[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 "Robot.h"
#include "utils/Gcode.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"
#include "LPC17xx.h"

#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[]= {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;
    }
    return false;
}

GcodeDispatch::GcodeDispatch()
{
    uploading = false;
    currentline = -1;
    modal_group_1= 0;
}

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

// 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;

    // 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 == '$') {
        // 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' ) {
            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("*");

			//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.,- ");
			if(lnsize != string::npos) {
				possible_command = possible_command.substr(lnsize);
			}else{
				// it is a blank line
				possible_command.clear();
			}

        } 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 || 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) {
                            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
                            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) {
                        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) {
                        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());
                                }

                                // 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
                                // 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 exit HALT state\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 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;
                                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_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();
                                {
                                    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;
                                __enable_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;
                                new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
                                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->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 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;
                    }

                    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");
                    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 {
                         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 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 ", modal_group_1);
        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	10	#include "libs/Kernel.h"
00e607c7	11	#include "Robot.h"
4cff3ded	12	#include "utils/Gcode.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"
5534e39e	27	#include "LPC17xx.h"
4cff3ded	28
c89338bd JM	29	#define panel_display_message_checksum CHECKSUM("display_message")
c89338bd JM	30	#define panel_checksum CHECKSUM("panel")
b375ba1d	31
4fb7087f	32	// goes in Flash, list of Mxxx codes that are allowed when in Halted state
f88068ec	33	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
4fb7087f JM	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()
b375ba1d JM	42	{
b375ba1d JM	43	uploading = false;
b375ba1d JM	44	currentline = -1;
ae7c4219	45	modal_group_1= 0;
b375ba1d	46	}
4cff3ded AW	47
4cff3ded AW	48	// Called when the module has just been loaded
adf89655 JM	49	void GcodeDispatch::on_module_loaded()
adf89655 JM	50	{
4cff3ded AW	51	this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
	52	}
	53
	54	// When a command is received, if it is a Gcode, dispatch it as an object via an event
adf89655 JM	55	void GcodeDispatch::on_console_line_received(void *line)
	56	{
	57	SerialMessage new_message = static_cast<SerialMessage >(line);
de91760a	58	string possible_command = new_message.message;
b6c86164	59
62567509 MC	60	int ln = 0;
62567509 MC	61	int cs = 0;
c4c70e85	62
2a58aabf	63	// just reply ok to empty lines
543c4b6d JM	64	if(possible_command.empty()) {
	65	new_message.stream->printf("ok\r\n");
	66	return;
	67	}
	68
2a58aabf JM	69	try_again:
2a58aabf JM	70
c4c70e85	71	char first_char = possible_command[0];
c2885de8	72	unsigned int n;
6c0193b3 JM	73
	74	if(first_char == '$') {
	75	// ignore as simpleshell will handle it
	76	return;
	77
	78	}else if(islower(first_char)) {
	79	// ignore all lowercase as they are simpleshell commands
