CommandManager.java

/*
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package tgfx.tinyg;

import org.apache.log4j.Level;
import org.apache.log4j.Logger;
import tgfx.Main;

/**
 *
 * @author ril3y
 *
 */
public class CommandManager {

    private static Logger logger = Logger.getLogger(CommandManager.class);
    public static final String CMD_QUERY_COORDINATE_SYSTEM = "{\"coor\":\"\"}\n";
    public static final String CMD_QUERY_HARDWARE_BUILD_NUMBER = "{\"fb\":\"\"}\n";
    public static final String CMD_QUERY_HARDWARE_FIRMWARE_NUMBER = "{\"fv\":\"\"}\n";
    public static final String CMD_QUERY_HARDWARE_PLATFORM = "{\"hp\":null}\n";
    public static final String CMD_QUERY_OK_PROMPT = "{\"gc\":\"?\"}\n";
//    public static final String CMD_APPLY_STATUS_REPORT_FORMAT = "{\"sr\":{\"line\":t,\"vel\":t,\"mpox\":t,\"mpoy\":t, \"mpoz\":t,\"mpoa\":t,\"coor\":t, \"ofsa\":t,\"ofsx\":t,\"ofsy\":t,\"ofsz\":t,\"unit\":t,\"stat\":t,\"homz\":t,\"homy\":t,\"homx\":t,\"momo\":t}}\n";
    public static final String CMD_APPLY_STATUS_REPORT_FORMAT = "{\"sr\":{\"line\":t,\"vel\":t,\"mpox\":t,\"mpoy\":t, \"mpoz\":t,\"mpoa\":t,\"coor\":t, \"ofsa\":t,\"ofsx\":t,\"ofsy\":t,\"ofsz\":t,\"dist\":t,\"unit\":t,\"stat\":t,\"homz\":t,\"homy\":t,\"homx\":t,\"momo\":t}}\n";
    public static final String CMD_QUERY_STATUS_REPORT = "{\"sr\":\"\"}\n";
    public static final String CMD_QUERY_HARDWARE_ID = "{\"id\":null}\n";
    public static final String CMD_QUERY_HARDWARE_VERSION = "{\"hv\":null}\n";
    public static final String CMD_QUERY_AXIS_X = "{\"x\":null}\n";
    public static final String CMD_QUERY_AXIS_Y = "{\"y\":null}\n";
    public static final String CMD_QUERY_AXIS_Z = "{\"z\":null}\n";
    public static final String CMD_QUERY_AXIS_A = "{\"a\":null}\n";
    public static final String CMD_QUERY_AXIS_B = "{\"b\":null}\n";
    public static final String CMD_QUERY_AXIS_C = "{\"c\":null}\n";
    public static final String CMD_QUERY_MOTOR_1_SETTINGS = "{\"1\":null}\n";
    public static final String CMD_QUERY_MOTOR_2_SETTINGS = "{\"2\":null}\n";
    public static final String CMD_QUERY_MOTOR_3_SETTINGS = "{\"3\":null}\n";
    public static final String CMD_QUERY_MOTOR_4_SETTINGS = "{\"4\":null}\n";
    public static final String CMD_QUERY_SYSTEM_SETTINGS = "{\"sys\":null}\n";
    public static final String CMD_APPLY_SYSTEM_ZERO_ALL_AXES = "{\"gc\":\"g92x0y0z0a0\"}\n";
    public static final String CMD_APPLY_SYSTEM_HOME_XYZ_AXES = "{\"gc\":\"g28.2x0y0z0\"}\n";
    public static final String CMD_APPLY_SYSTEM_GCODE_UNITS_INCHES = "{\"" + MnemonicManager.MNEMONIC_STATUS_REPORT_UNIT + "\":0}\n"; //0=inches
    public static final String CMD_APPLY_SYSTEM_GCODE_UNITS_MM = "{\"" + MnemonicManager.MNEMONIC_STATUS_REPORT_UNIT + "\":1}\n"; //1=mm
    public static final String CMD_APPLY_SYSTEM_DISABLE_LOCAL_ECHO = "{\"" + MnemonicManager.MNEMONIC_SYSTEM_ENABLE_ECHO + "\":0}\n";
    public static final String CMD_APPLY_SYSTEM_ENABLE_LOCAL_ECHO = "{\"" + MnemonicManager.MNEMONIC_SYSTEM_ENABLE_ECHO + "\":0}\n";
    public static final String CMD_APPLY_SYSTEM_MNEMONIC_SYSTEM_SWITCH_TYPE_NC = "{\"" + MnemonicManager.MNEMONIC_SYSTEM_SWITCH_TYPE + "\":1}\n";
    public static final String CMD_QUERY_SYSTEM_GCODE_UNIT_MODE = "{\"" + MnemonicManager.MNEMONIC_STATUS_REPORT_UNIT + "\":null}\n";
