| 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 "Robot.h" |
| 12 | #include "utils/Gcode.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 | #include "LPC17xx.h" |
| 28 | #include "version.h" |
| 29 | |
| 30 | #define panel_display_message_checksum CHECKSUM("display_message") |
| 31 | #define panel_checksum CHECKSUM("panel") |
| 32 | |
| 33 | // goes in Flash, list of Mxxx codes that are allowed when in Halted state |
| 34 | static const int allowed_mcodes[]= {2,5,9,30,105,114,115,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc |
| 35 | static bool is_allowed_mcode(int m) { |
| 36 | for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) { |
| 37 | if(allowed_mcodes[i] == m) return true; |
| 38 | } |
| 39 | return false; |
| 40 | } |
| 41 | |
| 42 | GcodeDispatch::GcodeDispatch() |
| 43 | { |
| 44 | uploading = false; |
| 45 | currentline = -1; |
| 46 | modal_group_1= 0; |
| 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 | } |
| 54 | |
| 55 | // When a command is received, if it is a Gcode, dispatch it as an object via an event |
| 56 | void GcodeDispatch::on_console_line_received(void *line) |
| 57 | { |
| 58 | SerialMessage new_message = *static_cast<SerialMessage *>(line); |
| 59 | string possible_command = new_message.message; |
| 60 | |
| 61 | int ln = 0; |
| 62 | int cs = 0; |
| 63 | |
| 64 | // just reply ok to empty lines |
| 65 | if(possible_command.empty()) { |
| 66 | new_message.stream->printf("ok\r\n"); |
| 67 | return; |
| 68 | } |
| 69 | |
| 70 | try_again: |
| 71 | |
| 72 | char first_char = possible_command[0]; |
| 73 | unsigned int n; |
| 74 | |
| 75 | if(first_char == '$') { |
| 76 | // ignore as simpleshell will handle it |
| 77 | return; |
| 78 | |
| 79 | }else if(islower(first_char)) { |
| 80 | // ignore all lowercase as they are simpleshell commands |
| 81 | return; |
| 82 | } |
| 83 | |
| 84 | if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) { |
| 85 | |
| 86 | //Get linenumber |
| 87 | if ( first_char == 'N' ) { |
| 88 | Gcode full_line = Gcode(possible_command, new_message.stream, false); |
| 89 | ln = (int) full_line.get_value('N'); |
| 90 | int chksum = (int) full_line.get_value('*'); |
| 91 | |
| 92 | //Catch message if it is M110: Set Current Line Number |
| 93 | if ( full_line.has_m ) { |
| 94 | if ( full_line.m == 110 ) { |
| 95 | currentline = ln; |
| 96 | new_message.stream->printf("ok\r\n"); |
| 97 | return; |
| 98 | } |
| 99 | } |
| 100 | |
| 101 | //Strip checksum value from possible_command |
| 102 | size_t chkpos = possible_command.find_first_of("*"); |
| 103 | |
| 104 | //Calculate checksum |
| 105 | if ( chkpos != string::npos ) { |
| 106 | possible_command = possible_command.substr(0, chkpos); |
| 107 | for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++) |
| 108 | cs = cs ^ *c; |
| 109 | cs &= 0xff; // Defensive programming... |
| 110 | cs -= chksum; |
| 111 | } |
| 112 | |
| 113 | //Strip line number value from possible_command |
| 114 | size_t lnsize = possible_command.find_first_not_of("N0123456789.,- "); |
| 115 | if(lnsize != string::npos) { |
| 116 | possible_command = possible_command.substr(lnsize); |
| 117 | }else{ |
| 118 | // it is a blank line |
| 119 | possible_command.clear(); |
| 120 | } |
| 121 | |
| 122 | } else { |
| 123 | //Assume checks succeeded |
| 124 | cs = 0x00; |
| 125 | ln = currentline + 1; |
| 126 | } |
| 127 | |
| 128 | //Remove comments |
| 129 | size_t comment = possible_command.find_first_of(";("); |
| 130 | if( comment != string::npos ) { |
| 131 | possible_command = possible_command.substr(0, comment); |
| 132 | } |
| 133 | |
| 134 | //If checksum passes then process message, else request resend |
| 135 | int nextline = currentline + 1; |
| 136 | if( cs == 0x00 && ln == nextline ) { |
| 137 | if( first_char == 'N' ) { |
| 138 | currentline = nextline; |
| 139 | } |
| 140 | |
| 141 | bool sent_ok= false; // used for G1 optimization |
| 142 | while(possible_command.size() > 0) { |
| 143 | // assumes G or M are always the first on the line |
| 144 | size_t nextcmd = possible_command.find_first_of("GM", 2); |
| 145 | string single_command; |
| 146 | if(nextcmd == string::npos) { |
| 147 | single_command = possible_command; |