	80	return;
	81	}
	82
7d105bc4	83	if ( first_char == 'G' \|\| first_char == 'M' \|\| first_char == 'T' \|\| first_char == 'S' \|\| first_char == 'N' ) {
9a29161f	84
62567509	85	//Get linenumber
adf89655	86	if ( first_char == 'N' ) {
aae5a789	87	Gcode full_line = Gcode(possible_command, new_message.stream, false);
534e17b9 MC	88	ln = (int) full_line.get_value('N');
534e17b9 MC	89	int chksum = (int) full_line.get_value('*');
62567509	90
f337d8fd	91	//Catch message if it is M110: Set Current Line Number
b9b1bb25 JM	92	if ( full_line.has_m ) {
b9b1bb25 JM	93	if ( full_line.m == 110 ) {
f337d8fd MC	94	currentline = ln;
	95	new_message.stream->printf("ok\r\n");
	96	return;
	97	}
	98	}
	99
534e17b9	100	//Strip checksum value from possible_command
62567509	101	size_t chkpos = possible_command.find_first_of("*");
a36d0341 JM	102
a36d0341 JM	103	//Calculate checksum
adf89655	104	if ( chkpos != string::npos ) {
a36d0341	105	possible_command = possible_command.substr(0, chkpos);
adf89655	106	for (auto c = possible_command.cbegin(); c != '' && c != possible_command.cend(); c++)
7a2ca498	107	cs = cs ^ *c;
62567509	108	cs &= 0xff; // Defensive programming...
534e17b9	109	cs -= chksum;
a36d0341 JM	110	}
a36d0341 JM	111
534e17b9	112	//Strip line number value from possible_command
a36d0341 JM	113	size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
	114	if(lnsize != string::npos) {
	115	possible_command = possible_command.substr(lnsize);
	116	}else{
	117	// it is a blank line
	118	possible_command.clear();
	119	}
f337d8fd	120
adf89655	121	} else {
534e17b9 MC	122	//Assume checks succeeded
	123	cs = 0x00;
	124	ln = currentline + 1;
9a29161f MC	125	}
9a29161f MC	126
436a2cd1	127	//Remove comments
30c006fd	128	size_t comment = possible_command.find_first_of(";(");
adf89655 JM	129	if( comment != string::npos ) {
	130	possible_command = possible_command.substr(0, comment);
	131	}
436a2cd1	132
62567509 MC	133	//If checksum passes then process message, else request resend
62567509 MC	134	int nextline = currentline + 1;
adf89655	135	if( cs == 0x00 && ln == nextline ) {
f337d8fd	136	if( first_char == 'N' ) {
534e17b9	137	currentline = nextline;
f337d8fd MC	138	}
f337d8fd MC	139
d6190d18	140	while(possible_command.size() > 0) {
49d2ca86 JM	141	// assumes G or M are always the first on the line
49d2ca86 JM	142	size_t nextcmd = possible_command.find_first_of("GM", 2);
d6190d18	143	string single_command;
85bb8e89	144	if(nextcmd == string::npos) {
d6190d18 MC	145	single_command = possible_command;
d6190d18 MC	146	possible_command = "";
adf89655 JM	147	} else {
adf89655 JM	148	single_command = possible_command.substr(0, nextcmd);
2c4285ec	149	possible_command = possible_command.substr(nextcmd);
d6190d18	150	}
702023f3	151
b375ba1d	152
bb270b88 JM	153	if(!uploading \|\| upload_stream != new_message.stream) {
bb270b88 JM	154	// Prepare gcode for dispatch
adf89655	155	Gcode *gcode = new Gcode(single_command, new_message.stream);
c4c70e85	156
73706276	157	if(THEKERNEL->is_halted()) {
4fb7087f	158	// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
b375ba1d	159	if(gcode->has_m && gcode->m == 999) {
b9ad75de JM	160	if(THEKERNEL->is_halted()) {
	161	THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
	162	new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
	163	}
	164	new_message.stream->printf("ok\n");
	165	delete gcode;
	166	continue;
4fb7087f JM	167
4fb7087f JM	168	}else if(!is_allowed_mcode(gcode->m)) {
76217df5	169	// ignore everything, return error string to host
6c0193b3	170	if(THEKERNEL->is_grbl_mode()) {
07186543	171	new_message.stream->printf("error:Alarm lock\n");
6c0193b3 JM	172
	173	}else{
	174	new_message.stream->printf("!!\r\n");
	175	}
76217df5 JM	176	delete gcode;
76217df5 JM	177	continue;
b375ba1d	178	}
b375ba1d JM	179	}
b375ba1d JM	180
c2885de8	181	if(gcode->has_g) {
00e607c7 JM	182	if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
00e607c7 JM	183	// this is ugly to implement as there may or may not be a G0/G1 on the same line
a3be54e3	184	// valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
00e607c7	185	if(possible_command.empty()) {
5d2319a9	186	// use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
ae7c4219 JM	187	// TODO it is really an error if the last is not G0 thru G3
ae7c4219 JM	188	if(modal_group_1 > 3) {
5d2319a9 JM	189	delete gcode;
	190	new_message.stream->printf("ok - Invalid G53\r\n");
	191	return;
	192	}
	193	// use last G0 or G1
ae7c4219	194	gcode->g= modal_group_1;
00e607c7 JM	195
	196	}else{
	197	delete gcode;
