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/>.
8 #include "GcodeDispatch.h"
10 #include "libs/Kernel.h"
11 #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"
21 #include "checksumm.h"
22 #include "ConfigValue.h"
23 #include "PublicDataRequest.h"
24 #include "PublicData.h"
25 #include "SimpleShell.h"
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")
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;
41 GcodeDispatch::GcodeDispatch()
49 // Called when the module has just been loaded
50 void GcodeDispatch::on_module_loaded()
52 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
53 this->register_for_event(ON_HALT
);
56 void GcodeDispatch::on_halt(void *arg
)
58 // set halt stream and ignore everything until M999
59 this->halted
= (arg
== nullptr);
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
)
65 SerialMessage new_message
= *static_cast<SerialMessage
*>(line
);
66 string possible_command
= new_message
.message
;
73 char first_char
= possible_command
[0];
75 if ( first_char
== 'G' || first_char
== 'M' || first_char
== 'T' || first_char
== 'N' ) {
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('*');
83 //Catch message if it is M110: Set Current Line Number
84 if ( full_line
.has_m
) {
85 if ( full_line
.m
== 110 ) {
87 new_message
.stream
->printf("ok\r\n");
92 //Strip checksum value from possible_command
93 size_t chkpos
= possible_command
.find_first_of("*");
94 possible_command
= possible_command
.substr(0, chkpos
);
96 if ( chkpos
!= string::npos
) {
97 for (auto c
= possible_command
.cbegin(); *c
!= '*' && c
!= possible_command
.cend(); c
++)
99 cs
&= 0xff; // Defensive programming...
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
);
107 //Assume checks succeeded
109 ln
= currentline
+ 1;
113 size_t comment
= possible_command
.find_first_of(";(");
114 if( comment
!= string::npos
) {
115 possible_command
= possible_command
.substr(0, comment
);
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
;
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
= "";
133 single_command
= possible_command
.substr(0, nextcmd
);
134 possible_command
= possible_command
.substr(nextcmd
);
139 //Prepare gcode for dispatch
140 Gcode
*gcode
= new Gcode(single_command
, new_message
.stream
);
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
147 // fall through and pass onto other modules
149 }else if(!is_allowed_mcode(gcode
->m
)) {
150 // ignore everything, return error string to host
151 new_message
.stream
->printf("!!\r\n");
163 case 28: // start upload command
166 this->upload_filename
= "/sd/" + single_command
.substr(4); // rest of line is filename
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());
173 new_message
.stream
->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename
.c_str());
175 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
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");
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
);
191 new_message
.stream
->printf("ok\r\n");
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)
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
204 SimpleShell::parse_command("help", "", new_message
.stream
);
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());
215 new_message
.stream
->printf("ok\r\n");
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
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
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
;
233 new_message
.stream
->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL
->config_override_filename());
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());
242 case 503: { // M503 display live settings and indicates if there is an override file
243 FILE *fd
= fopen(THEKERNEL
->config_override_filename(), "r");
246 new_message
.stream
->printf("; config override present: %s\n", THEKERNEL
->config_override_filename());
249 new_message
.stream
->printf("; No config override\n");
252 break; // fall through to process by modules
257 //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
259 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
261 new_message
.stream
->printf("\r\n");
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();
267 new_message
.stream
->printf("ok\r\n");
272 // we are uploading a file so save it
273 if(single_command
.substr(0, 3) == "M29") {
274 // done uploading, close file
278 upload_filename
.clear();
279 new_message
.stream
->printf("Done saving file.\r\nok\r\n");
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");
289 single_command
.append("\n");
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");
299 cnt
+= single_command
.size();
301 // HACK ALERT to get around fwrite corruption close and re open for append
303 upload_fd
= fopen(upload_filename
.c_str(), "a");
306 new_message
.stream
->printf("ok\r\n");
307 //printf("uploading file write ok\n");
314 new_message
.stream
->printf("rs N%d\r\n", nextline
);
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());
325 snprintf(buf
, sizeof(buf
), "G%d ", last_g
);
326 possible_command
.insert(0, buf
);
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");