Jordan Ford / Mbed 2 deprecated gCodeParser

Read GCODE from a laptop and parse it into usable structures.

Dependencies:   MODSERIAL mbed

Dependents:   DrawBot

Fork of gCodeParser by Alejandro Jimenez

gparser.cpp@1:7818b02dde4b, 2014-04-29 (annotated)

Committer:
jford38
Date:
Tue Apr 29 21:51:12 2014 +0000
Revision:
1:7818b02dde4b
Parent:
0:fa0891ea897b 
Before I fuck it all up. Doesn't really work. Only get zeros for args.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ajb88 0:fa0891ea897b 1 /*
ajb88 0:fa0891ea897b 2 * mbed GCode parsing Library
ajb88 0:fa0891ea897b 3 *
ajb88 0:fa0891ea897b 4 */
ajb88 0:fa0891ea897b 5 #include "gparser.h"
ajb88 0:fa0891ea897b 6 #include "mbed.h"
ajb88 0:fa0891ea897b 7 #include "MODSERIAL.h"
jford38 1:7818b02dde4b 8 #include "uLCD_4DGL.h"
ajb88 0:fa0891ea897b 9 #include <ctype.h>
ajb88 0:fa0891ea897b 10
ajb88 0:fa0891ea897b 11 #define FEEDME 10
ajb88 0:fa0891ea897b 12 #define END_OF_TRANSMISSION 23
ajb88 0:fa0891ea897b 13 extern MODSERIAL gpc;
jford38 1:7818b02dde4b 14 //uLCD_4DGL uLCD(p9, p10, p11);
ajb88 0:fa0891ea897b 15
ajb88 0:fa0891ea897b 16 /************VARS*******************************/
ajb88 0:fa0891ea897b 17 DigitalOut led1(LED1);
ajb88 0:fa0891ea897b 18 DigitalOut led2(LED2);
ajb88 0:fa0891ea897b 19 DigitalOut led3(LED3);
ajb88 0:fa0891ea897b 20 DigitalOut led4(LED4);
ajb88 0:fa0891ea897b 21
ajb88 0:fa0891ea897b 22 G_cmd gcmd_list[CMD_LIST_SIZE]; // buffer to be filled with commands, main program retrieves commands from here
jford38 1:7818b02dde4b 23 //extern G_cmd* gcmd_list;
ajb88 0:fa0891ea897b 24
ajb88 0:fa0891ea897b 25 // buffer used to transfer the serial buffer contents and parse them into cmd structure
ajb88 0:fa0891ea897b 26 char rx_buff[CMD_BUFFER_SIZE];
ajb88 0:fa0891ea897b 27
ajb88 0:fa0891ea897b 28 volatile bool received; // indicates when a new cmd is available in the serial buffer
ajb88 0:fa0891ea897b 29 bool endTransmission; // indicates that all the commands have been sent from the pc
ajb88 0:fa0891ea897b 30
ajb88 0:fa0891ea897b 31 int list_position; // counter to index the array of command structures
ajb88 0:fa0891ea897b 32
ajb88 0:fa0891ea897b 33
ajb88 0:fa0891ea897b 34 /* This initializes the serial port params to match the PC application
ajb88 0:fa0891ea897b 35 * the interrupt handlers are also initialized here
ajb88 0:fa0891ea897b 36 */
ajb88 0:fa0891ea897b 37 void parserInit()
ajb88 0:fa0891ea897b 38 {
ajb88 0:fa0891ea897b 39 list_position = 0;
ajb88 0:fa0891ea897b 40 received = false;
ajb88 0:fa0891ea897b 41 endTransmission = false;
ajb88 0:fa0891ea897b 42 gpc.baud(921600);
ajb88 0:fa0891ea897b 43 gpc.autoDetectChar('\0'); //<--to catch the null terminator at the end
ajb88 0:fa0891ea897b 44 gpc.attach(&cmd_Received, MODSERIAL::RxAutoDetect); // declares callback for when cmd is ready
ajb88 0:fa0891ea897b 45 gpc.rxBufferFlush(); // flush the buffer just in case
ajb88 0:fa0891ea897b 46 }
ajb88 0:fa0891ea897b 47
ajb88 0:fa0891ea897b 48 /* Parses the received messages into a G_cmd structure
ajb88 0:fa0891ea897b 49 * it waits for the serial buffer to contain an entire command,
ajb88 0:fa0891ea897b 50 * parses the gcode and sends the FEEDME command
