benny/grbl-sender
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Got rid of segfault when uploading VBOs.

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Added go-to-zero function.
Reworked how work pos is obtained.
This commit is contained in:
Adrian Scripca
2023-05-05 15:42:30 +03:00
parent 05db38ec55
commit 3f9eb049b7
5 changed files with 86 additions and 26 deletions
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grbl_machine.cpp
+46 -5
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@@ -1,5 +1,7 @@
#include <iostream>
#include <sstream>
#include <utility>
#include <array>
#include "grbl_machine.h"
#include "string_utils.h"
@@ -96,15 +98,29 @@ void grbl::machine::check_program(const grbl::program& pgm) {
switch_to_state(grbl_machine_state::check_program);
}
void grbl::machine::run_program(const grbl::program& pgm, std::string work_offset) {
void grbl::machine::set_work_offset(std::string work_offset) {
std::cout << "Setting work offsset " << work_offset << std::endl;
// if (state != grbl_machine_state::disconnected) {
pipe->send(work_offset);
// awaiting_responses++;
// while (awaiting_responses > 0);
current_work_offset = work_offset;
auto pieces = split_string(parameters[work_offset], ",");
current_work_offset_values[0] = std::stof(pieces[0]);
current_work_offset_values[1] = std::stof(pieces[1]);
current_work_offset_values[2] = std::stof(pieces[2]);
// }
}
void grbl::machine::run_program(const grbl::program& pgm, const std::string& work_offset) {
running_program = pgm;
std::cout << "running program (" << running_program.filename << ") with " << running_program.number_of_instructions() << " instructions"
<< " on work offset " << work_offset << std::endl;
// set desired offset
while (awaiting_responses > 0);
pipe->send(work_offset);
while (awaiting_responses > 0);
set_work_offset(work_offset);
switch_to_state(grbl_machine_state::run_program);
}
@@ -576,6 +592,31 @@ void grbl::machine::zero_offset_axis(int offset_index, int axis) {
listener->on_parameters_reloaded();
}
void grbl::machine::go_to_zero(bool x, bool y, bool z) {
std::string command = "G0";
if (x) command += "X0";
if (y) command += "Y0";
if (z) command += "Z0";
while (awaiting_responses > 0);
pipe->send(command);
awaiting_responses++;
while (awaiting_responses > 0);
}
const float *grbl::machine::get_current_work_offset_values() const {
return current_work_offset_values;
}
std::array<float, 3> grbl::machine::get_work_pos() const {
std::array<float, 3> result = {
last_report.machine_pos[0] - current_work_offset_values[0],
last_report.machine_pos[1] - current_work_offset_values[1],
last_report.machine_pos[2] - current_work_offset_values[2],
};
return result;
}
bool grbl::jog_state::no_jogging() const {
return !(up_pressed || down_pressed || left_pressed || right_pressed || z_up_pressed || z_down_pressed);
}
grbl_machine.h
+15 -3
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@@ -165,7 +165,7 @@ struct machine_state_init : public machine_state {
init_stage init_state = init_stage::start;
void move_to_next_init_stage();
machine* cnc;
machine *cnc;
};
struct machine_state_idle : public machine_state {
@@ -203,7 +203,7 @@ struct machine_state_run_program : public machine_state {
bool continue_program();
void move_to_next_run_stage();
machine* cnc;
machine *cnc;
run_stage stage = run_stage::start;
bool run_failed;
size_t run_error;
@@ -228,7 +228,11 @@ struct machine : public transport_callbacks {
void set_listener(grbl::machine_listener *listener);
void connect();
void run_program(const grbl::program& pgm, std::string work_offset);
void set_work_offset(std::string work_offset);
std::array<float, 3> get_work_pos() const;
void run_program(const grbl::program& pgm, const std::string& work_offset);
void check_program(const grbl::program& pgm);
void request_jog(jog_state jog) const;
void cancel_jog() const;
@@ -246,6 +250,8 @@ struct machine : public transport_callbacks {
// 0 = G54, 1 = G55, etc
void zero_offset(int which);
