[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 "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[]= {105,114,119}; // get temp, get pos, get endstops
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;
    last_g= 255;
}

// 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;

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(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

                        }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"
436a2cd1	12	#include "libs/nuts_bolts.h"
3fceb8eb	13	#include "modules/robot/Conveyor.h"
423df6df	14	#include "libs/SerialMessage.h"
838b33b4	15	#include "libs/StreamOutput.h"
17704c93	16	#include "libs/StreamOutputPool.h"
c4d4e3f8	17	#include "libs/FileStream.h"
825f27de	18	#include "libs/AppendFileStream.h"
61134a65	19	#include "Config.h"
7af0714f	20	#include "checksumm.h"
8d54c34c	21	#include "ConfigValue.h"
c89338bd JM	22	#include "PublicDataRequest.h"
c89338bd JM	23	#include "PublicData.h"
5c051155 JM	24	#include "SimpleShell.h"
5c051155 JM	25	#include "utils.h"
4cff3ded	26
b375ba1d	27	#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
c89338bd JM	28	#define panel_display_message_checksum CHECKSUM("display_message")
c89338bd JM	29	#define panel_checksum CHECKSUM("panel")
b375ba1d	30
4fb7087f	31	// goes in Flash, list of Mxxx codes that are allowed when in Halted state
96aba4af	32	static const int allowed_mcodes[]= {105,114,119}; // get temp, get pos, get endstops
4fb7087f JM	33	static bool is_allowed_mcode(int m) {
	34	for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
	35	if(allowed_mcodes[i] == m) return true;
	36	}
	37	return false;
	38	}
	39
b375ba1d JM	40	GcodeDispatch::GcodeDispatch()
b375ba1d JM	41	{
b375ba1d JM	42	uploading = false;
	43	currentline = -1;
	44	last_g= 255;
	45	}
4cff3ded AW	46
4cff3ded AW	47	// Called when the module has just been loaded
adf89655 JM	48	void GcodeDispatch::on_module_loaded()
adf89655 JM	49	{
4cff3ded AW	50	this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
	51	}
	52
	53	// When a command is received, if it is a Gcode, dispatch it as an object via an event
adf89655 JM	54	void GcodeDispatch::on_console_line_received(void *line)
	55	{
	56	SerialMessage new_message = static_cast<SerialMessage >(line);
de91760a	57	string possible_command = new_message.message;
b6c86164	58
62567509 MC	59	int ln = 0;
62567509 MC	60	int cs = 0;
c4c70e85 JM	61
	62	try_again:
	63
	64	char first_char = possible_command[0];
c2885de8	65	unsigned int n;
adf89655	66	if ( first_char == 'G' \|\| first_char == 'M' \|\| first_char == 'T' \|\| first_char == 'N' ) {
9a29161f	67
62567509	68	//Get linenumber
adf89655	69	if ( first_char == 'N' ) {
aae5a789	70	Gcode full_line = Gcode(possible_command, new_message.stream, false);
534e17b9 MC	71	ln = (int) full_line.get_value('N');
534e17b9 MC	72	int chksum = (int) full_line.get_value('*');
62567509	73
f337d8fd	74	//Catch message if it is M110: Set Current Line Number
b9b1bb25 JM	75	if ( full_line.has_m ) {
b9b1bb25 JM	76	if ( full_line.m == 110 ) {
f337d8fd MC	77	currentline = ln;
	78	new_message.stream->printf("ok\r\n");
	79	return;
	80	}
	81	}
	82
534e17b9	83	//Strip checksum value from possible_command
62567509	84	size_t chkpos = possible_command.find_first_of("*");
de91760a	85	possible_command = possible_command.substr(0, chkpos);
534e17b9	86	//Calculate checksum
adf89655 JM	87	if ( chkpos != string::npos ) {
adf89655 JM	88	for (auto c = possible_command.cbegin(); c != '' && c != possible_command.cend(); c++)
7a2ca498	89	cs = cs ^ *c;
62567509	90	cs &= 0xff; // Defensive programming...
