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gcode.cpp
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gcode.cpp
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/****************************************************************
* gcode.cpp
* GrblHoming - zapmaker fork on github
*
* 15 Nov 2012
* GPL License (see LICENSE file)
* Software is provided AS-IS
****************************************************************/
#include "gcode.h"
#include <QObject>
#include <QDebug>
GCode::GCode()
: errorCount(0), doubleDollarFormat(false),
incorrectMeasurementUnits(false), incorrectLcdDisplayUnits(false),
maxZ(0), motionOccurred(false),
sliderZCount(0),
positionValid(false),
numaxis(DEFAULT_AXIS_COUNT),
/// T3
checkState(false)
{
// use base class's timer - use it to capture random text from the controller
// startTimer(1000);
// for position polling
pollPosTimer.start();
}
void GCode::openPort(QString commPortStr, QString baudRate)
{
numaxis = controlParams.useFourAxis ? MAX_AXIS_COUNT : DEFAULT_AXIS_COUNT;
clearToHome();
currComPort = commPortStr;
/// port.setCharSendDelayMs(controlParams.charSendDelayMs);
qint32 baud = baudRate.toInt();
qDebug() << "openPort: " << baud << commPortStr;
port = new QSerialPort(this);
port->setPortName(commPortStr);
port->setBaudRate(baud);
port->setDataBits(QSerialPort::Data8);
port->setParity(QSerialPort::NoParity);
port->setStopBits(QSerialPort::OneStop);
port->setFlowControl(QSerialPort::NoFlowControl);
if (port->open(QIODevice::ReadWrite))
{
waitForStartupBanner();
emit portIsOpen(true);
emit sendMsgSatusBar("");
}else{
emit portIsClosed();
QString msg = tr("Can't open COM port ") + commPortStr;
sendMsgSatusBar(msg);
addList(msg);
warn("%s", qPrintable(msg));
addList(tr("Error :") + port->errorString());
addList(tr("-Is hardware connected to USB?") );
addList(tr("-Is another process using this port?") );
addList(tr("-Is correct port chosen?") );
addList(tr("-Does current user have sufficient permissions?") );
#if defined(Q_OS_LINUX)
addList("-Is current user in sudoers group?");
#endif
}
}
QByteArray GCode::getResult()
{
QByteArray result = port->readAll();
//while (port->waitForReadyRead(PORT_WAIT_MSEC)) { // 5000 too long??
while (port->waitForReadyRead(10)) {
result.append(port->readAll());
}
return result;
}
void GCode::closePort()
{
port->close();
emit portIsClosed();
}
bool GCode::isPortOpen()
{
return port->isOpen();
}
// Abort means stop file send after the end of this line
void GCode::setAbort()
{
// cross-thread operation, only set one atomic variable in this method (bool in this case) or add critsec
abortState.set(true);
}
// Reset means immediately stop waiting for a response
void GCode::setReset()
{
// cross-thread operation, only set one atomic variable in this method (bool in this case) or add critsec
resetState.set(true);
}
// Shutdown means app is shutting down - we give thread about .3 sec to exit what it is doing
void GCode::setShutdown()
{
// cross-thread operation, only set one atomic variable in this method (bool in this case) or add critsec
shutdownState.set(true);
}
/// T4
// Pause means pause file send after the end of this line
// calls : 'MainWindow::pauseSend()':2
void GCode::setPause(bool valid)
{
// cross-thread operation, only set one atomic variable in this method (bool in this case) or add critsec
pauseState.set(valid);
}
//---------------------------------------------------
void GCode::sendGrblHelp()
{
sendGcodeLocal(HELP_COMMAND_V08c);
}
void GCode::sendGrblParameters()
{
sendGcodeLocal(REQUEST_PARAMETERS_V08c);
}
void GCode::sendGrblParserState()
{
// sendGcodeLocal(REQUEST_PARSER_STATE_V08c);
sendGcodeLocal(REQUEST_PARSER_STATE_V$$);
}
void GCode::sendGrblBuildInfo()
{
if (versionGrbl == "0.9g")
sendGcodeLocal(REQUEST_INFO_V09g);
}
void GCode::sendGrblStartupBlocks()
{
sendGcodeLocal(REQUEST_STARTUP_BLOCKS);
}
/// T3
// Slot for file check
// calls : 'MainWindow::grblCheck()':1,
void GCode::sendGrblCheck(bool checkstate)
{
checkState = false;
if (!sendGcodeLocal(REQUEST_MODE_CHECK)) {
/// ...
