[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 <string>
using std::string;
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "utils/Gcode.h"
#include "Pauser.h"
#include "libs/nuts_bolts.h"
#include "GcodeDispatch.h"
#include "modules/robot/Conveyor.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
#include "libs/StreamOutputPool.h"
#include "libs/FileStream.h"
#include "Config.h"
#include "checksumm.h"
#include "ConfigValue.h"

#define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")

GcodeDispatch::GcodeDispatch()
{
    halted= false;
    uploading = false;
    currentline = -1;
    last_g= 255;
}

// Called when the module has just been loaded
void GcodeDispatch::on_module_loaded()
{
    return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
    this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
    this->register_for_event(ON_HALT);
}

void GcodeDispatch::on_halt(void *arg)
{
    // set halt stream and ignore everything until M999
    this->halted= true;
}

// 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;

try_again:

    char first_char = possible_command[0];
    unsigned int n;
    if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || 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) {
                size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GM") + 1);
                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) {
                    //Prepare gcode for dispatch
                    Gcode *gcode = new Gcode(single_command, new_message.stream);

                    if(halted) {
                        // we ignore all commands until M999
                        if(gcode->has_m && gcode->m == 999) {
                            halted= false;
                            // fall through and pass onto other modules
                        }else{
                            // ignore everything, return error string to host
                            new_message.stream->printf("!!\r\n");
                            delete gcode;
                            continue;
                        }
                    }

                    if(gcode->has_g) {
                        last_g= 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\n", this->upload_filename.c_str());
                                } else {
                                    new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
                                }
                                //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
                                continue;

                            case 112: // emergency stop, do the best we can with this
                                // TODO this really needs to be handled out-of-band
                                // disables heaters and motors, ignores further incoming Gcode and clears block queue
                                THEKERNEL->call_event(ON_HALT);
                                THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
                                delete gcode;
                                return;

                            case 500: // M500 save volatile settings to config-override
                                // replace stream with one that writes to config-override file
                                gcode->stream = new FileStream(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;
                                new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
                                continue;

                            case 502: // M502 deletes config-override so everything defaults to what is in config
                                remove(THEKERNEL->config_override_filename());
                                new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
                                delete gcode;
                                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->add_nl)
                        new_message.stream->printf("\r\n");

                    if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
                        new_message.stream->printf("ok (command unclaimed)\r\n");
                    else 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
                        new_message.stream->printf("ok\r\n");

                    delete gcode;

