Merge pull request #509 from Sienci-Labs/MI-1458-Start-From-Line-Incl…

…ude-A Include A Axis in Start From Line Calcs
Sienci-Labs · Jun 5, 2024 · 37ee727 · 37ee727
2 parents e576658 + 670e5e0
commit 37ee727
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Showing 4 changed files with 26 additions and 11 deletions.
diff --git a/src/package.json b/src/package.json
@@ -43,8 +43,8 @@
     "express": "~4.16.4",
     "express-jwt": "~5.3.1",
     "express-session": "~1.16.1",
+    "gcode-interpreter": "~2.1.0",
     "gcode-parser": "~1.3.6",
-    "gcode-toolpath": "~2.2.0",
     "hogan.js": "~3.0.2",
     "http-proxy": "~1.18.1",
     "i18next": "~15.0.9",

diff --git a/src/server/controllers/Grbl/GrblController.js b/src/server/controllers/Grbl/GrblController.js
@@ -24,9 +24,9 @@
 
 import ensureArray from 'ensure-array';
 import * as parser from 'gcode-parser';
-import Toolpath from 'gcode-toolpath';
 import _ from 'lodash';
 import map from 'lodash/map';
+import GcodeToolpath from '../../lib/GcodeToolpath';
 import SerialConnection from '../../lib/SerialConnection';
 import EventTrigger from '../../lib/EventTrigger';
 import Feeder from '../../lib/Feeder';
@@ -1523,7 +1523,7 @@ class GrblController {
                         return 0;
                     };
 
-                    const toolpath = new Toolpath();
+                    const toolpath = new GcodeToolpath();
                     toolpath.loadFromStringSync(firstHalf.join('\n'), (data) => {
                         const { words, line } = data;
                         if (line.includes('F')) {
@@ -1556,6 +1556,7 @@ class GrblController {
                         x: xVal,
                         y: yVal,
                         z: zVal,
+                        a: aVal
                     } = position;
 
                     const modalGCode = [];
@@ -1573,6 +1574,9 @@ class GrblController {
                     modalGCode.push(this.event.getEventCode(PROGRAM_START));
                     modalGCode.push(`G0 G90 G21 Z${zMax + safeHeight}`);
                     modalGCode.push(`G0 G90 G21 X${xVal.toFixed(3)} Y${yVal.toFixed(3)}`);
+                    if (aVal) {
+                        modalGCode.push(`G0 G90 G21 A${(Number(aVal) % 360).toFixed(3)}`);
+                    }
                     modalGCode.push(`G0 G90 G21 Z${zVal.toFixed(3)}`);
                     // Set modals based on what's parsed so far in the file
                     modalGCode.push(`${modal.units} ${modal.distance} ${modal.arc} ${modalWcs} ${modal.plane} ${modal.spindle} ${coolant.flood} ${coolant.mist}`);

diff --git a/src/server/controllers/Grblhal/GrblHalController.js b/src/server/controllers/Grblhal/GrblHalController.js
@@ -24,9 +24,9 @@
 
 import ensureArray from 'ensure-array';
 import * as parser from 'gcode-parser';
-import Toolpath from 'gcode-toolpath';
 import _ from 'lodash';
 import map from 'lodash/map';
+import GcodeToolpath from '../../lib/GcodeToolpath';
 import SerialConnection from '../../lib/SerialConnection';
 import EventTrigger from '../../lib/EventTrigger';
 import Feeder from '../../lib/Feeder';
@@ -1553,7 +1553,7 @@ class GrblHalController {
                         return 0;
                     };
 