// emit
}
else
if (!sendGcodeLocal(REQUEST_CURRENT_POS )) {
/// ...
}
else
checkState = checkstate ;
}
void GCode::sendGrblUnlock()
{
// sendGcodeLocal(SET_UNLOCK_STATE_V08c);
sendGcodeLocal(SET_UNLOCK_STATE_V$$);
}
void GCode::sendGrblHomingCycle()
{
sendGcodeLocal(HOMING_CYCLE_COMMAND);
}
void GCode::sendGrblCycleStart()
{
sendGcodeLocal(CYCLE_START_COMMAND);
}
void GCode::sendGrblFeedHold()
{
sendGcodeLocal(FEED_FOLD_COMMAND);
}
void GCode::sendGrblStatus()
{
sendGcodeLocal(REQUEST_CURRENT_POS);
}
// Slot for interrupting current operation or doing a clean reset of grbl without changing position values
void GCode::sendGrblReset()
{
clearToHome();
QString x(CTRL_X);
sendGcodeLocal(x, true, SHORT_WAIT_SEC);
}
//--------------------------------------------------------
// Slot for gcode-based 'zero out the current position values without motion'
void GCode::grblSetHome()
{
clearToHome();
QString sethome("G92 x0 y0 z0 ");
if (numaxis == MAX_AXIS_COUNT)
/// T4
sethome.append(QString(controlParams.fourthAxisName)).toLower().append("0");
gotoXYZFourth(sethome);
}
// calls : 'Mainwindow::goToHome()'
void GCode::goToHome()
{
if (!motionOccurred)
return;
double maxZOver = maxZ;
if (doubleDollarFormat)
{
maxZOver += (controlParams.useMm ? PRE_HOME_Z_ADJ_MM : (PRE_HOME_Z_ADJ_MM / MM_IN_AN_INCH));
}
else
{
// all reporting is in mm ??
maxZOver += PRE_HOME_Z_ADJ_MM;
}
QString zpos = QString::number(maxZOver);
/// T4
QString cmd = "G90 G0 z";
gotoXYZFourth(cmd.append(zpos));
cmd = "G90 G1 x0 y0 z0 ";
if (numaxis == MAX_AXIS_COUNT) {
QString fourth = QString(controlParams.fourthAxisName).toLower();
cmd.append(fourth.append("0"));
}
//diag("=========> cmd = %s", qPrintable(cmd));
// TODO + feedrate for 0.9g ! the smallest ? -> 'controlParams.zRateLimitAmount'
cmd.append(" F").append(QString::number(controlParams.zJogRate));
gotoXYZFourth(cmd);
maxZ -= maxZOver;
motionOccurred = false;
}
/// T4
// calls : 'MainWindow::homeX()':1, 'MainWindow::homeY()':1, 'MainWindow::homeZ()':1
// 'MainWindow::homeFourth()':1,
void GCode::goToHomeAxis(char axis)
{
/// verify axis
bool ok = axis == 'X' || axis == 'Y' || axis == 'Z' ||
axis == 'A' || axis == 'B' || axis == 'C' ||
axis == 'U' || axis == 'V' || axis == 'W'
;
if (!ok)
return;
QString cmd = "G90 G0 ";
if (controlParams.useFourAxis && axis == controlParams.fourthAxisName)
cmd.append(QString(controlParams.fourthAxisName));
else // X, Y, Z
cmd.append(QString(axis) );
QString txt("0");
if (axis == 'X') {
txt = QString().number(MIN_X);
}
else
if (axis == 'Y')
txt = QString().number(MIN_Y);
else
if (axis == 'Z')
txt = QString().number(MIN_Z);
cmd = cmd.toLower().append(txt) ;
if (controlParams.usePositionRequest
&& controlParams.positionRequestType == PREQ_ALWAYS)
pollPosWaitForIdle(false);
if (sendGcodeLocal(cmd) )
{
pollPosWaitForIdle(false);
}
else
{
qDebug() << "gotoHomeAxis";
QString msg(QString(tr("Bad command: %1")).arg(cmd));
warn("%s", qPrintable(msg));
emit addList(msg);
}
emit endHomeAxis();
}
void GCode::sendGcode(QString line)
{
bool checkMeasurementUnits = false;
