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 "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
  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[]= {2,5,9,30,105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
  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     uploading = false;
  44     currentline = -1;
  45     modal_group_1= 0;
  46 }
  47
  48 // Called when the module has just been loaded
  49 void GcodeDispatch::on_module_loaded()
  50 {
  51     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  52 }
  53
  54 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  55 void GcodeDispatch::on_console_line_received(void *line)
  56 {
  57     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  58     string possible_command = new_message.message;
  59
  60     int ln = 0;
  61     int cs = 0;
  62
  63     // just reply ok to empty lines
  64     if(possible_command.empty()) {
  65         new_message.stream->printf("ok\r\n");
  66         return;
  67     }
  68
  69 try_again:
  70
  71     char first_char = possible_command[0];
  72     unsigned int n;
  73
  74     if(first_char == '$') {
  75         // ignore as simpleshell will handle it
  76         return;
  77
  78     }else if(islower(first_char)) {
  79         // ignore all lowercase as they are simpleshell commands
  80         return;
  81     }
  82
  83     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
  84
  85         //Get linenumber
  86         if ( first_char == 'N' ) {
  87             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  88             ln = (int) full_line.get_value('N');
  89             int chksum = (int) full_line.get_value('*');
  90
  91             //Catch message if it is M110: Set Current Line Number
  92             if ( full_line.has_m ) {
  93                 if ( full_line.m == 110 ) {
  94                     currentline = ln;
  95                     new_message.stream->printf("ok\r\n");
  96                     return;
  97                 }
  98             }
  99
 100             //Strip checksum value from possible_command
 101             size_t chkpos = possible_command.find_first_of("*");
 102             possible_command = possible_command.substr(0, chkpos);
 103             //Calculate checksum
 104             if ( chkpos != string::npos ) {
 105                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
 106                     cs = cs ^ *c;
 107                 cs &= 0xff;  // Defensive programming...
 108                 cs -= chksum;
 109             }
 110             //Strip line number value from possible_command
 111             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
 112             possible_command = possible_command.substr(lnsize);
 113
 114         } else {
 115             //Assume checks succeeded
 116             cs = 0x00;
 117             ln = currentline + 1;
 118         }
 119
 120         //Remove comments
 121         size_t comment = possible_command.find_first_of(";(");
 122         if( comment != string::npos ) {
 123             possible_command = possible_command.substr(0, comment);
 124         }
 125
 126         //If checksum passes then process message, else request resend
 127         int nextline = currentline + 1;
 128         if( cs == 0x00 && ln == nextline ) {
 129             if( first_char == 'N' ) {
 130                 currentline = nextline;
 131             }
 132
 133             while(possible_command.size() > 0) {
 134                 // assumes G or M are always the first on the line
 135                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 136                 string single_command;
 137                 if(nextcmd == string::npos) {
 138                     single_command = possible_command;
 139                     possible_command = "";
 140                 } else {
 141                     single_command = possible_command.substr(0, nextcmd);
 142                     possible_command = possible_command.substr(nextcmd);
 143                 }
 144
 145
 146                 if(!uploading || upload_stream != new_message.stream) {
 147                     // Prepare gcode for dispatch
 148                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 149
 150                     if(THEKERNEL->is_halted()) {
 151                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 152                         if(gcode->has_m && gcode->m == 999) {
 153                             if(THEKERNEL->is_halted()) {
 154                                 THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 155                                 new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
 156                             }
 157                             new_message.stream->printf("ok\n");
 158                             delete gcode;
 159                             continue;
 160
 161                         }else if(!is_allowed_mcode(gcode->m)) {
 162                             // ignore everything, return error string to host
 163                             if(THEKERNEL->is_grbl_mode()) {
 164                                 new_message.stream->printf("error:Alarm lock\n");
 165
 166                             }else{
 167                                 new_message.stream->printf("!!\r\n");
 168                             }
 169                             delete gcode;
 170                             continue;
 171                         }
 172                     }
 173
 174                     if(gcode->has_g) {
 175                         if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
 176                             // this is ugly to implement as there may or may not be a G0/G1 on the same line
 177                             // valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
 178                             if(possible_command.empty()) {
 179                                 // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
 180                                 // TODO it is really an error if the last is not G0 thru G3
 181                                 if(modal_group_1 > 3) {
 182                                     delete gcode;
 183                                     new_message.stream->printf("ok - Invalid G53\r\n");
 184                                     return;
 185                                 }
 186                                 // use last G0 or G1
 187                                 gcode->g= modal_group_1;
 188
 189                             }else{
 190                                 delete gcode;
 191                                 // extract next G0/G1 from the rest of the line, ignore if it is not one of these
 192                                 gcode = new Gcode(possible_command, new_message.stream);
 193                                 possible_command= "";
 194                                 if(!gcode->has_g || gcode->g > 1) {
 195                                     // not G0 or G1 so ignore it as it is invalid
 196                                     delete gcode;
 197                                     new_message.stream->printf("ok - Invalid G53\r\n");
 198                                     return;
 199                                 }
 200                             }
 201                             // makes it handle the parameters as a machine position
 202                             THEROBOT->next_command_is_MCS= true;
 203
 204                         }
 205
 206                         // remember last modal group 1 code
 207                         if(gcode->g < 4) {
 208                             modal_group_1= gcode->g;
 209                         }
