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2e521c510fb751bde1daeabbe2a2133c66dc4f7e
appRobotDriver/robot/GCode.js
chk 2e521c510f ToDo_1 erledigt
2026-06-08 15:16:53 +02:00

277 lines
13 KiB
JavaScript
Executable File
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/***
* Receives GCode, processes it and moves the Data to the Roboter-Class
*/
const fs = require('fs');
const GCodeParser = require('./GCodeParser');
class GCode{
static fileName = "GCodeFiles/log.gcode";
static containsMCode(s){
return s.indexOf('M1') == 0
}
static receiveMCode(robot, m){
m = m.split(" ");
if(m[0] == "M1"){
m.forEach((s) => {
if(s.toUpperCase().includes("X")){ robot.xMotor += Number(s.substring(1, s.length));}
if(s.toUpperCase().includes("Y")){ robot.alpha += Number(s.substring(1, s.length));}
if(s.toUpperCase().includes("Z")){ robot.beta += Number(s.substring(1, s.length));}
})
}
console.log("Empfangene Motor-Position (" + robot.xMotor.toPrecision(3)+ ", "+ robot.alpha.toPrecision(3)+ ", "+ robot.beta.toPrecision(3)+ ", "+ robot.a.toPrecision(5) + ", "+ robot.b.toPrecision(5)+ ", "+ robot.c.toPrecision(5)+ ") ");
robot.sendCommand();
}
static containsCommand(s){
if(s.indexOf('M1 ') !== -1){return true;} // M1-Commands = G1-Command only for Motor-Coordinates
if(s.indexOf('G') !== 0){return false;}
if(s.indexOf('G90') == 0){return true;}
if(s.indexOf('G91') == 0){return true;}
if(s.indexOf('G92') == 0){return true;} // G92 - Set Position
if(s.indexOf('G28') !== -1){return true;}
if(s.indexOf('G1 ') !== -1){return true;}
return false;
}
static getM114(robot){
let text = '{"position":{ "x":'+robot.x+
', "y":'+robot.y+
', "z":'+robot.z+
', "a":' +robot.phi +
', "b":' +robot.theta +
', "c":' +robot.psi + '},' +
'"motorCounts":{ "x":'+ robot.xMotor +
', "y":'+ robot.alpha +
', "z":'+ robot.beta +
', "a":'+ robot.a +
', "b":'+ robot.b +
', "c":'+ robot.c +
', "e":'+ 0.0 +
'}}';
return text;
}
static toPiMultiple(gCode){
if(gCode == undefined){return gCode;}
var multipleParameters = gCode.split(" ");
var newGString = "";
multipleParameters.forEach((paramet) => {
if(paramet == undefined || !paramet || paramet.length === 0 || paramet == " " || paramet ==""){
}
else if(['A', 'a', 'B', 'b', 'C', 'c','E','e'].includes(paramet.charAt(0)) )
{
var numberParameter = Number(paramet.substring(1, paramet.length))
newGString += " " + paramet[0] + String(numberParameter*Math.PI/180)
}
else{
newGString += " " + paramet;
}
});
return newGString.trim();
};
static receiveGCode(robot, g){
const commands = GCodeParser.parse(g);
if (!commands.length) return;
commands.forEach(parsed => {
if (!parsed || !parsed.command) {
return;
}
const cmd = parsed.command;
const params = parsed.params || {};
if (cmd === 'G90') {
robot.moveRelative = false;
return;
}
if (cmd === 'G91') {
robot.moveRelative = true;
return;
}
if (cmd === 'G28') {
robot.x = 0;
robot.y = robot.l1 + robot.l2 + robot.l3;
robot.z = 0;
robot.phi = -Math.PI / 2;
robot.theta = Math.PI / 2;
robot.psi = 0;
robot.e = 0;
return;
}
if (cmd === 'G1') {
if (robot.moveRelative) {
if (Number.isFinite(params.X)) { robot.x += params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.y += params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.z += params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.phi += params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.theta += params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.psi += params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
} else {
if (Number.isFinite(params.X)) { robot.x = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.y = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.z = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.phi = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.theta = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.psi = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
}
robot.calculateAngles3D();
