org.goko.controller.grbl.v08.GrblExecutor.java Source code

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Here is the source code for org.goko.controller.grbl.v08.GrblExecutor.java

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/*******************************************************************************
 * Goko - Copyright (C) 2016  PsyKo
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *******************************************************************************/
package org.goko.controller.grbl.v08;

import java.util.List;

import org.apache.commons.collections.CollectionUtils;
import org.apache.commons.lang3.StringUtils;
import org.goko.core.common.exception.GkException;
import org.goko.core.execution.monitor.executor.AbstractStreamingExecutor;
import org.goko.core.gcode.element.GCodeLine;
import org.goko.core.gcode.element.IGCodeProvider;
import org.goko.core.gcode.execution.ExecutionToken;
import org.goko.core.gcode.execution.ExecutionTokenState;
import org.goko.core.gcode.execution.IExecutor;
import org.goko.core.gcode.rs274ngcv3.IRS274NGCService;

public class GrblExecutor
        extends AbstractStreamingExecutor<ExecutionTokenState, ExecutionToken<ExecutionTokenState>>
        implements IExecutor<ExecutionTokenState, ExecutionToken<ExecutionTokenState>> {
    /** The underlying grbl service */
    private IGrblControllerService grblService;
    /** RS274 GCode service */
    private IRS274NGCService gcodeService;

    public GrblExecutor(IGrblControllerService grblService, IRS274NGCService gcodeService) {
        this.grblService = grblService;
        this.gcodeService = gcodeService;
    }

    /** (inheritDoc)
     * @see org.goko.core.gcode.execution.IExecutor#createToken(org.goko.core.gcode.element.IGCodeProvider)
     */
    @Override
    public ExecutionToken<ExecutionTokenState> createToken(IGCodeProvider provider) throws GkException {
        return new ExecutionToken<ExecutionTokenState>(gcodeService, provider, ExecutionTokenState.NONE);
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#send(org.goko.core.gcode.element.GCodeLine)
     */
    @Override
    protected void send(GCodeLine line) throws GkException {
        grblService.send(line);
        getToken().setLineState(line.getId(), ExecutionTokenState.SENT);
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#isReadyForNextLine()
     */
    @Override
    protected boolean isReadyForNextLine() throws GkException {
        if (getToken().hasMoreLine()) {
            GCodeLine nextLine = getToken().getNextLine();
            String lineStr = gcodeService.render(nextLine);
            return grblService.getUsedGrblBuffer() + StringUtils.length(lineStr) < Grbl.GRBL_BUFFER_SIZE;
        }
        return true;
    }

    /** (inheritDoc)
     * @see org.goko.core.gcode.execution.IExecutor#isReadyForQueueExecution()
     */
    @Override
    public boolean isReadyForQueueExecution() throws GkException {
        return true;
    }

    /**
     * Notification method called when a line is throwing error by Grbl
     * @throws GkException
     */
    protected GCodeLine markNextLineAsError() throws GkException {
        List<GCodeLine> lstLines = getToken().getLineByState(ExecutionTokenState.SENT);
        GCodeLine line = null;
        if (CollectionUtils.isNotEmpty(lstLines)) {
            line = lstLines.get(0);
            getToken().setLineState(line.getId(), ExecutionTokenState.ERROR);
            getExecutionService().notifyCommandStateChanged(getToken(), line.getId());
        }
        return line;
    }

    /**
     * Notification method called when a line is executed
     * @throws GkException
     */
    protected void confirmNextLineExecution() throws GkException {
        List<GCodeLine> lstLines = getToken().getLineByState(ExecutionTokenState.SENT);
        if (CollectionUtils.isNotEmpty(lstLines)) {
            GCodeLine line = null;
            if (CollectionUtils.isNotEmpty(lstLines)) {
                line = lstLines.get(0);
                getToken().setLineState(line.getId(), ExecutionTokenState.EXECUTED);
                getExecutionService().notifyCommandStateChanged(getToken(), line.getId());
            }
            notifyReadyForNextLineIfRequired();
            notifyTokenCompleteIfRequired();
        }
    }

    /**
     * Notify the parent executor if the conditions are met
     * @throws GkException GkException
     */
    protected void notifyReadyForNextLineIfRequired() throws GkException {
        if (isReadyForNextLine()) {
            notifyReadyForNextLine();
        }
    }

    /**
     * Notify the parent executor if the conditions are met
     * @throws GkException GkException
     */
    private void notifyTokenCompleteIfRequired() throws GkException {
        if (getToken().getLineCountByState(ExecutionTokenState.SENT) == 0) {
            notifyTokenComplete();
        }
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#pause()
     */
    @Override
    public void pause() throws GkException {
        super.pause();
        grblService.pauseMotion();
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#stop()
     */
    @Override
    public void stop() throws GkException {
        super.stop();
        grblService.stopMotion();
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#start()
     */
    @Override
    public void start() throws GkException {
        super.start();
        grblService.startMotion();
    }

    /** (inheritDoc)
     * @see org.goko.core.execution.monitor.executor.AbstractStreamingExecutor#resume()
     */
    @Override
    public void resume() throws GkException {
        super.resume();
        grblService.resumeMotion();
    }
}