more "Q"

src/Command.h

@@ -57,6 +57,7 @@ public:
 	long getM();
 	long getQ();
 
+	void printQAndNewLine();
 private:
 	CommandCodeEnum getGCodeEnum(char* code);
 	void getParameter(char* charPointer);

src/CurrentState.cpp

@@ -13,6 +13,7 @@ long y = 0;
 long z = 0;
 unsigned int speed = 0;
 bool endStopState[3][2];
+long Q = 0;
 
 CurrentState * CurrentState::getInstance() {
 	if (!instance) {
@@ -26,6 +27,7 @@ CurrentState::CurrentState() {
 	y = 0;
 	z = 0;
 	speed = 0;
+	Q = 0;
 }
 
 long CurrentState::getX() {
@@ -78,7 +80,8 @@ void CurrentState::printPosition() {
 	Serial.print(y);
 	Serial.print(" Z");
 	Serial.print(z);
-	Serial.print("\r\n");
+//	Serial.print("\r\n");
+	printQAndNewLine();
 }
 
 void CurrentState::printBool(bool value)
@@ -86,8 +89,8 @@ void CurrentState::printBool(bool value)
 	if (value)
 	{
 		Serial.print("1");
-	} 
-	else 
+	}
+	else
 	{
 		Serial.print("0");
 	}
@@ -107,7 +110,8 @@ void CurrentState::printEndStops() {
 	printBool(endStopState[2][0]);
 	Serial.print(" ZB");
 	printBool(endStopState[2][1]);
-	Serial.print("\r\n");
+	//Serial.print("\r\n");
+	printQAndNewLine();
 }
 
 void CurrentState::print() {
@@ -115,4 +119,16 @@ void CurrentState::print() {
 	printEndStops();
 }
 
+void CurrentState::setQ(int q) {
+	Q = q;
+}
 
+void CurrentState::resetQ() {
+	Q = 0;
+}
+
+void CurrentState::printQAndNewLine() {
+        Serial.print(" Q");
+        Serial.print(Q);
+        Serial.print("\r\n");
+}

src/CurrentState.h

@@ -26,10 +26,16 @@ public:
 	void printEndStops();
 	void print();
 	void printBool(bool);
+
+	void setQ(int q);
+	void resetQ();
+	void printQAndNewLine();
+
 private:
 	CurrentState();
 	CurrentState(CurrentState const&);
 	void operator=(CurrentState const&);
+
 };
 
 #endif /* CURRENTSTATE_H_ */

src/F11Handler.cpp

@@ -29,6 +29,7 @@ int F11Handler::execute(Command* command) {
         }
 
 	StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, true, false, false);
+
         if (LOGGING) {
                 CurrentState::getInstance()->print();
         }

src/F12Handler.cpp

@@ -29,6 +29,7 @@ int F12Handler::execute(Command* command) {
         }
 
         StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, false, true, false);
+
         if (LOGGING) {
                 CurrentState::getInstance()->print();
         }

src/F13Handler.cpp

@@ -29,6 +29,7 @@ int F13Handler::execute(Command* command) {
         }
 
         StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, false, false, true);
+
         if (LOGGING) {
                 CurrentState::getInstance()->print();
         }

src/F15Handler.cpp

@@ -36,5 +36,3 @@ int F15Handler::execute(Command* command) {
 
         return 0;
 }
-
-

src/F83Handler.cpp

@@ -31,7 +31,8 @@ int F83Handler::execute(Command* command) {
 
 	Serial.print("R83 ");
 	Serial.print(SOFTWARE_VERSION);
-	Serial.print("\r\n");
+	//Serial.print("\r\n");
+	CurrentState::getInstance()->printQAndNewLine();
 
         return 0;
 }

src/G00Handler.cpp

@@ -40,10 +40,12 @@ int G00Handler::execute(Command* command) {
 //	Serial.print("\r\n");
 
 
-	StepperControl::getInstance()->moveToCoords(
+	StepperControl::getInstance()->moveToCoords
+		(
 			command->getX(), command->getY(), command->getZ(),
 			command->getA(), command->getB(), command->getC(), 
-			false, false, false);
+			false, false, false
+		);
 
 	if (LOGGING) {
 		CurrentState::getInstance()->print();

src/GCodeProcessor.cpp

@@ -7,6 +7,7 @@
  */
 
 #include "GCodeProcessor.h"
+#include "CurrentState.h"
 