robot.sendCommand();
return;
}
if (cmd === 'M1') {
if (robot.moveRelative) {
if (Number.isFinite(params.X)) { robot.xMotor += params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha += params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta += params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a += params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b += params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c += params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
} else {
if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
}
robot.calculatePositionFromMotorAngles();
robot.sendCommand();
return;
}
if (cmd === 'M92') {
robot.createMotorPosition();
if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
robot.calculatePositionFromMotorAngles();
robot.sendCommand('G92');
return;
}
});
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
// Commands for Files
static removeStringFromFile(fileName, stringToRemove) {
try {
const data = fs.readFileSync(fileName, 'utf8');
const modifiedData = data.replace(new RegExp(stringToRemove, 'g'), '');
fs.writeFileSync(fileName, modifiedData, 'utf8');
} catch (err) {
console.error('Error:', err);
}
}
static ContainsFilesCommand(message){
if(message.indexOf('FPoint') !== -1){return true;} // Writes new Point (at end of file)
if(message.indexOf('FPlus') !== -1){return true;} // go to Next Position in Log File
if(message.indexOf('FMinus') !== -1){return true;} // go to Previous Position
if(message.indexOf('FFirst') !== -1){return true;} // set Cursour to First Position of Log File
if(message.indexOf('FLast') !== -1){return true;} // set Cursour to Last Position of Log File
if(message.indexOf('FShow') !== -1){return true;} // Shows/Sends GCode-File
if(message.indexOf('FList') !== -1){return true;} // Lists GCode-Files
if(message.indexOf('FLoad ') !== -1){return true;} // Loads File into Log
if(message.indexOf('FSave ') !== -1){return true;} // Saves Log to GCode-File
if(message.indexOf('FClear') !== -1){return true;} // Clears default Log File
if(message.indexOf('M20') !== -1){return true;} // M20 - List SD Card-Contents // https://marlinfw.org/docs/gcode/M020.html
if(message.indexOf('M23') !== -1){return true;} // M23 - Select SD file
if(message.indexOf('M28') !== -1){return true;} // M28 - Start SD write // M28 [B1] filename
if(message.indexOf('M29') !== -1){return true;} // M29 - Stop SD write
return false;
}
static receiveFC(robot, message){
if(message.indexOf('FShow') !== -1){
try {
const data = fs.readFileSync(this.fileName, 'utf8');
const reply = "XYZ__FShow__XYZ" + data; // prepend header
return reply.replaceAll("G91 ","").replaceAll("G90 ","").replace(/\s?\bt\d+\b\s?/g, '').trim();
} catch (err) {
console.error('Error:', err);
}
}
if(message.indexOf('FPoint') !== -1){
const secondsSinceEpoch = 10*Math.floor(Date.now() / 100);
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` )
this.removeStringFromFile(this.fileName, ';!')
fs.appendFileSync(this.fileName, strGCode+ ';!'+ '\r\n', 'utf8');
}
if(message.indexOf('FMinus') !== -1 || message.indexOf('FPlus') !== -1){
let lines = fs.readFileSync(this.fileName, 'utf8').split('\r\n');
let lineChange = -1;
// Process lines
for (let i = 0; i < lines.length; i++) {
if (lines[i].indexOf(';!') !== -1) {
if(message.indexOf('FMinus') !== -1 && i > 0){
lines[i - 1] += ';!';
lines[i] = lines[i].split(';!')[0];
var gCodePi = this.toPiMultiple(lines[i-1]);
this.receiveGCode(robot, gCodePi);
}
if(message.indexOf('FPlus') !== -1 && i < (lines.length-2) && lineChange == -1){
lines[i + 1] += ';!';
lines[i] = lines[i].split(';!')[0];
lineChange = i+1;
var gCodePi = this.toPiMultiple(lines[i+1]);
this.receiveGCode(robot, gCodePi);
}
}
}
// Write the updated content back
fs.writeFileSync(this.fileName, lines.join('\r\n'), 'utf8');
}
return GCode.getM114(robot);
}
}
module.exports = GCode
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