                } else {
                    // we are uploading a file 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();
                        new_message.stream->printf("Done saving file.\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 G0 or G1 and resubmit if an X Y Z or F is found on its own line
        if(last_g != 0 && last_g != 1) {
            //if no last G1 or G0 ignore
            //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
            return;
        }
        char buf[6];
        snprintf(buf, sizeof(buf), "G%d ", last_g);
        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	*/
	7
	8	#include <string>
	9	using std::string;
4cff3ded AW	10	#include "libs/Module.h"
	11	#include "libs/Kernel.h"
	12	#include "utils/Gcode.h"
17704c93	13	#include "Pauser.h"
436a2cd1	14	#include "libs/nuts_bolts.h"
4cff3ded	15	#include "GcodeDispatch.h"
3fceb8eb	16	#include "modules/robot/Conveyor.h"
423df6df	17	#include "libs/SerialMessage.h"
838b33b4	18	#include "libs/StreamOutput.h"
17704c93	19	#include "libs/StreamOutputPool.h"
f2f0dfed	20	#include "libs/FileStream.h"
61134a65	21	#include "Config.h"
7af0714f	22	#include "checksumm.h"
8d54c34c	23	#include "ConfigValue.h"
4cff3ded	24
b375ba1d JM	25	#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
	26
	27	GcodeDispatch::GcodeDispatch()
	28	{
	29	halted= false;
	30	uploading = false;
	31	currentline = -1;
	32	last_g= 255;
	33	}
4cff3ded AW	34
4cff3ded AW	35	// Called when the module has just been loaded
adf89655 JM	36	void GcodeDispatch::on_module_loaded()
adf89655 JM	37	{
314ab8f7	38	return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
4cff3ded	39	this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
b375ba1d JM	40	this->register_for_event(ON_HALT);
	41	}
	42
	43	void GcodeDispatch::on_halt(void *arg)
	44	{
	45	// set halt stream and ignore everything until M999
	46	this->halted= true;
4cff3ded AW	47	}
	48
	49	// When a command is received, if it is a Gcode, dispatch it as an object via an event
adf89655 JM	50	void GcodeDispatch::on_console_line_received(void *line)
	51	{
	52	SerialMessage new_message = static_cast<SerialMessage >(line);
de91760a	53	string possible_command = new_message.message;
b6c86164	54
62567509 MC	55	int ln = 0;
62567509 MC	56	int cs = 0;
c4c70e85 JM	57
	58	try_again:
	59
	60	char first_char = possible_command[0];
c2885de8	61	unsigned int n;
adf89655	62	if ( first_char == 'G' \|\| first_char == 'M' \|\| first_char == 'T' \|\| first_char == 'N' ) {
9a29161f	63
62567509	64	//Get linenumber
adf89655	65	if ( first_char == 'N' ) {
aae5a789	66	Gcode full_line = Gcode(possible_command, new_message.stream, false);
534e17b9 MC	67	ln = (int) full_line.get_value('N');
534e17b9 MC	68	int chksum = (int) full_line.get_value('*');
62567509	69
f337d8fd	70	//Catch message if it is M110: Set Current Line Number
b9b1bb25 JM	71	if ( full_line.has_m ) {
b9b1bb25 JM	72	if ( full_line.m == 110 ) {
f337d8fd MC	73	currentline = ln;
	74	new_message.stream->printf("ok\r\n");
	75	return;
	76	}
	77	}
	78
534e17b9	79	//Strip checksum value from possible_command
62567509	80	size_t chkpos = possible_command.find_first_of("*");
de91760a	81	possible_command = possible_command.substr(0, chkpos);
534e17b9	82	//Calculate checksum
adf89655 JM	83	if ( chkpos != string::npos ) {
adf89655 JM	84	for (auto c = possible_command.cbegin(); c != '' && c != possible_command.cend(); c++)
7a2ca498	85	cs = cs ^ *c;
62567509	86	cs &= 0xff; // Defensive programming...
534e17b9	87	cs -= chksum;
62567509	88	}
534e17b9	89	//Strip line number value from possible_command
9883efb8	90	size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
de91760a	91	possible_command = possible_command.substr(lnsize);
f337d8fd	92
adf89655	93	} else {
534e17b9 MC	94	//Assume checks succeeded
	95	cs = 0x00;
	96	ln = currentline + 1;
9a29161f MC	97	}
9a29161f MC	98
436a2cd1	99	//Remove comments
30c006fd	100	size_t comment = possible_command.find_first_of(";(");
adf89655 JM	101	if( comment != string::npos ) {
	102	possible_command = possible_command.substr(0, comment);
	103	}
436a2cd1	104
62567509 MC	105	//If checksum passes then process message, else request resend
62567509 MC	106	int nextline = currentline + 1;
adf89655	107	if( cs == 0x00 && ln == nextline ) {
f337d8fd	108	if( first_char == 'N' ) {
534e17b9	109	currentline = nextline;
f337d8fd MC	110	}
f337d8fd MC	111
d6190d18	112	while(possible_command.size() > 0) {
43c443ef	113	size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GM") + 1);
d6190d18	114	string single_command;
85bb8e89	115	if(nextcmd == string::npos) {
d6190d18 MC	116	single_command = possible_command;
d6190d18 MC	117	possible_command = "";
adf89655 JM	118	} else {
adf89655 JM	119	single_command = possible_command.substr(0, nextcmd);
2c4285ec	120	possible_command = possible_command.substr(nextcmd);
d6190d18	121	}
702023f3	122
b375ba1d	123
44e8c359 JM	124	if(!uploading) {
44e8c359 JM	125	//Prepare gcode for dispatch
adf89655	126	Gcode *gcode = new Gcode(single_command, new_message.stream);
c4c70e85	127
b375ba1d JM	128	if(halted) {
	129	// we ignore all commands until M999
	130	if(gcode->has_m && gcode->m == 999) {
	131	halted= false;
76217df5	132	// fall through and pass onto other modules
b375ba1d	133	}else{
76217df5	134	// ignore everything, return error string to host
b375ba1d	135	new_message.stream->printf("!!\r\n");
76217df5 JM	136	delete gcode;
