org.openpnp.machine.reference.driver

Class GcodeDriver

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractDriver

org.openpnp.machine.reference.driver.AbstractReferenceDriver

org.openpnp.machine.reference.driver.GcodeDriver

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, Identifiable, Named, Solutions.Subject, Driver, PropertySheetHolder, WizardConfigurable

Direct Known Subclasses:

GcodeAsyncDriver

public class GcodeDriver
extends AbstractReferenceDriver
implements Named

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	GcodeDriver.AxisTransform Deprecated.
static class	GcodeDriver.CamTransform Deprecated.
static class	GcodeDriver.Command
static class	GcodeDriver.CommandType
static class	GcodeDriver.Line
static class	GcodeDriver.NegatingTransform Deprecated.
static class	GcodeDriver.OffsetTransform Deprecated.
protected class	GcodeDriver.ReaderThread
static class	GcodeDriver.ScalingTransform Deprecated.
static interface	GcodeDriver.TimeoutAction

Nested classes/interfaces inherited from class org.openpnp.machine.reference.driver.AbstractReferenceDriver

AbstractReferenceDriver.CommunicationsType

Nested classes/interfaces inherited from interface org.openpnp.spi.Driver

Driver.MotionControlType

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Field Summary

Fields

Modifier and Type	Field and Description
protected java.util.List<org.openpnp.machine.reference.driver.GcodeDriver.Axis>	axes Deprecated.
protected double	backlashFeedRateFactor Deprecated.
protected double	backlashOffsetR Deprecated.
protected double	backlashOffsetX Deprecated.
protected double	backlashOffsetY Deprecated.
protected double	backlashOffsetZ Deprecated.
protected boolean	backslashEscapedCharactersEnabled
java.util.ArrayList<GcodeDriver.Command>	commands
protected boolean	compressGcode
protected java.lang.String	compressionExcludes
protected boolean	connected
protected int	connectWaitTimeMilliseconds
protected int	dollarWaitTimeMilliseconds
protected GcodeDriver.Line	errorResponse
protected Location	homingFiducialLocation Deprecated.
protected boolean	loggingGcode
protected int	maxFeedRate
protected double	nonSquarenessFactor Deprecated.
protected java.util.concurrent.LinkedBlockingQueue<GcodeDriver.Line>	receivedConfirmationsQueue
protected boolean	removeComments
protected java.util.concurrent.LinkedBlockingQueue<AxesLocation>	reportedLocationsQueue
protected java.util.concurrent.LinkedBlockingQueue<GcodeDriver.Line>	responseQueue
protected java.util.List<GcodeDriver>	subDrivers Deprecated.
protected int	timeoutMilliseconds
protected LengthUnit	units
protected boolean	visualHomingEnabled Deprecated.

Fields inherited from class org.openpnp.machine.reference.driver.AbstractReferenceDriver

baud, communicationsType, connectionKeepAlive, dataBits, flowControl, motionControlType, parity, portName, serial, setDtr, setRts, simulated, stopBits, syncInitialLocation, tcp

Fields inherited from class org.openpnp.spi.base.AbstractDriver

deleteAction, id, name, permutateDownAction, permutateUpAction

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor and Description
GcodeDriver()

