forked from LaserWeb/lw.comm-server
/
server.js_original
4142 lines (3942 loc) · 187 KB
/
server.js_original
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"use strict";
/*
AUTHOR: Claudio Prezzi github.com/cprezzi
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Affero General Public License as published by
the Free Software Foundation, either version 3 of the License.
This program 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 Affero General Public License for more details.
You should have received a copy of the GNU Affero General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
const config = require('./config');
const serialport = require('serialport');
var SerialPort = serialport;
const Readline = SerialPort.parsers.Readline;
const websockets = require('socket.io');
const http = require('http');
const WebSocket = require('ws');
const net = require('net');
const os = require('os');
const ip = require("ip");
const fs = require('fs');
const path = require('path');
const nstatic = require('node-static');
const url = require('url');
const util = require('util');
const chalk = require('chalk');
const request = require('request'); // proxy for remote webcams
const grblStrings = require('./grblStrings.js');
const firmwareFeatures = require('./firmwareFeatures.js');
const { exec } = require('child_process'); //Support for running OS commands before and after jobs
exports.LWCommServer=function(config){
//var EventEmitter = require('events').EventEmitter;
//var qs = require('querystring');
var logFile;
var connectionType, connections = [];
var gcodeQueue = [];
var port, parser, isConnected, connectedTo, portsList;
var telnetSocket, espSocket, connectedIp;
var telnetBuffer, espBuffer;
var statusLoop, queueCounter, listPortsLoop = false;
var lastSent = '', paused = false, blocked = false;
var firmware, fVersion, fDate;
var feedOverride = 100;
var spindleOverride = 100;
var laserTestOn = false;
var runningJob;
var startTime;
var queueLen;
var queuePos = 0;
var queuePointer = 0;
var readyToSend = true;
var jobRequestIP;
var optimizeGcode = false;
var supportedInterfaces = ['USB', 'ESP8266', 'Telnet'];
var GRBL_RX_BUFFER_SIZE = config.grblBufferSize; // max. chars (default: 128)
var grblBufferSize = [];
var new_grbl_buffer = false;
var SMOOTHIE_RX_BUFFER_SIZE = config.smoothieBufferSize; // max. length of one command line (default: 64)
var smoothie_buffer = false;
var lastMode;
var TINYG_RX_BUFFER_SIZE = config.tinygBufferSize; // max. lines of gcode to send before wait for ok (default: 24)
var tinygBufferSize = TINYG_RX_BUFFER_SIZE; // init space left
var jsObject;
var REPRAP_RX_BUFFER_SIZE = config.reprapBufferSize; // max. lines of gcode to send before wait for ok (default: 2)
var reprapBufferSize = REPRAP_RX_BUFFER_SIZE; // init space left
var reprapWaitForPos = false;
var xPos = 0.00, yPos = 0.00, zPos = 0.00, aPos = 0.00;
var xOffset = 0.00, yOffset = 0.00, zOffset = 0.00, aOffset = 0.00;
var has4thAxis = false;
var add = ip.address();
writeLog(chalk.green(' '), 0);
writeLog(chalk.green('***************************************************************'), 0);
writeLog(chalk.white(' ---- LaserWeb Comm Server ' + config.serverVersion + ' ---- '), 0);
writeLog(chalk.green('***************************************************************'), 0);
writeLog(chalk.white(' Use ') + chalk.yellow(' http://' + add + ':' + config.webPort) + chalk.white(' to connect to this server.'), 0);
writeLog(chalk.green('***************************************************************'));
writeLog(chalk.green(' '), 0);
writeLog(chalk.red('* Updates: '), 0);
writeLog(chalk.green(' Remember to check the commit log on'), 0);
writeLog(chalk.yellow(' https://github.com/LaserWeb/lw.comm-server/commits/master'), 0);
writeLog(chalk.green(' regularly, to know about updates and fixes, and then when ready'), 0);
writeLog(chalk.green(' update accordingly by running ') + chalk.cyan('git pull'), 0);
writeLog(chalk.green(' '), 0);
writeLog(chalk.red('* Support: '), 0);
writeLog(chalk.green(' If you need help / support, come over to '), 0);
writeLog(chalk.green(' ') + chalk.yellow('https://forum.makerforums.info/c/laserweb-cncweb/78'), 0);
writeLog(chalk.green('***************************************************************'), 0);
writeLog(chalk.green(' '), 0);
// Init webserver
var webServer = new nstatic.Server(config.uipath || path.join(__dirname, '/app'));
