[clinton/Smoothieware.git] / src / modules / communication / GcodeDispatch.cpp

/*
      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/>.
*/

#include "GcodeDispatch.h"

#include "libs/Kernel.h"
#include "utils/Gcode.h"
#include "Pauser.h"
#include "libs/nuts_bolts.h"
#include "modules/robot/Conveyor.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
#include "libs/StreamOutputPool.h"
#include "libs/FileStream.h"
#include "libs/AppendFileStream.h"
#include "Config.h"
#include "checksumm.h"
#include "ConfigValue.h"
#include "PublicDataRequest.h"
#include "PublicData.h"
#include "SimpleShell.h"
#include "utils.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}; // get temp, get pos
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;
    }
    return false;
}

GcodeDispatch::GcodeDispatch()
{
    halted= false;
    uploading = false;
    currentline = -1;
    last_g= 255;
}

// Called when the module has just been loaded
void GcodeDispatch::on_module_loaded()
{
    this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
    this->register_for_event(ON_HALT);
}

void GcodeDispatch::on_halt(void *arg)
{
    // set halt stream and ignore everything until M999
    this->halted= (arg == nullptr);
}

// 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)
{
    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];
    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, false);
            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_m ) {
                if ( full_line.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);
        }

        //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) {
                // assumes G or M are always the first on the line
                size_t nextcmd = possible_command.find_first_of("GM", 2);
                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(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
                            halted= false;
                            // fall through and pass onto other modules

                        }else if(!is_allowed_mcode(gcode->m)) {
                            // ignore everything, return error string to host
                            new_message.stream->printf("!!\r\n");
                            delete gcode;
                            continue;
                        }
                    }

                    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\nok\r\n", this->upload_filename.c_str());
                                } else {
                                    new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
                                }
                                //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
                                continue;

                            case 112: // emergency stop, do the best we can with this
                                // TODO this really needs to be handled out-of-band
                                // 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");
                                delete gcode;
                                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;
                                PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
                                delete gcode;
                                new_message.stream->printf("ok\r\n");
                                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)
                            {
                                // reconstruct entire command line again
                                string str= single_command.substr(5) + possible_command;
                                while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace

                                delete gcode;

                                if(str.empty()) {
                                    SimpleShell::parse_command("help", "", new_message.stream);

                                }else{
                                    string args= lc(str);
                                    string cmd = shift_parameter(args);
                                    // find command and execute it
                                    if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
                                        new_message.stream->printf("Command not found: %s\n", cmd.c_str());
                                    }
                                }

                                new_message.stream->printf("ok\r\n");
                                return;
                            }

                            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
                                //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
                                {
                                    FileStream fs(THEKERNEL->config_override_filename());
                                    fs.printf("; DO NOT EDIT THIS FILE\n");
                                    // this also will truncate the existing file instead of deleting it
                                }
                                // replace stream with one that writes to config-override file
                                gcode->stream = new AppendFileStream(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");
                                }
                                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");