    public static final String CMD_QUERY_SYSTEM_GCODE_PLANE = "{\"" + MnemonicManager.MNEMONIC_SYSTEM_DEFAULT_GCODE_PLANE + "\":null}\n";
    public static final String CMD_APPLY_DISABLE_HASHCODE = "{\"eh\":0\"}\n";
    public static final String CMD_APPLY_DEFAULT_SETTINGS = "{\"defa\":1}\n";
    public static final String CMD_APPLY_STATUS_UPDATE_INTERVAL = "{\"si\":100}\n";
    public static final String CMD_APPLY_JSON_VOBERSITY = "{\"jv\":3}\n";
    public static final String CMD_APPLY_ENABLE_JSON_MODE = "{\"ej\":1}\n";
    public static final String CMD_DEFAULT_ENABLE_JSON = "{\"ej\":1}\n";
    public static final String CMD_APPLY_TEXT_VOBERSITY = "{\"tv\":0}\n";
    public static final String CMD_APPLY_NOOP = "{}\n";
    public static final String CMD_QUERY_SWITCHMODE = "{\"st\":null}\n";
    public static final String CMD_APPLY_SWITCHMODE_NORMALLY_OPEN = "{\"st\":0}\n";
    public static final String CMD_APPLY_SWITCHMODE_NORMALLY_CLOSED = "{\"st\":1}\n";
    public static final String CMD_APPLY_UNITMODE_INCHES = "{\"gc\":\"g20\"}\n";
    public static final String CMD_APPLY_UNITMODE_MM = "{\"gc\":\"g21\"}\n";
    public static final String CMD_APPLY_PAUSE = "!\n";
    public static final String CMD_APPLY_RESUME = "~\n";
    public static final String CMD_APPLY_QUEUE_FLUSH = "%\n";
    //Homeing Commandings
    public static final String CMD_APPLY_HOME_X_AXIS = "{\"gc\":\"g28.2x0\"}\n";
    public static final String CMD_APPLY_HOME_Y_AXIS = "{\"gc\":\"g28.2y0\"}\n";
    public static final String CMD_APPLY_HOME_Z_AXIS = "{\"gc\":\"g28.2z0\"}\n";
    public static final String CMD_APPLY_HOME_A_AXIS = "{\"gc\":\"g28.2a0\"}\n";
    //ZERO Commands
    public static final String CMD_APPLY_ZERO_X_AXIS = "{\"gc\":\"g92x0\"}\n";
    public static final String CMD_APPLY_ZERO_Y_AXIS = "{\"gc\":\"g92y0\"}\n";
    public static final String CMD_APPLY_ZERO_Z_AXIS = "{\"gc\":\"g92z0\"}\n";
    public static final String CMD_APPLY_ZERO_A_AXIS = "{\"gc\":\"g92a0\"}\n";
//    public static final String CMD_APPLY_INHIBIT_ALL_AXIS = "{\"xam\":2, \"yam\":2, \"zam\":2, \"aam\":2}\n";
    public static final String CMD_APPLY_INHIBIT_X_AXIS = "{\"xam\":2}\n";
    public static final String CMD_APPLY_INHIBIT_Y_AXIS = "{\"yam\":2}\n";
    public static final String CMD_APPLY_INHIBIT_Z_AXIS = "{\"zam\":2}\n";
    public static final String CMD_APPLY_INHIBIT_A_AXIS = "{\"aam\":2}\n";
    public static final String CMD_APPLY_ENABLE_X_AXIS = "{\"xam\":1}\n";
    public static final String CMD_APPLY_ENABLE_Y_AXIS = "{\"yam\":1}\n";
    public static final String CMD_APPLY_ENABLE_Z_AXIS = "{\"zam\":1}\n";
    public static final String CMD_APPLY_ENABLE_A_AXIS = "{\"aam\":1}\n";
    public static final String CMD_APPLY_INCREMENTAL_POSITION_MODE = "{\"gc\":\"g91\"}\n";
    public static final String CMD_APPLY_ABSOLUTE_POSITION_MODE = "{\"gc\":\"g90\"}\n";
//    public static final String CMD_APPLY_ENABLE_ALL_AXIS = "{\"xam\":1, \"yam\":1, \"zam\":1, \"aam\":1}\n";
    public static final String CMD_QUERY_SYSTEM_SERIAL_BUFFER_LENGTH = "{\"rx\":null}\n";
    public static final Byte CMD_APPLY_RESET = 0x18;
//    public static final String CMD_APPLY_RESET = "\x18\n";
    public static final String CMD_APPLY_FLOWCONTROL = "{\"ex\":2}\n";
    public static final String CMD_ZERO_ALL_AXIS = "{\"gc\":G920g0x0y0z0}\n";
    public static final String CMD_APPLY_BOOTLOADER_MODE = "{\"boot\":1}\n";
    

