| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 6 | */ |
| 7 | |
| 8 | #include "GcodeDispatch.h" |
| 9 | |
| 10 | #include "libs/Kernel.h" |
| 11 | #include "utils/Gcode.h" |
| 12 | #include "Pauser.h" |
| 13 | #include "libs/nuts_bolts.h" |
| 14 | #include "modules/robot/Conveyor.h" |
| 15 | #include "libs/SerialMessage.h" |
| 16 | #include "libs/StreamOutput.h" |
| 17 | #include "libs/StreamOutputPool.h" |
| 18 | #include "libs/FileStream.h" |
| 19 | #include "libs/AppendFileStream.h" |
| 20 | #include "Config.h" |
| 21 | #include "checksumm.h" |
| 22 | #include "ConfigValue.h" |
| 23 | #include "PublicDataRequest.h" |
| 24 | #include "PublicData.h" |
| 25 | #include "SimpleShell.h" |
| 26 | #include "utils.h" |
| 27 | |
| 28 | #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode") |
| 29 | #define panel_display_message_checksum CHECKSUM("display_message") |
| 30 | #define panel_checksum CHECKSUM("panel") |
| 31 | |
| 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 | |
| 41 | GcodeDispatch::GcodeDispatch() |
| 42 | { |
| 43 | halted= false; |
| 44 | uploading = false; |
| 45 | currentline = -1; |
| 46 | last_g= 255; |
| 47 | } |
| 48 | |
| 49 | // Called when the module has just been loaded |
| 50 | void GcodeDispatch::on_module_loaded() |
| 51 | { |
| 52 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
| 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 |
| 59 | this->halted= (arg == nullptr); |
| 60 | } |
| 61 | |
| 62 | // When a command is received, if it is a Gcode, dispatch it as an object via an event |
| 63 | void GcodeDispatch::on_console_line_received(void *line) |
| 64 | { |
| 65 | SerialMessage new_message = *static_cast<SerialMessage *>(line); |
| 66 | string possible_command = new_message.message; |
| 67 | |
| 68 | int ln = 0; |
| 69 | int cs = 0; |
| 70 | |
| 71 | try_again: |
| 72 | |
| 73 | char first_char = possible_command[0]; |
| 74 | unsigned int n; |
| 75 | if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) { |
| 76 | |
| 77 | //Get linenumber |
| 78 | if ( first_char == 'N' ) { |
| 79 | Gcode full_line = Gcode(possible_command, new_message.stream, false); |
| 80 | ln = (int) full_line.get_value('N'); |
| 81 | int chksum = (int) full_line.get_value('*'); |
| 82 | |
| 83 | //Catch message if it is M110: Set Current Line Number |
| 84 | if ( full_line.has_m ) { |
| 85 | if ( full_line.m == 110 ) { |
| 86 | currentline = ln; |
| 87 | new_message.stream->printf("ok\r\n"); |
| 88 | return; |
| 89 | } |
| 90 | } |
| 91 | |
| 92 | //Strip checksum value from possible_command |
| 93 | size_t chkpos = possible_command.find_first_of("*"); |
| 94 | possible_command = possible_command.substr(0, chkpos); |
| 95 | //Calculate checksum |
| 96 | if ( chkpos != string::npos ) { |
| 97 | for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++) |
| 98 | cs = cs ^ *c; |
| 99 | cs &= 0xff; // Defensive programming... |
| 100 | cs -= chksum; |
| 101 | } |
| 102 | //Strip line number value from possible_command |
| 103 | size_t lnsize = possible_command.find_first_not_of("N0123456789.,- "); |
| 104 | possible_command = possible_command.substr(lnsize); |
| 105 | |
| 106 | } else { |
| 107 | //Assume checks succeeded |
| 108 | cs = 0x00; |
| 109 | ln = currentline + 1; |
| 110 | } |
| 111 | |
| 112 | //Remove comments |
| 113 | size_t comment = possible_command.find_first_of(";("); |
| 114 | if( comment != string::npos ) { |
| 115 | possible_command = possible_command.substr(0, comment); |
| 116 | } |
| 117 | |
| 118 | //If checksum passes then process message, else request resend |
| 119 | int nextline = currentline + 1; |
| 120 | if( cs == 0x00 && ln == nextline ) { |
| 121 | if( first_char == 'N' ) { |
| 122 | currentline = nextline; |
| 123 | } |
| 124 | |
| 125 | while(possible_command.size() > 0) { |
| 126 | // assumes G or M are always the first on the line |
| 127 | size_t nextcmd = possible_command.find_first_of("GM", 2); |
| 128 | string single_command; |
| 129 | if(nextcmd == string::npos) { |
| 130 | single_command = possible_command; |
| 131 | possible_command = ""; |
| 132 | } else { |
| 133 | single_command = possible_command.substr(0, nextcmd); |
| 134 | possible_command = possible_command.substr(nextcmd); |
| 135 | } |
| 136 | |
| 137 | |
| 138 | if(!uploading) { |
| 139 | //Prepare gcode for dispatch |
| 140 | Gcode *gcode = new Gcode(single_command, new_message.stream); |
| 141 | |
| 142 | if(halted) { |
| 143 | // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp) |
| 144 | if(gcode->has_m && gcode->m == 999) { |
| 145 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
| 146 | halted= false; |
| 147 | // fall through and pass onto other modules |
| 148 | |
