[clinton/Smoothieware.git] / src / modules / communication / GcodeDispatch.cpp

/*
      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 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");
    }
}
Commit	Line	Data
de91760a	1	/*
4cff3ded AW	2	This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
	3	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.
	4	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.
de91760a	5	You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
4cff3ded AW	6	*/
4cff3ded AW	7
b14f84e0 JM	8	#include "GcodeDispatch.h"
b14f84e0 JM	9
4cff3ded	10	#include "libs/Kernel.h"
00e607c7	11	#include "Robot.h"
4cff3ded	12	#include "utils/Gcode.h"
436a2cd1	13	#include "libs/nuts_bolts.h"
3fceb8eb	14	#include "modules/robot/Conveyor.h"
423df6df	15	#include "libs/SerialMessage.h"
838b33b4	16	#include "libs/StreamOutput.h"
17704c93	17	#include "libs/StreamOutputPool.h"
c4d4e3f8	18	#include "libs/FileStream.h"
825f27de	19	#include "libs/AppendFileStream.h"
61134a65	20	#include "Config.h"
7af0714f	21	#include "checksumm.h"
8d54c34c	22	#include "ConfigValue.h"
c89338bd JM	23	#include "PublicDataRequest.h"
c89338bd JM	24	#include "PublicData.h"
5c051155 JM	25	#include "SimpleShell.h"
5c051155 JM	26	#include "utils.h"
5534e39e	27	#include "LPC17xx.h"
4cff3ded	28
c89338bd JM	29	#define panel_display_message_checksum CHECKSUM("display_message")
c89338bd JM	30	#define panel_checksum CHECKSUM("panel")
b375ba1d	31
4fb7087f	32	// goes in Flash, list of Mxxx codes that are allowed when in Halted state
f88068ec	33	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
4fb7087f JM	34	static bool is_allowed_mcode(int m) {
	35	for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
	36	if(allowed_mcodes[i] == m) return true;
	37	}
	38	return false;
	39	}
	40
b375ba1d JM	41	GcodeDispatch::GcodeDispatch()
b375ba1d JM	42	{
b375ba1d JM	43	uploading = false;
b375ba1d JM	44	currentline = -1;
ae7c4219	45	modal_group_1= 0;
b375ba1d	46	}
4cff3ded AW	47
4cff3ded AW	48	// Called when the module has just been loaded
adf89655 JM	49	void GcodeDispatch::on_module_loaded()
adf89655 JM	50	{
4cff3ded AW	51	this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
	52	}
	53
	54	// When a command is received, if it is a Gcode, dispatch it as an object via an event
adf89655 JM	55	void GcodeDispatch::on_console_line_received(void *line)
	56	{
	57	SerialMessage new_message = static_cast<SerialMessage >(line);
de91760a	58	string possible_command = new_message.message;
b6c86164	59
62567509 MC	60	int ln = 0;
62567509 MC	61	int cs = 0;
c4c70e85	62
2a58aabf	63	// just reply ok to empty lines
543c4b6d JM	64	if(possible_command.empty()) {
	65	new_message.stream->printf("ok\r\n");
	66	return;
	67	}
	68
2a58aabf JM	69	try_again:
2a58aabf JM	70
c4c70e85	71	char first_char = possible_command[0];
c2885de8	72	unsigned int n;
6c0193b3 JM	73
	74	if(first_char == '$') {
	75	// ignore as simpleshell will handle it
	76	return;
	77
	78	}else if(islower(first_char)) {
	79	// ignore all lowercase as they are simpleshell commands
	80	return;
	81	}
	82
7d105bc4	83	if ( first_char == 'G' \|\| first_char == 'M' \|\| first_char == 'T' \|\| first_char == 'S' \|\| first_char == 'N' ) {
9a29161f	84
62567509	85	//Get linenumber
adf89655	86	if ( first_char == 'N' ) {
aae5a789	87	Gcode full_line = Gcode(possible_command, new_message.stream, false);
534e17b9 MC	88	ln = (int) full_line.get_value('N');
534e17b9 MC	89	int chksum = (int) full_line.get_value('*');
62567509	90
f337d8fd	91	//Catch message if it is M110: Set Current Line Number
b9b1bb25 JM	92	if ( full_line.has_m ) {
b9b1bb25 JM	93	if ( full_line.m == 110 ) {
f337d8fd MC	94	currentline = ln;
	95	new_message.stream->printf("ok\r\n");
	96	return;
	97	}
	98	}
	99
534e17b9	100	//Strip checksum value from possible_command
62567509	101	size_t chkpos = possible_command.find_first_of("*");
de91760a	102	possible_command = possible_command.substr(0, chkpos);
534e17b9	103	//Calculate checksum
adf89655 JM	104	if ( chkpos != string::npos ) {
adf89655 JM	105	for (auto c = possible_command.cbegin(); c != '' && c != possible_command.cend(); c++)
7a2ca498	106	cs = cs ^ *c;
62567509	107	cs &= 0xff; // Defensive programming...
