Positive space capability

ugs-core/src/com/willwinder/universalgcodesender/Capabilities.java

@@ -181,30 +181,21 @@ public boolean hasReturnToZero() {
         return hasCapability(CapabilitiesConstants.RETURN_TO_ZERO);
     }
 
-
     /**
      * Returns if the controller has support for the given axis
      *
      * @param axis - the axis to check support for
      * @return true if the axis is supported
      */
     public boolean hasAxis(Axis axis) {
-        switch (axis) {
-            case X:
-                return hasCapability(CapabilitiesConstants.X_AXIS);
-            case Y:
-                return hasCapability(CapabilitiesConstants.Y_AXIS);
-            case Z:
-                return hasCapability(CapabilitiesConstants.Z_AXIS);
-            case A:
-                return hasCapability(CapabilitiesConstants.A_AXIS);
-            case B:
-                return hasCapability(CapabilitiesConstants.B_AXIS);
-            case C:
-                return hasCapability(CapabilitiesConstants.C_AXIS);
-            default:
-                return false;
-        }
+        return switch (axis) {
+            case X -> hasCapability(CapabilitiesConstants.X_AXIS);
+            case Y -> hasCapability(CapabilitiesConstants.Y_AXIS);
+            case Z -> hasCapability(CapabilitiesConstants.Z_AXIS);
+            case A -> hasCapability(CapabilitiesConstants.A_AXIS);
+            case B -> hasCapability(CapabilitiesConstants.B_AXIS);
+            case C -> hasCapability(CapabilitiesConstants.C_AXIS);
+        };
     }
 
     /**
@@ -215,4 +206,9 @@ public boolean hasAxis(Axis axis) {
     public boolean hasOpenDoor() {
         return hasCapability(CapabilitiesConstants.OPEN_DOOR);
     }
+
+    @Override
+    public String toString() {
+        return String.join(", ", capabilities);
+    }
 }

ugs-core/src/com/willwinder/universalgcodesender/CapabilitiesConstants.java

@@ -76,9 +76,10 @@ public class CapabilitiesConstants {
     public static final String RETURN_TO_ZERO = "RETURN_TO_ZERO";
 
     /**
-     * A key for identifying if the firmware supports opening the door
+     * A key for identifying if the firmware supports triggering the DOOR state
+     * from the sender.
      */
-    public static final String OPEN_DOOR = "DOOR_DOOR";
+    public static final String OPEN_DOOR = "OPEN_DOOR";
 
     public static final String X_AXIS = "X_AXIS";
     public static final String Y_AXIS = "Y_AXIS";
@@ -91,4 +92,21 @@ public class CapabilitiesConstants {
      * A key for identifying if the firmware supports handling the device file system
      */
     public static final String FILE_SYSTEM = "FILE_SYSTEM";
+
+    /**
+     * Traditionally CNC:s works in a negative machine space. When the machine is homed it is usually done
+     * in the right, far, upper corner which is then set to 0, therefore all coordinates in the machine space is
+     * defined with negative values.
+     * <p>
+     * Some controllers have the option to inverse this, making the machine zero at the left, lower, close corner of
+     * the machine.
+     * <p>
+     * By defining this capability we can account for this in the visualizer.
+     */
+    public static final String MACHINE_POSITION_IN_POSITIVE_SPACE = "MACHINE_POSITION_IN_POSITIVE_SPACE";
+
+    /**
+     * Does the controller support variable spindles (typically PWM or through RS484 interfaces)
+     */
+    public static final String VARIABLE_SPINDLE = "VARIABLE_SPINDLE";
 }

ugs-core/src/com/willwinder/universalgcodesender/GrblController.java

@@ -22,6 +22,7 @@ This file is part of Universal Gcode Sender (UGS).
 import com.willwinder.universalgcodesender.communicator.ICommunicator;
 import com.willwinder.universalgcodesender.connection.ConnectionDriver;
 import com.willwinder.universalgcodesender.firmware.IFirmwareSettings;
+import com.willwinder.universalgcodesender.firmware.grbl.GrblCapabilitiesConstants;
 import com.willwinder.universalgcodesender.firmware.grbl.GrblCommandCreator;
 import com.willwinder.universalgcodesender.firmware.grbl.GrblFirmwareSettings;
 import com.willwinder.universalgcodesender.firmware.grbl.GrblFirmwareSettingsInterceptor;
@@ -192,7 +193,8 @@ private void initialize() {
                 return;
             }
 