534e17b9	91	cs -= chksum;
62567509	92	}
534e17b9	93	//Strip line number value from possible_command
9883efb8	94	size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
de91760a	95	possible_command = possible_command.substr(lnsize);
f337d8fd	96
adf89655	97	} else {
534e17b9 MC	98	//Assume checks succeeded
	99	cs = 0x00;
	100	ln = currentline + 1;
9a29161f MC	101	}
9a29161f MC	102
436a2cd1	103	//Remove comments
30c006fd	104	size_t comment = possible_command.find_first_of(";(");
adf89655 JM	105	if( comment != string::npos ) {
	106	possible_command = possible_command.substr(0, comment);
	107	}
436a2cd1	108
62567509 MC	109	//If checksum passes then process message, else request resend
62567509 MC	110	int nextline = currentline + 1;
adf89655	111	if( cs == 0x00 && ln == nextline ) {
f337d8fd	112	if( first_char == 'N' ) {
534e17b9	113	currentline = nextline;
f337d8fd MC	114	}
f337d8fd MC	115
d6190d18	116	while(possible_command.size() > 0) {
49d2ca86 JM	117	// assumes G or M are always the first on the line
49d2ca86 JM	118	size_t nextcmd = possible_command.find_first_of("GM", 2);
d6190d18	119	string single_command;
85bb8e89	120	if(nextcmd == string::npos) {
d6190d18 MC	121	single_command = possible_command;
d6190d18 MC	122	possible_command = "";
adf89655 JM	123	} else {
adf89655 JM	124	single_command = possible_command.substr(0, nextcmd);
2c4285ec	125	possible_command = possible_command.substr(nextcmd);
d6190d18	126	}
702023f3	127
b375ba1d	128
44e8c359 JM	129	if(!uploading) {
44e8c359 JM	130	//Prepare gcode for dispatch
adf89655	131	Gcode *gcode = new Gcode(single_command, new_message.stream);
c4c70e85	132
73706276	133	if(THEKERNEL->is_halted()) {
4fb7087f	134	// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
b375ba1d	135	if(gcode->has_m && gcode->m == 999) {
728477c4	136	THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
73706276	137
76217df5	138	// fall through and pass onto other modules
4fb7087f JM	139
4fb7087f JM	140	}else if(!is_allowed_mcode(gcode->m)) {
76217df5	141	// ignore everything, return error string to host
b375ba1d	142	new_message.stream->printf("!!\r\n");
76217df5 JM	143	delete gcode;
76217df5 JM	144	continue;
b375ba1d	145	}
b375ba1d JM	146	}
b375ba1d JM	147
c2885de8 JM	148	if(gcode->has_g) {
	149	last_g= gcode->g;
	150	}
b375ba1d	151
adf89655 JM	152	if(gcode->has_m) {
	153	switch (gcode->m) {
	154	case 28: // start upload command
	155	delete gcode;
	156
	157	this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
	158	// open file
	159	upload_fd = fopen(this->upload_filename.c_str(), "w");
	160	if(upload_fd != NULL) {
	161	this->uploading = true;
6d91d256	162	new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
adf89655	163	} else {
6d91d256	164	new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
adf89655 JM	165	}
	166	//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
	167	continue;
	168
17704c93 JM	169	case 112: // emergency stop, do the best we can with this
17704c93 JM	170	// TODO this really needs to be handled out-of-band
b375ba1d	171	// disables heaters and motors, ignores further incoming Gcode and clears block queue
728477c4	172	THEKERNEL->call_event(ON_HALT, nullptr);
b375ba1d JM	173	THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
b375ba1d JM	174	delete gcode;
17704c93 JM	175	return;
17704c93 JM	176
c89338bd JM	177	case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
	178	{ // concatenate the command again and send to panel if enabled
	179	string str= single_command.substr(4) + possible_command;
	180	PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
	181	delete gcode;
	182	new_message.stream->printf("ok\r\n");
	183	return;
	184	}
	185
5c051155 JM	186	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)
	187	{
	188	// reconstruct entire command line again
	189	string str= single_command.substr(5) + possible_command;
	190	while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
	191
	192	delete gcode;
	193
	194	if(str.empty()) {
	195	SimpleShell::parse_command("help", "", new_message.stream);
	196
	197	}else{
	198	string args= lc(str);
	199	string cmd = shift_parameter(args);
	200	// find command and execute it
	201	if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
	202	new_message.stream->printf("Command not found: %s\n", cmd.c_str());
	203	}
	204	}
	205
	206	new_message.stream->printf("ok\r\n");
	207	return;
	208	}
	209
adf89655	210	case 500: // M500 save volatile settings to config-override
b14f84e0	211	THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
c4d4e3f8 JM	212	//remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
	213	{
	214	FileStream fs(THEKERNEL->config_override_filename());
	215	fs.printf("; DO NOT EDIT THIS FILE\n");
	216	// this also will truncate the existing file instead of deleting it
	217	}
f2f0dfed	218	// replace stream with one that writes to config-override file
825f27de	219	gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
adf89655	220	// dispatch the M500 here so we can free up the stream when done
314ab8f7	221	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655 JM	222	delete gcode->stream;
adf89655 JM	223	delete gcode;
347854ff	224	new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	225	continue;
adf89655 JM	226
618c9b0f	227	case 502: // M502 deletes config-override so everything defaults to what is in config
347854ff MM	228	remove(THEKERNEL->config_override_filename());
347854ff MM	229	new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
adf89655 JM	230	delete gcode;
	231	continue;
	232
	233	case 503: { // M503 display live settings and indicates if there is an override file
347854ff	234	FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
adf89655 JM	235	if(fd != NULL) {
adf89655 JM	236	fclose(fd);
347854ff	237	new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
adf89655 JM	238
	239	} else {
	240	new_message.stream->printf("; No config override\n");
	241	}
08d9afc6	242	gcode->add_nl= true;
618c9b0f	243	break; // fall through to process by modules
adf89655	244	}
44e8c359	245	}
33e4cc02 JM	246	}
	247
	248	//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
44e8c359	249	//Dispatch message!
