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New GRBL initialization protocol (#2194)
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174 changes: 74 additions & 100 deletions
174
ugs-core/src/com/willwinder/universalgcodesender/GrblController.java
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ugs-core/src/com/willwinder/universalgcodesender/GrblControllerInitializer.java
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| @@ -0,0 +1,100 @@ | ||
| package com.willwinder.universalgcodesender; | ||
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| import com.willwinder.universalgcodesender.firmware.grbl.GrblVersion; | ||
| import com.willwinder.universalgcodesender.firmware.grbl.commands.GetBuildInfoCommand; | ||
| import com.willwinder.universalgcodesender.firmware.grbl.commands.GetParserStateCommand; | ||
| import com.willwinder.universalgcodesender.firmware.grbl.commands.GetSettingsCommand; | ||
| import com.willwinder.universalgcodesender.listeners.ControllerState; | ||
| import com.willwinder.universalgcodesender.listeners.MessageType; | ||
| import com.willwinder.universalgcodesender.services.MessageService; | ||
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| import java.util.concurrent.atomic.AtomicBoolean; | ||
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| import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletion; | ||
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| /** | ||
| * A class that implements an initialization protocol for GRBL and keeps an internal state of the | ||
| * connection process. The query process will not require the controller to be reset which is needed | ||
| * for controllers such as grblHAL or GRBL_ESP32. | ||
| * <p/> | ||
| * 1. It will first to query the machine for a status report 10 times, if the status is HOLD or ALARM | ||
| * a blank line will be sent to see if the controller is responsive | ||
| * 2. Fetch the build info for the controller | ||
| * 3. Fetch the parser state | ||
| * 4. Start the status poller | ||
| * | ||
| * @author Joacim Breiler | ||
| */ | ||
| public class GrblControllerInitializer implements IControllerInitializer { | ||
| private final AtomicBoolean isInitializing = new AtomicBoolean(false); | ||
| private final AtomicBoolean isInitialized = new AtomicBoolean(false); | ||
| private final MessageService messageService; | ||
| private final GrblController controller; | ||
| private GrblVersion version = GrblVersion.NO_VERSION; | ||
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| public GrblControllerInitializer(GrblController controller, MessageService messageService) { | ||
| this.controller = controller; | ||
| this.messageService = messageService; | ||
| } | ||
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| @Override | ||
| public boolean initialize() { | ||
| // Only allow one initialization at a time | ||
| if (isInitializing.get() || isInitialized.get()) { | ||
| return false; | ||
| } | ||
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| controller.resetBuffers(); | ||
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| controller.setControllerState(ControllerState.CONNECTING); | ||
| isInitializing.set(true); | ||
| try { | ||
| Thread.sleep(2000); | ||
| if (!GrblUtils.isControllerResponsive(controller, messageService)) { | ||
| isInitializing.set(false); | ||
| messageService.dispatchMessage(MessageType.INFO, "*** Device is in a holding or alarm state and needs to be reset\n"); | ||
| controller.issueSoftReset(); | ||
| return false; | ||
| } | ||
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| // Toggle the state to force UI update | ||
| controller.setControllerState(ControllerState.CONNECTING); | ||
| controller.setControllerState(ControllerState.IDLE); | ||
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| fetchControllerState(); | ||
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| messageService.dispatchMessage(MessageType.INFO, String.format("*** Connected to %s\n", version.toString())); | ||
| controller.requestStatusReport(); | ||
| isInitialized.set(true); | ||
| isInitializing.set(false); | ||
| return true; | ||
| } catch (Exception e) { | ||
| throw new RuntimeException(e.getMessage()); | ||
| } | ||
| } | ||
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| private void fetchControllerState() throws Exception { | ||
| // Send commands to get the state of the controller | ||
| GetBuildInfoCommand getBuildInfoCommand = sendAndWaitForCompletion(controller, new GetBuildInfoCommand()); | ||
| version = getBuildInfoCommand.getVersion().orElse(GrblVersion.NO_VERSION); | ||
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| sendAndWaitForCompletion(controller, new GetSettingsCommand()); | ||
| sendAndWaitForCompletion(controller, new GetParserStateCommand()); | ||
| } | ||
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| @Override | ||
| public void reset() { | ||
| isInitializing.set(false); | ||
| isInitialized.set(false); | ||
| version = GrblVersion.NO_VERSION; | ||
| } | ||
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| @Override | ||
| public boolean isInitialized() { | ||
| return isInitialized.get(); | ||
| } | ||
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| public GrblVersion getVersion() { | ||
| return version; | ||
| } | ||
| } |
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