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/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
Smoothie 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.
Smoothie 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 Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#include "GcodeDispatch.h"
#include "libs/Kernel.h"
#include "Robot.h"
#include "utils/Gcode.h"
#include "libs/nuts_bolts.h"
#include "modules/robot/Conveyor.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
#include "libs/StreamOutputPool.h"
#include "libs/FileStream.h"
#include "libs/AppendFileStream.h"
#include "Config.h"
#include "checksumm.h"
#include "ConfigValue.h"
#include "PublicDataRequest.h"
#include "PublicData.h"
#include "SimpleShell.h"
#include "utils.h"
#include "LPC17xx.h"
#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
#define panel_display_message_checksum CHECKSUM("display_message")
#define panel_checksum CHECKSUM("panel")
// goes in Flash, list of Mxxx codes that are allowed when in Halted state
static const int allowed_mcodes[]= {2,5,9,30,105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
static bool is_allowed_mcode(int m) {
for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
if(allowed_mcodes[i] == m) return true;
}
return false;
}
GcodeDispatch::GcodeDispatch()
{
uploading = false;
currentline = -1;
modal_group_1= 0;
}
// Called when the module has just been loaded
void GcodeDispatch::on_module_loaded()
{
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
}
// When a command is received, if it is a Gcode, dispatch it as an object via an event
void GcodeDispatch::on_console_line_received(void *line)
{
SerialMessage new_message = *static_cast<SerialMessage *>(line);
string possible_command = new_message.message;
int ln = 0;
int cs = 0;
// just reply ok to empty lines
if(possible_command.empty()) {
new_message.stream->printf("ok\r\n");
return;
}
try_again:
char first_char = possible_command[0];
unsigned int n;
if(first_char == '$') {
// ignore as simpleshell will handle it
return;
}else if(islower(first_char)) {
// ignore all lowercase as they are simpleshell commands
return;
}
if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
//Get linenumber
if ( first_char == 'N' ) {
Gcode full_line = Gcode(possible_command, new_message.stream, false);
ln = (int) full_line.get_value('N');
int chksum = (int) full_line.get_value('*');
//Catch message if it is M110: Set Current Line Number
if ( full_line.has_m ) {
if ( full_line.m == 110 ) {
currentline = ln;
new_message.stream->printf("ok\r\n");
return;
}
}
//Strip checksum value from possible_command
size_t chkpos = possible_command.find_first_of("*");
possible_command = possible_command.substr(0, chkpos);
//Calculate checksum
if ( chkpos != string::npos ) {
for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
cs = cs ^ *c;
cs &= 0xff; // Defensive programming...
cs -= chksum;
}
//Strip line number value from possible_command
size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
possible_command = possible_command.substr(lnsize);
} else {
//Assume checks succeeded
cs = 0x00;
ln = currentline + 1;
}
//Remove comments
size_t comment = possible_command.find_first_of(";(");
if( comment != string::npos ) {
possible_command = possible_command.substr(0, comment);
}
//If checksum passes then process message, else request resend
int nextline = currentline + 1;
if( cs == 0x00 && ln == nextline ) {
if( first_char == 'N' ) {
currentline = nextline;
}
while(possible_command.size() > 0) {
// assumes G or M are always the first on the line
size_t nextcmd = possible_command.find_first_of("GM", 2);
string single_command;
if(nextcmd == string::npos) {
single_command = possible_command;
possible_command = "";
} else {
single_command = possible_command.substr(0, nextcmd);
possible_command = possible_command.substr(nextcmd);
}
if(!uploading || upload_stream != new_message.stream) {
// Prepare gcode for dispatch
Gcode *gcode = new Gcode(single_command, new_message.stream);
if(THEKERNEL->is_halted()) {
// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
if(gcode->has_m && gcode->m == 999) {
if(THEKERNEL->is_halted()) {
THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
}
new_message.stream->printf("ok\n");
delete gcode;
continue;
}else if(!is_allowed_mcode(gcode->m)) {
// ignore everything, return error string to host
if(THEKERNEL->is_grbl_mode()) {
new_message.stream->printf("error:Alarm lock\n");
}else{
new_message.stream->printf("!!\r\n");
}
delete gcode;
continue;
}
}
if(gcode->has_g) {
if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
// this is ugly to implement as there may or may not be a G0/G1 on the same line
// valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
if(possible_command.empty()) {
// use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
// TODO it is really an error if the last is not G0 thru G3
if(modal_group_1 > 3) {
delete gcode;
new_message.stream->printf("ok - Invalid G53\r\n");
return;
}
// use last G0 or G1
gcode->g= modal_group_1;
}else{
delete gcode;
// extract next G0/G1 from the rest of the line, ignore if it is not one of these
gcode = new Gcode(possible_command, new_message.stream);
possible_command= "";
if(!gcode->has_g || gcode->g > 1) {
// not G0 or G1 so ignore it as it is invalid
delete gcode;
new_message.stream->printf("ok - Invalid G53\r\n");
return;
}
}
// makes it handle the parameters as a machine position
THEROBOT->next_command_is_MCS= true;
}
// remember last modal group 1 code
if(gcode->g < 4) {
modal_group_1= gcode->g;
}
}
if(gcode->has_m) {
switch (gcode->m) {
case 28: // start upload command
delete gcode;
this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
// open file
upload_fd = fopen(this->upload_filename.c_str(), "w");
if(upload_fd != NULL) {
this->uploading = true;
new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
} else {
new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
}
// only save stuff from this stream
upload_stream= new_message.stream;
