592 lines
25 KiB
JavaScript
Executable File
592 lines
25 KiB
JavaScript
Executable File
const net = require("net");
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const { resolve } = require("path");
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const { TelnetSocket } = require("telnet-stream");
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const SenderInterface = require("./SenderInterface");
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module.exports = class TelnetSenderGRBL extends SenderInterface {
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/* urlGRBL: URL für den GCode Empfänger (MicroController, GRBL)
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* xAxisGrbl: Welche Achse soll ausgelesen werden? Welche Achse ist die GRBL-X-Achse
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* yAxisGrbl: ...
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* zAxisGrbl: ...
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*/
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constructor(urlGRBL = "grblesp.local", maxSpeedF = 5000, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z", aAxisGrbl = null, bAxisGrbl = null, cAxisGrbl = null, eAxisGrbl = null, options = {}){
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super();
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this.tSocket = null;
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this.receiver = null;
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this.connectPromise = null;
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this.connectResolver = null;
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this.connectRejecter = null;
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this.state = 'disconnected';
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this.error = null;
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this.urlGRBLstr = urlGRBL;
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this.xAxisGrbl = xAxisGrbl;
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this.yAxisGrbl = yAxisGrbl;
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this.zAxisGrbl = zAxisGrbl;
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this.aAxisGrbl = aAxisGrbl;
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this.bAxisGrbl = bAxisGrbl;
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this.cAxisGrbl = cAxisGrbl;
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this.eAxisGrbl = eAxisGrbl;
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this.maxSpeedF = maxSpeedF; // Speichere für Backward-Kompatibilität
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this.netModule = options.netModule || net;
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this.TelnetSocketClass = options.TelnetSocketClass || TelnetSocket;
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this.setTimeoutFn = options.setTimeoutFn || setTimeout;
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this.clearTimeoutFn = options.clearTimeoutFn || clearTimeout;
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this.setIntervalFn = options.setIntervalFn || setInterval;
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this.clearIntervalFn = options.clearIntervalFn || clearInterval;
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this.reconnectDelay = Number.isFinite(options.reconnectDelay) ? options.reconnectDelay : 1000;
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this.maxReconnectDelay = Number.isFinite(options.maxReconnectDelay) ? options.maxReconnectDelay : 30000;
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// Heartbeat: erkennt tote Verbindungen (z.B. nach NotAus).
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// Sendet alle heartbeatInterval ms '?' an den Controller.
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// Kommt deadTimeout ms lang keine Antwort, gilt die Verbindung als tot.
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this.heartbeatInterval = Number.isFinite(options.heartbeatInterval) ? options.heartbeatInterval : 10000;
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this.deadTimeout = Number.isFinite(options.deadTimeout) ? options.deadTimeout : 20000;
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this._heartbeatTimer = null;
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this._lastDataAt = 0;
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this._rawSocket = null;
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this.reconnectAttempt = 0;
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this.reconnectTimer = null;
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this.shouldReconnect = true;
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this.autoConnect = options.autoConnect !== false;
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this.isTestMode = false;
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if (urlGRBL === "test.test") {
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this.tSocket = { written: "", write(txt){ this.written = txt; } };
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this.isTestMode = true;
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this.state = 'connected';
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this.shouldReconnect = false;
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return;
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}
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if (this.autoConnect) {
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this.connect();
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console.log("🤖 TelnetSenderGRBL initialized: " + urlGRBL);
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}
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}
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async connect() {
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if (this.isTestMode) {
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this.state = 'connected';
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return Promise.resolve(this);
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}
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if (this.state === 'connected' && this.tSocket) {
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return Promise.resolve(this);
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}
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if (this.connectPromise) {
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return this.connectPromise;
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}
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if (this.reconnectTimer) {
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this.clearTimeoutFn(this.reconnectTimer);
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this.reconnectTimer = null;
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}
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this.state = 'connecting';
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this.error = null;
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this.shouldReconnect = true;
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this.connectPromise = new Promise((resolve, reject) => {
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this.connectResolver = resolve;
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this.connectRejecter = reject;
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this.tryConnect();
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});
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return this.connectPromise;
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}
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tryConnect() {
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if (!this.shouldReconnect) {
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return;
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}
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this.state = 'connecting';
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this.error = null;
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const socket = this.netModule.createConnection({ port: 23, host: this.urlGRBLstr });
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socket.on('connect', () => {
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if (!this.shouldReconnect) {
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if (typeof socket.end === 'function') {
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socket.end();
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}
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return;
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}
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this._rawSocket = socket;
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// TCP-Keepalive aktivieren: OS sendet Keepalive-Proben auf Netzwerk-Ebene.
