#include "GcodeDispatch.h"
#include "libs/Kernel.h"
+#include "Robot.h"
#include "utils/Gcode.h"
#include "libs/nuts_bolts.h"
#include "modules/robot/Conveyor.h"
#include "SimpleShell.h"
#include "utils.h"
#include "LPC17xx.h"
+#include "version.h"
-#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
#define panel_display_message_checksum CHECKSUM("display_message")
#define panel_checksum CHECKSUM("panel")
// goes in Flash, list of Mxxx codes that are allowed when in Halted state
-static const int allowed_mcodes[]= {105,114,119}; // get temp, get pos, get endstops
+static const int allowed_mcodes[]= {2,5,9,30,105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
static bool is_allowed_mcode(int m) {
for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
if(allowed_mcodes[i] == m) return true;
{
uploading = false;
currentline = -1;
- last_g= 255;
+ modal_group_1= 0;
}
// Called when the module has just been loaded
int ln = 0;
int cs = 0;
+ // just reply ok to empty lines
+ if(possible_command.empty()) {
+ new_message.stream->printf("ok\r\n");
+ return;
+ }
+
try_again:
char first_char = possible_command[0];
unsigned int n;
- if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
+
+ if(first_char == '$') {
+ // ignore as simpleshell will handle it
+ return;
+
+ }else if(islower(first_char)) {
+ // ignore all lowercase as they are simpleshell commands
+ return;
+ }
+
+ if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
//Get linenumber
if ( first_char == 'N' ) {
//Strip checksum value from possible_command
size_t chkpos = possible_command.find_first_of("*");
- possible_command = possible_command.substr(0, chkpos);
- //Calculate checksum
+
+ //Calculate checksum
if ( chkpos != string::npos ) {
+ possible_command = possible_command.substr(0, chkpos);
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);
+ size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
+ if(lnsize != string::npos) {
+ possible_command = possible_command.substr(lnsize);
+ }else{
+ // it is a blank line
+ possible_command.clear();
+ }
} else {
//Assume checks succeeded
}
- if(!uploading) {
- //Prepare gcode for dispatch
+ if(!uploading || upload_stream != new_message.stream) {
+ // Prepare gcode for dispatch
Gcode *gcode = new Gcode(single_command, new_message.stream);
if(THEKERNEL->is_halted()) {
// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
if(gcode->has_m && gcode->m == 999) {
- THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
-
- // fall through and pass onto other modules
+ if(THEKERNEL->is_halted()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
+ }
+ new_message.stream->printf("ok\n");
+ delete gcode;
+ continue;
}else if(!is_allowed_mcode(gcode->m)) {
// ignore everything, return error string to host
- new_message.stream->printf("!!\r\n");
+ if(THEKERNEL->is_grbl_mode()) {
+ new_message.stream->printf("error:Alarm lock\n");
+
+ }else{
+ new_message.stream->printf("!!\r\n");
+ }
delete gcode;
continue;
}
}
if(gcode->has_g) {
- last_g= gcode->g;
+ if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
+ // this is ugly to implement as there may or may not be a G0/G1 on the same line
+ // valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
+ if(possible_command.empty()) {
+ // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
+ // TODO it is really an error if the last is not G0 thru G3
+ if(modal_group_1 > 3) {
+ delete gcode;
+ new_message.stream->printf("ok - Invalid G53\r\n");
+ return;
+ }
+ // use last G0 or G1
+ gcode->g= modal_group_1;
+
+ }else{
+ delete gcode;
+ // extract next G0/G1 from the rest of the line, ignore if it is not one of these
+ gcode = new Gcode(possible_command, new_message.stream);
+ possible_command= "";
+ if(!gcode->has_g || gcode->g > 1) {
+ // not G0 or G1 so ignore it as it is invalid
+ delete gcode;
+ new_message.stream->printf("ok - Invalid G53\r\n");
+ return;
+ }
+ }
+ // makes it handle the parameters as a machine position
+ THEROBOT->next_command_is_MCS= true;
+
+ }
+
+ // remember last modal group 1 code
+ if(gcode->g < 4) {
+ modal_group_1= gcode->g;
+ }
}
if(gcode->has_m) {
} else {
new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
}
+
+ // only save stuff from this stream
+ upload_stream= new_message.stream;
+
//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
continue;
+ case 30: // end of program
+ if(!THEKERNEL->is_grbl_mode()) break; // Special case M30 as it is also delete sd card file so only do this if in grbl mode
+ // fall through to M2
+ case 2:
+ {
+ modal_group_1= 1; // set to G1
