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