Examples with Position com.willwinder.universalgcodesender.model.Position used on opensource projects

Example 31 with Position

use of com.willwinder.universalgcodesender.model.Position in project Universal-G-Code-Sender by winder.

the class AutoLevelerTopComponent method scanSurfaceButtonActionPerformed.

// </editor-fold>//GEN-END:initComponents
private void scanSurfaceButtonActionPerformed(java.awt.event.ActionEvent evt) {
    // GEN-FIRST:event_scanSurfaceButtonActionPerformed
    if (scanner == null || scanner.getProbeStartPositions() == null || scanner.getProbeStartPositions().isEmpty()) {
        return;
    }
    scanningSurface = true;
    try {
        Units u = this.unitMM.isSelected() ? Units.MM : Units.INCH;
        AutoLevelSettings als = settings.getAutoLevelSettings();
        for (Position p : scanner.getProbeStartPositions()) {
            backend.sendGcodeCommand(true, String.format("G90 G21 G0 X%f Y%f Z%f", p.x, p.y, p.z));
            backend.probe("Z", als.probeSpeed, this.scanner.getProbeDistance(), u);
            backend.sendGcodeCommand(true, String.format("G90 G21 G0 Z%f", p.z));
        }
    } catch (Exception ex) {
        Exceptions.printStackTrace(ex);
    } finally {
        scanningSurface = false;
    }
}

Example 32 with Position

use of com.willwinder.universalgcodesender.model.Position in project Universal-G-Code-Sender by winder.

the class SurfaceScanner method update.

/**
 * Provides two points of the scanners bounding box and the number of points to sample in the X/Y directions.
 */
public void update(final Position corner1, final Position corner2, double resolution) {
    if (corner1.getUnits() != corner2.getUnits()) {
        throw new IllegalArgumentException("Provide same unit for both measures.");
    }
    if (resolution == 0)
        return;
    Units units = corner1.getUnits();
    double minx = Math.min(corner1.x, corner2.x);
    double maxx = Math.max(corner1.x, corner2.x);
    double miny = Math.min(corner1.y, corner2.y);
    double maxy = Math.max(corner1.y, corner2.y);
    double minz = Math.min(corner1.z, corner2.z);
    double maxz = Math.max(corner1.z, corner2.z);
    Position newMin = new Position(minx, miny, minz, units);
    Position newMax = new Position(maxx, maxy, maxz, units);
    // Make sure the position changed before resetting things.
    if (newMin.equals(this.minXYZ) && newMax.equals(this.maxXYZ) && this.resolution == resolution) {
        return;
    }
    this.minXYZ = newMin;
    this.maxXYZ = newMax;
    this.probeDistance = minz - maxz;
    this.resolution = resolution;
    this.xAxisPoints = (int) (Math.ceil((maxx - minx) / resolution)) + 1;
    this.yAxisPoints = (int) (Math.ceil((maxy - miny) / resolution)) + 1;
    this.probePositionGrid = new Position[this.xAxisPoints][this.yAxisPoints];
    // Calculate probe locations.
    ImmutableList.Builder<Position> probePositionBuilder = ImmutableList.builder();
    for (int x = 0; x < this.xAxisPoints; x++) {
        for (int y = 0; y < this.yAxisPoints; y++) {
            Position p = new Position(minx + Math.min(maxx - minx, x * resolution), miny + Math.min(maxy - miny, y * resolution), maxz, units);
            probePositionBuilder.add(p);
        }
    }
    this.probePositions = probePositionBuilder.build();
}

Example 33 with Position

use of com.willwinder.universalgcodesender.model.Position in project Universal-G-Code-Sender by winder.

the class SizeDisplay method getTextForMM.

private static String getTextForMM(double mm, Units goal) {
    Position p = new Position(mm, 0, 0, Units.MM);
    double converted = p.getPositionIn(goal).x;
    return FORMATTER.format(converted) + " " + goal.abbreviation;
}

Example 34 with Position

use of com.willwinder.universalgcodesender.model.Position in project Universal-G-Code-Sender by winder.

the class GrblController method rawResponseHandler.