 GCodeProcessor::GCodeProcessor() {
 
@@ -24,6 +25,8 @@ void GCodeProcessor::printCommandLog(Command* command) {
 
 int GCodeProcessor::execute(Command* command) {
 	long Q = command->getQ();
+	//Q = 99;
+	CurrentState::getInstance()->setQ(Q);
 
 	if(command == NULL || command->getCodeEnum() == CODE_UNDEFINED) {
 		if(LOGGING) {
@@ -33,27 +36,31 @@ int GCodeProcessor::execute(Command* command) {
 	}
 	GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());
 	if(handler == NULL) {
-		Serial.println("This is false: handler == NULL");
+		Serial.println("R99 This is false: handler == NULL");
 		return -1;
 	}
-	Serial.println(COMM_REPORT_CMD_START);
-	Serial.print(" Q");
-	Serial.print(Q);
-	Serial.print("\n\r");
+	Serial.print(COMM_REPORT_CMD_START);
+	CurrentState::getInstance()->printQAndNewLine();
+	//Serial.print(" Q");
+	//Serial.print(Q);
+	//Serial.print("\n\r");
 
 	int execution = handler->execute(command);
 	if(execution == 0) {
-		Serial.println(COMM_REPORT_CMD_DONE);
-		Serial.print(" Q");
-		Serial.print(Q);
-		Serial.print("\n\r");
+		Serial.print(COMM_REPORT_CMD_DONE);
+		CurrentState::getInstance()->printQAndNewLine();
+		//Serial.print(" Q");
+		//Serial.print(Q);
+		//Serial.print("\n\r");
 	} else {
-		Serial.println(COMM_REPORT_CMD_ERROR);
-		Serial.print(" Q");
-		Serial.print(Q);
-		Serial.print("\n\r");
-
+		Serial.print(COMM_REPORT_CMD_ERROR);
+		CurrentState::getInstance()->printQAndNewLine();
+		//Serial.print(" Q");
+		//Serial.print(Q);
+		//Serial.print("\n\r");
 	}
+
+	CurrentState::getInstance()->resetQ();
 	return execution;
 };
 

src/ParameterList.cpp

@@ -23,7 +23,7 @@ ParameterList::ParameterList() {
 	}
 }
 
-// ===== Interfce functions for the raspberry pi =====
+// ===== Interface functions for the raspberry pi =====
 
 int ParameterList::readValue(int id) {
 
@@ -40,7 +40,9 @@ int ParameterList::readValue(int id) {
 		Serial.print(" ");
 		Serial.print("V");
 		Serial.print(value);
-		Serial.print("\r\n");
+		//Serial.print("\r\n");
+		CurrentState::getInstance()->printQAndNewLine();
+
 	} else  {
 		Serial.print("R99 Error: invalid parameter id\r\n");
 	}
@@ -71,7 +73,8 @@ int ParameterList::writeValue(int id, int value) {
 	Serial.print("V");
 	Serial.print(" ");
 	Serial.print(value);
-	Serial.print("\r\n");
+	//Serial.print("\r\n");
+	CurrentState::getInstance()->printQAndNewLine();
 
 	// If any value is written,
 	// trigger the loading of the new configuration in all other modules

src/ParameterList.h

@@ -4,7 +4,7 @@
 #include "Arduino.h"
 #include "Config.h"
 #include "PinGuard.h"
-
+#include "CurrentState.h"
 
 //#define NULL 0
 const int PARAM_NR_OF_PARAMS = 300;

src/PinControl.cpp

@@ -53,7 +53,8 @@ int PinControl::readValue(int pinNr, int mode) {
 		Serial.print(" ");
 		Serial.print("V");
 		Serial.print(value);
-		Serial.print("\r\n");
+		//Serial.print("\r\n");
+		CurrentState::getInstance()->printQAndNewLine();
 
 		return 0;
 	}

src/PinControl.h

@@ -14,6 +14,7 @@
 #include "Config.h"
 #include <stdio.h>
 #include <stdlib.h>
+#include "CurrentState.h"
 
 class PinControl {
 public:

src/StatusList.cpp

@@ -34,7 +34,8 @@ int StatusList::readValue(int id) {
 	Serial.print(" ");
 	Serial.print("V");
 	Serial.print(value);
-	Serial.print("\r\n");
+	//Serial.print("\r\n");
+	CurrentState::getInstance()->printQAndNewLine();
 
 
 	return 0;

src/StatusList.h

@@ -3,7 +3,7 @@
 
 #include "Arduino.h"
 #include "Config.h"
-
+#include "CurrentState.h"
 