    public CommandManager() {
        logger.setLevel(Level.ERROR);
    }

    public static void stopTinyGMovement() throws Exception {
        logger.info("[!]Stopping Job Clearing Serial Queue...\n");
        TinygDriver.getInstance().priorityWrite(CommandManager.CMD_APPLY_PAUSE);
        TinygDriver.getInstance().serialWriter.clearQueueBuffer();
        TinygDriver.getInstance().priorityWrite(CommandManager.CMD_APPLY_QUEUE_FLUSH);
        tgfx.Main.postConsoleMessage("[!]Stopping Job Clearing Serial Queue...\n");
    }

    public static void stopJogMovement() throws Exception {
        //Do not mess with this order.
        TinygDriver.getInstance().serialWriter.clearQueueBuffer();
        TinygDriver.getInstance().priorityWrite(CommandManager.CMD_APPLY_PAUSE);
        Thread.sleep(40);
        TinygDriver.getInstance().priorityWrite(CommandManager.CMD_APPLY_QUEUE_FLUSH);
//        tgfx.Main.postConsoleMessage("[!]Stopping Job Clearing Serial Queue...\n");
    }

    public static void setIncrementalMovementMode() throws Exception {
        TinygDriver.getInstance().write(CMD_APPLY_INCREMENTAL_POSITION_MODE);
    }

    public static void setAbsoluteMovementMode() throws Exception {
        TinygDriver.getInstance().write(CMD_APPLY_ABSOLUTE_POSITION_MODE);
    }

    public void setMachinePosition(double x, double y) {
        try {

            TinygDriver.getInstance().write("{\"gc\":\"g28.3" + "X" + x + "Y" + y + "\"}\n");
        } catch (Exception ex) {
            java.util.logging.Logger.getLogger(CommandManager.class.getName()).log(java.util.logging.Level.SEVERE, null, ex);
        }
    }

    /**
     *
     * Query All Motors for their current settings
     */
    public void queryAllMotorSettings() throws Exception {



        try {
            TinygDriver.getInstance().write(CMD_QUERY_MOTOR_1_SETTINGS);
            logger.info("[+]Getting Motor 1 Settings");
            Main.postConsoleMessage("Getting TinyG Motor 1 Settings...");

            TinygDriver.getInstance().write(CMD_QUERY_MOTOR_2_SETTINGS);
            logger.info("[+]Getting Motor 2 Settings");
            Main.postConsoleMessage("Getting TinyG Motor 2 Settings...");

