Introduction

Goal

modify CNC.JS to output the probing results.

Approach

Modify autolevel widget to output the measured probe positions.

Development

Installation

Install node.js:

sudo apt install npm

Ubuntu 18.04 installs version 8. However, version 12 is already out. This will install version 12:

sudo npm cache clean -f

sudo npm install -g n

sudo n stable

GRBL Arduino Serial Port Permission

https://www.arduino.cc/en/Guide/Linux#toc6

sudo usermod -a -G dialout user

And / or

sudo chmod a+rw /dev/ttyACM0

logout and login or reboot

Autostart cnc.js

Create a service for autostart:

sudo nano /etc/systemd/system/cncjs.service

and enter

[Unit]

Description=cncjs application

Documentation=https://github.com/atmelino/cncjs

After=network.target

[Service]

Environment=NODE_PORT=3002

Type=simple

User=root

WorkingDirectory=/media/data/github/cncjs

ExecStart=/usr/local/n/versions/node/12.16.1/bin/node /media/data/github/cncjs_1_10_0_AL/bin/cncjs

Restart=on-failure

[Install]

WantedBy=multi-user.target

to start the service:

sudo systemctl start cncjs

to stop the service:

sudo systemctl stop cncjs

make sure it starts every time system boots:

sudo systemctl enable cncjs

To get the status of the Dropbox service:

systemctl status cncjs

Building the Project

Download original source code:

git clone https://github.com/cncjs/cncjs.git

The follwing command will build the project and start the server:

npm run dev

When changes are made to the source code, the changes are automatically updated in the running application.

Run the client:

Open a web browser and go to the URL

http://127.0.1.1:8000

Just check for syntax errors:

npm run eslint

Production version

- For production:

npm run build-latest

Run the server:

npm start

Run the client:

Open a web browser and go to the URL

http://127.0.1.1:8000

Test: Installation on a new computer

- install npm by sudo apt install npm

- npm update

- download zip from cnc.js github

- extract

- cd cncjs-master/

- npm run build-latest

- npm start

works!

Configuration

Settings are stored in the file

package.json

Different directories can have their own

package.json

To prevent certain code issues from causing an error in building, edit

./.eslintrc.js

and add

"rules": {

"lines-between-class-members": "off",

"no-unused-vars": "off",

"max-lines-per-function": "off",

}

Scripts

The source code repository has a script folder.

In the script folder, there is a file named prebuild-prod.sh.

In prebuild-prod.sh, trhere is a line "mkdir -p ../dist/cnc/"

To use the scripts, we need babel:

npm install -g babel-cli

scripts/prebuild-prod.sh

leads to the creation of dist/cnc/electron-app but not dist/cnc/web

However, package.json contains a script section. In this file is a number of build commands, some of which refer to a web folder.

The command

npm run build-prod-web

will create the desired web folder.

Working with git and github

Getting whole repository from github:

git clone https://github.com/atmelino/cncjs.git

Getting new changes from github:

git pull

Sending new changes to github:

if new files:

git add (name of file or folder)

git commit -a

git push origin master

Methods for outputting text for debugging purposes

Server Side

Messages from the server side will be shown in the terminal in which we run

npm start

The file in which we log must have the import

import logger from '../../lib/logger';

This logging system has several verbosity levels:

Name	Program start parameter
verbose	v
debug	vv
silly	vvv

For example, if we start the server with the parameter vvv then this will print a message:

run

node bin/cncjs -vvv

Edit file

GrblController.js

52: log.silly('hello hello !!!');

and start in vvv level

Alternatively, we could add the line

"start-vvv": "./bin/cnc -vvv",

in the scripts section of package.json

and start with

npm run start-vvv

the function log.error will output in the terminal at the lowest and any verbosity level.

Client Side

Messages from the client side will be shown in the web browser in which we open the console panel

In Chrome, we open the console panel with CRTL-SHIFT-J

The file in which we log must have the imports

import { TRACE, DEBUG, INFO, WARN, ERROR } from 'universal-logger';

import log from '../../lib/log';

Example:

	src/web/widgets/Macro/index.jsx
11	import log from '../../lib/log';
70	log.error('full screen toggled');

In addition, cncjs has a console widget and in this we can print debug messages

File:

src/web/widgets/Console/index.jsx

103: this.terminal.writeln('hello');

File:

GrblController.js

492: this.emit('serialport:read', `test ALARM:${code} (${alarm.message})`);

shows up in console

shows up in browser console

Source Code Modification

Analyzing Program Structure

Server Side

The command

npm start

looks into the file

. / package.json

In this file is a scripts section with

"scripts": {

..

