Fileservice
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chk
93
robot/FCodeClient.js
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93
robot/FCodeClient.js
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// robot/FCodeClient.js
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// Translates FCode messages (FPoint, FPlus, FList, …) into REST calls to appRobotFileservice.
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// The Driver is the only gateway — controllers never contact the fileservice directly.
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function _baseUrl() {
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return process.env.FILESERVICE_URL || 'http://appRobot_Fileservice:2100';
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}
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/** Returns true when the message is an FCode (F + uppercase letter + lowercase, at start). */
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function isFCode(message) {
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return /^F[A-Z][a-z]+/.test(String(message).trim());
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}
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/**
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* Dispatch an FCode message to the appropriate fileservice endpoint.
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* @param {object} robot Current robot state (x,y,z,phi,theta,psi,e,feedrate).
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* @param {string} message Raw FCode string, e.g. "FPoint", "FPlus", "FLoad demo".
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* @returns {Promise<{type: string, data?: string, line?: string}>}
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* type 'step' → line (driver-native GCode, Radian) ready to execute
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* type 'list'|'show'|'point'|'ok' → data (JSON string) to broadcast
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*/
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async function handle(robot, message) {
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const msg = String(message).trim();
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if (msg.startsWith('FList')) {
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const data = await _req('GET', '/api/programs');
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return { type: 'list', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FShow')) {
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const id = msg.slice('FShow'.length).trim();
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const data = id
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? await _req('GET', `/api/programs/${encodeURIComponent(id)}`)
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: await _req('GET', '/api/active');
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return { type: 'show', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FLoad')) {
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const id = msg.slice('FLoad'.length).trim();
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const data = await _req('PUT', '/api/active', { id });
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return { type: 'ok', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FSave')) {
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const name = msg.slice('FSave'.length).trim() || 'unnamed';
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const data = await _req('POST', '/api/programs', { name, fromActive: true });
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return { type: 'ok', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FClear')) {
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const data = await _req('POST', '/api/active/clear');
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return { type: 'ok', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FPoint')) {
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// Driver attaches the current pose (Radian) — fileservice converts to degrees for storage.
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const pose = {
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x: robot.x, y: robot.y, z: robot.z,
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a: robot.phi, b: robot.theta, c: robot.psi, e: robot.e,
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};
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const feedrate = robot.feedrate || 1000;
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const data = await _req('POST', '/api/active/points', { pose, feedrate });
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return { type: 'point', data: JSON.stringify(data) };
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}
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if (msg.startsWith('FPlus')) { const d = await _req('POST', '/api/active/next'); return { type: 'step', line: d.line }; }
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if (msg.startsWith('FMinus')) { const d = await _req('POST', '/api/active/prev'); return { type: 'step', line: d.line }; }
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if (msg.startsWith('FFirst')) { const d = await _req('POST', '/api/active/first'); return { type: 'step', line: d.line }; }
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if (msg.startsWith('FLast')) { const d = await _req('POST', '/api/active/last'); return { type: 'step', line: d.line }; }
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if (msg.startsWith('FGoto')) {
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const index = parseInt(msg.slice('FGoto'.length).trim(), 10);
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const d = await _req('POST', '/api/active/goto', { index });
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return { type: 'step', line: d.line };
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}
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if (msg.startsWith('FPlay')) { const d = await _req('POST', '/api/active/play'); return { type: 'ok', data: JSON.stringify(d) }; }
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if (msg.startsWith('FStop')) { const d = await _req('POST', '/api/active/stop'); return { type: 'ok', data: JSON.stringify(d) }; }
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throw new Error(`Unbekannter FCode: ${msg}`);
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}
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async function _req(method, path, body) {
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const url = `${_baseUrl()}${path}`;
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const opts = { method };
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if (body !== undefined && body !== null) {
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opts.headers = { 'content-type': 'application/json' };
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opts.body = JSON.stringify(body);
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}
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const res = await fetch(url, opts);
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if (!res.ok) {
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const err = await res.json().catch(() => ({}));
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const e = new Error(err.message || res.statusText);
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e.code = err.code;
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e.status = res.status;
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throw e;
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}
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return res.json();
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}
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module.exports = { isFCode, handle };
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@@ -1,14 +1,11 @@
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/***
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* Receives GCode, processes it and moves the Data to the Roboter-Class
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*/
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const fs = require('fs');