76217df5 JM	137	continue;
b375ba1d	138	}
b375ba1d JM	139	}
b375ba1d JM	140
c2885de8 JM	141	if(gcode->has_g) {
	142	last_g= gcode->g;
	143	}
b375ba1d	144
adf89655 JM	145	if(gcode->has_m) {
	146	switch (gcode->m) {
	147	case 28: // start upload command
	148	delete gcode;
	149
	150	this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
	151	// open file
	152	upload_fd = fopen(this->upload_filename.c_str(), "w");
	153	if(upload_fd != NULL) {
	154	this->uploading = true;
	155	new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
	156	} else {
	157	new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
	158	}
	159	//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
	160	continue;
	161
17704c93 JM	162	case 112: // emergency stop, do the best we can with this
17704c93 JM	163	// TODO this really needs to be handled out-of-band
b375ba1d	164	// disables heaters and motors, ignores further incoming Gcode and clears block queue
17704c93	165	THEKERNEL->call_event(ON_HALT);
b375ba1d JM	166	THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
b375ba1d JM	167	delete gcode;
17704c93 JM	168	return;
17704c93 JM	169
adf89655	170	case 500: // M500 save volatile settings to config-override
f2f0dfed	171	// replace stream with one that writes to config-override file
347854ff	172	gcode->stream = new FileStream(THEKERNEL->config_override_filename());
adf89655	173	// dispatch the M500 here so we can free up the stream when done
314ab8f7	174	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655 JM	175	delete gcode->stream;
adf89655 JM	176	delete gcode;
347854ff	177	new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	178	continue;
adf89655 JM	179
618c9b0f	180	case 502: // M502 deletes config-override so everything defaults to what is in config
347854ff MM	181	remove(THEKERNEL->config_override_filename());
347854ff MM	182	new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	183	delete gcode;
	184	continue;
	185
	186	case 503: { // M503 display live settings and indicates if there is an override file
347854ff	187	FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
adf89655 JM	188	if(fd != NULL) {
adf89655 JM	189	fclose(fd);
347854ff	190	new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
adf89655 JM	191
	192	} else {
	193	new_message.stream->printf("; No config override\n");
	194	}
08d9afc6	195	gcode->add_nl= true;
618c9b0f	196	break; // fall through to process by modules
adf89655	197	}
44e8c359	198	}
33e4cc02 JM	199	}
	200
	201	//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
44e8c359	202	//Dispatch message!
314ab8f7	203	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655	204	if(gcode->add_nl)
44e8c359 JM	205	new_message.stream->printf("\r\n");
44e8c359 JM	206
adf89655	207	if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
44e8c359 JM	208	new_message.stream->printf("ok (command unclaimed)\r\n");
	209	else if(!gcode->txt_after_ok.empty()) {
	210	new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
	211	gcode->txt_after_ok.clear();
adf89655	212	} else
44e8c359 JM	213	new_message.stream->printf("ok\r\n");
	214
	215	delete gcode;
	216
adf89655	217	} else {
44e8c359 JM	218	// we are uploading a file so save it
	219	if(single_command.substr(0, 3) == "M29") {
	220	// done uploading, close file
	221	fclose(upload_fd);
adf89655 JM	222	upload_fd = NULL;
adf89655 JM	223	uploading = false;
44e8c359 JM	224	upload_filename.clear();
	225	new_message.stream->printf("Done saving file.\r\n");
	226	continue;
	227	}
adf89655	228
44e8c359 JM	229	if(upload_fd == NULL) {
	230	// error detected writing to file so discard everything until it stops
	231	new_message.stream->printf("ok\r\n");
	232	continue;
	233	}
adf89655	234
44e8c359	235	single_command.append("\n");
adf89655	236	static int cnt = 0;
44e8c359 JM	237	if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
	238	// error writing to file
	239	new_message.stream->printf("Error:error writing to file.\r\n");
	240	fclose(upload_fd);
adf89655	241	upload_fd = NULL;
44e8c359	242	continue;
adf89655 JM	243
	244	} else {
	245	cnt += single_command.size();
	246	if (cnt > 400) {
44e8c359 JM	247	// HACK ALERT to get around fwrite corruption close and re open for append
44e8c359 JM	248	fclose(upload_fd);
adf89655 JM	249	upload_fd = fopen(upload_filename.c_str(), "a");
adf89655 JM	250	cnt = 0;
44e8c359 JM	251	}
	252	new_message.stream->printf("ok\r\n");
	253	//printf("uploading file write ok\n");
	254	}
	255	}
d6190d18	256	}
adf89655 JM	257
adf89655 JM	258	} else {
62567509	259	//Request resend
f337d8fd	260	new_message.stream->printf("rs N%d\r\n", nextline);
62567509	261	}
2bb8b390	262
c2885de8	263	} else if( (n=possible_command.find_first_of("XYZF")) == 0 \|\| (first_char == ' ' && n != string::npos) ) {
c4c70e85 JM	264	// handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
	265	if(last_g != 0 && last_g != 1) {
	266	//if no last G1 or G0 ignore
	267	//THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
	268	return;
	269	}
c2885de8 JM	270	char buf[6];
	271	snprintf(buf, sizeof(buf), "G%d ", last_g);
	272	possible_command.insert(0, buf);
	273	goto try_again;
	274
adf89655 JM	275	// Ignore comments and blank lines
adf89655 JM	276	} else if ( first_char == ';' \|\| first_char == '(' \|\| first_char == ' ' \|\| first_char == '\n' \|\| first_char == '\r' ) {
b6c86164	277	new_message.stream->printf("ok\r\n");
4cff3ded AW	278	}
	279	}
	280