var app = http.createServer(function (req, res) {
var queryData = url.parse(req.url, true).query;
if (queryData.url) {
if (queryData.url !== '') {
request({
url: queryData.url, // proxy for remote webcams
callback: function (err, res, body) {
if (err) {
// writeLog(err)
console.error(chalk.red('ERROR:'), chalk.yellow(' Remote Webcam Proxy error: '), chalk.white('"' + queryData.url + '"'), chalk.yellow(' is not a valid URL: '));
}
}
}).on('error', function (e) {
res.end(e);
}).pipe(res);
}
} else {
webServer.serve(req, res, function (err, result) {
if (err) {
console.error(chalk.red('ERROR:'), chalk.yellow(' webServer error:' + req.url + ' : '), err.message);
}
});
}
});
if (config.IP == "0.0.0.0") {
writeLog(chalk.yellow('Server binding to all local IP addresses on port: ' + config.webPort), 1);
} else {
writeLog(chalk.yellow('Server binding to IP: ' + config.IP + ' on port: ' + config.webPort), 1);
}
app.listen(config.webPort, config.IP);
var io = websockets(app, {
maxHttpBufferSize: config.socketMaxDataSize,
cors: {
origin: config.socketCorsOrigin,
methods: ["GET", "POST"]
},
pingTimeout: config.socketPingTimeout,
pingInterval: config.socketPingInterval
});
// MPG communication
const HID = require("node-hid");
var vendorId = 4302; // for MPG: XHC HB04-L (0x10CE)
var productId = 60272; // for MPG: XHC HB04-L (0xEB70)
var mpgType = config.mpgType;
var mpgRead, mpgWrite;
var macro = [];
if (mpgType != 0){
switch(mpgType){
case 'HB03':
case 'HB04':
var devices = HID.devices();
devices.forEach(function(device) {
if (device.vendorId == vendorId && device.productId == productId){
if (!mpgRead) {
mpgRead = new HID.HID(device.path);
console.log("HID read device: " + device.path);
} else {
mpgWrite = new HID.HID(device.path);
console.log("HID write device: " + device.path);
console.log(mpgWrite.getFeatureReport(6, 8));
}
}
});
if (mpgRead) {
mpgRead.on("data", function (data) {
writeLog(chalk.yellow('MPG read data: ' + JSON.stringify(data)), 1);
if (data) {
parseMPGPacket(data);
}
});
mpgRead.on("error", function (data) {
writeLog(chalk.yellow('MPG read error: ' + JSON.stringify(data)), 1);
});
}
if (mpgWrite) {
mpgWrite.on("data", function (data) {
writeLog(chalk.yellow('MPG write data: ' + JSON.stringify(data)), 1);
});
mpgWrite.on("error", function (data) {
writeLog(chalk.yellow('MPG write error: ' + JSON.stringify(data)), 1);
});
}
break;
}
}
// WebSocket connection from frontend
io.sockets.on('connection', function (appSocket) {
// save new connection
connections.push(appSocket);
writeLog(chalk.yellow('App connected! (id=' + connections.indexOf(appSocket) + ', ip=' + appSocket.handshake.address + ')'), 1);
// send supported interfaces
writeLog(chalk.yellow('Connect (' + connections.indexOf(appSocket) + ') ') + chalk.blue('Sending Interfaces list: ' + supportedInterfaces), 1);
appSocket.emit('interfaces', supportedInterfaces);
// check available ports
serialport.list().then(ports => {
portsList = ports;
let portPaths= new Array();
for (var i = 0; i < ports.length; i++) {
portPaths.push(ports[i].path);
}
writeLog(chalk.yellow('Connect(' + connections.indexOf(appSocket) + ') ') + chalk.blue('Sending Ports list: ' + portPaths), 1);
appSocket.emit('ports', portsList);
});
// reckeck ports every 2s
if (!listPortsLoop) {
listPortsLoop = setInterval(function () {
serialport.list().then(ports => {
if (JSON.stringify(ports) != JSON.stringify(portsList)) {
portsList = ports;
io.sockets.emit('ports', portsList);
let portPaths= new Array();
for (var i = 0; i < ports.length; i++) {
portPaths.push(ports[i].path);
}
writeLog(chalk.yellow('Ports changed: ' + portPaths), 1);
}
});
}, 2000);
}
if (isConnected) {
appSocket.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
if (port) {
appSocket.emit('connectStatus', 'opened:' + port.path);
appSocket.emit('activePort', port.path);
appSocket.emit('activeBaudRate', port.settings.baudRate);
} else {
appSocket.emit('connectStatus', 'opened:' + connectedTo);
appSocket.emit('activeIP', connectedTo);
}
if (runningJob) {
let currentTime = new Date(Date.now());
let elapsedTimeMS = currentTime.getTime() - startTime.getTime();
let elapsedTime = Math.round(elapsedTimeMS / 1000);
let speed = (queuePointer / elapsedTime);
if (speed >= 100) speed = speed.toFixed(0);
else speed = speed.toPrecision(3);
let pct = ((queuePointer / queueLen) * 100).toFixed(1);