ajb88 0:fa0891ea897b 51 * to the pc to request another gcode line
ajb88 0:fa0891ea897b 52 * returns a pointer to the allocated list of commands.
ajb88 0:fa0891ea897b 53 */
jford38 1:7818b02dde4b 54 int fillInCmdList()
ajb88 0:fa0891ea897b 55 {
ajb88 0:fa0891ea897b 56 // end_flag_received should be detected in parseGcode()
ajb88 0:fa0891ea897b 57 while(endTransmission == false) {
ajb88 0:fa0891ea897b 58 // Light up LED1 to indicate the mbed is ready to receive Serial commands
ajb88 0:fa0891ea897b 59 led1 = 1;
ajb88 0:fa0891ea897b 60 if(received == true) { //if the buffer has received the null terminator
ajb88 0:fa0891ea897b 61
ajb88 0:fa0891ea897b 62 // Signal that we are now parsing by lighting LED2
ajb88 0:fa0891ea897b 63 //led1 = 0;
ajb88 0:fa0891ea897b 64 led2 = 1;
ajb88 0:fa0891ea897b 65 parseGcode();
ajb88 0:fa0891ea897b 66 gpc.rxBufferFlush(); // flushing the buffer just in case
ajb88 0:fa0891ea897b 67 received = false;
ajb88 0:fa0891ea897b 68 gpc.putc(FEEDME); // requesting next command from the pc
ajb88 0:fa0891ea897b 69 led2 = 0; // parsing stage is over
ajb88 0:fa0891ea897b 70 }
ajb88 0:fa0891ea897b 71 }
jford38 1:7818b02dde4b 72 /*
ajb88 0:fa0891ea897b 73 uLCD.printf("Commands copied %d\n", list_position);
jford38 1:7818b02dde4b 74 for(int i = 0; i < list_position; i++) {
jford38 1:7818b02dde4b 75 uLCD.printf("G:%d X:%.2f Y:%.2f Z:%.2f I:%.2f J:%.2f F:%.2f\r\n", gcmd_list[i].G, gcmd_list[i].X, gcmd_list[i].Y, gcmd_list[i].Z, gcmd_list[i].I, gcmd_list[i].J, gcmd_list[i].F);
jford38 1:7818b02dde4b 76 wait(10);
jford38 1:7818b02dde4b 77 uLCD.cls();
ajb88 0:fa0891ea897b 78 }
jford38 1:7818b02dde4b 79 */
ajb88 0:fa0891ea897b 80 led1 = 1;
ajb88 0:fa0891ea897b 81 wait(0.5);
ajb88 0:fa0891ea897b 82 led1 = 0;
ajb88 0:fa0891ea897b 83 led2 = 1;
ajb88 0:fa0891ea897b 84 wait(0.5);
ajb88 0:fa0891ea897b 85 led2 = 0;
ajb88 0:fa0891ea897b 86 led3 = 1;
ajb88 0:fa0891ea897b 87 wait(0.5);
ajb88 0:fa0891ea897b 88 led3 = 0;
ajb88 0:fa0891ea897b 89 led1 = 1;
ajb88 0:fa0891ea897b 90 wait(0.5);
ajb88 0:fa0891ea897b 91 led3 = 1;
ajb88 0:fa0891ea897b 92 led2 = 1;
jford38 1:7818b02dde4b 93 return (list_position);
ajb88 0:fa0891ea897b 94 }
ajb88 0:fa0891ea897b 95
ajb88 0:fa0891ea897b 96 //interrupt routine called when the null terminator is received
ajb88 0:fa0891ea897b 97 void cmd_Received(MODSERIAL_IRQ_INFO *q)
ajb88 0:fa0891ea897b 98 {
ajb88 0:fa0891ea897b 99 MODSERIAL *sys = q->serial;
ajb88 0:fa0891ea897b 100 sys->move(rx_buff, CMD_BUFFER_SIZE);;
ajb88 0:fa0891ea897b 101 received = true;
ajb88 0:fa0891ea897b 102 }
ajb88 0:fa0891ea897b 103 //TODO: Detect the connection finish characters and set a flag so fillInCmdBuff can return
ajb88 0:fa0891ea897b 104 // Parses the received message and populates the structure
ajb88 0:fa0891ea897b 105 void parseGcode()
ajb88 0:fa0891ea897b 106 {
ajb88 0:fa0891ea897b 107 // checking for the termination of connection
ajb88 0:fa0891ea897b 108 if(rx_buff[0] == END_OF_TRANSMISSION) {
ajb88 0:fa0891ea897b 109 led4 = 1; //received end of transmission from pc
ajb88 0:fa0891ea897b 110 endTransmission = true;
ajb88 0:fa0891ea897b 111 return;
ajb88 0:fa0891ea897b 112 }
ajb88 0:fa0891ea897b 113
ajb88 0:fa0891ea897b 114 // in case there are leading spaces