| 149 | }else if(!is_allowed_mcode(gcode->m)) { |
| 150 | // ignore everything, return error string to host |
| 151 | new_message.stream->printf("!!\r\n"); |
| 152 | delete gcode; |
| 153 | continue; |
| 154 | } |
| 155 | } |
| 156 | |
| 157 | if(gcode->has_g) { |
| 158 | last_g= gcode->g; |
| 159 | } |
| 160 | |
| 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; |
| 171 | new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str()); |
| 172 | } else { |
| 173 | new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str()); |
| 174 | } |
| 175 | //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd); |
| 176 | continue; |
| 177 | |
| 178 | case 112: // emergency stop, do the best we can with this |
| 179 | // TODO this really needs to be handled out-of-band |
| 180 | // disables heaters and motors, ignores further incoming Gcode and clears block queue |
| 181 | THEKERNEL->call_event(ON_HALT, nullptr); |
| 182 | THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n"); |
| 183 | delete gcode; |
| 184 | return; |
| 185 | |
| 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 | |
| 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 | |
| 219 | case 500: // M500 save volatile settings to config-override |
| 220 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
| 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 | } |
| 227 | // replace stream with one that writes to config-override file |
| 228 | gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename()); |
| 229 | // dispatch the M500 here so we can free up the stream when done |
| 230 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); |
| 231 | delete gcode->stream; |
| 232 | delete gcode; |
| 233 | new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename()); |
| 234 | continue; |
| 235 | |
| 236 | case 502: // M502 deletes config-override so everything defaults to what is in config |
| 237 | remove(THEKERNEL->config_override_filename()); |
| 238 | new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename()); |
| 239 | delete gcode; |
| 240 | continue; |
| 241 | |
| 242 | case 503: { // M503 display live settings and indicates if there is an override file |
| 243 | FILE *fd = fopen(THEKERNEL->config_override_filename(), "r"); |
| 244 | if(fd != NULL) { |
| 245 | fclose(fd); |
| 246 | new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename()); |
| 247 | |
| 248 | } else { |
| 249 | new_message.stream->printf("; No config override\n"); |
| 250 | } |
| 251 | gcode->add_nl= true; |
| 252 | break; // fall through to process by modules |
| 253 | } |
| 254 | } |
| 255 | } |
| 256 | |
| 257 | //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m); |
| 258 | //Dispatch message! |
| 259 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); |
| 260 | if(gcode->add_nl) |
| 261 | new_message.stream->printf("\r\n"); |
| 262 | |
| 263 | if(!gcode->txt_after_ok.empty()) { |
| 264 | new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str()); |
| 265 | gcode->txt_after_ok.clear(); |
| 266 | } else |
| 267 | new_message.stream->printf("ok\r\n"); |
| 268 | |
| 269 | delete gcode; |
| 270 | |
| 271 | } else { |
| 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); |
| 276 | upload_fd = NULL; |
| 277 | uploading = false; |
| 278 | upload_filename.clear(); |
| 279 | new_message.stream->printf("Done saving file.\r\nok\r\n"); |
| 280 | continue; |
| 281 | } |
| 282 | |
| 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 | } |
| 288 | |
| 289 | single_command.append("\n"); |
| 290 | static int cnt = 0; |
| 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); |
| 295 | upload_fd = NULL; |
| 296 | continue; |
| 297 | |
| 298 | } else { |
| 299 | cnt += single_command.size(); |
| 300 | if (cnt > 400) { |
| 301 | // HACK ALERT to get around fwrite corruption close and re open for append |
| 302 | fclose(upload_fd); |
| 303 | upload_fd = fopen(upload_filename.c_str(), "a"); |
| 304 | cnt = 0; |
| 305 | } |
| 306 | new_message.stream->printf("ok\r\n"); |
| 307 | //printf("uploading file write ok\n"); |
| 308 | } |
| 309 | } |
| 310 | } |
| 311 | |
| 312 | } else { |
| 313 | //Request resend |
| 314 | new_message.stream->printf("rs N%d\r\n", nextline); |
| 315 | } |
| 316 | |
| 317 | } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) { |
| 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 | } |
| 324 | char buf[6]; |
| 325 | snprintf(buf, sizeof(buf), "G%d ", last_g); |
| 326 | possible_command.insert(0, buf); |
| 327 | goto try_again; |
| 328 | |
| 329 | // Ignore comments and blank lines |
| 330 | } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) { |
| 331 | new_message.stream->printf("ok\r\n"); |
| 332 | } |
| 333 | } |
| 334 | |