-/*
+/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
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.
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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string>
using std::string;
-#include "mbed.h"
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "utils/Gcode.h"
#include "libs/nuts_bolts.h"
#include "GcodeDispatch.h"
+#include "modules/robot/Conveyor.h"
+#include "libs/SerialMessage.h"
+#include "libs/StreamOutput.h"
+#include "libs/FileStream.h"
+#include "Config.h"
-GcodeDispatch::GcodeDispatch(){}
+GcodeDispatch::GcodeDispatch() {}
// Called when the module has just been loaded
-void GcodeDispatch::on_module_loaded() {
+void GcodeDispatch::on_module_loaded()
+{
+ return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
+ currentline = -1;
+ uploading = false;
+ last_g= 255;
}
// When a command is received, if it is a Gcode, dispatch it as an object via an event
-void GcodeDispatch::on_console_line_received(void * line){
- string possible_command = *static_cast<string*>(line);
+void GcodeDispatch::on_console_line_received(void *line)
+{
+ SerialMessage new_message = *static_cast<SerialMessage *>(line);
+ string possible_command = new_message.message;
+
+ int ln = 0;
+ int cs = 0;
+
+try_again:
+
char first_char = possible_command[0];
- if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' ){
-
+ unsigned int n;
+ if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
+
+ //Get linenumber
+ if ( first_char == 'N' ) {
+ Gcode full_line = Gcode(possible_command, new_message.stream);
+ ln = (int) full_line.get_value('N');
+ int chksum = (int) full_line.get_value('*');
+
+ //Catch message if it is M110: Set Current Line Number
+ if ( full_line.has_letter('M') ) {
+ if ( ((int) full_line.get_value('M')) == 110 ) {
+ currentline = ln;
+ new_message.stream->printf("ok\r\n");
+ return;
+ }
+ }
+
+ //Strip checksum value from possible_command
+ size_t chkpos = possible_command.find_first_of("*");
+ possible_command = possible_command.substr(0, chkpos);
+ //Calculate checksum
+ if ( chkpos != string::npos ) {
+ for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
+ cs = cs ^ *c;
+ cs &= 0xff; // Defensive programming...
+ cs -= chksum;
+ }
+ //Strip line number value from possible_command
+ size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
+ possible_command = possible_command.substr(lnsize);
+
+ } else {
+ //Assume checks succeeded
+ cs = 0x00;
+ ln = currentline + 1;
+ }
+
//Remove comments
- size_t comment = possible_command.find_first_of(";");
- if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
-
- Gcode gcode = Gcode();
- gcode.command = possible_command;
- this->kernel->call_event(ON_GCODE_RECEIVED, &gcode );
- this->kernel->serial->printf("ok\r\n");
- }else if( first_char == ';' || first_char == '(' ){
- this->kernel->serial->printf("ok\r\n");
+ size_t comment = possible_command.find_first_of(";(");
+ if( comment != string::npos ) {
+ possible_command = possible_command.substr(0, comment);
+ }
+
+ //If checksum passes then process message, else request resend
+ int nextline = currentline + 1;
+ if( cs == 0x00 && ln == nextline ) {
+ if( first_char == 'N' ) {
+ currentline = nextline;
+ }
+
+ while(possible_command.size() > 0) {
+ size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT") + 1);
+ string single_command;
+ if(nextcmd == string::npos) {
+ single_command = possible_command;
+ possible_command = "";
+ } else {
+ single_command = possible_command.substr(0, nextcmd);
+ possible_command = possible_command.substr(nextcmd);
+ }
+
+ if(!uploading) {
+ //Prepare gcode for dispatch
+ Gcode *gcode = new Gcode(single_command, new_message.stream);
+
+ if(gcode->has_g) {
+ last_g= gcode->g;
+ }
+ if(gcode->has_m) {
+ switch (gcode->m) {
+ case 28: // start upload command
+ delete gcode;
+
+ this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
+ // open file
+ upload_fd = fopen(this->upload_filename.c_str(), "w");
+ if(upload_fd != NULL) {
+ this->uploading = true;
+ new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
+ } else {
+ new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
+ }
+ //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
+ continue;
+
+ case 500: // M500 save volatile settings to config-override
+ // replace stream with one that writes to config-override file
+ gcode->stream = new FileStream(THEKERNEL->config_override_filename());
+ // dispatch the M500 here so we can free up the stream when done
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
+ delete gcode->stream;
+ delete gcode;
+ new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
+ continue;
+
+ case 502: // M502 deletes config-override so everything defaults to what is in config
+ remove(THEKERNEL->config_override_filename());
+ new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
+ delete gcode;
+ continue;
+
+ case 503: { // M503 display live settings and indicates if there is an override file
+ FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
+ if(fd != NULL) {
+ fclose(fd);
+ new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
+
+ } else {
+ new_message.stream->printf("; No config override\n");
+ }
+ break; // fall through to process by modules
+ }
+ }
+ }
+
+ //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
+ //Dispatch message!
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
+ if(gcode->add_nl)
+ new_message.stream->printf("\r\n");
+
+ if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
+ new_message.stream->printf("ok (command unclaimed)\r\n");
+ else if(!gcode->txt_after_ok.empty()) {
+ new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
+ gcode->txt_after_ok.clear();
+ } else
+ new_message.stream->printf("ok\r\n");
+
+ delete gcode;
+
+ } else {
+ // we are uploading a file so save it
+ if(single_command.substr(0, 3) == "M29") {
+ // done uploading, close file
+ fclose(upload_fd);
+ upload_fd = NULL;
+ uploading = false;
+ upload_filename.clear();
+ new_message.stream->printf("Done saving file.\r\n");
+ continue;
+ }
+
+ if(upload_fd == NULL) {
+ // error detected writing to file so discard everything until it stops
+ new_message.stream->printf("ok\r\n");
+ continue;
+ }
+
+ single_command.append("\n");
+ static int cnt = 0;
+ if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
+ // error writing to file
+ new_message.stream->printf("Error:error writing to file.\r\n");
+ fclose(upload_fd);
+ upload_fd = NULL;
+ continue;
+
+ } else {
+ cnt += single_command.size();
+ if (cnt > 400) {
+ // HACK ALERT to get around fwrite corruption close and re open for append
+ fclose(upload_fd);
+ upload_fd = fopen(upload_filename.c_str(), "a");
+ cnt = 0;
+ }
+ new_message.stream->printf("ok\r\n");
+ //printf("uploading file write ok\n");
+ }
+ }
+ }
+
+ } else {
+ //Request resend
+ new_message.stream->printf("rs N%d\r\n", nextline);
+ }
+
+ } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
+ // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
+ if(last_g != 0 && last_g != 1) {
+ //if no last G1 or G0 ignore
+ //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
+ return;
+ }
+ char buf[6];
+ snprintf(buf, sizeof(buf), "G%d ", last_g);
+ possible_command.insert(0, buf);
+ goto try_again;
+
+ // Ignore comments and blank lines
+ } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
+ new_message.stream->printf("ok\r\n");
}
}
HCoop / clinton / Smoothieware.git / blobdiff