initial commit
This commit is contained in:
Stewart Allen
commit
bd51ac38f0
90 changed files with 29458 additions and 0 deletions
608
js/kiri-serial.js
Normal file
608
js/kiri-serial.js
Normal file
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@ -0,0 +1,608 @@
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(function() {
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if (!self.kiri) return;
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if (self.kiri.serial) return;
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// tinyg motor (en/dis)able $me / $md
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// tinyg '%' to flush queue
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// grbl motor (en/dis)able $1=<ms> (free after ms) $1=255 (always energized)
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var SELF = self,
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KIRI = SELF.kiri,
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SPACE = KIRI.space,
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LOC = SELF.location,
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SDB = moto.KV,
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API = kiri.api,
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initDone = false,
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nextID = new Date().getTime(),
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localQueue = [], // buffered command queue
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localQueueMax = 1500, // max local buffer
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bounds = null, // bounding box of gcode
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gcode = null, // gcode buffer
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gcodeIndex = 0, // gcode buffer send index
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gcodeAbort = false, // send abort
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logBuffer = [], // on screen log buffer
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sendBatchMax = 1000, // max to queue to waiting
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gcLinesSent, // status of local lines sent
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gcRemoteQueue, // status of remote queue
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gcPaused = false, // true if user paused
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status = null, // machine status
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socket, // connection to serial sender
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ports, // list of available ports
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senderTimeout, // repeating sender call
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waitingForAck = [], // ids sent to spjs awaiting ack
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spjsQueueCount = 0, // spjs mem queue size
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spjsQueueCountMax = 1500, // do not send to spjs over this queue size
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selectedPort,
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selectedMode,
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commandInput,
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logDiv,
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jogInput,
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hostInput,
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queueInput,
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connect, // button
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senderStatus, // machine status
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senderDialog,
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senderGcPause, // pause button
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senderPortClose, // button
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senderSelectMode, // select dropdown
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senderSelectPort; // select dropdown
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var init_tinyg = [
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'{"ej":""}', // enable json
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'{"js":1}', // json syntax strict
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'{"sr":n}', // status request
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'{"sv":1}', // status verbosity filtered
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'{"si":250}', // status interval 250ms
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'{"qr":n}', // request queue report
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'{"qv":1}', // set queue report verbosity
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'{"ec":0}', // disable LF (from CRLF)
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'{"jv":4}', // json verbosity 4
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'{"hp":n}', // get hardware platform
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'{"fb":n}', // get firmware version
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'{"mt":n}', // get motor timeout
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'{"sr":n}',
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'{"pos":n}' // request position info
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],
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init_grbl = [
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'*init*', // init port
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'*status*' // request position info
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];
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KIRI.serial = {
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setGCode: setGCode,
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show: show,
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hide: hide,
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toggle: toggle,
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init: init
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};
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function init() {
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if (initDone) return;
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initDone = true;
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var pre = LOC.protocol === 'https:' ? 'wss://' : 'ws://',
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rpx = $('srxi'),
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rpy = $('sryi'),
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rpz = $('srzi'),
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wpx = $('saxi'),
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wpy = $('sayi'),
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wpz = $('sazi');
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senderDialog = $('sender');
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senderStatus = $('sender-status');
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commandInput = $('sender-command');
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logDiv = $('sender-log');
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jogInput = $('sender-jog');
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hostInput = $('sender-host');
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connect = $('sender-connect');
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gcLinesSent = $('sender-gc-sent');
