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Attempt connection to GRBL for ten seconds instead of three (#2456)
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@breiler
breiler committed Feb 7, 2024
1 parent 8845512 commit 7a01cf1
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Showing 2 changed files with 48 additions and 58 deletions.
104 changes: 47 additions & 57 deletions ugs-core/src/com/willwinder/universalgcodesender/GrblUtils.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,9 @@ This file is part of Universal Gcode Sender (UGS).
*/
public class GrblUtils {

private GrblUtils() {
}

// Note: The Grbl RX buffer is not consumed by real-time commands
public static final int GRBL_RX_BUFFER_SIZE= 128;

Expand Down Expand Up @@ -99,8 +102,8 @@ public static Boolean isGrblVersionString(final String response) {
/**
* Parses the version double out of the version response string.
*/
final static String VERSION_DOUBLE_REGEX = "[0-9]*\\.[0-9]*";
final static Pattern VERSION_DOUBLE_PATTERN = Pattern.compile(VERSION_DOUBLE_REGEX);
static final String VERSION_DOUBLE_REGEX = "[0-9]*\\.[0-9]*";
static final Pattern VERSION_DOUBLE_PATTERN = Pattern.compile(VERSION_DOUBLE_REGEX);
public static double getVersionDouble(final String response) {
double retValue = -1;

Expand All @@ -113,8 +116,8 @@ public static double getVersionDouble(final String response) {
return retValue;
}

final static String VERSION_LETTER_REGEX = "(?<=[0-9]\\.[0-9])[a-zA-Z]";
final static Pattern VERSION_LETTER_PATTERN = Pattern.compile(VERSION_LETTER_REGEX);
static final String VERSION_LETTER_REGEX = "(?<=[0-9]\\.[0-9])[a-zA-Z]";
static final Pattern VERSION_LETTER_PATTERN = Pattern.compile(VERSION_LETTER_REGEX);
public static Character getVersionLetter(final String response) {
Character retValue = null;

Expand All @@ -127,7 +130,7 @@ public static Character getVersionLetter(final String response) {
return retValue;
}

static protected String getHomingCommand(final double version, final Character letter) {
protected static String getHomingCommand(final double version, final Character letter) {
if ((version >= 0.8 && (letter != null) && (letter >= 'c'))
|| version >= 0.9) {
return GrblUtils.GCODE_PERFORM_HOMING_CYCLE_V8C;
Expand Down Expand Up @@ -196,7 +199,7 @@ else if (grblVersion >= 0.8) {

}

static protected String getKillAlarmLockCommand(final double version, final Character letter) {
protected static String getKillAlarmLockCommand(final double version, final Character letter) {
if ((version >= 0.8 && (letter != null) && letter >= 'c')
|| version >= 0.9) {
return GrblUtils.GRBL_KILL_ALARM_LOCK_COMMAND;
Expand All @@ -206,7 +209,7 @@ static protected String getKillAlarmLockCommand(final double version, final Char
}
}

static protected String getToggleCheckModeCommand(final double version, final Character letter) {
protected static String getToggleCheckModeCommand(final double version, final Character letter) {
if ((version >= 0.8 && (letter != null) && letter >= 'c')
|| version >= 0.9) {
return GrblUtils.GRBL_TOGGLE_CHECK_MODE_COMMAND;
Expand All @@ -216,7 +219,7 @@ static protected String getToggleCheckModeCommand(final double version, final Ch
}
}

static protected String getViewParserStateCommand(final double version, final Character letter) {
protected static String getViewParserStateCommand(final double version, final Character letter) {
if ((version >= 0.8 && (letter != null) && letter >= 'c')
|| version >= 0.9) {
return GrblUtils.GRBL_VIEW_PARSER_STATE_COMMAND;
Expand All @@ -229,7 +232,7 @@ static protected String getViewParserStateCommand(final double version, final Ch
/**
* Determines version of GRBL position capability.
*/
static protected Capabilities getGrblStatusCapabilities(final double version, final Character letter) {
protected static Capabilities getGrblStatusCapabilities(final double version, final Character letter) {
Capabilities ret = new Capabilities();
ret.addCapability(CapabilitiesConstants.JOGGING);
ret.addCapability(CapabilitiesConstants.CHECK_MODE);
Expand Down Expand Up @@ -266,7 +269,7 @@ static protected Capabilities getGrblStatusCapabilities(final double version, fi
return ret;
}

static protected Position parseProbePosition(final String response, final Units units) {
protected static Position parseProbePosition(final String response, final Units units) {
// Don't parse failed probe response.
if (response.endsWith(":0]")) {
return null;
Expand All @@ -286,7 +289,8 @@ public static boolean isGrblStatusString(final String response) {

private static final String PROBE_REGEX = "\\[PRB:.*]";
private static final Pattern PROBE_PATTERN = Pattern.compile(PROBE_REGEX);
static protected boolean isGrblProbeMessage(final String response) {

protected static boolean isGrblProbeMessage(final String response) {
return PROBE_PATTERN.matcher(response).find();
}

