Add command to load config file: ecmcGrblLoadConfigFile()

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -911,7 +911,7 @@ void ecmcGrbl::addCommand(std::string command) {
   }
 }
 
-void ecmcGrbl::loadFile(std::string fileName, int append) {
+void ecmcGrbl::loadGCodeFile(std::string fileName, int append) {
   if(cfgDbgMode_){
     printf("%s:%s:%d: file %s, append %d\n",__FILE__,__FUNCTION__,__LINE__,fileName.c_str(),append);
   }
@@ -946,19 +946,24 @@ void ecmcGrbl::loadFile(std::string fileName, int append) {
 }
 
 void  ecmcGrbl::addConfig(std::string command) {
+  
   if(cfgDbgMode_){
     printf("%s:%s:%d:command %s\n",__FILE__,__FUNCTION__,__LINE__,command.c_str());
   }
+    
   if (getEcmcEpicsIOCState() == 16) {
-    if(cfgDbgMode_){
-      printf("%s:%s:%d: GRBL: ERROR: Configuratoin can only be applied during startup:(0x%x)\n",
+    printf("%s:%s:%d: GRBL: ERROR: Configuratoin can only be applied during startup:(0x%x)\n",
         __FILE__,__FUNCTION__,__LINE__,ECMC_PLUGIN_CONFIG_ERROR_CODE);
-    }
     return;
   }
-    if(cfgDbgMode_){
-    printf("%s:%s:%d:command %s\n",__FILE__,__FUNCTION__,__LINE__,command.c_str());
+
+  std::size_t found = command.find(ECMC_CONFIG_GRBL_CONFIG_CHAR);
+  if (found==std::string::npos) {
+    printf("%s:%s:%d: GRBL: ERROR: Configuration command not valid (0x%x)\n",
+        __FILE__,__FUNCTION__,__LINE__,ECMC_PLUGIN_CONFIG_ERROR_CODE);
+    return;
   }
+
   epicsMutexLock(grblConfigBufferMutex_);  
   grblConfigBuffer_.push_back(command.c_str());
   epicsMutexUnlock(grblConfigBufferMutex_);
@@ -968,3 +973,37 @@ void  ecmcGrbl::addConfig(std::string command) {
   }
 }
 
+void ecmcGrbl::loadConfigFile(std::string fileName, int append) {
+
+  if(cfgDbgMode_){
+    printf("%s:%s:%d: file %s, append %d\n",__FILE__,__FUNCTION__,__LINE__,fileName.c_str(),append);
+  }
+
+  std::ifstream file;
+  file.open(fileName);
+  if (!file.good()) {
+    if(cfgDbgMode_){
+      printf("%s:%s:%d: GRBL: ERROR: File not found: %s (0x%x)\n",
+             __FILE__,__FUNCTION__,__LINE__,fileName.c_str(),ECMC_PLUGIN_LOAD_FILE_ERROR_CODE);
+    }
+    errorCode_ = ECMC_PLUGIN_LOAD_FILE_ERROR_CODE;
+    throw std::runtime_error("Error: File not found.");
+    return;
+  }
+  
+  // Clear buffer (since not append)
+  if(!append) {
+    setExecute(0);
+    epicsMutexLock(grblConfigBufferMutex_);  
+    grblConfigBuffer_.clear();
+    epicsMutexUnlock(grblConfigBufferMutex_);
+  }
+
+  std::string line, lineNoComments;
+
+  while (std::getline(file, line)) {
+    if(line.length()>0) {
+      addConfig(line);
+    }
+  }
+}

ecmc_plugin_grbl/ecmcGrbl.h

@@ -74,7 +74,8 @@ class ecmcGrbl : public asynPortDriver {
   void                     doWriteWorker();
   void                     addCommand(std::string command);
   void                     addConfig(std::string command);
-  void                     loadFile(std::string filename, int append);
+  void                     loadGCodeFile(std::string filename, int append);
+  void                     loadConfigFile(std::string fileName, int append);
   int                      enterRT();
   int                      grblRTexecute(int ecmcError);
   int                      setExecute(int exe);

ecmc_plugin_grbl/ecmcGrblDefs.h

@@ -24,6 +24,7 @@
 
 #define ECMC_PLUGIN_ASYN_PREFIX          "plugin.grbl"
 #define ECMC_CONFIG_FILE_COMMENT_CHAR    "#"
+#define ECMC_CONFIG_GRBL_CONFIG_CHAR     "$"
 