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gcRemoteQueue = $('sender-gc-queue');
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senderSelectMode = $('sender-mode');
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senderSelectPort = $('sender-port');
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senderPortClose = $('sender-port-close');
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senderGcPause = $('sender-gc-pause');
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senderSelectMode.onchange = selectMode;
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senderSelectPort.onchange = selectPort;
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senderPortClose.onclick = closePort;
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senderPortClose.disabled = true;
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$('sender-close').onclick = hide;
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$('sender-spjs').onclick = function() { window.open("https://wiki.grid.space/wiki/GCode-Sender-in-CAM-Mode", "_help")};
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$('sjx-').onclick = function() { jog('X',-1) };
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$('sjx+').onclick = function() { jog('X',1) };
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$('sjy-').onclick = function() { jog('Y',-1) };
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$('sjy+').onclick = function() { jog('Y',1) };
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$('sjz-').onclick = function() { jog('Z',-1) };
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$('sjz+').onclick = function() { jog('Z',1) };
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$('sender-set-zero').onclick = function() { sendNow("G92 X0Y0Z0") };
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$('sender-goto-zero').onclick = function() { sendNow("G90 G0X0Y0Z0") };
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$('sender-ctrlx').onclick = softReset;
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$('sender-hold').onclick = feedHold;
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$('sender-resume').onclick = feedResume;
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$('sender-pad').onmouseover = function() {
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jogInput.focus();
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};
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$('sender-pad').addEventListener('keydown', function(ev) {
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var dist = (ev.cmdKey ? 0.1 : 1);
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switch (ev.keyCode) {
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case 37: // left arrow
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jog('X', -dist);
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ev.preventDefault();
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break;
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case 39: // right arrow
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jog('X', dist);
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ev.preventDefault();
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break;
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case 38: // up arrow
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jog(ev.shiftKey ? 'Z' : 'Y', dist);
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ev.preventDefault();
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break;
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case 40: // down arrow
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jog(ev.shiftKey ? 'Z' : 'Y', -dist);
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ev.preventDefault();
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break;
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}
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});
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$('sender-gc-runbox').onclick = runbox;
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$('sender-gc-send').onclick = programStart;
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senderGcPause.onclick = programPause;
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$('sender-gc-abort').onclick = programAbort;
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hostInput.value = SDB['kiri-serial'] || '';
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SPACE.onEnterKey([
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commandInput, function() {
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if (selectedPort) {
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sendNow(commandInput.value);
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emit("» "+commandInput.value);
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}
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commandInput.value = '';
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}
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]);
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var handleMessageData = function(dm) {
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dm = dm.trim();
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if (dm.charAt(0) === '<') {
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// grbl status update
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dm = dm.substring(1,dm.length-2);
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dm = dm.split(',');
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// console.log(dm);
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status = dm[0];
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senderStatus.value = status;
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switch (status) {
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case 'Idle':
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case 'Run':
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case 'Home':
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case 'Check':
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senderStatus.style.color = '#080';
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break;
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case 'Hold':
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case 'Door':
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senderStatus.style.color = '#800';
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break;
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case 'Alarm':
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senderStatus.style.color = '#880';
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break;
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}
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rpx.value = dm[1].split(':')[1];
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rpy.value = dm[2];
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rpz.value = dm[3];
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wpx.value = dm[4].split(':')[1];
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wpy.value = dm[5];
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wpz.value = dm[6];
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} else
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if (dm.charAt(0) === '{') {
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// tinyg status update
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dm = js2o(dm);
