adds updates from iris 0.2.7
This commit is contained in:
Todd Treece
parent
e79b08d66e
commit
70896b3742
6 changed files with 281 additions and 129 deletions
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@ -1,4 +1,4 @@
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// this file is part of the v0.2.1 easel local OS X install.
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// this file is part of the v0.2.7 easel local OS X install.
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// you can find out more about easel and the x-carve at
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// inventables.com & easel.inventables.com
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@ -1,4 +1,4 @@
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// this file is part of the v0.2.1 easel local OS X install.
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// this file is part of the v0.2.7 easel local OS X install.
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// you can find out more about easel and the x-carve at
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// inventables.com & easel.inventables.com
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@ -1,4 +1,4 @@
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// this file is part of the v0.2.1 easel local OS X install.
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// this file is part of the v0.2.7 easel local OS X install.
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// you can find out more about easel and the x-carve at
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// inventables.com & easel.inventables.com
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294
lib/machine.js
294
lib/machine.js
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@ -1,13 +1,11 @@
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// this file is part of the v0.2.1 easel local OS X install.
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// this file is part of the v0.2.7 easel local OS X install.
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// you can find out more about easel and the x-carve at
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// inventables.com & easel.inventables.com
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var _ = require('underscore')._
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, fs = require('fs')
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var fs = require('fs')
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, readline = require('readline')
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, Debugger = require('./debugger')
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, interval = require('./interval')
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, onoff = require('onoff')
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, eventDispatcher = require('./event_dispatcher');
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@ -18,36 +16,31 @@ var Machine = function(port) {
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var logger = Debugger.logger("Machine");
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var commandStack; // Commands waiting to go to the machine
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var sentCommands; // Commands in the machine's buffer
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var lastRunCommand; // Last command completed by the machine
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var queuedGcodeCommands; // Commands from gcode waiting to go to the machine
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var queuedConsoleCommands; // Commands from sendInstruction waiting to go to the machine
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var bufferedCommands; // Commands in the machine's buffer
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var lastRunCommand; // Last command completed by the machine
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var completedCommandCount;
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var isRunning = false;
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var isPaused = false;
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var isStopping = false;
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var isMachineConnected = false;
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var machineIdentification = null;
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var currentPosition = null;
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var startRunTime = null;
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var config = null;
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var isGRBL = function() {
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return (config && config.name.indexOf('GRBL') !== -1);
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};
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var runState = 'RUNNING';
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var heartbeat = interval(function() {
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if (!isRunning || isGRBL()) {
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sendInstruction('status');
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}
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sendInstruction('status');
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});
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var startHeartbeat = function() {
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logger.log('starting heartbeat');
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heartbeat.start(500);
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};
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var stopHeartbeat = function() {
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logger.log('stopping heartbeat');
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heartbeat.stop();
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};
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@ -64,14 +57,18 @@ var Machine = function(port) {
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};
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var init = function() {
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port.parser().addEventListener('ok', processedCommand);
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port.parser().addEventListener('ready', machineConnected);
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port.parser().addEventListener('state', state);
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port.parser().addEventListener('position', position);
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port.parser().addEventListener('settings', settings);
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port.parser().addEventListener('portOpened', portOpened);
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port.addEventListener('portOpened', onPortOpened);
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port.parser().addEventListener('ok', onProcessCommand);
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port.parser().addEventListener('ready', onMachineConnected);
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port.parser().addEventListener('status', onStatus);
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port.parser().addEventListener('position', onPosition);
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port.parser().addEventListener('probe-status', onReceiveProbeStatus);
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port.parser().addEventListener('probe-result', onReceiveProbeResult);
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port.parser().addEventListener('settings', onSettings);
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port.parser().addEventListener('grbl-alarm', onGrblAlarm);
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port.parser().addEventListener('grbl-error', onGrblError);
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port.parser().addEventListener('machine-type', onReceiveMachineType);
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port.parser().addEventListener('serial-number', onReceiveSerialNumber);
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port.addEventListener("close", portClosed);
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};
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@ -84,6 +81,22 @@ var Machine = function(port) {
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that.dispatchEvent('grbl-error', message);
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};
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var onReceiveMachineType = function(machineType) {
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that.dispatchEvent('machine-type', machineType);
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};
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var onReceiveProbeStatus = function(probeStatus) {
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that.dispatchEvent('probe-status', probeStatus);