Method Summary

Modifier and Type	Method and Description
void	actuate(Actuator actuator, boolean on) Actuates a machine defined object with a boolean state.
void	actuate(Actuator actuator, double value) Actuates a machine defined object with a double value.
void	actuate(Actuator actuator, java.lang.String value) Actuates a machine defined object with a String value.
java.lang.String	actuatorRead(Actuator actuator) Read a String value from the given Actuator.
java.lang.String	actuatorRead(Actuator actuator, java.lang.Object parameter) Read a given String value from the given Actuator.
protected void	bailOnError()
void	close()
protected void	closeGcodeLogger()
void	commit()
void	connect()
protected void	connectThreads() Connect the threads used for communications.
void	createDefaultCommands()
void	createDefaults()
void	detectFirmware(boolean preserveOldValue, boolean allowConnect) Detect the firmware running on a controller using the M115 command.
protected void	detectFirmwareSequence()
void	disconnect()
protected void	disconnectThreads() Disconnect the threads used for communications.
protected void	drainCommandQueue(long timeout)
void	findIssues(Solutions solutions) Report any detected issue and proposed solution in the list.
java.util.List<java.lang.String>	getAxisVariables(ReferenceMachine machine)
java.lang.String	getCommand(HeadMountable hm, GcodeDriver.CommandType type)
GcodeDriver.Command	getCommand(HeadMountable hm, GcodeDriver.CommandType type, boolean checkDefaults)
java.lang.String	getCompressionExcludes()
java.lang.String	getConfiguredAxes()
int	getConnectWaitTimeMilliseconds()
java.lang.String	getDetectedFirmware()
int	getDollarWaitTimeMilliseconds()
GcodeDriver.Command	getExactCommand(java.lang.String headMountableId, GcodeDriver.CommandType type) This is similar to the other getCommand calls, except the head mountable id is passed in and it must match exactly.
Length	getFeedRatePerSecond()
java.lang.String	getFirmwareConfiguration()
java.lang.String	getFirmwareProperty(java.lang.String name, java.lang.String defaultValue)
org.openpnp.machine.reference.driver.GcodeDriver.Axis	getLegacyAxis(HeadMountable hm, Axis.Type type) Deprecated.
int	getMaxFeedRate()
PropertySheetHolder.PropertySheet[]	getPropertySheets()
java.lang.String	getReportedAxes()
java.util.List<java.lang.String>	getReportedAxesLetters()
AxesLocation	getReportedLocation(long timeout) Get the momentary real-time location from the controller.
protected long	getTimeoutAtMachineSpeed()
int	getTimeoutMilliseconds()
LengthUnit	getUnits()
protected static boolean	hasVariable(java.lang.String command, java.lang.String name) Find matches of variables in the format {Name:Format} and return true if present.
void	home(Machine machine) Perform the hardware homing operation.
boolean	isBackslashEscapedCharactersEnabled()
boolean	isCompressGcode()
boolean	isLoggingGcode()
boolean	isMotionPending()
boolean	isRemoveComments()
boolean	isSpeakingGcode()
boolean	isSupportingPreMove()
boolean	isUsingLetterVariables()
protected void	migrateAssignAxis(org.openpnp.machine.reference.driver.GcodeDriver.Axis legacyAxis, AbstractAxis axis, HeadMountable hm) Deprecated.
protected ReferenceControllerAxis	migrateAxis(ReferenceMachine machine, org.openpnp.machine.reference.driver.GcodeDriver.Axis legacyAxis) Deprecated.
protected AbstractTransformedAxis	migrateAxis(ReferenceMachine machine, ReferenceControllerAxis inputAxis, GcodeDriver.AxisTransform legacyAxis) Deprecated.
void	migrateDriver(Machine machine) Deprecated.
void	moveTo(HeadMountable hm, Motion.MoveToCommand move) Executes the given Motion.
protected java.lang.String	preProcessCommand(java.lang.String command)
protected boolean	processPositionReport(GcodeDriver.Line line)
protected void	processResponse(GcodeDriver.Line line) Process a received response immediately.
java.util.List<GcodeDriver.Line>	receiveResponses()
java.util.List<GcodeDriver.Line>	receiveResponses(java.lang.String regex, long timeout, GcodeDriver.TimeoutAction timeoutAction)
java.lang.String	receiveSingleResponse(java.lang.String regex)
void	sendCommand(java.lang.String command)
void	sendCommand(java.lang.String command, long timeout)
protected void	sendGcode(java.lang.String gCode)
protected void	sendGcode(java.lang.String gCode, long timeout)
void	setBackslashEscapedCharactersEnabled(boolean backslashEscapedCharactersEnabled)
void	setCommand(HeadMountable hm, GcodeDriver.CommandType type, java.lang.String text)
void	setCompressGcode(boolean compressGcode)
void	setCompressionExcludes(java.lang.String compressionExcludes)
void	setConfiguredAxes(java.lang.String configuredAxes)
void	setConnectWaitTimeMilliseconds(int connectWaitTimeMilliseconds)
void	setDetectedFirmware(java.lang.String detectedFirmware)
void	setDollarWaitTimeMilliseconds(int dollarWaitTimeMilliseconds)
void	setEnabled(boolean enabled) Attempts to enable the Driver, turning on all outputs.
void	setFirmwareConfiguration(java.lang.String configuredAxes)
void	setGlobalOffsets(Machine machine, AxesLocation axesLocation) Set the current physical axis positions to be reinterpreted as the specified coordinates.
void	setLoggingGcode(boolean loggingGcode)
void	setMaxFeedRate(int maxFeedRate)
void	setRemoveComments(boolean removeComments)
void	setReportedAxes(java.lang.String reportedAxes)
void	setSupportingPreMove(boolean supportingPreMove)
void	setTimeoutMilliseconds(int timeoutMilliseconds)
void	setUnits(LengthUnit units)
void	setUsingLetterVariables(boolean usingLetterVariables)
protected static java.lang.String	substituteVariable(java.lang.String command, java.lang.String name, java.lang.Object value)
void	waitForCompletion(HeadMountable hm, MotionPlanner.CompletionType completionType) Perform a coordinated wait for completion.
protected GcodeDriver.Line	waitForConfirmation(java.lang.String command, long timeout)