 #define ECMC_PLUGIN_GRBL_GENERAL_ERROR_CODE 0x100
 #define ECMC_PLUGIN_GRBL_COMMAND_ERROR_CODE 0x101

ecmc_plugin_grbl/ecmcGrblWrap.cpp

@@ -210,7 +210,7 @@ static void initCallFunc_0(const iocshArgBuf *args) {
 
 void ecmcGrblLoadFilePrintHelp() {
   printf("\n");
-  printf("       Use ecmcGrblLoadFile(<filename>,<append>)\n");
+  printf("       Use ecmcGrblLoadGCodeFile(<filename>,<append>)\n");
   printf("          <filename>             : Filename containg g-code.\n");
   printf("          <append>               : 0: reset grbl, clear all current commands in buffer before \n"); 
   printf ("                                     loading file (default).\n");
@@ -237,7 +237,7 @@ int ecmcGrblLoadFile(const char* filename, int append) {
   }
 
   try {
-    grbl->loadFile(filename, append);
+    grbl->loadGCodeFile(filename, append);
   }
   catch(std::exception& e) {
     printf("Exception: %s. Load file command failed.\n",e.what());
@@ -255,13 +255,11 @@ static const iocshArg initArg1_1 =
 static const iocshArg *const initArgs_1[]  = { &initArg0_1,
                                                &initArg1_1};
 
-static const iocshFuncDef    initFuncDef_1 = { "ecmcGrblLoadFile", 2, initArgs_1 };
+static const iocshFuncDef    initFuncDef_1 = { "ecmcGrblLoadGCodeFile", 2, initArgs_1 };
 static void initCallFunc_1(const iocshArgBuf *args) {
   ecmcGrblLoadFile(args[0].sval,args[1].ival);
 }
 
-
-
 /*
 $11 - Junction deviation, mm
 $12 – Arc tolerance, mm
@@ -333,6 +331,62 @@ static void initCallFunc_2(const iocshArgBuf *args) {
   ecmcGrblAddConfig(args[0].sval);
 }
 
+/** 
+ * EPICS iocsh shell command: ecmcGrblLoadConfigFile
+*/
+
+void ecmcGrblLoadConfigFilePrintHelp() {
+  printf("\n");
+  printf("       Use ecmcGrblLoadConfigFile(<filename>,<append>)\n");
+  printf("          <filename>             : Filename containg grbl configs.\n");
+  printf("          <append>               : 0: clear all current configs in buffer before \n"); 
+  printf ("                                     loading file (default).\n");
+  printf("                                 : 1: append commands in file last in buffer. (grbl is not reset)\n");
+  printf("\n");
+}
+
+int ecmcGrblLoadConfigFile(const char* filename, int append) {
+
+  if(!filename) {
+    printf("Error: filename.\n");
+    ecmcGrblLoadConfigFilePrintHelp();
+    return asynError;
+  }
+
+  if(strcmp(filename,"-h") == 0 || strcmp(filename,"--help") == 0 ) {
+    ecmcGrblLoadConfigFilePrintHelp();
+    return asynSuccess;
+  }
+
+  if(!grbl) {
+    printf("Plugin not initialized/loaded.\n");
+    return asynError;
+  }
+
+  try {
+    grbl->loadConfigFile(filename,append);
+  }
+  catch(std::exception& e) {
+    printf("Exception: %s. Load file command failed.\n",e.what());
+    return asynError;
+  }
+  
+  return asynSuccess;
+}
+
+static const iocshArg initArg0_3 =
+{ " Filename", iocshArgString };
+static const iocshArg initArg1_3 =
+{ " Append", iocshArgInt };
+
+static const iocshArg *const initArgs_3[]  = { &initArg0_3,
+                                               &initArg1_3};
+
+static const iocshFuncDef    initFuncDef_3 = { "ecmcGrblLoadConfigFile", 2, initArgs_3 };
+static void initCallFunc_3(const iocshArgBuf *args) {
+  ecmcGrblLoadConfigFile(args[0].sval,args[1].ival);
+}
+
 ///** 
 // * Register all functions
 //*/
@@ -340,6 +394,7 @@ void ecmcGrblPluginDriverRegister(void) {
   iocshRegister(&initFuncDef_0,    initCallFunc_0);   // ecmcGrblAddCommand
   iocshRegister(&initFuncDef_1,    initCallFunc_1);   // ecmcGrblLoadFile
   iocshRegister(&initFuncDef_2,    initCallFunc_2);   // ecmcGrblAddConfig
+  iocshRegister(&initFuncDef_3,    initCallFunc_3);   // ecmcGrblLoadConfigFile
 }
 