 210                     }
 211
 212                     if(gcode->has_m) {
 213                         switch (gcode->m) {
 214                             case 28: // start upload command
 215                                 delete gcode;
 216
 217                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 218                                 // open file
 219                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 220                                 if(upload_fd != NULL) {
 221                                     this->uploading = true;
 222                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 223                                 } else {
 224                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 225                                 }
 226
 227                                 // only save stuff from this stream
 228                                 upload_stream= new_message.stream;
 229
 230                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 231                                 continue;
 232
 233                             case 30: // end of program
 234                                 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
 235                                 // fall through to M2
 236                             case 2:
 237                                 {
 238                                     modal_group_1= 1; // set to G1
 239                                     // issue M5 and M9 in case spindle and coolant are being used
 240                                     Gcode gc1("M5", &StreamOutput::NullStream);
 241                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
 242                                     Gcode gc2("M9", &StreamOutput::NullStream);
 243                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
 244                                 }
 245                                 break;
 246
 247                             case 112: // emergency stop, do the best we can with this
 248                                 // this is also handled out-of-band (it is now with ^X in the serial driver)
 249                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 250                                 THEKERNEL->call_event(ON_HALT, nullptr);
 251                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
 252                                 delete gcode;
 253                                 return;
 254
 255                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 256                             {    // concatenate the command again and send to panel if enabled
 257                                 string str= single_command.substr(4) + possible_command;
 258                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 259                                 delete gcode;
 260                                 new_message.stream->printf("ok\r\n");
 261                                 return;
 262                             }
 263
 264                             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)
 265                             {
 266                                 // reconstruct entire command line again
 267                                 string str= single_command.substr(5) + possible_command;
 268                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 269
 270                                 delete gcode;
 271
 272                                 if(str.empty()) {
 273                                     SimpleShell::parse_command("help", "", new_message.stream);
 274
 275                                 }else{
 276                                     string args= lc(str);
 277                                     string cmd = shift_parameter(args);
 278                                     // find command and execute it
 279                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 280                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 281                                     }
 282                                 }
 283
 284                                 new_message.stream->printf("ok\r\n");
 285                                 return;
 286                             }
 287
 288                             case 500: // M500 save volatile settings to config-override
 289                                 THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
 290                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 291                                 __disable_irq();
 292                                 {
 293                                     FileStream fs(THEKERNEL->config_override_filename());
 294                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 295                                     // this also will truncate the existing file instead of deleting it
 296                                 }
 297                                 // replace stream with one that writes to config-override file
 298                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 299                                 // dispatch the M500 here so we can free up the stream when done
 300                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 301                                 delete gcode->stream;
 302                                 delete gcode;
 303                                 __enable_irq();
 304                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 305                                 continue;
 306
 307                             case 501: // load config override
 308                             case 504: // save to specific config override file
 309                                 {
 310                                     string arg= get_arguments(single_command + possible_command); // rest of line is filename
 311                                     if(arg.empty()) arg= "/sd/config-override";
 312                                     else arg= "/sd/config-override." + arg;
 313                                     //new_message.stream->printf("args: <%s>\n", arg.c_str());
 314                                     SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
 315                                 }
 316                                 delete gcode;
 317                                 new_message.stream->printf("ok\r\n");
 318                                 return;
 319
 320                             case 502: // M502 deletes config-override so everything defaults to what is in config
 321                                 remove(THEKERNEL->config_override_filename());
 322                                 delete gcode;
 323                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 324                                 continue;
 325
 326                             case 503: { // M503 display live settings and indicates if there is an override file
 327                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 328                                 if(fd != NULL) {
 329                                     fclose(fd);
 330                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 331
 332                                 } else {
 333                                     new_message.stream->printf("; No config override\n");
 334                                 }
 335                                 gcode->add_nl= true;
 336                                 break; // fall through to process by modules
 337                             }
 338
 339                         }
 340                     }
 341
 342                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 343                     //Dispatch message!