Methods inherited from class org.openpnp.machine.reference.driver.AbstractReferenceDriver

getBaud, getCommunications, getCommunicationsType, getConfigurationWizard, getDataBits, getFlowControl, getIpAddress, getLineEndingType, getMotionControlType, getParity, getPort, getPortName, getSerial, getStopBits, getTcp, isConnectionKeepAlive, isInSimulationMode, isSetDtr, isSetRts, isSyncInitialLocation, setBaud, setCommunicationsType, setConnectionKeepAlive, setDataBits, setFlowControl, setIpAddress, setLineEndingType, setMotionControlType, setParity, setPort, setPortName, setSetDtr, setSetRts, setStopBits, setSyncInitialLocation, unescape

Methods inherited from class org.openpnp.spi.base.AbstractDriver

assignCameraVirtualAxes, createAxisMappingDefaults, getAxes, getChildPropertySheetHolders, getId, getMinimumRate, getName, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, migrateAxis, setId, setName, toString

Methods inherited from class org.openpnp.model.AbstractModelObject

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface org.openpnp.spi.Driver

getInterpolationJerkSteps, getInterpolationMaxSteps, getInterpolationMinStep, getInterpolationTimeStep, getJunctionDeviation

Methods inherited from interface org.openpnp.model.Solutions.Subject

getSubjectIcon, getSubjectText

Field Detail

units

protected LengthUnit units

maxFeedRate

protected int maxFeedRate

backlashOffsetX

@Deprecated
protected double backlashOffsetX

Deprecated.

backlashOffsetY

@Deprecated
protected double backlashOffsetY

Deprecated.

backlashOffsetZ

@Deprecated
protected double backlashOffsetZ

Deprecated.

backlashOffsetR

@Deprecated
protected double backlashOffsetR

Deprecated.

nonSquarenessFactor

@Deprecated
protected double nonSquarenessFactor

Deprecated.

backlashFeedRateFactor

@Deprecated
protected double backlashFeedRateFactor

Deprecated.