| 148 | possible_command = ""; |
| 149 | } else { |
| 150 | single_command = possible_command.substr(0, nextcmd); |
| 151 | possible_command = possible_command.substr(nextcmd); |
| 152 | } |
| 153 | |
| 154 | |
| 155 | if(!uploading || upload_stream != new_message.stream) { |
| 156 | // Prepare gcode for dispatch |
| 157 | Gcode *gcode = new Gcode(single_command, new_message.stream); |
| 158 | |
| 159 | if(THEKERNEL->is_halted()) { |
| 160 | // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp) |
| 161 | if(gcode->has_m && gcode->m == 999) { |
| 162 | if(THEKERNEL->is_halted()) { |
| 163 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
| 164 | new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n"); |
| 165 | } |
| 166 | new_message.stream->printf("ok\n"); |
| 167 | delete gcode; |
| 168 | return; |
| 169 | |
| 170 | }else if(!is_allowed_mcode(gcode->m)) { |
| 171 | // ignore everything, return error string to host |
| 172 | if(THEKERNEL->is_grbl_mode()) { |
| 173 | new_message.stream->printf("error:Alarm lock\n"); |
| 174 | |
| 175 | }else{ |
| 176 | new_message.stream->printf("!!\r\n"); |
| 177 | } |
| 178 | delete gcode; |
| 179 | return; |
| 180 | } |
| 181 | } |
| 182 | |
| 183 | if(gcode->has_g) { |
| 184 | if(gcode->g == 53) { // G53 makes next movement command use machine coordinates |
| 185 | // this is ugly to implement as there may or may not be a G0/G1 on the same line |
| 186 | // valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2 |
| 187 | if(possible_command.empty()) { |
| 188 | // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1 |
| 189 | // TODO it is really an error if the last is not G0 thru G3 |
| 190 | if(modal_group_1 > 3) { |
| 191 | delete gcode; |
| 192 | new_message.stream->printf("ok - Invalid G53\r\n"); |
| 193 | return; |
| 194 | } |
| 195 | // use last G0 or G1 |
| 196 | gcode->g= modal_group_1; |
| 197 | |
| 198 | }else{ |
| 199 | delete gcode; |
| 200 | // extract next G0/G1 from the rest of the line, ignore if it is not one of these |
| 201 | gcode = new Gcode(possible_command, new_message.stream); |
| 202 | possible_command= ""; |
| 203 | if(!gcode->has_g || gcode->g > 1) { |
| 204 | // not G0 or G1 so ignore it as it is invalid |
| 205 | delete gcode; |
| 206 | new_message.stream->printf("ok - Invalid G53\r\n"); |
| 207 | return; |
| 208 | } |
| 209 | } |
| 210 | // makes it handle the parameters as a machine position |
| 211 | THEROBOT->next_command_is_MCS= true; |
| 212 | |
| 213 | } else if(gcode->g == 1) { |
| 214 | // optimize G1 to send ok immediately (one per line) before it is planned |
| 215 | if(!sent_ok) { |
| 216 | sent_ok= true; |
| 217 | new_message.stream->printf("ok\n"); |
| 218 | } |
| 219 | } |
| 220 | |
| 221 | // remember last modal group 1 code |
| 222 | if(gcode->g < 4) { |
| 223 | modal_group_1= gcode->g; |
| 224 | } |
| 225 | } |
| 226 | |
| 227 | if(gcode->has_m) { |
| 228 | switch (gcode->m) { |
| 229 | case 28: // start upload command |
| 230 | delete gcode; |
| 231 | |
| 232 | this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename |
| 233 | // open file |
| 234 | upload_fd = fopen(this->upload_filename.c_str(), "w"); |
| 235 | if(upload_fd != NULL) { |
| 236 | this->uploading = true; |
| 237 | new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str()); |
| 238 | } else { |
| 239 | new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str()); |
| 240 | } |
| 241 | |
| 242 | // only save stuff from this stream |
| 243 | upload_stream= new_message.stream; |
| 244 | |
| 245 | //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd); |
| 246 | continue; |
| 247 | |
| 248 | case 30: // end of program |
| 249 | 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 |
| 250 | // fall through to M2 |
| 251 | case 2: |
| 252 | { |
| 253 | modal_group_1= 1; // set to G1 |
| 254 | // issue M5 and M9 in case spindle and coolant are being used |
| 255 | Gcode gc1("M5", &StreamOutput::NullStream); |
| 256 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1); |
| 257 | Gcode gc2("M9", &StreamOutput::NullStream); |
| 258 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2); |
| 259 | } |
| 260 | break; |
| 261 | |
| 262 | case 112: // emergency stop, do the best we can with this |
