src/modules/communication/GcodeDispatch.cpp

   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 <string>
   9 using std::string;
  10 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 #include "utils/Gcode.h"
  13 #include "Pauser.h"
  14 #include "libs/nuts_bolts.h"
  15 #include "GcodeDispatch.h"
  16 #include "modules/robot/Conveyor.h"
  17 #include "libs/SerialMessage.h"
  18 #include "libs/StreamOutput.h"
  19 #include "libs/StreamOutputPool.h"
  20 #include "libs/FileStream.h"
  21 #include "Config.h"
  22 #include "checksumm.h"
  23 #include "ConfigValue.h"
  24
  25 GcodeDispatch::GcodeDispatch() {}
  26
  27 // Called when the module has just been loaded
  28 void GcodeDispatch::on_module_loaded()
  29 {
  30     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  31     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  32     currentline = -1;
  33     uploading = false;
  34     last_g= 255;
  35 }
  36
  37 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  38 void GcodeDispatch::on_console_line_received(void *line)
  39 {
  40     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  41     string possible_command = new_message.message;
  42
  43     int ln = 0;
  44     int cs = 0;
  45
  46 try_again:
  47
  48     char first_char = possible_command[0];
  49     unsigned int n;
  50     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  51
  52         //Get linenumber
  53         if ( first_char == 'N' ) {
  54             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  55             ln = (int) full_line.get_value('N');
  56             int chksum = (int) full_line.get_value('*');
  57
  58             //Catch message if it is M110: Set Current Line Number
  59             if ( full_line.has_m ) {
  60                 if ( full_line.m == 110 ) {
  61                     currentline = ln;
  62                     new_message.stream->printf("ok\r\n");
  63                     return;
  64                 }
  65             }
  66
  67             //Strip checksum value from possible_command
  68             size_t chkpos = possible_command.find_first_of("*");
  69             possible_command = possible_command.substr(0, chkpos);
  70             //Calculate checksum
  71             if ( chkpos != string::npos ) {
  72                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  73                     cs = cs ^ *c;
  74                 cs &= 0xff;  // Defensive programming...
  75                 cs -= chksum;
  76             }
  77             //Strip line number value from possible_command
  78             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  79             possible_command = possible_command.substr(lnsize);
  80
  81         } else {
  82             //Assume checks succeeded
  83             cs = 0x00;
  84             ln = currentline + 1;
  85         }
  86
  87         //Remove comments
  88         size_t comment = possible_command.find_first_of(";(");
  89         if( comment != string::npos ) {
  90             possible_command = possible_command.substr(0, comment);
  91         }
  92
  93         //If checksum passes then process message, else request resend
  94         int nextline = currentline + 1;
  95         if( cs == 0x00 && ln == nextline ) {
  96             if( first_char == 'N' ) {
  97                 currentline = nextline;
  98             }
  99
 100             while(possible_command.size() > 0) {
 101                 size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GM") + 1);
 102                 string single_command;
 103                 if(nextcmd == string::npos) {
 104                     single_command = possible_command;
 105                     possible_command = "";
 106                 } else {
 107                     single_command = possible_command.substr(0, nextcmd);
 108                     possible_command = possible_command.substr(nextcmd);
 109                 }
 110
 111                 if(!uploading) {
 112                     //Prepare gcode for dispatch
 113                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 114
 115                     if(gcode->has_g) {
 116                         last_g= gcode->g;
 117                     }
 118                     if(gcode->has_m) {
 119                         switch (gcode->m) {
 120                             case 28: // start upload command
 121                                 delete gcode;
 122
 123                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 124                                 // open file
 125                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 126                                 if(upload_fd != NULL) {
 127                                     this->uploading = true;
 128                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 129                                 } else {
 130                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 131                                 }
 132                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 133                                 continue;
 134
 135                             case 112: // emergency stop, do the best we can with this
 136                                 // TODO this really needs to be handled out-of-band
 137                                 // stops block queue
 138                                 THEKERNEL->pauser->take();
 139                                 // disables heaters and motors
 140                                 THEKERNEL->call_event(ON_HALT);
 141                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset required to continue\r\n");
 142                                 return;
 143
 144                             case 500: // M500 save volatile settings to config-override
 145                                 // replace stream with one that writes to config-override file
 146                                 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
 147                                 // dispatch the M500 here so we can free up the stream when done
 148                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 149                                 delete gcode->stream;
 150                                 delete gcode;
 151                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 152                                 continue;
 153
 154                             case 502: // M502 deletes config-override so everything defaults to what is in config
 155                                 remove(THEKERNEL->config_override_filename());
 156                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 157                                 delete gcode;
 158                                 continue;
 159
 160                             case 503: { // M503 display live settings and indicates if there is an override file
 161                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 162                                 if(fd != NULL) {
 163                                     fclose(fd);
 164                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 165
 166                                 } else {
 167                                     new_message.stream->printf("; No config override\n");
 168                                 }
 169                                 gcode->add_nl= true;
 170                                 break; // fall through to process by modules
 171                             }
 172                         }
 173                     }
 174
 175                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 176                     //Dispatch message!
 177                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 178                     if(gcode->add_nl)
 179                         new_message.stream->printf("\r\n");
 180
 181                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 182                         new_message.stream->printf("ok (command unclaimed)\r\n");
 183                     else if(!gcode->txt_after_ok.empty()) {
 184                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 185                         gcode->txt_after_ok.clear();
 186                     } else
 187                         new_message.stream->printf("ok\r\n");
 188
 189                     delete gcode;
 190
 191                 } else {
 192                     // we are uploading a file so save it
 193                     if(single_command.substr(0, 3) == "M29") {
 194                         // done uploading, close file
 195                         fclose(upload_fd);
 196                         upload_fd = NULL;
 197                         uploading = false;
 198                         upload_filename.clear();
 199                         new_message.stream->printf("Done saving file.\r\n");
 200                         continue;
 201                     }
 202
 203                     if(upload_fd == NULL) {
 204                         // error detected writing to file so discard everything until it stops
 205                         new_message.stream->printf("ok\r\n");
 206                         continue;
 207                     }
 208
 209                     single_command.append("\n");
 210                     static int cnt = 0;
 211                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 212                         // error writing to file
 213                         new_message.stream->printf("Error:error writing to file.\r\n");
 214                         fclose(upload_fd);
 215                         upload_fd = NULL;
 216                         continue;
 217
 218                     } else {
 219                         cnt += single_command.size();
 220                         if (cnt > 400) {
 221                             // HACK ALERT to get around fwrite corruption close and re open for append
 222                             fclose(upload_fd);
 223                             upload_fd = fopen(upload_filename.c_str(), "a");
 224                             cnt = 0;
 225                         }
 226                         new_message.stream->printf("ok\r\n");
 227                         //printf("uploading file write ok\n");
 228                     }
 229                 }
 230             }
 231
 232         } else {
 233             //Request resend
 234             new_message.stream->printf("rs N%d\r\n", nextline);
 235         }
 236
 237     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 238         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 239         if(last_g != 0 && last_g != 1) {
 240             //if no last G1 or G0 ignore
 241             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 242             return;
 243         }
 244         char buf[6];
 245         snprintf(buf, sizeof(buf), "G%d ", last_g);
 246         possible_command.insert(0, buf);
 247         goto try_again;
 248
 249         // Ignore comments and blank lines
 250     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 251         new_message.stream->printf("ok\r\n");
 252     }
 253 }
 254