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 | */ |
7 | ||
8 | #include <string> | |
9 | using std::string; | |
4cff3ded AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
12 | #include "utils/Gcode.h" | |
436a2cd1 | 13 | #include "libs/nuts_bolts.h" |
4cff3ded | 14 | #include "GcodeDispatch.h" |
3fceb8eb | 15 | #include "modules/robot/Conveyor.h" |
423df6df | 16 | #include "libs/SerialMessage.h" |
838b33b4 | 17 | #include "libs/StreamOutput.h" |
4cff3ded AW |
18 | |
19 | GcodeDispatch::GcodeDispatch(){} | |
20 | ||
21 | // Called when the module has just been loaded | |
22 | void GcodeDispatch::on_module_loaded() { | |
74b6303c DD |
23 | if( this->kernel->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool() == false ) |
24 | return_error_on_unhandled_gcode = false; | |
25 | else | |
26 | return_error_on_unhandled_gcode = true; | |
27 | ||
4cff3ded | 28 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
534e17b9 | 29 | currentline = -1; |
4cff3ded AW |
30 | } |
31 | ||
32 | // When a command is received, if it is a Gcode, dispatch it as an object via an event | |
33 | void GcodeDispatch::on_console_line_received(void * line){ | |
b6c86164 | 34 | SerialMessage new_message = *static_cast<SerialMessage*>(line); |
de91760a | 35 | string possible_command = new_message.message; |
b6c86164 | 36 | |
4cff3ded | 37 | char first_char = possible_command[0]; |
62567509 MC |
38 | int ln = 0; |
39 | int cs = 0; | |
5c07c6dc | 40 | if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ){ |
9a29161f | 41 | |
62567509 | 42 | //Get linenumber |
de91760a | 43 | if( first_char == 'N' ){ |
702023f3 | 44 | Gcode full_line = Gcode(possible_command, new_message.stream); |
534e17b9 MC |
45 | ln = (int) full_line.get_value('N'); |
46 | int chksum = (int) full_line.get_value('*'); | |
62567509 | 47 | |
f337d8fd MC |
48 | //Catch message if it is M110: Set Current Line Number |
49 | if( full_line.has_letter('M') ){ | |
50 | if( ((int) full_line.get_value('M')) == 110 ){ | |
51 | currentline = ln; | |
52 | new_message.stream->printf("ok\r\n"); | |
53 | return; | |
54 | } | |
55 | } | |
56 | ||
534e17b9 | 57 | //Strip checksum value from possible_command |
62567509 | 58 | size_t chkpos = possible_command.find_first_of("*"); |
de91760a | 59 | possible_command = possible_command.substr(0, chkpos); |
534e17b9 | 60 | //Calculate checksum |
de91760a | 61 | if( chkpos != string::npos ){ |
7a2ca498 BG |
62 | for(auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++) |
63 | cs = cs ^ *c; | |
62567509 | 64 | cs &= 0xff; // Defensive programming... |
534e17b9 | 65 | cs -= chksum; |
62567509 | 66 | } |
534e17b9 | 67 | //Strip line number value from possible_command |
9883efb8 | 68 | size_t lnsize = possible_command.find_first_not_of("N0123456789.,- "); |
de91760a | 69 | possible_command = possible_command.substr(lnsize); |
f337d8fd | 70 | |
534e17b9 MC |
71 | }else{ |
72 | //Assume checks succeeded | |
73 | cs = 0x00; | |
74 | ln = currentline + 1; | |
9a29161f MC |
75 | } |
76 | ||
436a2cd1 | 77 | //Remove comments |
30c006fd | 78 | size_t comment = possible_command.find_first_of(";("); |
436a2cd1 AW |
79 | if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); } |
80 | ||
62567509 MC |
81 | //If checksum passes then process message, else request resend |
82 | int nextline = currentline + 1; | |
83 | if( cs == 0x00 && ln == nextline ){ | |
f337d8fd | 84 | if( first_char == 'N' ) { |
534e17b9 | 85 | currentline = nextline; |
f337d8fd MC |
86 | } |
87 | ||
d6190d18 | 88 | while(possible_command.size() > 0) { |
7790a7c4 | 89 | size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT")+1); |
d6190d18 | 90 | string single_command; |
85bb8e89 | 91 | if(nextcmd == string::npos) { |
d6190d18 MC |
92 | single_command = possible_command; |
93 | possible_command = ""; | |
94 | } | |
95 | else { | |
96 | single_command = possible_command.substr(0,nextcmd); | |
2c4285ec | 97 | possible_command = possible_command.substr(nextcmd); |
d6190d18 MC |
98 | } |
99 | //Prepare gcode for dispatch | |
702023f3 MM |
100 | Gcode* gcode = new Gcode(single_command, new_message.stream); |
101 | gcode->prepare_cached_values(); | |
d6190d18 | 102 | |
702023f3 | 103 | // printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m); |
d6190d18 | 104 | //Dispatch message! |
702023f3 MM |
105 | this->kernel->call_event(ON_GCODE_RECEIVED, gcode ); |
106 | if (gcode->add_nl) | |
ac9f9b7a | 107 | new_message.stream->printf("\r\n"); |
74b6303c DD |
108 | if ( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false) |
109 | new_message.stream->printf("error: Command hasn't been processed.\r\n"); | |
110 | else | |
111 | new_message.stream->printf("ok\r\n"); | |
702023f3 | 112 | |
00669816 | 113 | delete gcode; |
d149c730 | 114 | |
d6190d18 | 115 | } |
85bb8e89 | 116 | }else{ |
62567509 | 117 | //Request resend |
f337d8fd | 118 | new_message.stream->printf("rs N%d\r\n", nextline); |
62567509 | 119 | } |
2bb8b390 | 120 | |
9a29161f MC |
121 | // Ignore comments and blank lines |
122 | }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){ | |
b6c86164 | 123 | new_message.stream->printf("ok\r\n"); |
4cff3ded AW |
124 | } |
125 | } | |
126 |