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};
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var onReceiveProbeResult = function(probeResult) {
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that.dispatchEvent('probe-result', probeResult);
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};
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var onReceiveSerialNumber = function(serialNumber) {
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that.dispatchEvent('serial-number', serialNumber);
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};
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var getMachineIdentification = function() {
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if (isMachineConnected) {
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return machineIdentification;
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@ -92,22 +105,76 @@ var Machine = function(port) {
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}
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};
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var portOpened = function() {
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logger.log('port opened! waiting for identifier');
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var onPortOpened = function() {
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sendInstruction('flush');
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};
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var machineConnected = function(identification) {
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var onMachineConnected = function(identification) {
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machineIdentification = identification;
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isMachineConnected = true;
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startHeartbeat();
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sendInstruction('readSerialNumber');
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that.dispatchEvent('connected');
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};
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var state = function(state) {
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that.dispatchEvent('state', state);
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var statusTransitions = {
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'PAUSING': {
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'hold': 'PAUSED',
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'door': 'PAUSED_DOOR_OPEN'
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},
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'PAUSED': {
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'run': 'RUNNING',
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'door': 'PAUSED_DOOR_OPEN'
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},
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'PAUSED_DOOR_OPEN': {
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'hold': 'PAUSED',
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'run': 'RUNNING'
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},
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'RESUMING': {
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'run': 'RUNNING',
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'door': 'PAUSED_DOOR_OPEN'
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},
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'RUNNING': {
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'hold': 'PAUSED',
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'door': 'PAUSED_DOOR_OPEN'
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}
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};
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var position = function(position) {
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var actionTransitions = {
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'PAUSED': {
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'resume': 'RESUMING'
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},
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'RUNNING': {
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'pause': 'PAUSING'
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},
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'PAUSING': {
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'resume': 'RESUMING'
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},
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'PAUSED_DOOR_OPEN': {},
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'RESUMING': {
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'pause': 'PAUSING'
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}
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};
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var runStateEnteredCallbacks = function() {
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return {
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'PAUSING': paused,
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'PAUSED_DOOR_OPEN': paused,
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'PAUSED': paused,
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'RESUMING': resumed,
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'RUNNING': resumed
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}
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};
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var onStatus = function(status) {
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if (isRunning) {
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transitionRunState(status, statusTransitions);
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}
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that.dispatchEvent('status', status);
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};
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var onPosition = function(position) {
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currentPosition = position;
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that.dispatchEvent('position', position);
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};
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@ -120,40 +187,43 @@ var Machine = function(port) {
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sendInstruction('settings');
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};
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var settings = function(data) {
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logger.log("machine settings: " + data);
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var onSettings = function(data) {
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that.dispatchEvent('settings', data);
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};
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var streamGcodeLines = function(lines) {
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reset();
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commandStack = lines.reverse()
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queuedGcodeCommands = lines;
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isRunning = true;
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runState = 'RUNNING'; // TODO bring this under the easelAction umbrella
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completedCommandCount = 0;
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startRunTime = Date.now();
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reportJobStatus();
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fillCommandBuffer();
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};
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var clearStack = function() {
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commandStack = [];
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};
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var nextCommand = function() {
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if (commandStack.length > 0) {
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return commandStack[commandStack.length - 1];
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if (queuedConsoleCommands.length > 0) {
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return queuedConsoleCommands[0];
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} else if (isRunning && runState === 'RUNNING' && queuedGcodeCommands.length > 0) {
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return queuedGcodeCommands[0];
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} else {
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return null;
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}
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};
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var roomInBufferForNextCommand = function() {