timeoutMilliseconds

protected int timeoutMilliseconds

connectWaitTimeMilliseconds

protected int connectWaitTimeMilliseconds

dollarWaitTimeMilliseconds

protected int dollarWaitTimeMilliseconds

visualHomingEnabled

@Deprecated
protected boolean visualHomingEnabled

Deprecated.

backslashEscapedCharactersEnabled

protected boolean backslashEscapedCharactersEnabled

removeComments

protected boolean removeComments

compressGcode

protected boolean compressGcode

compressionExcludes

protected java.lang.String compressionExcludes

loggingGcode

protected boolean loggingGcode

homingFiducialLocation

@Deprecated
protected Location homingFiducialLocation

Deprecated.

commands

public java.util.ArrayList<GcodeDriver.Command> commands

subDrivers

@Deprecated
protected java.util.List<GcodeDriver> subDrivers

Deprecated.

axes

@Deprecated
protected java.util.List<org.openpnp.machine.reference.driver.GcodeDriver.Axis> axes

Deprecated.

connected

protected boolean connected

responseQueue

protected java.util.concurrent.LinkedBlockingQueue<GcodeDriver.Line> responseQueue

reportedLocationsQueue

protected java.util.concurrent.LinkedBlockingQueue<AxesLocation> reportedLocationsQueue

receivedConfirmationsQueue

protected java.util.concurrent.LinkedBlockingQueue<GcodeDriver.Line> receivedConfirmationsQueue

errorResponse

protected GcodeDriver.Line errorResponse

Constructor Detail

GcodeDriver

public GcodeDriver()

Method Detail

commit

public void commit()

Overrides:

commit in class AbstractReferenceDriver

createDefaults

public void createDefaults()
                    throws java.lang.Exception

Overrides:

createDefaults in class AbstractDriver

Throws:

java.lang.Exception

createDefaultCommands

public void createDefaultCommands()

connect

public void connect()
             throws java.lang.Exception

Throws:

java.lang.Exception

connectThreads

protected void connectThreads()
                       throws java.lang.Exception

Connect the threads used for communications.

Throws:

java.lang.Exception

setEnabled

public void setEnabled(boolean enabled)
                throws java.lang.Exception

Description copied from interface: Driver

Attempts to enable the Driver, turning on all outputs.

Specified by:

setEnabled in interface Driver

Overrides:

setEnabled in class AbstractReferenceDriver

Throws:

java.lang.Exception

home

public void home(Machine machine)
          throws java.lang.Exception

Description copied from interface: Driver

Perform the hardware homing operation. When this completes the axes should be at their homing location. The call might return before this physically happens, so a waitForCompletion() is needed if you need to be sure.

Specified by:

home in interface Driver

Throws:

java.lang.Exception

getAxisVariables

public java.util.List<java.lang.String> getAxisVariables(ReferenceMachine machine)

setGlobalOffsets

public void setGlobalOffsets(Machine machine,
                             AxesLocation axesLocation)
                      throws java.lang.Exception

Description copied from interface: Driver

Set the current physical axis positions to be reinterpreted as the specified coordinates. Used after visual homing and to reset a rotation angle after it has wrapped around. In G-Code parlance this is setting a global offset:

Specified by:

setGlobalOffsets in interface Driver

Throws:

java.lang.Exception

See Also:

http://www.linuxcnc.org/docs/html/gcode/coordinates.html#_the_g92_commands, http://smoothieware.org/g92-cnc, https://github.com/synthetos/TinyG/wiki/Coordinate-Systems#offsets-to-the-offsets-g92

getReportedLocation

public AxesLocation getReportedLocation(long timeout)
                                 throws java.lang.Exception

Description copied from interface: Driver

Get the momentary real-time location from the controller. This might be in mid-motion.

