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Works with simple/no kinematics

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IMback 2017-09-19 16:16:54 +02:00
parent dd6f37a960
commit 471d018bfe
7 changed files with 221 additions and 245 deletions
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224
hpglparser.cpp
View file

@ -4,121 +4,145 @@
#include "hpglparser.h"
String buffer = "";
unsigned int bufferPosition = 0;
HpglParser::HpglParser(Plotter* plotter): _plotter(plotter)
{
}
bool isWhitespace(const char ch)
bool HpglParser::isWhitespace(const char ch)
{
return ch == ' ' || ch == '\n';
}
void addToBuffer(char ch)
{
buffer += ch;
}
void setBuffer(String in)
{
buffer = in;
}
void purgeBuffer()
{
buffer = buffer.substring(bufferPosition);
bufferPosition = 0;
}
bool isBufferEmpty()
{
return bufferPosition<buffer.length();
}
bool isBufferFull()
{
return (buffer.length()>40 && (!buffer.indexOf("LB"))>=0);
}
bool isNumber(char ch)
{
return ch=='-' || isdigit(ch);
}
void skipWhitespaces()
{
//preskoc non-alpha
while(bufferPosition<buffer.length() && isWhitespace(buffer[bufferPosition]))
{
bufferPosition++;
}
}
bool tryReadInt(uint16_t *i)
{
skipWhitespaces();
char ch = buffer[bufferPosition];
if (isNumber(ch))
{
unsigned int p = bufferPosition;
while(bufferPosition<buffer.length() && isNumber(buffer[bufferPosition]))
{
bufferPosition++;
}
String s = buffer.substring(p,bufferPosition);
*i = s.toInt();
return true;
}
return false;
}
bool isSeparator(char ch)
bool HpglParser::isSeparator(char ch)
{
return isWhitespace(ch) || ch==',';
}
bool readSeparator()
void HpglParser::findCoordinats()
{
bool b = false;
while(bufferPosition<buffer.length() && isSeparator(buffer[bufferPosition]))
{
b = true;
bufferPosition++;
}
return b;
bool wasPAM = (cmdMode == PA_M);
if(buffer[bufferIndex] == ';') cmdMode = 0;
buffer[bufferIndex] = '\0';
if(!xSet)
{
_nextPoint.x=atoi(buffer);
if(cmdMode != 0) xSet = true;
bufferIndex = -1;
}
else
{
_nextPoint.y=atoi(buffer);
if(wasPAM) _plotter->moveto(&_nextPoint);
else
{
Point currentPos = _plotter->getCurrentPos();
_plotter->moveto(currentPos.x + _nextPoint.x, currentPos.y + _nextPoint.y);
}
xSet = false;
bufferIndex = -1;
}
}
bool tryReadPoint(Point *pt)
void HpglParser::findCommand()
{
uint16_t i;
if (!tryReadInt(&i))
return false;
(*pt).x = i;
if (!readSeparator())
return false;
if (!tryReadInt(&i))
return false;
(*pt).y = i;
return true;
switch (buffer[bufferIndex])
{
case 'I': break;
case 'N':
{
cmdMode = SKIP_M;
bufferIndex = -1;
break;
}
case 'P':
{
if(buffer[bufferIndex-1] == 'S')
{
cmdMode = SKIP_M;
bufferIndex = -1;
}
else if(buffer[bufferIndex-1] == 'B')
{
_plotter->moveto(0,0);
cmdMode = SKIP_M;
bufferIndex = -1;
}
break;
}
case 'U':
{
if(buffer[bufferIndex-1] == 'P')
{
cmdMode = PA_M;
_plotter->pu();
bufferIndex = -1;
}
break;
}
case 'D':
{
if(buffer[bufferIndex-1] == 'P')
{
cmdMode = PA_M;
_plotter->pd();
bufferIndex = -1;
}
break;
}
case 'A':
{
if(buffer[bufferIndex-1] == 'P')
{
cmdMode = PA_M;
bufferIndex = -1;
}
else cmdMode = ERROR_M;
break;
}
case 'R':
{
if(buffer[bufferIndex-1] == 'P')
{
cmdMode = PR_M;
bufferIndex = -1;
}
else cmdMode = ERROR_M;
break;
}
}
}
String readHpglCmd()
int HpglParser::add(const char ch)
{
while(bufferPosition<buffer.length() && !isalpha(buffer[bufferPosition]))
{
bufferPosition++;
}
String cmd = buffer.substring(bufferPosition, bufferPosition + 2);
bufferPosition+=2;
return cmd;
buffer[bufferIndex]=ch;
//sense
if(cmdMode == 0 && bufferIndex > 0 && !isWhitespace(ch) )
{
findCommand();
}
else if((cmdMode == PA_M || cmdMode == PR_M) && (isSeparator(ch) || ch==';') )
{
findCoordinats();
}
else if(((cmdMode == SKIP_M || cmdMode == ERROR_M) && ch==';') || (cmdMode == 0 && ch==';') )
{
xSet=false;
bufferIndex = -1;
cmdMode=0;
}
bufferIndex++;
if(bufferIndex > 64)
{
xSet=false;
bufferIndex = 0;
cmdMode = 0;
return 2;
}
return (bufferIndex == 0 && cmdMode == 0) ? 1 : 0;
}
String readStringUntil(char ch)
{
unsigned int pos=bufferPosition;
while(bufferPosition<buffer.length() && buffer[bufferPosition]!=ch)
{
bufferPosition++;
}
String result = buffer.substring(pos, bufferPosition);
bufferPosition++;
return result;
}

