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 return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  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[]= {105,114,119,80,81,911,503,106,107}; // 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     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 }
  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 try_again:
  65
  66     char first_char = possible_command[0];
  67     unsigned int n;
  68     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  69
  70         //Get linenumber
  71         if ( first_char == 'N' ) {
  72             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  73             ln = (int) full_line.get_value('N');
  74             int chksum = (int) full_line.get_value('*');
  75
  76             //Catch message if it is M110: Set Current Line Number
  77             if ( full_line.has_m ) {
  78                 if ( full_line.m == 110 ) {
  79                     currentline = ln;
  80                     new_message.stream->printf("ok\r\n");
  81                     return;
  82                 }
  83             }
  84
  85             //Strip checksum value from possible_command
  86             size_t chkpos = possible_command.find_first_of("*");
  87             possible_command = possible_command.substr(0, chkpos);
  88             //Calculate checksum
  89             if ( chkpos != string::npos ) {
  90                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  91                     cs = cs ^ *c;
  92                 cs &= 0xff;  // Defensive programming...
  93                 cs -= chksum;
  94             }
  95             //Strip line number value from possible_command
  96             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  97             possible_command = possible_command.substr(lnsize);
  98
  99         } else {
 100             //Assume checks succeeded
 101             cs = 0x00;
 102             ln = currentline + 1;
 103         }
 104
 105         //Remove comments
 106         size_t comment = possible_command.find_first_of(";(");
 107         if( comment != string::npos ) {
 108             possible_command = possible_command.substr(0, comment);
 109         }
 110
 111         //If checksum passes then process message, else request resend
 112         int nextline = currentline + 1;
 113         if( cs == 0x00 && ln == nextline ) {
 114             if( first_char == 'N' ) {
 115                 currentline = nextline;
 116             }
 117
 118             while(possible_command.size() > 0) {
 119                 // assumes G or M are always the first on the line
 120                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 121                 string single_command;
 122                 if(nextcmd == string::npos) {
 123                     single_command = possible_command;
 124                     possible_command = "";
 125                 } else {
 126                     single_command = possible_command.substr(0, nextcmd);
 127                     possible_command = possible_command.substr(nextcmd);
 128                 }
 129
 130
 131                 if(!uploading) {
 132                     //Prepare gcode for dispatch
 133                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 134
 135                     if(THEKERNEL->is_halted()) {
 136                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 137                         if(gcode->has_m && gcode->m == 999) {
 138                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 139
 140                             // fall through and pass onto other modules
 141
 142                         }else if(!is_allowed_mcode(gcode->m)) {
 143                             // ignore everything, return error string to host
 144                             new_message.stream->printf("!!\r\n");
 145                             delete gcode;
 146                             continue;
 147                         }
 148                     }
 149
 150                     if(gcode->has_g) {
 151                         if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
 152                             // this is ugly to implement as there may or may not be a G0/G1 on the same line
 153                             if(possible_command.empty()) {
 154                                 // use last gcode G1 or G0 if none on the line
 155                                 // TODO it is really an error if the last is not G0 or G1
 156                                 gcode->g= last_g;
 157
 158                             }else{
 159                                 delete gcode;
 160                                 // extract next G0/G1 from the rest of the line, ignore if it is not one of these
 161                                 gcode = new Gcode(possible_command, new_message.stream);
 162                                 if(!gcode->has_g || gcode->g > 1) {
 163                                     // not G0 or G1 so ignore it as it is invalid
 164                                     delete gcode;
 165                                     new_message.stream->printf("ok - Invalid G53\r\n");
 166                                     return;
 167                                 }
 168                             }
 169                             // makes it handle the parameters as a machine position
 170                             THEKERNEL->robot->next_command_is_MCS= true;
 171                         }
 172                         last_g= gcode->g;
 173                     }
 174
 175                     if(gcode->has_m) {
 176                         switch (gcode->m) {
 177                             case 28: // start upload command
 178                                 delete gcode;
 179
 180                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 181                                 // open file
 182                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 183                                 if(upload_fd != NULL) {
 184                                     this->uploading = true;
 185                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 186                                 } else {
 187                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 188                                 }
 189                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 190                                 continue;
 191
 192                             case 112: // emergency stop, do the best we can with this
 193                                 // TODO this really needs to be handled out-of-band
 194                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 195                                 THEKERNEL->call_event(ON_HALT, nullptr);
 196                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
 197                                 delete gcode;
 198                                 return;
 199
 200                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 201                             {    // concatenate the command again and send to panel if enabled
 202                                 string str= single_command.substr(4) + possible_command;
 203                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 204                                 delete gcode;
