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GrblController.js
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GrblController.js
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/*
* Copyright (C) 2021 Sienci Labs Inc.
*
* This file is part of gSender.
*
* gSender is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, under version 3 of the License.
*
* gSender 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with gSender. If not, see <https://www.gnu.org/licenses/>.
*
* Contact for information regarding this program and its license
* can be sent through gSender@sienci.com or mailed to the main office
* of Sienci Labs Inc. in Waterloo, Ontario, Canada.
*
*/
import ensureArray from 'ensure-array';
import * as parser from 'gcode-parser';
import Toolpath from 'gcode-toolpath';
import _ from 'lodash';
import map from 'lodash/map';
import SerialConnection from '../../lib/SerialConnection';
import EventTrigger from '../../lib/EventTrigger';
import Feeder from '../../lib/Feeder';
import Sender, { SP_TYPE_CHAR_COUNTING } from '../../lib/Sender';
import Workflow, {
WORKFLOW_STATE_IDLE,
WORKFLOW_STATE_PAUSED,
WORKFLOW_STATE_RUNNING
} from '../../lib/Workflow';
import delay from '../../lib/delay';
import ensurePositiveNumber from '../../lib/ensure-positive-number';
import evaluateAssignmentExpression from '../../lib/evaluate-assignment-expression';
import logger from '../../lib/logger';
import translateExpression from '../../lib/translate-expression';
import config from '../../services/configstore';
import monitor from '../../services/monitor';
import taskRunner from '../../services/taskrunner';
import { getOutlineGcode } from '../../lib/outlineService';
import store from '../../store';
import {
GLOBAL_OBJECTS as globalObjects,
WRITE_SOURCE_CLIENT,
WRITE_SOURCE_FEEDER
} from '../constants';
import GrblRunner from './GrblRunner';
import {
GRBL,
GRBL_ACTIVE_STATE_RUN,
GRBL_REALTIME_COMMANDS,
GRBL_ALARMS,
GRBL_ERRORS,
GRBL_SETTINGS, GRBL_ACTIVE_STATE_HOME
} from './constants';
import { METRIC_UNITS } from '../../../app/constants';
import FlashingFirmware from '../../lib/Firmware/Flashing/firmwareflashing';
import ApplyFirmwareProfile from '../../lib/Firmware/Profiles/ApplyFirmwareProfile';
import { determineMachineZeroFlagSet, determineMaxMovement, getAxisMaximumLocation } from '../../lib/homing';
// % commands
const WAIT = '%wait';
const PREHOOK_COMPLETE = '%pre_complete';
const POSTHOOK_COMPLETE = '%post_complete';
const PAUSE_START = '%pause_start';
const log = logger('controller:Grbl');
const noop = _.noop;
class GrblController {
type = GRBL;
// CNCEngine
engine = null;
// Sockets
sockets = {};
// Connection
connection = null;
connectionEventListener = {
data: (data) => {
log.silly(`< ${data}`);
this.runner.parse('' + data);
},
close: (err) => {
this.ready = false;
if (err) {
log.warn(`Disconnected from serial port "${this.options.port}":`, err);
}
this.close(err => {
// Remove controller from store
const port = this.options.port;
store.unset(`controllers[${JSON.stringify(port)}]`);
// Destroy controller
this.destroy();
});
},
error: (err) => {
this.ready = false;
if (err) {
log.error(`Unexpected error while reading/writing serial port "${this.options.port}":`, err);
}
}
};
// Grbl
controller = null;
ready = false;
initialized = false;
state = {};
settings = {};
toolChangeContext = {};
queryTimer = null;
actionMask = {
queryParserState: {
state: false, // wait for a message containing the current G-code parser modal state
reply: false // wait for an `ok` or `error` response
},
queryStatusReport: false,
// Respond to user input
replyParserState: false, // $G
replyStatusReport: false // ?