	198	// extract next G0/G1 from the rest of the line, ignore if it is not one of these
	199	gcode = new Gcode(possible_command, new_message.stream);
5d2319a9	200	possible_command= "";
00e607c7 JM	201	if(!gcode->has_g \|\| gcode->g > 1) {
	202	// not G0 or G1 so ignore it as it is invalid
	203	delete gcode;
	204	new_message.stream->printf("ok - Invalid G53\r\n");
	205	return;
	206	}
	207	}
	208	// makes it handle the parameters as a machine position
c8bac202	209	THEROBOT->next_command_is_MCS= true;
5d2319a9	210
00e607c7	211	}
5d2319a9	212
ae7c4219 JM	213	// remember last modal group 1 code
	214	if(gcode->g < 4) {
	215	modal_group_1= gcode->g;
	216	}
c2885de8	217	}
b375ba1d	218
adf89655 JM	219	if(gcode->has_m) {
	220	switch (gcode->m) {
	221	case 28: // start upload command
	222	delete gcode;
	223
	224	this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
	225	// open file
	226	upload_fd = fopen(this->upload_filename.c_str(), "w");
	227	if(upload_fd != NULL) {
	228	this->uploading = true;
6d91d256	229	new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
adf89655	230	} else {
6d91d256	231	new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
adf89655	232	}
bb270b88 JM	233
	234	// only save stuff from this stream
	235	upload_stream= new_message.stream;
	236
adf89655 JM	237	//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
	238	continue;
	239
01a8d21a JM	240	case 30: // end of program
	241	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
	242	// fall through to M2
	243	case 2:
8ad60a4c JM	244	{
	245	modal_group_1= 1; // set to G1
	246	// issue M5 and M9 in case spindle and coolant are being used
	247	Gcode gc1("M5", &StreamOutput::NullStream);
	248	THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
	249	Gcode gc2("M9", &StreamOutput::NullStream);
	250	THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
	251	}
	252	break;
	253
17704c93	254	case 112: // emergency stop, do the best we can with this
e714bd32	255	// this is also handled out-of-band (it is now with ^X in the serial driver)
b375ba1d	256	// disables heaters and motors, ignores further incoming Gcode and clears block queue
728477c4	257	THEKERNEL->call_event(ON_HALT, nullptr);
e714bd32	258	THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
b375ba1d	259	delete gcode;
17704c93 JM	260	return;
17704c93 JM	261
c89338bd JM	262	case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
	263	{ // concatenate the command again and send to panel if enabled
	264	string str= single_command.substr(4) + possible_command;
	265	PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
	266	delete gcode;
	267	new_message.stream->printf("ok\r\n");
	268	return;
	269	}
	270
e714bd32	271	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)
5c051155 JM	272	{
	273	// reconstruct entire command line again
	274	string str= single_command.substr(5) + possible_command;
	275	while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
	276
	277	delete gcode;
	278
	279	if(str.empty()) {
	280	SimpleShell::parse_command("help", "", new_message.stream);
	281
	282	}else{
	283	string args= lc(str);
	284	string cmd = shift_parameter(args);
	285	// find command and execute it
	286	if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
	287	new_message.stream->printf("Command not found: %s\n", cmd.c_str());
	288	}
	289	}
	290
	291	new_message.stream->printf("ok\r\n");
	292	return;
	293	}
	294
adf89655	295	case 500: // M500 save volatile settings to config-override
04782655	296	THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
c4d4e3f8	297	//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
5534e39e	298	__disable_irq();
c4d4e3f8 JM	299	{
	300	FileStream fs(THEKERNEL->config_override_filename());
	301	fs.printf("; DO NOT EDIT THIS FILE\n");
	302	// this also will truncate the existing file instead of deleting it
	303	}
f2f0dfed	304	// replace stream with one that writes to config-override file
825f27de	305	gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
adf89655	306	// dispatch the M500 here so we can free up the stream when done
314ab8f7	307	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655 JM	308	delete gcode->stream;
adf89655 JM	309	delete gcode;
5534e39e	310	__enable_irq();
347854ff	311	new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	312	continue;
adf89655 JM	313
c0b50fa8 JM	314	case 501: // load config override
	315	case 504: // save to specific config override file
	316	{
	317	string arg= get_arguments(single_command + possible_command); // rest of line is filename
	318	if(arg.empty()) arg= "/sd/config-override";