// empty line means we have just opened the com port
if (line.isEmpty())
{
resetState.set(false);
if (!waitForStartupBanner())
return;
checkMeasurementUnits = true;
}
else
{
pollPosWaitForIdle(false);
// normal send of actual commands
sendGcodeLocal(line, false);
}
// pollPosWaitForIdle(checkMeasurementUnits);
}
// keep polling our position and state until we are done running
void GCode::pollPosWaitForIdle(bool checkMeasurementUnits)
{
if (controlParams.usePositionRequest
&& (controlParams.positionRequestType == PREQ_ALWAYS_NO_IDLE_CHK
|| controlParams.positionRequestType == PREQ_ALWAYS
|| checkMeasurementUnits)
)
{
bool immediateQuit = false;
for (int i = 0; i < 10000; i++)
{
GCode::PosReqStatus ret = positionUpdate();
if (ret == POS_REQ_RESULT_ERROR || ret == POS_REQ_RESULT_UNAVAILABLE)
{
immediateQuit = true;
break;
}
else if (ret == POS_REQ_RESULT_TIMER_SKIP)
{
//SLEEP(250);
continue;
}
if (doubleDollarFormat)
{
if (lastState.compare("Run") != 0)
break;
}
else
{
if (machineCoordLastIdlePos == machineCoord
&& workCoordLastIdlePos == workCoord)
{
break;
}
machineCoordLastIdlePos = machineCoord;
workCoordLastIdlePos = workCoord;
}
if (shutdownState.get())
return;
}
if (immediateQuit)
return;
if (checkMeasurementUnits)
{
if (doubleDollarFormat) {
checkAndSetCorrectMeasurementUnits();
}
else {
setOldFormatMeasurementUnitControl();
}
}
}
else
{
setLivenessState(false);
}
}
/**
* @brief GCode::checkGrbl -> get and set Grbl version
* @param result -> query result from GCode::sendGcodeLocal() and GCode::waitForStartupBanner()
* @return true if Grbl string found otherwise false
*/
bool GCode::checkGrbl(const QString& result)
{
qDebug() << "checkGrbl Result: " << result;
if (result.contains("Grbl"))
{
/// T2 + (\\w*) for 0.8cx
QRegExp rx("Grbl (\\d+)\\.(\\d+)(\\w*)(\\w*)");
if (rx.indexIn(result) != -1 && rx.captureCount() > 0)
{
doubleDollarFormat = false;
QStringList list = rx.capturedTexts();
if (list.size() >= 3)
{
int majorVer = list.at(1).toInt();
int minorVer = list.at(2).toInt();
char letter = ' ';
char postVer = ' '; /// T2
if (list.size() >= 4 && list.at(3).size() > 0)
{
letter = list.at(3).toLatin1().at(0);
/// T2 for 0.8cx
if (list.at(3).toLatin1().size() > 1)
postVer = list.at(3).toLatin1().at(1);
}
if (majorVer > 0 || (minorVer > 8 && minorVer < 51) || letter > 'a')
{
doubleDollarFormat = true;
}
/// T2
diag(qPrintable(tr("Got Grbl Version (Parsed:) %d.%d%c%c ($$=%d)\n")),
majorVer, minorVer, letter, postVer, doubleDollarFormat);
QString resu = list.at(0);
emit setVersionGrbl(resu);
/// T4
versionGrbl = resu.mid(5) ;
/// <--
}
/*
if (!doubleDollarFormat)
emit setUnitMmAll(true);
*/
}
return true;
}
return false;
}
// Slot called from other thread that returns whatever text comes back from the controller
void GCode::sendGcodeAndGetResult(int id, QString line)
{
QString result;
emit sendMsgSatusBar("");
resetState.set(false);
if (!sendGcodeInternal(line, result, false, SHORT_WAIT_SEC, false))
result.clear();
emit gcodeResult(id, result);
}
// To be called only from this class, not from other threads. Use above two methods for that.