};
actionTime = {
queryParserState: 0,
queryStatusReport: 0,
senderFinishTime: 0
};
// Event Trigger
event = null;
// Feeder
feeder = null;
feederCB = null;
// Sender
sender = null;
// Shared context
sharedContext = {};
// Workflow
workflow = null;
// Homing information
homingStarted = false;
homingFlagSet = false;
constructor(engine, options) {
if (!engine) {
throw new Error('engine must be specified');
}
this.engine = engine;
const { port, baudrate, rtscts } = { ...options };
this.options = {
...this.options,
port: port,
baudrate: baudrate,
rtscts: rtscts
};
// Connection
this.connection = new SerialConnection({
path: port,
baudRate: baudrate,
rtscts: rtscts,
writeFilter: (data) => {
const line = data.trim();
if (!line) {
return data;
}
{ // Grbl settings: $0-$255
const r = line.match(/^(\$\d{1,3})=([\d\.]+)$/);
if (r) {
const name = r[1];
const value = Number(r[2]);
if ((name === '$13') && (value >= 0) && (value <= 65535)) {
const nextSettings = {
...this.runner.settings,
settings: {
...this.runner.settings.settings,
[name]: value ? '1' : '0'
}
};
this.runner.settings = nextSettings; // enforce change
}
}
}
return data;
}
});
// Event Trigger
this.event = new EventTrigger((event, trigger, commands) => {
log.debug(`EventTrigger: event="${event}", trigger="${trigger}", commands="${commands}"`);
if (trigger === 'system') {
taskRunner.run(commands);
} else {
this.command('gcode', commands);
}
});
// Feeder
this.feeder = new Feeder({
dataFilter: (line, context) => {
let commentMatcher = /\s*;.*/g;
let comment = line.match(commentMatcher);
const commentString = (comment && comment[0].length > 0) ? comment[0].trim().replace(';', '') : '';
line = line.replace(commentMatcher, '').replace('/uFEFF', '').trim();
context = this.populateContext(context);
if (line[0] === '%') {
// %wait
if (line === WAIT) {
log.debug('Wait for the planner to empty');
return 'G4 P0.5'; // dwell
}
if (line === PREHOOK_COMPLETE) {
log.debug('Finished Pre-hook');
this.feeder.hold({ data: '%toolchange' });
this.emit('toolchange:preHookComplete', commentString);
return 'G4 P0.5';
}
if (line === POSTHOOK_COMPLETE) {
log.debug('Finished Post-hook, resuming program');
setTimeout(() => {
this.workflow.resume();
}, 1500);
return 'G4 P0.5';
}
if (line === PAUSE_START) {
log.debug('Found M0/M1, pausing program');
this.feeder.hold({ data: '%m0m1_pause', comment: commentString });
this.emit('sender:M0M1', { data: 'M0/M1', comment: commentString });
return 'G4 P0.5';
}
if (line === '%_GCODE_START') {
const { sent } = this.sender.state;
this.event.trigger('gcode:start');
this.workflow.start();
// Feeder
this.feeder.reset();
// Sender (fast forward to sent which was set previous to this to account for rewind)
this.sender.setStartLine(sent);
this.sender.next({ startFromLine: true });
return '';
}
// Expression
// %_x=posx,_y=posy,_z=posz
evaluateAssignmentExpression(line.slice(1), context);
return '';
}
// line="G0 X[posx - 8] Y[ymax]"
// > "G0 X2 Y50"
line = translateExpression(line, context);
const data = parser.parseLine(line, { flatten: true });
const words = ensureArray(data.words);
{ // Program Mode: M0, M1
const programMode = _.intersection(words, ['M0', 'M1'])[0];
if (programMode === 'M0') {
log.debug('M0 Program Pause');
this.feeder.hold({ data: 'M0', comment: commentString }); // Hold reason
} else if (programMode === 'M1') {
log.debug('M1 Program Pause');
this.feeder.hold({ data: 'M1', comment: commentString }); // Hold reason
}
}
// More aggressive updating of spindle modals for safety
