From 17891a2a6473cd917c1fce2213439e1dcd6e21d0 Mon Sep 17 00:00:00 2001
From: Stepan Usatiuk <stepanusatiuk@gmail.com>
Date: Sat, 3 Aug 2019 14:27:13 +0300
Subject: [PATCH] basic gcode sender thing

---
 App/src/App.tsx                              |   3 +-
 App/src/GcodeSender.tsx                      | 106 +++++++++++++++++++
 App/src/api/eggbot/index.ts                  |  20 ++++
 App/src/api/utils.ts                         |  22 ++++
 App/src/index.html                           |   2 +-
 Firmware/EggbotWireless/include/WebAPI.h     |   2 +
 Firmware/EggbotWireless/src/QueueManager.cpp |  11 +-
 Firmware/EggbotWireless/src/WebAPI.cpp       |  21 +++-
 Firmware/MotorControl/include/Globals.h      |  19 ++--
 Firmware/MotorControl/include/Pen.h          |   3 +-
 Firmware/MotorControl/src/Globals.cpp        |  13 +++
 Firmware/MotorControl/src/Pen.cpp            |  14 +--
 Firmware/MotorControl/src/main.cpp           |  36 +++----
 13 files changed, 223 insertions(+), 49 deletions(-)
 create mode 100644 App/src/GcodeSender.tsx
 create mode 100644 App/src/api/eggbot/index.ts
 create mode 100644 App/src/api/utils.ts
 create mode 100644 Firmware/MotorControl/src/Globals.cpp

diff --git a/App/src/App.tsx b/App/src/App.tsx
index a140dee..a37746f 100644
--- a/App/src/App.tsx
+++ b/App/src/App.tsx
@@ -1,7 +1,8 @@
 import * as React from "react";
+import { GcodeSender } from "~GcodeSender";
 
 export function AppComponent() {
-    return <div>Hello</div>;
+    return <GcodeSender />;
 }
 
