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 "libs/nuts_bolts.h"
  14 #include "GcodeDispatch.h"
  15 #include "modules/robot/Conveyor.h"
  16 #include "libs/SerialMessage.h"
  17 #include "libs/StreamOutput.h"
  18 #include "libs/FileStream.h"
  19
  20 GcodeDispatch::GcodeDispatch() {}
  21
  22 // Called when the module has just been loaded
  23 void GcodeDispatch::on_module_loaded()
  24 {
  25     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  26     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  27     currentline = -1;
  28     uploading = false;
  29 }
  30
  31 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  32 void GcodeDispatch::on_console_line_received(void *line)
  33 {
  34     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  35     string possible_command = new_message.message;
  36
  37     char first_char = possible_command[0];
  38     int ln = 0;
  39     int cs = 0;
  40     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  41
  42         //Get linenumber
  43         if ( first_char == 'N' ) {
  44             Gcode full_line = Gcode(possible_command, new_message.stream);
  45             ln = (int) full_line.get_value('N');
  46             int chksum = (int) full_line.get_value('*');
  47
  48             //Catch message if it is M110: Set Current Line Number
  49             if ( full_line.has_letter('M') ) {
  50                 if ( ((int) full_line.get_value('M')) == 110 ) {
  51                     currentline = ln;
  52                     new_message.stream->printf("ok\r\n");
  53                     return;
  54                 }
  55             }
  56
  57             //Strip checksum value from possible_command
  58             size_t chkpos = possible_command.find_first_of("*");
  59             possible_command = possible_command.substr(0, chkpos);
  60             //Calculate checksum
  61             if ( chkpos != string::npos ) {
  62                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  63                     cs = cs ^ *c;
  64                 cs &= 0xff;  // Defensive programming...
  65                 cs -= chksum;
  66             }
  67             //Strip line number value from possible_command
  68             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  69             possible_command = possible_command.substr(lnsize);
  70
  71         } else {
  72             //Assume checks succeeded
  73             cs = 0x00;
  74             ln = currentline + 1;
  75         }
  76
  77         //Remove comments
  78         size_t comment = possible_command.find_first_of(";(");
  79         if( comment != string::npos ) {
  80             possible_command = possible_command.substr(0, comment);
  81         }
  82
  83         //If checksum passes then process message, else request resend
  84         int nextline = currentline + 1;
  85         if( cs == 0x00 && ln == nextline ) {
  86             if( first_char == 'N' ) {
  87                 currentline = nextline;
  88             }
  89
  90             while(possible_command.size() > 0) {
  91                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT") + 1);
  92                 string single_command;
  93                 if(nextcmd == string::npos) {
  94                     single_command = possible_command;
  95                     possible_command = "";
  96                 } else {
  97                     single_command = possible_command.substr(0, nextcmd);
  98                     possible_command = possible_command.substr(nextcmd);
  99                 }
 100
 101                 if(!uploading) {
 102                     //Prepare gcode for dispatch
 103                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 104                     gcode->prepare_cached_values();
 105
 106                     if(gcode->has_m) {
 107                         switch (gcode->m) {
 108                             case 28: // start upload command
 109                                 delete gcode;
 110
 111                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 112                                 // open file
 113                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 114                                 if(upload_fd != NULL) {
 115                                     this->uploading = true;
 116                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 117                                 } else {
 118                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 119                                 }
 120                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 121                                 continue;
 122
 123                             case 500: // M500 save volatile settings to config-override
 124                                 // delete the existing file
 125                                 remove(kernel->config_override_filename());
 126                                 // replace stream with one that writes to config-override file
 127                                 gcode->stream = new FileStream(kernel->config_override_filename());
 128                                 // dispatch the M500 here so we can free up the stream when done
 129                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 130                                 delete gcode->stream;
 131                                 delete gcode;
 132                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", kernel->config_override_filename());
 133                                 continue;
 134
 135                             case 501: // M501 deletes config-override so everything defaults to what is in config
 136                                 remove(kernel->config_override_filename());
 137                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", kernel->config_override_filename());
 138                                 delete gcode;
 139                                 continue;
 140
 141                             case 503: { // M503 display live settings and indicates if there is an override file
 142                                 FILE *fd = fopen(kernel->config_override_filename(), "r");
 143                                 if(fd != NULL) {
 144                                     fclose(fd);
 145                                     new_message.stream->printf("; config override present: %s\n",  kernel->config_override_filename());
 146
 147                                 } else {
 148                                     new_message.stream->printf("; No config override\n");
 149                                 }
 150                                 break; // fal through to process by modules
 151                             }
 152                         }
 153                     }
 154
 155                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 156                     //Dispatch message!
 157                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 158                     if(gcode->add_nl)
 159                         new_message.stream->printf("\r\n");
 160
 161                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 162                         new_message.stream->printf("ok (command unclaimed)\r\n");
 163                     else if(!gcode->txt_after_ok.empty()) {
 164                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 165                         gcode->txt_after_ok.clear();
 166                     } else
 167                         new_message.stream->printf("ok\r\n");
 168
 169                     delete gcode;
 170
 171                 } else {
 172                     // we are uploading a file so save it
 173                     if(single_command.substr(0, 3) == "M29") {
 174                         // done uploading, close file
 175                         fclose(upload_fd);
 176                         upload_fd = NULL;
 177                         uploading = false;
 178                         upload_filename.clear();
 179                         new_message.stream->printf("Done saving file.\r\n");
 180                         continue;
 181                     }
 182
 183                     if(upload_fd == NULL) {
 184                         // error detected writing to file so discard everything until it stops
 185                         new_message.stream->printf("ok\r\n");
 186                         continue;
 187                     }
 188
 189                     single_command.append("\n");
 190                     static int cnt = 0;
 191                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 192                         // error writing to file
 193                         new_message.stream->printf("Error:error writing to file.\r\n");
 194                         fclose(upload_fd);
 195                         upload_fd = NULL;
 196                         continue;
 197
 198                     } else {
 199                         cnt += single_command.size();
 200                         if (cnt > 400) {
 201                             // HACK ALERT to get around fwrite corruption close and re open for append
 202                             fclose(upload_fd);
 203                             upload_fd = fopen(upload_filename.c_str(), "a");
 204                             cnt = 0;
 205                         }
 206                         new_message.stream->printf("ok\r\n");
 207                         //printf("uploading file write ok\n");
 208                     }
 209                 }
 210             }
 211
 212         } else {
 213             //Request resend
 214             new_message.stream->printf("rs N%d\r\n", nextline);
 215         }
 216
 217         // Ignore comments and blank lines
 218     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 219         new_message.stream->printf("ok\r\n");
 220     }
 221 }
 222