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 }
  25
  26 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  27 void GcodeDispatch::on_console_line_received(void * line){
  28     SerialMessage new_message = *static_cast<SerialMessage*>(line);
  29     string possible_command = new_message.message;
  30
  31     char first_char = possible_command[0];
  32     if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' || first_char == '*' ){
  33
  34         //Disable 'N' linenumber for now
  35         if( first_char == 'N' ){
  36             size_t reallinepos = possible_command.find_first_of(" ") + 1;
  37             possible_command = possible_command.substr(reallinepos);
  38         }
  39
  40         //Disable '*' checksum for now
  41         size_t chkpos = possible_command.find_first_of("*");
  42         if( chkpos != string::npos ){ possible_command = possible_command.substr(0, chkpos); }
  43
  44         //Remove comments
  45         size_t comment = possible_command.find_first_of(";");
  46         if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
  47
  48         // Dispatch
  49         Gcode gcode = Gcode();
  50         gcode.command = possible_command;
  51         gcode.stream = new_message.stream;
  52         this->kernel->call_event(ON_GCODE_RECEIVED, &gcode );
  53
  54         new_message.stream->printf("ok\r\n");
  55
  56     // Ignore comments and blank lines
  57     }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){
  58         new_message.stream->printf("ok\r\n");
  59     }
  60 }
  61