| 263 | // this is also handled out-of-band (it is now with ^X in the serial driver) |
| 264 | // disables heaters and motors, ignores further incoming Gcode and clears block queue |
| 265 | THEKERNEL->call_event(ON_HALT, nullptr); |
| 266 | THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n"); |
| 267 | delete gcode; |
| 268 | return; |
| 269 | |
| 270 | case 115: { // M115 Get firmware version and capabilities |
| 271 | Version vers; |
| 272 | |
| 273 | new_message.stream->printf("FIRMWARE_NAME:Smoothieware, FIRMWARE_URL:http%%3A//smoothieware.org, X-SOURCE_CODE_URL:https://github.com/Smoothieware/Smoothieware, FIRMWARE_VERSION:%s, X-FIRMWARE_BUILD_DATE:%s, X-SYSTEM_CLOCK:%ldMHz, X-AXES:%d, X-GRBL_MODE:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS, THEKERNEL->is_grbl_mode()); |
| 274 | |
| 275 | #ifdef CNC |
| 276 | new_message.stream->printf(", X-CNC:1"); |
| 277 | #else |
| 278 | new_message.stream->printf(", X-CNC:0"); |
| 279 | #endif |
| 280 | |
| 281 | #ifdef DISABLEMSD |
| 282 | new_message.stream->printf(", X-MSD:0"); |
| 283 | #else |
| 284 | new_message.stream->printf(", X-MSD:1"); |
| 285 | #endif |
| 286 | |
| 287 | new_message.stream->printf("\nok\n"); |
| 288 | return; |
| 289 | } |
| 290 | |
| 291 | case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command |
| 292 | { // concatenate the command again and send to panel if enabled |
| 293 | string str= single_command.substr(4) + possible_command; |
| 294 | PublicData::set_value( panel_checksum, panel_display_message_checksum, &str ); |
| 295 | delete gcode; |
| 296 | new_message.stream->printf("ok\r\n"); |
| 297 | return; |
| 298 | } |
| 299 | |
| 300 | 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) |
| 301 | { |
| 302 | // reconstruct entire command line again |
| 303 | string str= single_command.substr(5) + possible_command; |
| 304 | while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace |
| 305 | |
| 306 | delete gcode; |
| 307 | |
| 308 | if(str.empty()) { |
| 309 | SimpleShell::parse_command("help", "", new_message.stream); |
| 310 | |
| 311 | }else{ |
| 312 | string args= lc(str); |
| 313 | string cmd = shift_parameter(args); |
| 314 | // find command and execute it |
| 315 | if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) { |
| 316 | new_message.stream->printf("Command not found: %s\n", cmd.c_str()); |
| 317 | } |
| 318 | } |
| 319 | |
| 320 | new_message.stream->printf("ok\r\n"); |
| 321 | return; |
| 322 | } |
| 323 | |
| 324 | case 500: // M500 save volatile settings to config-override |
| 325 | THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run |
| 326 | //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then |
| 327 | __disable_irq(); |
| 328 | { |
| 329 | FileStream fs(THEKERNEL->config_override_filename()); |
| 330 | fs.printf("; DO NOT EDIT THIS FILE\n"); |
| 331 | // this also will truncate the existing file instead of deleting it |
| 332 | } |
| 333 | // replace stream with one that writes to config-override file |
| 334 | gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename()); |
| 335 | // dispatch the M500 here so we can free up the stream when done |
| 336 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); |
| 337 | delete gcode->stream; |
| 338 | delete gcode; |
| 339 | __enable_irq(); |
| 340 | new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename()); |
| 341 | continue; |
| 342 | |
| 343 | case 501: // load config override |
| 344 | case 504: // save to specific config override file |
| 345 | { |
| 346 | string arg= get_arguments(single_command + possible_command); // rest of line is filename |
| 347 | if(arg.empty()) arg= "/sd/config-override"; |
| 348 | else arg= "/sd/config-override." + arg; |
| 349 | //new_message.stream->printf("args: <%s>\n", arg.c_str()); |
| 350 | SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream); |
| 351 | } |
| 352 | delete gcode; |
| 353 | new_message.stream->printf("ok\r\n"); |
| 354 | return; |
| 355 | |
| 356 | case 502: // M502 deletes config-override so everything defaults to what is in config |
| 357 | remove(THEKERNEL->config_override_filename()); |
| 358 | delete gcode; |
| 359 | new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename()); |
