Merge pull request synthetos#254 from synthetos/dev-253-text-mode-com…

…pile

Dev-253-text-mode-compile

g2core/canonical_machine.cpp

@@ -1320,9 +1320,12 @@ stat_t cm_straight_traverse(const float target[], const bool flags[])
     cm_cycle_start();                               // required for homing & other cycles
     stat_t status = mp_aline(&cm.gm);               // send the move to the planner
     cm_finalize_move();
-    if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer()) {
-        cm_cycle_end();
-        return (STAT_OK);
+
+    if (status == STAT_MINIMUM_LENGTH_MOVE) {
+        if (!mp_has_runnable_buffer()) {            // handle condition where zero-length move is last or only move
+            cm_cycle_end();                         // ...otherwise cycle will not end properly
+        }
+        status = STAT_OK;
     }
     return (status);
 }
@@ -1478,9 +1481,11 @@ stat_t cm_straight_feed(const float target[], const bool flags[])
 
     cm_finalize_move(); // <-- ONLY safe because we don't care about status...
 
-    if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer()) {
-        cm_cycle_end();
-        return (STAT_OK);
+    if (status == STAT_MINIMUM_LENGTH_MOVE) {
+        if (!mp_has_runnable_buffer()) {            // handle condition where zero-length move is last or only move
+            cm_cycle_end();                         // ...otherwise cycle will not end properly
+        }
+        status = STAT_OK;
     }
     return (status);
 }

g2core/canonical_machine.h

@@ -949,6 +949,8 @@ stat_t cm_get_tram(nvObj_t *nv);        // return if the rotation matrix is non-
     #define cm_print_mtoe tx_print_stub
     #define cm_print_mto tx_print_stub
 
+    #define cm_print_tram tx_print_stub
+
     #define cm_print_am tx_print_stub    // axis print functions
     #define cm_print_fr tx_print_stub
     #define cm_print_vm tx_print_stub

g2core/config.cpp

@@ -238,6 +238,7 @@ stat_t get_flt(nvObj_t *nv)
 }
 
 /* Generic sets()
+ *  set_noop() - set nothing and return OK
  *  set_nul()  - set nothing, return OK
  *  set_ro()   - set nothing, return read-only error
  *  set_ui8()  - set value as 8 bit uint8_t value
@@ -250,8 +251,15 @@ stat_t get_flt(nvObj_t *nv)
  *  set_flt()  - set value as float
  */
 
+stat_t set_noop(nvObj_t *nv) {
+    nv->valuetype = TYPE_NULL;
+    return (STAT_OK);                       // hack until JSON is refactored
+}
+
 stat_t set_nul(nvObj_t *nv) { 
-    return (STAT_OK); 
+//    nv->valuetype = TYPE_NULL;
+//    return (STAT_PARAMETER_IS_READ_ONLY);   // this is what it should be
+    return (STAT_OK);                       // hack until JSON is refactored
 }
 
 stat_t set_ro(nvObj_t *nv) {

g2core/config.h

@@ -2,7 +2,7 @@
  * config.h - configuration sub-system generic part (see config_app for application part)
  * This file is part of the g2core project
  *
- * Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
+ * Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -317,6 +317,7 @@ bool nv_index_lt_groups(index_t index); // (see config_app.c)
 bool nv_group_is_prefixed(char *group);
 
 // generic internal functions and accessors
+stat_t set_noop(nvObj_t *nv);           // set nothing and return OK
 stat_t set_nul(nvObj_t *nv);            // set nothing, return OK
 stat_t set_ro(nvObj_t *nv);             // set nothing, return read-only error
 stat_t set_ui8(nvObj_t *nv);            // set uint8_t value

g2core/config_app.cpp

@@ -2,8 +2,8 @@
  * config_app.cpp - application-specific part of configuration data
  * This file is part of the g2core project
  *
- * Copyright (c) 2013 - 2016 Alden S. Hart, Jr.
- * Copyright (c) 2016 Robert Giseburt
+ * Copyright (c) 2013 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2016 - 2017 Robert Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -113,9 +113,7 @@ const cfgItem_t cfgArray[] = {
 
     // dynamic model attributes for reporting purposes (up front for speed)
     { "",   "stat",_f0, 0, cm_print_stat, cm_get_stat, set_ro, (float *)&cs.null, 0 },      // combined machine state
-//    { "",   "n",   _fi, 0, cm_print_line, cm_get_mline,set_ro, (float *)&cm.gm.linenum,0 }, // Model line number
-//    { "",   "line",_fi, 0, cm_print_line, cm_get_line, set_ro, (float *)&cm.gm.linenum,0 }, // Active line number - model or runtime line number
-    { "",   "n",   _fi, 0, cm_print_line, cm_get_mline,set_ro, (float *)&cs.null, 0 },      // Model line number
+    { "",   "n",   _fi, 0, cm_print_line, cm_get_mline,set_noop,(float *)&cs.null, 0 },     // Model line number
     { "",   "line",_fi, 0, cm_print_line, cm_get_line, set_ro, (float *)&cs.null, 0 },      // Active line number - model or runtime line number
     { "",   "vel", _f0, 2, cm_print_vel,  cm_get_vel,  set_ro, (float *)&cs.null, 0 },      // current velocity
     { "",   "feed",_f0, 2, cm_print_feed, cm_get_feed, set_ro, (float *)&cs.null, 0 },      // feed rate

