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Keyboard jogging disabled by default.

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This commit is contained in:
Adrian Scripca
2023-05-05 22:25:19 +03:00
parent 3913549b9e
commit 97b8186300
3 changed files with 222 additions and 99 deletions
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grbl_machine.cpp
+28
View File
@@ -617,6 +617,34 @@ std::array<float, 3> grbl::machine::get_work_pos() const {
return result;
}
void grbl::machine::request_jog_fixed(grbl::jog_direction dir, float distance, float feed) {
std::string command = "$J=G21 G91";
switch (dir) {
case jog_direction::x_up:
command += "X";
break;
case jog_direction::x_down:
command += "X-";
break;
case jog_direction::y_up:
command += "Y";
break;
case jog_direction::y_down:
command += "Y-";
break;
case jog_direction::z_up:
command += "Z";
break;
case jog_direction::z_down:
command += "Z-";
break;
}
command += std::to_string(distance) + " F" + std::to_string(feed);
pipe->send(command);
awaiting_responses++;
}
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
+10
View File
@@ -222,6 +222,15 @@ struct parameters_cmp {
}
};
enum class jog_direction {
x_up,
x_down,
y_up,
y_down,
z_up,
z_down,
};
struct machine : public transport_callbacks {
machine();
~machine();
@@ -235,6 +244,7 @@ struct machine : public transport_callbacks {
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 request_jog_fixed(jog_direction dir, float distance, float feed);
void cancel_jog() const;
[[nodiscard]] realtime_status_report get_status() const { return last_report; };
main.cpp
+184 -99
View File
@@ -51,7 +51,8 @@ public:
Window *window;
grbl::jog_state jog;
TextArea *lblStatus, *lblSubstatus;
TextBox *txtStatus;
TextBox *txtMessage;
nanogui::Color colRed = nanogui::Color(255, 0, 0, 255);
nanogui::Color colGreen = nanogui::Color(0, 255, 0, 255);
nanogui::Color colBg;
@@ -59,6 +60,9 @@ public:
grbl::program pgm;
Button *btnLoadProgram, *btnCheckProgram, *btnRunProgram;
std::vector<std::string> jog_distances = {"0.01", "0.1", "1", "10"};
std::vector<std::string> jog_feed_rates = {"5", "100", "500", "1000"};
grbl::program_renderer renderer;
glm::vec3 cam_target = glm::vec3(0);
@@ -72,7 +76,8 @@ public:
VScrollPanel *parameters_vscroll;
Widget *parameters_layer;
TextBox *mpos_x_text, *mpos_y_text, *mpos_z_text;
ComboBox *cboOffset, *cboTool;
ComboBox *cbo_work_offset, *cbo_tool, *cbo_jog_feed_rates, *cbo_jog_distance;
Button *btn_keyboard_jog;
SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
inc_ref();
@@ -82,36 +87,71 @@ public:
// create main window
window = new Window(this, "Machine status");
window->set_fixed_height((Screen::size().y() - 40) / 2);
// window->set_fixed_height((Screen::size().y() - 40) / 2);
window->set_position(Vector2i(0, 0));
window->set_layout(new BoxLayout(nanogui::Orientation::Vertical));
tab_widget = window->add<TabWidget>();
tab_widget->set_callback([&](int index) {
if (index == 1 || index == 2) {
perform_layout();
}
tab_widget->set_selected_index(index);
});
tab_widget->set_fixed_height((this->height() - 100) / 2);
tab_widget->set_fixed_height((this->height() - 80) / 2);
Widget *layer = new Widget(tab_widget);
layer->set_layout(new GroupLayout());
layer->set_layout(new GroupLayout(10, 20, 30, 0));
tab_widget->append_tab("Info", layer);
new Label(layer, "Status", "sans-bold");
Widget *status_holder = new Widget(layer);
status_holder->set_layout(new GridLayout());
layer->add<Label>("");
auto status_holder = layer->add<Widget>();
status_holder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 0));
lblStatus = layer->add<TextArea>();
lblStatus->set_fixed_height(20);
lblStatus->set_font("sans");
auto status_text_holder = status_holder->add<Widget>();
status_text_holder->set_layout(new GridLayout(Orientation::Horizontal, 3, nanogui::Alignment::Fill, 0, 0));
lblSubstatus = layer->add<TextArea>();