appSocket.emit('runningJobStatus', 'Running job started @ ' + startTime.toLocaleTimeString() + ' on ' + startTime.toLocaleDateString() + ' from ' + jobRequestIP + '<br/>Queue: ' + queuePointer + ' done of ' + queueLen + ' (' + pct + '%, ave. ' + speed + ' lines/s)');
}
} else {
appSocket.emit('connectStatus', 'Connect');
}
appSocket.on('firstLoad', function () {
writeLog(chalk.yellow('INFO: ') + chalk.blue('FirstLoad called'), 1);
appSocket.emit('serverConfig', config);
appSocket.emit('interfaces', supportedInterfaces);
serialport.list().then(ports => {
appSocket.emit('ports', ports);
});
if (isConnected) {
appSocket.emit('activeInterface', connectionType);
switch (connectionType) {
case 'usb':
appSocket.emit('activePort', port.path);
appSocket.emit('activeBaudRate', port.settings.baudRate);
break;
case 'telnet':
appSocket.emit('activeIP', connectedTo);
break;
case 'esp8266':
appSocket.emit('activeIP', connectedTo);
break;
}
appSocket.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
if (port) {
appSocket.emit('connectStatus', 'opened:' + port.path);
} else {
appSocket.emit('connectStatus', 'opened:' + connectedTo);
}
} else {
appSocket.emit('connectStatus', 'Connect');
}
});
appSocket.on('getServerConfig', function () { // Deliver config of server (incl. versions)
writeLog(chalk.yellow('INFO: ') + chalk.blue('Requesting Server Config '), 1);
appSocket.emit('serverConfig', config);
});
appSocket.on('getInterfaces', function () { // Deliver supported Interfaces
writeLog(chalk.yellow('INFO: ') + chalk.blue('Requesting Interfaces '), 1);
appSocket.emit('interfaces', supportedInterfaces);
});
appSocket.on('getPorts', function () { // Refresh serial port list
writeLog(chalk.yellow('INFO: ') + chalk.blue('Requesting Ports list '), 1);
serialport.list().then(ports => {
appSocket.emit('ports', ports);
});
});
appSocket.on('getConnectStatus', function () { // Report active serial port to web-client
writeLog(chalk.yellow('INFO: ') + chalk.blue('getConnectStatus'), 1);
if (isConnected) {
appSocket.emit('activeInterface', connectionType);
switch (connectionType) {
case 'usb':
appSocket.emit('activePort', port.path);
appSocket.emit('activeBaudRate', port.settings.baudRate);
break;
case 'telnet':
appSocket.emit('activeIP', connectedTo);
break;
case 'esp8266':
appSocket.emit('activeIP', connectedTo);
break;
}
appSocket.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
if (port) {
appSocket.emit('connectStatus', 'opened:' + port.path);
} else {
appSocket.emit('connectStatus', 'opened:' + connectedTo);
}
} else {
appSocket.emit('connectStatus', 'Connect');
}
});
appSocket.on('getFirmware', function (data) { // Deliver Firmware to Web-Client
appSocket.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
});
appSocket.on('getFeatureList', function (data) { // Deliver supported Firmware Features to Web-Client
appSocket.emit('featureList', firmwareFeatures.get(firmware));
});
appSocket.on('getRunningJob', function (data) { // Deliver running Job to Web-Client
appSocket.emit('runningJob', runningJob);
});
appSocket.on('connectTo', function (data) { // If a user picks a port to connect to, open a Node SerialPort Instance to it
data = data.split(',');
let reset = false;
if (config.resetOnConnect == 1) reset = true;
writeLog(chalk.yellow('INFO: ') + chalk.blue('Connecting to ' + data), 1);
if (!isConnected) {
connectionType = data[0].toLowerCase();
if (data.length >= 4) { // if client supplies true/false, use that
switch(data[3]) {
case 'true':
reset = true;
break;
case 'false':
reset = false;
break;
}
}
firmware = false;
switch (connectionType) {
case 'usb':
port = new SerialPort(data[1], {
baudRate: parseInt(data[2].replace('baud',''))
});
const parser = port.pipe(new Readline({ delimiter: '\n' }))
// parser.on('data', console.log) // uncomment to dump raw data from the connected port
io.sockets.emit('connectStatus', 'opening:' + port.path);
// Serial port events -----------------------------------------------
port.on('open', function () {
io.sockets.emit('activePort', {port: port.path, baudrate: port.settings.baudRate});
io.sockets.emit('connectStatus', 'opened:' + port.path);
if (reset) {
port.write(String.fromCharCode(0x18)); // ctrl-x (reset firmware)
writeLog('Sent: ctrl-x', 1);
} else {
machineSend('\n'); // this causes smoothie to send the welcome string
writeLog('Sent: \\n', 1);
}
setTimeout(function () { //wait for controller to be ready
if (!firmware) { // Grbl should be already detected
machineSend('version\n'); // Check if it's Smoothieware?