-            capabilities = GrblUtils.getGrblStatusCapabilities(initializer.getVersion().getVersionNumber(), initializer.getVersion().getVersionLetter());
+            capabilities = GrblUtils.getGrblStatusCapabilities(initializer.getVersion().getVersionNumber(), initializer.getVersion().getVersionLetter(), initializer.getOptions());
+            logger.info("Identified controller capabilities: " + capabilities);
 
             // Toggle the state to force UI update
             setControllerState(ControllerState.CONNECTING);

ugs-core/src/com/willwinder/universalgcodesender/GrblControllerInitializer.java

@@ -1,5 +1,6 @@
 package com.willwinder.universalgcodesender;
 
+import com.willwinder.universalgcodesender.firmware.grbl.GrblBuildOptions;
 import com.willwinder.universalgcodesender.firmware.grbl.GrblVersion;
 import com.willwinder.universalgcodesender.firmware.grbl.commands.GetBuildInfoCommand;
 import com.willwinder.universalgcodesender.firmware.grbl.commands.GetParserStateCommand;
@@ -32,13 +33,14 @@ public class GrblControllerInitializer implements IControllerInitializer {
     private final AtomicBoolean isInitialized = new AtomicBoolean(false);
     private final GrblController controller;
     private GrblVersion version = GrblVersion.NO_VERSION;
+    private GrblBuildOptions options = new GrblBuildOptions();
 
     public GrblControllerInitializer(GrblController controller) {
         this.controller = controller;
     }
 
     @Override
-    public boolean initialize() throws ControllerException{
+    public boolean initialize() throws ControllerException {
         // Only allow one initialization at a time
         if (isInitializing.get() || isInitialized.get()) {
             return false;
@@ -100,6 +102,7 @@ private void fetchControllerVersion() throws InterruptedException {
         }
 
         version = optionalVersion.get();
+        options = getBuildInfoCommand.getBuildOptions();
     }
 
     @Override
@@ -121,4 +124,8 @@ public boolean isInitializing() {
     public GrblVersion getVersion() {
         return version;
     }
+
+    public GrblBuildOptions getOptions() {
+        return options;
+    }
 }

ugs-core/src/com/willwinder/universalgcodesender/GrblUtils.java

@@ -19,6 +19,9 @@ This file is part of Universal Gcode Sender (UGS).
 
 package com.willwinder.universalgcodesender;
 
+import com.willwinder.universalgcodesender.firmware.grbl.GrblCapabilitiesConstants;
+import com.willwinder.universalgcodesender.firmware.grbl.GrblBuildOption;
+import com.willwinder.universalgcodesender.firmware.grbl.GrblBuildOptions;
 import com.willwinder.universalgcodesender.firmware.grbl.commands.GetStatusCommand;
 import com.willwinder.universalgcodesender.firmware.grbl.commands.GrblSystemCommand;
 import com.willwinder.universalgcodesender.listeners.AccessoryStates;
@@ -232,7 +235,7 @@ protected static String getViewParserStateCommand(final double version, final Ch
     /**
      * Determines version of GRBL position capability.
      */
-    protected static Capabilities getGrblStatusCapabilities(final double version, final Character letter) {
+    protected static Capabilities getGrblStatusCapabilities(final double version, final Character letter, GrblBuildOptions options) {
         Capabilities ret = new Capabilities();
         ret.addCapability(CapabilitiesConstants.JOGGING);
         ret.addCapability(CapabilitiesConstants.CHECK_MODE);
@@ -266,6 +269,14 @@ protected static Capabilities getGrblStatusCapabilities(final double version, fi
             ret.addCapability(CapabilitiesConstants.OPEN_DOOR);
         }
 
