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 #include "Config.h"
  20
  21 GcodeDispatch::GcodeDispatch() {}
  22
  23 // Called when the module has just been loaded
  24 void GcodeDispatch::on_module_loaded()
  25 {
  26     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  27     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  28     currentline = -1;
  29     uploading = false;
  30     last_g= 255;
  31 }
  32
  33 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  34 void GcodeDispatch::on_console_line_received(void *line)
  35 {
  36     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  37     string possible_command = new_message.message;
  38
  39     int ln = 0;
  40     int cs = 0;
  41
  42 try_again:
  43
  44     char first_char = possible_command[0];
  45     unsigned int n;
  46     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  47
  48         //Get linenumber
  49         if ( first_char == 'N' ) {
  50             Gcode full_line = Gcode(possible_command, new_message.stream);
  51             ln = (int) full_line.get_value('N');
  52             int chksum = (int) full_line.get_value('*');
  53
  54             //Catch message if it is M110: Set Current Line Number
  55             if ( full_line.has_letter('M') ) {
  56                 if ( ((int) full_line.get_value('M')) == 110 ) {
  57                     currentline = ln;
  58                     new_message.stream->printf("ok\r\n");
  59                     return;
  60                 }
  61             }
  62
  63             //Strip checksum value from possible_command
  64             size_t chkpos = possible_command.find_first_of("*");
  65             possible_command = possible_command.substr(0, chkpos);
  66             //Calculate checksum
  67             if ( chkpos != string::npos ) {
  68                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  69                     cs = cs ^ *c;
  70                 cs &= 0xff;  // Defensive programming...
  71                 cs -= chksum;
  72             }
  73             //Strip line number value from possible_command
  74             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  75             possible_command = possible_command.substr(lnsize);
  76
  77         } else {
  78             //Assume checks succeeded
  79             cs = 0x00;
  80             ln = currentline + 1;
  81         }
  82
  83         //Remove comments
  84         size_t comment = possible_command.find_first_of(";(");
  85         if( comment != string::npos ) {
  86             possible_command = possible_command.substr(0, comment);
  87         }
  88
  89         //If checksum passes then process message, else request resend
  90         int nextline = currentline + 1;
  91         if( cs == 0x00 && ln == nextline ) {
  92             if( first_char == 'N' ) {
  93                 currentline = nextline;
  94             }
  95
  96             while(possible_command.size() > 0) {
  97                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT") + 1);
  98                 string single_command;
  99                 if(nextcmd == string::npos) {
 100                     single_command = possible_command;
 101                     possible_command = "";
 102                 } else {
 103                     single_command = possible_command.substr(0, nextcmd);
 104                     possible_command = possible_command.substr(nextcmd);
 105                 }
 106
 107                 if(!uploading) {
 108                     //Prepare gcode for dispatch
 109                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 110
 111                     if(gcode->has_g) {
 112                         last_g= gcode->g;
 113                     }
 114                     if(gcode->has_m) {
 115                         switch (gcode->m) {
 116                             case 28: // start upload command
 117                                 delete gcode;
 118
 119                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 120                                 // open file
 121                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 122                                 if(upload_fd != NULL) {
 123                                     this->uploading = true;
 124                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 125                                 } else {
 126                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 127                                 }
 128                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 129                                 continue;
 130
 131                             case 500: // M500 save volatile settings to config-override
 132                                 // replace stream with one that writes to config-override file
 133                                 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
 134                                 // dispatch the M500 here so we can free up the stream when done
 135                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 136                                 delete gcode->stream;
 137                                 delete gcode;
 138                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 139                                 continue;
 140
 141                             case 502: // M502 deletes config-override so everything defaults to what is in config
 142                                 remove(THEKERNEL->config_override_filename());
 143                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 144                                 delete gcode;
 145                                 continue;
 146
 147                             case 503: { // M503 display live settings and indicates if there is an override file
 148                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 149                                 if(fd != NULL) {
 150                                     fclose(fd);
 151                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 152
 153                                 } else {
 154                                     new_message.stream->printf("; No config override\n");
 155                                 }
 156                                 break; // fall through to process by modules
 157                             }
 158                         }
 159                     }
 160
 161                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 162                     //Dispatch message!
 163                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 164                     if(gcode->add_nl)
 165                         new_message.stream->printf("\r\n");
 166
 167                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 168                         new_message.stream->printf("ok (command unclaimed)\r\n");
 169                     else if(!gcode->txt_after_ok.empty()) {
 170                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 171                         gcode->txt_after_ok.clear();
 172                     } else
 173                         new_message.stream->printf("ok\r\n");
 174
 175                     delete gcode;
 176
 177                 } else {
 178                     // we are uploading a file so save it
 179                     if(single_command.substr(0, 3) == "M29") {
 180                         // done uploading, close file
 181                         fclose(upload_fd);
 182                         upload_fd = NULL;
 183                         uploading = false;
 184                         upload_filename.clear();
 185                         new_message.stream->printf("Done saving file.\r\n");
 186                         continue;
 187                     }
 188
 189                     if(upload_fd == NULL) {
 190                         // error detected writing to file so discard everything until it stops
 191                         new_message.stream->printf("ok\r\n");
 192                         continue;
 193                     }
 194
 195                     single_command.append("\n");
 196                     static int cnt = 0;
 197                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 198                         // error writing to file
 199                         new_message.stream->printf("Error:error writing to file.\r\n");
 200                         fclose(upload_fd);
 201                         upload_fd = NULL;
 202                         continue;
 203
 204                     } else {
 205                         cnt += single_command.size();
 206                         if (cnt > 400) {
 207                             // HACK ALERT to get around fwrite corruption close and re open for append
 208                             fclose(upload_fd);
 209                             upload_fd = fopen(upload_filename.c_str(), "a");
 210                             cnt = 0;
 211                         }
 212                         new_message.stream->printf("ok\r\n");
 213                         //printf("uploading file write ok\n");
 214                     }
 215                 }
 216             }
 217
 218         } else {
 219             //Request resend
 220             new_message.stream->printf("rs N%d\r\n", nextline);
 221         }
 222
 223     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 224         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 225         if(last_g != 0 && last_g != 1) {
 226             //if no last G1 or G0 ignore
 227             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 228             return;
 229         }
 230         char buf[6];
 231         snprintf(buf, sizeof(buf), "G%d ", last_g);
 232         possible_command.insert(0, buf);
 233         goto try_again;
 234
 235         // Ignore comments and blank lines
 236     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 237         new_message.stream->printf("ok\r\n");
 238     }
 239 }
 240