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 "Pauser.h"
  14 #include "libs/nuts_bolts.h"
  15 #include "GcodeDispatch.h"
  16 #include "modules/robot/Conveyor.h"
  17 #include "libs/SerialMessage.h"
  18 #include "libs/StreamOutput.h"
  19 #include "libs/StreamOutputPool.h"
  20 #include "libs/FileStream.h"
  21 #include "Config.h"
  22 #include "checksumm.h"
  23 #include "ConfigValue.h"
  24
  25 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  26
  27 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  28 static const int allowed_mcodes[]= {105,114}; // get temp, get pos
  29 static bool is_allowed_mcode(int m) {
  30     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  31         if(allowed_mcodes[i] == m) return true;
  32     }
  33     return false;
  34 }
  35
  36 GcodeDispatch::GcodeDispatch()
  37 {
  38     halted= false;
  39     uploading = false;
  40     currentline = -1;
  41     last_g= 255;
  42 }
  43
  44 // Called when the module has just been loaded
  45 void GcodeDispatch::on_module_loaded()
  46 {
  47     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  48     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  49     this->register_for_event(ON_HALT);
  50 }
  51
  52 void GcodeDispatch::on_halt(void *arg)
  53 {
  54     // set halt stream and ignore everything until M999
  55     this->halted= (arg == nullptr);
  56 }
  57
  58 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  59 void GcodeDispatch::on_console_line_received(void *line)
  60 {
  61     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  62     string possible_command = new_message.message;
  63
  64     int ln = 0;
  65     int cs = 0;
  66
  67 try_again:
  68
  69     char first_char = possible_command[0];
  70     unsigned int n;
  71     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  72
  73         //Get linenumber
  74         if ( first_char == 'N' ) {
  75             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  76             ln = (int) full_line.get_value('N');
  77             int chksum = (int) full_line.get_value('*');
  78
  79             //Catch message if it is M110: Set Current Line Number
  80             if ( full_line.has_m ) {
  81                 if ( full_line.m == 110 ) {
  82                     currentline = ln;
  83                     new_message.stream->printf("ok\r\n");
  84                     return;
  85                 }
  86             }
  87
  88             //Strip checksum value from possible_command
  89             size_t chkpos = possible_command.find_first_of("*");
  90             possible_command = possible_command.substr(0, chkpos);
  91             //Calculate checksum
  92             if ( chkpos != string::npos ) {
  93                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  94                     cs = cs ^ *c;
  95                 cs &= 0xff;  // Defensive programming...
  96                 cs -= chksum;
  97             }
  98             //Strip line number value from possible_command
  99             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
 100             possible_command = possible_command.substr(lnsize);
 101
 102         } else {
 103             //Assume checks succeeded
 104             cs = 0x00;
 105             ln = currentline + 1;
 106         }
 107
 108         //Remove comments
 109         size_t comment = possible_command.find_first_of(";(");
 110         if( comment != string::npos ) {
 111             possible_command = possible_command.substr(0, comment);
 112         }
 113
 114         //If checksum passes then process message, else request resend
 115         int nextline = currentline + 1;
 116         if( cs == 0x00 && ln == nextline ) {
 117             if( first_char == 'N' ) {
 118                 currentline = nextline;
 119             }
 120
 121             while(possible_command.size() > 0) {
 122                 size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GM") + 1);
 123                 string single_command;
 124                 if(nextcmd == string::npos) {
 125                     single_command = possible_command;
 126                     possible_command = "";
 127                 } else {
 128                     single_command = possible_command.substr(0, nextcmd);
 129                     possible_command = possible_command.substr(nextcmd);
 130                 }
 131
 132
 133                 if(!uploading) {
 134                     //Prepare gcode for dispatch
 135                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 136
 137                     if(halted) {
 138                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 139                         if(gcode->has_m && gcode->m == 999) {
 140                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 141                             halted= false;
 142                             // fall through and pass onto other modules
 143
 144                         }else if(!is_allowed_mcode(gcode->m)) {
 145                             // ignore everything, return error string to host
 146                             new_message.stream->printf("!!\r\n");
 147                             delete gcode;
 148                             continue;
 149                         }
 150                     }
 151
 152                     if(gcode->has_g) {
 153                         last_g= gcode->g;
 154                     }
 155
 156                     if(gcode->has_m) {
 157                         switch (gcode->m) {
 158                             case 28: // start upload command
 159                                 delete gcode;
 160
 161                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 162                                 // open file
 163                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 164                                 if(upload_fd != NULL) {
 165                                     this->uploading = true;
 166                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 167                                 } else {