+ // issue M5 and M9 in case spindle and coolant are being used
+ Gcode gc1("M5", &StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
+ Gcode gc2("M9", &StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
+ }
+ break;
+
case 112: // emergency stop, do the best we can with this
- // TODO this really needs to be handled out-of-band
+ // this is also handled out-of-band (it is now with ^X in the serial driver)
// disables heaters and motors, ignores further incoming Gcode and clears block queue
THEKERNEL->call_event(ON_HALT, nullptr);
- THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
+ THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
delete gcode;
return;
+ case 115: // M115 Get firmware version and capabilities
+ Version vers;
+
+ new_message.stream->printf("FIRMWARE_NAME:Smoothieware, FIRMWARE_URL:http%%3A//smoothieware.org, X-SOURCE_CODE_URL:https://github.com/Smoothieware/Smoothieware, FIRMWARE_VERSION:%s, X-FIRMWARE_BUILD_DATE:%s, X-SYSTEM_CLOCK:%ldMHz, X-AXES:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS);
+
+ #ifdef CNC
+ new_message.stream->printf(", X-CNC:1");
+ #else
+ new_message.stream->printf(", X-CNC:0");
+ #endif
+
+ #ifdef DISABLEMSD
+ new_message.stream->printf(", X-MSD:0");
+ #else
+ new_message.stream->printf(", X-MSD:1");
+ #endif
+
+ new_message.stream->printf("\nok\n");
+ return;
+
case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
{ // concatenate the command again and send to panel if enabled
string str= single_command.substr(4) + possible_command;
return;
}
- case 1000: // M1000 is a special comanad that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
+ case 1000: // M1000 is a special command that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
{
// reconstruct entire command line again
string str= single_command.substr(5) + possible_command;
}
case 500: // M500 save volatile settings to config-override
- THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
+ THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
__disable_irq();
{
new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
+ case 501: // load config override
+ case 504: // save to specific config override file
+ {
+ string arg= get_arguments(single_command + possible_command); // rest of line is filename
+ if(arg.empty()) arg= "/sd/config-override";
+ else arg= "/sd/config-override." + arg;
+ //new_message.stream->printf("args: <%s>\n", arg.c_str());
+ SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
+ }
+ delete gcode;
+ new_message.stream->printf("ok\r\n");
+ return;
+
case 502: // M502 deletes config-override so everything defaults to what is in config
remove(THEKERNEL->config_override_filename());
delete gcode;
gcode->add_nl= true;
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(!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");
+ if (gcode->is_error) {
+ // report error
+ if(THEKERNEL->is_grbl_mode()) {
+ new_message.stream->printf("error: ");
+ }else{
+ new_message.stream->printf("Error: ");
+ }
+
+ if(!gcode->txt_after_ok.empty()) {
+ new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
+ gcode->txt_after_ok.clear();
+
+ }else{
+ new_message.stream->printf("unknown\r\n");
+ }
+
+ // we cannot continue safely after an error so we enter HALT state
+ new_message.stream->printf("Entering Alarm/Halt state\n");
+ THEKERNEL->call_event(ON_HALT, nullptr);
+
+ }else{
+
+ if(gcode->add_nl)
+ new_message.stream->printf("\r\n");
+
+ 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 {
+ if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
+ // only send ok once per line if this is a multi g code line send ok on the last one
+ if(possible_command.empty())
+ new_message.stream->printf("ok\r\n");
+ } else {
+ // maybe should do the above for all hosts?
+ new_message.stream->printf("ok\r\n");
+ }
+ }
+ }
delete gcode;
} else {
- // we are uploading a file so save it
+ // we are uploading and it is the upload stream so 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();
+ upload_stream= nullptr;
new_message.stream->printf("Done saving file.\r\nok\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");
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");
+ new_message.stream->printf("ok\r\n");
//printf("uploading file write ok\n");
}
}
}
} 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;
- }
+ // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
char buf[6];
- snprintf(buf, sizeof(buf), "G%d ", last_g);
+ snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
possible_command.insert(0, buf);
goto try_again;
HCoop / clinton / Smoothieware.git / blobdiff