const spindleCommand = _.intersection(words, ['M3', 'M4'])[0];
if (spindleCommand) {
this.updateSpindleModal(spindleCommand);
}
// // M6 Tool Change
if (_.includes(words, 'M6')) {
log.debug('M6 Tool Change');
this.feeder.hold({ data: 'M6', comment: commentString }); // Hold reason
line = line.replace('M6', '(M6)');
}
return line;
}
});
this.feeder.on('data', (line = '', context = {}) => {
if (this.isClose()) {
log.error(`Serial port "${this.options.port}" is not accessible`);
return;
}
if (this.runner.isAlarm()) {
this.feeder.reset();
this.emit('workflow:state', this.workflow.state); // Propogate alarm code to UI
log.warn('Stopped sending G-code commands in Alarm mode');
return;
}
line = String(line).trim();
if (line.length === 0) {
return;
}
this.emit('serialport:write', line + '\n', {
...context,
source: WRITE_SOURCE_FEEDER
});
this.connection.write(line + '\n');
log.silly(`> ${line}`);
});
this.feeder.on('hold', noop);
this.feeder.on('unhold', noop);
this.feeder.on('complete', () => {
this.consumeFeederCB();
});
// Sender
this.sender = new Sender(SP_TYPE_CHAR_COUNTING, {
// Deduct the buffer size to prevent from buffer overrun
bufferSize: (128 - 28), // The default buffer size is 128 bytes
dataFilter: (line, context) => {
// Remove comments that start with a semicolon `;`
let commentMatcher = /\s*;.*/g;
let bracketCommentLine = /\([^\)]*\)/gm;
let toolCommand = /(T)(-?\d*\.?\d+\.?)/;
line = line.replace(bracketCommentLine, '').trim();
let comment = line.match(commentMatcher);
let commentString = (comment && comment[0].length > 0) ? comment[0].trim().replace(';', '') : '';
line = line.replace(commentMatcher, '').replace('/uFEFF', '').trim();
context = this.populateContext(context);
const { sent, received } = this.sender.state;
if (line[0] === '%') {
// %wait
if (line === WAIT) {
log.debug(`Wait for the planner to empty: line=${sent + 1}, sent=${sent}, received=${received}`);
this.sender.hold({ data: WAIT }); // Hold reason
return 'G4 P0.5'; // dwell
}
// Expression
// %_x=posx,_y=posy,_z=posz
evaluateAssignmentExpression(line.slice(1), context);
return '';
}
// line="G0 X[posx - 8] Y[ymax]"
// > "G0 X2 Y50"
line = translateExpression(line, context);
const data = parser.parseLine(line, { flatten: true });
const words = ensureArray(data.words);
{ // Program Mode: M0, M1
const programMode = _.intersection(words, ['M0', 'M1'])[0];
if (programMode === 'M0') {
log.debug(`M0 Program Pause: line=${sent + 1}, sent=${sent}, received=${received}`);
// Workaround for Carbide files - prevent M0 early from pausing program
if (sent > 10) {
this.workflow.pause({ data: 'M0', comment: commentString });
this.command('gcode', `${WAIT}\n${PAUSE_START} ;${commentString}`);
}
line = line.replace('M0', '(M0)');
} else if (programMode === 'M1') {
log.debug(`M1 Program Pause: line=${sent + 1}, sent=${sent}, received=${received}`);
this.workflow.pause({ data: 'M1', comment: commentString });
this.command('gcode', `${WAIT}\n${PAUSE_START} ;${commentString}`);
line = line.replace('M1', '(M1)');
}
}
// More aggressive updating of spindle modals for safety
const spindleCommand = _.intersection(words, ['M3', 'M4'])[0];
if (spindleCommand) {
this.updateSpindleModal(spindleCommand);
}
/* Emit event to UI for toolchange handler */
if (_.includes(words, 'M6')) {
log.debug(`M6 Tool Change: line=${sent + 1}, sent=${sent}, received=${received}`);
const { toolChangeOption } = this.toolChangeContext;
let tool = line.match(toolCommand);
