From caebc4a7d74d8eefba5e9d0c1d43c24e316d1db5 Mon Sep 17 00:00:00 2001 From: Dylan Knutson Date: Tue, 24 Sep 2024 13:09:31 -0700 Subject: [PATCH] Add numbered paramter 5399 - M66 input read --- FluidNC/src/Error.cpp | 1 + FluidNC/src/GCode.cpp | 9 ++- FluidNC/src/Parameters.cpp | 120 +++++++++++++++++++++++-------------- FluidNC/src/Parameters.h | 5 ++ 4 files changed, 89 insertions(+), 46 deletions(-) diff --git a/FluidNC/src/Error.cpp b/FluidNC/src/Error.cpp index 9f5d19bfb..a8884c5ca 100644 --- a/FluidNC/src/Error.cpp +++ b/FluidNC/src/Error.cpp @@ -88,4 +88,5 @@ const std::map ErrorNames = { { Error::FlowControlOutOfMemory, "Flow Control Out of Memory" }, { Error::FlowControlStackOverflow, "Flow Control Stack Overflow" }, { Error::ParameterAssignmentFailed, "Parameter Assignment Failed" }, + { Error::GcodeValueWordInvalid, "Gcode invalid word value" }, }; diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp index 6dbcad2db..4002f3deb 100644 --- a/FluidNC/src/GCode.cpp +++ b/FluidNC/src/GCode.cpp @@ -2011,11 +2011,18 @@ template overloaded(Ts...) -> overloaded; static Error gc_wait_on_input(bool is_digital, uint8_t input_number, WaitOnInputMode mode, float timeout) { + // TODO - only Immediate read mode is supported if (mode == WaitOnInputMode::Immediate) { auto const result = is_digital ? config->_userInputs->readDigitalInput(input_number) : config->_userInputs->readAnalogInput(input_number); - return std::visit(overloaded { [&](bool result) { return Error::Ok; }, [&](Error error) { return error; } }, result); + auto const on_ok = [&](bool result) { + set_numbered_param(5399, result ? 1.0 : 0.0); + return Error::Ok; + }; + auto const on_error = [&](Error error) { return error; }; + return std::visit(overloaded { on_ok, on_error }, result); } + // TODO - implement rest of modes return Error::GcodeValueWordInvalid; } diff --git a/FluidNC/src/Parameters.cpp b/FluidNC/src/Parameters.cpp index bbd0ef498..cf269a77e 100644 --- a/FluidNC/src/Parameters.cpp +++ b/FluidNC/src/Parameters.cpp @@ -17,14 +17,41 @@ #include "Expression.h" +// See documentation "4.1. Numbered Parameters" for list of numbered parameters +// that LinuxCNC supports. +// http://wiki.fluidnc.com/en/features/gcode_parameters_expressions +// https://linuxcnc.org/docs/stable/html/gcode/overview.html#sub:numbered-parameters + // clang-format off const std::map bool_params = { { 5070, &probe_succeeded }, - // { 5399, &m66okay }, }; -typedef int ngc_param_id_t; -std::map user_params = {}; +std::map float_params = {}; + +static bool can_write_float_param(ngc_param_id_t id) { + if (id == 5399) { + // M66 last immediate read input result + return true; + } + if(id >= 1 && id <= 5000) { + // User parameters + return true; + } + return false; +} + +static bool can_read_float_param(ngc_param_id_t id) { + if (id == 5399) { + // M66 + return true; + } + if (id >= 31 && id <= 5000) { + // User parameters + return true; + } + return false; +} const std::map axis_params = { { 5161, CoordIndex::G28 }, @@ -42,7 +69,6 @@ const std::map axis_params = { // { 5401, CoordIndex::TLO }, }; - const std::map work_positions = { { "_x", 0 }, { "_y", 1 }, @@ -101,40 +127,6 @@ static float to_mm(int axis, float value) { } return value; } -bool set_numbered_param(ngc_param_id_t id, float value) { - int axis; - for (auto const& [key, coord_index] : axis_params) { - axis = id - key; - if (is_axis(axis)) { - coords[coord_index]->set(axis, to_mm(axis, value)); - gc_ngc_changed(coord_index); - return true; - } - } - // Non-volatile G92 - axis = id - 5211; - if (is_axis(axis)) { - gc_state.coord_offset[axis] = to_mm(axis, value); - gc_ngc_changed(CoordIndex::G92); - return true; - } - if (id == 5220) { - gc_state.modal.coord_select = static_cast(value); - return true; - } - if (id == 5400) { - gc_state.selected_tool = static_cast(value); - return true; - } - if (id >= 1 && id <= 5000) { - // 1-30 are for subroutine arguments, but since we don't - // implement subroutines, we treat them the same as user params - user_params[id] = value; - return true; - } - log_info("N " << id << " is not found"); - return false; -} bool get_numbered_param(ngc_param_id_t id, float& result) { int axis; @@ -181,20 +173,25 @@ bool get_numbered_param(ngc_param_id_t id, float& result) { return true; } - for (const auto& [key, valuep] : bool_params) { - if (key == id) { - result = *valuep; + if (auto param = bool_params.find(id); param != bool_params.end()) { + result = *param->second ? 1.0 : 0.0; + return true; + } + + if (can_read_float_param(id)) { + if (auto param = float_params.find(id); param != float_params.end()) { + result = param->second; return true; + } else { + log_info("param #" << id << " is not found"); + return false; } } - if (id >= 31 && id <= 5000) { - result = user_params[id]; - return true; - } return false; } +// TODO - make this a variant? struct param_ref_t { std::string name; // If non-empty, the parameter is named ngc_param_id_t id; // Valid if name is empty @@ -486,6 +483,39 @@ bool set_named_param(const std::string& name, float value) { return true; } +bool set_numbered_param(ngc_param_id_t id, float value) { + int axis; + for (auto const& [key, coord_index] : axis_params) { + axis = id - key; + if (is_axis(axis)) { + coords[coord_index]->set(axis, to_mm(axis, value)); + gc_ngc_changed(coord_index); + return true; + } + } + // Non-volatile G92 + axis = id - 5211; + if (is_axis(axis)) { + gc_state.coord_offset[axis] = to_mm(axis, value); + gc_ngc_changed(CoordIndex::G92); + return true; + } + if (id == 5220) { + gc_state.modal.coord_select = static_cast(value); + return true; + } + if (id == 5400) { + gc_state.selected_tool = static_cast(value); + return true; + } + if (can_write_float_param(id)) { + float_params[id] = value; + return true; + } + log_info("param #" << id << " is not found"); + return false; +} + bool set_param(const param_ref_t& param_ref, float value) { if (param_ref.name.length()) { // Named parameter auto name = param_ref.name; diff --git a/FluidNC/src/Parameters.h b/FluidNC/src/Parameters.h index b9916d09c..b1996a2ca 100644 --- a/FluidNC/src/Parameters.h +++ b/FluidNC/src/Parameters.h @@ -6,8 +6,13 @@ #include #include +// TODO - make ngc_param_id_t an enum, give names to numbered parameters where +// possible +typedef int ngc_param_id_t; + bool assign_param(const char* line, size_t& pos); bool read_number(const char* line, size_t& pos, float& value, bool in_expression = false); bool perform_assignments(); bool named_param_exists(std::string& name); bool set_named_param(const char* name, float value); +bool set_numbered_param(ngc_param_id_t, float value);