43
hpglparser.h
View file

@ -3,18 +3,39 @@
#ifndef _HPGLPARSER_h
#define _HPGLPARSER_h
#include "WString.h"
#include "point.h"
#include <stdio.h>
#include "plotter.h"
#define PA_M 1
#define PR_M 2
#define SKIP_M 3
#define ERROR_M 4
class HpglParser
{
private:
Plotter* _plotter;
char buffer[64];
int bufferIndex = 0;
uint8_t cmdMode = 0;
uint8_t searchMode = 0;
bool xSet = false;
Point _nextPoint;
bool isWhitespace(const char ch);
bool isSeparator(char ch);
void findCommand();
void findCoordinats();
public:
HpglParser(Plotter* plotter);
~HpglParser(){}
int add(const char ch);
};
String readHpglCmd();
bool tryReadPoint(Point *pt);
bool readSeparator();
String readStringUntil(char ch);
void addToBuffer(char ch);
void setBuffer(String in);
void purgeBuffer();
bool isBufferEmpty();
bool isBufferFull();
#endif

115
main.cpp
View file

@ -3,127 +3,34 @@
#include "point.h"
#include "hpglparser.h"
#include "plotter.h"
#include "font.h"
#include "serial.h"
#include "pwm.h"
#include "WString.h"
bool processCmd(Serial *serial, Plotter *plotter)
{
String cmd = readHpglCmd();
if (cmd=="DE")
{
plotter->demo();
serial->putString("ok");
}
else if (cmd=="BP")
{
plotter->basicposition();
serial->putString("ok");
}
else if (cmd=="PU")
{
plotter->pu();
Point pt;
while(tryReadPoint(&pt))
{
char buffer[64];
unsigned int count = snprintf( buffer, 64, "going to X:%u Y:%u\n", pt.x, pt.y );
serial->putString(buffer, count);
plotter->moveto(&pt);
if (!readSeparator())
break;
}
serial->putString("ok");
}
else if (cmd=="PD")
{
plotter->pd();
Point pt;
while(tryReadPoint(&pt))
{
char buffer[64];
unsigned int count = snprintf( buffer, 64, "going to X:%u Y:%u\n", pt.x, pt.y );
serial->putString(buffer, count);
plotter->moveto(&pt);
if (!readSeparator())
break;
}
serial->putString("ok");
}
else if (cmd=="PA")
{
Point pt;
while(tryReadPoint(&pt))
{
char buffer[64];
unsigned int count = snprintf( buffer, 64, "going to X:%u Y:%u\n", pt.x, pt.y );
serial->putString(buffer, count);
plotter->moveto(&pt);
if (!readSeparator())
break;
}
serial->putString("ok");
}
else if (cmd=="PR")
{
Point pt;
while(tryReadPoint(&pt))
{
Point currentPos = plotter->getCurrentPos();
plotter->moveto(currentPos.x + pt.x, currentPos.y + pt.y);
if (!readSeparator())
break;
}
serial->putString("ok");
}
else if (cmd=="LB")
{
//LOG("label detected");
String str = readStringUntil('x');
//TODO: scaling
drawFontString(plotter, str, 6);
serial->putString("ok");
}
else if (cmd=="" || "IN" || "SP" )
{
//skip empty command
}
else