g2core/gpio.h

@@ -2,8 +2,8 @@
  * gpio.h - Digital IO  handling functions
  * This file is part of the g2core project
  *
- * Copyright (c) 2015 - 2016 Alden S. Hart, Jr.
- * Copyright (c) 2015 - 2016 Robert Giseburt
+ * Copyright (c) 2015 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2015 - 2017 Robert Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -155,6 +155,7 @@ stat_t io_set_output(nvObj_t *nv);
     #define io_print_fn tx_print_stub
     #define io_print_in tx_print_stub
     #define io_print_st tx_print_stub
+    #define io_print_domode tx_print_stub
     #define io_print_out tx_print_stub
 #endif // __TEXT_MODE
 

g2core/plan_arc.cpp

@@ -2,7 +2,7 @@
  * plan_arc.c - arc planning and motion execution
  * This file is part of the g2core project
  *
- * Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
+ * Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -182,7 +182,7 @@ stat_t cm_arc_feed(const float target[], const bool target_f[],     // target en
         if (fabs(arc.radius) < MIN_ARC_RADIUS) {        // radius value must be > minimum radius
             return (STAT_ARC_RADIUS_OUT_OF_TOLERANCE);
         }
-    } 
+    }
     else {  // test that center format absolute distance mode arcs have both offsets specified
         if (cm.gm.arc_distance_mode == ABSOLUTE_DISTANCE_MODE) {
             if (!(offset_f[arc.plane_axis_0] && offset_f[arc.plane_axis_1])) {  // if one or both offsets are missing
@@ -226,21 +226,23 @@ stat_t cm_arc_feed(const float target[], const bool target_f[],     // target en
     memcpy(&arc.gm, &cm.gm, sizeof(GCodeState_t));      // copy GCode context to arc singleton - some will be overwritten to run segments
     copy_vector(arc.position, cm.gmx.position);         // set initial arc position from gcode model
 
-    // setup offsets
-    arc.offset[OFS_I] = _to_millimeters(offset[OFS_I]); // copy offsets with conversion to canonical form (mm)
-    arc.offset[OFS_J] = _to_millimeters(offset[OFS_J]);
-    arc.offset[OFS_K] = _to_millimeters(offset[OFS_K]);
+    // setup offsets if in center format mode
+    if (!radius_f) {
+        arc.offset[OFS_I] = _to_millimeters(offset[OFS_I]); // copy offsets with conversion to canonical form (mm)
+        arc.offset[OFS_J] = _to_millimeters(offset[OFS_J]);
+        arc.offset[OFS_K] = _to_millimeters(offset[OFS_K]);
 
-    if (arc.gm.arc_distance_mode == ABSOLUTE_DISTANCE_MODE) {   // adjust offsets if in absolute mode
-         arc.offset[OFS_I] -= arc.position[AXIS_X];
-         arc.offset[OFS_J] -= arc.position[AXIS_Y];
-         arc.offset[OFS_K] -= arc.position[AXIS_Z];
-    }
+        if (arc.gm.arc_distance_mode == ABSOLUTE_DISTANCE_MODE) {   // adjust offsets if in absolute mode
+             arc.offset[OFS_I] -= arc.position[AXIS_X];
+             arc.offset[OFS_J] -= arc.position[AXIS_Y];
+             arc.offset[OFS_K] -= arc.position[AXIS_Z];
+        }
 
-    if ((fp_ZERO(arc.offset[OFS_I])) &&                 // it's an error if no offsets are provided
-        (fp_ZERO(arc.offset[OFS_J])) &&
-        (fp_ZERO(arc.offset[OFS_K]))) {
-        return (cm_alarm(STAT_ARC_OFFSETS_MISSING_FOR_SELECTED_PLANE, "arc offsets missing or zero"));
+        if ((fp_ZERO(arc.offset[OFS_I])) &&                 // error if no offsets provided in center format mode
+            (fp_ZERO(arc.offset[OFS_J])) &&
+            (fp_ZERO(arc.offset[OFS_K]))) {
+            return (cm_alarm(STAT_ARC_OFFSETS_MISSING_FOR_SELECTED_PLANE, "arc offsets missing or zero"));
+        }
     }
 