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var buffer = sentCommands.join("\n") + "\n";
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var bytes = byteCount(buffer + nextCommand() + "\n");
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return bytes <= MAX_BYTES;
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var dequeueNextCommand = function() {
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if (queuedConsoleCommands.length > 0) {
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return queuedConsoleCommands.shift();
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} else if (queuedGcodeCommands.length > 0) {
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return queuedGcodeCommands.shift();
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}
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};
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var popNextCommand = function() {
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return commandStack.pop();
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var roomInBufferForNextCommand = function() {
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var potentialBufferedCommands = bufferedCommands.concat([nextCommand()]);
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var bytes = byteCount(potentialBufferedCommands.join('\n') + '\n');
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return bytes <= MAX_BYTES;
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};
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var sendLine = function(line) {
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@ -162,31 +232,30 @@ var Machine = function(port) {
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var fillCommandBuffer = function() {
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while (nextCommand() && roomInBufferForNextCommand()) {
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var line = popNextCommand();
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sentCommands.unshift(line);
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logger.log('Sending line: ' + line);
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var line = dequeueNextCommand();
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bufferedCommands.push(line);
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sendLine(line);
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}
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};
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var unprocessedCommandCount = function() {
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return sentCommands.length + commandStack.length;
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}
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return bufferedCommands.length + queuedConsoleCommands.length + queuedGcodeCommands.length;
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};
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var percentComplete = function() {
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return completedCommandCount / (completedCommandCount + unprocessedCommandCount()) * 100;
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};
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var processedCommand = function() {
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lastRunCommand = sentCommands.pop();
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var onProcessCommand = function() {
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lastRunCommand = bufferedCommands.shift();
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completedCommandCount++;
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fillCommandBuffer();
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if (isRunning && !isPaused) {
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if (isRunning && runState === 'RUNNING') {
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reportJobStatus();
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if (unprocessedCommandCount() == 0) {
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if (unprocessedCommandCount() === 0) {
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isRunning = false;
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} else {
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fillCommandBuffer();
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reportRunTime();
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}
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}
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};
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@ -194,17 +263,19 @@ var Machine = function(port) {
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var currentState = function() {
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return {
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completedCommandCount: completedCommandCount,
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pendingCommandCount: commandStack.length,
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pendingCommandCount: queuedConsoleCommands.length + queuedGcodeCommands.length,
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lastCommand: lastRunCommand,
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machineBuffer: sentCommands.concat([]).reverse(), // reverse this thing to return the oldest commands first
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machineBuffer: bufferedCommands,
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running: isRunning,
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paused: isPaused,
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paused: runState === 'PAUSED',
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stopping: isStopping
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};
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};
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var portClosed = function() {
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stopHeartbeat();
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isMachineConnected = false;
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reportRunTime();
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that.dispatchEvent('port_lost', error("Machine disconnected"));
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reset();
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};
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@ -220,10 +291,10 @@ var Machine = function(port) {
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var error = function(message) {
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return {
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completed_command_count: completedCommandCount,
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pending_command_count: commandStack.length,
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pending_command_count: queuedConsoleCommands.length + queuedGcodeCommands.length,
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current_position: currentPosition,
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active_buffer: sentCommands.concat([]).reverse(), // reverse this thing to return the oldest commands first
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last_instruction: lastRunCommand,
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active_buffer: bufferedCommands,
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sender_note: message
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}
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};
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@ -231,22 +302,37 @@ var Machine = function(port) {
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var reset = function() {
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logger.log("Resetting");
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isRunning = false;
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isPaused = false;
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commandStack = [];
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sentCommands = [];
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runState = 'RUNNING';
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resetQueue();
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completedCommandCount = 0;
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};
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var resetQueue = function() {
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queuedGcodeCommands = [];
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queuedConsoleCommands = [];
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bufferedCommands = [];
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};
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var running = function() {
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that.dispatchEvent("progress", percentComplete());
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};