ajb88 0:fa0891ea897b 115 char* cmdP = strtok(rx_buff, " G");
ajb88 0:fa0891ea897b 116
ajb88 0:fa0891ea897b 117 char coord_label[2];
ajb88 0:fa0891ea897b 118
ajb88 0:fa0891ea897b 119 //int g = atoi(cmdP);
ajb88 0:fa0891ea897b 120
ajb88 0:fa0891ea897b 121 //uLCD.printf("list pos is: %d\n", list_position);
ajb88 0:fa0891ea897b 122
ajb88 0:fa0891ea897b 123 //fill out the command number field
ajb88 0:fa0891ea897b 124 gcmd_list[list_position].G = atoi(cmdP);
jford38 1:7818b02dde4b 125 gcmd_list[list_position].X = -1;
jford38 1:7818b02dde4b 126 gcmd_list[list_position].Y = -1;
jford38 1:7818b02dde4b 127 gcmd_list[list_position].Z = -1;
jford38 1:7818b02dde4b 128 gcmd_list[list_position].F = -1;
jford38 1:7818b02dde4b 129 gcmd_list[list_position].I = -1;
jford38 1:7818b02dde4b 130 gcmd_list[list_position].J = -1;
ajb88 0:fa0891ea897b 131
ajb88 0:fa0891ea897b 132 //uLCD.printf("%d: ", gcmd_list[list_position].G);
ajb88 0:fa0891ea897b 133
ajb88 0:fa0891ea897b 134 // Looping to get the arguments
ajb88 0:fa0891ea897b 135 while (cmdP != NULL) {
ajb88 0:fa0891ea897b 136 // Retrieve the next Label
ajb88 0:fa0891ea897b 137 cmdP = strtok (NULL, " G");
ajb88 0:fa0891ea897b 138 // cmdP should be pointing to a letter now
ajb88 0:fa0891ea897b 139 //uLCD.printf("Coord: %s.\n", cmdP);
ajb88 0:fa0891ea897b 140 coord_label[0] = cmdP[0];
ajb88 0:fa0891ea897b 141 coord_label[1] = cmdP[1];
ajb88 0:fa0891ea897b 142
ajb88 0:fa0891ea897b 143 // retrieve the number after the letter
ajb88 0:fa0891ea897b 144 cmdP = strtok (NULL, " G");
ajb88 0:fa0891ea897b 145
ajb88 0:fa0891ea897b 146 // now print the number
ajb88 0:fa0891ea897b 147 //uLCD.printf("%s ", cmdP);
jford38 1:7818b02dde4b 148 /*
jford38 1:7818b02dde4b 149 gcmd_list[list_position].X = -1;
jford38 1:7818b02dde4b 150 gcmd_list[list_position].Y = -1;
jford38 1:7818b02dde4b 151 gcmd_list[list_position].Z = -2;
jford38 1:7818b02dde4b 152 gcmd_list[list_position].F = -1;
jford38 1:7818b02dde4b 153 gcmd_list[list_position].I = -1;
jford38 1:7818b02dde4b 154 gcmd_list[list_position].J = -1;
jford38 1:7818b02dde4b 155 */
ajb88 0:fa0891ea897b 156 switch(coord_label[0]) {
ajb88 0:fa0891ea897b 157 case 'X':
ajb88 0:fa0891ea897b 158 gcmd_list[list_position].X = atof(cmdP);
ajb88 0:fa0891ea897b 159 break;
ajb88 0:fa0891ea897b 160 case 'Y':
ajb88 0:fa0891ea897b 161 gcmd_list[list_position].Y = atof(cmdP);
ajb88 0:fa0891ea897b 162 break;
ajb88 0:fa0891ea897b 163 case 'Z':
ajb88 0:fa0891ea897b 164 gcmd_list[list_position].Z = atof(cmdP);
ajb88 0:fa0891ea897b 165 break;
ajb88 0:fa0891ea897b 166 case 'F':
ajb88 0:fa0891ea897b 167 gcmd_list[list_position].F = atof(cmdP);
ajb88 0:fa0891ea897b 168 break;
ajb88 0:fa0891ea897b 169 case 'I':
ajb88 0:fa0891ea897b 170 gcmd_list[list_position].I = atof(cmdP);
ajb88 0:fa0891ea897b 171 break;
ajb88 0:fa0891ea897b 172 case 'J':
ajb88 0:fa0891ea897b 173 gcmd_list[list_position].J = atof(cmdP);
ajb88 0:fa0891ea897b 174 break;
ajb88 0:fa0891ea897b 175 default:
jford38 1:7818b02dde4b 176
ajb88 0:fa0891ea897b 177 break;
ajb88 0:fa0891ea897b 178 }// switch
ajb88 0:fa0891ea897b 179 } // while
ajb88 0:fa0891ea897b 180 list_position++;
ajb88 0:fa0891ea897b 181 }