+        if (options.isEnabled(GrblBuildOption.HOMING_FORCE_ORIGIN_ENABLED)) {
+            ret.addCapability(CapabilitiesConstants.MACHINE_POSITION_IN_POSITIVE_SPACE);
+        }
+
+        if (options.isEnabled(GrblBuildOption.VARIABLE_SPINDLE_ENABLED)) {
+            ret.addCapability(CapabilitiesConstants.VARIABLE_SPINDLE);
+        }
+
         return ret;
     }
 

ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCController.java

@@ -21,7 +21,6 @@ This file is part of Universal Gcode Sender (UGS).
 import com.willwinder.universalgcodesender.Capabilities;
 import com.willwinder.universalgcodesender.ConnectionWatchTimer;
 import com.willwinder.universalgcodesender.ControllerException;
-import com.willwinder.universalgcodesender.GrblCapabilitiesConstants;
 import com.willwinder.universalgcodesender.GrblUtils;
 import com.willwinder.universalgcodesender.IController;
 import com.willwinder.universalgcodesender.IFileService;
@@ -41,12 +40,13 @@ This file is part of Universal Gcode Sender (UGS).
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.DetectEchoCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.FluidNCCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetAlarmCodesCommand;
+import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetBuildInfoCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetErrorCodesCommand;
-import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetFirmwareVersionCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetParserStateCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetStartupMessagesCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetStatusCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.SystemCommand;
+import com.willwinder.universalgcodesender.firmware.grbl.GrblCapabilitiesConstants;
 import com.willwinder.universalgcodesender.firmware.grbl.GrblOverrideManager;
 import com.willwinder.universalgcodesender.gcode.GcodeParser;
 import com.willwinder.universalgcodesender.gcode.GcodeState;
@@ -582,9 +582,9 @@ private void disableEcho() throws Exception {
     private void queryFirmwareVersion() throws Exception {
         // A sleep is required to make the next query reliable
         Thread.sleep(200);
-        GetFirmwareVersionCommand getFirmwareVersionCommand = FluidNCUtils.queryFirmwareVersion(this, messageService);
-        semanticVersion = getFirmwareVersionCommand.getVersion();
-        firmwareVariant = getFirmwareVersionCommand.getFirmware();
+        GetBuildInfoCommand getBuildInfoCommand = FluidNCUtils.queryBuildInformation(this, messageService);
+        semanticVersion = getBuildInfoCommand.getVersion();
+        firmwareVariant = getBuildInfoCommand.getFirmware();
         capabilities.addCapability(GrblCapabilitiesConstants.V1_FORMAT);
     }
 

ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtils.java

@@ -7,7 +7,7 @@
 import com.willwinder.universalgcodesender.firmware.FirmwareSetting;
 import com.willwinder.universalgcodesender.firmware.FirmwareSettingsException;
 import com.willwinder.universalgcodesender.firmware.IFirmwareSettings;
-import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetFirmwareVersionCommand;
+import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetBuildInfoCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.GetStatusCommand;
 import com.willwinder.universalgcodesender.firmware.fluidnc.commands.SystemCommand;
 import com.willwinder.universalgcodesender.listeners.ControllerState;
@@ -16,6 +16,8 @@
 import com.willwinder.universalgcodesender.model.Position;
 import com.willwinder.universalgcodesender.model.UnitUtils;
 import com.willwinder.universalgcodesender.services.MessageService;
+import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletion;
+import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletionWithRetry;
 import com.willwinder.universalgcodesender.utils.SemanticVersion;
 import org.apache.commons.lang3.StringUtils;
 