Expand All @@ -304,7 +308,7 @@ public static boolean isGrblFeedbackMessageV1(final String response) {
return response.startsWith("[GC:");
}

static protected String parseFeedbackMessage(final String response, Capabilities c) {
protected static String parseFeedbackMessage(final String response, Capabilities c) {
if (c.hasCapability(GrblCapabilitiesConstants.V1_FORMAT)) {
return parseFeedbackMessageV1(response);
} else {
Expand All @@ -318,7 +322,8 @@ public static String parseFeedbackMessageV1(final String response) {

private static final String SETTING_REGEX = "\\$\\d+=.+";
private static final Pattern SETTING_PATTERN = Pattern.compile(SETTING_REGEX);
static protected boolean isGrblSettingMessage(final String response) {

protected static boolean isGrblSettingMessage(final String response) {
return SETTING_PATTERN.matcher(response).find();
}

Expand All @@ -333,7 +338,7 @@ static protected boolean isGrblSettingMessage(final String response) {
* @param reportingUnits units
* @return the parsed controller status
*/
static protected ControllerStatus getStatusFromStatusString(
protected static ControllerStatus getStatusFromStatusString(
ControllerStatus lastStatus, final String status,
final Capabilities version, Units reportingUnits) {
// Legacy status.
Expand Down Expand Up @@ -534,8 +539,8 @@ public static double parseFeedSpeed(String part) {
/**
* Parse state out of position string.
*/
final static String STATUS_STATE_REGEX = "(?<=<)[a-zA-z]*(?=[,>])";
final static Pattern STATUS_STATE_PATTERN = Pattern.compile(STATUS_STATE_REGEX);
static final String STATUS_STATE_REGEX = "(?<=<)[a-zA-z]*(?=[,>])";
static final Pattern STATUS_STATE_PATTERN = Pattern.compile(STATUS_STATE_REGEX);
protected static String getStateFromStatusString(final String status) {
String retValue = null;
Matcher matcher = STATUS_STATE_PATTERN.matcher(status);
Expand All @@ -545,8 +550,8 @@ protected static String getStateFromStatusString(final String status) {
return retValue;
}

private final static String STATUS_VERSION_1_REGEX = "^<[a-zA-Z]+[|]+.*>$";
private final static Pattern STATUS_VERSION_1_PATTERN = Pattern.compile(STATUS_VERSION_1_REGEX);
private static final String STATUS_VERSION_1_REGEX = "^<[a-zA-Z]+[|]+.*>$";
private static final Pattern STATUS_VERSION_1_PATTERN = Pattern.compile(STATUS_VERSION_1_REGEX);

public static boolean isGrblStatusStringV1(String response) {
return STATUS_VERSION_1_PATTERN.matcher(response).matches();
Expand All @@ -573,11 +578,12 @@ public static ControllerState getControllerStateFromStateString(String stateStri
static Pattern machinePattern = Pattern.compile("(?<=MPos:)(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*)(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?");
static Pattern workPattern = Pattern.compile("(?<=WPos:)(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*)(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?");
static Pattern wcoPattern = Pattern.compile("(?<=WCO:)(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*),(-?\\d*\\.?\\d*)(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?(?:,(-?\\d*\\.?\\d+))?");
static protected Position getMachinePositionFromStatusString(final String status, Units reportingUnits) {

protected static Position getMachinePositionFromStatusString(final String status, Units reportingUnits) {
return GrblUtils.getPositionFromStatusString(status, machinePattern, reportingUnits);
}

static protected Position getWorkPositionFromStatusString(final String status, Units reportingUnits) {
protected static Position getWorkPositionFromStatusString(final String status, Units reportingUnits) {
return GrblUtils.getPositionFromStatusString(status, workPattern, reportingUnits);
}

