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 "GcodeDispatch.h"
   9
  10 #include "libs/Kernel.h"
  11 #include "Robot.h"
  12 #include "utils/Gcode.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "modules/robot/Conveyor.h"
  15 #include "libs/SerialMessage.h"
  16 #include "libs/StreamOutput.h"
  17 #include "libs/StreamOutputPool.h"
  18 #include "libs/FileStream.h"
  19 #include "libs/AppendFileStream.h"
  20 #include "Config.h"
  21 #include "checksumm.h"
  22 #include "ConfigValue.h"
  23 #include "PublicDataRequest.h"
  24 #include "PublicData.h"
  25 #include "SimpleShell.h"
  26 #include "utils.h"
  27 #include "LPC17xx.h"
  28 #include "version.h"
  29
  30 #define panel_display_message_checksum CHECKSUM("display_message")
  31 #define panel_checksum             CHECKSUM("panel")
  32
  33 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  34 static const int allowed_mcodes[]= {2,5,9,30,105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
  35 static bool is_allowed_mcode(int m) {
  36     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  37         if(allowed_mcodes[i] == m) return true;
  38     }
  39     return false;
  40 }
  41
  42 GcodeDispatch::GcodeDispatch()
  43 {
  44     uploading = false;
  45     currentline = -1;
  46     modal_group_1= 0;
  47 }
  48
  49 // Called when the module has just been loaded
  50 void GcodeDispatch::on_module_loaded()
  51 {
  52     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  53 }
  54
  55 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  56 void GcodeDispatch::on_console_line_received(void *line)
  57 {
  58     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  59     string possible_command = new_message.message;
  60
  61     int ln = 0;
  62     int cs = 0;
  63
  64     // just reply ok to empty lines
  65     if(possible_command.empty()) {
  66         new_message.stream->printf("ok\r\n");
  67         return;
  68     }
  69
  70 try_again:
  71
  72     char first_char = possible_command[0];
  73     unsigned int n;
  74
  75     if(first_char == '$') {
  76         // ignore as simpleshell will handle it
  77         return;
  78
  79     }else if(islower(first_char)) {
  80         // ignore all lowercase as they are simpleshell commands
  81         return;
  82     }
  83
  84     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
  85
  86         //Get linenumber
  87         if ( first_char == 'N' ) {
  88             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  89             ln = (int) full_line.get_value('N');
  90             int chksum = (int) full_line.get_value('*');
  91
  92             //Catch message if it is M110: Set Current Line Number
  93             if ( full_line.has_m ) {
  94                 if ( full_line.m == 110 ) {
  95                     currentline = ln;
  96                     new_message.stream->printf("ok\r\n");
  97                     return;
  98                 }
  99             }
 100
 101             //Strip checksum value from possible_command
 102             size_t chkpos = possible_command.find_first_of("*");
 103
 104                         //Calculate checksum
 105             if ( chkpos != string::npos ) {
 106                                 possible_command = possible_command.substr(0, chkpos);
 107                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
 108                     cs = cs ^ *c;
 109                 cs &= 0xff;  // Defensive programming...
