Collaboration diagram for com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter:

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Public Member Functions
	GCodeInterpreter ()

void	processSingleGCODELine (String line) throws Exception

void	interpretStream (InputStream in) throws Exception

void	tryInterpretStream (InputStream in) throws Exception

boolean	cancel ()

void	addGHandler (int code, CodeHandler handler)

void	setGHandler (int code, CodeHandler handler)

void	addMHandler (int code, CodeHandler handler)

void	setMHandler (int code, CodeHandler handler)

void	addGSorting (final Comparator< Integer > c)

void	setGSorting (@SuppressWarnings("rawtypes") Comparator c)

void	addDefaultHandlers ()

CodeHandler	getErrorHandler ()

void	setErrorHandler (CodeHandler errorHandler)

Static Public Member Functions
static void	main (String args[]) throws Exception

Private Member Functions
void	parseLine (InputStream r) throws Exception

void	executeLine (String rawLine) throws Exception

Private Attributes
CodeHandler	errorHandler =null

int	lineNumber =0

Detailed Description

An extensible G-code interpreter. Parses a stream containing G-code commands, stores register values, and executes handlers. The default handler set converts position axes to mm if neccessary, converts relative positioning to absolute, and prints a message for rapid and interpolated linear motion. You can register additional handlers using addGHandler and addMHandler, which compose with, rather than replacing, the previous implementations. GCodeInterpreter#addDefaultHandlers

To use, bind handlers to at least G00 and G01, and feed in a stream of G-code. An example can be found in

Author: Jonathan D.K. Gibbons

Version: 1

Definition at line 30 of file GCodeInterpreter.java.

Constructor & Destructor Documentation

◆ GCodeInterpreter()

com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.GCodeInterpreter ( )

Default Constructor. This builds an interpreter and adds the default set of handlers and configuration to it.

See also: GCodeInterpreter::addDefaultHandlers

Definition at line 117 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addDefaultHandlers().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.main().

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Member Function Documentation

◆ addDefaultHandlers()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addDefaultHandlers ( )

Add the default set of handlers to this interpreter.

Definition at line 492 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addGHandler(), com.neuronrobotics.sdk.common.Log.debug(), com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.replicator.driver.interpreter.GCodeLineData.getWord(), com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setGSorting(), and com.neuronrobotics.replicator.driver.interpreter.GCodeLineData.storeWord().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.GCodeInterpreter().

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◆ addGHandler()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addGHandler	(	int	code,
		CodeHandler	handler
	)

Add a handler for a G code. The new handler executes before any previously installed handler for the code, to permit composition; for instance, where the first-installed G01 handler specifies motion and flushes the commands to device, a handler installed later could handle tool behavior without flushing the device, and provide coordinated behavior.

Parameters

code	the G code to bind this handler to.
handler	the handler implementation.

Definition at line 346 of file GCodeInterpreter.java.

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addDefaultHandlers().

◆ addGSorting()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addGSorting ( final Comparator< Integer > c )

Add rules for how to sort G codes before executing them. The new and old Comparators are combined; whenever the new comparator returns equal, the old comparator is consulted, permitting straightforward overridability.

For instance, to add a rule stating that the handlers for code G07 should always execute after those for G09:

interp.addGSorting(new Comparator<Integer>() {
    public int compare(Integer c1, Integer c2) {
        if (c1 == 7 && c2 == 9)
            return -1;
        if (c1 == 9 && c2 == 7)
            return 1;
        return 0;
    }
});

Note: this does not implement any sort of transitivity, that is left to the new comparator, and is required for the contract of a comparator.

Parameters

c	the comparator implementing the new ordering rules.

Definition at line 444 of file GCodeInterpreter.java.

◆ addMHandler()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addMHandler	(	int	code,
		CodeHandler	handler
	)

Add a handler for an M code. The new handler executes before any previously installed handler for the code, to permit composition; for instance, where the first-installed G01 handler specifies motion and flushes the commands to device, a handler installed later could handle tool behavior without flushing the device, and provide coordinated behavior.

Parameters

code	the G code to bind this handler to.
handler	the handler implementation.

Definition at line 388 of file GCodeInterpreter.java.

◆ cancel()

boolean com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.cancel ( )

Cancel a run of a G-code stream. This interrupts the thread that is currently parsing a G-code stream, canceling its execution.

Returns: true, if successful

Definition at line 325 of file GCodeInterpreter.java.

◆ executeLine()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.executeLine ( String rawLine ) throws Exception

private

Execute the action(s) specified by the already built-up line of G-code.