writeLog('Sent: version', 2);
setTimeout(function () { // Wait for Smoothie to answer
if (!firmware) { // If still not set
machineSend('{fb:n}\n'); // Check if it's TinyG
writeLog('Sent: {fb:n}', 2);
setTimeout(function () { // Wait for TinyG to answer
if (!firmware) { // If still not set
machineSend('M115\n'); // Check if it's Repetier, Marlin, MK, RepRap
reprapBufferSize--;
writeLog('Sent: M115', 2);
}
}, config.tinygWaitTime * 1000);
}
}, config.smoothieWaitTime * 1000);
}
}, config.grblWaitTime * 1000);
if (config.firmwareWaitTime > 0) {
setTimeout(function () {
// Close port if we don't detect supported firmware after 2s.
if (!firmware) {
writeLog('No supported firmware detected. Closing port ' + port.path, 1);
io.sockets.emit('data', 'No supported firmware detected. Closing port ' + port.path);
io.sockets.emit('connectStatus', 'closing:' + port.path);
clearInterval(queueCounter);
clearInterval(statusLoop);
gcodeQueue.length = 0; // dump the queye
grblBufferSize.length = 0; // dump bufferSizes
tinygBufferSize = TINYG_RX_BUFFER_SIZE; // reset tinygBufferSize
reprapBufferSize = REPRAP_RX_BUFFER_SIZE; // reset reprapBufferSize
reprapWaitForPos = false;
port.close();
}
}, config.firmwareWaitTime * 1000);
}
//machineSend("M115\n"); // Lets check if its Marlin?
writeLog(chalk.yellow('INFO: ') + 'Connected to ' + port.path + ' at ' + port.settings.baudRate, 1);
isConnected = true;
connectedTo = port.path;
// Start interval for qCount messages to socket clients
// queueCounter = setInterval(function () {
// io.sockets.emit('qCount', gcodeQueue.length - queuePointer);
// }, 500);
});
port.on('close', function () { // open errors will be emitted as an error event
clearInterval(queueCounter);
clearInterval(statusLoop);
io.sockets.emit("connectStatus", 'closed:');
io.sockets.emit("connectStatus", 'Connect');
isConnected = false;
connectedTo = false;
firmware = false;
paused = false;
blocked = false;
writeLog(chalk.yellow('INFO: ') + chalk.blue('Port closed'), 1);
});
port.on('error', function (err) { // open errors will be emitted as an error event
writeLog(chalk.red('PORT ERROR: ') + chalk.blue(err.message), 1);
io.sockets.emit('error', err.message);
io.sockets.emit('connectStatus', 'closed:');
io.sockets.emit('connectStatus', 'Connect');
});
parser.on('data', function (data) {
//data = data.toString().trimStart();
writeLog('Recv: ' + data, 3);
if (data.indexOf('ok') === 0) { // Got an OK so we are clear to send
if (firmware === 'grbl') {
grblBufferSize.shift();
}
if (firmware === 'repetier' || firmware === 'marlinkimbra' || firmware === 'marlin' || firmware === 'reprapfirmware') {
reprapBufferSize++;
}
blocked = false;
send1Q();
} else if (data.indexOf('<') === 0) { // Got statusReport (Grbl & Smoothieware)
var state = data.substring(1, data.search(/(,|\|)/));
//appSocket.emit('runStatus', state);
io.sockets.emit('data', data);
if (firmware == 'grbl') {
// Extract wPos (for Grbl > 1.1 only!)
