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     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 == 'N' ){
  36
  37         //Get linenumber
  38         if( first_char == 'N' ){
  39             Gcode full_line = Gcode(possible_command, new_message.stream);
  40             ln = (int) full_line.get_value('N');
  41             int chksum = (int) full_line.get_value('*');
  42
  43             //Catch message if it is M110: Set Current Line Number
  44             if( full_line.has_letter('M') ){
  45                 if( ((int) full_line.get_value('M')) == 110 ){
  46                     currentline = ln;
  47                     new_message.stream->printf("ok\r\n");
  48                     return;
  49                 }
  50             }
  51
  52             //Strip checksum value from possible_command
  53             size_t chkpos = possible_command.find_first_of("*");
  54             possible_command = possible_command.substr(0, chkpos);
  55             //Calculate checksum
  56             if( chkpos != string::npos ){
  57                 for(auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  58                     cs = cs ^ *c;
  59                 cs &= 0xff;  // Defensive programming...
  60                 cs -= chksum;
  61             }
  62             //Strip line number value from possible_command
  63             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  64             possible_command = possible_command.substr(lnsize);
  65
  66         }else{
  67             //Assume checks succeeded
  68             cs = 0x00;
  69             ln = currentline + 1;
  70         }
  71
  72         //Remove comments
  73         size_t comment = possible_command.find_first_of(";(");
  74         if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
  75
  76         //If checksum passes then process message, else request resend
  77         int nextline = currentline + 1;
  78         if( cs == 0x00 && ln == nextline ){
  79             if( first_char == 'N' ) {
  80                 currentline = nextline;
  81             }
  82
  83             while(possible_command.size() > 0) {
  84                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT")+1);
  85                 string single_command;
  86                 if(nextcmd == string::npos) {
  87                     single_command = possible_command;
  88                     possible_command = "";
  89                 }
  90                 else {
  91                     single_command = possible_command.substr(0,nextcmd);
  92                     possible_command = possible_command.substr(nextcmd);
  93                 }
  94                 //Prepare gcode for dispatch
  95                 Gcode* gcode = new Gcode(single_command, new_message.stream);
  96                 gcode->prepare_cached_values();
  97
  98 //                 printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
  99                 //Dispatch message!
 100                 this->kernel->call_event(ON_GCODE_RECEIVED, gcode );
 101                 if (gcode->add_nl)
 102                     new_message.stream->printf("\r\n");
 103                 new_message.stream->printf("ok\r\n");
 104
 105                 delete gcode;
 106
 107             }
 108         }else{
 109             //Request resend
 110             new_message.stream->printf("rs N%d\r\n", nextline);
 111         }
 112
 113     // Ignore comments and blank lines
 114     }else if( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ){
 115         new_message.stream->printf("ok\r\n");
 116     }
 117 }
 118