 344                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 345
 346                     if (gcode->is_error) {
 347                         // report error
 348                         if(THEKERNEL->is_grbl_mode()) {
 349                             new_message.stream->printf("error: ");
 350                         }else{
 351                             new_message.stream->printf("Error: ");
 352                         }
 353
 354                         if(!gcode->txt_after_ok.empty()) {
 355                             new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
 356                             gcode->txt_after_ok.clear();
 357
 358                         }else{
 359                             new_message.stream->printf("unknown\r\n");
 360                         }
 361
 362                         // we cannot continue safely after an error so we enter HALT state
 363                         new_message.stream->printf("Entering Alarm/Halt state\n");
 364                         THEKERNEL->call_event(ON_HALT, nullptr);
 365
 366                     }else{
 367
 368                         if(gcode->add_nl)
 369                             new_message.stream->printf("\r\n");
 370
 371                         if(!gcode->txt_after_ok.empty()) {
 372                             new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 373                             gcode->txt_after_ok.clear();
 374
 375                         } else {
 376                             if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
 377                                 // only send ok once per line if this is a multi g code line send ok on the last one
 378                                 if(possible_command.empty())
 379                                     new_message.stream->printf("ok\r\n");
 380                             } else {
 381                                 // maybe should do the above for all hosts?
 382                                 new_message.stream->printf("ok\r\n");
 383                             }
 384                         }
 385                     }
 386
 387                     delete gcode;
 388
 389                 } else {
 390                     // we are uploading and it is the upload stream so so save it
 391                     if(single_command.substr(0, 3) == "M29") {
 392                         // done uploading, close file
 393                         fclose(upload_fd);
 394                         upload_fd = NULL;
 395                         uploading = false;
 396                         upload_filename.clear();
 397                         upload_stream= nullptr;
 398                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 399                         continue;
 400                     }
 401
 402                     if(upload_fd == NULL) {
 403                         // error detected writing to file so discard everything until it stops
 404                         new_message.stream->printf("ok\r\n");
 405                         continue;
 406                     }
 407
 408                     single_command.append("\n");
 409                     static int cnt = 0;
 410                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 411                         // error writing to file
 412                         new_message.stream->printf("Error:error writing to file.\r\n");
 413                         fclose(upload_fd);
 414                         upload_fd = NULL;
 415                         continue;
 416
 417                     } else {
 418                         cnt += single_command.size();
 419                         if (cnt > 400) {
 420                             // HACK ALERT to get around fwrite corruption close and re open for append
 421                             fclose(upload_fd);
 422                             upload_fd = fopen(upload_filename.c_str(), "a");
 423                             cnt = 0;
 424                         }
 425                         new_message.stream->printf("ok\r\n");
 426                         //printf("uploading file write ok\n");
 427                     }
 428                 }
 429             }
 430
 431         } else {
 432             //Request resend
 433             new_message.stream->printf("rs N%d\r\n", nextline);
 434         }
 435
 436     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 437         // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
 438         char buf[6];
 439         snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
 440         possible_command.insert(0, buf);
 441         goto try_again;
 442
 443         // Ignore comments and blank lines
 444     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 445         new_message.stream->printf("ok\r\n");
 446     }
 447 }
 448