var startWPos = data.search(/wpos:/i) + 5;
var wPos;
if (startWPos > 5) {
var wPosLen = data.substr(startWPos).search(/>|\|/);
wPos = data.substr(startWPos, wPosLen).split(/,/);
}
if (Array.isArray(wPos)) {
var send = true;
if (xPos !== parseFloat(wPos[0]).toFixed(config.posDecimals)) {
xPos = parseFloat(wPos[0]).toFixed(config.posDecimals);
send = true;
}
if (yPos !== parseFloat(wPos[1]).toFixed(config.posDecimals)) {
yPos = parseFloat(wPos[1]).toFixed(config.posDecimals);
send = true;
}
if (zPos !== parseFloat(wPos[2]).toFixed(config.posDecimals)) {
zPos = parseFloat(wPos[2]).toFixed(config.posDecimals);
send = true;
}
if (wPos.length > 3) {
if (aPos !== parseFloat(wPos[3]).toFixed(config.posDecimals)) {
aPos = parseFloat(wPos[3]).toFixed(config.posDecimals);
send = true;
has4thAxis = true;
}
}
if (send) {
if (has4thAxis) {
io.sockets.emit('wPos', {x: xPos, y: yPos, z: zPos, a: aPos});
setMpgWPos({x: xPos, y: yPos, z: zPos, a: aPos});
} else {
io.sockets.emit('wPos', {x: xPos, y: yPos, z: zPos});
setMpgWPos({x: xPos, y: yPos, z: zPos});
}
}
}
// Extract work offset (for Grbl > 1.1 only!)
var startWCO = data.search(/wco:/i) + 4;
var wco;
if (startWCO > 4) {
wco = data.replace('>', '').substr(startWCO).split(/,|\|/, 4);
}
if (Array.isArray(wco)) {
xOffset = parseFloat(wco[0]).toFixed(config.posDecimals);
yOffset = parseFloat(wco[1]).toFixed(config.posDecimals);
zOffset = parseFloat(wco[2]).toFixed(config.posDecimals);
if (has4thAxis) {
aOffset = parseFloat(wco[3]).toFixed(config.posDecimals);
}
if (send) {
if (has4thAxis) {
io.sockets.emit('wOffset', {x: xOffset, y: yOffset, z: zOffset, a: aOffset});
setMpgWOffset({x: xOffset, y: yOffset, z: zOffset, a: aOffset});
} else {
io.sockets.emit('wOffset', {x: xOffset, y: yOffset, z: zOffset});
setMpgWOffset({x: xOffset, y: yOffset, z: zOffset});
}
}
}
}
if (firmware == 'smoothie') {
// Extract wPos (for Smoothieware only!)
var startWPos = data.search(/wpos:/i) + 5;
var wPos;
if (startWPos > 5) {
wPos = data.replace('>', '').substr(startWPos).split(/,/, 4);
}
if (Array.isArray(wPos)) {
var send = true;
if (xPos !== wPos[0]) {
xPos = wPos[0];
send = true;
}
if (yPos !== wPos[1]) {
yPos = wPos[1];
send = true;
}
if (zPos !== wPos[2]) {
zPos = wPos[2];
send = true;
}
if (wPos.length > 3) {
if (aPos !== wPos[3]) {
aPos = wPos[3];
send = true;
has4thAxis = true;
}
}
if (send) {
if (has4thAxis) {
io.sockets.emit('wPos', {x: parseFloat(xPos).toFixed(config.posDecimals), y: parseFloat(yPos).toFixed(config.posDecimals), z: parseFloat(zPos).toFixed(config.posDecimals), a: parseFloat(aPos).toFixed(config.posDecimals)});
setMpgWPos({x: xPos, y: yPos, z: zPos, a: aPos});
} else {
io.sockets.emit('wPos', {x: parseFloat(xPos).toFixed(config.posDecimals), y: parseFloat(yPos).toFixed(config.posDecimals), z: parseFloat(zPos).toFixed(config.posDecimals)});
setMpgWPos({x: xPos, y: yPos, z: zPos});
}
}
}
// Extract mPos (for Smoothieware only!)
var startMPos = data.search(/mpos:/i) + 5;
var mPos;
if (startMPos > 5) {
mPos = data.replace('>', '').substr(startMPos).split(/,|\|/, 4);
}
if (Array.isArray(mPos)) {
var send = false;
if (xOffset != mPos[0] - xPos) {
xOffset = mPos[0] - xPos;
send = true;
}
if (yOffset != mPos[1] - yPos) {
yOffset = mPos[1] - yPos;
send = true;
}
if (zOffset != mPos[2] - zPos) {
zOffset = mPos[2] - zPos;
send = true;
}
if (has4thAxis) {
if (aOffset != mPos[3] - aPos) {
aOffset = mPos[3] - aPos;
send = true;
}
}
if (send) {
if (has4thAxis) {
io.sockets.emit('wOffset', {x: parseFloat(xOffset).toFixed(config.posDecimals), y: parseFloat(yOffset).toFixed(config.posDecimals), z: parseFloat(zOffset).toFixed(config.posDecimals), a: parseFloat(aOffset).toFixed(config.posDecimals)});
setMpgWOffset({x: xOffset, y: yOffset, z: zOffset, a: aOffset});
} else {
io.sockets.emit('wOffset', {x: parseFloat(xOffset).toFixed(config.posDecimals), y: parseFloat(yOffset).toFixed(config.posDecimals), z: parseFloat(zOffset).toFixed(config.posDecimals)});
setMpgWOffset({x: xOffset, y: yOffset, z: zOffset});
}
}
}
}
// Extract override values (for Grbl > v1.1 only!)