// Handle specific cases for macro and pause, ignore is default and comments line out with no other action
if (toolChangeOption === 'Pause' || toolChangeOption === 'Manual') {
if (tool) {
this.emit('toolchange:tool', tool[0]);
}
this.workflow.pause({ data: 'M6', comment: commentString });
this.emit('gcode:toolChange', {
line: sent + 1,
block: line,
option: 'Manual'
}, commentString);
} else if (toolChangeOption === 'Code') {
if (tool) {
commentString = `${tool[0]} - ${commentString}`;
}
this.workflow.pause({ data: 'M6', comment: commentString });
this.emit('toolchange:start');
this.runPreChangeHook(commentString);
}
line = '(M6)';
}
return line;
}
});
this.sender.on('data', (line = '', context = {}) => {
if (this.isClose()) {
log.error(`Serial port "${this.options.port}" is not accessible`);
return;
}
line = String(line).trim();
if (line.length === 0) {
log.warn(`Expected non-empty line: N=${this.sender.state.sent}`);
return;
}
this.emit('serialport:read', line);
this.connection.write(line + '\n');
log.silly(`> ${line}`);
});
this.sender.on('hold', noop);
this.sender.on('unhold', noop);
this.sender.on('start', (startTime) => {
this.actionTime.senderFinishTime = 0;
});
this.sender.on('end', (finishTime) => {
this.actionTime.senderFinishTime = finishTime;
});
// Workflow
this.workflow = new Workflow();
this.workflow.on('start', (...args) => {
this.emit('workflow:state', this.workflow.state);
this.sender.rewind();
});
this.workflow.on('stop', (...args) => {
this.emit('workflow:state', this.workflow.state);
this.sender.rewind();
});
this.workflow.on('pause', (...args) => {
this.emit('workflow:state', this.workflow.state);
if (args.length > 0) {
const reason = { ...args[0] };
this.sender.hold(reason); // Hold reason
} else {
this.sender.hold();
}
});
this.workflow.on('resume', (...args) => {
this.emit('workflow:state', this.workflow.state);
// Reset feeder prior to resume program execution
this.feeder.reset();
// Resume program execution
this.sender.unhold();
this.sender.next();
});
// Grbl
this.runner = new GrblRunner();
this.runner.on('raw', noop);
this.runner.on('status', (res) => {
if (this.homingStarted) {
this.homingFlagSet = determineMachineZeroFlagSet(res, this.settings);
this.emit('homing:flag', this.homingFlagSet);
this.homingStarted = false;
}
this.actionMask.queryStatusReport = false;
if (this.actionMask.replyStatusReport) {
this.actionMask.replyStatusReport = false;
this.emit('serialport:read', res.raw);
}
// Check if the receive buffer is available in the status report
const rx = Number(_.get(res, 'buf.rx', 0)) || 0;
if (rx > 0) {
// Do not modify the buffer size when running a G-code program
if (this.workflow.state !== WORKFLOW_STATE_IDLE) {
return;
}
// Check if the streaming protocol is character-counting streaming protocol
if (this.sender.sp.type !== SP_TYPE_CHAR_COUNTING) {
return;
}
// Check if the queue is empty
if (this.sender.sp.dataLength !== 0) {
return;
}
// Deduct the receive buffer length to prevent from buffer overrun
const bufferSize = (rx - 8); // TODO
if (bufferSize > this.sender.sp.bufferSize) {
this.sender.sp.bufferSize = bufferSize;
}
}
});
this.runner.on('ok', (res) => {
if (this.actionMask.queryParserState.reply) {
if (this.actionMask.replyParserState) {
this.actionMask.replyParserState = false;
this.emit('serialport:read', res.raw);
}
this.actionMask.queryParserState.reply = false;
return;
}
const { hold, sent, received } = this.sender.state;
if (this.workflow.state === WORKFLOW_STATE_RUNNING) {
this.emit('serialport:read', res.raw);
