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/Conveyor.h"
  16 #include "libs/SerialMessage.h"
  17 #include "libs/StreamOutput.h"
  18 #include "libs/FileStream.h"
  19 #include "Config.h"
  20 #include "checksumm.h"
  21 #include "ConfigValue.h"
  22
  23 GcodeDispatch::GcodeDispatch() {}
  24
  25 // Called when the module has just been loaded
  26 void GcodeDispatch::on_module_loaded()
  27 {
  28     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  29     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  30     currentline = -1;
  31     uploading = false;
  32     last_g= 255;
  33 }
  34
  35 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  36 void GcodeDispatch::on_console_line_received(void *line)
  37 {
  38     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  39     string possible_command = new_message.message;
  40
  41     int ln = 0;
  42     int cs = 0;
  43
  44 try_again:
  45
  46     char first_char = possible_command[0];
  47     unsigned int n;
  48     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  49
  50         //Get linenumber
  51         if ( first_char == 'N' ) {
  52             Gcode full_line = Gcode(possible_command, new_message.stream);
  53             ln = (int) full_line.get_value('N');
  54             int chksum = (int) full_line.get_value('*');
  55
  56             //Catch message if it is M110: Set Current Line Number
  57             if ( full_line.has_letter('M') ) {
  58                 if ( ((int) full_line.get_value('M')) == 110 ) {
  59                     currentline = ln;
  60                     new_message.stream->printf("ok\r\n");
  61                     return;
  62                 }
  63             }
  64
  65             //Strip checksum value from possible_command
  66             size_t chkpos = possible_command.find_first_of("*");
  67             possible_command = possible_command.substr(0, chkpos);
  68             //Calculate checksum
  69             if ( chkpos != string::npos ) {
  70                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  71                     cs = cs ^ *c;
  72                 cs &= 0xff;  // Defensive programming...
  73                 cs -= chksum;
  74             }
  75             //Strip line number value from possible_command
  76             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  77             possible_command = possible_command.substr(lnsize);
  78
  79         } else {
  80             //Assume checks succeeded
  81             cs = 0x00;
  82             ln = currentline + 1;
  83         }
  84
  85         //Remove comments
  86         size_t comment = possible_command.find_first_of(";(");
  87         if( comment != string::npos ) {
  88             possible_command = possible_command.substr(0, comment);
  89         }
  90
  91         //If checksum passes then process message, else request resend
  92         int nextline = currentline + 1;
  93         if( cs == 0x00 && ln == nextline ) {
  94             if( first_char == 'N' ) {
  95                 currentline = nextline;
  96             }
  97
  98             while(possible_command.size() > 0) {
  99                 size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GMT") + 1);
 100                 string single_command;
 101                 if(nextcmd == string::npos) {
 102                     single_command = possible_command;
 103                     possible_command = "";
 104                 } else {
 105                     single_command = possible_command.substr(0, nextcmd);
 106                     possible_command = possible_command.substr(nextcmd);
 107                 }
 108
 109                 if(!uploading) {
 110                     //Prepare gcode for dispatch
 111                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 112
 113                     if(gcode->has_g) {
 114                         last_g= gcode->g;
 115                     }
 116                     if(gcode->has_m) {
 117                         switch (gcode->m) {
 118                             case 28: // start upload command
 119                                 delete gcode;
 120
 121                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 122                                 // open file
 123                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 124                                 if(upload_fd != NULL) {
 125                                     this->uploading = true;
 126                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 127                                 } else {
 128                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 129                                 }
 130                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 131                                 continue;
 132
 133                             case 500: // M500 save volatile settings to config-override
 134                                 // replace stream with one that writes to config-override file
 135                                 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
 136                                 // dispatch the M500 here so we can free up the stream when done
 137                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 138                                 delete gcode->stream;
 139                                 delete gcode;
 140                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 141                                 continue;
 142
 143                             case 502: // M502 deletes config-override so everything defaults to what is in config
 144                                 remove(THEKERNEL->config_override_filename());
 145                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 146                                 delete gcode;
 147                                 continue;
 148
 149                             case 503: { // M503 display live settings and indicates if there is an override file
 150                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 151                                 if(fd != NULL) {
 152                                     fclose(fd);
 153                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 154
 155                                 } else {
 156                                     new_message.stream->printf("; No config override\n");
 157                                 }
 158                                 break; // fall through to process by modules
 159                             }
 160                         }
 161                     }
 162
 163                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 164                     //Dispatch message!
 165                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 166                     if(gcode->add_nl)
 167                         new_message.stream->printf("\r\n");
 168
 169                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 170                         new_message.stream->printf("ok (command unclaimed)\r\n");
 171                     else if(!gcode->txt_after_ok.empty()) {
 172                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 173                         gcode->txt_after_ok.clear();
 174                     } else
 175                         new_message.stream->printf("ok\r\n");
 176
 177                     delete gcode;
 178
 179                 } else {
 180                     // we are uploading a file so save it
 181                     if(single_command.substr(0, 3) == "M29") {
 182                         // done uploading, close file
 183                         fclose(upload_fd);
 184                         upload_fd = NULL;
 185                         uploading = false;
 186                         upload_filename.clear();
 187                         new_message.stream->printf("Done saving file.\r\n");
 188                         continue;
 189                     }
 190
 191                     if(upload_fd == NULL) {
 192                         // error detected writing to file so discard everything until it stops
 193                         new_message.stream->printf("ok\r\n");
 194                         continue;
 195                     }
 196
 197                     single_command.append("\n");
 198                     static int cnt = 0;
 199                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 200                         // error writing to file
 201                         new_message.stream->printf("Error:error writing to file.\r\n");
 202                         fclose(upload_fd);
 203                         upload_fd = NULL;
 204                         continue;
 205
 206                     } else {
 207                         cnt += single_command.size();
 208                         if (cnt > 400) {
 209                             // HACK ALERT to get around fwrite corruption close and re open for append
 210                             fclose(upload_fd);
 211                             upload_fd = fopen(upload_filename.c_str(), "a");
 212                             cnt = 0;
 213                         }
 214                         new_message.stream->printf("ok\r\n");
 215                         //printf("uploading file write ok\n");
 216                     }
 217                 }
 218             }
 219
 220         } else {
 221             //Request resend
 222             new_message.stream->printf("rs N%d\r\n", nextline);
 223         }
 224
 225     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 226         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 227         if(last_g != 0 && last_g != 1) {
 228             //if no last G1 or G0 ignore
 229             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 230             return;
 231         }
 232         char buf[6];
 233         snprintf(buf, sizeof(buf), "G%d ", last_g);
 234         possible_command.insert(0, buf);
 235         goto try_again;
 236
 237         // Ignore comments and blank lines
 238     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 239         new_message.stream->printf("ok\r\n");
 240     }
 241 }
 242