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var reportJobStatus = function() {
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if (isRunning) {
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if (isPaused) {
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paused();
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} else {
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running();
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// Unified run-state reporting
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reportRunState();
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// For API compatibility, collapse intermediate pausing / resuming states
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switch (runState) {
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case 'RUNNING':
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case 'RESUMING':
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running();
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break;
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case 'PAUSED':
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case 'PAUSING':
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case 'PAUSING_DOOR_OPEN':
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paused();
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break;
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}
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} else if (isStopping) {
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stopping();
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@ -255,36 +341,79 @@ var Machine = function(port) {
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}
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};
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var pause = function() {
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if (isRunning) {
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isPaused = true;
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sendInstruction('pause')
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paused();
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var reportRunState = function() {
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that.dispatchEvent("run-state", runState);
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};
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var reportRunTime = function() {
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if (startRunTime !== null) {
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that.dispatchEvent('run-time', {start: startRunTime, end: Date.now()});
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startRunTime = null;
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}
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};
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var pause = function() {
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sendInstruction('pause');
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easelAction('pause');
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};
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var paused = function() {
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that.dispatchEvent("paused", percentComplete());
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};
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var resume = function() {
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if (isPaused) {
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isPaused = false;
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sendInstruction('resume');
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fillCommandBuffer();
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that.dispatchEvent("resumed", percentComplete());
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sendInstruction('resume');
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easelAction('resume');
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};
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var resumed = function() {
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fillCommandBuffer();
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that.dispatchEvent("resumed", percentComplete());
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};
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var enteredRunState = function(state) {
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if (runStateEnteredCallbacks()[state]) {
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runStateEnteredCallbacks()[state]();
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}
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};
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var transitionRunState = function(action, transitions) {
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var nextState = transitions[runState][action];
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if (nextState) {
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if (isRunning && runState === 'RUNNING') {
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reportRunTime();
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} else if (isRunning && nextState === 'RUNNING') {
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startRunTime = Date.now();
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}
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runState = nextState;
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enteredRunState(runState);
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}
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};
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var easelAction = function(action) {
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transitionRunState(action, actionTransitions);
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};
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var REAL_TIME_COMMANDS = { pause: true, resume: true, flush: true, status: true };
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var sendInstruction = function(instruction) {
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if (instruction === 'flush') {
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resetQueue();
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}
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var gcode = gcodeFor(instruction);
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if (gcode === '?') {
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if (REAL_TIME_COMMANDS[instruction]) {
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port.write(gcode);
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} else if (gcode !== undefined) {
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sendLine(gcode);
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enqueueCommand(gcode);
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}
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};
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var enqueueCommand = function(line) {
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queuedConsoleCommands.push(line);
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fillCommandBuffer();
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};
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var stop = function(params) {
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if (isRunning) {
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isStopping = true;
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@ -331,8 +460,7 @@ var Machine = function(port) {
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that.requestSettings = requestSettings;
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that.currentState = currentState;
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that.streamGcodeLines = streamGcodeLines;
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that.sendLine = sendLine;
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that.clearStack = clearStack;
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that.enqueueCommand = enqueueCommand;
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that.disconnect = disconnect;
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that.reportJobStatus = reportJobStatus;
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that.pause = pause;
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@ -347,6 +475,6 @@ var Machine = function(port) {
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eventDispatcher(that);
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return that;
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}
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};
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module.exports = Machine;
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@ -1,9 +1,8 @@
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// this file is part of the v0.2.1 easel local OS X install.
|
||||
// this file is part of the v0.2.7 easel local OS X install.