{
serial->putString("ERR ");
serial->putString(cmd.begin(), cmd.length());
serial->putChar(';');
}
return isBufferEmpty();
}
int main()
{
DDRB = 0xFF;
sei();
Serial serial;
Serial serial;
Plotter plotter(&PORTB, PB4, &serial);
serial.putString("UVOS plotter interface\n");
Plotter plotter(&PORTB, PB4);
HpglParser parser(&plotter);
//serial.putString("UVOS plotter interface\n");
while(true)
{
//plotter.demo();
if(serial.dataIsWaiting())
{
char ch = serial.getChar();
if(ch != '\0')
int parseRetrun = parser.add(ch);
if(parseRetrun == 1)
{
addToBuffer(ch);
serial.putString("ok\n");
}
if (ch==';')
else if(parseRetrun == 2)
{
while(processCmd(&serial, &plotter));
purgeBuffer();
serial.putChar('\n');
serial.putString("overrun!, ok\n");
}
}
}

34
plotter.cpp
View file

@ -1,11 +1,10 @@
#include "plotter.h"
const int SCALEX=5;
const int SCALEY=5;
const int SCALEX=2;
const int SCALEY=3;
Plotter::Plotter(volatile unsigned char *penPort, const char penPin, Serial* serial): _pwm( &TCCR1A, &TCCR1B, &OCR1A, &OCR1B, &ICR1, 0b00000001)
Plotter::Plotter(volatile unsigned char *penPort, const char penPin): _pwm( &TCCR1A, &TCCR1B, &OCR1A, &OCR1B, &ICR1, 0b00000001)
{
_serial=serial;
_penPort=penPort;
_penPin=penPin;
basicposition();
@ -34,16 +33,20 @@ void Plotter::basicposition()
void Plotter::pd()
{
_delay_us(1000);
writePin(_penPort, _penPin, true);
_delay_us(1000);
if(!readPin(_penPort, _penPin))
{
writePin(_penPort, _penPin, true);
_delay_us(500);
}
}
void Plotter::pu()
{
_delay_us(1000);
if(readPin(_penPort, _penPin))
{
writePin(_penPort, _penPin, false);
_delay_us(1000);
_delay_us(500);
}
}
void Plotter::moveto(Point *pt)
@ -56,7 +59,7 @@ void Plotter::moveto(const uint16_t nx, const uint16_t ny)
int deltaX = nx - currentPos.x; //-5100
int deltaY = ny - currentPos.y; //0
int steps;
int steps = 0;
int32_t StepSizeX=0;
int32_t StepSizeY=0;
@ -77,13 +80,20 @@ void Plotter::moveto(const uint16_t nx, const uint16_t ny)
{
_pwm.setDutyA(65535-(currentPos.x+i*StepSizeX)*SCALEX);
_pwm.setDutyB(65535-(currentPos.y+i*StepSizeY)*SCALEY);
_delay_us(10000);
_delay_us(5000);
}
_pwm.setDutyA(65535-nx*SCALEX);
_pwm.setDutyB(65535-ny*SCALEY);
if( abs((currentPos.x+steps*StepSizeX) - nx) > 10 || abs((currentPos.y+steps*StepSizeY) - ny) > 10 ) _delay_us(200000);
_delay_us(10000);
if(steps < 50) for(int i = 0; i < steps; i++)_delay_us(11000);
else if(steps < 5) _delay_us(10000*5);
else _delay_us(200000);
//_delay_us(500000);
//else _delay_us(10000);
currentPos.x = nx;
currentPos.y = ny;

