src/modules/communication/GcodeDispatch.cpp

   1 /*
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "GcodeDispatch.h"
   9
  10 #include "libs/Kernel.h"
  11 #include "Robot.h"
  12 #include "utils/Gcode.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "modules/robot/Conveyor.h"
  15 #include "libs/SerialMessage.h"
  16 #include "libs/StreamOutput.h"
  17 #include "libs/StreamOutputPool.h"
  18 #include "libs/FileStream.h"
  19 #include "libs/AppendFileStream.h"
  20 #include "Config.h"
  21 #include "checksumm.h"
  22 #include "ConfigValue.h"
  23 #include "PublicDataRequest.h"
  24 #include "PublicData.h"
  25 #include "SimpleShell.h"
  26 #include "utils.h"
  27 #include "LPC17xx.h"
  28
  29 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  30 #define panel_display_message_checksum CHECKSUM("display_message")
  31 #define panel_checksum             CHECKSUM("panel")
  32
  33 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  34 static const int allowed_mcodes[]= {105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
  35 static bool is_allowed_mcode(int m) {
  36     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  37         if(allowed_mcodes[i] == m) return true;
  38     }
  39     return false;
  40 }
  41
  42 GcodeDispatch::GcodeDispatch()
  43 {
  44     uploading = false;
  45     currentline = -1;
  46     modal_group_1= 0;
  47 }
  48
  49 // Called when the module has just been loaded
  50 void GcodeDispatch::on_module_loaded()
  51 {
  52     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  53 }
  54
  55 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  56 void GcodeDispatch::on_console_line_received(void *line)
  57 {
  58     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  59     string possible_command = new_message.message;
  60
  61     int ln = 0;
  62     int cs = 0;
  63
  64 try_again:
  65
  66     char first_char = possible_command[0];
  67     unsigned int n;
  68
  69     if(first_char == '$') {
  70         // ignore as simpleshell will handle it
  71         return;
  72
  73     }else if(islower(first_char)) {
  74         // ignore all lowercase as they are simpleshell commands
  75         return;
  76     }
  77
  78     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  79
  80         //Get linenumber
  81         if ( first_char == 'N' ) {
  82             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  83             ln = (int) full_line.get_value('N');
  84             int chksum = (int) full_line.get_value('*');
  85
  86             //Catch message if it is M110: Set Current Line Number
  87             if ( full_line.has_m ) {
  88                 if ( full_line.m == 110 ) {
  89                     currentline = ln;
  90                     new_message.stream->printf("ok\r\n");
  91                     return;
  92                 }
  93             }
  94
  95             //Strip checksum value from possible_command
  96             size_t chkpos = possible_command.find_first_of("*");
  97             possible_command = possible_command.substr(0, chkpos);
  98             //Calculate checksum
  99             if ( chkpos != string::npos ) {
 100                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
 101                     cs = cs ^ *c;
 102                 cs &= 0xff;  // Defensive programming...