//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
continue;
case 30: // end of program
if(!THEKERNEL->is_grbl_mode()) break; // Special case M30 as it is also delete sd card file so only do this if in grbl mode
// fall through to M2
case 2:
{
modal_group_1= 1; // set to G1
// issue M5 and M9 in case spindle and coolant are being used
Gcode gc1("M5", &StreamOutput::NullStream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
Gcode gc2("M9", &StreamOutput::NullStream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
}
break;
case 112: // emergency stop, do the best we can with this
// this is also handled out-of-band (it is now with ^X in the serial driver)
// disables heaters and motors, ignores further incoming Gcode and clears block queue
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
delete gcode;
return;
case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
{ // concatenate the command again and send to panel if enabled
string str= single_command.substr(4) + possible_command;
PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
delete gcode;
new_message.stream->printf("ok\r\n");
return;
}
case 1000: // M1000 is a special command that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
{
// reconstruct entire command line again
string str= single_command.substr(5) + possible_command;
while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
delete gcode;
if(str.empty()) {
SimpleShell::parse_command("help", "", new_message.stream);
}else{
string args= lc(str);
string cmd = shift_parameter(args);
// find command and execute it
if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
new_message.stream->printf("Command not found: %s\n", cmd.c_str());
}
}
new_message.stream->printf("ok\r\n");
return;
}
case 500: // M500 save volatile settings to config-override
THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
__disable_irq();
{
FileStream fs(THEKERNEL->config_override_filename());
fs.printf("; DO NOT EDIT THIS FILE\n");
// this also will truncate the existing file instead of deleting it
}
// replace stream with one that writes to config-override file
gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
// dispatch the M500 here so we can free up the stream when done
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
delete gcode->stream;
delete gcode;
__enable_irq();
new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 501: // load config override
case 504: // save to specific config override file
{
string arg= get_arguments(single_command + possible_command); // rest of line is filename
if(arg.empty()) arg= "/sd/config-override";
else arg= "/sd/config-override." + arg;
//new_message.stream->printf("args: <%s>\n", arg.c_str());
SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
}
delete gcode;
new_message.stream->printf("ok\r\n");
return;
case 502: // M502 deletes config-override so everything defaults to what is in config
remove(THEKERNEL->config_override_filename());
delete gcode;
new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 503: { // M503 display live settings and indicates if there is an override file
FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
if(fd != NULL) {
fclose(fd);
new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
} else {
new_message.stream->printf("; No config override\n");
}
gcode->add_nl= true;
break; // fall through to process by modules
}
}
}
//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
//Dispatch message!
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
if (gcode->is_error) {
// report error
if(THEKERNEL->is_grbl_mode()) {
new_message.stream->printf("error: ");
}else{
new_message.stream->printf("Error: ");
}
if(!gcode->txt_after_ok.empty()) {
new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
gcode->txt_after_ok.clear();
}else{
new_message.stream->printf("unknown\r\n");
}
// we cannot continue safely after an error so we enter HALT state
new_message.stream->printf("Entering Alarm/Halt state\n");
THEKERNEL->call_event(ON_HALT, nullptr);
}else{
if(gcode->add_nl)
new_message.stream->printf("\r\n");
if(!gcode->txt_after_ok.empty()) {
new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
gcode->txt_after_ok.clear();
} else {
if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
// only send ok once per line if this is a multi g code line send ok on the last one
if(possible_command.empty())
new_message.stream->printf("ok\r\n");
} else {
// maybe should do the above for all hosts?
new_message.stream->printf("ok\r\n");
}
}
}
delete gcode;
} else {
// we are uploading and it is the upload stream so so save it
if(single_command.substr(0, 3) == "M29") {
// done uploading, close file
fclose(upload_fd);
upload_fd = NULL;
uploading = false;
upload_filename.clear();
upload_stream= nullptr;
new_message.stream->printf("Done saving file.\r\nok\r\n");
continue;
}
if(upload_fd == NULL) {
// error detected writing to file so discard everything until it stops
new_message.stream->printf("ok\r\n");
continue;
}
single_command.append("\n");
static int cnt = 0;
if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
// error writing to file
new_message.stream->printf("Error:error writing to file.\r\n");
fclose(upload_fd);
upload_fd = NULL;
continue;
} else {
cnt += single_command.size();
if (cnt > 400) {
// HACK ALERT to get around fwrite corruption close and re open for append
fclose(upload_fd);
upload_fd = fopen(upload_filename.c_str(), "a");
cnt = 0;
}
new_message.stream->printf("ok\r\n");
//printf("uploading file write ok\n");
}
}
}
} else {
//Request resend
new_message.stream->printf("rs N%d\r\n", nextline);
}
} else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
// handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
char buf[6];
snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
possible_command.insert(0, buf);
goto try_again;
// Ignore comments and blank lines
} else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
new_message.stream->printf("ok\r\n");
}
}