From 5e6145aa19de10aee12a4dcbb0d2375072663c6a Mon Sep 17 00:00:00 2001
From: Michael Adams <michael@michaeladams.org>
Date: Mon, 29 Feb 2016 12:17:29 +1300
Subject: [PATCH] Grbl-specific driver
---
src/com/t_oster/liblasercut/LibInfo.java | 1 +
.../drivers/GenericGcodeDriver.java | 13 +-
src/com/t_oster/liblasercut/drivers/Grbl.java | 170 ++++++++++++++++++
.../t_oster/liblasercut/drivers/Marlin.java | 3 +-
4 files changed, 180 insertions(+), 7 deletions(-)
create mode 100644 src/com/t_oster/liblasercut/drivers/Grbl.java
diff --git a/src/com/t_oster/liblasercut/LibInfo.java b/src/com/t_oster/liblasercut/LibInfo.java
index 1da3a5d..a7c9cf0 100644
--- a/src/com/t_oster/liblasercut/LibInfo.java
+++ b/src/com/t_oster/liblasercut/LibInfo.java
@@ -48,6 +48,7 @@ public class LibInfo
ExportSVG.class,
MakeBlockXYPlotter.class,
GenericGcodeDriver.class,
+ Grbl.class,
SmoothieBoard.class,
Marlin.class
};
diff --git a/src/com/t_oster/liblasercut/drivers/GenericGcodeDriver.java b/src/com/t_oster/liblasercut/drivers/GenericGcodeDriver.java
index 7594ad3..64e3bca 100644
--- a/src/com/t_oster/liblasercut/drivers/GenericGcodeDriver.java
+++ b/src/com/t_oster/liblasercut/drivers/GenericGcodeDriver.java
@@ -245,7 +245,7 @@ public class GenericGcodeDriver extends LaserCutter {
@Override
public String getModelName() {
- return "Generic GRBL GCode Driver";
+ return "Generic GCode Driver";
}
/**
@@ -473,8 +473,8 @@ public class GenericGcodeDriver extends LaserCutter {
}
}
- private BufferedReader in;
- private PrintStream out;
+ protected BufferedReader in;
+ protected PrintStream out;
private Socket socket;
private CommPort port;
private CommPortIdentifier portIdentifier;
@@ -534,10 +534,11 @@ public class GenericGcodeDriver extends LaserCutter {
/**
* Waits for the Identification line and returns null if it's allright
* Otherwise it returns the wrong line
+ * @param pl Progress listener to update during connect process
* @return
* @throws IOException
*/
- protected String waitForIdentificationLine() throws IOException
+ protected String waitForIdentificationLine(ProgressListener pl) throws IOException
{
if (getIdentificationLine() != null && getIdentificationLine().length() > 0)
{
@@ -591,7 +592,7 @@ public class GenericGcodeDriver extends LaserCutter {
Thread.currentThread().interrupt();
}
}
- if (waitForIdentificationLine() != null)
+ if (waitForIdentificationLine(pl) != null)
{
in.close();
out.close();
@@ -637,7 +638,7 @@ public class GenericGcodeDriver extends LaserCutter {
socket.connect(new InetSocketAddress(getHost(), 23), 1000);
in = new BufferedReader(new InputStreamReader(socket.getInputStream()));
out = new PrintStream(socket.getOutputStream(), true, "US-ASCII");
- String line = waitForIdentificationLine();
+ String line = waitForIdentificationLine(pl);
if (line != null)
{
in.close();
diff --git a/src/com/t_oster/liblasercut/drivers/Grbl.java b/src/com/t_oster/liblasercut/drivers/Grbl.java
new file mode 100644
index 0000000..10c1236
--- /dev/null
+++ b/src/com/t_oster/liblasercut/drivers/Grbl.java
@@ -0,0 +1,170 @@
+/**
+ * This file is part of LibLaserCut.
+ * Copyright (C) 2011 - 2014 Thomas Oster <mail@thomas-oster.de>
+ *
+ * LibLaserCut is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LibLaserCut is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with LibLaserCut. If not, see <http://www.gnu.org/licenses/>.
+ *
+ **/
+package com.t_oster.liblasercut.drivers;
+
+import com.t_oster.liblasercut.ProgressListener;
+import com.t_oster.liblasercut.platform.Util;
+import java.io.IOException;
+import java.io.PrintStream;
+import java.util.Arrays;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * This class implements a driver for Grbl based firmwares.