534e17b9	108	cs -= chksum;
62567509	109	}
534e17b9	110	//Strip line number value from possible_command
9883efb8	111	size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
de91760a	112	possible_command = possible_command.substr(lnsize);
f337d8fd	113
adf89655	114	} else {
534e17b9 MC	115	//Assume checks succeeded
	116	cs = 0x00;
	117	ln = currentline + 1;
9a29161f MC	118	}
9a29161f MC	119
436a2cd1	120	//Remove comments
30c006fd	121	size_t comment = possible_command.find_first_of(";(");
adf89655 JM	122	if( comment != string::npos ) {
	123	possible_command = possible_command.substr(0, comment);
	124	}
436a2cd1	125
62567509 MC	126	//If checksum passes then process message, else request resend
62567509 MC	127	int nextline = currentline + 1;
adf89655	128	if( cs == 0x00 && ln == nextline ) {
f337d8fd	129	if( first_char == 'N' ) {
534e17b9	130	currentline = nextline;
f337d8fd MC	131	}
f337d8fd MC	132
d6190d18	133	while(possible_command.size() > 0) {
49d2ca86 JM	134	// assumes G or M are always the first on the line
49d2ca86 JM	135	size_t nextcmd = possible_command.find_first_of("GM", 2);
d6190d18	136	string single_command;
85bb8e89	137	if(nextcmd == string::npos) {
d6190d18 MC	138	single_command = possible_command;
d6190d18 MC	139	possible_command = "";
adf89655 JM	140	} else {
adf89655 JM	141	single_command = possible_command.substr(0, nextcmd);
2c4285ec	142	possible_command = possible_command.substr(nextcmd);
d6190d18	143	}
702023f3	144
b375ba1d	145
bb270b88 JM	146	if(!uploading \|\| upload_stream != new_message.stream) {
bb270b88 JM	147	// Prepare gcode for dispatch
adf89655	148	Gcode *gcode = new Gcode(single_command, new_message.stream);
c4c70e85	149
73706276	150	if(THEKERNEL->is_halted()) {
4fb7087f	151	// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
b375ba1d	152	if(gcode->has_m && gcode->m == 999) {
b9ad75de JM	153	if(THEKERNEL->is_halted()) {
	154	THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
	155	new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
	156	}
	157	new_message.stream->printf("ok\n");
	158	delete gcode;
	159	continue;
4fb7087f JM	160
4fb7087f JM	161	}else if(!is_allowed_mcode(gcode->m)) {
76217df5	162	// ignore everything, return error string to host
6c0193b3	163	if(THEKERNEL->is_grbl_mode()) {
07186543	164	new_message.stream->printf("error:Alarm lock\n");
6c0193b3 JM	165
	166	}else{
	167	new_message.stream->printf("!!\r\n");
	168	}
76217df5 JM	169	delete gcode;
76217df5 JM	170	continue;
b375ba1d	171	}
b375ba1d JM	172	}
b375ba1d JM	173
c2885de8	174	if(gcode->has_g) {
00e607c7 JM	175	if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
00e607c7 JM	176	// this is ugly to implement as there may or may not be a G0/G1 on the same line
a3be54e3	177	// valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
00e607c7	178	if(possible_command.empty()) {
5d2319a9	179	// use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
ae7c4219 JM	180	// TODO it is really an error if the last is not G0 thru G3
ae7c4219 JM	181	if(modal_group_1 > 3) {
5d2319a9 JM	182	delete gcode;
	183	new_message.stream->printf("ok - Invalid G53\r\n");
	184	return;
	185	}
	186	// use last G0 or G1
ae7c4219	187	gcode->g= modal_group_1;
00e607c7 JM	188
	189	}else{
	190	delete gcode;
	191	// extract next G0/G1 from the rest of the line, ignore if it is not one of these
	192	gcode = new Gcode(possible_command, new_message.stream);
5d2319a9	193	possible_command= "";
00e607c7 JM	194	if(!gcode->has_g \|\| gcode->g > 1) {
	195	// not G0 or G1 so ignore it as it is invalid
	196	delete gcode;
	197	new_message.stream->printf("ok - Invalid G53\r\n");
	198	return;
	199	}
	200	}
	201	// makes it handle the parameters as a machine position
c8bac202	202	THEROBOT->next_command_is_MCS= true;
5d2319a9	203
00e607c7	204	}
5d2319a9	205
ae7c4219 JM	206	// remember last modal group 1 code
	207	if(gcode->g < 4) {
	208	modal_group_1= gcode->g;
	209	}
c2885de8	210	}
b375ba1d	211
adf89655 JM	212	if(gcode->has_m) {
	213	switch (gcode->m) {
	214	case 28: // start upload command
	215	delete gcode;
	216
	217	this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
	218	// open file
	219	upload_fd = fopen(this->upload_filename.c_str(), "w");
	220	if(upload_fd != NULL) {
	221	this->uploading = true;
6d91d256	222	new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
adf89655	223	} else {
6d91d256	224	new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
adf89655	225	}
bb270b88 JM	226
	227	// only save stuff from this stream
	228	upload_stream= new_message.stream;