if (hold && (received + 1 >= sent)) {
log.debug(`Continue sending G-code: hold=${hold}, sent=${sent}, received=${received + 1}`);
this.sender.unhold();
}
this.sender.ack();
this.sender.next();
return;
}
if ((this.workflow.state === WORKFLOW_STATE_PAUSED) && (received < sent)) {
this.emit('serialport:read', res.raw);
if (!hold) {
log.error('The sender does not hold off during the paused state');
}
if (received + 1 >= sent) {
log.debug(`Stop sending G-code: hold=${hold}, sent=${sent}, received=${received + 1}`);
}
this.sender.ack();
this.sender.next();
return;
}
this.emit('serialport:read', res.raw);
// Feeder
this.feeder.ack();
this.feeder.next();
});
this.runner.on('error', (res) => {
const code = Number(res.message) || undefined;
const error = _.find(GRBL_ERRORS, { code: code });
log.error(`Error occurred at ${Date.now()}`);
if (this.workflow.state === WORKFLOW_STATE_RUNNING || this.workflow.state === WORKFLOW_STATE_PAUSED) {
const { lines, received } = this.sender.state;
const line = lines[received] || '';
const preferences = store.get('preferences') || { showLineWarnings: false };
this.emit('serialport:read', `error:${code} (${error.message})`);
if (error) {
if (preferences.showLineWarnings === false) {
const msg = `Error ${code} on line ${received} - ${error.message}`;
this.emit('gcode_error', msg);
this.workflow.pause({ err: `error:${code} (${error.message})` });
}
if (preferences.showLineWarnings) {
this.workflow.pause({ err: `error:${code} (${error.message})` });
this.emit('workflow:state', this.workflow.state, { validLine: false, line: `${lines.length} ${line}` });
}
} else {
this.emit('serialport:read', res.raw);
}
this.sender.ack();
this.sender.next();
return;
}
if (error) {
// Grbl v1.1
this.emit('serialport:read', `error:${code} (${error.message})`);
} else {
// Grbl v0.9
this.emit('serialport:read', res.raw);
}
// Feeder
this.feeder.ack();
this.feeder.next();
});
this.runner.on('alarm', (res) => {
const code = Number(res.message) || undefined;
const alarm = _.find(GRBL_ALARMS, { code: code });
if (alarm) {
// Grbl v1.1
this.emit('serialport:read', `ALARM:${code} (${alarm.message})`);
// Force propogation of current state on alarm
this.state = this.runner.state;
this.emit('controller:state', GRBL, this.state);
} else {
// Grbl v0.9
this.emit('serialport:read', res.raw);
}
});
this.runner.on('parserstate', (res) => {
//finished searching gCode file for errors
if (this.sender.state.finishTime > 0 && this.sender.state.sent > 0 && this.runner.state.status.activeState === 'Check') {
this.command('gcode', ['$C', '[global.state.testWCS]']);
this.workflow.stopTesting();
this.emit('gcode_error_checking_file', this.sender.state, 'finished');
return;
}
this.actionMask.queryParserState.state = false;
this.actionMask.queryParserState.reply = true;
if (this.actionMask.replyParserState) {
this.emit('serialport:read', res.raw);
}
});
this.runner.on('parameters', (res) => {
this.emit('serialport:read', res.raw);
});
this.runner.on('feedback', (res) => {
this.emit('serialport:read', res.raw);
});
this.runner.on('settings', (res) => {
const setting = _.find(GRBL_SETTINGS, { setting: res.name });
if (!res.message && setting) {
// Grbl v1.1
this.emit('serialport:read', `${res.name}=${res.value} (${setting.message}, ${setting.units})`);
} else {
// Grbl v0.9
this.emit('serialport:read', res.raw);
}
});
this.runner.on('startup', (res) => {
this.emit('serialport:read', res.raw);
// The startup message always prints upon startup, after a reset, or at program end.
