 additions & 38 deletions src/main/java/de/thomas_oster/liblasercut/drivers/Grbl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

/**
Expand Down Expand Up @@ -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
Expand Down
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