fafo/OpenMicroManipulator
17
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

* improved hw_config file

Browse source 
* added retract angle to homing
* v1.0.3
This commit is contained in:
0x23 2025-10-22 19:09:09 +02:00
parent 40d292ff46
commit dc0278ea2b
8 changed files with 151 additions and 49 deletions
Download patch file Download diff file Expand all files Collapse all files

34
firmware/MotionControllerRP/src/command_parser/command_parser.cpp
View file

@ -57,6 +57,37 @@ bool GCodeCommand::has_word(char word) const {
return false;
}
int GCodeCommand::get_word_count() const {
int c = 0;
for(int i=0; i<LETTER_COUNT; i++) {
if(std::isnan(word_values[i]))
c++;
}
return c;
}
bool GCodeCommand::contains_unsupported_words(const std::string& supported_words_str) const {
// Parse supported words from the string into a fixed-size lookup table
bool supported[LETTER_COUNT] = {false};
// Parse the supported letters from the comma-separated string
for (size_t i = 0; i < supported_words_str.length(); ++i) {
char c = supported_words_str[i];
if (c >= 'A' && c <= 'Z')
supported[c - 'A'] = true;
}
// Now check which words are used in the command and not supported
for (int i = 0; i < LETTER_COUNT; ++i) {
char word = 'A' + i;
if (has_word(word) && !supported[i]) {
return true; // Found an unsupported word
}
}
return false; // All words used in command are supported
}
//--- CommandParser ---------------------------------------------------------------------
CommandParser::CommandParser() : buffer_index(0), command_processor(nullptr) {
@ -120,6 +151,9 @@ bool CommandParser::parse_line(const char* line) {
// Parse remaining words (e.g., X1.0, Y2.5, F200)
while ((token = strtok_r(nullptr, " ", &saveptr))) {
if (token[0] >= 'A' && token[0] <= 'Z') {
if(token[1] == '\0')
command.set_value(token[0], 0.0f);
else
command.set_value(token[0], strtof(token + 1, nullptr));
} else {
command_processor->send_reply("error: invalid parameter\n");

6
firmware/MotionControllerRP/src/command_parser/command_parser.h
View file

@ -10,6 +10,8 @@
//*** CLASS *****************************************************************************
static constexpr int LETTER_COUNT = 26;
//--- GCodeCommand ----------------------------------------------------------------------
class GCodeCommand {
@ -23,10 +25,12 @@ class GCodeCommand {
float get_value(char word) const;
float get_value(char word, float default_value) const;
bool has_word(char word) const;
int get_word_count() const;
bool contains_unsupported_words(const std::string& supported_words_str) const;
private:
std::string command;
float word_values[26];
float word_values[LETTER_COUNT];
};
//--- ICommandProcessor -----------------------------------------------------------------