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     if( this->kernel->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool() == false )
  24         return_error_on_unhandled_gcode = false;
  25     else
  26         return_error_on_unhandled_gcode = true;
  27
  28     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  29     currentline = -1;
  30 }
  31
  32 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  33 void GcodeDispatch::on_console_line_received(void * line){
  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 ){ possible_command = possible_command.substr(0, comment); }
  80
  81         //If checksum passes then process message, else request resend
  82         int nextline = currentline + 1;
  83         if( cs == 0x00 && ln == nextline ){
  84             if( first_char == 'N' ) {
  85                 currentline = nextline;
  86             }
  87
  88             while(possible_command.size() > 0) {
  89                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT")+1);
  90                 string single_command;
  91                 if(nextcmd == string::npos) {
  92                     single_command = possible_command;
  93                     possible_command = "";
  94                 }
  95                 else {
  96                     single_command = possible_command.substr(0,nextcmd);
  97                     possible_command = possible_command.substr(nextcmd);
  98                 }
  99                 //Prepare gcode for dispatch
 100                 Gcode* gcode = new Gcode(single_command, new_message.stream);
 101                 gcode->prepare_cached_values();
 102
 103 //                 printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 104                 //Dispatch message!
 105                 this->kernel->call_event(ON_GCODE_RECEIVED, gcode );
 106                 if (gcode->add_nl)
 107                     new_message.stream->printf("\r\n");
 108                 if ( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 109                     new_message.stream->printf("error: Command hasn't been processed.\r\n");
 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