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const RobotController = require('./RobotController');
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class GCode{
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static fileName = "GCodeFiles/log.gcode";
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static containsMCode(s){
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return s === 'M1' || s.startsWith('M1 ');
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}
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@@ -55,7 +52,7 @@ class GCode{
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', "a":'+ robot.a +
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', "b":'+ robot.b +
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', "c":'+ robot.c +
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', "e":'+ 0.0 +
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', "e":'+ (robot.e ?? 0) +
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'}}';
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return text;
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}
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@@ -94,95 +91,6 @@ class GCode{
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return RobotController.receive(robot, g);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
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// Commands for Files
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static removeStringFromFile(fileName, stringToRemove) {
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try {
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const data = fs.readFileSync(fileName, 'utf8');
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const modifiedData = data.replace(new RegExp(stringToRemove, 'g'), '');
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fs.writeFileSync(fileName, modifiedData, 'utf8');
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} catch (err) {
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console.error('Error:', err);
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}
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}
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static ContainsFilesCommand(message){
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if(message.indexOf('FPoint') !== -1){return true;} // Writes new Point (at end of file)
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if(message.indexOf('FPlus') !== -1){return true;} // go to Next Position in Log File
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if(message.indexOf('FMinus') !== -1){return true;} // go to Previous Position
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if(message.indexOf('FFirst') !== -1){return true;} // set Cursour to First Position of Log File
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if(message.indexOf('FLast') !== -1){return true;} // set Cursour to Last Position of Log File
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if(message.indexOf('FShow') !== -1){return true;} // Shows/Sends GCode-File
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if(message.indexOf('FList') !== -1){return true;} // Lists GCode-Files
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if(message.indexOf('FLoad ') !== -1){return true;} // Loads File into Log
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if(message.indexOf('FSave ') !== -1){return true;} // Saves Log to GCode-File
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if(message.indexOf('FClear') !== -1){return true;} // Clears default Log File
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if(message.indexOf('M20') !== -1){return true;} // M20 - List SD Card-Contents // https://marlinfw.org/docs/gcode/M020.html
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if(message.indexOf('M23') !== -1){return true;} // M23 - Select SD file
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if(message.indexOf('M28') !== -1){return true;} // M28 - Start SD write // M28 [B1] filename
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if(message.indexOf('M29') !== -1){return true;} // M29 - Stop SD write
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return false;
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}
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static receiveFC(robot, message){
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if(message.indexOf('FShow') !== -1){
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try {
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const data = fs.readFileSync(this.fileName, 'utf8');
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const reply = "XYZ__FShow__XYZ" + data; // prepend header
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return reply.replaceAll("G91 ","").replaceAll("G90 ","").replace(/\s?\bt\d+\b\s?/g, '').trim();
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} catch (err) {
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console.error('Error:', err);
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}
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}
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if(message.indexOf('FPoint') !== -1){
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const secondsSinceEpoch = 10*Math.floor(Date.now() / 100);
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var strGCode = String(`G90 G1 x${robot.x} y${robot.y} z${robot.z} a${(robot.phi*180/Math.PI).toFixed(2)} b${(robot.theta*180/Math.PI).toFixed(2)} c${(robot.psi*180/Math.PI).toFixed(2)} e${(robot.e*180/Math.PI).toFixed(2)} t${secondsSinceEpoch} f1000` )
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this.removeStringFromFile(this.fileName, ';!')
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fs.appendFileSync(this.fileName, strGCode+ ';!'+ '\r\n', 'utf8');
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}
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if(message.indexOf('FMinus') !== -1 || message.indexOf('FPlus') !== -1){
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let lines = fs.readFileSync(this.fileName, 'utf8').split('\r\n');
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let lineChange = -1;
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// Process lines
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for (let i = 0; i < lines.length; i++) {
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if (lines[i].indexOf(';!') !== -1) {
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if(message.indexOf('FMinus') !== -1 && i > 0){
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lines[i - 1] += ';!';
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lines[i] = lines[i].split(';!')[0];
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var gCodePi = this.toPiMultiple(lines[i-1]);
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this.receiveGCode(robot, gCodePi);
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}
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if(message.indexOf('FPlus') !== -1 && i < (lines.length-2) && lineChange == -1){
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lines[i + 1] += ';!';
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lines[i] = lines[i].split(';!')[0];
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lineChange = i+1;
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var gCodePi = this.toPiMultiple(lines[i+1]);
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this.receiveGCode(robot, gCodePi);
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}
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}
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}
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// Write the updated content back
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fs.writeFileSync(this.fileName, lines.join('\r\n'), 'utf8');
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}
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return GCode.getM114(robot);
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}
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}
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module.exports = GCode
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