Specified by:

getReportedLocation in interface Driver

Parameters:

timeout - TODO

Returns:

Throws:

java.lang.Exception

getExactCommand

public GcodeDriver.Command getExactCommand(java.lang.String headMountableId,
                                           GcodeDriver.CommandType type)

This is similar to the other getCommand calls, except the head mountable id is passed in and it must match exactly. By passing in null or "*", you will get a command that matches that head mountable id or null.

getCommand

public GcodeDriver.Command getCommand(HeadMountable hm,
                                      GcodeDriver.CommandType type,
                                      boolean checkDefaults)

getCommand

public java.lang.String getCommand(HeadMountable hm,
                                   GcodeDriver.CommandType type)

setCommand

public void setCommand(HeadMountable hm,
                       GcodeDriver.CommandType type,
                       java.lang.String text)

moveTo

public void moveTo(HeadMountable hm,
                   Motion.MoveToCommand move)
            throws java.lang.Exception

Description copied from interface: Driver

Executes the given Motion.

Specified by:

moveTo in interface Driver

Parameters:

hm - The HeadMountable having triggered the move. This is mostly for proprietary machine driver support and might only be a stand-in in some motion blending scenarios.

move - The moveTo Motion to execute, including target location and limits for feedrate, acceleration etc. as shaped by the MotionPlanner

Throws:

java.lang.Exception

isMotionPending

public boolean isMotionPending()

Specified by:

isMotionPending in interface Driver

Returns:

true if a motion is still assumed to be pending, i.e. waitForCompletion() has not yet been called.

drainCommandQueue

protected void drainCommandQueue(long timeout)
                          throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

waitForCompletion

public void waitForCompletion(HeadMountable hm,
                              MotionPlanner.CompletionType completionType)
                       throws java.lang.Exception

Description copied from interface: Driver

Perform a coordinated wait for completion. This must be issued before capturing camera frames etc.

Specified by:

waitForCompletion in interface Driver

Parameters:

hm - The HeadMountable to wait for. If null, wait for all the axes on the driver. Most drivers/controllers will probably not be able to wait for just a sub-set of axes, so the'll wait for all the axes anyway.

completionType - The kind of completion wanted.

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    boolean on)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a boolean state.

Specified by:

actuate in interface Driver

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    double value)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a double value.

Specified by:

actuate in interface Driver

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    java.lang.String value)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a String value.

Specified by:

actuate in interface Driver

Throws:

java.lang.Exception

actuatorRead

public java.lang.String actuatorRead(Actuator actuator,
                                     java.lang.Object parameter)
                              throws java.lang.Exception

Description copied from interface: Driver

Read a given String value from the given Actuator.

Specified by:

actuatorRead in interface Driver

Returns:

Throws:

java.lang.Exception

actuatorRead

public java.lang.String actuatorRead(Actuator actuator)
                              throws java.lang.Exception

Description copied from interface: Driver

Read a String value from the given Actuator.

Specified by:

actuatorRead in interface Driver

Returns:

Throws:

java.lang.Exception

disconnect

public void disconnect()

Specified by:

disconnect in class AbstractReferenceDriver

disconnectThreads

protected void disconnectThreads()

Disconnect the threads used for communications.

close

public void close()
           throws java.io.IOException

Specified by:

close in interface java.io.Closeable

Specified by:

close in interface java.lang.AutoCloseable

Overrides:

close in class AbstractReferenceDriver

Throws:

java.io.IOException

sendGcode

protected void sendGcode(java.lang.String gCode)
                  throws java.lang.Exception

Throws:

java.lang.Exception

getTimeoutAtMachineSpeed

protected long getTimeoutAtMachineSpeed()

sendGcode

protected void sendGcode(java.lang.String gCode,
                         long timeout)
                  throws java.lang.Exception

Throws:

java.lang.Exception

sendCommand

public void sendCommand(java.lang.String command)
                 throws java.lang.Exception

Throws:

java.lang.Exception

sendCommand

public void sendCommand(java.lang.String command,
                        long timeout)
                 throws java.lang.Exception

Throws:

java.lang.Exception

waitForConfirmation

protected GcodeDriver.Line waitForConfirmation(java.lang.String command,
                                               long timeout)
                                        throws java.lang.Exception