	319	else arg= "/sd/config-override." + arg;
b95ebd3a	320	//new_message.stream->printf("args: <%s>\n", arg.c_str());
c0b50fa8 JM	321	SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
	322	}
	323	delete gcode;
	324	new_message.stream->printf("ok\r\n");
	325	return;
	326
618c9b0f	327	case 502: // M502 deletes config-override so everything defaults to what is in config
347854ff	328	remove(THEKERNEL->config_override_filename());
adf89655	329	delete gcode;
5534e39e	330	new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	331	continue;
	332
	333	case 503: { // M503 display live settings and indicates if there is an override file
347854ff	334	FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
adf89655 JM	335	if(fd != NULL) {
adf89655 JM	336	fclose(fd);
347854ff	337	new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
adf89655 JM	338
	339	} else {
	340	new_message.stream->printf("; No config override\n");
	341	}
08d9afc6	342	gcode->add_nl= true;
618c9b0f	343	break; // fall through to process by modules
adf89655	344	}
c0b50fa8	345
44e8c359	346	}
33e4cc02 JM	347	}
	348
	349	//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
44e8c359	350	//Dispatch message!
314ab8f7	351	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
44e8c359	352
166836be JM	353	if (gcode->is_error) {
	354	// report error
	355	if(THEKERNEL->is_grbl_mode()) {
	356	new_message.stream->printf("error: ");
	357	}else{
8e777b5f	358	new_message.stream->printf("Error: ");
166836be JM	359	}
	360
	361	if(!gcode->txt_after_ok.empty()) {
	362	new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
	363	gcode->txt_after_ok.clear();
	364
	365	}else{
	366	new_message.stream->printf("unknown\r\n");
	367	}
	368
50cb3c04 JM	369	// we cannot continue safely after an error so we enter HALT state
	370	new_message.stream->printf("Entering Alarm/Halt state\n");
	371	THEKERNEL->call_event(ON_HALT, nullptr);
	372
166836be JM	373	}else{
	374
	375	if(gcode->add_nl)
	376	new_message.stream->printf("\r\n");
	377
	378	if(!gcode->txt_after_ok.empty()) {
	379	new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
	380	gcode->txt_after_ok.clear();
05cdadd6	381
05cdadd6	382	} else {
166836be JM	383	if(THEKERNEL->is_ok_per_line() \|\| THEKERNEL->is_grbl_mode()) {
	384	// only send ok once per line if this is a multi g code line send ok on the last one
	385	if(possible_command.empty())
	386	new_message.stream->printf("ok\r\n");
	387	} else {
	388	// maybe should do the above for all hosts?
	389	new_message.stream->printf("ok\r\n");
	390	}
05cdadd6 JM	391	}
05cdadd6 JM	392	}
44e8c359 JM	393
	394	delete gcode;
	395
adf89655	396	} else {
bb270b88	397	// we are uploading and it is the upload stream so so save it
44e8c359 JM	398	if(single_command.substr(0, 3) == "M29") {
	399	// done uploading, close file
	400	fclose(upload_fd);
adf89655 JM	401	upload_fd = NULL;
adf89655 JM	402	uploading = false;
44e8c359	403	upload_filename.clear();
bb270b88	404	upload_stream= nullptr;
6d91d256	405	new_message.stream->printf("Done saving file.\r\nok\r\n");
44e8c359 JM	406	continue;
44e8c359 JM	407	}
adf89655	408
44e8c359 JM	409	if(upload_fd == NULL) {
	410	// error detected writing to file so discard everything until it stops
	411	new_message.stream->printf("ok\r\n");
	412	continue;
	413	}
adf89655	414
44e8c359	415	single_command.append("\n");
44e8c359 JM	416	if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
	417	// error writing to file
	418	new_message.stream->printf("Error:error writing to file.\r\n");
	419	fclose(upload_fd);
adf89655	420	upload_fd = NULL;
44e8c359	421	continue;
adf89655 JM	422
adf89655 JM	423	} else {
ed5e53ce	424	new_message.stream->printf("ok\r\n");
44e8c359 JM	425	//printf("uploading file write ok\n");
	426	}
	427	}
d6190d18	428	}
adf89655 JM	429
adf89655 JM	430	} else {
62567509	431	//Request resend
f337d8fd	432	new_message.stream->printf("rs N%d\r\n", nextline);
62567509	433	}
2bb8b390	434
c2885de8	435	} else if( (n=possible_command.find_first_of("XYZF")) == 0 \|\| (first_char == ' ' && n != string::npos) ) {
ae7c4219	436	// handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
c2885de8	437	char buf[6];
ae7c4219	438	snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
c2885de8 JM	439	possible_command.insert(0, buf);
	440	goto try_again;
	441
adf89655 JM	442	// Ignore comments and blank lines
adf89655 JM	443	} else if ( first_char == ';' \|\| first_char == '(' \|\| first_char == ' ' \|\| first_char == '\n' \|\| first_char == '\r' ) {
b6c86164	444	new_message.stream->printf("ok\r\n");
4cff3ded AW	445	}
	446	}
	447