+ *
+ * @author Michael Adams <zap@michaeladams.org>
+ */
+public class Grbl extends GenericGcodeDriver
+{
+ public Grbl()
+ {
+ System.out.println("Running grbl constructor");
+
+ //set some grbl-specific defaults
+ setLineend("CR");
+ setIdentificationLine("Grbl");
+ // Grbl uses "ok" flow control
+ setWaitForOKafterEachLine(true);
+ setPreJobGcode(getPreJobGcode()+",M3");
+ // turn off laser before returning to home position
+ setPostJobGcode("M5,"+getPostJobGcode());
+ // Grbl & MrBeam use 1000 for 100% PWM on the spindle/laser
+ setSpindleMax(1000.0f);
+ // Grbl doesn't turn off laser during G0 rapids
+ setBlankLaserDuringRapids(true);
+ // grbl can take a while to answer if doing a lot of slow moves
+ setSerialTimeout(30000);
+
+ // blank these so that connect automatically uses serial first
+ setHttpUploadUrl(null);
+ setHost(null);
+ }
+
+ protected static final String SETTING_AUTO_HOME = "Automatically home laser cutter";
+
+ @Override
+ public String[] getPropertyKeys()
+ {
+ List<String> result = new LinkedList<String>();
+ result.addAll(Arrays.asList(super.getPropertyKeys()));
+ result.remove(GenericGcodeDriver.SETTING_HOST);
+ result.remove(GenericGcodeDriver.SETTING_HTTP_UPLOAD_URL);
+ result.remove(GenericGcodeDriver.SETTING_AUTOPLAY);
+ result.remove(GenericGcodeDriver.SETTING_IDENTIFICATION_STRING);
+ result.remove(GenericGcodeDriver.SETTING_WAIT_FOR_OK);
+ result.remove(GenericGcodeDriver.SETTING_TRAVEL_SPEED);
+ result.remove(GenericGcodeDriver.SETTING_LINEEND);
+ result.add(SETTING_AUTO_HOME);
+ return result.toArray(new String[0]);
+ }
+
+ @Override
+ public Object getProperty(String attribute) {
+ if (SETTING_AUTO_HOME.equals(attribute)) {
+ return this.getAutoHome();
+ }
+ else {
+ return super.getProperty(attribute);
+ }
+ }
+
+ @Override
+ public void setProperty(String attribute, Object value) {
+ if (SETTING_AUTO_HOME.equals(attribute)) {
+ this.setAutoHome((Boolean) value);
+ }
+ else {
+ super.setProperty(attribute, value);
+ }
+ }
+
+ protected boolean autoHome = true;
+
+ public boolean getAutoHome()
+ {
+ return autoHome;
+ }
+
+ public void setAutoHome(boolean auto_home)
+ {
+ this.autoHome = auto_home;
+ }
+
+
+ @Override
+ public String getModelName()
+ {
+ return "Grbl Gcode Driver";
+ }
+
+ protected void sendLineWithoutWait(String text, Object... parameters) throws IOException
+ {
+ boolean wasSetWaitingForOk = isWaitForOKafterEachLine();
+ setWaitForOKafterEachLine(false);
+ sendLine(text, parameters);
+ setWaitForOKafterEachLine(wasSetWaitingForOk);
+ }
+
+ /**
+ * Initializes Grbl, handling issuing of soft-reset and initial homing
+ * (if desired & required).
+ * @param pl Progress listener to update during connect/homing process
+ * @return
+ * @throws IOException
+ */
+ @Override
+ protected String waitForIdentificationLine(ProgressListener pl) throws IOException
+ {
+ // send reset character to Grbl to get it to print out its welcome message
+ pl.taskChanged(this, "Sending soft reset");
+ out.write(0x18);
+
+ String error = super.waitForIdentificationLine(pl);
+ if (error != null) return error;
+
+ // check if board is locked and if so home/unlock
+ if (in.ready() && waitForLine().equals("['$H'|'$X' to unlock]")) {
+ if (getAutoHome() == true) {
+ pl.taskChanged(this, "Homing");
+ sendLineWithoutWait("$H");
+
+ // wait for "ok" or "[Caution: Unlocked]" followed by "ok"
+ String line = waitForLine();
+ if (!line.equals("ok"))
+ line = waitForLine();
+ if (!line.equals("ok"))
+ throw new IOException("Homing cycle failed to complete");
+ }
+ else {
+ throw new IOException("Grbl is locked");
+ }
+ }
+
+ return null;
+ }
+
+ @Override
+ public Grbl clone()
+ {
+ Grbl clone = new Grbl();
+ clone.copyProperties(this);
+ return clone;
+ }
+}
diff --git a/src/com/t_oster/liblasercut/drivers/Marlin.java b/src/com/t_oster/liblasercut/drivers/Marlin.java
index c423869..ca62e1b 100644
--- a/src/com/t_oster/liblasercut/drivers/Marlin.java
+++ b/src/com/t_oster/liblasercut/drivers/Marlin.java
@@ -18,6 +18,7 @@
**/
package com.t_oster.liblasercut.drivers;
+import com.t_oster.liblasercut.ProgressListener;
import com.t_oster.liblasercut.drivers.GenericGcodeDriver;
import java.io.IOException;
import java.util.Arrays;
@@ -90,7 +91,7 @@ public class Marlin extends GenericGcodeDriver {
* @throws IOException
*/
@Override
- protected String waitForIdentificationLine() throws IOException
+ protected String waitForIdentificationLine(ProgressListener pl) throws IOException
{
if (getIdentificationLine() != null && getIdentificationLine().length() > 0)
{
--
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