var startOv = data.search(/ov:/i) + 3;
if (startOv > 3) {
var ov = data.replace('>', '').substr(startOv).split(/,|\|/, 3);
if (Array.isArray(ov)) {
if (ov[0]) {
io.sockets.emit('feedOverride', ov[0]);
}
if (ov[1]) {
io.sockets.emit('rapidOverride', ov[1]);
}
if (ov[2]) {
io.sockets.emit('spindleOverride', ov[2]);
}
}
}
// Extract realtime Feed and Spindle (for Grbl > v1.1 only!)
var startFS = data.search(/FS:/i) + 3;
if (startFS > 3) {
var fs = data.replace('>', '').substr(startFS).split(/,|\|/, 2);
if (Array.isArray(fs)) {
if (fs[0]) {
io.sockets.emit('realFeed', fs[0]);
}
if (fs[1]) {
io.sockets.emit('realSpindle', fs[1]);
}
}
}
} else if (data.indexOf('X') === 0) { // Extract wPos for RepRap (Repetier, Marlin, MK, RepRapFirmware)
var pos;
var startPos = data.search(/x:/i) + 2;
if (startPos >= 2) {
pos = data.substr(startPos, 4);
if (xPos !== parseFloat(pos).toFixed(config.posDecimals)) {
xPos = parseFloat(pos).toFixed(config.posDecimals);
}
}
var startPos = data.search(/y:/i) + 2;
if (startPos >= 2) {
pos = data.substr(startPos, 4);
if (yPos !== parseFloat(pos).toFixed(config.posDecimals)) {
yPos = parseFloat(pos).toFixed(config.posDecimals);
}
}
var startPos = data.search(/z:/i) + 2;
if (startPos >= 2) {
pos = data.substr(startPos, 4);
if (zPos !== parseFloat(pos).toFixed(config.posDecimals)) {
zPos = parseFloat(pos).toFixed(config.posDecimals);
}
}
var startPos = data.search(/e:/i) + 2;
if (startPos >= 2) {
pos = data.substr(startPos, 4);
if (aPos !== parseFloat(pos).toFixed(config.posDecimals)) {
aPos = parseFloat(pos).toFixed(config.posDecimals);
}
}
io.sockets.emit('wPos', {x: xPos, y: yPos, z: zPos, a: aPos});
setMpgWPos({x: xPos, y: yPos, z: zPos, a: aPos});
//writeLog('wPos: X:' + xPos + ' Y:' + yPos + ' Z:' + zPos + ' E:' + aPos, 3);
if (firmware === 'reprapfirmware') {
//reprapBufferSize++;
}
reprapWaitForPos = false;
} else if (data.indexOf('Grbl') === 0) { // Check if it's Grbl
firmware = 'grbl';
fVersion = data.substr(5, 4); // get version
fDate = '';
writeLog('GRBL detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
machineSend('?');
//writeLog('Sent: ?', 2);
}
}, 250);
} else if (data.indexOf('LPC176') >= 0) { // LPC1768 or LPC1769 should be Smoothie
firmware = 'smoothie';
//SMOOTHIE_RX_BUFFER_SIZE = 64; // max. length of one command line
var startPos = data.search(/version:/i) + 9;
fVersion = data.substr(startPos).split(/,/, 1);
startPos = data.search(/Build date:/i) + 12;
fDate = new Date(data.substr(startPos).split(/,/, 1));
var dateString = fDate.toDateString();
writeLog('Smoothieware detected (' + fVersion + ', ' + dateString + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
machineSend('?');
//writeLog('Sent: ?', 2);
}
}, 250);
} else if (data.indexOf('start') === 0) { // Check if it's RepRap
machineSend('M115\n'); // Check if it's Repetier or MarlinKimbra
reprapBufferSize--;
writeLog('Sent: M115', 2);
} else if (data.indexOf('FIRMWARE_NAME:Repetier') >= 0) { // Check if it's Repetier
firmware = 'repetier';
var startPos = data.search(/repetier_/i) + 9;
fVersion = data.substr(startPos, 4); // get version
fDate = '';
writeLog('Repetier detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
if (!reprapWaitForPos && reprapBufferSize > 0) {
reprapWaitForPos = true;
machineSend('M114\n'); // query position
reprapBufferSize--;
writeLog('Sent: M114 (B' + reprapBufferSize + ')', 2);
}
}
}, 250);
} else if (data.indexOf('FIRMWARE_NAME:Marlin') >= 0) { // Check if it's MarlinKimbra
firmware = 'marlin';
var startPos = data.search(/marlin_/i) + 7;
fVersion = data.substr(startPos, 5); // get version
fDate = '';
writeLog('Marlin detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', { firmware: firmware, version: fVersion, date: fDate });