|
||||
// you can find out more about easel and the x-carve at
|
||||
// inventables.com & easel.inventables.com
|
||||
|
||||
var _ = require('underscore')._
|
||||
, Debugger = require('./debugger')
|
||||
var Debugger = require('./debugger')
|
||||
, eventDispatcher = require('./event_dispatcher');
|
||||
|
||||
var Parser = function(){
|
||||
|
|
@ -27,11 +26,15 @@ var Parser = function(){
|
|||
};
|
||||
|
||||
var isGrblReport = function (d) {
|
||||
return d.match(/<(.*)>/);
|
||||
return d.match(/^<.*>$/);
|
||||
};
|
||||
|
||||
var isGrblBuildInfo = function(d) {
|
||||
return d.match(/^\[.+:[\d-]+\]$/);
|
||||
};
|
||||
|
||||
var isGrblSettings = function (d) {
|
||||
return d.match(/\$\d+\s*=/);
|
||||
return d.match(/^\$\d+\s*=/);
|
||||
};
|
||||
|
||||
var isGrblError = function (d) {
|
||||
|
|
@ -42,6 +45,10 @@ var Parser = function(){
|
|||
return d.match(/ALARM:(.*)/);
|
||||
};
|
||||
|
||||
var isGrblProbe = function (d) {
|
||||
return d.match(/\[PRB:.+/);
|
||||
};
|
||||
|
||||
var parseData = function (d, config) {
|
||||
d = d.trim();
|
||||
if (stringContainsAtLeastOne(d, config.readyResponses)) {
|
||||
|
|
@ -52,6 +59,10 @@ var Parser = function(){
|
|||
onGrblReport(d);
|
||||
} else if (isGrblSettings(d)) {
|
||||
onGrblSettings(d);
|
||||
} else if (isGrblProbe(d)) {
|
||||
onGrblProbe(d);
|
||||
} else if (isGrblBuildInfo(d)) {
|
||||
onGrblBuildInfo(d);
|
||||
} else if (isGrblError(d)) {
|
||||
that.dispatchEvent('grbl-error', d);
|
||||
} else if (isGrblAlarm(d)) {
|
||||
|
|
@ -61,36 +72,55 @@ var Parser = function(){
|
|||
}
|
||||
};
|
||||
|
||||
// format is <[status], MPos:[x],[y], [z] ... >
|
||||
// format is <[status],MPos:[x],[y],[z],WPos:[x],[y],[z],Pin:|0|>
|
||||
var onGrblReport = function (d) {
|
||||
var numberRe = '([-+]?[0-9]*\\.?[0-9]+)';
|
||||
var positionRe = numberRe + ',' + numberRe + ',' + numberRe;
|
||||
var stateRe = '(\\w+)';
|
||||
var statusRe = new RegExp(stateRe + ',MPos:' + positionRe + ',WPos:' + positionRe);
|
||||
var statusMatch = d.match(statusRe);
|
||||
var statusRe = '(\\w+)';
|
||||
var probeRe = '(?:,Pin:(?:\\d{3})?\\|(\\d)\\|)?';
|
||||
|
||||
if (statusMatch) {
|
||||
that.dispatchEvent('state', statusMatch[1].toLowerCase());
|
||||
var match = d.match(new RegExp(statusRe + ',MPos:' + positionRe + ',WPos:' + positionRe + probeRe));
|
||||
|
||||
if (match) {
|
||||
that.dispatchEvent('status', match[1].toLowerCase());
|
||||
that.dispatchEvent('position', {
|
||||
machine: {
|
||||
x : parseFloat(statusMatch[2]),
|
||||
y : parseFloat(statusMatch[3]),
|
||||
z : parseFloat(statusMatch[4])
|
||||
x : parseFloat(match[2]),
|
||||
y : parseFloat(match[3]),
|
||||
z : parseFloat(match[4])
|
||||
},
|
||||
work: {
|
||||
x : parseFloat(statusMatch[5]),
|
||||
y : parseFloat(statusMatch[6]),
|
||||
z : parseFloat(statusMatch[7])
|
||||
x : parseFloat(match[5]),
|
||||
y : parseFloat(match[6]),
|
||||
z : parseFloat(match[7])
|
||||
}
|
||||
});
|
||||
if (match[8]) {
|
||||
that.dispatchEvent('probe-status', parseInt(match[8]));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
var onGrblBuildInfo = function(d) {
|
||||
var match = d.match(/^\[(.+)\]$/);
|
||||
if (match) {
|
||||
var fields = match[1].split(':');
|
||||
if (fields.length >= 4) {
|
||||
that.dispatchEvent('machine-type', { product: fields[1], revision: fields[2] });
|
||||
}
|
||||
that.dispatchEvent('serial-number', fields[fields.length - 1]);
|
||||
}
|
||||
};
|
||||
|
||||
var onGrblSettings = function(d) {
|
||||
logger.log("parsing settings data: " + d);
|
||||
that.dispatchEvent('settings', d);
|
||||
};
|
||||
|
||||
var onGrblProbe = function(d) { // sample string: [PRB:0.000,0.000,0.418:1]
|
||||
var match = d.match(/\[PRB:.+:(0|1)\]/);
|
||||
that.dispatchEvent('probe-result', match[1]);
|
||||
};
|
||||
|
||||
that.parseData = parseData;
|
||||
|
||||
return that;
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// this file is part of the v0.2.1 easel local OS X install.