// Wraps sendGcodeInternal() to allow proper handling of failure cases, etc.
bool GCode::sendGcodeLocal(QString line, bool recordResponseOnFail /* = false */, int waitSec /* = -1 */, bool aggressive /* = false */, int currLine /* = 0 */)
{
QString result;
emit sendMsgSatusBar("");
resetState.set(false);
qDebug() << "sendGcodeLocal";
bool ret = sendGcodeInternal(line, result, recordResponseOnFail, waitSec, aggressive, currLine);
if (shutdownState.get())
return false;
if (!ret && (!recordResponseOnFail || resetState.get()))
{
if (!resetState.get()) {
emit stopSending();
}
if (!ret && resetState.get())
{
resetState.set(false);
port->reset();
}
}
else
{
//if (checkGrbl(result))
if(true)
{
emit enableGrblDialogButton();
}
}
resetState.set(false);
return ret;
}
// Wrapped method. Should only be called from above method.
bool GCode::sendGcodeInternal(QString line, QString& result, bool recordResponseOnFail, int waitSec, bool aggressive, int currLine /* = 0 */)
{
if (!isPortOpen())
{
QString msg = tr("Port not available yet") ;
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsgSatusBar(msg);
return false;
}
else
emit sendMsgSatusBar("");
bool ctrlX = line.size() > 0 ? (line.at(0).toLatin1() == CTRL_X) : false;
bool sentReqForLocation = false;
bool sentReqForSettings = false;
bool sentReqForParserState = false;
if (checkForGetPosStr(line))
{
sentReqForLocation = true;
setLivenessState(true);
}
// else if (!line.compare(REQUEST_PARSER_STATE_V08c))
else if (!line.compare(REQUEST_PARSER_STATE_V$$)) // "$G"
{
sentReqForParserState = true;
}
// else if (!line.compare(SETTINGS_COMMAND_V08c))
else if (!line.compare(SETTINGS_COMMAND_V$$)) // "$$"
{
/// T4 always "$$" ...
sentReqForSettings = true;
}
else
motionOccurred = true;
// adds to UI list, but prepends a > indicating a sent command
if (ctrlX)
{
emit addListOut("(CTRL-X)");
}
else if (!sentReqForLocation)// if requesting location, don't add that "noise" to the output view
{
/// T3 + fix bug
QString nLine(line);
if (currLine) {
nLine = QString().setNum(currLine);
emit setLinesFile(nLine, true);
if (line.at(0).toLatin1() != 'N')
nLine = "L" + nLine + " " + line;
else
nLine = line ;
}
/// T4 - '$$',
if (!checkState && !sentReqForSettings)
emit addListOut(nLine);
/// <--
}
if (line.size() == 0 || (!line.endsWith('\r') && !ctrlX))
line.append('\r');
QByteArray buffer; //use instead of char buf
// if (line.length() >= BUF_SIZE)
if (line.isEmpty())
{
QString msg = tr("No Command");
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsgSatusBar(msg);
return false;
}
else
emit sendMsgSatusBar("");
buffer.append(line.toLatin1());
if (ctrlX)
diag(qPrintable(tr("SENDING[%d]: 0x%02X (CTRL-X)\n")), currLine, buffer.data());
else
diag(qPrintable(tr("SENDING[%d]: %s\n")), currLine, buffer.data());
int waitSecActual = waitSec == -1 ? controlParams.waitTime : waitSec;
if (aggressive)
{
if (ctrlX)
sendCount.append(CmdResponse("(CTRL-X)", line.length(), currLine));
else
sendCount.append(CmdResponse(buffer, line.length(), currLine));
//diag("DG Buffer Add %d", sendCount.size());
emit setQueuedCommands(sendCount.size(), true);
/// T4
///? waitForOk(result, waitSecActual, false, false, false, aggressive, false);
if (shutdownState.get())
return false;
}
qint64 bytesWritten =port->write(buffer);
qDebug() << "sendGcodeInternal" << line << "written:" << bytesWritten;
/* QByteArray data = port->readAll();
while(port->waitForReadyRead(PORT_WAIT_MSEC))
data.append(port->readAll());
*/
QByteArray data = getResult();
QStringList dataList = QString(data).split("\r\n");
if (!dataList.isEmpty())
{
QString tmp = dataList.last();
if(tmp.isEmpty())
dataList.removeLast();
}
qDebug() << ">" << data << dataList.at(0) <<":" <<dataList.at(1) << dataList.size() << port->errorString();
if (bytesWritten == -1)
{
QString msg = tr("Sending data to port failed") + port->errorString() ;
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsgSatusBar(msg);
return false;
}else if(bytesWritten != buffer.size())
{
QString msg = tr("Could not send all data to port: ") + port->errorString() ;
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsgSatusBar(msg);
return false;
}else if(data.contains(RESPONSE_ERROR)){
QString msg = QString(data) +" "+ port->errorString();
err("%s", qPrintable(msg));
emit addList(msg);
emit sendMsgSatusBar(msg);
return false;
}else{
emit sendMsgSatusBar("");
sentI++;
if (sentReqForSettings)
{
qDebug() << "sentReqFor ";
QStringList list = result.split("$");
for (int i = 0; i < list.size(); i++)
{
QString item = list.at(i);
const QRegExp rx(REGEXP_SETTINGS_LINE);
if (rx.indexIn(item, 0) != -1 && rx.captureCount() == 3)
{
QStringList capList = rx.capturedTexts();
/// T4 with 0.9x 13 is not good !!