@Override
protected void rawResponseHandler(String response) {
    String processed = response;
    try {
        boolean verbose = false;
        if (GrblUtils.isOkResponse(response)) {
            this.commandComplete(processed);
        } else // Error case.
        if (GrblUtils.isOkErrorAlarmResponse(response)) {
            if (GrblUtils.isAlarmResponse(response)) {
                // this is not updating the state to Alarm in the GUI, and the alarm is no longer being processed
                // TODO: Find a builder library.
                this.controllerStatus = new ControllerStatus(lookupCode(response, true), this.controllerStatus.getMachineCoord(), this.controllerStatus.getWorkCoord(), this.controllerStatus.getFeedSpeed(), this.controllerStatus.getSpindleSpeed(), this.controllerStatus.getOverrides(), this.controllerStatus.getWorkCoordinateOffset(), this.controllerStatus.getEnabledPins(), this.controllerStatus.getAccessoryStates());
                dispatchStatusString(this.controllerStatus);
                dispatchStateChange(COMM_IDLE);
            }
            // If there is an active command, mark it as completed with error
            Optional<GcodeCommand> activeCommand = this.getActiveCommand();
            if (activeCommand.isPresent()) {
                processed = String.format(Localization.getString("controller.exception.sendError"), activeCommand.get().getCommandString(), lookupCode(response, false)).replaceAll("\\.\\.", "\\.");
                this.errorMessageForConsole(processed + "\n");
                this.commandComplete(processed);
            } else {
                processed = String.format(Localization.getString("controller.exception.unexpectedError"), lookupCode(response, false)).replaceAll("\\.\\.", "\\.");
                this.errorMessageForConsole(processed + "\n");
            }
            checkStreamFinished();
            processed = "";
        } else if (GrblUtils.isGrblVersionString(response)) {
            this.isReady = true;
            resetBuffers();
            // single step mode
            if (getControlState() != COMM_CHECK) {
                this.controllerStatus = null;
            }
            this.stopPollingPosition();
            positionPollTimer = createPositionPollTimer();
            this.beginPollingPosition();
            // In case a reset occurred while streaming.
            if (this.isStreaming()) {
                checkStreamFinished();
            }
            this.grblVersion = GrblUtils.getVersionDouble(response);
            this.grblVersionLetter = GrblUtils.getVersionLetter(response);
            this.capabilities = GrblUtils.getGrblStatusCapabilities(this.grblVersion, this.grblVersionLetter);
            try {
                this.sendCommandImmediately(createCommand(GrblUtils.GRBL_VIEW_SETTINGS_COMMAND));
                this.sendCommandImmediately(createCommand(GrblUtils.GRBL_VIEW_PARSER_STATE_COMMAND));
            } catch (Exception e) {
                throw new RuntimeException(e);
            }
            Logger.getLogger(GrblController.class.getName()).log(Level.CONFIG, "{0} = {1}{2}", new Object[] { Localization.getString("controller.log.version"), this.grblVersion, this.grblVersionLetter });
            Logger.getLogger(GrblController.class.getName()).log(Level.CONFIG, "{0} = {1}", new Object[] { Localization.getString("controller.log.realtime"), this.capabilities.hasCapability(GrblCapabilitiesConstants.REAL_TIME) });
        } else if (GrblUtils.isGrblProbeMessage(response)) {
            Position p = GrblUtils.parseProbePosition(response, getFirmwareSettings().getReportingUnits());
            if (p != null) {
                dispatchProbeCoordinates(p);
            }
        } else if (GrblUtils.isGrblStatusString(response)) {
            // Only 1 poll is sent at a time so don't decrement, reset to zero.
            this.outstandingPolls = 0;
            // Status string goes to verbose console
            verbose = true;
            this.handleStatusString(response);
        } else if (GrblUtils.isGrblFeedbackMessage(response, capabilities)) {
            GrblFeedbackMessage grblFeedbackMessage = new GrblFeedbackMessage(response);
            // Convert feedback message to raw commands to update modal state.
            this.updateParserModalState(new GcodeCommand(GrblUtils.parseFeedbackMessage(response, capabilities)));
            this.verboseMessageForConsole(grblFeedbackMessage.toString() + "\n");
            setDistanceModeCode(grblFeedbackMessage.getDistanceMode());
            setUnitsCode(grblFeedbackMessage.getUnits());
            dispatchStateChange(COMM_IDLE);
        } else if (GrblUtils.isGrblSettingMessage(response)) {
            GrblSettingMessage message = new GrblSettingMessage(response);
            processed = message.toString();
        }
        if (StringUtils.isNotBlank(processed)) {
            if (verbose) {
                this.verboseMessageForConsole(processed + "\n");
            } else {
                this.messageForConsole(processed + "\n");
            }
        }
    } catch (Exception e) {
        String message = "";
        if (e.getMessage() != null) {
            message = ": " + e.getMessage();
        }
        message = Localization.getString("controller.error.response") + " <" + processed + ">" + message;
        logger.log(Level.SEVERE, message, e);
        this.errorMessageForConsole(message + "\n");
    }
}

Example 35 with Position

use of com.willwinder.universalgcodesender.model.Position 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);
    }
}