|
||||
// this file is part of the v0.2.7 easel local OS X install.
|
||||
// you can find out more about easel and the x-carve at
|
||||
// inventables.com & easel.inventables.com
|
||||
|
||||
|
|
@ -9,11 +9,11 @@ var errorHandler = require('./error_handler')
|
|||
, Parser = require('./parser');
|
||||
|
||||
var SerialPortController = function() {
|
||||
var that = {}
|
||||
var that = {};
|
||||
|
||||
var port = null;
|
||||
|
||||
var isWindows = false;
|
||||
var isWindows = !!process.platform.match(/^win/);
|
||||
var parser = Parser();
|
||||
var logger = Debugger.logger("Serial port controller");
|
||||
|
||||
|
|
@ -23,6 +23,7 @@ var SerialPortController = function() {
|
|||
|
||||
var write = function(data) {
|
||||
if (connected()) {
|
||||
that.dispatchEvent('write', data);
|
||||
port.write(data);
|
||||
}
|
||||
};
|
||||
|
|
@ -30,7 +31,6 @@ var SerialPortController = function() {
|
|||
var close = function() {
|
||||
if (connected()) {
|
||||
if (port.fd) {
|
||||
logger.log("Closing port");
|
||||
port.close();
|
||||
}
|
||||
port = null;
|
||||
|
|
@ -38,32 +38,25 @@ var SerialPortController = function() {
|
|||
};
|
||||
|
||||
var listPorts = function (callback) {
|
||||
// TODO: fix listing ports on windows
|
||||
if(isWindows){
|
||||
callback([]);
|
||||
} else {
|
||||
SP.list(function(err,ports) {
|
||||
if (err) {
|
||||
// TODO: catch and handle errors
|
||||
errorHandler.trigger(err);
|
||||
return null;
|
||||
} else {
|
||||
// TODO: scope for callback?
|
||||
callback(ports);
|
||||
}
|
||||
});
|
||||
}
|
||||
SP.list(function(err, ports) {
|
||||
if (err) {
|
||||
// TODO: catch and handle errors
|
||||
errorHandler.trigger(err);
|
||||
return null;
|
||||
} else {
|
||||
// TODO: scope for callback?
|
||||
callback(ports);
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
var initPortWithConfigs = function(comName, config) {
|
||||
close();
|
||||
|
||||
logger.log("Opening port '" + comName + "'");
|
||||
|
||||
var thisPort = new SP.SerialPort(comName, {
|
||||
baudrate: config.baud,
|
||||
parser: SP.parsers.readline(config.separator),
|
||||
errorCallback : function(err){
|
||||
errorCallback: function(err){
|
||||
logger.log("ERROR: " + err, Debugger.logger.RED);
|
||||
return;
|
||||
}
|
||||
|
|
@ -74,14 +67,15 @@ var SerialPortController = function() {
|
|||
return;
|
||||
}
|
||||
logger.log("Port opened");
|
||||
parser.dispatchEvent('portOpened');
|
||||
that.dispatchEvent('portOpened');
|
||||
});
|
||||
|
||||
thisPort.on('data', function(d) {
|
||||
thisPort.on('data', function(data) {
|
||||
if (port !== thisPort) {
|
||||
return;
|
||||
}
|
||||
parser.parseData(d, config);
|
||||
that.dispatchEvent('read', data);
|
||||
parser.parseData(data, config);
|
||||
});
|
||||
|
||||
thisPort.on('error', function(d) {
|
||||
|
|
|
|||
Loading…
Reference in a new issue