 168                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 169                                 }
 170                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 171                                 continue;
 172
 173                             case 112: // emergency stop, do the best we can with this
 174                                 // TODO this really needs to be handled out-of-band
 175                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 176                                 THEKERNEL->call_event(ON_HALT, nullptr);
 177                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
 178                                 delete gcode;
 179                                 return;
 180
 181                             case 500: // M500 save volatile settings to config-override
 182                                 // replace stream with one that writes to config-override file
 183                                 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
 184                                 // dispatch the M500 here so we can free up the stream when done
 185                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 186                                 delete gcode->stream;
 187                                 delete gcode;
 188                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 189                                 continue;
 190
 191                             case 502: // M502 deletes config-override so everything defaults to what is in config
 192                                 remove(THEKERNEL->config_override_filename());
 193                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 194                                 delete gcode;
 195                                 continue;
 196
 197                             case 503: { // M503 display live settings and indicates if there is an override file
 198                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 199                                 if(fd != NULL) {
 200                                     fclose(fd);
 201                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 202
 203                                 } else {
 204                                     new_message.stream->printf("; No config override\n");
 205                                 }
 206                                 gcode->add_nl= true;
 207                                 break; // fall through to process by modules
 208                             }
 209                         }
 210                     }
 211
 212                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 213                     //Dispatch message!
 214                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 215                     if(gcode->add_nl)
 216                         new_message.stream->printf("\r\n");
 217
 218                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 219                         new_message.stream->printf("ok (command unclaimed)\r\n");
 220                     else if(!gcode->txt_after_ok.empty()) {
 221                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 222                         gcode->txt_after_ok.clear();
 223                     } else
 224                         new_message.stream->printf("ok\r\n");
 225
 226                     delete gcode;
 227
 228                 } else {
 229                     // we are uploading a file so save it
 230                     if(single_command.substr(0, 3) == "M29") {
 231                         // done uploading, close file
 232                         fclose(upload_fd);
 233                         upload_fd = NULL;
 234                         uploading = false;
 235                         upload_filename.clear();
 236                         new_message.stream->printf("Done saving file.\r\n");
 237                         continue;
 238                     }
 239
 240                     if(upload_fd == NULL) {
 241                         // error detected writing to file so discard everything until it stops
 242                         new_message.stream->printf("ok\r\n");
 243                         continue;
 244                     }
 245
 246                     single_command.append("\n");
 247                     static int cnt = 0;
 248                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 249                         // error writing to file
 250                         new_message.stream->printf("Error:error writing to file.\r\n");
 251                         fclose(upload_fd);
 252                         upload_fd = NULL;
 253                         continue;
 254
 255                     } else {
 256                         cnt += single_command.size();
 257                         if (cnt > 400) {
 258                             // HACK ALERT to get around fwrite corruption close and re open for append
 259                             fclose(upload_fd);
 260                             upload_fd = fopen(upload_filename.c_str(), "a");
 261                             cnt = 0;
 262                         }
 263                         new_message.stream->printf("ok\r\n");
 264                         //printf("uploading file write ok\n");
 265                     }
 266                 }
 267             }
 268
 269         } else {
 270             //Request resend
 271             new_message.stream->printf("rs N%d\r\n", nextline);
 272         }
 273
 274     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 275         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 276         if(last_g != 0 && last_g != 1) {
 277             //if no last G1 or G0 ignore
 278             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 279             return;
 280         }
 281         char buf[6];
 282         snprintf(buf, sizeof(buf), "G%d ", last_g);
 283         possible_command.insert(0, buf);
 284         goto try_again;
 285
 286         // Ignore comments and blank lines
 287     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 288         new_message.stream->printf("ok\r\n");
 289     }
 290 }
 291