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var ro = dm.sr || (dm.r && dm.r.sr ? dm.r.sr : null);
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if (ro) {
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if (ro.posx !== undefined) rpx.value = ro.posx;
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if (ro.posy !== undefined) rpy.value = ro.posy;
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if (ro.posz !== undefined) rpz.value = ro.posz;
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}
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var stat = dm.stat || (dm.r && dm.r.stat ? dm.r.stat : null) || 1;
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status = ['Unknown','Ready','Alarm','Stop','End','Run','Hold','Probe','Homing'][stat];
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senderStatus.style.color = ['#000','#080','#880','#000','#000','#000','#800','#000','#000'][stat];
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senderStatus.value = status;
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// console.log(dm);
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} else
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if (dm && dm !== 'ok') emit("« "+dm);
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}
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var handleSocketData = function(msg) {
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var data = msg.data.trim();
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if (data.charAt(0) === '{') {
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data = js2o(data);
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// if (data.Cmd) console.log(data);
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if (data.Cmd && data.Cmd === 'Queued' && data.Data) queueAck(data.Data);
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if (data.QCnt >= 0) {
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spjsQueueCount = data.QCnt;
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gcRemoteQueue.value = spjsQueueCount;
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}
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if (data.SerialPorts) updatePortList(data.SerialPorts);
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if (selectedPort && data.P === selectedPort.Name) {
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// console.log(data);
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if (data.D) handleMessageData(data.D);
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}
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} else if (data.length > 0) {
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console.log("** "+data.trim().replace('\n',' ... '));
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}
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}
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var onSocketClose = function() {
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socket = null;
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connect.innerHTML = 'connect';
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senderSelectMode.disabled = true;
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senderSelectPort.disabled = true;
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};
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connect.onclick = function() {
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if (socket) {
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// connect.innerHTML = 'connect';
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socket.close();
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socket = null;
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return;
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}
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if (!hostInput.value) {
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return alert('please enter the host:port of your SPJS server');
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}
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SDB['kiri-serial'] = hostInput.value;
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try {
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socket = new WebSocket(pre + hostInput.value + "/ws");
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} catch (e) {
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emit("** unable to connect to "+hostInput.value);
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return;
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}
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socket.onopen = function() {
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emit("** websocket open to "+hostInput.value);
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socket.send('list');
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};
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socket.onerror = function(e) {
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emit("** socket error with SPJS server @ "+hostInput.value);
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connect.disabled = false;
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socket.close();
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// console.log(e);
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};
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socket.onclose = onSocketClose;
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socket.onmessage = handleSocketData;
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connect.innerHTML = 'disconnect';
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connect.disabled = true;
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};
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if (socket && ports) {
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updatePortList(ports);
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emit();
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}
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// start sender
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sender();
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}
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function sendOpenSequence() {
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var seq = [];
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switch (selectedMode) {
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case 'grbl': seq = init_grbl; break;
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case 'tinyg': seq = init_tinyg; break;
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}
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seq.forEach(function(line) {
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sendNow(line);
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});
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}
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function sender() {
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// prevent multiple senders
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if (senderTimeout) return;
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drainQueue();
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// setup next call to sender()
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senderTimeout = setTimeout(function() {
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senderTimeout = null;