Parameters

rawLine the raw line

Exceptions

Exception the exception

Definition at line 244 of file GCodeInterpreter.java.

References com.neuronrobotics.sdk.common.Log.debug(), com.neuronrobotics.replicator.driver.interpreter.CodeHandler.execute(), and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.getErrorHandler().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.processSingleGCODELine().

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◆ getErrorHandler()

CodeHandler com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.getErrorHandler ( )

Gets the error handler.

Returns: the error handler

Definition at line 605 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.errorHandler.

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.executeLine().

◆ interpretStream()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.interpretStream ( InputStream in ) throws Exception

Main entry point; take an InputStream of G code and run the sequence of actions it describes.

Parameters

in the in

Exceptions

Exception the exception

Definition at line 288 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.parseLine().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.main(), and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.tryInterpretStream().

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◆ main()

static void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.main ( String args[] ) throws Exception

static

Default executable; runs as a pipe, parsing standard input with the default handlers.

Parameters

args	the arguments

Exceptions

Exception the exception

Definition at line 595 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.GCodeInterpreter(), and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.interpretStream().

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◆ parseLine()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.parseLine ( InputStream r ) throws Exception

private

Parses the line.

Parameters

r the r

Exceptions

Exception the exception

Definition at line 176 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.lineNumber, and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.processSingleGCODELine().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.interpretStream().

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◆ processSingleGCODELine()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.processSingleGCODELine ( String line ) throws Exception

Process single gcode line.

Parameters

line the line

Exceptions

Exception the exception

Definition at line 137 of file GCodeInterpreter.java.

References com.neuronrobotics.sdk.common.Log.debug(), com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.executeLine(), com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.lineNumber, and com.neuronrobotics.replicator.driver.interpreter.GCodeLineData.storeWord().

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.parseLine().

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◆ setErrorHandler()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setErrorHandler ( CodeHandler errorHandler )

Sets the error handler.

Parameters

errorHandler the new error handler

Definition at line 614 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.errorHandler.

◆ setGHandler()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setGHandler	(	int	code,
		CodeHandler	handler
	)

Clear any previous handlers for a code, and install a new one. This is usually unneccessary, but it allows you to clear a handler set and start from scratch.

Parameters

code	the G code to bind this handler to.
handler	the handler implementation.

Definition at line 366 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.CodeHandler.setSubHandlers().

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◆ setGSorting()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setGSorting ( @SuppressWarnings("rawtypes") Comparator c )

Override the default sort for G codes. Not recommended unless all G codes are being written by the user; this can break dependencies between handlers.

Parameters

c	the new comparator.

Definition at line 483 of file GCodeInterpreter.java.

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.addDefaultHandlers().

◆ setMHandler()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setMHandler	(	int	code,
		CodeHandler	handler
	)

Clear any previous handlers for a code, and install a new one. This is usually unneccessary, but it allows you to clear a handler set and start from scratch.

Parameters

code	the G code to bind this handler to.
handler	the handler implementation.

Definition at line 408 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.CodeHandler.setSubHandlers().

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◆ tryInterpretStream()

void com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.tryInterpretStream ( InputStream in ) throws Exception

Nonblocking version of interpretStream(); fails rather than waiting.

Parameters

in the in

Exceptions

Exception the exception

Definition at line 307 of file GCodeInterpreter.java.

References com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.interpretStream().

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Member Data Documentation

◆ errorHandler

CodeHandler com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.errorHandler =null

private

The error handler.

Definition at line 50 of file GCodeInterpreter.java.

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.getErrorHandler(), and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.setErrorHandler().

◆ lineNumber

int com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.lineNumber =0

private

The line number.

Definition at line 110 of file GCodeInterpreter.java.

Referenced by com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.parseLine(), and com.neuronrobotics.replicator.driver.interpreter.GCodeInterpreter.processSingleGCODELine().

The documentation for this class was generated from the following file:

java-bowler/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GCodeInterpreter()

Member Function Documentation

◆ addDefaultHandlers()

◆ addGHandler()

◆ addGSorting()

◆ addMHandler()

◆ cancel()

◆ executeLine()

◆ getErrorHandler()

◆ interpretStream()

◆ main()

◆ parseLine()

◆ processSingleGCODELine()

◆ setErrorHandler()

◆ setGHandler()

◆ setGSorting()

◆ setMHandler()

◆ tryInterpretStream()

Member Data Documentation

◆ errorHandler

◆ lineNumber