"start": "./bin/cncjs",

..

}

It is also possible to start the server by typing

node bin/cncjs

In the file

./bin/cncjs

the function

default()

is called from the file

./dist/cncjs/server-cli.js

This function calls the function

createServer()

in the file

./dist/server/index.js

Unknown: somehow,

./src/server/services/cncengine/CNCEngine.js

is started and it starts

./src/server/controllers/Grbl/GrblController.js

Inside the class GrblController

the constructor sets up

• this.feeder and this.feeder.on events

• this.sender and this.sender.on events

• this.workflow and this.workflow.on events

• this.runner and this.runner.on events

The follwing is from previous doc, needs to be reworked

the server is created in

nodeDevelop/cncjs-autolevel/src/app/index.js

const createServer = (options, callback) => {

There is a function const appMain = () => {

in

nodeDevelop/cncjs-autolevel/src/app/app.js

If I delete it and run

npm run prepare

I get error

nodeDevelop/cncjs-autolevel/src/app/index.js

18:17 error Unable to resolve path to module './app' import/no-unresolved

Client Side

The framework used causes the initial page to be loaded from

./dist/app/index.hbs

in this file, a javascript source is loaded at

app.e2134974ba17dc978fbd.bundle.js

This is the actual web page.

Sources:

The file

./dist/app/index.hbs

is built from the source at

./dist/src/index.jsx

Adding the Autolevel widget

One approach is to clone a widget, such as laser as laser2, and then compile the code and see if it still runs. If it runs, modify it and restore previous source code state if run time error occurs.

The file

./src/app/containers/Workspace/WidgetManager/WidgetManager.jsx

contains the variable widgetList. Adding an item will result in the item being offered as an option.

The new widget also needs to be added to the file

./src/app/containers/Workspace/Widget.jsx

the default state needs to be added to

src/app/store/defaultState.js

Finally we need to add a folder named

./src/app/widgets/ProbingGrid

containing the files

index.jsx index.styl ProbingGrid.jsx react-table.css

Probing grid uses additional modules which need to be installed:

npm i react-table

npm i numeral

Capture Probing event from Serial Port

When a probing command is sent to the GRBL controller through the serial port, the machine will start probing, and when contact is made, the GRBL controller will send throug the serial port data such as

[PRB:0.000,0.000,7.404:1]

We want to capture these data and send them to the widget.

In the file

./src/server/controllers/Grbl/GrblController.js

replace

this.runner.on('parameters', (res) => {

this.emit('serialport:read', res.raw);

});

with

this.runner.on('parameters', (res) => {

// atmelino

log.error('parameters: ' + JSON.stringify(res));

const probingData = {

type: 'probing',

printed: false,

result: res.value

};

//this.emit('serialport:read', 'parameters');

this.emit('serialport:read', probingData);

this.emit('serialport:read', res.raw);

});

Adding a Dialog for the Probing Grid Parameters

The Probe widget and the Macro widget have dialogs, for reference.

Update web page in React

If a component has a member of state,

state = {

mynumber: 9

}

then calling

this.setState({ mynumber: 2.3 });

will update the web page.

Display messages that are stored in G-Code

2018-11-17

in vvv mode, entire line of g-code is printed in terminal

file:

src/app/controllers/Grbl/GrblController.js

2018-11-18T02:05:59.941Z - silly: controller:Grbl > M0 (Attach probe wires and clips that need attaching)

Have to click Resume several times for one G-Code Line

First M0, have to click only once:

2018-11-18T02:51:40.938Z - error: controller:Grbl M0 Program Pause in Sender

2018-11-18T02:51:40.941Z - error: controller:Grbl GbrController.js this.sender.onM0 (Attach probe wires and clips that need attaching)

Second M0, have to click twice:

2018-11-18T02:53:49.224Z - error: controller:Grbl M0 Program Pause in Sender

2018-11-18T02:53:52.597Z - error: controller:Grbl2 Grbl.js: prb found

2018-11-18T02:53:52.598Z - error: controller:Grbl2 Grbl.js: GrblLineParserResultParameters parameters emit

2018-11-18T02:53:52.599Z - error: controller:Grbl parameters{"name":"PRB","value":{"result":1,"x":"-82.888","y":"-0.048","z":"-2.676"},"raw":"[PRB:-82.888,-0.048,-2.676:1]"}

first click:

2018-11-18T02:54:30.947Z - error: controller:Grbl M0 Program Pause in Sender

2018-11-18T02:54:30.948Z - error: controller:Grbl GbrController.js this.sender.onM0 (Detach any clips used for probing)

needs second click!

