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New GCode Parser - Implementation

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This commit is contained in:
Scott Lahteine
2017-05-20 03:03:08 -05:00
parent 002a06c507
commit f4028fe088
13 changed files with 1110 additions and 733 deletions
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146
Marlin/ubl_G29.cpp
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@@ -30,6 +30,7 @@
#include "configuration_store.h"
#include "ultralcd.h"
#include "stepper.h"
#include "gcode.h"
#include <math.h>
#include "least_squares_fit.h"
@@ -47,10 +48,6 @@
float lcd_z_offset_edit();
extern float meshedit_done;
extern long babysteps_done;
extern float code_value_float();
extern uint8_t code_value_byte();
extern bool code_value_bool();
extern bool code_has_value();
extern float probe_pt(const float &x, const float &y, bool, int);
extern bool set_probe_deployed(bool);
@@ -322,26 +319,20 @@
return;
}
// Check for commands that require the printer to be homed.
// Check for commands that require the printer to be homed
if (axis_unhomed_error()) {
if (code_seen('J'))
const int8_t p_val = parser.seen('P') && parser.has_value() ? parser.value_int() : -1;
if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
home_all_axes();
else if (code_seen('P')) {
if (code_has_value()) {
const int p_val = code_value_int();
if (p_val == 1 || p_val == 2 || p_val == 4)
home_all_axes();
}
}
}
if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
// Invalidate Mesh Points. This command is a little bit asymetrical because
// Invalidate Mesh Points. This command is a little bit asymmetrical because
// it directly specifies the repetition count and does not use the 'R' parameter.
if (code_seen('I')) {
if (parser.seen('I')) {
uint8_t cnt = 0;
g29_repetition_cnt = code_has_value() ? code_value_int() : 1;
g29_repetition_cnt = parser.has_value() ? parser.value_int() : 1;
while (g29_repetition_cnt--) {
if (cnt > 20) { cnt = 0; idle(); }
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
@@ -355,10 +346,10 @@
SERIAL_PROTOCOLLNPGM("Locations invalidated.\n");
}
if (code_seen('Q')) {
const int test_pattern = code_has_value() ? code_value_int() : -99;
if (parser.seen('Q')) {
const int test_pattern = parser.has_value() ? parser.value_int() : -99;
if (!WITHIN(test_pattern, -1, 2)) {
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (0-2)\n");
SERIAL_PROTOCOLLNPGM("Invalid test_pattern value. (-1 to 2)\n");
return;
}
SERIAL_PROTOCOLLNPGM("Loading test_pattern values.\n");
@@ -385,15 +376,15 @@
// Allow the user to specify the height because 10mm is a little extreme in some cases.
for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in
for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed
z_values[x][y] += code_seen('C') ? g29_constant : 9.99;
z_values[x][y] += parser.seen('C') ? g29_constant : 9.99;
break;
}
}
if (code_seen('J')) {
if (parser.seen('J')) {
if (g29_grid_size) { // if not 0 it is a normal n x n grid being probed
save_ubl_active_state_and_disable();
tilt_mesh_based_on_probed_grid(code_seen('T'));
tilt_mesh_based_on_probed_grid(parser.seen('T'));
restore_ubl_active_state_and_leave();
}
else { // grid_size == 0 : A 3-Point leveling has been requested
@@ -425,7 +416,7 @@
}
}
if (code_seen('P')) {
if (parser.seen('P')) {
if (WITHIN(g29_phase_value, 0, 1) && state.storage_slot == -1) {
state.storage_slot = 0;
SERIAL_PROTOCOLLNPGM("Default storage slot 0 selected.");
@@ -444,7 +435,7 @@
//
// Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
//
if (!code_seen('C')) {
if (!parser.seen('C')) {
invalidate();
SERIAL_PROTOCOLLNPGM("Mesh invalidated. Probing mesh.");
}
@@ -455,7 +446,7 @@
SERIAL_PROTOCOLLNPGM(").\n");
}
probe_entire_mesh(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER,
code_seen('T'), code_seen('E'), code_seen('U'));
parser.seen('T'), parser.seen('E'), parser.seen('U'));
break;
case 2: {
@@ -481,30 +472,29 @@
#endif
}
if (code_seen('C')) {
if (parser.seen('C')) {