314ab8f7	250	THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
adf89655	251	if(gcode->add_nl)
44e8c359 JM	252	new_message.stream->printf("\r\n");
44e8c359 JM	253
6e92ab91	254	if(!gcode->txt_after_ok.empty()) {
44e8c359 JM	255	new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
44e8c359 JM	256	gcode->txt_after_ok.clear();
adf89655	257	} else
44e8c359 JM	258	new_message.stream->printf("ok\r\n");
	259
	260	delete gcode;
	261
adf89655	262	} else {
44e8c359 JM	263	// we are uploading a file so save it
	264	if(single_command.substr(0, 3) == "M29") {
	265	// done uploading, close file
	266	fclose(upload_fd);
adf89655 JM	267	upload_fd = NULL;
adf89655 JM	268	uploading = false;
44e8c359	269	upload_filename.clear();
6d91d256	270	new_message.stream->printf("Done saving file.\r\nok\r\n");
44e8c359 JM	271	continue;
44e8c359 JM	272	}
adf89655	273
44e8c359 JM	274	if(upload_fd == NULL) {
	275	// error detected writing to file so discard everything until it stops
	276	new_message.stream->printf("ok\r\n");
	277	continue;
	278	}
adf89655	279
44e8c359	280	single_command.append("\n");
adf89655	281	static int cnt = 0;
44e8c359 JM	282	if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
	283	// error writing to file
	284	new_message.stream->printf("Error:error writing to file.\r\n");
	285	fclose(upload_fd);
adf89655	286	upload_fd = NULL;
44e8c359	287	continue;
adf89655 JM	288
	289	} else {
	290	cnt += single_command.size();
	291	if (cnt > 400) {
44e8c359 JM	292	// HACK ALERT to get around fwrite corruption close and re open for append
44e8c359 JM	293	fclose(upload_fd);
adf89655 JM	294	upload_fd = fopen(upload_filename.c_str(), "a");
adf89655 JM	295	cnt = 0;
44e8c359 JM	296	}
	297	new_message.stream->printf("ok\r\n");
	298	//printf("uploading file write ok\n");
	299	}
	300	}
d6190d18	301	}
adf89655 JM	302
adf89655 JM	303	} else {
62567509	304	//Request resend
f337d8fd	305	new_message.stream->printf("rs N%d\r\n", nextline);
62567509	306	}
2bb8b390	307
c2885de8	308	} else if( (n=possible_command.find_first_of("XYZF")) == 0 \|\| (first_char == ' ' && n != string::npos) ) {
c4c70e85 JM	309	// handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
	310	if(last_g != 0 && last_g != 1) {
	311	//if no last G1 or G0 ignore
	312	//THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
	313	return;
	314	}
c2885de8 JM	315	char buf[6];
	316	snprintf(buf, sizeof(buf), "G%d ", last_g);
	317	possible_command.insert(0, buf);
	318	goto try_again;
	319
adf89655 JM	320	// Ignore comments and blank lines
adf89655 JM	321	} else if ( first_char == ';' \|\| first_char == '(' \|\| first_char == ' ' \|\| first_char == '\n' \|\| first_char == '\r' ) {
b6c86164	322	new_message.stream->printf("ok\r\n");
4cff3ded AW	323	}
	324	}
	325