/// 0.8c->$13, 0.8c1/2->$14, 0.9d->$20, 0.9e/f->$19 , 09g -> $13 ( 0.845 ?? )
QString val = getNumGrblUnit();
//diag ("getNumGrblUnit() = %s", qPrintable(val) ) ;
if (!capList.at(1).compare(val))
{
bool Grblg20 = capList.at(2).compare("0"),
g21 = controlParams.useMm ;
incorrectLcdDisplayUnits = Grblg20 == g21;
break;
}
}
settingsItemCount.set(list.size());
}
}
sendStatusList(dataList);
}
return true;
}
/// T4
// calls : 'sendGcodeInternal()':1,
// 'setConfigureMmMode()':1, 'setConfigureInchesMode(':1
QString GCode::getNumGrblUnit()
{
QHash<QString,QString> grblUnit;
QString resu;
grblUnit["0.8c1"] = "14";
grblUnit["0.8c2"] = "14";
grblUnit["0.9d"] = "20";
grblUnit["0.9e"] = "19";
grblUnit["0.9f"] = "19";
grblUnit["0.9g"] = "13";
if (grblUnit.contains(versionGrbl))
resu = grblUnit.value(versionGrbl);
else
resu= "13"; // 0.8c , 09d ??
// if (versionGrbl == "0.845")
// resu = "14";
// else
/* if (versionGrbl == "0.8c1" || versionGrbl == "0.8c2" )
resu = "14";
else
if (versionGrbl == "0.9d")
resu = "20";
else
if (versionGrbl == "0.9e" || versionGrbl == "0.9f")
resu = "19";
else
if (versionGrbl == "0.9g")
resu = "13";
*/
return resu;
}
///-----------------------------------------------------------------------------
/// T4 + 'bool sentRequestForSettings'
///
bool GCode::waitForOk(QString& result, int waitSec, bool sentReqForLocation,
bool sentRequestForSettings, bool sentReqForParserState,
bool aggressive, bool finalize)
{
int okcount = 0;
if (aggressive)
{
//if (!port.bytesAvailable()) //more conservative code
if (!finalize || !port->waitForBytesWritten(3000))
{
int total = 0;
bool haveWait = false;
foreach (CmdResponse cmdResp, sendCount)
{
total += cmdResp.count;
if (cmdResp.waitForMe)
{
haveWait = true;
}
}
//diag("Total out (a): %d (%d) (%d)\n", total, sendCount.size(), haveWait);
if (!haveWait)
{
if (total < (GRBL_RX_BUFFER_SIZE - 1))
{
return true;
}
}
}
}
char tmp[BUF_SIZE + 1] = {0};
int count = 0;
int waitCount = waitSec * 10;// multiplier depends on sleep values below
bool status = true;
result.clear();
while (!result.contains(RESPONSE_OK) && !result.contains(RESPONSE_ERROR) && !resetState.get())
{
/// int n = port.PollComportLine(tmp, BUF_SIZE);
int n = port->bytesAvailable();
if (n == 0)
{
if (aggressive && sendCount.size() == 0)
return false;
count++;
//SLEEP(100);
}
else
if (n < 0)
{
QString Mes(tr("Error reading data from COM port\n")) ;
err(qPrintable(Mes));
if (aggressive && sendCount.size() == 0)
return false;
}
else
{
tmp[n] = 0;
result.append(tmp);
QString tmpTrim(tmp);
/* int pos = tmpTrim.indexOf(port.getDetectedLineFeed());
if (pos != -1)
tmpTrim.remove(pos, port.getDetectedLineFeed().size());
*/
QString received(tmp);
if (aggressive)
{
if (received.contains(RESPONSE_OK))
{
if (sendCount.isEmpty()) {
err(qPrintable(tr("Unexpected: list is empty (o)!")));
}
else
{
CmdResponse cmdResp = sendCount.takeFirst();
diag(qPrintable(tr("GOT[%d]: '%s' for '%s' (aggressive)\n")), cmdResp.line,
qPrintable(tmpTrim), qPrintable(cmdResp.cmd.trimmed()));
//diag("DG Buffer %d", sendCount.size());
emit setQueuedCommands(sendCount.size(), true);
}
rcvdI++;
okcount++;
}
else
if (received.contains(RESPONSE_ERROR))
{
QString orig(tr("Error?"));
if (sendCount.isEmpty())