g29_x_pos = current_position[X_AXIS];
g29_y_pos = current_position[Y_AXIS];
}
float height = Z_CLEARANCE_BETWEEN_PROBES;
if (code_seen('B')) {
g29_card_thickness = code_has_value() ? code_value_float() : measure_business_card_thickness(height);
if (parser.seen('B')) {
g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(height);
if (fabs(g29_card_thickness) > 1.5) {
SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement.");
return;
}
}
if (code_seen('H') && code_has_value()) height = code_value_float();
if (parser.seen('H') && parser.has_value()) height = parser.value_float();
if (!position_is_reachable_xy(g29_x_pos, g29_y_pos)) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
return;
}
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, code_seen('T'));
manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
} break;
@@ -531,7 +521,7 @@
}
}
} else {
const float cvf = code_value_float();
const float cvf = parser.value_float();
switch((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1
#if ENABLED(UBL_G29_P31)
case 1: {
@@ -561,9 +551,7 @@
//
// Fine Tune (i.e., Edit) the Mesh
//
fine_tune_mesh(g29_x_pos, g29_y_pos, code_seen('T'));
fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
break;
case 5: find_mean_mesh_height(); break;
@@ -576,22 +564,22 @@
// Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
// good to have the extra information. Soon... we prune this to just a few items
//
if (code_seen('W')) g29_what_command();
if (parser.seen('W')) g29_what_command();
//
// When we are fully debugged, this may go away. But there are some valid
// use cases for the users. So we can wait and see what to do with it.
//
if (code_seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh
g29_compare_current_mesh_to_stored_mesh();
//
// Load a Mesh from the EEPROM
//
if (code_seen('L')) { // Load Current Mesh Data
g29_storage_slot = code_has_value() ? code_value_int() : state.storage_slot;
if (parser.seen('L')) { // Load Current Mesh Data
g29_storage_slot = parser.has_value() ? parser.value_int() : state.storage_slot;
int16_t a = settings.calc_num_meshes();
@@ -616,8 +604,8 @@
// Store a Mesh in the EEPROM
//
if (code_seen('S')) { // Store (or Save) Current Mesh Data
g29_storage_slot = code_has_value() ? code_value_int() : state.storage_slot;
if (parser.seen('S')) { // Store (or Save) Current Mesh Data
g29_storage_slot = parser.has_value() ? parser.value_int() : state.storage_slot;
if (g29_storage_slot == -1) { // Special case, we are going to 'Export' the mesh to the
SERIAL_ECHOLNPGM("G29 I 999"); // host in a form it can be reconstructed on a different machine
@@ -654,15 +642,17 @@
SERIAL_PROTOCOLLNPGM("Done.");
}
if (code_seen('T'))
display_map(code_has_value() ? code_value_int() : 0);
if (parser.seen('T'))
display_map(parser.has_value() ? parser.value_int() : 0);
/*
/**
* This code may not be needed... Prepare for its removal...
*
if (code_seen('Z')) {
if (code_has_value())
state.z_offset = code_value_float(); // do the simple case. Just lock in the specified value
*/
#if 0
if (parser.seen('Z')) {
if (parser.has_value())
state.z_offset = parser.value_float(); // do the simple case. Just lock in the specified value
else {
save_ubl_active_state_and_disable();
//float measured_z = probe_pt(g29_x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, g29_y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
@@ -712,7 +702,7 @@
restore_ubl_active_state_and_leave();
}
}
*/
#endif
LEAVE:
@@ -1015,10 +1005,7 @@
if (do_ubl_mesh_map) display_map(g29_map_type); // show user where we're probing
if (code_seen('B'))
LCD_MESSAGEPGM("Place shim & measure"); // TODO: Make translatable string
else
LCD_MESSAGEPGM("Measure"); // TODO: Make translatable string
serialprintPGM(parser.seen('B') ? PSTR("Place shim & measure") : PSTR("Measure")); // TODO: Make translatable strings
while (ubl_lcd_clicked()) delay(50); // wait for user to release encoder wheel
delay(50); // debounce
@@ -1073,13 +1060,13 @@
g29_constant = 0.0;