Maybe because of the probing G38.2?

Observation:

if there is one G38.2 command before the M0 command, there is only one click to continue.

if there are teo G38.2 commands before the M0 command, there are two clicks to continue!

G38.2 Z-1 F100 (Probe to a maximum of the specified probe height at the specified feed rate)

G92 Z0 (Touch off Z to 0 once contact is made)

G0 Z2 (Move Z to above the contact point)

G38.2 Z-1 F50 (Repeat at a more accurate slower rate)

G92 Z0

G0 Z2

M0 (Detach any clips used for probing)

Trigger loading g-code programmatically

If a gcode file is loaded and I press reload in the browser, the same gcode file is automatically loaded so there is probably another way to initiate loading other than clicking the Upload G-Code button in the Visualizer.

Daog and dropping a gcode file into the web browser window causes the function

onDrop

in the file

Workspace.jsx

to be called.

The function call

api.loadGCode({ port, name, gcode })

in the function onDrop works.

G-Code Simulator CAMotics

CAMotics

Download deb file and install

Fix missing library error by

sudo apt-get install libqt5websockets5-dev

3d Plot with SciDAVis

Create data in Libreoffice Calc

export as csv

import in SciDAVis

convert to matrix

enter column and row coordinates

make 3D Plot

Observations

2018-10-30

Cloned another widget and named it Autoleveller.

removed Start-Y section from ./src/web/widgets/Autoleveller/Autoleveller.jsx

and it shows up accordingly on web page

2018-11-06

the code for GRBL controller communication appears to be in

cncjs-autolevel/src/app/controllers/Grbl/GrblController.js

here a class named GrblController is defined.

It contains a variable named controller which is of type Grbl

38: this.controller = new Grbl();

Grbl is defined in

cncjs-autolevel/src/app/controllers/Grbl/Grbl.js

588: class Grbl extends events.EventEmitter {

2018

Passing Data from Grbl Controller to Autolevel Widget

There are several widgets that receive data from GrblController.js, for example the Axes widget.

How are the data sent from the GRBL controller to the widget?

In src/web/widgets/Axes/DisplayPanel.jsx

there is a

class DisplayPanel extends PureComponent {

and a render function.

we have a variable named machinePosition

it gets it's value from

	src/web/widgets/Axes/DisplayPanel.jsx
	const { state, actions } = this.props;
	const { units, canClick, axes, machinePosition, workPosition } = state;

so props are used to pass data into the widget which is a React component.

Working backwards from the component:

	src/web/widgets/Axes/DisplayPanel.jsx
35	render() {
52	return (
210	<span className={styles.integerPart}> {machinePosition.x.split('.')[0]}</span>

The value of machinePosition is used to display in the axes widget

the value of machinePosition is assigned from this.props

DisplayPanel is instantiated in

	src/web/widgets/Axes/Axes.jsx
	const Axes = (props) => {
	const { config, state, actions } = props;
	return (
	<div>
	<DisplayPanel config={config} state={state} actions={actions} />

so DisplayPanel receives its props from Axes, Axes passes the props down to DisplayPanel.

Axes is instantiated in

	src/web/widgets/Axes/index.jsx
87	class AxesWidget extends PureComponent {
686	render() {
811	<Axes config={config} state={state} actions={actions} />

It seems like this calls is added to the listeners of the controller. Could this be the connection to the Grbl data received from the serial port?

The function controllerEvents() is added to the listeners of the controller:

	src/web/widgets/Axes/index.jsx
528	componentDidMount() {
529	this.addControllerEvents();
596	addControllerEvents() {
597	Object.keys(this.controllerEvents).forEach(eventName => {
598	const callback = this.controllerEvents[eventName];
599	controller.addListener(eventName, callback);

And in the function controllerEvents() , the variable machinePosition is assigned a value from the state

(coming from the controller ?)

	src/web/widgets/Axes/index.jsx
324	controllerEvents = {
355	'controller:state': (type, controllerState) => {
416	this.setState(state => ({
417	units: units,
418	controller: {
419	...state.controller,
420	type: type,
421	state: controllerState
	machinePosition: mapValues({
	...state.machinePosition,

	src/app/controllers/Grbl/GrblController.js
662	this.emit('controller:state', GRBL, this.state);

Added line to GrblController.js

664: log.error('GrblController.js Grbl state');

and it shows up in the terminal.