 103                 cs -= chksum;
 104             }
 105             //Strip line number value from possible_command
 106             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
 107             possible_command = possible_command.substr(lnsize);
 108
 109         } else {
 110             //Assume checks succeeded
 111             cs = 0x00;
 112             ln = currentline + 1;
 113         }
 114
 115         //Remove comments
 116         size_t comment = possible_command.find_first_of(";(");
 117         if( comment != string::npos ) {
 118             possible_command = possible_command.substr(0, comment);
 119         }
 120
 121         //If checksum passes then process message, else request resend
 122         int nextline = currentline + 1;
 123         if( cs == 0x00 && ln == nextline ) {
 124             if( first_char == 'N' ) {
 125                 currentline = nextline;
 126             }
 127
 128             while(possible_command.size() > 0) {
 129                 // assumes G or M are always the first on the line
 130                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 131                 string single_command;
 132                 if(nextcmd == string::npos) {
 133                     single_command = possible_command;
 134                     possible_command = "";
 135                 } else {
 136                     single_command = possible_command.substr(0, nextcmd);
 137                     possible_command = possible_command.substr(nextcmd);
 138                 }
 139
 140
 141                 if(!uploading || upload_stream != new_message.stream) {
 142                     // Prepare gcode for dispatch
 143                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 144
 145                     if(THEKERNEL->is_halted()) {
 146                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 147                         if(gcode->has_m && gcode->m == 999) {
 148                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 149
 150                             // fall through and pass onto other modules
 151
 152                         }else if(!is_allowed_mcode(gcode->m)) {
 153                             // ignore everything, return error string to host
 154                             if(THEKERNEL->is_grbl_mode()) {
 155                                 new_message.stream->printf("error:Alarm lock\n");
 156
 157                             }else{
 158                                 new_message.stream->printf("!!\r\n");
 159                             }
 160                             delete gcode;
 161                             continue;
 162                         }
 163                     }
 164
 165                     if(gcode->has_g) {
 166                         if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
 167                             // this is ugly to implement as there may or may not be a G0/G1 on the same line
 168                             // valid vesion seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
 169                             if(possible_command.empty()) {
 170                                 // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
 171                                 // TODO it is really an error if the last is not G0 thru G3
 172                                 if(modal_group_1 > 3) {
 173                                     delete gcode;
 174                                     new_message.stream->printf("ok - Invalid G53\r\n");
 175                                     return;
 176                                 }
 177                                 // use last G0 or G1
 178                                 gcode->g= modal_group_1;
 179
 180                             }else{
 181                                 delete gcode;
 182                                 // extract next G0/G1 from the rest of the line, ignore if it is not one of these
 183                                 gcode = new Gcode(possible_command, new_message.stream);
 184                                 possible_command= "";
 185                                 if(!gcode->has_g || gcode->g > 1) {
 186                                     // not G0 or G1 so ignore it as it is invalid
 187                                     delete gcode;
 188                                     new_message.stream->printf("ok - Invalid G53\r\n");
 189                                     return;
 190                                 }
 191                             }
 192                             // makes it handle the parameters as a machine position
 193                             THEKERNEL->robot->next_command_is_MCS= true;
 194
 195                         }
 196
 197                         // remember last modal group 1 code
 198                         if(gcode->g < 4) {
 199                             modal_group_1= gcode->g;
 200                         }
 201                     }
 202
 203                     if(gcode->has_m) {
 204                         switch (gcode->m) {
 205                             case 28: // start upload command
 206                                 delete gcode;
 207
 208                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 209                                 // open file
 210                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 211                                 if(upload_fd != NULL) {
 212                                     this->uploading = true;
 213                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 214                                 } else {
 215                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 216                                 }
 217
 218                                 // only save stuff from this stream
 219                                 upload_stream= new_message.stream;
 220
 221                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 222                                 continue;
 223
 224                             case 2: case 30: // end of program
 225                                 {
 226                                     modal_group_1= 1; // set to G1
 227                                     // issue M5 and M9 in case spindle and coolant are being used
 228                                     Gcode gc1("M5", &StreamOutput::NullStream);
 229                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
 230                                     Gcode gc2("M9", &StreamOutput::NullStream);
 231                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
 232                                 }
 233                                 break;
 234
 235                             case 112: // emergency stop, do the best we can with this
 236                                 // this is also handled out-of-band (it is now with ^X in the serial driver)
 237                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 238                                 THEKERNEL->call_event(ON_HALT, nullptr);
 239                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
 240                                 delete gcode;
 241                                 return;
 242
 243                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 244                             {    // concatenate the command again and send to panel if enabled
 245                                 string str= single_command.substr(4) + possible_command;
 246                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 247                                 delete gcode;
