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
  19 GcodeDispatch::GcodeDispatch(){}
  20
  21 // Called when the module has just been loaded
  22 void GcodeDispatch::on_module_loaded() {
  23     return_error_on_unhandled_gcode = this->kernel->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  24     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  25     currentline = -1;
  26 }
  27
  28 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  29 void GcodeDispatch::on_console_line_received(void * line){
  30     SerialMessage new_message = *static_cast<SerialMessage*>(line);
  31     string possible_command = new_message.message;
  32
  33     char first_char = possible_command[0];
  34     int ln = 0;
  35     int cs = 0;
  36     if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ){
  37
  38         //Get linenumber
  39         if( first_char == 'N' ){
  40             Gcode full_line = Gcode(possible_command, new_message.stream);
  41             ln = (int) full_line.get_value('N');
  42             int chksum = (int) full_line.get_value('*');
  43
  44             //Catch message if it is M110: Set Current Line Number
  45             if( full_line.has_letter('M') ){
  46                 if( ((int) full_line.get_value('M')) == 110 ){
  47                     currentline = ln;
  48                     new_message.stream->printf("ok\r\n");
  49                     return;
  50                 }
  51             }
  52
  53             //Strip checksum value from possible_command
  54             size_t chkpos = possible_command.find_first_of("*");
  55             possible_command = possible_command.substr(0, chkpos);
  56             //Calculate checksum
  57             if( chkpos != string::npos ){
  58                 for(auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  59                     cs = cs ^ *c;
  60                 cs &= 0xff;  // Defensive programming...
  61                 cs -= chksum;
  62             }
  63             //Strip line number value from possible_command
  64             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  65             possible_command = possible_command.substr(lnsize);
  66
  67         }else{
  68             //Assume checks succeeded
  69             cs = 0x00;
  70             ln = currentline + 1;
  71         }
  72
  73         //Remove comments
  74         size_t comment = possible_command.find_first_of(";(");
  75         if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
  76
  77         //If checksum passes then process message, else request resend
  78         int nextline = currentline + 1;
  79         if( cs == 0x00 && ln == nextline ){
  80             if( first_char == 'N' ) {
  81                 currentline = nextline;
  82             }
  83
  84             while(possible_command.size() > 0) {
  85                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT")+1);
  86                 string single_command;
  87                 if(nextcmd == string::npos) {
  88                     single_command = possible_command;
  89                     possible_command = "";
  90                 }
  91                 else {
  92                     single_command = possible_command.substr(0,nextcmd);
  93                     possible_command = possible_command.substr(nextcmd);
  94                 }
  95                 //Prepare gcode for dispatch
  96                 Gcode* gcode = new Gcode(single_command, new_message.stream);
  97                 gcode->prepare_cached_values();
  98
  99 //                 printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 100                 //Dispatch message!
 101                 this->kernel->call_event(ON_GCODE_RECEIVED, gcode );
 102                 if (gcode->add_nl)
 103                     new_message.stream->printf("\r\n");
 104
 105                 if ( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 106                     new_message.stream->printf("ok (command unclaimed)\r\n");
 107                 else if(!gcode->txt_after_ok.empty()) {
 108                     new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 109                     gcode->txt_after_ok.clear();
 110                 }else
 111                     new_message.stream->printf("ok\r\n");
 112
 113                 delete gcode;
 114
 115             }
 116         }else{
 117             //Request resend
 118             new_message.stream->printf("rs N%d\r\n", nextline);
 119         }
 120
 121     // Ignore comments and blank lines
 122     }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){
 123         new_message.stream->printf("ok\r\n");
 124     }
 125 }
 126