| 360 | continue; |
| 361 | |
| 362 | case 503: { // M503 display live settings and indicates if there is an override file |
| 363 | FILE *fd = fopen(THEKERNEL->config_override_filename(), "r"); |
| 364 | if(fd != NULL) { |
| 365 | fclose(fd); |
| 366 | new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename()); |
| 367 | |
| 368 | } else { |
| 369 | new_message.stream->printf("; No config override\n"); |
| 370 | } |
| 371 | gcode->add_nl= true; |
| 372 | break; // fall through to process by modules |
| 373 | } |
| 374 | |
| 375 | } |
| 376 | } |
| 377 | |
| 378 | //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m); |
| 379 | //Dispatch message! |
| 380 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); |
| 381 | |
| 382 | if (gcode->is_error) { |
| 383 | // report error |
| 384 | if(THEKERNEL->is_grbl_mode()) { |
| 385 | new_message.stream->printf("error:"); |
| 386 | }else{ |
| 387 | new_message.stream->printf("Error: "); |
| 388 | } |
| 389 | |
| 390 | if(!gcode->txt_after_ok.empty()) { |
| 391 | new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str()); |
| 392 | gcode->txt_after_ok.clear(); |
| 393 | |
| 394 | }else{ |
| 395 | new_message.stream->printf("unknown\r\n"); |
| 396 | } |
| 397 | |
| 398 | // we cannot continue safely after an error so we enter HALT state |
| 399 | new_message.stream->printf("Entering Alarm/Halt state\n"); |
| 400 | THEKERNEL->call_event(ON_HALT, nullptr); |
| 401 | |
| 402 | }else if(!sent_ok) { |
| 403 | |
| 404 | if(gcode->add_nl) |
| 405 | new_message.stream->printf("\r\n"); |
| 406 | |
| 407 | if(!gcode->txt_after_ok.empty()) { |
| 408 | new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str()); |
| 409 | gcode->txt_after_ok.clear(); |
| 410 | |
| 411 | } else { |
| 412 | if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) { |
| 413 | // only send ok once per line if this is a multi g code line send ok on the last one |
| 414 | if(possible_command.empty()) |
| 415 | new_message.stream->printf("ok\r\n"); |
| 416 | } else { |
| 417 | // maybe should do the above for all hosts? |
| 418 | new_message.stream->printf("ok\r\n"); |
| 419 | } |
| 420 | } |
| 421 | } |
| 422 | |
| 423 | delete gcode; |
| 424 | |
| 425 | } else { |
| 426 | // we are uploading and it is the upload stream so so save it |
| 427 | if(single_command.substr(0, 3) == "M29") { |
| 428 | // done uploading, close file |
| 429 | fclose(upload_fd); |
| 430 | upload_fd = NULL; |
| 431 | uploading = false; |
| 432 | upload_filename.clear(); |
| 433 | upload_stream= nullptr; |
| 434 | new_message.stream->printf("Done saving file.\r\nok\r\n"); |
| 435 | continue; |
| 436 | } |
| 437 | |
| 438 | if(upload_fd == NULL) { |
| 439 | // error detected writing to file so discard everything until it stops |
| 440 | new_message.stream->printf("ok\r\n"); |
| 441 | continue; |
| 442 | } |
| 443 | |
| 444 | single_command.append("\n"); |
| 445 | if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) { |
| 446 | // error writing to file |
| 447 | new_message.stream->printf("Error:error writing to file.\r\n"); |
| 448 | fclose(upload_fd); |
| 449 | upload_fd = NULL; |
| 450 | continue; |
| 451 | |
| 452 | } else { |
| 453 | new_message.stream->printf("ok\r\n"); |
| 454 | //printf("uploading file write ok\n"); |
| 455 | } |
| 456 | } |
| 457 | } |
| 458 | |
| 459 | } else { |
| 460 | //Request resend |
| 461 | new_message.stream->printf("rs N%d\r\n", nextline); |
| 462 | } |
| 463 | |
| 464 | } else if ( first_char == ';' || first_char == '(' || first_char == '\n' || first_char == '\r' ) { |
| 465 | // Ignore comments and blank lines |
| 466 | new_message.stream->printf("ok\n"); |
| 467 | |
| 468 | } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) { |
| 469 | // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line |
| 470 | char buf[6]; |
| 471 | snprintf(buf, sizeof(buf), "G%d ", modal_group_1); |
| 472 | possible_command.insert(0, buf); |
| 473 | goto try_again; |
| 474 | |
| 475 | |
| 476 | } else { |
| 477 | // an uppercase non command word on its own (except XYZF) just returns ok, we could add an error but no hosts expect that. |
| 478 | new_message.stream->printf("ok - ignored\n"); |
| 479 | } |
| 480 | } |
| 481 | |