Especially, it shows up when probe command is issued.

The command

log.error('' + JSON.stringify(this.state));

prints all the values in the state.

Autoleveller widget does not have the controller:state case in controller events.

Perhaps it would be better to clone a different widget for probing output?

Laser seems like a good candidate because it has addListener and controller:state

Added log output to

	src/web/widgets/Laser/index.jsx
11	import log from '../../lib/log';
117	log.error('laser lasertest:on');
123	controllerEvents = {
141	'controller:state': (type, controllerState) => {
149	log.error('laser controller:state');

Lasertest info output works (in browser console)

laser controller state also works.

Serial port Data Parsing and sending probe data to the widget

Where does the parsing of serial port data received take place?

	src/app/controllers/Grbl/GrblLineParserResultParameters.js
395	class GrblLineParserResultParameters {
396	static parse(line) {
426	if (name === 'PRB') {
428	log.error('prb found');

Leads to output in terminal

2018-11-14T01:32:31.631Z - error: controller:Grbl2 prb found

how can we send the result to the widget?

	src/app/controllers/Grbl/GrblRunner.js
718	if (type === GrblLineParserResultParameters) {
730	log.error('Grbl.js: GrblLineParserResultParameters parameters emit');
731	this.emit('parameters', payload);

Leads to

2018-11-14T02:07:02.325Z - error: controller:Grbl2 Grbl.js: GrblLineParserResultParameters parameters emit

but

	src/web/widgets/Autoleveller/index.jsx
71	controllerEvents = {
	'parameters': (payload) => {
	log.error('Autolevel Probing PRB');

Does not show in browser console.

Note: in order to print state values in console, need to make sure that they already exist

if (Object.prototype.hasOwnProperty.call(state, 'machinePosition')) {

To learn about controller, emit, addListener

google controller emit addlistener

Temporary Solution:

	src/app/controllers/Grbl/GrblController.js
	this.controller.on('parameters', (res) => {
	const myobj = {
	type: 'probing',
	printed: false,
	res: res
	};
	this.emit('serialport:read', myobj);
	// my debug
	log.error('parameters' + JSON.stringify(res));
	this.emit('prbevent', res.raw);
	});

And on the receiving side:

	src/web/widgets/Autoleveller/index.jsx
	controllerEvents = {
	'serialport:read': (received) => {
	if (received.type === 'probing') {
	// atmelino
	log.error('Autolevel probing received through serialport:read');
	this.setState({ myvals: received });
	}
	const { opt } = received;
	},

It would be better to have its own event for this rather than using serialport:read, but I have tried and the event was not received.

2020-02-03

1. location of transpiled code

When I delete the folder ./dist/cnc js , then

npm start

causes an error.

Error: Cannot find module '../dist/cncjs/server-cli'

When I run

npm run build-prod-server

npm run build-latest

then the folder is recreated and

npm start

works again.

2.

When I change the version line in

./ src/ package.json

from

"version": "1.10.0-latest"

to

"version": "1.10.0-atmelino",

and restart

npm start

the version text in the web browser is not changed.

npm run build-prod-server

does not cause the change to be reflected.

The text "1.10.0-latest" is still in the files

./dist/cncjs/package.json

and

./dist/cncjs/app/vendor.c96e7fe8b2de493a9c69.bundle.js

and

/media/data/nodeDevelop/cncjs/dist/cncjs/app/app.e9fff98e88ba50bf3081.bundle.js

Running

npm run build- latest

changes the text back from atmelino to latest!!!

When I change the version line in

. / package.json

from

"version": "1.10.0"

to

"version": "2.10.0",

and run

npm run build

and then

npm start

then the text in the web browser IS changed.

In the built version, the page that is displayed in the client is stored in

app.e2134974ba17dc978fbd.bundle.js

When I change the text

from

"version": "2.10.0"

to

"version": "3.45.6",

and empty cache and hard reload in chrome, the change is working.

2020-02-04

Introduced syntax error in

./src/main.js

ran

npm run eslint

but no error was indicated

2020-02-05

If I add the line

console.log('hello');

to the file

./dist/cncjs/server-cli.js

and start the program, the word “hello” is being displayed.