-                    const toolpath = new Toolpath();
+                    const toolpath = new GcodeToolpath();
                     toolpath.loadFromStringSync(firstHalf.join('\n'), (data) => {
                         const { words, line } = data;
                         if (line.includes('F')) {
@@ -1586,6 +1586,7 @@ class GrblHalController {
                         x: xVal,
                         y: yVal,
                         z: zVal,
+                        a: aVal
                     } = position;
 
                     const modalGCode = [];
@@ -1604,13 +1605,17 @@ class GrblHalController {
                     modalGCode.push(this.event.getEventCode(PROGRAM_START));
                     modalGCode.push(`G0 G90 G21 Z${zMax + safeHeight}`);
                     modalGCode.push(`G0 G90 G21 X${xVal.toFixed(3)} Y${yVal.toFixed(3)}`);
+                    if (aVal) {
+                        modalGCode.push(`G0 G90 G21 A${(Number(aVal) % 360).toFixed(3)}`);
+                    }
                     modalGCode.push(`G0 G90 G21 Z${zVal.toFixed(3)}`);
                     // Set modals based on what's parsed so far in the file
                     modalGCode.push(`${modal.units} ${modal.distance} ${modal.arc} ${modalWcs} ${modal.plane} ${modal.spindle} ${coolant.flood} ${coolant.mist}`);
                     modalGCode.push(`F${feedRate} S${spindleRate}`);
                     modalGCode.push(setModalGcode);
                     modalGCode.push('G4 P1');
                     modalGCode.push('%_GCODE_START');
+                    // console.log(modalGCode);
 
                     // Fast forward sender to line
                     this.sender.setStartLine(lineToStartFrom);

diff --git a/src/app/lib/GcodeToolpath.js → src/server/lib/GcodeToolpath.js b/src/app/lib/GcodeToolpath.js → src/server/lib/GcodeToolpath.js
@@ -275,11 +275,13 @@ class GcodeToolpath {
                 x: this.position.x,
                 y: this.position.y,
                 z: this.position.z,
+                a: this.position.a
             };
             const v2 = {
                 x: this.translateX(params.X),
                 y: this.translateY(params.Y),
                 z: this.translateZ(params.Z),
+                a: this.translateA(params.A)
             };
             const v0 = {
                 // fixed point
@@ -288,7 +290,7 @@ class GcodeToolpath {
                 z: this.translateK(params.K),
             };
             const isClockwise = true;
-            const targetPosition = { x: v2.x, y: v2.y, z: v2.z };
+            const targetPosition = { x: v2.x, y: v2.y, z: v2.z, a: v2.a };
 
             if (this.isXYPlane()) {
                 // XY-plane
@@ -337,7 +339,8 @@ class GcodeToolpath {
             this.setPosition(
                 targetPosition.x,
                 targetPosition.y,
-                targetPosition.z
+                targetPosition.z,
+                targetPosition.a
             );
         },
         'G3': (params) => {
@@ -349,11 +352,13 @@ class GcodeToolpath {
                 x: this.position.x,
                 y: this.position.y,
                 z: this.position.z,
+                a: this.position.a
             };
             const v2 = {
                 x: this.translateX(params.X),
                 y: this.translateY(params.Y),
                 z: this.translateZ(params.Z),
+                a: this.translateA(params.A)
             };
             const v0 = {
                 // fixed point
@@ -362,7 +367,7 @@ class GcodeToolpath {
                 z: this.translateK(params.K),
             };
             const isClockwise = false;
-            const targetPosition = { x: v2.x, y: v2.y, z: v2.z };
+            const targetPosition = { x: v2.x, y: v2.y, z: v2.z, a: v2.a };
 
             if (this.isXYPlane()) {
                 // XY-plane
@@ -411,7 +416,8 @@ class GcodeToolpath {
             this.setPosition(
                 targetPosition.x,
                 targetPosition.y,
-                targetPosition.z
+                targetPosition.z,
+                targetPosition.a
             );
         },
         // G4: Dwell
@@ -734,8 +740,8 @@ class GcodeToolpath {
 
         // Position
         if (position) {
-            const { x, y, z } = { ...position };
-            this.setPosition(x, y, z);
+            const { x, y, z, a } = { ...position };
+            this.setPosition(x, y, z, a);
         }
 
         // Modal