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// Schützt als Fallback, falls der Heartbeat-Timer ausfällt.
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socket.setKeepAlive(true, 2000);
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this.tSocket = new this.TelnetSocketClass(socket);
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this.tSocket.on('close', () => {
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console.log("Telnet Closed " + this.urlGRBLstr);
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this._stopHeartbeat();
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this.tSocket = null;
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this._rawSocket = null;
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if (this.shouldReconnect) {
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this.state = 'reconnecting';
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this.scheduleReconnect();
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} else {
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this.state = 'disconnected';
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}
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});
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// Zeitstempel jeder eingehenden Nachricht festhalten (für Heartbeat-Timeout).
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socket.on('data', () => { this._lastDataAt = Date.now(); });
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this.state = 'connected';
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this.error = null;
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this.reconnectAttempt = 0;
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if (this.connectResolver) {
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this.connectResolver(this);
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this.connectResolver = null;
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this.connectRejecter = null;
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}
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this.connectPromise = null;
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// Heartbeat starten: erkennt NotAus / tote Verbindungen.
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this._startHeartbeat();
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});
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socket.on('error', (error) => {
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console.log("Telnet Connection Error on " + this.urlGRBLstr + ": " + error.toString());
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this.tSocket = null;
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this.error = error.message || String(error);
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this.connectPromise = this.connectPromise || null;
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if (this.shouldReconnect) {
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this.state = 'reconnecting';
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this.scheduleReconnect();
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} else {
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this.state = 'disconnected';
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if (this.connectRejecter) {
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this.connectRejecter(error);
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this.connectResolver = null;
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this.connectRejecter = null;
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this.connectPromise = null;
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}
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}
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});
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}
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scheduleReconnect() {
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if (!this.shouldReconnect || this.reconnectTimer) {
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return;
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}
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const delay = Math.min(this.reconnectDelay * 2 ** this.reconnectAttempt, this.maxReconnectDelay);
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this.reconnectAttempt += 1;
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console.log(`Telnet reconnect attempt ${this.reconnectAttempt} in ${delay}ms for ${this.urlGRBLstr}`);
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this.reconnectTimer = this.setTimeoutFn(() => {
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this.reconnectTimer = null;
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this.tryConnect();
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}, delay);
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}
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/**
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* Startet den Heartbeat-Timer.
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*
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* Sendet alle `heartbeatInterval` ms den FluidNC-Realtime-Command '?' und
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* prüft, ob seit `deadTimeout` ms keine Daten mehr empfangen wurden.
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* Bleibt die Antwort aus (z.B. nach NotAus), wird der Socket zerstört —
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* der bestehende 'close'-Handler leitet danach den Reconnect ein.
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* @private
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*/
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_startHeartbeat() {
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this._stopHeartbeat();
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this._lastDataAt = Date.now();
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this._heartbeatTimer = this.setIntervalFn(() => {
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if (!this.tSocket) {
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this._stopHeartbeat();
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return;
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}
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const silent = Date.now() - this._lastDataAt;
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if (silent >= this.deadTimeout) {
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console.log(
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`[TelnetSenderGRBL] ${this.urlGRBLstr}: ` +
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`keine Daten seit ${silent}ms (deadTimeout=${this.deadTimeout}ms) — ` +
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`Verbindung wird als tot eingestuft und beendet`
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);
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this._stopHeartbeat();
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// rawSocket.destroy() löst 'close' auf tSocket aus → bestehende Reconnect-Logik
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if (this._rawSocket) this._rawSocket.destroy();
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return;
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}
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// Leichtgewichtiger Probe: FluidNC antwortet mit <Idle|…> oder <Run|…>
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try { this.tSocket.write('?'); } catch { /* Fehler kommt über 'error'-Event */ }
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}, this.heartbeatInterval);
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}
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/**
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* Stoppt den Heartbeat-Timer.