When I change the name of the folder

./dist/cncjs/app

to

./dist/cncjs/app2

the server still starts but with errors

Error: ENOENT: no such file or directory, stat '/media/data/nodeDevelop/cncjs/dist/cncjs/app/favicon.ico'

This means that the web site data that is sent to the client (root of the web page) is at

./dist/cncjs/app

or for the source code, at

./src/cncjs/app

2020-02-09

The file

.src/app/widgets/ProbingGrid/ProbingGrid.jsx

uses the modules numeral and which is not part of the original cnc.js

When I run build I get error

[build-prod-app] /media/data/github/cncjs_1_10_0/src/app/widgets/ProbingGrid/ProbingGrid.jsx

[build-prod-app] 3:21 error Unable to resolve path to module 'numeral' import/no-unresolved

[build-prod-app] 4:24 error Unable to resolve path to module 'react-table' import/no-unresolved

After running

npm i react-table

npm i numeral

the errors are resolved.

2020-02-10

What about the turnaround time to compile code changes?

Memory: 15.6 GiB

Processor: Intel® Core™ i7-7500U CPU @ 2.70GHz × 4

npm run build-latest

takes 109 seconds

Mon Feb 10 17:55:12 CST 2020

Mon Feb 10 17:57:01 CST 2020

To compile only changes in /src/app source files:

npm run build-prod-app

takes 100 seconds

Mon Feb 10 18:05:31 CST 2020

Mon Feb 10 18:07:11 CST 2020

Running only the part where webpack is called

npm run build-pa

where

"build-pa": "cross-env NODE_ENV=production webpack-cli --config webpack.config.app.production.js",

takes 97 seconds

Mon Feb 10 18:26:25 CST 2020

Mon Feb 10 18:28:02 CST 2020

Using a RAM disk:

npm run build-pa

takes 96 seconds

Tue Feb 11 16:47:46 CST 2020

Tue Feb 11 16:49:22 CST 2020

Memory: 11.6 GiB

Processor: Intel® CoreTM i7-8700 CPU @ 3.20GHz × 12

npm run build-prod-app

takes 69 seconds

Tue Feb 11 22:54:08 CST 2020

Tue Feb 11 22:55:

2020-02-12

When I install cncjs 1.10.0 and modify the code to add ProbingGrid, an error occurs when I check the probing grid in the widget manager and click ok.

The error occurred when I had rthe latest react-table module in package.json:

"dependencies": {

"react-table": "^7.0.0-rc.15",

}

The error goes away when I change the version to the one that was working in version 1.9.16-pre:

"dependencies": {

"react-table": "~6.8.6",

}

2020-02-13

1.

When I start the server with

node bin/cncjs -vv

Then the terminal shows the messsage

debug service:cncengine Loaded controllers: Grbl,Marlin,Smoothie,TinyG

This message is in

./src/server/services/cncengine/CNCEngine.js

and it loads and runs the class GrblController from

./src/server/controllers/Grbl/GrblController.js

2020-03-08

Variables can passed from a class to another class that is declared as follows:

in index.js:

import ApplyAutoLevel from './ApplyAutoLevel';

state = {

bla:7,

ALgcode: ['bla', 'blo']

};

and in render():

<ApplyAutoLevel state={state} actions={actions} />

and in ApplyAutoLevel.jsx:

inside any function

const { state, actions } = this.props;

const { bla } = state;

The variable bla can now be read in ApplyAutoLevel.jsx.

Trying to write to a variable from within the declared class:

applyCompensation() {

const { state, actions } = this.props;

log.info('ApplyAutoLevel applyCompensation ALgcode \n' + state.Algcode);

ApplyAutoLevel applyCompensation ALgcode

bla,blo

Then we write to state.Algcode

state.ALgcode = result;

log.info('ApplyAutoLevel applyCompensation ALgcode:' + state.ALgcode);

and we get whatever was in result.

However, in a call after that in index.js

log.info('AutoLevel/index.jsx ALgcode' + this.state.Algcode);

we get

AutoLevel/index.jsx ALgcodebla,blo at Object.loadAutoLevelledGcode

again, so it was not changed in the declared class.

References

https://itnext.io/react-setstate-usage-and-gotchas-ac10b4e03d60

https://humanwhocodes.com/blog/2012/05/15/working-with-files-in-javascript-part-2/

https://upmostly.com/tutorials/pass-a-parameter-through-onclick-in-react