@@ -24,9 +26,6 @@
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
 
-import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletion;
-import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletionWithRetry;
-
 public class FluidNCUtils {
     public static final double GRBL_COMPABILITY_VERSION = 1.1d;
     public static final SemanticVersion MINIMUM_VERSION = new SemanticVersion(3, 3, 0);
@@ -150,18 +149,18 @@ private static void addCapabilityIfSettingStartsWith(Capabilities capabilities,
      * @throws Exception             if the command couldn't be sent
      * @throws IllegalStateException if the parsed version is not for a FluidNC controller or the version is too old
      */
-    public static GetFirmwareVersionCommand queryFirmwareVersion(IController controller, MessageService messageService) throws Exception {
+    public static GetBuildInfoCommand queryBuildInformation(IController controller, MessageService messageService) throws Exception {
         messageService.dispatchMessage(MessageType.INFO, "*** Fetching device firmware version\n");
-        GetFirmwareVersionCommand getFirmwareVersionCommand = sendAndWaitForCompletion(controller, new GetFirmwareVersionCommand());
-        String firmwareVariant = getFirmwareVersionCommand.getFirmware();
-        SemanticVersion semanticVersion = getFirmwareVersionCommand.getVersion();
+        GetBuildInfoCommand getBuildInfoCommand = sendAndWaitForCompletion(controller, new GetBuildInfoCommand());
+        String firmwareVariant = getBuildInfoCommand.getFirmware();
+        SemanticVersion semanticVersion = getBuildInfoCommand.getVersion();
 
         if (!firmwareVariant.equalsIgnoreCase("FluidNC") || semanticVersion.compareTo(MINIMUM_VERSION) < 0) {
             messageService.dispatchMessage(MessageType.INFO, String.format("*** Expected a 'FluidNC %s' or later but got '%s %s'\n", MINIMUM_VERSION, firmwareVariant, semanticVersion));
             throw new IllegalStateException("Unknown controller version: " + semanticVersion.toString());
         }
 
-        return getFirmwareVersionCommand;
+        return getBuildInfoCommand;
     }
 
     /**

ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/commands/GetFirmwareVersionCommand.java → ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/commands/GetBuildInfoCommand.java

@@ -26,11 +26,11 @@ This file is part of Universal Gcode Sender (UGS).
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
 
-public class GetFirmwareVersionCommand extends SystemCommand {
+public class GetBuildInfoCommand extends SystemCommand {
     private static final Pattern VERSION_FLUIDNC_PATTERN = Pattern.compile("\\[VER:[0-9.]+ (?<variant>[a-zA-Z0-9]+) v?(?<version>(?<major>[0-9]*)(.(?<minor>[0-9]+)(.(?<patch>[0-9]+))?)?([a-zA-Z]+)?)(.*:.*)*]", Pattern.CASE_INSENSITIVE);
     private static final Pattern VERSION_GRBL_PATTERN = Pattern.compile("\\[VER:(?<version>(?<major>[0-9]*)(.(?<minor>[0-9]+)(.(?<patch>[0-9]+))?)).*]", Pattern.CASE_INSENSITIVE);
 
-    public GetFirmwareVersionCommand() {
+    public GetBuildInfoCommand() {
         super("$I");
     }
 

ugs-core/src/com/willwinder/universalgcodesender/firmware/grbl/GrblBuildOption.java