Throws:

java.lang.Exception

bailOnError

protected void bailOnError()
                    throws java.lang.Exception

Throws:

java.lang.Exception

receiveResponses

public java.util.List<GcodeDriver.Line> receiveResponses()
                                                  throws java.lang.Exception

Throws:

java.lang.Exception

receiveResponses

public java.util.List<GcodeDriver.Line> receiveResponses(java.lang.String regex,
                                                         long timeout,
                                                         GcodeDriver.TimeoutAction timeoutAction)
                                                  throws java.lang.Exception

Throws:

java.lang.Exception

receiveSingleResponse

public java.lang.String receiveSingleResponse(java.lang.String regex)
                                       throws java.lang.Exception

Throws:

java.lang.Exception

preProcessCommand

protected java.lang.String preProcessCommand(java.lang.String command)

processResponse

protected void processResponse(GcodeDriver.Line line)

Process a received response immediately.

Parameters:

line -

processPositionReport

protected boolean processPositionReport(GcodeDriver.Line line)

substituteVariable

protected static java.lang.String substituteVariable(java.lang.String command,
                                                     java.lang.String name,
                                                     java.lang.Object value)

hasVariable

protected static boolean hasVariable(java.lang.String command,
                                     java.lang.String name)

Find matches of variables in the format {Name:Format} and return true if present.

getPropertySheets

public PropertySheetHolder.PropertySheet[] getPropertySheets()

Specified by:

getPropertySheets in interface PropertySheetHolder

Overrides:

getPropertySheets in class AbstractReferenceDriver

getUnits

public LengthUnit getUnits()

Specified by:

getUnits in interface Driver

Returns:

The LengthUnit used by the controller that is driven by this driver.

setUnits

public void setUnits(LengthUnit units)

getMaxFeedRate

public int getMaxFeedRate()

setMaxFeedRate

public void setMaxFeedRate(int maxFeedRate)

getFeedRatePerSecond

public Length getFeedRatePerSecond()

Specified by:

getFeedRatePerSecond in interface Driver

Overrides:

getFeedRatePerSecond in class AbstractDriver

Returns:

A driver specific feed-rate limit, applied in addition to axis feed-rate limits and according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7). Given per second (will be converted to the standard per minute rate when using Gcode F values).

getTimeoutMilliseconds

public int getTimeoutMilliseconds()

setTimeoutMilliseconds

public void setTimeoutMilliseconds(int timeoutMilliseconds)

getConnectWaitTimeMilliseconds

public int getConnectWaitTimeMilliseconds()

setConnectWaitTimeMilliseconds

public void setConnectWaitTimeMilliseconds(int connectWaitTimeMilliseconds)

getDollarWaitTimeMilliseconds

public int getDollarWaitTimeMilliseconds()

setDollarWaitTimeMilliseconds

public void setDollarWaitTimeMilliseconds(int dollarWaitTimeMilliseconds)

isBackslashEscapedCharactersEnabled

public boolean isBackslashEscapedCharactersEnabled()

setBackslashEscapedCharactersEnabled

public void setBackslashEscapedCharactersEnabled(boolean backslashEscapedCharactersEnabled)

isRemoveComments

public boolean isRemoveComments()

setRemoveComments

public void setRemoveComments(boolean removeComments)

isCompressGcode

public boolean isCompressGcode()

setCompressGcode

public void setCompressGcode(boolean compressGcode)

getCompressionExcludes

public java.lang.String getCompressionExcludes()

setCompressionExcludes

public void setCompressionExcludes(java.lang.String compressionExcludes)

isUsingLetterVariables

public boolean isUsingLetterVariables()

Specified by:

isUsingLetterVariables in interface Driver

setUsingLetterVariables

public void setUsingLetterVariables(boolean usingLetterVariables)

isSupportingPreMove

public boolean isSupportingPreMove()