	229
adf89655 JM	230	//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
	231	continue;
	232
01a8d21a JM	233	case 30: // end of program
	234	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
	235	// fall through to M2
	236	case 2:
8ad60a4c JM	237	{
	238	modal_group_1= 1; // set to G1
	239	// issue M5 and M9 in case spindle and coolant are being used
	240	Gcode gc1("M5", &StreamOutput::NullStream);
	241	THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
	242	Gcode gc2("M9", &StreamOutput::NullStream);
	243	THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
	244	}
	245	break;
	246
17704c93	247	case 112: // emergency stop, do the best we can with this
e714bd32	248	// this is also handled out-of-band (it is now with ^X in the serial driver)
b375ba1d	249	// disables heaters and motors, ignores further incoming Gcode and clears block queue
728477c4	250	THEKERNEL->call_event(ON_HALT, nullptr);
e714bd32	251	THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
b375ba1d	252	delete gcode;
17704c93 JM	253	return;
17704c93 JM	254
c89338bd JM	255	case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
	256	{ // concatenate the command again and send to panel if enabled
	257	string str= single_command.substr(4) + possible_command;
	258	PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
	259	delete gcode;
	260	new_message.stream->printf("ok\r\n");
	261	return;
	262	}
	263
e714bd32	264	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)
5c051155 JM	265	{
	266	// reconstruct entire command line again
	267	string str= single_command.substr(5) + possible_command;
	268	while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
	269
	270	delete gcode;
	271
	272	if(str.empty()) {
	273	SimpleShell::parse_command("help", "", new_message.stream);
	274
	275	}else{
	276	string args= lc(str);
	277	string cmd = shift_parameter(args);
	278	// find command and execute it
	279	if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
	280	new_message.stream->printf("Command not found: %s\n", cmd.c_str());
	281	}
	282	}
	283
	284	new_message.stream->printf("ok\r\n");
	285	return;
	286	}
	287
adf89655	288	case 500: // M500 save volatile settings to config-override
04782655	289	THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
c4d4e3f8	290	//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
5534e39e	291	__disable_irq();
c4d4e3f8 JM	292	{
	293	FileStream fs(THEKERNEL->config_override_filename());
	294	fs.printf("; DO NOT EDIT THIS FILE\n");
	295	// this also will truncate the existing file instead of deleting it
	296	}
f2f0dfed	297	// replace stream with one that writes to config-override file
825f27de	298	gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
adf89655	299	// dispatch the M500 here so we can free up the stream when done
314ab8f7	300	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655 JM	301	delete gcode->stream;
adf89655 JM	302	delete gcode;
5534e39e	303	__enable_irq();
347854ff	304	new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	305	continue;
adf89655 JM	306
c0b50fa8 JM	307	case 501: // load config override
	308	case 504: // save to specific config override file
	309	{
	310	string arg= get_arguments(single_command + possible_command); // rest of line is filename
	311	if(arg.empty()) arg= "/sd/config-override";
	312	else arg= "/sd/config-override." + arg;
b95ebd3a	313	//new_message.stream->printf("args: <%s>\n", arg.c_str());
c0b50fa8 JM	314	SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
	315	}
	316	delete gcode;
	317	new_message.stream->printf("ok\r\n");
	318	return;
	319
618c9b0f	320	case 502: // M502 deletes config-override so everything defaults to what is in config
347854ff	321	remove(THEKERNEL->config_override_filename());
adf89655	322	delete gcode;
5534e39e	323	new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	324	continue;
	325
	326	case 503: { // M503 display live settings and indicates if there is an override file
347854ff	327	FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
adf89655 JM	328	if(fd != NULL) {
adf89655 JM	329	fclose(fd);
347854ff	330	new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
adf89655 JM	331
	332	} else {
	333	new_message.stream->printf("; No config override\n");
	334	}
08d9afc6	335	gcode->add_nl= true;
618c9b0f	336	break; // fall through to process by modules
adf89655	337	}
c0b50fa8	338
44e8c359	339	}
33e4cc02 JM	340	}
	341
	342	//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
44e8c359	343	//Dispatch message!