     // compute arc runtime values

g2core/plan_exec.cpp

@@ -2,8 +2,8 @@
  * plan_exec.cpp - execution function for acceleration managed lines
  * This file is part of the g2core project
  *
- * Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2016 Rob Giseburt
+ * Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2012 - 2017 Rob Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the

g2core/plan_line.cpp

@@ -2,8 +2,8 @@
  * plan_line.c - acceleration managed line planning and motion execution
  * This file is part of the g2core project
  *
- * Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
- * Copyright (c) 2012 - 2016 Rob Giseburt
+ * Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2012 - 2017 Rob Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -197,24 +197,24 @@ stat_t mp_aline(GCodeState_t* gm_in)
 
     // exit if the move has zero movement. At all.
     if (fp_ZERO(length)) {
-        sr_request_status_report(SR_REQUEST_TIMED_FULL);  // Was SR_REQUEST_IMMEDIATE_FULL
-        return (STAT_OK);                                 // preferred over STAT_MINIMUM_LENGTH_MOVE
+        sr_request_status_report(SR_REQUEST_TIMED_FULL);// Was SR_REQUEST_IMMEDIATE_FULL
+        return (STAT_MINIMUM_LENGTH_MOVE);              // STAT_MINIMUM_LENGTH_MOVE needed to end cycle
     }
 
     // get a cleared buffer and copy in the Gcode model state
-    if ((bf = mp_get_write_buffer()) == NULL) {  // never supposed to fail
+    if ((bf = mp_get_write_buffer()) == NULL) {         // never supposed to fail
         return (cm_panic(STAT_FAILED_GET_PLANNER_BUFFER, "aline()"));
     }
     memcpy(&bf->gm, gm_in, sizeof(GCodeState_t));
     // Since bf->gm.target is being used all over the place, we'll make it the rotated target
     copy_vector(bf->gm.target, target_rotated);  // copy the rotated taget in place
 
     // setup the buffer
-    bf->bf_func = mp_exec_aline;                          // register the callback to the exec function
-    bf->length  = length;                                 // record the length
-    for (uint8_t axis = 0; axis < AXES; axis++) {         // compute the unit vector and set flags
-        if ((bf->axis_flags[axis] = flags[axis])) {       // yes, this is supposed to be = and not ==
-            bf->unit[axis] = axis_length[axis] / length;  // nb: bf-> unit was cleared by mp_get_write_buffer()
+    bf->bf_func = mp_exec_aline;                        // register the callback to the exec function
+    bf->length  = length;                               // record the length
+    for (uint8_t axis = 0; axis < AXES; axis++) {       // compute the unit vector and set flags
+        if ((bf->axis_flags[axis] = flags[axis])) {     // yes, this is supposed to be = and not ==
+            bf->unit[axis] = axis_length[axis] / length;// nb: bf-> unit was cleared by mp_get_write_buffer()
         }
     }
     _calculate_jerk(bf);                              // compute bf->jerk values

g2core/settings/settings_makeblock.h

@@ -97,7 +97,7 @@
 #define STATUS_REPORT_INTERVAL_MS 250       // milliseconds - set $SV=0 to disable
 
 //#define STATUS_REPORT_DEFAULTS
-//"line","posx","posy","posz","posa","bcr","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
+//"line","posx","posy","posz","posa","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
 #define STATUS_REPORT_DEFAULTS "line", "posx", "posy", "posz", "feed", "vel", "momo", "stat"
 
 // Alternate SRs that report in drawable units

g2core/settings/settings_shapeoko2.h

@@ -66,8 +66,8 @@
 #define STATUS_REPORT_MIN_MS        100                     // milliseconds - enforces a viable minimum
 #define STATUS_REPORT_INTERVAL_MS   250                     // milliseconds - set $SV=0 to disable
 
-//#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","posa","bcr","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
-#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","bcr","feed","vel","momo","stat"
+//#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","posa","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
+#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","feed","vel","momo","stat"
 
 // Alternate SRs that report in drawable units
 //#define STATUS_REPORT_DEFAULTS "line","vel","mpox","mpoy","mpoz","mpoa","coor","ofsa","ofsx","ofsy","ofsz","dist","unit","stat","homz","homy","homx","momo"

g2core/settings/settings_test.h

@@ -61,8 +61,8 @@
 #define STATUS_REPORT_MIN_MS        100                     // milliseconds - enforces a viable minimum
 #define STATUS_REPORT_INTERVAL_MS   250                     // milliseconds - set $SV=0 to disable
 
-//#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","posa","bcr","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
-#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","bcr","feed","vel","momo","stat"
+//#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","posa","feed","vel","unit","coor","dist","admo","frmo","momo","stat"
+#define STATUS_REPORT_DEFAULTS "line","posx","posy","posz","feed","vel","momo","stat"
 
 // Alternate SRs
 //#define STATUS_REPORT_DEFAULTS "line","vel","mpox","mpoy","mpoz","mpoa","coor","ofsa","ofsx","ofsy","ofsz","dist","unit","stat","homz","homy","homx","momo"