lblSubstatus->set_font("sans");
lblSubstatus->set_fixed_height(50);
status_text_holder->add<Label>("Status", "sans-bold", 20);
txtStatus = status_text_holder->add<TextBox>();
txtStatus->set_editable(false);
txtStatus->set_fixed_width(300);
auto *btnReset = status_text_holder->add<Button>("Reset");
btnReset->set_background_color(colRed);
btnReset->set_callback([&] {
cnc.request_reset();
});
//
status_text_holder->add<Label>("");
txtMessage = status_text_holder->add<TextBox>("");
txtMessage->set_fixed_width(300);
status_text_holder->add<Label>("");
// buttons
auto status_btn_holder = status_holder->add<Widget>();
status_btn_holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Fill, 6, 6));
auto *btnHome = new Button(status_btn_holder, "Home", FA_HOME);
btnHome->set_callback([&] {
cnc.request_home();
});
auto *btnUnlock = new Button(status_btn_holder, "Unlock", FA_UNLOCK);
btnUnlock->set_callback([&] {
cnc.request_unlock();
});
// buttons to change state
auto *btnCycleStart = status_btn_holder->add<Button>("Cycle Start", FA_PLAY);
btnCycleStart->set_callback([&] {
cnc.request_cycle_start();
});
auto *btnFeedHold = status_btn_holder->add<Button>("Feed Hold", FA_PAUSE);
btnFeedHold->set_callback([&] {
cnc.request_feed_hold();
});
// DRO
layer->add<Label>("DRO", "sans-bold", 20);
@@ -128,7 +168,7 @@ public:
zero_btn->set_flags(Button::Flags::NormalButton);
zero_btn->set_tooltip("Zero axis");
zero_btn->set_callback([&]() {
cnc.zero_offset_axis(cboOffset->selected_index(), 0);
cnc.zero_offset_axis(cbo_work_offset->selected_index(), 0);
});
auto y_holder = mpos->add<Widget>();
@@ -141,7 +181,7 @@ public:
zero_btn->set_flags(Button::Flags::NormalButton);
zero_btn->set_tooltip("Zero axis");
zero_btn->set_callback([&]() {
cnc.zero_offset_axis(cboOffset->selected_index(), 1);
cnc.zero_offset_axis(cbo_work_offset->selected_index(), 1);
});
auto z_holder = mpos->add<Widget>();
@@ -154,15 +194,18 @@ public:
zero_btn->set_flags(Button::Flags::NormalButton);
zero_btn->set_tooltip("Zero axis");
zero_btn->set_callback([&]() {
cnc.zero_offset_axis(cboOffset->selected_index(), 2);
cnc.zero_offset_axis(cbo_work_offset->selected_index(), 2);
});
auto zero_all_btn = mpos->add<Button>("Zero all");
auto axis_btns_holder = mpos->add<Widget>();
axis_btns_holder->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
auto zero_all_btn = axis_btns_holder->add<Button>("Zero all");
zero_all_btn->set_callback([&]() {
cnc.zero_offset(cboOffset->selected_index());
cnc.zero_offset(cbo_work_offset->selected_index());
});
auto goto_zero_btn = mpos->add<Button>("Goto 0");
auto goto_zero_btn = axis_btns_holder->add<Button>("Goto 0");
goto_zero_btn->set_callback([&]() {
cnc.go_to_zero(true, true, true);
});
@@ -171,114 +214,155 @@ public:
layer->add<Label>("Jogging", "sans-bold", 20);
auto holder = new Widget(layer);
holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Middle, 0, 0));
holder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 0));
// feed and distance
auto jogParamsHolder = holder->add<Widget>();
jogParamsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 4));
jogParamsHolder->add<Label>("Feed", "sans-bold");
cbo_jog_feed_rates = jogParamsHolder->add<ComboBox>(jog_feed_rates);
cbo_jog_feed_rates->set_selected_index(2);
jogParamsHolder->add<Label>("mm/min");
jogParamsHolder->add<Label>("Distance", "sans-bold");
cbo_jog_distance = jogParamsHolder->add<ComboBox>(jog_distances);
cbo_jog_distance->set_selected_index(2);
jogParamsHolder->add<Label>("mm");
jogParamsHolder->add<Label>("Keyboard Jog", "sans-bold");
btn_keyboard_jog = jogParamsHolder->add<Button>("", FA_KEYBOARD);
btn_keyboard_jog->set_flags(Button::Flags::ToggleButton);
jogParamsHolder->add<Label>("");
// X and Y
auto jogBtnsHolder = holder->add<Widget>();
jogBtnsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Middle, 0, 6));
jogBtnsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 6));