314ab8f7	344	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
44e8c359	345
166836be JM	346	if (gcode->is_error) {
	347	// report error
	348	if(THEKERNEL->is_grbl_mode()) {
	349	new_message.stream->printf("error: ");
	350	}else{
8e777b5f	351	new_message.stream->printf("Error: ");
166836be JM	352	}
	353
	354	if(!gcode->txt_after_ok.empty()) {
	355	new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
	356	gcode->txt_after_ok.clear();
	357
	358	}else{
	359	new_message.stream->printf("unknown\r\n");
	360	}
	361
50cb3c04 JM	362	// we cannot continue safely after an error so we enter HALT state
	363	new_message.stream->printf("Entering Alarm/Halt state\n");
	364	THEKERNEL->call_event(ON_HALT, nullptr);
	365
166836be JM	366	}else{
	367
	368	if(gcode->add_nl)
	369	new_message.stream->printf("\r\n");
	370
	371	if(!gcode->txt_after_ok.empty()) {
	372	new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
	373	gcode->txt_after_ok.clear();
05cdadd6	374
05cdadd6	375	} else {
166836be JM	376	if(THEKERNEL->is_ok_per_line() \|\| THEKERNEL->is_grbl_mode()) {
	377	// only send ok once per line if this is a multi g code line send ok on the last one
	378	if(possible_command.empty())
	379	new_message.stream->printf("ok\r\n");
	380	} else {
	381	// maybe should do the above for all hosts?
	382	new_message.stream->printf("ok\r\n");
	383	}
05cdadd6 JM	384	}
05cdadd6 JM	385	}
44e8c359 JM	386
	387	delete gcode;
	388
adf89655	389	} else {
bb270b88	390	// we are uploading and it is the upload stream so so save it
44e8c359 JM	391	if(single_command.substr(0, 3) == "M29") {
	392	// done uploading, close file
	393	fclose(upload_fd);
adf89655 JM	394	upload_fd = NULL;
adf89655 JM	395	uploading = false;
44e8c359	396	upload_filename.clear();
bb270b88	397	upload_stream= nullptr;
6d91d256	398	new_message.stream->printf("Done saving file.\r\nok\r\n");
44e8c359 JM	399	continue;
44e8c359 JM	400	}
adf89655	401
44e8c359 JM	402	if(upload_fd == NULL) {
	403	// error detected writing to file so discard everything until it stops
	404	new_message.stream->printf("ok\r\n");
	405	continue;
	406	}
adf89655	407
44e8c359	408	single_command.append("\n");
adf89655	409	static int cnt = 0;
44e8c359 JM	410	if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
	411	// error writing to file
	412	new_message.stream->printf("Error:error writing to file.\r\n");
	413	fclose(upload_fd);
adf89655	414	upload_fd = NULL;
44e8c359	415	continue;
adf89655 JM	416
	417	} else {
	418	cnt += single_command.size();
	419	if (cnt > 400) {
44e8c359 JM	420	// HACK ALERT to get around fwrite corruption close and re open for append
44e8c359 JM	421	fclose(upload_fd);
adf89655 JM	422	upload_fd = fopen(upload_filename.c_str(), "a");
adf89655 JM	423	cnt = 0;
44e8c359 JM	424	}
	425	new_message.stream->printf("ok\r\n");
	426	//printf("uploading file write ok\n");
	427	}
	428	}
d6190d18	429	}
adf89655 JM	430
adf89655 JM	431	} else {
62567509	432	//Request resend
f337d8fd	433	new_message.stream->printf("rs N%d\r\n", nextline);
62567509	434	}
2bb8b390	435
c2885de8	436	} else if( (n=possible_command.find_first_of("XYZF")) == 0 \|\| (first_char == ' ' && n != string::npos) ) {
ae7c4219	437	// handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
c2885de8	438	char buf[6];
ae7c4219	439	snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
c2885de8 JM	440	possible_command.insert(0, buf);
	441	goto try_again;
	442
adf89655 JM	443	// Ignore comments and blank lines
adf89655 JM	444	} else if ( first_char == ';' \|\| first_char == '(' \|\| first_char == ' ' \|\| first_char == '\n' \|\| first_char == '\r' ) {
b6c86164	445	new_message.stream->printf("ok\r\n");
4cff3ded AW	446	}
	447	}
	448