Specified by:

isSupportingPreMove in interface Driver

Overrides:

isSupportingPreMove in class AbstractDriver

setSupportingPreMove

public void setSupportingPreMove(boolean supportingPreMove)

isLoggingGcode

public boolean isLoggingGcode()

setLoggingGcode

public void setLoggingGcode(boolean loggingGcode)

getDetectedFirmware

public java.lang.String getDetectedFirmware()

setDetectedFirmware

public void setDetectedFirmware(java.lang.String detectedFirmware)

getReportedAxes

public java.lang.String getReportedAxes()

setReportedAxes

public void setReportedAxes(java.lang.String reportedAxes)

getReportedAxesLetters

public java.util.List<java.lang.String> getReportedAxesLetters()

getConfiguredAxes

public java.lang.String getConfiguredAxes()

setConfiguredAxes

public void setConfiguredAxes(java.lang.String configuredAxes)

getFirmwareConfiguration

public java.lang.String getFirmwareConfiguration()

setFirmwareConfiguration

public void setFirmwareConfiguration(java.lang.String configuredAxes)

closeGcodeLogger

protected void closeGcodeLogger()

detectFirmware

public void detectFirmware(boolean preserveOldValue,
                           boolean allowConnect)
                    throws java.lang.Exception

Detect the firmware running on a controller using the M115 command. Also discover axes with M114. We want to do this very early in the machine setup, so the machine may not even be ready to be enabled. Instead just connect/disconnect this single driver.

Parameters:

preserveOldValue - preserve the old value if the detection fails.

allowConnect - allow opening an ad hoc connection, if the machine is disabled.

Throws:

java.lang.Exception

detectFirmwareSequence

protected void detectFirmwareSequence()
                               throws java.lang.Exception

Throws:

java.lang.Exception

getFirmwareProperty

public java.lang.String getFirmwareProperty(java.lang.String name,
                                            java.lang.String defaultValue)

isSpeakingGcode

public boolean isSpeakingGcode()

Returns:

true if this is a true Gcode speaking driver/controller rather than some other text protocol. In the absence of a detected firmware, the heuristic is simply to look for a G90 command.

findIssues

public void findIssues(Solutions solutions)

Description copied from interface: Solutions.Subject

Report any detected issue and proposed solution in the list.

Specified by:

findIssues in interface Solutions.Subject

getLegacyAxis

@Deprecated
public org.openpnp.machine.reference.driver.GcodeDriver.Axis getLegacyAxis(HeadMountable hm,
                                                                                       Axis.Type type)

Deprecated.

migrateAxis

@Deprecated
protected ReferenceControllerAxis migrateAxis(ReferenceMachine machine,
                                                          org.openpnp.machine.reference.driver.GcodeDriver.Axis legacyAxis)
                                                   throws java.lang.Exception

Deprecated.

Throws:

java.lang.Exception

migrateAxis

@Deprecated
protected AbstractTransformedAxis migrateAxis(ReferenceMachine machine,
                                                          ReferenceControllerAxis inputAxis,
                                                          GcodeDriver.AxisTransform legacyAxis)
                                                   throws java.lang.Exception

Deprecated.

Throws:

java.lang.Exception

migrateDriver

@Deprecated
public void migrateDriver(Machine machine)
                               throws java.lang.Exception

Deprecated.

Description copied from class: AbstractDriver

Migrates the driver for the new global axes implementation. Is marked a deprecated as it can be removed along with the old GcodeDriver Axes implementation, once migration of users is expected to be complete.

Overrides:

migrateDriver in class AbstractDriver

Throws:

java.lang.Exception

migrateAssignAxis

@Deprecated
protected void migrateAssignAxis(org.openpnp.machine.reference.driver.GcodeDriver.Axis legacyAxis,
                                             AbstractAxis axis,
                                             HeadMountable hm)

Deprecated.