jogBtnsHolder->add<Label>("");
jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_UP);
auto jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_UP);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::y_up,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
jogBtnsHolder->add<Label>("");
jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_LEFT);
jogBtnsHolder->add<ToolButton>(FA_HOME);
jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_RIGHT);
jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_LEFT);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::x_down,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
jog_btn = jogBtnsHolder->add<Button>("", FA_HOME);
jog_btn->set_callback([&]() {
cnc.go_to_zero(true, true, false);
});
jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_RIGHT);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::x_up,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
jogBtnsHolder->add<Label>("");
jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_DOWN);
jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_DOWN);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::y_down,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
jogBtnsHolder->add<Label>("");
// z up/down
auto jogZBtnsHolder = holder->add<Widget>();
jogZBtnsHolder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Minimum, 0, 6));
jogZBtnsHolder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 6));
jogZBtnsHolder->add<ToolButton>(FA_ANGLE_UP);
jogZBtnsHolder->add<ToolButton>(FA_HOME);
jogZBtnsHolder->add<ToolButton>(FA_ANGLE_DOWN);
jog_btn = jogZBtnsHolder->add<Button>("", FA_CHEVRON_UP);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::z_up,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
jog_btn = jogZBtnsHolder->add<Button>("", FA_HOME);
jog_btn->set_callback([&]() {
cnc.go_to_zero(0, 0, true);
});
jog_btn = jogZBtnsHolder->add<Button>("", FA_CHEVRON_DOWN);
jog_btn->set_callback([&]() {
// FIXME: get rid of std::stof
cnc.request_jog_fixed(grbl::jog_direction::z_down,
std::stof(jog_distances[cbo_jog_distance->selected_index()]),
std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
});
// work parameters
layer->add<Label>("Work parameters", "sans-bold", 20);
auto x = new Widget(layer);
x->set_layout(new GridLayout(Orientation::Horizontal, 4, Alignment::Middle, 0, 6));
auto work_holder = layer->add<Widget>();
work_holder->set_layout(new BoxLayout(nanogui::Orientation::Horizontal, Alignment::Fill, 6, 6));
x->add<Label>("Offset:");
auto work_data_holder = work_holder->add<Widget>();
work_data_holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Fill, 6, 6));
work_data_holder->add<Label>("Offset", "sans-bold");
std::vector<std::string> offset_items = {"G54", "G55", "G56", "G57", "G58", "G59"};
cboOffset = x->add<ComboBox>(offset_items);
cboOffset->set_callback([&](int idx) {
cbo_work_offset = work_data_holder->add<ComboBox>(offset_items);
cbo_work_offset->set_callback([&](int idx) {
refresh_offset();
update_dro();
});
x->add<Label>("Tool:");
work_data_holder->add<Label>("Tool", "sans-bold");
std::vector<std::string> tool_items = {"None"};
cboTool = x->add<ComboBox>(tool_items);
cbo_tool = work_data_holder->add<ComboBox>(tool_items);
// buttons to change state
new Label(layer, "Actions", "sans-bold");
auto *actions = new Widget(layer);
actions->set_layout(new BoxLayout(Orientation::Horizontal));
auto *btnUnlock = new Button(actions, "Unlock");
btnUnlock->set_callback([&] {
cnc.request_unlock();
});
auto *btnHome = new Button(actions, "Home");
btnHome->set_callback([&] {
cnc.request_home();
});
auto *btnReset = new Button(actions, "Reset");
btnReset->set_background_color(colRed);
btnReset->set_callback([&] {
cnc.request_reset();
});
auto *btnCycleStart = new Button(actions, "Cycle Start");
btnCycleStart->set_callback([&] {
cnc.request_cycle_start();
});