                    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\nok\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");
    }
}
Commit	Line	Data
de91760a	1	/*
4cff3ded AW	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.
de91760a	5	You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
4cff3ded AW	6	*/
4cff3ded AW	7
b14f84e0 JM	8	#include "GcodeDispatch.h"
b14f84e0 JM	9
4cff3ded AW	10	#include "libs/Kernel.h"
4cff3ded AW	11	#include "utils/Gcode.h"
17704c93	12	#include "Pauser.h"
436a2cd1	13	#include "libs/nuts_bolts.h"
3fceb8eb	14	#include "modules/robot/Conveyor.h"
423df6df	15	#include "libs/SerialMessage.h"
838b33b4	16	#include "libs/StreamOutput.h"
17704c93	17	#include "libs/StreamOutputPool.h"
c4d4e3f8	18	#include "libs/FileStream.h"
825f27de	19	#include "libs/AppendFileStream.h"
61134a65	20	#include "Config.h"
7af0714f	21	#include "checksumm.h"
8d54c34c	22	#include "ConfigValue.h"
c89338bd JM	23	#include "PublicDataRequest.h"
c89338bd JM	24	#include "PublicData.h"
5c051155 JM	25	#include "SimpleShell.h"
5c051155 JM	26	#include "utils.h"
4cff3ded	27
b375ba1d	28	#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
c89338bd JM	29	#define panel_display_message_checksum CHECKSUM("display_message")
c89338bd JM	30	#define panel_checksum CHECKSUM("panel")
b375ba1d	31
4fb7087f JM	32	// goes in Flash, list of Mxxx codes that are allowed when in Halted state
	33	static const int allowed_mcodes[]= {105,114}; // get temp, get pos
	34	static bool is_allowed_mcode(int m) {
	35	for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
	36	if(allowed_mcodes[i] == m) return true;
	37	}
	38	return false;
	39	}
	40
b375ba1d JM	41	GcodeDispatch::GcodeDispatch()
	42	{
	43	halted= false;
	44	uploading = false;
	45	currentline = -1;
	46	last_g= 255;
	47	}
4cff3ded AW	48
4cff3ded AW	49	// Called when the module has just been loaded
adf89655 JM	50	void GcodeDispatch::on_module_loaded()
adf89655 JM	51	{
4cff3ded	52	this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
b375ba1d JM	53	this->register_for_event(ON_HALT);
	54	}
	55
	56	void GcodeDispatch::on_halt(void *arg)
	57	{
	58	// set halt stream and ignore everything until M999
728477c4	59	this->halted= (arg == nullptr);
4cff3ded AW	60	}
	61
	62	// When a command is received, if it is a Gcode, dispatch it as an object via an event
adf89655 JM	63	void GcodeDispatch::on_console_line_received(void *line)
	64	{
	65	SerialMessage new_message = static_cast<SerialMessage >(line);
de91760a	66	string possible_command = new_message.message;
b6c86164	67
62567509 MC	68	int ln = 0;
62567509 MC	69	int cs = 0;
c4c70e85 JM	70
	71	try_again:
	72
	73	char first_char = possible_command[0];
c2885de8	74	unsigned int n;
adf89655	75	if ( first_char == 'G' \|\| first_char == 'M' \|\| first_char == 'T' \|\| first_char == 'N' ) {
9a29161f	76
62567509	77	//Get linenumber
adf89655	78	if ( first_char == 'N' ) {
aae5a789	79	Gcode full_line = Gcode(possible_command, new_message.stream, false);
534e17b9 MC	80	ln = (int) full_line.get_value('N');
534e17b9 MC	81	int chksum = (int) full_line.get_value('*');
62567509	82
f337d8fd	83	//Catch message if it is M110: Set Current Line Number
b9b1bb25 JM	84	if ( full_line.has_m ) {
b9b1bb25 JM	85	if ( full_line.m == 110 ) {
f337d8fd MC	86	currentline = ln;
	87	new_message.stream->printf("ok\r\n");
	88	return;
	89	}
	90	}
	91
534e17b9	92	//Strip checksum value from possible_command
62567509	93	size_t chkpos = possible_command.find_first_of("*");
de91760a	94	possible_command = possible_command.substr(0, chkpos);
534e17b9	95	//Calculate checksum
adf89655 JM	96	if ( chkpos != string::npos ) {
adf89655 JM	97	for (auto c = possible_command.cbegin(); c != '' && c != possible_command.cend(); c++)
7a2ca498	98	cs = cs ^ *c;
62567509	99	cs &= 0xff; // Defensive programming...
534e17b9	100	cs -= chksum;
62567509	101	}
534e17b9	102	//Strip line number value from possible_command
9883efb8	103	size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
de91760a	104	possible_command = possible_command.substr(lnsize);
f337d8fd	105
adf89655	106	} else {
534e17b9 MC	107	//Assume checks succeeded
	108	cs = 0x00;
	109	ln = currentline + 1;
9a29161f MC	110	}
9a29161f MC	111
436a2cd1	112	//Remove comments