 export const App = AppComponent;
diff --git a/App/src/GcodeSender.tsx b/App/src/GcodeSender.tsx
new file mode 100644
index 0000000..6776e2e
--- /dev/null
+++ b/App/src/GcodeSender.tsx
@@ -0,0 +1,106 @@
+import * as React from "react";
+import { IEggbotStatus, getStatus, putCommand } from "~api/eggbot";
+
+interface IGcodeSenderComponentState {
+    eggbotStatus: IEggbotStatus | null;
+    gcodeSet: boolean;
+    gcodeInput: string;
+
+    gcodeLinesSent: string[];
+    gcodeLinesQueue: string[];
+
+    executing: boolean;
+}
+
+const defaultState: IGcodeSenderComponentState = {
+    eggbotStatus: null,
+    gcodeSet: false,
+    gcodeInput: "",
+    executing: false,
+    gcodeLinesSent: [],
+    gcodeLinesQueue: [],
+};
+
+export class GcodeSenderComponent extends React.PureComponent<
+    {},
+    IGcodeSenderComponentState
+> {
+    constructor() {
+        super(null);
+        this.state = defaultState;
+
+        this.handleInputChange = this.handleInputChange.bind(this);
+        this.handleSend = this.handleSend.bind(this);
+        this.update = this.update.bind(this);
+
+        setInterval(this.update, 100);
+    }
+
+    public handleInputChange(
+        event:
+            | React.FormEvent<HTMLInputElement>
+            | React.FormEvent<HTMLTextAreaElement>,
+    ) {
+        const target = event.currentTarget;
+        const value = target.value;
+        const name = target.name;
+
+        this.setState({
+            [name]: value,
+        } as any);
+    }
+
+    public handleSend() {
+        const lines = this.state.gcodeInput.split("\n");
+        this.setState({ gcodeLinesQueue: lines, executing: true });
+    }
+
+    public async update() {
+        const status = await getStatus();
+        console.log(status);
+        const gcodeLinesQueue = [...this.state.gcodeLinesQueue];
+        const gcodeLinesSent = [...this.state.gcodeLinesSent];
+        const { executing } = this.state;
+        if (executing && status.commandQueue < 5) {
+            if (gcodeLinesQueue && gcodeLinesQueue.length > 0) {
+                const command = gcodeLinesQueue.shift();
+                putCommand(command.substr(0, 50));
+                gcodeLinesSent.push(command);
+            }
+        }
+
+        this.setState({ gcodeLinesQueue, gcodeLinesSent });
+    }
+
+    render() {
+        const queuedCommands = this.state.gcodeLinesQueue.map(el => (
+            <div>{el}</div>
+        ));
+
+        const executedCommands = this.state.gcodeLinesSent.map(el => (
+            <div>{el}</div>
+        ));
+
+        return (
+            <div>
+                {this.state.executing ? (
+                    <div>
+                        <div style={{ color: "green" }}>{executedCommands}</div>
+                        <div>{queuedCommands}</div>
+                    </div>
+                ) : (
+                    <div>
+                        <textarea
+                            name="gcodeInput"
+                            value={this.state.gcodeInput}
+                            onChange={this.handleInputChange}
+                        />
+                        <button onClick={this.handleSend}>send</button>
+                    </div>
+                )}
+            </div>
+        );
+    }
+}
+
+export const GcodeSender = GcodeSenderComponent;
diff --git a/App/src/api/eggbot/index.ts b/App/src/api/eggbot/index.ts
new file mode 100644
index 0000000..781b65b
--- /dev/null
+++ b/App/src/api/eggbot/index.ts
@@ -0,0 +1,20 @@
+import { fetchJSON } from "../utils";
+
+export interface IEggbotStatus {
+    commandQueue: number;
+    eggDia: number;
+    eggLen: number;
+    feedrate: number;
+    mmE: number;
+    mmS: number;
+    pEng: number;
+    xLim: number;
+}
+
+export async function putCommand(command: string) {
+    return fetchJSON("/putCommand", "POST", command);
+}
+
+export async function getStatus() {
+    return fetchJSON("/getStatus", "GET");
+}
diff --git a/App/src/api/utils.ts b/App/src/api/utils.ts
new file mode 100644
index 0000000..d701b57
--- /dev/null
+++ b/App/src/api/utils.ts
@@ -0,0 +1,22 @@
+const root = "http://eggbot.local";
+
+export async function fetchJSON(
+    path: string,
+    method: string,
+    body?: string | object,
+    headers?: Record<string, string>,
+) {
+    if (typeof body === "object") {
+        body = JSON.stringify(body);
+    }
+    const response = await fetch(root + path, {
+        method,
+        body,
+        headers: {
+            ...headers,
+            "Content-Type": "application/json",
+        },
+    });
+    const json = await response.json();
+    return json;
+}
diff --git a/App/src/index.html b/App/src/index.html
index 34358d7..32d44e8 100644
--- a/App/src/index.html
+++ b/App/src/index.html
@@ -4,7 +4,7 @@
     <meta charset="UTF-8">
     <meta name="viewport" content="width=device-width, initial-scale=1.0">
     <meta http-equiv="X-UA-Compatible" content="ie=edge">
-    <title>Writer</title>
+    <title>Eggbot</title>
 </head>
 <body>
     <div id="body">
diff --git a/Firmware/EggbotWireless/include/WebAPI.h b/Firmware/EggbotWireless/include/WebAPI.h
index 1ed65db..4cd1bef 100644
--- a/Firmware/EggbotWireless/include/WebAPI.h
+++ b/Firmware/EggbotWireless/include/WebAPI.h
@@ -10,6 +10,8 @@ class WebAPI {
     void handleNotFound();
     void handlePutCommand();
     void handleGetStatus();
+    void sendCORS();
+
     String getStatusJson();
    public:
     WebAPI();
diff --git a/Firmware/EggbotWireless/src/QueueManager.cpp b/Firmware/EggbotWireless/src/QueueManager.cpp
index 7fc4900..566f203 100644
--- a/Firmware/EggbotWireless/src/QueueManager.cpp
+++ b/Firmware/EggbotWireless/src/QueueManager.cpp
@@ -37,16 +37,19 @@ void QueueManager::loopRoutine() {
 }
 
 void QueueManager::putCommand(std::string cmd) {
+    if (!std::isalnum(cmd[0])) {
+        return;
+    }
+
     if (toupper(cmd[0]) == 'L') {
         lCommandQueue.emplace(cmd);
     } else {
-        commandQueue.push(parseGCode(cmd));
+        Command cmdp = parseGCode(cmd);
+        commandQueue.push(cmdp);
     }
 }
 
