311 lines
15 KiB
JavaScript
Executable File
311 lines
15 KiB
JavaScript
Executable File
/***
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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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class GCode{
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static fileName = "GCodeFiles/log.gcode";
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static containsMCode(s){
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return s.indexOf('M1') == 0
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}
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static receiveMCode(robot, m){
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m = m.split(" ");
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if(m[0] == "M1"){
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m.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor += Number(s.substring(1, s.length));}
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if(s.toUpperCase().includes("Y")){ robot.alpha += Number(s.substring(1, s.length));}
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if(s.toUpperCase().includes("Z")){ robot.beta += Number(s.substring(1, s.length));}
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})
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}
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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)+ ") ");
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robot.sendCommand();
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}
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static containsCommand(s){
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if(s.indexOf('M1 ') !== -1){return true;} // M1-Commands = G1-Command only for Motor-Coordinates
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if(s.indexOf('G') !== 0){return false;}
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if(s.indexOf('G90') == 0){return true;}
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if(s.indexOf('G91') == 0){return true;}
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if(s.indexOf('G92') == 0){return true;} // G92 - Set Position
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if(s.indexOf('G28') !== -1){return true;}
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if(s.indexOf('G1 ') !== -1){return true;}
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return false;
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}
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static getM114(robot){
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let text = '{"position":{ "x":'+robot.x+
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', "y":'+robot.y+
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', "z":'+robot.z+
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', "a":' +robot.phi +
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', "b":' +robot.theta +
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', "c":' +robot.psi + '},' +
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'"motorCounts":{ "x":'+ robot.xMotor +
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', "y":'+ robot.alpha +
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', "z":'+ robot.beta +
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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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'}}';
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return text;
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}
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static toPiMultiple(gCode){
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if(gCode == undefined){return gCode;}
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var multipleParameters = gCode.split(" ");
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var newGString = "";
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multipleParameters.forEach((paramet) => {
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if(paramet == undefined || !paramet || paramet.length === 0 || paramet == " " || paramet ==""){
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}
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else if(['A', 'a', 'B', 'b', 'C', 'c','E','e'].includes(paramet.charAt(0)) )
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{
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var numberParameter = Number(paramet.substring(1, paramet.length))
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newGString += " " + paramet[0] + String(numberParameter*Math.PI/180)
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}
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else{
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newGString += " " + paramet;
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}
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});
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return newGString.trim();
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};
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static receiveGCode(robot, g){
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if(g == undefined) return;
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if(g.length == 0) return;
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// console.log("🔵 GCode.receiveGCode: Incoming command: " + g); // Moved to InputWS
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g = g.toString("utf8");
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if(g.startsWith("$J=")) {
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// Handle $J= GCode for jogging
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g = g.substring(3).trim(); // Remove "$J=" and trim whitespace
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}
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var multipleCommands = g.split(" G");
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var doProcessRest = false;
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if(multipleCommands.length > 1){
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doProcessRest = true;
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g = multipleCommands[0];
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}
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g = g.split(" ");
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var calculateNew = true;
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var calculateFromMotorCoordinates = false;
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if(g[0] == "G90") {robot.moveRelative = false; calculateNew = false;}
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else if(g[0] == "G91") {robot.moveRelative = true; calculateNew = false;}
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// G28 - Move to Home Position
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else if(g[0] == "G28") {
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robot.x = 0;
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robot.y = robot.l1 + robot.l2 + robot.l3;
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robot.z = 0;
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robot.phi = -Math.PI/2;
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robot.theta = Math.PI/2;
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robot.psi = 0;
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robot.e = 0;
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}
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else if(g[0] == "G1" && robot.moveRelative){
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.x += Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.y += Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.z += Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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// abc in 2Pi-Angles
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if(s.toUpperCase().includes("A")){ robot.phi += Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.theta += Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.psi += Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length));}
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});
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}
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else if(g[0] == "M1" && robot.moveRelative){
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calculateFromMotorCoordinates = true;
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor += Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha += Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta += Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a += Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b += Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c += Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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}
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// Absolute-Positioning
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else if(g[0] == "G1" && !robot.moveRelative){
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.x = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.y = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.z = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.phi = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.theta = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.psi = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length)); }
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});
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}
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else if(g[0] == "M1" && !robot.moveRelative){
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calculateFromMotorCoordinates = true;
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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robot.calculatePositionFromMotorAngles();
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}
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else if(g[0] == "M92"){ // G92 - Set Position --- M92 in Radiant
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robot.createMotorPosition();
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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robot.calculatePositionFromMotorAngles();
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calculateNew = false;
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// ToDo: Send Command to update Position of Robot, because G92 should
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// set the current Position to the given Coordinates without moving the Robot.
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robot.sendCommand("G92");
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}
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if(calculateNew && !calculateFromMotorCoordinates){
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robot.calculateAngles3D();
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robot.sendCommand();
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}
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if(calculateFromMotorCoordinates){
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robot.calculatePositionFromMotorAngles();
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robot.sendCommand();
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}
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// verarbeitet alle weiteren Commands in dieser Zeile.
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if(doProcessRest){
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multipleCommands.forEach((cmd) => {
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if(cmd[0] != "G"){
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this.receiveGCode(robot, "G"+cmd);
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}
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})
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}
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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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