 epicsExportRegistrar(ecmcGrblPluginDriverRegister);

iocsh/test.script

@@ -26,7 +26,6 @@ $(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=ruc
 # Hardware for X and Y in ESS crate
 $(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd
 
-
 # Use EL7211 as spindle
 epicsEnvSet("ECMC_EC_SLAVE_NUM",              "11")
 epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE",      "$(ECMC_EC_SLAVE_NUM)")
@@ -76,6 +75,9 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/y.sax)
 epicsEnvSet("DEV",      "$(IOC)")
 $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/spindle.ax)
 
+# Block  motor driver printouts
+asynSetTraceMask(MC_CPU1, -1, 0x0)
+
 ##############################################################################
 ## Load plugin:
 epicsEnvSet("PLUGIN_VER" ,"develop")
@@ -87,8 +89,21 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILN
 epicsEnvUnset(ECMC_PLUGIN_FILNAME)
 epicsEnvUnset(ECMC_PLUGIN_CONFIG)
 
-ecmcGrblLoadFile("./plc/gcode.nc",0)
-asynSetTraceMask(MC_CPU1, -1, 0x0)
+# Load grbl configs:
+#    $11 - Junction deviation, mm\n
+#    $12 – Arc tolerance, mm\n
+#    $30 - Max spindle speed, RPM\n
+#    $31 - Min spindle speed, RPM\n
+#    $100, $101 and $102 – [X,Y,Z] steps/mm\n
+#    $110, $111 and $112 – [X,Y,Z] Max rate, mm/min\n
+#    $120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2\n
+  
+ecmcGrblAddConfig("$120=1234");
+ecmcGrblAddConfig("$121=1234");
+ecmcGrblAddConfig("$122=1234");
+
+# Load g-code
+ecmcGrblLoadGCodeFile("./plc/gcode.nc",0)
 
 #ecmcGrblAddCommand("G1X20Y20F360");
 #ecmcGrblAddCommand("G4P2");
@@ -98,13 +113,6 @@ asynSetTraceMask(MC_CPU1, -1, 0x0)
 #ecmcGrblAddCommand("G4P2");
 #ecmcGrblAddCommand("G1X0Y0");
 
-#ecmcGrblAddCommand("G2X0adadsdY0R20");
-#ecmcGrblAddCommand("G1X0Y20");
-#ecmcGrblAddCommand("G1X10Y0F360");
-#ecmcGrblAddCommand("G4P1");
-#ecmcGrblAddCommand("G1X50Y50F180");
-#ecmcGrblAddCommand("G1X0Y0");
-
 ##############################################################################
 ## PLC 0
 $(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")