-uint8_t QueueManager::execQueueSize() {
-    return commandQueue.size();
-}
+uint8_t QueueManager::execQueueSize() { return commandQueue.size(); }
 
 void QueueManager::putCommand(char *cmd) { putCommand(std::string(cmd)); }
 
diff --git a/Firmware/EggbotWireless/src/WebAPI.cpp b/Firmware/EggbotWireless/src/WebAPI.cpp
index 835057d..d1f7e6d 100644
--- a/Firmware/EggbotWireless/src/WebAPI.cpp
+++ b/Firmware/EggbotWireless/src/WebAPI.cpp
@@ -23,16 +23,33 @@ String WebAPI::getStatusJson() {
     return out;
 }
 
+void WebAPI::sendCORS() {
+    server.sendHeader("Access-Control-Allow-Origin", "*");
+    server.sendHeader("Access-Control-Max-Age", "10000");
+    server.sendHeader("Access-Control-Allow-Methods", "PUT,POST,GET,OPTIONS");
+    server.sendHeader("Access-Control-Allow-Headers",
+                      "X-Requested-With, X-HTTP-Method-Override, "
+                      "Content-Type, Cache-Control, Accept");
+}
+
 void WebAPI::handleNotFound() {
-    server.send(404, "text/plain", "File Not Found\n\n");
+    if (server.method() == HTTP_OPTIONS) {
+        sendCORS();
+        server.send(204);
+    } else {
+        server.send(404, "text/plain", "");
+    }
 }
 
 void WebAPI::handlePutCommand() {
-    queueManager.putCommand(server.arg("plain").c_str());
+    sendCORS();
+    String cmd = server.arg("plain");
+    queueManager.putCommand(cmd.c_str());
     server.send(200, "application/json", getStatusJson());
 }
 
 void WebAPI::handleGetStatus() {
+    sendCORS();
     server.send(200, "application/json", getStatusJson());
 }
 
diff --git a/Firmware/MotorControl/include/Globals.h b/Firmware/MotorControl/include/Globals.h
index 9040a98..5a047cb 100644
--- a/Firmware/MotorControl/include/Globals.h
+++ b/Firmware/MotorControl/include/Globals.h
@@ -8,19 +8,16 @@
 
 #define STEPS_PER_REVOLUTION (360/1.8) * 32
 
-Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, defYDegPerMM);
-Stepper servoStepper(4, 3, STEPS_PER_REVOLUTION, xLimit,
-                     defXDegPerMM);
+extern Stepper eggStepper;
+extern Stepper servoStepper;
 
-Pen pen(7, 120, 180);
+extern unsigned int eggStepperDelay;
+extern unsigned int servoStepperDelay;
 
-unsigned int eggStepperDelay;
-unsigned int servoStepperDelay;
+extern unsigned int eggDia;
+extern unsigned int eggLength;
 
-unsigned int eggDia;
-unsigned int eggLength;
-
-float eggStepperRPM;
-float servoStepperRPM;
+extern float eggStepperRPM;
+extern float servoStepperRPM;
 
 #endif
\ No newline at end of file
diff --git a/Firmware/MotorControl/include/Pen.h b/Firmware/MotorControl/include/Pen.h
index 7b75032..641b072 100644
--- a/Firmware/MotorControl/include/Pen.h
+++ b/Firmware/MotorControl/include/Pen.h
@@ -17,7 +17,8 @@ class Pen {
     void disengage();
     void init();
     bool getEngaged();
-    ~Pen();
 };
 