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
if (!reprapWaitForPos && reprapBufferSize >= 0) {
reprapWaitForPos = true;
machineSend('M114\n'); // query position
reprapBufferSize--;
writeLog('Sent: M114 (B' + reprapBufferSize + ')', 2);
}
}
}, 250);
} else if (data.indexOf('FIRMWARE_NAME:MK') >= 0) { // Check if it's MarlinKimbra
firmware = 'marlinkimbra';
var startPos = data.search(/mk_/i) + 3;
fVersion = data.substr(startPos, 5); // get version
fDate = '';
writeLog('MarlinKimbra detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
if (!reprapWaitForPos && reprapBufferSize >= 0) {
reprapWaitForPos = true;
machineSend('M114\n'); // query position
reprapBufferSize--;
writeLog('Sent: M114 (B' + reprapBufferSize + ')', 2);
}
}
}, 250);
} else if (data.indexOf('FIRMWARE_NAME: RepRapFirmware') >= 0) { // Check if it's RepRapFirmware
firmware = 'reprapfirmware';
var startPos = data.search(/firmware_version:/i) + 18;
fVersion = data.substr(startPos, 7); // get version
startPos = data.search(/firmware_date:/i) + 16;
fDate = new Date(data.substr(startPos, 12));
REPRAP_RX_BUFFER_SIZE = 5;
reprapBufferSize = REPRAP_RX_BUFFER_SIZE;
writeLog('RepRapFirmware detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
statusLoop = setInterval(function () {
if (isConnected) {
if (!reprapWaitForPos && reprapBufferSize > 0) {
reprapWaitForPos = true;
machineSend('M114\n'); // query position
reprapBufferSize--;
writeLog('Sent: M114 (B' + reprapBufferSize + ')', 2);
}
}
}, 250);
} else if (data.indexOf('{') === 0) { // JSON response (probably TinyG)
try {
var jsObject = JSON.parse(data);
} catch(err) {
console.error('Recieved invalid JSON response on connection:')
console.error(data)
var jsObject = "{}"
}
if (jsObject.hasOwnProperty('r')) {
var footer = jsObject.f || (jsObject.r && jsObject.r.f);
var responseText;
if (footer !== undefined) {
if (footer[1] === 108) {
responseText = util.format("TinyG reported an syntax error reading '%s': %d (based on %d bytes read)", JSON.stringify(jsObject.r), footer[1], footer[2]);
io.sockets.emit('data', responseText);
writeLog("Response: " + responseText + jsObject, 3);
} else if (footer[1] === 20) {
responseText = util.format("TinyG reported an internal error reading '%s': %d (based on %d bytes read)", JSON.stringify(jsObject.r), footer[1], footer[2]);
io.sockets.emit('data', responseText);
writeLog("Response: " + responseText + jsObject, 3);
} else if (footer[1] === 202) {
responseText = util.format("TinyG reported an TOO SHORT MOVE on line %d", jsObject.r.n);
io.sockets.emit('data', responseText);
writeLog("Response: " + responseText + jsObject, 3);
} else if (footer[1] === 204) {
responseText = util.format("TinyG reported COMMAND REJECTED BY ALARM '%s'", JSON.stringify(jsObject.r));
io.sockets.emit('data', responseText);
writeLog("InAlarm: " + responseText + jsObject, 3);
} else if (footer[1] !== 0) {
responseText = util.format("TinyG reported an error reading '%s': %d (based on %d bytes read)", JSON.stringify(jsObject.r), footer[1], footer[2]);
io.sockets.emit('data', responseText);
writeLog("Response: " + responseText + jsObject, 3);
} else {
//io.sockets.emit('data', data);
}
}
//writeLog('Response: ' + JSON.stringify(jsObject.r) + ', ' + footer, 3);
jsObject = jsObject.r;
tinygBufferSize++;
blocked = false;
send1Q();
}
if (jsObject.hasOwnProperty('sr')) { // status report
//writeLog('statusChanged ' + JSON.stringify(jsObject.sr), 3);
var send = false;
if (jsObject.sr.posx != null) {
xPos = parseFloat(jsObject.sr.posx).toFixed(config.posDecimals);
send = true;
}
if (jsObject.sr.posy != null) {
yPos = parseFloat(jsObject.sr.posy).toFixed(config.posDecimals);
send = true;
}
if (jsObject.sr.posz != null) {