 205                                 new_message.stream->printf("ok\r\n");
 206                                 return;
 207                             }
 208
 209                             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)
 210                             {
 211                                 // reconstruct entire command line again
 212                                 string str= single_command.substr(5) + possible_command;
 213                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 214
 215                                 delete gcode;
 216
 217                                 if(str.empty()) {
 218                                     SimpleShell::parse_command("help", "", new_message.stream);
 219
 220                                 }else{
 221                                     string args= lc(str);
 222                                     string cmd = shift_parameter(args);
 223                                     // find command and execute it
 224                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 225                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 226                                     }
 227                                 }
 228
 229                                 new_message.stream->printf("ok\r\n");
 230                                 return;
 231                             }
 232
 233                             case 500: // M500 save volatile settings to config-override
 234                                 THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
 235                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 236                                 __disable_irq();
 237                                 {
 238                                     FileStream fs(THEKERNEL->config_override_filename());
 239                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 240                                     // this also will truncate the existing file instead of deleting it
 241                                 }
 242                                 // replace stream with one that writes to config-override file
 243                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 244                                 // dispatch the M500 here so we can free up the stream when done
 245                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 246                                 delete gcode->stream;
 247                                 delete gcode;
 248                                 __enable_irq();
 249                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 250                                 continue;
 251
 252                             case 502: // M502 deletes config-override so everything defaults to what is in config
 253                                 remove(THEKERNEL->config_override_filename());
 254                                 delete gcode;
 255                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 256                                 continue;
 257
 258                             case 503: { // M503 display live settings and indicates if there is an override file
 259                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 260                                 if(fd != NULL) {
 261                                     fclose(fd);
 262                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 263
 264                                 } else {
 265                                     new_message.stream->printf("; No config override\n");
 266                                 }
 267                                 gcode->add_nl= true;
 268                                 break; // fall through to process by modules
 269                             }
 270                         }
 271                     }
 272
 273                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 274                     //Dispatch message!
 275                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 276                     if(gcode->add_nl)
 277                         new_message.stream->printf("\r\n");
 278
 279                     if(!gcode->txt_after_ok.empty()) {
 280                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 281                         gcode->txt_after_ok.clear();
 282                     } else
 283                         new_message.stream->printf("ok\r\n");
 284
 285                     delete gcode;
 286
 287                 } else {
 288                     // we are uploading a file so save it
 289                     if(single_command.substr(0, 3) == "M29") {
 290                         // done uploading, close file
 291                         fclose(upload_fd);
 292                         upload_fd = NULL;
 293                         uploading = false;
 294                         upload_filename.clear();
 295                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 296                         continue;
 297                     }
 298
 299                     if(upload_fd == NULL) {
 300                         // error detected writing to file so discard everything until it stops
 301                         new_message.stream->printf("ok\r\n");
 302                         continue;
 303                     }
 304
 305                     single_command.append("\n");
 306                     static int cnt = 0;
 307                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 308                         // error writing to file
 309                         new_message.stream->printf("Error:error writing to file.\r\n");
 310                         fclose(upload_fd);
 311                         upload_fd = NULL;
 312                         continue;
 313
 314                     } else {
 315                         cnt += single_command.size();
 316                         if (cnt > 400) {
 317                             // HACK ALERT to get around fwrite corruption close and re open for append
 318                             fclose(upload_fd);
 319                             upload_fd = fopen(upload_filename.c_str(), "a");
 320                             cnt = 0;
 321                         }
 322                         new_message.stream->printf("ok\r\n");
 323                         //printf("uploading file write ok\n");
 324                     }
 325                 }
 326             }
 327
 328         } else {
 329             //Request resend
 330             new_message.stream->printf("rs N%d\r\n", nextline);
 331         }
 332
 333     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 334         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 335         if(last_g != 0 && last_g != 1) {
 336             //if no last G1 or G0 ignore
 337             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 338             return;
 339         }
 340         char buf[6];
 341         snprintf(buf, sizeof(buf), "G%d ", last_g);
 342         possible_command.insert(0, buf);
 343         goto try_again;
 344
 345         // Ignore comments and blank lines
 346     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 347         new_message.stream->printf("ok\r\n");
 348     }
 349 }
 350