5
plotter.h
View file

@ -7,9 +7,7 @@
#include "writepin.h"
#include "point.h"
#include "pwm.h"
#include "serial.h"
#include "writepin.h"
#include "serial.h"
#include <stdio.h>
#include <stdlib.h>
@ -21,10 +19,9 @@ private:
volatile unsigned char *_penPort;
char _penPin;
Serial* _serial;
public:
Plotter(volatile unsigned char *penPort, const char penPin, Serial* serial);
Plotter(volatile unsigned char *penPort, const char penPin);
void demo();
void basicposition();
void pd();

35
serial.cpp
View file

@ -1,12 +1,26 @@
#include "serial.h"
char rxBuffer[BUFFER_SIZE];
volatile uint16_t interruptIndex = 0;
volatile uint32_t interruptIndex = 0;
volatile uint32_t _rxIndex = 0;
bool stopped = false;
ISR (USART_RX_vect) //I have seen worse interrupt sintax
{
rxBuffer[interruptIndex % BUFFER_SIZE] = UDR0;
interruptIndex++;
/*if (interruptIndex - BUFFER_SIZE > 0 && _rxIndex - BUFFER_SIZE > 0)
{
interruptIndex -= BUFFER_SIZE;
_rxIndex -= BUFFER_SIZE;
}*/
if(serialFlowControl && !stopped && interruptIndex - _rxIndex > BUFFER_SIZE - 64)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = 0x13;
stopped = true;
}
if(interruptIndex - _rxIndex < BUFFER_SIZE )interruptIndex++;
}
Serial::Serial()
@ -47,10 +61,15 @@ bool Serial::dataIsWaiting()
char Serial::getChar()
{
if( _rxIndex >= (32768) - 2*BUFFER_SIZE ) flush(); //may explode only occasionaly
if(dataIsWaiting())
{
_rxIndex++;
if(serialFlowControl && stopped && interruptIndex - _rxIndex < 64)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = 0x11;
stopped = false;
}
return rxBuffer[(_rxIndex -1) % BUFFER_SIZE];
}
else return '\0';
@ -58,12 +77,12 @@ char Serial::getChar()
unsigned int Serial::getString(char* buffer, const int bufferLength)
{
int i = 0;
unsigned int i = 0;
for(; i <= (interruptIndex-_rxIndex) && i <= BUFFER_SIZE && rxBuffer[(_rxIndex+i) % BUFFER_SIZE] != _terminator; i++);
if( i < (interruptIndex-_rxIndex) && i > 0)
{
int j = 0;
unsigned int j = 0;
for(; j < i && j < bufferLength-1 ; j++)
{
buffer[j] = getChar();
@ -71,11 +90,7 @@ unsigned int Serial::getString(char* buffer, const int bufferLength)
buffer[j+1]='\0';
_rxIndex++;
}
else
{
i = 0;
if( _rxIndex >= (32768) - 2*BUFFER_SIZE ) flush();
}
else i = 0;
if (rxBuffer[(_rxIndex+i) % BUFFER_SIZE] == _terminator) _rxIndex++;

8
serial.h
View file

@ -1,19 +1,21 @@
#ifndef SERIAL_H
#define SERIAL_H
#define BAUD 38400
#define BUFFER_SIZE 128
#define BAUD 19200
#define BUFFER_SIZE 1024
#include <util/setbaud.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <string.h>
const bool serialFlowControl = false;
class Serial
{
private:
char _terminator = '\n';
uint16_t _rxIndex=0;
public:
Serial();