30c006fd	113	size_t comment = possible_command.find_first_of(";(");
adf89655 JM	114	if( comment != string::npos ) {
	115	possible_command = possible_command.substr(0, comment);
	116	}
436a2cd1	117
62567509 MC	118	//If checksum passes then process message, else request resend
62567509 MC	119	int nextline = currentline + 1;
adf89655	120	if( cs == 0x00 && ln == nextline ) {
f337d8fd	121	if( first_char == 'N' ) {
534e17b9	122	currentline = nextline;
f337d8fd MC	123	}
f337d8fd MC	124
d6190d18	125	while(possible_command.size() > 0) {
49d2ca86 JM	126	// assumes G or M are always the first on the line
49d2ca86 JM	127	size_t nextcmd = possible_command.find_first_of("GM", 2);
d6190d18	128	string single_command;
85bb8e89	129	if(nextcmd == string::npos) {
d6190d18 MC	130	single_command = possible_command;
d6190d18 MC	131	possible_command = "";
adf89655 JM	132	} else {
adf89655 JM	133	single_command = possible_command.substr(0, nextcmd);
2c4285ec	134	possible_command = possible_command.substr(nextcmd);
d6190d18	135	}
702023f3	136
b375ba1d	137
44e8c359 JM	138	if(!uploading) {
44e8c359 JM	139	//Prepare gcode for dispatch
adf89655	140	Gcode *gcode = new Gcode(single_command, new_message.stream);
c4c70e85	141
b375ba1d	142	if(halted) {
4fb7087f	143	// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
b375ba1d	144	if(gcode->has_m && gcode->m == 999) {
728477c4	145	THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
b375ba1d	146	halted= false;
76217df5	147	// fall through and pass onto other modules
4fb7087f JM	148
4fb7087f JM	149	}else if(!is_allowed_mcode(gcode->m)) {
76217df5	150	// ignore everything, return error string to host
b375ba1d	151	new_message.stream->printf("!!\r\n");
76217df5 JM	152	delete gcode;
76217df5 JM	153	continue;
b375ba1d	154	}
b375ba1d JM	155	}
b375ba1d JM	156
c2885de8 JM	157	if(gcode->has_g) {
	158	last_g= gcode->g;
	159	}
b375ba1d	160
adf89655 JM	161	if(gcode->has_m) {
	162	switch (gcode->m) {
	163	case 28: // start upload command
	164	delete gcode;
	165
	166	this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
	167	// open file
	168	upload_fd = fopen(this->upload_filename.c_str(), "w");
	169	if(upload_fd != NULL) {
	170	this->uploading = true;
6d91d256	171	new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
adf89655	172	} else {
6d91d256	173	new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
adf89655 JM	174	}
	175	//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
	176	continue;
	177
17704c93 JM	178	case 112: // emergency stop, do the best we can with this
17704c93 JM	179	// TODO this really needs to be handled out-of-band
b375ba1d	180	// disables heaters and motors, ignores further incoming Gcode and clears block queue
728477c4	181	THEKERNEL->call_event(ON_HALT, nullptr);
b375ba1d JM	182	THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
b375ba1d JM	183	delete gcode;
17704c93 JM	184	return;
17704c93 JM	185
c89338bd JM	186	case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
	187	{ // concatenate the command again and send to panel if enabled
	188	string str= single_command.substr(4) + possible_command;
	189	PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
	190	delete gcode;
	191	new_message.stream->printf("ok\r\n");
	192	return;
	193	}
	194
5c051155 JM	195	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)
	196	{
	197	// reconstruct entire command line again
	198	string str= single_command.substr(5) + possible_command;
	199	while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
	200
	201	delete gcode;
	202
	203	if(str.empty()) {
	204	SimpleShell::parse_command("help", "", new_message.stream);
	205
	206	}else{
	207	string args= lc(str);
	208	string cmd = shift_parameter(args);
	209	// find command and execute it
	210	if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
	211	new_message.stream->printf("Command not found: %s\n", cmd.c_str());
	212	}
	213	}
	214
	215	new_message.stream->printf("ok\r\n");
	216	return;
	217	}
	218
adf89655	219	case 500: // M500 save volatile settings to config-override
b14f84e0	220	THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
c4d4e3f8 JM	221	//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
	222	{
	223	FileStream fs(THEKERNEL->config_override_filename());