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sender();
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}, 100);
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}
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function o2js(o) {
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return JSON.stringify(o);
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}
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function js2o(s) {
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try {
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return JSON.parse(s);
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} catch (e) {
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console.log(e);
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console.log(s);
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}
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}
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function log(msg) {
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console.log("serial | "+msg);
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}
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function sendGcode() {
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if (gcode) {
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// timeout and loop at waiting threshold
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if (waitingForAck.length || localQueue.length > localQueueMax) {
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setTimeout(sendGcode, 100);
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return;
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}
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console.log({
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gcode: (gcode !== null ? gcode.length : 0),
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idx: gcodeIndex,
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waitack: waitingForAck.length,
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abort: gcodeAbort
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});
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// queue up 500 more
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while (gcodeIndex < gcode.length && !gcodeAbort) {
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sendToQueue(gcode[gcodeIndex++]);
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// drain queue every 500 lines
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if (gcodeIndex % 500 === 0) {
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// wait 100ms before trying to send again
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setTimeout(sendGcode, 100);
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return;
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}
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}
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drainQueue();
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}
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}
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function setGCode(gc, runbox) {
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try {
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gcode = gc.split('\n');
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bounds = runbox;
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$('sender-gc-lines').value = gcode ? gcode.length : '';
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} catch (e) {
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console.log(e);
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}
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}
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function closePort() {
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if (!selectedPort) return;
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emit("** closing port: "+selectedPort.Name);
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socket.send('close '+selectedPort.Name);
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senderSelectPort.selectedIndex = 0;
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senderSelectMode.selectedIndex = 0;
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senderPortClose.disabled = true;
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selectedPort = null;
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selectedMode = null;
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}
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function updatePortSettings() {
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// console.log({ups:1, selectedPort:selectedPort, selectedMode:selectedMode});
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if (selectedPort) {
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if (selectedPort.IsOpen) {
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if (selectedMode) {
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senderPortClose.disabled = false;
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if (selectedMode != selectedPort.BufferAlgorithm) {
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alert("to change a port's mode, first close it");
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selectPort();
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} else {
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setTimeout(sendOpenSequence, 500);
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}
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} else {
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closePort();
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}
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} else {
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if (selectedMode) {
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emit("** opening port: "+selectedPort.Name);
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socket.send('open '+selectedPort.Name+' 115200 '+selectedMode);
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senderPortClose.disabled = false;
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setTimeout(sendOpenSequence, 500);
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}
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}
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}
|
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}
|
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// UI select trigger
|
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function selectPort() {
|
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var value = senderSelectPort[senderSelectPort.selectedIndex].value,
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newport = ports[value],
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algo;
|
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if (value >= 0) {
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selectedPort = newport;
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// console.log([selectedPort,value]);
|
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switch (newport.BufferAlgorithm) {
|
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case 'grbl': senderSelectMode.selectedIndex = 1; break;
|
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case 'tinyg': senderSelectMode.selectedIndex = 2; break;
|
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default: senderSelectMode.selectedIndex = 0; break;
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}