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* @private
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*/
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_stopHeartbeat() {
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if (this._heartbeatTimer) {
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this.clearIntervalFn(this._heartbeatTimer);
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this._heartbeatTimer = null;
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}
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}
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send(command) {
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if (!this.tSocket || typeof this.tSocket.write !== 'function') {
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return false;
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}
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const payload = typeof command === 'string' ? command : String(command);
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if (!payload || payload.length === 0) {
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return false;
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}
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this.tSocket.write(payload + "\r\n");
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return true;
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}
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getStatus() {
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return {
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state: this.state,
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url: this.urlGRBLstr,
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error: this.error,
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isTestMode: !!this.isTestMode,
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reconnectAttempt: this.reconnectAttempt,
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reconnectTimer: !!this.reconnectTimer
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};
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}
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disconnect() {
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this._stopHeartbeat();
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if (this.isTestMode) {
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this.tSocket = null;
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this._rawSocket = null;
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this.state = 'disconnected';
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this.shouldReconnect = false;
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if (this.reconnectTimer) {
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this.clearTimeoutFn(this.reconnectTimer);
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this.reconnectTimer = null;
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}
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return;
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}
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this.shouldReconnect = false;
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if (this.reconnectTimer) {
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this.clearTimeoutFn(this.reconnectTimer);
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this.reconnectTimer = null;
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}
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if (this.connectPromise && this.connectRejecter) {
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this.connectRejecter(new Error('disconnect'));
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this.connectPromise = null;
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this.connectResolver = null;
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this.connectRejecter = null;
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}
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if (this.tSocket && typeof this.tSocket.end === 'function') {
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this.tSocket.end();
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}
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if (this.tSocket && typeof this.tSocket.destroy === 'function') {
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this.tSocket.destroy();
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}
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this.tSocket = null;
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this.state = 'disconnected';
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this.connectPromise = null;
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this.error = null;
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}
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moveTo(mOld, mNew){
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this.execCommand("G1", mOld, mNew)
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}
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/**
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* Liefert den Wert, der an einen GRBL-Port gesendet wird, wenn dieser auf eine
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* Roboter-Achse abgebildet ist — als reine Funktion der Positions-/Geschwindigkeits-
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* Quelle `pos` ({x,y,z,a,b,c,e}). Dieselben Formeln wie der Sende-Pfad, aber isoliert
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* und testbar. Wird für die koordinierte Feedrate (ToDo_6a) verwendet.
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* @returns {number|null}
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*/
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portValue(grblPort, robotAxis, pos) {
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if (!robotAxis || !pos) return null;
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const D = 180 / Math.PI;
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const factorTurnLift = 1.2;
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const handOpenInMM = 1.0;
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const { x, y, z, a, b, c, e } = pos;
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switch (grblPort) {
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case 'x':
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switch (robotAxis) {
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case 'x': return x;
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case 'y': return y * D;
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case 'z': return (z - y) * D;
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case 'a': return a * D;
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case 'b': return (b + z - y) * D;
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case 'c': return (-b + c) * D;
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case 'e': return -1.0 * (-1.0 * (b * D * factorTurnLift) + c * D) + e * handOpenInMM;
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}
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break;
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case 'y':
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switch (robotAxis) {
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case 'x': return x;
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case 'y': return y * D;
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case 'z': return (z - y) * D;
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case 'a': return a * D;
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case 'b': return (b + z - y) * D;
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case 'c': return -1.0 * (b * D * factorTurnLift) + c * D;
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case 'e': return e * D;
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}
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break;
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case 'z':
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switch (robotAxis) {
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case 'x': return x;
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case 'y': return y * D;
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case 'z': return (z - y) * D;
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case 'a': return a * D;
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case 'b': return b * D;
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case 'c': return (c + b + z - y) * D;
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case 'e': return e * D;
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}
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break;
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case 'a':
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switch (robotAxis) {
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case 'x': return y * D; // Quirk: a-Port auf robotAxis 'x' nutzt y (wie im Sende-Pfad)
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case 'y': return y * D;
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case 'z': return (z - y) * D;
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case 'a': return a * D;
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case 'b': return (b + z - y) * D;
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case 'c': return (c + b + z - y) * D;
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case 'e': return e * D;
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}
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break;
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case 'b':
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switch (robotAxis) {
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case 'x': return x;
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case 'y': return y * D;
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case 'z': return (z - y) * D;
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case 'a': return a * D;
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case 'b': return b * D;
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case 'c': return (c + b + z - y) * D;
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case 'e': return e * D;
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}
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break;
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}
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return null;
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}
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/**
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* Koordinierte Feedrate für diesen Sender (Korrekt-Modus): die euklidische Strecke,
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* die dieser Sender in diesem Schritt zurücklegt, geteilt durch die Bewegungszeit.
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* So beenden alle Controller den Schritt gleichzeitig.
