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/Player.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     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  24     currentline = -1;
  25 }
  26
  27 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  28 void GcodeDispatch::on_console_line_received(void * line){
  29     SerialMessage new_message = *static_cast<SerialMessage*>(line);
  30     string possible_command = new_message.message;
  31
  32     char first_char = possible_command[0];
  33     int ln = 0;
  34     int cs = 0;
  35     if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ){
  36
  37         //Get linenumber
  38         if( first_char == 'N' ){
  39             Gcode full_line = Gcode();
  40             full_line.command = possible_command;
  41             full_line.stream = new_message.stream;
  42             ln = (int) full_line.get_value('N');
  43             int chksum = (int) full_line.get_value('*');
  44
  45             //Strip checksum value from possible_command
  46             size_t chkpos = possible_command.find_first_of("*");
  47             possible_command = possible_command.substr(0, chkpos);
  48             //Calculate checksum
  49             if( chkpos != string::npos ){
  50                 for(int i = 0; possible_command[i] != '*' && possible_command[i] != NULL; i++)
  51                     cs = cs ^ possible_command[i];
  52                 cs &= 0xff;  // Defensive programming...
  53                 cs -= chksum;
  54             }
  55             //Strip line number value from possible_command
  56             size_t lnsize = possible_command.find_first_of(" ") + 1;
  57             possible_command = possible_command.substr(lnsize);
  58         }else{
  59             //Assume checks succeeded
  60             cs = 0x00;
  61             ln = currentline + 1;
  62         }
  63
  64         //Remove comments
  65         size_t comment = possible_command.find_first_of(";");
  66         if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
  67
  68         //Prepare gcode for dispatch
  69         Gcode gcode = Gcode();
  70         gcode.command = possible_command;
  71         gcode.stream = new_message.stream;
  72
  73         //Catch message if it is M110: Set Current Line Number
  74         if( gcode.has_letter('M') ){
  75             if( ((int) gcode.get_value('M')) == 110 ){
  76                 currentline = ln;
  77                 new_message.stream->printf("ok\r\n");
  78                 return;
  79             }
  80         }
  81
  82         //If checksum passes then process message, else request resend
  83         int nextline = currentline + 1;
  84         if( cs == 0x00 && ln == nextline ){
  85             if( first_char == 'N' )
  86                 currentline = nextline;
  87             //Dispatch message!
  88             this->kernel->call_event(ON_GCODE_RECEIVED, &gcode );
  89             new_message.stream->printf("ok\r\n");
  90         }else{
  91             //Request resend
  92             new_message.stream->printf("rs N%d\r\n", nextline, ((int) gcode.get_value('M')), possible_command.c_str());
  93         }
  94
  95     // Ignore comments and blank lines
  96     }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){
  97         new_message.stream->printf("ok\r\n");
  98     }
  99 }
 100