 110                 cs -= chksum;
 111                         }
 112
 113             //Strip line number value from possible_command
 114                         size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
 115                         if(lnsize != string::npos) {
 116                                 possible_command = possible_command.substr(lnsize);
 117                         }else{
 118                                 // it is a blank line
 119                                 possible_command.clear();
 120                         }
 121
 122         } else {
 123             //Assume checks succeeded
 124             cs = 0x00;
 125             ln = currentline + 1;
 126         }
 127
 128         //Remove comments
 129         size_t comment = possible_command.find_first_of(";(");
 130         if( comment != string::npos ) {
 131             possible_command = possible_command.substr(0, comment);
 132         }
 133
 134         //If checksum passes then process message, else request resend
 135         int nextline = currentline + 1;
 136         if( cs == 0x00 && ln == nextline ) {
 137             if( first_char == 'N' ) {
 138                 currentline = nextline;
 139             }
 140
 141             bool sent_ok= false; // used for G1 optimization
 142             while(possible_command.size() > 0) {
 143                 // assumes G or M are always the first on the line
 144                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 145                 string single_command;
 146                 if(nextcmd == string::npos) {
 147                     single_command = possible_command;
 148                     possible_command = "";
 149                 } else {
 150                     single_command = possible_command.substr(0, nextcmd);
 151                     possible_command = possible_command.substr(nextcmd);
 152                 }
 153
 154
 155                 if(!uploading || upload_stream != new_message.stream) {
 156                     // Prepare gcode for dispatch
 157                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 158
 159                     if(THEKERNEL->is_halted()) {
 160                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 161                         if(gcode->has_m && gcode->m == 999) {
 162                             if(THEKERNEL->is_halted()) {
 163                                 THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 164                                 new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
 165                             }
 166                             new_message.stream->printf("ok\n");
 167                             delete gcode;
 168                             return;
 169
 170                         }else if(!is_allowed_mcode(gcode->m)) {
 171                             // ignore everything, return error string to host
 172                             if(THEKERNEL->is_grbl_mode()) {
 173                                 new_message.stream->printf("error:Alarm lock\n");
 174
 175                             }else{
 176                                 new_message.stream->printf("!!\r\n");
 177                             }
 178                             delete gcode;
 179                             return;
 180                         }
 181                     }
 182
 183                     if(gcode->has_g) {
 184                         if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
 185                             // this is ugly to implement as there may or may not be a G0/G1 on the same line
 186                             // valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
 187                             if(possible_command.empty()) {
 188                                 // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
 189                                 // TODO it is really an error if the last is not G0 thru G3
 190                                 if(modal_group_1 > 3) {
 191                                     delete gcode;
 192                                     new_message.stream->printf("ok - Invalid G53\r\n");
 193                                     return;
 194                                 }
 195                                 // use last G0 or G1
 196                                 gcode->g= modal_group_1;
 197
 198                             }else{
 199                                 delete gcode;
 200                                 // extract next G0/G1 from the rest of the line, ignore if it is not one of these
 201                                 gcode = new Gcode(possible_command, new_message.stream);
 202                                 possible_command= "";
 203                                 if(!gcode->has_g || gcode->g > 1) {
 204                                     // not G0 or G1 so ignore it as it is invalid
 205                                     delete gcode;
 206                                     new_message.stream->printf("ok - Invalid G53\r\n");
 207                                     return;
 208                                 }
 209                             }
 210                             // makes it handle the parameters as a machine position
 211                             THEROBOT->next_command_is_MCS= true;
 212
 213                         } else if(gcode->g == 1) {
 214                             // optimize G1 to send ok immediately (one per line) before it is planned
 215                             if(!sent_ok) {
 216                                 sent_ok= true;
 217                                 new_message.stream->printf("ok\n");
 218                             }
 219                         }
 220
 221                         // remember last modal group 1 code
 222                         if(gcode->g < 4) {
 223                             modal_group_1= gcode->g;
 224                         }
 225                     }
 226
 227                     if(gcode->has_m) {
 228                         switch (gcode->m) {
 229                             case 28: // start upload command
 230                                 delete gcode;
 231
 232                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 233                                 // open file
 234                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 235                                 if(upload_fd != NULL) {
 236                                     this->uploading = true;
 237                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 238                                 } else {
 239                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 240                                 }
 241
 242                                 // only save stuff from this stream
 243                                 upload_stream= new_message.stream;
 244
 245                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 246                                 continue;
 247
 248                             case 30: // end of program
 249                                 if(!THEKERNEL->is_grbl_mode()) break; // Special case M30 as it is also delete sd card file so only do this if in grbl mode
 250                                 // fall through to M2
 251                             case 2:
 252                                 {
 253                                     modal_group_1= 1; // set to G1