// Setting the initial state when Grbl has completed re-initializing all systems.
this.clearActionValues();
// Set ready flag to true when a startup message has arrived
this.ready = true;
// Clear sender - for physical buttons
//this.sender.unload();
if (!this.initialized) {
this.initialized = true;
// Initialize controller
this.initController();
}
});
this.runner.on('others', (res) => {
this.emit('serialport:read', res.raw);
});
const queryStatusReport = () => {
// Check the ready flag
if (!(this.ready)) {
return;
}
const now = new Date().getTime();
// The status report query (?) is a realtime command, it does not consume the receive buffer.
const lastQueryTime = this.actionTime.queryStatusReport;
if (lastQueryTime > 0) {
const timespan = Math.abs(now - lastQueryTime);
const toleranceTime = 5000; // 5 seconds
// Check if it has not been updated for a long time
if (timespan >= toleranceTime) {
log.debug(`Continue status report query: timespan=${timespan}ms`);
this.actionMask.queryStatusReport = false;
}
}
if (this.actionMask.queryStatusReport) {
return;
}
if (this.isOpen()) {
this.actionMask.queryStatusReport = true;
this.actionTime.queryStatusReport = now;
this.connection.write('?');
}
};
const queryParserState = _.throttle(() => {
// Check the ready flag
if (!(this.ready)) {
return;
}
const now = new Date().getTime();
// Do not force query parser state ($G) when running a G-code program,
// it will consume 3 bytes from the receive buffer in each time period.
if ((this.workflow.state === WORKFLOW_STATE_IDLE) && this.runner.isIdle()) {
const lastQueryTime = this.actionTime.queryParserState;
if (lastQueryTime > 0) {
const timespan = Math.abs(now - lastQueryTime);
const toleranceTime = 10000; // 10 seconds
// Check if it has not been updated for a long time
if (timespan >= toleranceTime) {
log.debug(`Continue parser state query: timespan=${timespan}ms`);
this.actionMask.queryParserState.state = false;
this.actionMask.queryParserState.reply = false;
}
}
}
if (this.actionMask.queryParserState.state || this.actionMask.queryParserState.reply) {
return;
}
if (this.isOpen()) {
this.actionMask.queryParserState.state = true;
this.actionMask.queryParserState.reply = false;
this.actionTime.queryParserState = now;
this.connection.write('$G\n');
}
}, 500);
this.queryTimer = setInterval(() => {
if (this.isClose()) {
// Serial port is closed
return;
}
// Feeder
if (this.feeder.peek()) {
this.emit('feeder:status', this.feeder.toJSON());
}
// Sender
if (this.sender.peek()) {
this.emit('sender:status', this.sender.toJSON());
}
const zeroOffset = _.isEqual(
this.runner.getWorkPosition(this.state),
this.runner.getWorkPosition(this.runner.state)
);
// Grbl settings
if (this.settings !== this.runner.settings) {
this.settings = this.runner.settings;
this.emit('controller:settings', GRBL, this.settings);
this.emit('Grbl:settings', this.settings); // Backward compatibility
}
// Grbl state
if (this.state !== this.runner.state) {
this.state = this.runner.state;
this.emit('controller:state', GRBL, this.state);
this.emit('Grbl:state', this.state); // Backward compatibility
}
// Check the ready flag
if (!(this.ready)) {
return;
}
// ? - Status Report
queryStatusReport();
// $G - Parser State
queryParserState();
// Check if the machine has stopped movement after completion
if (this.actionTime.senderFinishTime > 0) {
const machineIdle = zeroOffset && this.runner.isIdle();