 //#define NULL 0
 

src/StepperControl.cpp

@@ -15,7 +15,8 @@ void StepperControl::reportStatus(StepperControlAxis* axis, int axisStatus) {
 		Serial.print(" ");
 		Serial.print(axis->label);
 		Serial.print(axisStatus);
-		Serial.print("\r\n");
+		//Serial.print("\r\n");
+		CurrentState::getInstance()->printQAndNewLine();
 }
 
 void StepperControl::reportCalib(StepperControlAxis* axis, int calibStatus) {
@@ -23,7 +24,8 @@ void StepperControl::reportCalib(StepperControlAxis* axis, int calibStatus) {
 		Serial.print(" ");
 		Serial.print(axis->label);
 		Serial.print(calibStatus);
-		Serial.print("\r\n");
+		//Serial.print("\r\n");
+		CurrentState::getInstance()->printQAndNewLine();
 }
 
 void StepperControl::checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus) {
@@ -62,6 +64,7 @@ void StepperControl::checkAxisSubStatus(StepperControlAxis* axis, int* axisSubSt
 StepperControl::StepperControl() {
 
 	// Initialize some variables for testing
+
 	//motorConsMissedStepsMax[0] = 50;
 	//motorConsMissedStepsMax[1] = 50;
 	//motorConsMissedStepsMax[2] = 50;
@@ -126,7 +129,8 @@ void StepperControl::test2() {
  */
 int StepperControl::moveToCoords(		long xDest, long yDest, long zDest, 
 						unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
-                				bool xHome, bool yHome, bool zHome) {
+                				bool xHome, bool yHome, bool zHome
+				) {
 
  	unsigned long currentMillis         = 0;
 	unsigned long timeStart             = millis();
@@ -363,7 +367,8 @@ int StepperControl::moveToCoords(		long xDest, long yDest, long zDest,
 		//if (1 == 1) 
 		{
 			Serial.print(COMM_REPORT_CMD_BUSY);
-			Serial.print("\r\n");
+			//Serial.print("\r\n");
+			CurrentState::getInstance()->printQAndNewLine();
 			reportPosition();
 				/*
 				Serial.print("R99");
@@ -593,7 +598,8 @@ int StepperControl::calibrateAxis(int axis) {
 	                {
 				// Periodically send message still active
 	                        Serial.print(COMM_REPORT_CMD_BUSY);
-	                        Serial.print("\r\n");
+	                        //Serial.print("\r\n");
+				CurrentState::getInstance()->printQAndNewLine();
 	                }
 
 	                if (stepsCount % (speedMin[axis] / 6) == 0 /*|| *missedSteps > 3*/)
@@ -712,7 +718,8 @@ int StepperControl::calibrateAxis(int axis) {
         	        {
 				// Periodically send message still active
 	                        Serial.print(COMM_REPORT_CMD_BUSY);
-	                        Serial.print("\r\n");
+	                        //Serial.print("\r\n");
+				CurrentState::getInstance()->printQAndNewLine();
 	                }
 			/*
 	                if (stepsCount % (speedMin[axis] / 6) == 0)

src/StepperControl.h

@@ -17,6 +17,7 @@
 #include "Config.h"
 #include <stdio.h>
 #include <stdlib.h>
+#include "Command.h"
 
 class StepperControl {
 public:
@@ -30,7 +31,8 @@ public:
 	//			unsigned int maxAccelerationStepsPerSecond);
 	int moveToCoords(	long xDest, long yDest, long zDest, 
 				 unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
-				 bool homeX, bool homeY, bool homeZ);
+				 bool homeX, bool homeY, bool homeZ
+			);
 
 	void handleMovementInterrupt();
 	int calibrateAxis(int axis);

src/farmbot_arduino_controller.cpp

@@ -135,7 +135,9 @@ void loop() {
 
 		if ((currentTime - lastAction) > 5000) {
 			// After an idle time, send the idle message
-			Serial.print("R00\r\r\n");
+			Serial.print("R00");
+			CurrentState::getInstance()->printQAndNewLine();
+
 			CurrentState::getInstance()->printPosition();
 			CurrentState::getInstance()->printEndStops();
 			lastAction = millis();