            TinygDriver.getInstance().write(CMD_QUERY_MOTOR_3_SETTINGS);
            logger.info("[+]Getting Motor 3 Settings");
            Main.postConsoleMessage("Getting TinyG Motor 3 Settings...");

            TinygDriver.getInstance().write(CMD_QUERY_MOTOR_4_SETTINGS);
            logger.info("[+]Getting Motor 4 Settings");
            Main.postConsoleMessage("Getting TinyG Motor 4 Settings...");

        } catch (Exception ex) {
            logger.error("[!]Exception in queryAllMotorSettings()...");
            logger.error(ex.getMessage());
        }
    }

    public void inhibitAllAxis() throws Exception {
        TinygDriver.getInstance().write(CMD_APPLY_INHIBIT_A_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_INHIBIT_X_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_INHIBIT_Y_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_INHIBIT_Z_AXIS);
        Thread.sleep(300);

    }

    public void enableAllAxis() throws Exception {
        TinygDriver.getInstance().write(CMD_APPLY_ENABLE_A_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_ENABLE_X_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_ENABLE_Y_AXIS);
        Thread.sleep(300);
        TinygDriver.getInstance().write(CMD_APPLY_ENABLE_Z_AXIS);
        Thread.sleep(300);

    }

    public void queryStatusReport() throws Exception {
        logger.info("[+]Querying Status Report");
        TinygDriver.getInstance().write(CommandManager.CMD_QUERY_STATUS_REPORT);
        Main.postConsoleMessage("Getting TinyG Status Report...");
    }

    public void queryMachineSwitchMode() throws Exception {
        TinygDriver.getInstance().write(CMD_QUERY_SWITCHMODE);
    }

    public void applyMachineSwitchMode(int i) throws Exception {
        if (i == 0) {
            TinygDriver.getInstance().write(CMD_APPLY_SWITCHMODE_NORMALLY_OPEN);
        } else {
            TinygDriver.getInstance().write(CMD_APPLY_SWITCHMODE_NORMALLY_CLOSED);
        }
    }

    public void applyMachineUnitMode(int i) throws Exception {
        if (i == 0) {
            TinygDriver.getInstance().write(CMD_APPLY_UNITMODE_INCHES);
        } else {
            TinygDriver.getInstance().write(CMD_APPLY_UNITMODE_MM);
        }
    }

    public void queryAllMachineSettings() throws Exception {
        logger.info("[+]Getting All Machine Settings");
        TinygDriver.getInstance().write(CommandManager.CMD_QUERY_SYSTEM_SETTINGS);
        Main.postConsoleMessage("Getting TinyG System Settings...");
    }

    /**
     * writes the commands to query current hardware settings on the tinyg board
     *
     * @throws Exception
     */
    public void queryAllHardwareAxisSettings() throws Exception {
        try {

            logger.info("[+]Getting A AXIS Settings");
            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_A);
            Main.postConsoleMessage("Getting TinyG Axis A Settings...");

            logger.info("[+]Getting B AXIS Settings");
            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_B);
            Main.postConsoleMessage("Getting TinyG Axis B Settings...");

            logger.info("[+]Getting C AXIS Settings");
            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_C);
            Main.postConsoleMessage("Getting TinyG Axis C Settings...");

            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_X);
            logger.info("[+]Getting X AXIS Settings");
            Main.postConsoleMessage("Getting TinyG Axis X Settings...");

            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_Y);
            logger.info("[+]Getting Y AXIS Settings");
            Main.postConsoleMessage("Getting TinyG Axis Y Settings...");


            TinygDriver.getInstance().write(CommandManager.CMD_QUERY_AXIS_Z);
            logger.info("[+]Getting Z AXIS Settings");
            Main.postConsoleMessage("Getting TinyG Axis Z Settings...");

        } catch (Exception ex) {
            logger.error("[!]Error in queryAllHardwareAxisSettings()");
        }
    }
}