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 "utils/Gcode.h"
  12 #include "Pauser.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/AppendFileStream.h"
  19 #include "Config.h"
  20 #include "checksumm.h"
  21 #include "ConfigValue.h"
  22
  23 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  24
  25 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  26 static const int allowed_mcodes[]= {105,114}; // get temp, get pos
  27 static bool is_allowed_mcode(int m) {
  28     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  29         if(allowed_mcodes[i] == m) return true;
  30     }
  31     return false;
  32 }
  33
  34 GcodeDispatch::GcodeDispatch()
  35 {
  36     halted= false;
  37     uploading = false;
  38     currentline = -1;
  39     last_g= 255;
  40 }
  41
  42 // Called when the module has just been loaded
  43 void GcodeDispatch::on_module_loaded()
  44 {
  45     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  46     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  47     this->register_for_event(ON_HALT);
  48 }
  49
  50 void GcodeDispatch::on_halt(void *arg)
  51 {
  52     // set halt stream and ignore everything until M999
  53     this->halted= (arg == nullptr);
  54 }
  55
  56 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  57 void GcodeDispatch::on_console_line_received(void *line)
  58 {
  59     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  60     string possible_command = new_message.message;
  61
  62     int ln = 0;
  63     int cs = 0;
  64
  65 try_again:
  66
  67     char first_char = possible_command[0];
  68     unsigned int n;
  69     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  70
  71         //Get linenumber
  72         if ( first_char == 'N' ) {
  73             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  74             ln = (int) full_line.get_value('N');
  75             int chksum = (int) full_line.get_value('*');
  76
  77             //Catch message if it is M110: Set Current Line Number
  78             if ( full_line.has_m ) {
  79                 if ( full_line.m == 110 ) {
  80                     currentline = ln;
  81                     new_message.stream->printf("ok\r\n");
  82                     return;
  83                 }
  84             }
  85
  86             //Strip checksum value from possible_command
  87             size_t chkpos = possible_command.find_first_of("*");
  88             possible_command = possible_command.substr(0, chkpos);
  89             //Calculate checksum
  90             if ( chkpos != string::npos ) {
  91                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  92                     cs = cs ^ *c;
  93                 cs &= 0xff;  // Defensive programming...
  94                 cs -= chksum;
  95             }
  96             //Strip line number value from possible_command
  97             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  98             possible_command = possible_command.substr(lnsize);
  99
 100         } else {
 101             //Assume checks succeeded
 102             cs = 0x00;
 103             ln = currentline + 1;
 104         }
 105
 106         //Remove comments
 107         size_t comment = possible_command.find_first_of(";(");
 108         if( comment != string::npos ) {
 109             possible_command = possible_command.substr(0, comment);
 110         }
 111
 112         //If checksum passes then process message, else request resend
 113         int nextline = currentline + 1;
 114         if( cs == 0x00 && ln == nextline ) {
 115             if( first_char == 'N' ) {
 116                 currentline = nextline;
 117             }
 118
 119             while(possible_command.size() > 0) {
 120                 size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GM") + 1);
 121                 string single_command;
 122                 if(nextcmd == string::npos) {
 123                     single_command = possible_command;
 124                     possible_command = "";
 125                 } else {
 126                     single_command = possible_command.substr(0, nextcmd);
 127                     possible_command = possible_command.substr(nextcmd);
 128                 }
 129
 130
 131                 if(!uploading) {
 132                     //Prepare gcode for dispatch
 133                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 134
 135                     if(halted) {
 136                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 137                         if(gcode->has_m && gcode->m == 999) {
 138                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 139                             halted= false;
 140                             // fall through and pass onto other modules
 141
 142                         }else if(!is_allowed_mcode(gcode->m)) {
 143                             // ignore everything, return error string to host
 144                             new_message.stream->printf("!!\r\n");
 145                             delete gcode;
 146                             continue;
 147                         }
 148                     }
 149
 150                     if(gcode->has_g) {
 151                         last_g= gcode->g;
 152                     }
 153
 154                     if(gcode->has_m) {
 155                         switch (gcode->m) {
 156                             case 28: // start upload command
 157                                 delete gcode;
 158
 159                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 160                                 // open file
 161                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 162                                 if(upload_fd != NULL) {
 163                                     this->uploading = true;
 164                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 165                                 } else {
 166                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 167                                 }
 168                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 169                                 continue;
