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Added rapid speed overrides (#2489)
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@breiler
breiler authored Mar 20, 2024
1 parent 6a63d63 commit 9df910f
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Showing 15 changed files with 599 additions and 339 deletions.
10 changes: 0 additions & 10 deletions ugs-core/src/com/willwinder/universalgcodesender/G2CoreController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,6 @@ This file is part of Universal Gcode Sender (UGS).

import com.google.gson.JsonObject;
import com.willwinder.universalgcodesender.communicator.ICommunicator;
import com.willwinder.universalgcodesender.firmware.IOverrideManager;
import com.willwinder.universalgcodesender.firmware.g2core.G2CoreOverrideManager;
import com.willwinder.universalgcodesender.listeners.ControllerState;
import com.willwinder.universalgcodesender.listeners.ControllerStatus;
import com.willwinder.universalgcodesender.listeners.ControllerStatusBuilder;
Expand All @@ -42,16 +40,13 @@ public class G2CoreController extends TinyGController {
* A temporary flag for emulating a JOG state when parsing the controller status
*/
private boolean isJogging = false;
private final IOverrideManager overrideManager;

public G2CoreController() {
super();
overrideManager = new G2CoreOverrideManager(this, getCommunicator());
}

public G2CoreController(ICommunicator communicator) {
super(communicator);
overrideManager = new G2CoreOverrideManager(this, communicator);
}

@Override
Expand Down Expand Up @@ -195,9 +190,4 @@ protected ControllerStatus parseControllerStatus(JsonObject jo) {

return controllerStatus;
}

@Override
public IOverrideManager getOverrideManager() {
return overrideManager;
}
}
9 changes: 8 additions & 1 deletion ugs-core/src/com/willwinder/universalgcodesender/GrblController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ This file is part of Universal Gcode Sender (UGS).
import com.willwinder.universalgcodesender.model.PartialPosition;
import com.willwinder.universalgcodesender.model.Position;
import com.willwinder.universalgcodesender.model.UnitUtils.Units;
import com.willwinder.universalgcodesender.services.MessageService;
import com.willwinder.universalgcodesender.types.GcodeCommand;
import com.willwinder.universalgcodesender.types.GrblFeedbackMessage;
import com.willwinder.universalgcodesender.types.GrblSettingMessage;
Expand Down Expand Up @@ -94,7 +95,7 @@ public GrblController(ICommunicator communicator) {
this.firmwareSettings = new GrblFirmwareSettings(this);
this.comm.addListener(firmwareSettings);
this.initializer = new GrblControllerInitializer(this);
this.overrideManager = new GrblOverrideManager(this, communicator);
this.overrideManager = new GrblOverrideManager(this, communicator, messageService);
}

public GrblController() {
Expand All @@ -111,6 +112,12 @@ public IFirmwareSettings getFirmwareSettings() {
return firmwareSettings;
}

@Override
public void setMessageService(MessageService messageService) {
super.setMessageService(messageService);
overrideManager.setMessageService(messageService);
}

/***********************
* API Implementation. *
***********************/
Expand Down
67 changes: 7 additions & 60 deletions ugs-core/src/com/willwinder/universalgcodesender/firmware/AbstractOverrideManager.java
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Expand Up @@ -19,14 +19,12 @@ This file is part of Universal Gcode Sender (UGS).
package com.willwinder.universalgcodesender.firmware;

import com.willwinder.universalgcodesender.IController;
import static com.willwinder.universalgcodesender.Utils.roundToNearestStepValue;
import com.willwinder.universalgcodesender.communicator.ICommunicator;
import com.willwinder.universalgcodesender.listeners.ControllerState;
import com.willwinder.universalgcodesender.listeners.ControllerStatus;
import com.willwinder.universalgcodesender.listeners.DefaultControllerListener;
import com.willwinder.universalgcodesender.listeners.OverridePercents;
import com.willwinder.universalgcodesender.listeners.OverrideType;
import com.willwinder.universalgcodesender.model.Overrides;

/**
* An abstract override manager with some default implementation of common functions.
Expand All @@ -41,6 +39,7 @@ public abstract class AbstractOverrideManager implements IOverrideManager {

protected int targetFeedSpeed = 100;
protected int targetSpindleSpeed = 100;
protected int targetRapidSpeed = 100;

private boolean isRunning = false;
private long lastSentCommand = 0;
Expand All @@ -60,6 +59,7 @@ public void onControllerStatus(ControllerStatus controllerStatus) {
if (!isRunning) {
targetFeedSpeed = controllerStatus.getOverrides().feed();
targetSpindleSpeed = controllerStatus.getOverrides().spindle();
targetRapidSpeed = controllerStatus.getOverrides().rapid();
return;
}