auto *btnFeedHold = new Button(actions, "Feed Hold");
btnFeedHold->set_callback([&] {
cnc.request_feed_hold();
});
// No need to store a pointer, the data structure will be automatically
// freed when the parent window is deleted
new Label(layer, "Program", "sans-bold");
Widget *pgm_actions = new Widget(layer);
pgm_actions->set_layout(new BoxLayout(Orientation::Horizontal));
auto work_btns_holder = work_holder->add<Widget>();
work_btns_holder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 6));
btnLoadProgram = new Button(pgm_actions, "Load");
btnLoadProgram = work_btns_holder->add<Button>("Load");
btnLoadProgram->set_callback([&] {
auto path = file_dialog(
{{"gcode", "G-Code files"},
{"nc", "G-Code files"},
{"ngc", "G-Code files"}}, true);
btnCheckProgram->set_background_color(colBg);
btnRunProgram->set_background_color(colBg);
// btnCheckProgram->set_background_color(colBg);
// btnRunProgram->set_background_color(colBg);
if (pgm.load_from_file(path)) {
btnCheckProgram->set_enabled(true);
// btnCheckProgram->set_enabled(true);
// btnRunProgram->set_enabled(true);
this->init_program_geometry();
} else {
btnCheckProgram->set_enabled(false);
btnRunProgram->set_enabled(false);
// btnCheckProgram->set_enabled(false);
// btnRunProgram->set_enabled(false);
}
});
btnLoadProgram->set_tooltip("Load program");
btnCheckProgram = new Button(pgm_actions, "Check");
btnCheckProgram->set_enabled(false);
btnCheckProgram = work_btns_holder->add<Button>("Check");
// btnCheckProgram->set_enabled(false);
btnCheckProgram->set_callback([&] {
cnc.check_program(pgm);
});
btnCheckProgram->set_tooltip("Check program");
btnRunProgram = new Button(pgm_actions, "Run");
btnRunProgram->set_enabled(false);
btnRunProgram = work_btns_holder->add<Button>("Run");
// btnRunProgram->set_enabled(false);
btnRunProgram->set_callback([&] {
cnc.run_program(pgm, "G" + std::to_string(cboOffset->selected_index() + 54));
cnc.run_program(pgm, "G" + std::to_string(cbo_work_offset->selected_index() + 54));
});
btnRunProgram->set_tooltip("Execute program");
@@ -290,8 +374,8 @@ public:
m_render_pass->set_cull_mode(RenderPass::CullMode::Disabled);
}
void refresh_offset() {
auto offset_name = "G" + std::to_string(cboOffset->selected_index() + 54);
void refresh_offset() const {
auto offset_name = "G" + std::to_string(cbo_work_offset->selected_index() + 54);
cnc.set_work_offset(offset_name);
}
@@ -341,7 +425,7 @@ public:
auto y = w->add<TextBox>(s.second);
y->set_editable(true);
y->set_tooltip(desc);
y->set_fixed_width(200);
y->set_fixed_width(150);
auto z = w->add<ToolButton>(FA_SAVE);
z->set_flags(Button::Flags::NormalButton); // no toggle, please
@@ -397,17 +481,15 @@ public:
void on_realtime_status_report(grbl::realtime_status_report report) override {
// if (report == last_report) return;
if (last_report.status != report.status) {
lblStatus->clear();
lblStatus->append(grbl::status_to_string(cnc.get_status().status));
// if (last_report.status != report.status) {
txtStatus->set_value(grbl::status_to_string(cnc.get_status().status));
lblSubstatus->clear();
if (cnc.get_status().status == grbl::machine_status::alarm) {
lblSubstatus->append(grbl::alarm_to_string(last_alarm));
} else {
lblSubstatus->append(cnc.get_status().sub_status);
}
if (cnc.get_status().status == grbl::machine_status::alarm) {
txtStatus->set_tooltip(grbl::alarm_to_string(last_alarm));
} else {
txtStatus->set_tooltip(cnc.get_status().sub_status);
}
// }
update_dro();
last_report = report;
@@ -424,6 +506,7 @@ public:
}
void on_message(std::string message) override {
txtMessage->set_value(message);
set_caption(message);
}
@@ -540,7 +623,7 @@ public:
}
}
if (jog != new_jog) {
if (btn_keyboard_jog->pushed() && jog != new_jog) {
cnc.request_jog(new_jog);
jog = new_jog;
}
@@ -589,6 +672,8 @@ public:
fill_in_settings();
fill_in_parameters();
perform_layout();
refresh_offset();
update_dro();
machine_initialized = false;