	224	fs.printf("; DO NOT EDIT THIS FILE\n");
	225	// this also will truncate the existing file instead of deleting it
	226	}
f2f0dfed	227	// replace stream with one that writes to config-override file
825f27de	228	gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
adf89655	229	// dispatch the M500 here so we can free up the stream when done
314ab8f7	230	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655 JM	231	delete gcode->stream;
adf89655 JM	232	delete gcode;
347854ff	233	new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	234	continue;
adf89655 JM	235
618c9b0f	236	case 502: // M502 deletes config-override so everything defaults to what is in config
347854ff MM	237	remove(THEKERNEL->config_override_filename());
347854ff MM	238	new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	239	delete gcode;
	240	continue;
	241
	242	case 503: { // M503 display live settings and indicates if there is an override file
347854ff	243	FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
adf89655 JM	244	if(fd != NULL) {
adf89655 JM	245	fclose(fd);
347854ff	246	new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
adf89655 JM	247
	248	} else {
	249	new_message.stream->printf("; No config override\n");
	250	}
08d9afc6	251	gcode->add_nl= true;
618c9b0f	252	break; // fall through to process by modules
adf89655	253	}
44e8c359	254	}
33e4cc02 JM	255	}
	256
	257	//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
44e8c359	258	//Dispatch message!
314ab8f7	259	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655	260	if(gcode->add_nl)
44e8c359 JM	261	new_message.stream->printf("\r\n");
44e8c359 JM	262
6e92ab91	263	if(!gcode->txt_after_ok.empty()) {
44e8c359 JM	264	new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
44e8c359 JM	265	gcode->txt_after_ok.clear();
adf89655	266	} else
44e8c359 JM	267	new_message.stream->printf("ok\r\n");
	268
	269	delete gcode;
	270
adf89655	271	} else {
44e8c359 JM	272	// we are uploading a file so save it
	273	if(single_command.substr(0, 3) == "M29") {
	274	// done uploading, close file
	275	fclose(upload_fd);
adf89655 JM	276	upload_fd = NULL;
adf89655 JM	277	uploading = false;
44e8c359	278	upload_filename.clear();
6d91d256	279	new_message.stream->printf("Done saving file.\r\nok\r\n");
44e8c359 JM	280	continue;
44e8c359 JM	281	}
adf89655	282
44e8c359 JM	283	if(upload_fd == NULL) {
	284	// error detected writing to file so discard everything until it stops
	285	new_message.stream->printf("ok\r\n");
	286	continue;
	287	}
adf89655	288
44e8c359	289	single_command.append("\n");
adf89655	290	static int cnt = 0;
44e8c359 JM	291	if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
	292	// error writing to file
	293	new_message.stream->printf("Error:error writing to file.\r\n");
	294	fclose(upload_fd);
adf89655	295	upload_fd = NULL;
44e8c359	296	continue;
adf89655 JM	297
	298	} else {
	299	cnt += single_command.size();
	300	if (cnt > 400) {
44e8c359 JM	301	// HACK ALERT to get around fwrite corruption close and re open for append
44e8c359 JM	302	fclose(upload_fd);
adf89655 JM	303	upload_fd = fopen(upload_filename.c_str(), "a");
adf89655 JM	304	cnt = 0;
44e8c359 JM	305	}
	306	new_message.stream->printf("ok\r\n");
	307	//printf("uploading file write ok\n");
	308	}
	309	}
d6190d18	310	}
adf89655 JM	311
adf89655 JM	312	} else {
62567509	313	//Request resend
f337d8fd	314	new_message.stream->printf("rs N%d\r\n", nextline);
62567509	315	}
2bb8b390	316
c2885de8	317	} else if( (n=possible_command.find_first_of("XYZF")) == 0 \|\| (first_char == ' ' && n != string::npos) ) {
c4c70e85 JM	318	// handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
	319	if(last_g != 0 && last_g != 1) {
	320	//if no last G1 or G0 ignore
	321	//THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
	322	return;
	323	}
c2885de8 JM	324	char buf[6];
	325	snprintf(buf, sizeof(buf), "G%d ", last_g);
	326	possible_command.insert(0, buf);
	327	goto try_again;
	328
adf89655 JM	329	// Ignore comments and blank lines
adf89655 JM	330	} else if ( first_char == ';' \|\| first_char == '(' \|\| first_char == ' ' \|\| first_char == '\n' \|\| first_char == '\r' ) {
b6c86164	331	new_message.stream->printf("ok\r\n");
4cff3ded AW	332	}
	333	}
	334