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* @returns {number|null} Feedrate oder null, wenn nicht bestimmbar (→ Legacy-Fallback)
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*/
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computeCoordinatedFeedrate(mOld, mNew) {
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const moveTime = mNew && Number.isFinite(mNew.moveTime) ? mNew.moveTime : 0;
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if (!(moveTime > 0) || !mOld) return null;
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const ports = [
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['x', this.xAxisGrbl],
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['y', this.yAxisGrbl],
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['z', this.zAxisGrbl],
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['a', this.aAxisGrbl],
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['b', this.bAxisGrbl],
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];
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let sumSq = 0;
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let any = false;
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for (const [port, robotAxis] of ports) {
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if (!robotAxis) continue;
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const vNew = this.portValue(port, robotAxis, mNew);
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const vOld = this.portValue(port, robotAxis, mOld);
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if (!Number.isFinite(vNew) || !Number.isFinite(vOld)) continue;
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const d = vNew - vOld;
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sumSq += d * d;
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any = true;
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}
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if (!any) return null;
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const dist = Math.sqrt(sumSq);
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if (!(dist > 0)) return null;
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return dist / moveTime;
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}
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execCommand(strCommand = "G1", mOld, mNew ){
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// The Hand-Turn is not 1:1 to the Hand-Lift °
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var factorTurnLift = 1.2;
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// The Hand-Open is not 1:1 to the Hand-Turn
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var factorOpenTurn = 1.92;
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// Hand-Open in mm
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var handOpenInMM = 1.0
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var data = strCommand.toString("utf-8");
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if(this.xAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
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data += " x" + (mNew.x).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
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data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
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data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
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// This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
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data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
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data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
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// Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
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data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.b) && Number.isFinite(mNew.c) && Number.isFinite(mNew.e)){
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//This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
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var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
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var handTurn = mNew.c*180/Math.PI ;
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data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
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data += " y" + (mNew.x ).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
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data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
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data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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|
if(this.yAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
|
|
data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.yAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
|
|
}
|
|
if(this.yAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
|
|
// This is the case if the hand-rotation-turner is connected to the FluidNC-Y
|
|
var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
|
|
var handTurn = ( mNew.c*180/Math.PI ) ;
|
|
data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
|
|
}
|
|
if(this.yAxisGrbl == "e" && (mNew.eMotorChanged) && Number.isFinite(mNew.e)){
|
|
data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
|
|
|
|
if(this.zAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
|
|
data += " z" + (mNew.x).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
|
|
data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " z" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
|
|
data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b)){
|
|
// This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
|
|
data += " z" + ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
|
|
}
|
|
if(this.zAxisGrbl == "e" && (mNew.eMotorChanged) && Number.isFinite(mNew.e)){
|
|
|
|
data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
|
|
|
|
|
|
if(this.aAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.y)){
|
|
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
|
|
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " a" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
|
|
data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " a" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
|
|
}
|
|
if(this.aAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.e)){
|
|
// ToDo Mai 2024
|
|
data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
|
|
if(this.bAxisGrbl == "x" && mNew.xMotorChanged && Number.isFinite(mNew.x)){
|
|
data += " b" + (mNew.x).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "y" && mNew.yMotorChanged && Number.isFinite(mNew.y)){
|
|
data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "z" && mNew.zMotorChanged && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " b" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "a" && mNew.aMotorChanged && Number.isFinite(mNew.a)){
|
|
data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "b" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.b)){
|
|
data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "c" && (mNew.bMotorChanged || mNew.cMotorChanged || mNew.zMotorChanged) && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
|
|
data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
|
|
}
|
|
if(this.bAxisGrbl == "e" && mNew.eMotorChanged && Number.isFinite(mNew.e)){
|
|
data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
|
|
}
|
|
|
|
if(this.tSocket && data.length > 3){
|
|
|
|
if(strCommand == "G1" && mNew){
|
|
const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ?
|
|
Number(process.env.ROBOT_DEFAULT_FEEDRATE) : this.maxSpeedF;
|
|
|
|
let feedrate;
|
|
if (mNew.speedMode === 'correct') {
|
|
// Korrekt-Modus: koordinierte Feedrate; Fallback auf Legacy-Wert,
|
|
// wenn (noch) nicht bestimmbar (z. B. erster Schritt ohne moveTime).
|
|
const coordinated = this.computeCoordinatedFeedrate(mOld, mNew);
|
|
feedrate = (coordinated != null && Number.isFinite(coordinated) && coordinated > 0)
|
|
? coordinated
|
|
: (mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE);
|
|
} else {
|
|
// Legacy-Pfad — unverändert: kartesische Feedrate an alle Achsen
|
|
feedrate = mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE;
|
|
}
|
|
data += " f"+(feedrate.toFixed(2).toString())
|
|
}
|
|
|
|
if(data.indexOf("G90") == -1 && data.indexOf("G1 ") !== -1){
|
|
data = "G90 " + data;
|
|
}
|
|
|
|
console.log("Driver send to 🤖 " + this.urlGRBLstr + " the message: " + data)
|
|
|
|
|
|
this.tSocket.write( data + "\r\n");
|
|
}
|
|
}
|
|
} |