 170
 171                             case 112: // emergency stop, do the best we can with this
 172                                 // TODO this really needs to be handled out-of-band
 173                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 174                                 THEKERNEL->call_event(ON_HALT, nullptr);
 175                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
 176                                 delete gcode;
 177                                 return;
 178
 179                             case 500: // M500 save volatile settings to config-override
 180                                 THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
 181                                 remove(THEKERNEL->config_override_filename());
 182                                 // replace stream with one that writes to config-override file
 183                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 184                                 // dispatch the M500 here so we can free up the stream when done
 185                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 186                                 delete gcode->stream;
 187                                 delete gcode;
 188                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 189                                 continue;
 190
 191                             case 502: // M502 deletes config-override so everything defaults to what is in config
 192                                 remove(THEKERNEL->config_override_filename());
 193                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 194                                 delete gcode;
 195                                 continue;
 196
 197                             case 503: { // M503 display live settings and indicates if there is an override file
 198                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 199                                 if(fd != NULL) {
 200                                     fclose(fd);
 201                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 202
 203                                 } else {
 204                                     new_message.stream->printf("; No config override\n");
 205                                 }
 206                                 gcode->add_nl= true;
 207                                 break; // fall through to process by modules
 208                             }
 209                         }
 210                     }
 211
 212                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 213                     //Dispatch message!
 214                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 215                     if(gcode->add_nl)
 216                         new_message.stream->printf("\r\n");
 217
 218                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 219                         new_message.stream->printf("ok (command unclaimed)\r\n");
 220                     else if(!gcode->txt_after_ok.empty()) {
 221                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 222                         gcode->txt_after_ok.clear();
 223                     } else
 224                         new_message.stream->printf("ok\r\n");
 225
 226                     delete gcode;
 227
 228                 } else {
 229                     // we are uploading a file so save it
 230                     if(single_command.substr(0, 3) == "M29") {
 231                         // done uploading, close file
 232                         fclose(upload_fd);
 233                         upload_fd = NULL;
 234                         uploading = false;
 235                         upload_filename.clear();
 236                         new_message.stream->printf("Done saving file.\r\n");
 237                         continue;
 238                     }
 239
 240                     if(upload_fd == NULL) {
 241                         // error detected writing to file so discard everything until it stops
 242                         new_message.stream->printf("ok\r\n");
 243                         continue;
 244                     }
 245
 246                     single_command.append("\n");
 247                     static int cnt = 0;
 248                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 249                         // error writing to file
 250                         new_message.stream->printf("Error:error writing to file.\r\n");
 251                         fclose(upload_fd);
 252                         upload_fd = NULL;
 253                         continue;
 254
 255                     } else {
 256                         cnt += single_command.size();
 257                         if (cnt > 400) {
 258                             // HACK ALERT to get around fwrite corruption close and re open for append
 259                             fclose(upload_fd);
 260                             upload_fd = fopen(upload_filename.c_str(), "a");
 261                             cnt = 0;
 262                         }
 263                         new_message.stream->printf("ok\r\n");
 264                         //printf("uploading file write ok\n");
 265                     }
 266                 }
 267             }
 268
 269         } else {
 270             //Request resend
 271             new_message.stream->printf("rs N%d\r\n", nextline);
 272         }
 273
 274     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 275         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 276         if(last_g != 0 && last_g != 1) {
 277             //if no last G1 or G0 ignore
 278             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 279             return;
 280         }
 281         char buf[6];
 282         snprintf(buf, sizeof(buf), "G%d ", last_g);
 283         possible_command.insert(0, buf);
 284         goto try_again;
 285
 286         // Ignore comments and blank lines
 287     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 288         new_message.stream->printf("ok\r\n");
 289     }
 290 }
 291