Examples with OverridePercents com.willwinder.universalgcodesender.listeners.ControllerStatus.OverridePercents used on opensource projects

Example 1 with OverridePercents

use of com.willwinder.universalgcodesender.listeners.ControllerStatus.OverridePercents in project Universal-G-Code-Sender by winder.

the class GrblUtils method getStatusFromStatusString.

/**
 * Parses a GRBL status string in the legacy format or v1.x format:
 * legacy: <status,WPos:1,2,3,MPos:1,2,3>
 * 1.x: <status|WPos:1,2,3|Bf:0,0|WCO:0,0,0>
 * @param lastStatus required for the 1.x version which requires WCO coords
 *                   and override status from previous status updates.
 * @param status the raw status string
 * @param version capabilities flags
 * @param reportingUnits units
 * @return
 */
protected static ControllerStatus getStatusFromStatusString(ControllerStatus lastStatus, final String status, final Capabilities version, Units reportingUnits) {
    // Legacy status.
    if (!version.hasCapability(GrblCapabilitiesConstants.V1_FORMAT)) {
        return new ControllerStatus(getStateFromStatusString(status, version), getMachinePositionFromStatusString(status, version, reportingUnits), getWorkPositionFromStatusString(status, version, reportingUnits));
    } else {
        String state = "";
        Position MPos = null;
        Position WPos = null;
        Position WCO = null;
        OverridePercents overrides = null;
        EnabledPins pins = null;
        AccessoryStates accessoryStates = null;
        Double feedSpeed = null;
        Double spindleSpeed = null;
        boolean isOverrideReport = false;
        // Parse out the status messages.
        for (String part : status.substring(0, status.length() - 1).split("\\|")) {
            if (part.startsWith("<")) {
                int idx = part.indexOf(':');
                if (idx == -1)
                    state = part.substring(1);
                else
                    state = part.substring(1, idx);
            } else if (part.startsWith("MPos:")) {
                MPos = GrblUtils.getPositionFromStatusString(status, machinePattern, reportingUnits);
            } else if (part.startsWith("WPos:")) {
                WPos = GrblUtils.getPositionFromStatusString(status, workPattern, reportingUnits);
            } else if (part.startsWith("WCO:")) {
                WCO = GrblUtils.getPositionFromStatusString(status, wcoPattern, reportingUnits);
            } else if (part.startsWith("Ov:")) {
                isOverrideReport = true;
                String[] overrideParts = part.substring(3).trim().split(",");
                if (overrideParts.length == 3) {
                    overrides = new OverridePercents(Integer.parseInt(overrideParts[0]), Integer.parseInt(overrideParts[1]), Integer.parseInt(overrideParts[2]));
                }
            } else if (part.startsWith("F:")) {
                feedSpeed = Double.parseDouble(part.substring(2));
            } else if (part.startsWith("FS:")) {
                String[] parts = part.substring(3).split(",");
                feedSpeed = Double.parseDouble(parts[0]);
                spindleSpeed = Double.parseDouble(parts[1]);
            } else if (part.startsWith("Pn:")) {
                String value = part.substring(part.indexOf(':') + 1);
                pins = new EnabledPins(value);
            } else if (part.startsWith("A:")) {
                String value = part.substring(part.indexOf(':') + 1);
                accessoryStates = new AccessoryStates(value);
            }
        }
        // Grab WCO from state information if necessary.
        if (WCO == null) {
            // Grab the work coordinate offset.
            if (lastStatus != null && lastStatus.getWorkCoordinateOffset() != null) {
                WCO = lastStatus.getWorkCoordinateOffset();
            } else {
                WCO = new Position(0, 0, 0, reportingUnits);
            }
        }
        // Calculate missing coordinate with WCO
        if (WPos == null) {
            WPos = new Position(MPos.x - WCO.x, MPos.y - WCO.y, MPos.z - WCO.z, reportingUnits);
        }
        if (MPos == null) {
            MPos = new Position(WPos.x + WCO.x, WPos.y + WCO.y, WPos.z + WCO.z, reportingUnits);
        }
        if (!isOverrideReport && lastStatus != null) {
            overrides = lastStatus.getOverrides();
            pins = lastStatus.getEnabledPins();
            accessoryStates = lastStatus.getAccessoryStates();
        } else if (isOverrideReport) {
            // set all pins to a disabled state.
            if (pins == null) {
                pins = new EnabledPins("");
            }
            // Likewise for accessory states.
            if (accessoryStates == null) {
                accessoryStates = new AccessoryStates("");
            }
        }
        return new ControllerStatus(state, MPos, WPos, feedSpeed, spindleSpeed, overrides, WCO, pins, accessoryStates);
    }
}