const now = new Date().getTime();
const timespan = Math.abs(now - this.actionTime.senderFinishTime);
const toleranceTime = 500; // in milliseconds
if (!machineIdle) {
// Extend the sender finish time
this.actionTime.senderFinishTime = now;
} else if (timespan > toleranceTime) {
log.silly(`Finished sending G-code: timespan=${timespan}`);
this.actionTime.senderFinishTime = 0;
// Stop workflow
this.command('gcode:stop');
}
}
}, 250);
// Load file if it exists in CNC engine (AKA it was loaded before connection
}
async initController() {
// $13=0 (report in mm)
// $13=1 (report in inches)
this.writeln('$$');
await delay(50);
this.event.trigger('controller:ready');
}
populateContext(context = {}) {
// Machine position
const {
x: mposx,
y: mposy,
z: mposz,
a: mposa,
b: mposb,
c: mposc
} = this.runner.getMachinePosition();
// Work position
const {
x: posx,
y: posy,
z: posz,
a: posa,
b: posb,
c: posc
} = this.runner.getWorkPosition();
// Modal group
const modal = this.runner.getModalGroup();
// Tool
const tool = this.runner.getTool();
return Object.assign(context || {}, {
// User-defined global variables
global: this.sharedContext,
// Bounding box
xmin: Number(context.xmin) || 0,
xmax: Number(context.xmax) || 0,
ymin: Number(context.ymin) || 0,
ymax: Number(context.ymax) || 0,
zmin: Number(context.zmin) || 0,
zmax: Number(context.zmax) || 0,
// Machine position
mposx: Number(mposx) || 0,
mposy: Number(mposy) || 0,
mposz: Number(mposz) || 0,
mposa: Number(mposa) || 0,
mposb: Number(mposb) || 0,
mposc: Number(mposc) || 0,
// Work position
posx: Number(posx) || 0,
posy: Number(posy) || 0,
posz: Number(posz) || 0,
posa: Number(posa) || 0,
posb: Number(posb) || 0,
posc: Number(posc) || 0,
// Modal group
modal: {
motion: modal.motion,
wcs: modal.wcs,
plane: modal.plane,
units: modal.units,
distance: modal.distance,
feedrate: modal.feedrate,
program: modal.program,
spindle: modal.spindle,
// M7 and M8 may be active at the same time, but a modal group violation might occur when issuing M7 and M8 together on the same line. Using the new line character (\n) to separate lines can avoid this issue.
coolant: ensureArray(modal.coolant).join('\n'),
},
// Tool
tool: Number(tool) || 0,
// Global objects
...globalObjects,
});
}
clearActionValues() {
this.actionMask.queryParserState.state = false;
this.actionMask.queryParserState.reply = false;
this.actionMask.queryStatusReport = false;
this.actionMask.replyParserState = false;
this.actionMask.replyStatusReport = false;
this.actionTime.queryParserState = 0;
this.actionTime.queryStatusReport = 0;
this.actionTime.senderFinishTime = 0;
}
destroy() {
if (this.queryTimer) {
clearInterval(this.queryTimer);
this.queryTimer = null;
}
if (this.runner) {
this.runner.removeAllListeners();
this.runner = null;
}
this.sockets = {};
if (this.connection) {
this.connection = null;
}
if (this.event) {
this.event = null;
}
if (this.feeder) {
this.feeder = null;
}
if (this.sender) {
this.sender = null;
}
if (this.workflow) {
this.workflow = null;
}
}
get status() {
return {
port: this.options.port,
baudrate: this.options.baudrate,
rtscts: this.options.rtscts,
sockets: Object.keys(this.sockets),
ready: this.ready,
controller: {
type: this.type,
settings: this.settings,
state: this.state
},
feeder: this.feeder.toJSON(),
sender: this.sender.toJSON(),
workflow: {
state: this.workflow.state
}
};
}
open(callback = noop) {
const { port, baudrate } = this.options;