Expand Down Expand Up @@ -609,43 +615,27 @@ public static Position getPositionFromStatusString(final String status, final Pa
/**
* Map version enum to GRBL real time command byte.
*/
static public Byte getOverrideForEnum(final Overrides command, final Capabilities version) {
public static Byte getOverrideForEnum(final Overrides command, final Capabilities version) {
if (version != null && version.hasOverrides()) {
switch (command) {
return switch (command) {
//CMD_DEBUG_REPORT, // 0x85 // Only when DEBUG enabled, sends debug report in '{}' braces.
case CMD_FEED_OVR_RESET:
return (byte)0x90; // Restores feed override value to 100%.
case CMD_FEED_OVR_COARSE_PLUS:
return (byte)0x91;
case CMD_FEED_OVR_COARSE_MINUS:
return (byte)0x92;
case CMD_FEED_OVR_FINE_PLUS :
return (byte)0x93;
case CMD_FEED_OVR_FINE_MINUS :
return (byte)0x94;
case CMD_RAPID_OVR_RESET:
return (byte)0x95;
case CMD_RAPID_OVR_MEDIUM:
return (byte)0x96;
case CMD_RAPID_OVR_LOW:
return (byte)0x97;
case CMD_SPINDLE_OVR_RESET:
return (byte)0x99; // Restores spindle override value to 100%.
case CMD_SPINDLE_OVR_COARSE_PLUS:
return (byte)0x9A;
case CMD_SPINDLE_OVR_COARSE_MINUS:
return (byte)0x9B;
case CMD_SPINDLE_OVR_FINE_PLUS:
return (byte)0x9C;
case CMD_SPINDLE_OVR_FINE_MINUS:
return (byte)0x9D;
case CMD_TOGGLE_SPINDLE:
return (byte)0x9E;
case CMD_TOGGLE_FLOOD_COOLANT:
return (byte)0xA0;
case CMD_TOGGLE_MIST_COOLANT:
return (byte)0xA1;
}
case CMD_FEED_OVR_RESET -> (byte) 0x90; // Restores feed override value to 100%.
case CMD_FEED_OVR_COARSE_PLUS -> (byte) 0x91;
case CMD_FEED_OVR_COARSE_MINUS -> (byte) 0x92;
case CMD_FEED_OVR_FINE_PLUS -> (byte) 0x93;
case CMD_FEED_OVR_FINE_MINUS -> (byte) 0x94;
case CMD_RAPID_OVR_RESET -> (byte) 0x95;
case CMD_RAPID_OVR_MEDIUM -> (byte) 0x96;
case CMD_RAPID_OVR_LOW -> (byte) 0x97;
case CMD_SPINDLE_OVR_RESET -> (byte) 0x99; // Restores spindle override value to 100%.
case CMD_SPINDLE_OVR_COARSE_PLUS -> (byte) 0x9A;
case CMD_SPINDLE_OVR_COARSE_MINUS -> (byte) 0x9B;
case CMD_SPINDLE_OVR_FINE_PLUS -> (byte) 0x9C;
case CMD_SPINDLE_OVR_FINE_MINUS -> (byte) 0x9D;
case CMD_TOGGLE_SPINDLE -> (byte) 0x9E;
case CMD_TOGGLE_FLOOD_COOLANT -> (byte) 0xA0;
case CMD_TOGGLE_MIST_COOLANT -> (byte) 0xA1;
};
}
return null;
}
Expand Down Expand Up @@ -703,11 +693,11 @@ public static boolean isControllerResponsive(GrblController controller) throws E
}

private static GetStatusCommand queryForStatusReport(GrblController controller) throws InterruptedException {
return sendAndWaitForCompletionWithRetry(GetStatusCommand::new, controller, 1000, 3, (executionNumber) -> {
return sendAndWaitForCompletionWithRetry(GetStatusCommand::new, controller, 1000, 10, executionNumber -> {
if (executionNumber == 1) {
controller.getMessageService().dispatchMessage(MessageType.INFO, "*** Fetching device status\n");
} else {
controller.getMessageService().dispatchMessage(MessageType.INFO, "*** Fetching device status (" + executionNumber + " of 3)...\n");
controller.getMessageService().dispatchMessage(MessageType.INFO, "*** Fetching device status (" + executionNumber + " of 10)...\n");
}
});
}
Expand Down
2 changes: 1 addition & 1 deletion ugs-core/test/com/willwinder/universalgcodesender/GrblControllerInitializerTest.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ public void initializeShouldThrowErrorWhenNoStatusResponseFromController() throw
RuntimeException exception = assertThrows(RuntimeException.class, instance::initialize);
assertEquals("Could not query the device status", exception.getMessage());

verify(controller, times(3)).sendCommandImmediately(any(GetStatusCommand.class));
verify(controller, times(10)).sendCommandImmediately(any(GetStatusCommand.class));
verify(controller, times(0)).issueSoftReset();
}

Expand Down

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