Expand All @@ -72,59 +72,18 @@ public void onControllerStatus(ControllerStatus controllerStatus) {
OverridePercents currentOverridePercents = controllerStatus.getOverrides();
adjustFeedOverride(currentOverridePercents);
adjustSpindleOverride(currentOverridePercents);
adjustRapidOverride(currentOverridePercents);

if (hasSettled()) {
stop();
}
}

protected void adjustFeedOverride(OverridePercents currentOverridePercents) {
if (currentOverridePercents.feed() == targetFeedSpeed) {
return;
}

float currentFeed = currentOverridePercents.feed();
int majorSteps = (int) ((targetFeedSpeed - currentFeed) / getSpeedMajorStep(OverrideType.FEED_SPEED));
int minorSteps = (int) ((targetFeedSpeed - currentFeed) / getSpeedMinorStep(OverrideType.FEED_SPEED));

try {
if (majorSteps < 0) {
sendOverrideCommand(Overrides.CMD_FEED_OVR_COARSE_MINUS);
} else if (majorSteps > 0) {
sendOverrideCommand(Overrides.CMD_FEED_OVR_COARSE_PLUS);
} else if (minorSteps < 0) {
sendOverrideCommand(Overrides.CMD_FEED_OVR_FINE_MINUS);
} else if (minorSteps > 0) {
sendOverrideCommand(Overrides.CMD_FEED_OVR_FINE_PLUS);
}
} catch (Exception e) {
e.printStackTrace();
}
}
protected abstract void adjustFeedOverride(OverridePercents currentOverridePercents);

protected void adjustSpindleOverride(OverridePercents currentOverridePercents) {
if (currentOverridePercents.spindle() == targetSpindleSpeed) {
return;
}
protected abstract void adjustSpindleOverride(OverridePercents currentOverridePercents) ;

float currentSpindle = currentOverridePercents.spindle();
int majorSteps = (int) ((targetSpindleSpeed - currentSpindle) / getSpeedMajorStep(OverrideType.SPINDLE_SPEED));
int minorSteps = (int) ((targetSpindleSpeed - currentSpindle) / getSpeedMinorStep(OverrideType.SPINDLE_SPEED));

try {
if (majorSteps < 0) {
sendOverrideCommand(Overrides.CMD_SPINDLE_OVR_COARSE_MINUS);
} else if (majorSteps > 0) {
sendOverrideCommand(Overrides.CMD_SPINDLE_OVR_COARSE_PLUS);
} else if (minorSteps < 0) {
sendOverrideCommand(Overrides.CMD_SPINDLE_OVR_FINE_MINUS);
} else if (minorSteps > 0) {
sendOverrideCommand(Overrides.CMD_SPINDLE_OVR_FINE_PLUS);
}
} catch (Exception e) {
e.printStackTrace();
}
}
protected abstract void adjustRapidOverride(OverridePercents currentOverridePercents);

protected abstract int getSpeedMinorStep(OverrideType overrideType);

Expand Down Expand Up @@ -161,18 +120,6 @@ private void stop() {
@Override
public boolean hasSettled() {
OverridePercents overrides = controller.getControllerStatus().getOverrides();
return overrides.spindle() == targetSpindleSpeed && overrides.feed() == targetFeedSpeed;
}

@Override
public void setSpeedTarget(OverrideType type, int percent) {
percent = (int) Math.round(roundToNearestStepValue(percent, getSpeedMin(type), getSpeedMax(type), getSpeedStep(type)));
if (type == OverrideType.FEED_SPEED) {
targetFeedSpeed = percent;
} else if (type == OverrideType.SPINDLE_SPEED) {
targetSpindleSpeed = percent;
}

start();
return overrides.spindle() == targetSpindleSpeed && overrides.feed() == targetFeedSpeed && overrides.rapid() == targetRapidSpeed;
}
}
45 changes: 38 additions & 7 deletions ugs-core/src/com/willwinder/universalgcodesender/firmware/DefaultOverrideManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ This file is part of Universal Gcode Sender (UGS).

import com.willwinder.universalgcodesender.listeners.OverrideType;
import com.willwinder.universalgcodesender.model.Overrides;
import com.willwinder.universalgcodesender.services.MessageService;

import java.util.List;

Expand All @@ -31,7 +32,7 @@ This file is part of Universal Gcode Sender (UGS).
*/
public class DefaultOverrideManager implements IOverrideManager {
@Override
public void setSpeedTarget(OverrideType type, int value) {
public void setSliderTarget(OverrideType type, int value) {
// Not implemented
}

Expand All @@ -41,17 +42,17 @@ public boolean hasSettled() {
}

@Override
public int getSpeedMax(OverrideType type) {
public int getSliderMax(OverrideType type) {
return 0;
}

@Override
public int getSpeedMin(OverrideType type) {
public int getSliderMin(OverrideType type) {
return 0;
}

@Override
public int getSpeedStep(OverrideType type) {
public int getSliderStep(OverrideType type) {
return 0;
}

Expand All @@ -61,17 +62,17 @@ public void sendOverrideCommand(Overrides command) {
}

@Override
public int getSpeedDefault(OverrideType overrideType) {
public int getSliderDefault(OverrideType overrideType) {
return 0;
}

@Override
public int getSpeedTargetValue(OverrideType type) {
public int getSliderTargetValue(OverrideType type) {
return 0;
}

@Override
public List<OverrideType> getSpeedTypes() {
public List<OverrideType> getSliderTypes() {
return List.of();
}

Expand All @@ -80,6 +81,11 @@ public List<OverrideType> getToggleTypes() {
return List.of();
}

@Override
public List<OverrideType> getRadioTypes() {
return List.of();
}

@Override
public boolean isAvailable() {
return false;
Expand All @@ -94,4 +100,29 @@ public void toggle(OverrideType overrideType) {
public boolean isToggled(OverrideType overrideType) {
return false;
}

@Override
public int getRadioDefault(OverrideType type) {
return 0;
}

@Override
public void setRadioTarget(OverrideType type, int value) {
// Not implemented
}

@Override
public void setMessageService(MessageService messageService) {
// Not implemented
}

@Override
public List<Integer> getSliderSteps(OverrideType type) {
return List.of();
}

@Override
public List<Integer> getRadioSteps(OverrideType type) {
return List.of();
}
}
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