+extern Pen pen;
+
 #endif
\ No newline at end of file
diff --git a/Firmware/MotorControl/src/Globals.cpp b/Firmware/MotorControl/src/Globals.cpp
new file mode 100644
index 0000000..0b99aa9
--- /dev/null
+++ b/Firmware/MotorControl/src/Globals.cpp
@@ -0,0 +1,13 @@
+#include "Globals.h"
+
+Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, defYDegPerMM);
+Stepper servoStepper(4, 3, STEPS_PER_REVOLUTION, xLimit, defXDegPerMM);
+
+unsigned int eggStepperDelay;
+unsigned int servoStepperDelay;
+
+unsigned int eggDia;
+unsigned int eggLength;
+
+float eggStepperRPM;
+float servoStepperRPM;
diff --git a/Firmware/MotorControl/src/Pen.cpp b/Firmware/MotorControl/src/Pen.cpp
index 2339bfc..855e40e 100644
--- a/Firmware/MotorControl/src/Pen.cpp
+++ b/Firmware/MotorControl/src/Pen.cpp
@@ -3,27 +3,19 @@
 
 #include "Pen.h"
 
-#define DELAY 15
-
 Pen::Pen(int pin, int posEngaged, int posDisengaged)
     : posEngaged(posEngaged), posDisengaged(posDisengaged), pin(pin) {}
 
 void Pen::engage() {
     if (!engaged) {
-        for (int i = posDisengaged; i > posEngaged; i--) {
-            servo.write(i);
-            delay(DELAY);
-        }
+        servo.write(posEngaged);
     }
     engaged = true;
 }
 
 void Pen::disengage() {
     if (engaged) {
-        for (int i = posEngaged; i < posDisengaged; i++) {
-            servo.write(i);
-            delay(DELAY);
-        }
+        servo.write(posDisengaged);
     }
     engaged = false;
 }
@@ -36,4 +28,4 @@ void Pen::init() {
 
 bool Pen::getEngaged() { return engaged; }
 
-Pen::~Pen() {}
+Pen pen(7, 120, 170);
diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index e7974b7..55b3757 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -35,10 +35,8 @@ void adjustRPM() {
         calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
     int newServoStepperDelay =
         calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
-    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-        eggStepperDelay = newEggStepperDelay;
-        servoStepperDelay = newServoStepperDelay;
-    }
+    eggStepperDelay = newEggStepperDelay;
+    servoStepperDelay = newServoStepperDelay;
 }
 
 Command command;
@@ -67,36 +65,36 @@ byte txBuffer[i2cStsBytes];
 Status sts;
 void requestEvent() { Wire.write(txBuffer, i2cStsBytes); }
 
-void execCommand() {
+void execCommand(Command cmd) {
     executing = true;
+    newCommand = false;
 
-    if (command.type == CommandType::G01 || command.type == CommandType::G00) {
-        newCommand = false;
-        if (command.type == CommandType::G01) {
+    if (cmd.type == CommandType::G01 || cmd.type == CommandType::G00) {
+        if (cmd.type == CommandType::G01) {
             needAdjust = true;
         } else {
             needAdjust = false;
         }
 
-        if (!isnan(command.arg1)) {
-            servoStepper.moveTo(command.arg1);
+        if (!isnan(cmd.arg1)) {
+            servoStepper.moveTo(cmd.arg1);
         }
 
-        if (!isnan(command.arg2)) {
-            eggStepper.moveTo(command.arg2);
+        if (!isnan(cmd.arg2)) {
+            eggStepper.moveTo(cmd.arg2);
         }
 
-        if (!isnan(command.arg3)) {
-            if (command.arg3 < 0) {
+        if (!isnan(cmd.arg3)) {
+            if (cmd.arg3 < 0) {
                 pen.engage();
             }
-            if (command.arg3 >= 0) {
+            if (cmd.arg3 >= 0) {
                 pen.disengage();
             }
         }
 
-        if (!isnan(command.arg4)) {
-            curRPM = command.arg4;
+        if (!isnan(cmd.arg4)) {
+            curRPM = cmd.arg4;
         }
 
         adjustRPM();
@@ -157,6 +155,8 @@ void steppersRoutine() {
             sts.mmS = servoStepper.getPosMm();
             sts.mmE = eggStepper.getPosMm();
 
+            sts.feedrate = curRPM;
+
             sts.pEng = (float)pen.getEngaged();
 
             ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { sts.toBytes(txBuffer); }
@@ -171,7 +171,7 @@ void steppersRoutine() {
 
 void loop() {
     if (newCommand) {
-        execCommand();
+        execCommand(command);
     }
     steppersRoutine();
 }