 248                                 new_message.stream->printf("ok\r\n");
 249                                 return;
 250                             }
 251
 252                             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)
 253                             {
 254                                 // reconstruct entire command line again
 255                                 string str= single_command.substr(5) + possible_command;
 256                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 257
 258                                 delete gcode;
 259
 260                                 if(str.empty()) {
 261                                     SimpleShell::parse_command("help", "", new_message.stream);
 262
 263                                 }else{
 264                                     string args= lc(str);
 265                                     string cmd = shift_parameter(args);
 266                                     // find command and execute it
 267                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 268                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 269                                     }
 270                                 }
 271
 272                                 new_message.stream->printf("ok\r\n");
 273                                 return;
 274                             }
 275
 276                             case 500: // M500 save volatile settings to config-override
 277                                 THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
 278                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 279                                 __disable_irq();
 280                                 {
 281                                     FileStream fs(THEKERNEL->config_override_filename());
 282                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 283                                     // this also will truncate the existing file instead of deleting it
 284                                 }
 285                                 // replace stream with one that writes to config-override file
 286                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 287                                 // dispatch the M500 here so we can free up the stream when done
 288                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 289                                 delete gcode->stream;
 290                                 delete gcode;
 291                                 __enable_irq();
 292                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 293                                 continue;
 294
 295                             case 502: // M502 deletes config-override so everything defaults to what is in config
 296                                 remove(THEKERNEL->config_override_filename());
 297                                 delete gcode;
 298                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 299                                 continue;
 300
 301                             case 503: { // M503 display live settings and indicates if there is an override file
 302                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 303                                 if(fd != NULL) {
 304                                     fclose(fd);
 305                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 306
 307                                 } else {
 308                                     new_message.stream->printf("; No config override\n");
 309                                 }
 310                                 gcode->add_nl= true;
 311                                 break; // fall through to process by modules
 312                             }
 313                         }
 314                     }
 315
 316                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 317                     //Dispatch message!
 318                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 319                     if(gcode->add_nl)
 320                         new_message.stream->printf("\r\n");
 321
 322                     if(!gcode->txt_after_ok.empty()) {
 323                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 324                         gcode->txt_after_ok.clear();
 325
 326                     } else {
 327                         if(THEKERNEL->is_grbl_mode()) {
 328                             // only send ok once per line if this is a multi g code line send ok on the last one
 329                             if(possible_command.empty())
 330                                 new_message.stream->printf("ok\r\n");
 331                         } else {
 332                             // TODO maybe should do the above for all hosts?
 333                             new_message.stream->printf("ok\r\n");
 334                         }
 335                     }
 336
 337                     delete gcode;
 338
 339                 } else {
 340                     // we are uploading and it is the upload stream so so save it
 341                     if(single_command.substr(0, 3) == "M29") {
 342                         // done uploading, close file
 343                         fclose(upload_fd);
 344                         upload_fd = NULL;
 345                         uploading = false;
 346                         upload_filename.clear();
 347                         upload_stream= nullptr;
 348                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 349                         continue;
 350                     }
 351
 352                     if(upload_fd == NULL) {
 353                         // error detected writing to file so discard everything until it stops
 354                         new_message.stream->printf("ok\r\n");
 355                         continue;
 356                     }
 357
 358                     single_command.append("\n");
 359                     static int cnt = 0;
 360                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 361                         // error writing to file
 362                         new_message.stream->printf("Error:error writing to file.\r\n");
 363                         fclose(upload_fd);
 364                         upload_fd = NULL;
 365                         continue;
 366
 367                     } else {
 368                         cnt += single_command.size();
 369                         if (cnt > 400) {
 370                             // HACK ALERT to get around fwrite corruption close and re open for append
 371                             fclose(upload_fd);
 372                             upload_fd = fopen(upload_filename.c_str(), "a");
 373                             cnt = 0;
 374                         }
 375                         new_message.stream->printf("ok\r\n");
 376                         //printf("uploading file write ok\n");
 377                     }
 378                 }
 379             }
 380
 381         } else {
 382             //Request resend
 383             new_message.stream->printf("rs N%d\r\n", nextline);
 384         }
 385
 386     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 387         // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
 388         char buf[6];
 389         snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
 390         possible_command.insert(0, buf);
 391         goto try_again;
 392
 393         // Ignore comments and blank lines
 394     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 395         new_message.stream->printf("ok\r\n");
 396     }
 397 }
 398