@@ -0,0 +1,57 @@
+/*
+    Copyright 2024 Will Winder
+
+    This file is part of Universal Gcode Sender (UGS).
+
+    UGS is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    UGS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with UGS.  If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.willwinder.universalgcodesender.firmware.grbl;
+
+/**
+ * GRBL options are reported by the build info command ($I). This enum contains the known options.
+ */
+public enum GrblBuildOption {
+    VARIABLE_SPINDLE_ENABLED("V"),
+    LINE_NUMBERS_ENABLED("N"),
+    MIST_COOLANT_ENABLED("M"),
+    CORE_XY_ENABLED("C"),
+    PARKING_MOTION_ENABLED("P"),
+    HOMING_FORCE_ORIGIN_ENABLED("Z"),
+    HOMING_SINGLE_AXIS_COMMAND_ENABLED("H"),
+    TWO_LIMIT_SWITCHES_ON_AXIS_ENABLED("T"),
+    TWO_ALLOW_OVERRIDE_ON_PROBING_ENABLED("A"),
+    USE_SPINDLE_DIRECTION_AS_ENABLE_PIN_ENABLED("D"),
+    SPINDLE_OFF_ON_ZERO_SPEED_ENABLED("0"),
+    SOFTWARE_LIMIT_PIN_DEBOUNCING_ENABLED("S"),
+    PARKING_OVERRIDE_CONTROL_ENABLED("R"),
+    SAFETY_DOOR_INPUT_ENABLED("+"),
+    RESTORE_ALL_EEPROM_DISABLED("*"),
+    RESTORE_EEPROM_SETTINGS_DISABLED("$"),
+    RESTORE_EEPROM_PARAMETER_DATA_DISABLED("#"),
+    BUILD_INFO_USER_STRING_DISABLED("I"),
+    FORCE_SYNC_ON_EEPROM_WRITE_DISABLED("E"),
+    FORCE_SYNC_ON_WORK_COORDINATE_CHANGE_DISABLED("W"),
+    HOMING_INITIALIZATION_LOCK_DISABLED("L"),
+    DUAL_AXIS_MOTORS_ENABLED("2");
+
+    private final String code;
+
+    GrblBuildOption(String code) {
+        this.code = code;
+    }
+
+    public String getCode() {
+        return code;
+    }
+}

ugs-core/src/com/willwinder/universalgcodesender/firmware/grbl/GrblBuildOptions.java

@@ -0,0 +1,44 @@
+/*
+    Copyright 2024 Will Winder
+
+    This file is part of Universal Gcode Sender (UGS).
+
+    UGS is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    UGS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with UGS.  If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.willwinder.universalgcodesender.firmware.grbl;
+
+import org.apache.commons.lang3.StringUtils;
+
+/**
+ * Parses options from the build info command ($I)
+ * <a href="https://github.com/gnea/grbl/wiki/Grbl-v1.1-Interface#feedback-messages">Documentation</a>
+ *
+ * @author Joacim Breiler
+ */
+public class GrblBuildOptions {
+    private final String options;
+
+    public GrblBuildOptions() {
+        this("[OPT:]");
+    }
+
+    public GrblBuildOptions(String options) {
+        this.options = options;
+    }
+
+    public boolean isEnabled(GrblBuildOption grblBuildOption) {
+        String buildOptions = StringUtils.substringBefore(StringUtils.substringBetween(options, "[OPT:", "]"), ",");
+        return buildOptions.contains(grblBuildOption.getCode());
+    }
+}

ugs-core/src/com/willwinder/universalgcodesender/GrblCapabilitiesConstants.java → ugs-core/src/com/willwinder/universalgcodesender/firmware/grbl/GrblCapabilitiesConstants.java

@@ -16,11 +16,11 @@ This file is part of Universal Gcode Sender (UGS).
     You should have received a copy of the GNU General Public License
     along with UGS.  If not, see <http://www.gnu.org/licenses/>.
  */
-package com.willwinder.universalgcodesender;
+package com.willwinder.universalgcodesender.firmware.grbl;
 
 /**
- * Constants for defining additional capabilities from {@link CapabilitiesConstants} that a
- * GRBL controller may support. The constants may be added to a {@link Capabilities} object.
+ * Constants for defining additional capabilities from {@link com.willwinder.universalgcodesender.CapabilitiesConstants} that a
+ * GRBL controller may support. The constants may be added to a {@link com.willwinder.universalgcodesender.Capabilities} object.
  *
  * @author Joacim Breiler
  */