zPos = parseFloat(jsObject.sr.posz).toFixed(config.posDecimals);
send = true;
}
if (jsObject.sr.posa != null) {
aPos = parseFloat(jsObject.sr.posa).toFixed(config.posDecimals);
send = true;
}
if (send) {
io.sockets.emit('wPos', {x: xPos, y: yPos, z: zPos, a: aPos});
setMpgWPos({x: xPos, y: yPos, z: zPos, a: aPos});
//writeLog('wPos: ' + xPos + ', ' + yPos + ', ' + zPos + ', ' + aPos, 3);
}
if (jsObject.sr.stat) {
var status = null;
switch (jsObject.sr.stat) {
case 0: // initializing
status = 'Init';
break;
case 1: // ready
status = 'Idle';
break;
case 2: // shutdown
status = 'Alarm';
break;
case 3: // stop
status = 'Idle';
break;
case 4: // end
status = 'Idle';
break;
case 5: // run
status = 'Run';
break;
case 6: // hold
status = 'Hold';
break;
case 7: // probe cycle
status = 'Probe';
break;
case 8: // running / cycling
status = 'Run';
break;
case 9: // homing
status = 'Home';
break;
}
if (status) {
io.sockets.emit('data', '<' + status + ',>');
//writeLog('Status: ' + status, 3);
}
}
}
if (jsObject.hasOwnProperty('fb')) { // firmware
firmware = 'tinyg';
fVersion = jsObject.fb;
fDate = '';
writeLog('TinyG detected (' + fVersion + ')', 1);
io.sockets.emit('firmware', {firmware: firmware, version: fVersion, date: fDate});
// Start intervall for status queries
// statusLoop = setInterval(function () {
// if (isConnected) {
// machineSend('{sr:n}\n');
// //writeLog('Sent: {"sr":null}', 2);
// }
// }, 250);
}
if (jsObject.hasOwnProperty('gc')) {
writeLog('gcodeReceived ' + jsObject.r.gc, 3);
io.sockets.emit('data', data);
}
if (jsObject.hasOwnProperty('rx')) {
writeLog('rxReceived ' + jsObject.r.rx, 3);
io.sockets.emit('data', data);
}
if (jsObject.hasOwnProperty('er')) {
writeLog('errorReport ' + jsObject.er, 3);
io.sockets.emit('data', data);
}
//io.sockets.emit('data', data);
} else if (data.indexOf('ALARM') === 0) { //} || data.indexOf('HALTED') === 0) {
switch (firmware) {
case 'grbl':
grblBufferSize.shift();
var alarmCode = parseInt(data.split(':')[1]);
writeLog('ALARM: ' + alarmCode + ' - ' + grblStrings.alarms(alarmCode));
io.sockets.emit('data', 'ALARM: ' + alarmCode + ' - ' + grblStrings.alarms(alarmCode));
break;
case 'smoothie':
case 'tinyg':
case 'repetier':
case 'marlinkimbra':
case 'marlin':
case 'reprapfirmware':
io.sockets.emit('data', data);
break;
}
} else if (data.indexOf('wait') === 0) { // Got wait from Repetier -> ignore
// do nothing
} else if (data.indexOf('Resend') === 0) { // Got resend from Repetier -> TODO: resend corresponding line!!!
switch (firmware) {
case 'repetier':
case 'marlinkimbra':
case 'marlin':
case 'reprapfirmware':
break;
}
} else if (data.indexOf('error') === 0) { // Error received -> stay blocked stops queue
switch (firmware) {
case 'grbl':
grblBufferSize.shift();
var errorCode = parseInt(data.split(':')[1]);
writeLog('error: ' + errorCode + ' - ' + grblStrings.errors(errorCode));
io.sockets.emit('data', 'error: ' + errorCode + ' - ' + grblStrings.errors(errorCode));
break;
case 'smoothie':
case 'tinyg':
case 'repetier':
case 'marlinkimbra':
case 'marlin':
case 'reprapfirmware':
io.sockets.emit('data', data);
break;
}
} else if (data === ' ') {
// nothing
} else {
io.sockets.emit('data', data);
}
});
break;
case 'telnet': // Only supported by smoothieware!
connectedIp = data[1];
telnetSocket = net.connect(23, connectedIp);
io.sockets.emit('connectStatus', 'opening:' + connectedIp);
// Telnet connection events -----------------------------------------------
telnetSocket.on('connect', function (prompt) {
io.sockets.emit('activeIP', connectedIp);
io.sockets.emit('connectStatus', 'opened:' + connectedIp);
if (reset) {
machineSend(String.fromCharCode(0x18)); // ctrl-x (reset firmware)
writeLog('Sent: ctrl-x', 1);
} else {