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senderPortClose.disabled = !newport.IsOpen;
|
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if (newport.BufferAlgorithm) selectMode();
|
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}
|
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}
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// UI select trigger
|
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function selectMode() {
|
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if (senderSelectMode.selectedIndex) {
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selectedMode = senderSelectMode[senderSelectMode.selectedIndex].value;
|
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} else {
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selectedMode = '';
|
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}
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// console.log([senderSelectMode,selectedMode]);
|
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updatePortSettings();
|
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}
|
||||
|
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function updatePortList(portList) {
|
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emit("** received port list");
|
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|
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var portsHTML = '<option>select port</option>',
|
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portModes = [];
|
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|
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ports = portList;
|
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ports.forEach(function(port, index) {
|
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portsHTML += '<option value='+index+'>' + port.Friendly + '</option>';
|
||||
});
|
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connect.disabled = false;
|
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senderSelectMode.selecteIndex = 0;
|
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senderSelectPort.selecteIndex = 0;
|
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senderSelectMode.disabled = false;
|
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senderSelectPort.disabled = false;
|
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senderSelectPort.innerHTML = portsHTML;
|
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}
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|
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// send immediately bypassing queue
|
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function sendNow(cmd) {
|
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if (!(socket && selectedPort)) return;
|
||||
socket.send('send '+selectedPort.Name+' '+cmd);
|
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}
|
||||
|
||||
// buffer to mem queue which drains to spjs
|
||||
function sendToQueue(cmd) {
|
||||
localQueue.push(cmd);
|
||||
}
|
||||
|
||||
// spjs ack (wrote) queue entry
|
||||
function queueAck(data) {
|
||||
data.forEach(function(el) {
|
||||
waitingForAck.remove(el.Id);
|
||||
gcLinesSent.value = gcodeIndex - waitingForAck.length;
|
||||
});
|
||||
}
|
||||
|
||||
// drain from mem queue to spjs
|
||||
function drainQueue() {
|
||||
// return if no live socket
|
||||
if (!(socket && selectedPort)) return;
|
||||
|
||||
// return if paused or empty outbound buffer
|
||||
if (gcPaused || localQueue.length === 0) return;
|
||||
|
||||
// return if waiting or queued to queue too large
|
||||
if (waitingForAck.length > 0 || spjsQueueCount > spjsQueueCountMax) {
|
||||
return;
|
||||
}
|
||||
|
||||
// blast out next batch of queued to queue
|
||||
var toolChange = false,
|
||||
count = 0,
|
||||
data = [],
|
||||
line,
|
||||
next;
|
||||
|
||||
while (count++ < sendBatchMax && localQueue.length > 0) {
|
||||
next = (nextID++).toString();
|
||||
waitingForAck.push(next);
|
||||
line = localQueue.shift();
|
||||
if (line.indexOf("M6") === 0) {
|
||||
toolChange = true;
|
||||
// grbl doesn't support M6 so
|
||||
// just stop sending until unpaused
|
||||
if (selectedMode === 'grbl') break;
|
||||
}
|
||||
data.push({D:line, Id:next});
|
||||
// for tinyg pause after M6 sent
|
||||
if (toolChange) break;
|
||||
}
|
||||
|
||||
socket.send('sendjson '+o2js({
|
||||
P: selectedPort.Name,
|
||||
Data: data
|
||||
}));
|
||||
|
||||
if (toolChange) {
|
||||
emit("** tool change");
|
||||
setPause(true);
|
||||
var alertToolChange = SDB['sender-alert-toolchange'];
|
||||
if (!alertToolChange && !confirm("tool change. unpause to continue.\nshow this dialog in the future?")) {
|
||||
SDB['sender-alert-toolchange'] = 'no';
|
||||
}
|
||||
// alert("tool change. click unpause to continue");
|
||||
// setPause(false);
|
||||
}
|
||||
}
|
||||
|
||||
function setPause(paused) {
|
||||
if (paused === gcPaused) return;
|
||||
gcPaused = paused;
|
||||
senderGcPause.innerHTML = paused ? 'unpause' : 'pause';
|
||||
senderGcPause.style.color = paused ? '#800' : '#000';
|
||||
if (paused) emit("** program paused. unpause to continue");
|
||||
}
|
||||
|
||||
function emit(msg) {
|
||||
if (!logDiv) return console.log({unable_to_emit: msg});
|
||||
if (msg) {
|
||||
msg = msg.replace('<','<').replace('>','>');
|
||||
logBuffer.push(msg);
|
||||
if (logBuffer.length > 100) logBuffer = logBuffer.slice(1);
|
||||
}
|
||||
logDiv.innerHTML = logBuffer.join('<br>');
|
||||
logDiv.scrollTop = logDiv.scrollHeight;
|
||||
}
|
||||
|
||||
function jog(axis, delta) {
|
||||
delta = (delta || 1) * (parseFloat(jogInput.value) || 1);
|
||||
sendNow("G91 G0 " + axis + delta.toString());
|
||||
sendNow("G90");
|
||||
}
|
||||
|
||||
function softReset() {
|
||||
sendNow("\x18");
|
||||
// for tinyg, we need to flush the buffer and resume
|
||||
// so that the commands will be processed
|
||||
if (selectedMode === 'tinyg') sendNow('%~');
|
||||
// for grbl, also reset an alarms
|
||||
if (selectedMode === 'grbl') sendNow('$X');
|
||||
}
|
||||
|
||||
function feedHold() {
|
||||
sendNow("!");
|
||||
}
|
||||
|
||||
function feedResume() {
|
||||
sendNow("~");
|
||||
// send unlock if alarm is set
|
||||
if (selectedMode === 'grbl' && status === 'Alarm') sendNow('$X');
|
||||
}
|
||||
|
||||
function runbox() {
|
||||
if (!bounds) return;
|
||||
sendNow(["G0X",bounds.min.x,"Y",bounds.min.y].join(''));
|
||||
sendNow(["G0X",bounds.max.x,"Y",bounds.min.y].join(''));
|
||||
sendNow(["G0X",bounds.max.x,"Y",bounds.max.y].join(''));
|
||||
sendNow(["G0X",bounds.min.x,"Y",bounds.max.y].join(''));
|
||||
sendNow(["G0X0Y0"]);
|
||||
}
|
||||
|
||||
function hide() {
|
||||
senderDialog.style.display = 'none';
|
||||
}
|
||||
|
||||
function show() {
|
||||
senderDialog.style.display = 'block';
|
||||
senderDialog.style.right = (kiri.api.ui.ctrlRight.offsetWidth + 5) + 'px';
|
||||
}
|
||||
|
||||
function toggle() {
|
||||
if (senderDialog.style.display === 'block') hide(); else show();
|
||||
}
|
||||
|
||||
function programStart() {
|
||||
gcodeIndex = 0;
|
||||
gcodeAbort = false;
|
||||
gcLinesSent.value = 0;
|
||||
setPause(false);
|
||||
feedResume();
|
||||
sendGcode();
|
||||
}
|
||||
|
||||
function programPause() {
|
||||
setPause(!gcPaused);
|
||||
gcodeAbort = false;
|
||||
}
|
||||
|
||||
function programAbort() {
|
||||
gcodeIndex = 0;
|
||||
gcodeAbort = true;
|
||||
gcLinesSent.value = 0;
|
||||
localQueue = [];
|
||||
setPause(false);
|
||||
feedHold();
|
||||
}
|
||||
})();
|
||||
Loading…
Reference in a new issue