void go_to_zero(bool x, bool y, bool z);
// 0 = G54, 1 = G55, etc axis 0=X, 1=Y, 2=Z
void zero_offset_axis(int offset_index, int axis);
@@ -266,6 +272,12 @@ protected:
std::map<std::string, std::string, settings_cmp> settings;
std::map<std::string, std::string, parameters_cmp> parameters;
std::string current_work_offset;
float current_work_offset_values[3] = {0};
public:
const float *get_current_work_offset_values() const;
protected:
volatile size_t awaiting_responses = 0;
realtime_status_report last_report{};
machine_listener *listener = nullptr;
main.cpp
+10 -11
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@@ -73,9 +73,6 @@ public:
Widget *parameters_layer;
TextBox *mpos_x_text, *mpos_y_text, *mpos_z_text;
ComboBox *cboOffset, *cboTool;
float offset_x = 0;
float offset_y = 0;
float offset_z = 0;
SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
inc_ref();
@@ -165,6 +162,11 @@ public:
cnc.zero_offset(cboOffset->selected_index());
});
auto goto_zero_btn = mpos->add<Button>("Goto 0");
goto_zero_btn->set_callback([&]() {
cnc.go_to_zero(true, true, true);
});
// work parameters
layer->add<Label>("Work parameters", "sans-bold", 20);
auto x = new Widget(layer);
@@ -262,11 +264,7 @@ public:
void refresh_offset() {
auto offset_name = "G" + std::to_string(cboOffset->selected_index() + 54);
auto offset_values = cnc.get_parameters().at(offset_name);
auto offset_pieces = split_string(offset_values, ",");
offset_x = std::stof(offset_pieces[0]);
offset_y = std::stof(offset_pieces[1]);
offset_z = std::stof(offset_pieces[2]);
cnc.set_work_offset(offset_name);
}
void fill_in_parameters() {
@@ -388,9 +386,10 @@ public:
}
void update_dro() {
mpos_x_text->set_value(std::to_string(cnc.get_status().machine_pos[0] - offset_x));
mpos_y_text->set_value(std::to_string(cnc.get_status().machine_pos[1] - offset_y));
mpos_z_text->set_value(std::to_string(cnc.get_status().machine_pos[2] - offset_z));
auto work_pos = cnc.get_work_pos();
mpos_x_text->set_value(std::to_string(work_pos[0]));
mpos_y_text->set_value(std::to_string(work_pos[1]));
mpos_z_text->set_value(std::to_string(work_pos[2]));
}
void on_banner(std::string line) override {
render.cpp
+14 -7
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@@ -91,8 +91,13 @@ void grbl::program_renderer::update(const grbl::program& pgm, const grbl::machin
// build vbo and vao
vertices_count = build_vbo(pgm);
auto x = cnc.get_status().work_pos;
spindle_pos = glm::vec3(x[0], x[1], x[2]);
auto work_pos = cnc.get_status().machine_pos;
auto offsets = cnc.get_current_work_offset_values();
for (int i = 0; i < 3; i++) {
work_pos[i] -= offsets[i];
}
spindle_pos = glm::vec3(work_pos[0], work_pos[1], work_pos[2]);
}
void grbl::program_renderer::initialize_spindle_buffers() {
@@ -148,7 +153,7 @@ void grbl::program_renderer::initialize_spindle_buffers() {
}
glBindBuffer(GL_ARRAY_BUFFER, spindle_vbo_id);
glBufferData(GL_ARRAY_BUFFER, sizeOfVertexInBytes * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
spindle_vertices_count = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
}
@@ -178,7 +183,8 @@ GLsizei grbl::program_renderer::build_vbo(const grbl::program& pgm) {
static auto movement_re = std::regex(R"(([gG]0*1?\s+|[xXyYzZ]\s*[0-9\.\-]+))");
bool is_tool_on = false;
std::vector<float> buffer_data;
buffer_data.clear();
glm::vec3 tool_pos;
min_pos = max_pos = tool_pos = glm::vec3(0);
@@ -270,10 +276,11 @@ GLsizei grbl::program_renderer::build_vbo(const grbl::program& pgm) {
}
const GLsizei sizeOfVertexInBytes = 28;
glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
glBufferData(GL_ARRAY_BUFFER, sizeOfVertexInBytes * buffer_data.size(), buffer_data.data(), GL_DYNAMIC_DRAW);
auto number_of_vertices = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
return number_of_vertices;
}
render.h
+1
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@@ -27,6 +27,7 @@ private:
GLuint vbo_id;
GLuint vao_id;
std::vector<float> buffer_data;
shader_program *shader = nullptr;
bool initialized = false;