err(qPrintable(tr("Unexpected: list is empty (e)!")));
else
{
CmdResponse cmdResp = sendCount.takeFirst();
orig = cmdResp.cmd;
diag(qPrintable(tr("GOT[%d]: '%s' for '%s' (aggressive)\n")), cmdResp.line,
qPrintable(tmpTrim), qPrintable(cmdResp.cmd.trimmed()));
//diag("DG Buffer %d", sendCount.size());
emit setQueuedCommands(sendCount.size(), true);
}
errorCount++;
QString result;
QTextStream(&result) << received << " [for " << orig << "]";
emit addList(result);
grblCmdErrors.append(result);
rcvdI++;
}
else
{
diag(qPrintable(tr("GOT: '%s' (aggressive)\n")), qPrintable(tmpTrim.trimmed()) );
parseCoordinates(received, aggressive);
}
int total = 0;
foreach (CmdResponse cmdResp, sendCount)
{
total += cmdResp.count;
}
//diag("Total out (b): %d (%d)\n", total, sendCount.size());
//diag("SENT:%d RCVD:%d\n", sentI, rcvdI);
if (total >= (GRBL_RX_BUFFER_SIZE - 1))
{
//diag("DG Loop again\n");
result.clear();
continue;
}
else
if (port->bytesAvailable())
{
// comment out this block for more conservative approach
if (!finalize && okcount > 0)
{
//diag("DG Leave early\n");
return true;
}
result.clear();
continue;
}
else
{
return true;
}
}
else
{
diag(qPrintable(tr("GOT:%s\n")), qPrintable(tmpTrim));
}
if (!received.contains(RESPONSE_OK) && !received.contains(RESPONSE_ERROR))
{
if (sentReqForParserState)
{
const QRegExp rx("\\[([\\s\\w\\.\\d]+)\\]");
if (rx.indexIn(received, 0) != -1 && rx.captureCount() == 1)
{
QStringList list = rx.capturedTexts();
if (list.size() == 2)
{
/// T4
QStringList items = list.at(1).split(" ");
if (items.contains("G20"))// inches
incorrectMeasurementUnits = controlParams.useMm == true ;
else
if (items.contains("G21"))// millimeters
incorrectMeasurementUnits = controlParams.useMm == false;
else // not in list!
incorrectMeasurementUnits = true;
}
}
}
else
{
parseCoordinates(received, aggressive);
}
}
count = 0;
}
// SLEEP(100);
if (count > waitCount)
{
// waited too long for a response, fail
status = false;
break;
}
}
if (shutdownState.get())
{
return false;
}
if (status)
{
if (!aggressive)
// SLEEP(100);
if (resetState.get())
{
QString msg(tr("Wait interrupted by user"));
err("%s", qPrintable(msg));
emit addList(msg);
}
}
if (result.contains(RESPONSE_ERROR))
{
errorCount++;
// skip over errors
//status = false;
}
// QStringList list = QString(result).split(port.getDetectedLineFeed());
QStringList list = QString(result).split(QRegExp("\\n|\\r\\n"));
QStringList listToSend;
/// T4
bool banned = sentReqForLocation || sentRequestForSettings;
for (int i = 0; i < list.size(); i++)
{
// if (list.at(i).length() > 0 && list.at(i) != RESPONSE_OK && !sentReqForLocation && !list.at(i).startsWith("MPos:["))
if (list.at(i).length() > 0 && list.at(i) != RESPONSE_OK && !banned && !list.at(i).startsWith("MPos:["))
listToSend.append(list.at(i));
}
sendStatusList(listToSend);
if (resetState.get())
{
// we have been told by the user to stop.
status = false;
}
return status;
}
///-----------------------------------------------------------------------------
/**
* @brief GCode::waitForStartupBanner checks Grbl version after first connection
* @return bool
*/
bool GCode::waitForStartupBanner()
{
QByteArray result = getResult();
qDebug() << "sendGcode: " << result;
bool status = true;
if (result.isEmpty())