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 <string>
   9 using std::string;
  10 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 #include "utils/Gcode.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "GcodeDispatch.h"
  15 #include "modules/robot/Player.h"
  16 #include "libs/SerialMessage.h"
  17 #include "libs/StreamOutput.h"
  18
  19 GcodeDispatch::GcodeDispatch(){}
  20
  21 // Called when the module has just been loaded
  22 void GcodeDispatch::on_module_loaded() {
  23     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  24     currentline = -1;
  25 }
  26
  27 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  28 void GcodeDispatch::on_console_line_received(void * line){
  29     SerialMessage new_message = *static_cast<SerialMessage*>(line);
  30     string possible_command = new_message.message;
  31
  32     char first_char = possible_command[0];
  33     int ln = 0;
  34     int cs = 0;
  35     if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ){
  36
  37         //Get linenumber
  38         if( first_char == 'N' ){
  39             Gcode full_line = Gcode();
  40             full_line.command = possible_command;
  41             full_line.stream = new_message.stream;
  42             ln = (int) full_line.get_value('N');
  43             int chksum = (int) full_line.get_value('*');
  44
  45             //Catch message if it is M110: Set Current Line Number
  46             if( full_line.has_letter('M') ){
  47                 if( ((int) full_line.get_value('M')) == 110 ){
  48                     currentline = ln;
  49                     new_message.stream->printf("ok\r\n");
  50                     return;
  51                 }
  52             }
  53
  54             //Strip checksum value from possible_command
  55             size_t chkpos = possible_command.find_first_of("*");
  56             possible_command = possible_command.substr(0, chkpos);
  57             //Calculate checksum
  58             if( chkpos != string::npos ){
  59                 for(int i = 0; possible_command[i] != '*' && possible_command[i] != NULL; i++)
  60                     cs = cs ^ possible_command[i];
  61                 cs &= 0xff;  // Defensive programming...
  62                 cs -= chksum;
  63             }
  64             //Strip line number value from possible_command
  65             size_t lnsize = possible_command.find_first_of(" ") + 1;
  66             possible_command = possible_command.substr(lnsize);
  67
  68         }else{
  69             //Assume checks succeeded
  70             cs = 0x00;
  71             ln = currentline + 1;
  72         }
  73
  74         //Remove comments
  75         size_t comment = possible_command.find_first_of(";");
  76         if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
  77
  78         //If checksum passes then process message, else request resend
  79         int nextline = currentline + 1;
  80         if( cs == 0x00 && ln == nextline ){
  81             if( first_char == 'N' ) {
  82                 currentline = nextline;
  83             }
  84
  85             while(possible_command.size() > 0) {
  86                 size_t nextcmd = possible_command.find_first_of("GMTS", possible_command.find_first_of("GMTS")+1);
  87                 string single_command;
  88                 if(nextcmd == string::npos) {
  89                     single_command = possible_command;
  90                     possible_command = "";
  91                 }
  92                 else {
  93                     single_command = possible_command.substr(0,nextcmd);
  94                     possible_command = possible_command.substr(nextcmd);
  95                 }
  96                 //Prepare gcode for dispatch
  97                 Gcode gcode = Gcode();
  98                 gcode.command = single_command;
  99                 gcode.stream = new_message.stream;
 100
 101                 //Dispatch message!
 102                 this->kernel->call_event(ON_GCODE_RECEIVED, &gcode );
 103                 new_message.stream->printf("ok\r\n");
 104             }
 105         }else{
 106             //Request resend
 107             new_message.stream->printf("rs N%d\r\n", nextline);
 108         }
 109
 110     // Ignore comments and blank lines
 111     }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){
 112         new_message.stream->printf("ok\r\n");
 113     }
 114 }
 115