g29_repetition_cnt = 0;
g29_x_flag = code_seen('X') && code_has_value();
g29_x_pos = g29_x_flag ? code_value_float() : current_position[X_AXIS];
g29_y_flag = code_seen('Y') && code_has_value();
g29_y_pos = g29_y_flag ? code_value_float() : current_position[Y_AXIS];
g29_x_flag = parser.seen('X') && parser.has_value();
g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
g29_y_flag = parser.seen('Y') && parser.has_value();
g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
if (code_seen('R')) {
g29_repetition_cnt = code_has_value() ? code_value_int() : GRID_MAX_POINTS;
if (parser.seen('R')) {
g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
if (g29_repetition_cnt < 1) {
SERIAL_PROTOCOLLNPGM("?(R)epetition count invalid (1+).\n");
@@ -1087,22 +1074,22 @@
}
}
g29_verbose_level = code_seen('V') ? code_value_int() : 0;
g29_verbose_level = parser.seen('V') ? parser.value_int() : 0;
if (!WITHIN(g29_verbose_level, 0, 4)) {
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).\n");
err_flag = true;
}
if (code_seen('P')) {
g29_phase_value = code_value_int();
if (parser.seen('P')) {
g29_phase_value = parser.value_int();
if (!WITHIN(g29_phase_value, 0, 6)) {
SERIAL_PROTOCOLLNPGM("?(P)hase value invalid (0-6).\n");
err_flag = true;
}
}
if (code_seen('J')) {
g29_grid_size = code_has_value() ? code_value_int() : 0;
if (parser.seen('J')) {
g29_grid_size = parser.has_value() ? parser.value_int() : 0;
if (g29_grid_size && !WITHIN(g29_grid_size, 2, 9)) {
SERIAL_PROTOCOLLNPGM("?Invalid grid size (J) specified (2-9).\n");
err_flag = true;
@@ -1125,27 +1112,32 @@
if (err_flag) return UBL_ERR;
// Activate or deactivate UBL
if (code_seen('A')) {
if (code_seen('D')) {
/**
* Activate or deactivate UBL
* Note: UBL's G29 restores the state set here when done.
* Leveling is being enabled here with old data, possibly
* none. Error handling should disable for safety...
*/
if (parser.seen('A')) {
if (parser.seen('D')) {
SERIAL_PROTOCOLLNPGM("?Can't activate and deactivate at the same time.\n");
return UBL_ERR;
}
state.active = true;
report_state();
}
else if (code_seen('D')) {
else if (parser.seen('D')) {
state.active = false;
report_state();
}
// Set global 'C' flag and its value
if ((g29_c_flag = code_seen('C')))
g29_constant = code_value_float();
if ((g29_c_flag = parser.seen('C')))
g29_constant = parser.value_float();
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('F') && code_has_value()) {
const float fh = code_value_float();
if (parser.seen('F') && parser.has_value()) {
const float fh = parser.value_float();
if (!WITHIN(fh, 0.0, 100.0)) {
SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n");
return UBL_ERR;
@@ -1154,7 +1146,7 @@
}
#endif
g29_map_type = code_seen('T') && code_has_value() ? code_value_int() : 0;
g29_map_type = parser.seen('T') && parser.has_value() ? parser.value_int() : 0;
if (!WITHIN(g29_map_type, 0, 1)) {
SERIAL_PROTOCOLLNPGM("Invalid map type.\n");
return UBL_ERR;
@@ -1319,13 +1311,13 @@
return;
}
if (!code_has_value()) {
if (!parser.has_value()) {
SERIAL_PROTOCOLLNPGM("?Storage slot # required.");
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
return;
}
g29_storage_slot = code_value_int();
g29_storage_slot = parser.value_int();
if (!WITHIN(g29_storage_slot, 0, a - 1)) {
SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
@@ -1416,7 +1408,7 @@
}
void unified_bed_leveling::fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
if (!code_seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
if (!parser.seen('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
g29_repetition_cnt = 1; // do exactly one mesh location. Otherwise use what the parser decided.
mesh_index_pair location;
@@ -1587,7 +1579,7 @@
const float x = float(x_min) + ix * dx;
for (int8_t iy = 0; iy < g29_grid_size; iy++) {
const float y = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), code_seen('E'), g29_verbose_level); // TODO: Needs error handling
float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_CHAR('(');