 254                                     // issue M5 and M9 in case spindle and coolant are being used
 255                                     Gcode gc1("M5", &StreamOutput::NullStream);
 256                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
 257                                     Gcode gc2("M9", &StreamOutput::NullStream);
 258                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
 259                                 }
 260                                 break;
 261
 262                             case 112: // emergency stop, do the best we can with this
 263                                 // this is also handled out-of-band (it is now with ^X in the serial driver)
 264                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 265                                 THEKERNEL->call_event(ON_HALT, nullptr);
 266                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
 267                                 delete gcode;
 268                                 return;
 269
 270                             case 115: { // M115 Get firmware version and capabilities
 271                                 Version vers;
 272
 273                                 new_message.stream->printf("FIRMWARE_NAME:Smoothieware, FIRMWARE_URL:http%%3A//smoothieware.org, X-SOURCE_CODE_URL:https://github.com/Smoothieware/Smoothieware, FIRMWARE_VERSION:%s, X-FIRMWARE_BUILD_DATE:%s, X-SYSTEM_CLOCK:%ldMHz, X-AXES:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS);
 274
 275                                 #ifdef CNC
 276                                 new_message.stream->printf(", X-CNC:1");
 277                                 #else
 278                                 new_message.stream->printf(", X-CNC:0");
 279                                 #endif
 280
 281                                 #ifdef DISABLEMSD
 282                                 new_message.stream->printf(", X-MSD:0");
 283                                 #else
 284                                 new_message.stream->printf(", X-MSD:1");
 285                                 #endif
 286
 287                                 new_message.stream->printf("\nok\n");
 288                                 return;
 289                             }
 290
 291                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 292                             {    // concatenate the command again and send to panel if enabled
 293                                 string str= single_command.substr(4) + possible_command;
 294                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 295                                 delete gcode;
 296                                 new_message.stream->printf("ok\r\n");
 297                                 return;
 298                             }
 299
 300                             case 1000: // M1000 is a special command that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
 301                             {
 302                                 // reconstruct entire command line again
 303                                 string str= single_command.substr(5) + possible_command;
 304                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 305
 306                                 delete gcode;
 307
 308                                 if(str.empty()) {
 309                                     SimpleShell::parse_command("help", "", new_message.stream);
 310
 311                                 }else{
 312                                     string args= lc(str);
 313                                     string cmd = shift_parameter(args);
 314                                     // find command and execute it
 315                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 316                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 317                                     }
 318                                 }
 319
 320                                 new_message.stream->printf("ok\r\n");
 321                                 return;
 322                             }
 323
 324                             case 500: // M500 save volatile settings to config-override
 325                                 THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
 326                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 327                                 __disable_irq();
 328                                 {
 329                                     FileStream fs(THEKERNEL->config_override_filename());
 330                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 331                                     // this also will truncate the existing file instead of deleting it
 332                                 }
 333                                 // replace stream with one that writes to config-override file
 334                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 335                                 // dispatch the M500 here so we can free up the stream when done
 336                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 337                                 delete gcode->stream;
 338                                 delete gcode;
 339                                 __enable_irq();
 340                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 341                                 continue;
 342
 343                             case 501: // load config override
 344                             case 504: // save to specific config override file
 345                                 {
 346                                     string arg= get_arguments(single_command + possible_command); // rest of line is filename
 347                                     if(arg.empty()) arg= "/sd/config-override";
 348                                     else arg= "/sd/config-override." + arg;
 349                                     //new_message.stream->printf("args: <%s>\n", arg.c_str());
 350                                     SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
 351                                 }
 352                                 delete gcode;
 353                                 new_message.stream->printf("ok\r\n");
 354                                 return;
 355
 356                             case 502: // M502 deletes config-override so everything defaults to what is in config
 357                                 remove(THEKERNEL->config_override_filename());
 358                                 delete gcode;
 359                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 360                                 continue;
 361
 362                             case 503: { // M503 display live settings and indicates if there is an override file
 363                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 364                                 if(fd != NULL) {
 365                                     fclose(fd);
 366                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 367
 368                                 } else {
 369                                     new_message.stream->printf("; No config override\n");
 370                                 }
 371                                 gcode->add_nl= true;
 372                                 break; // fall through to process by modules
 373                             }
 374
 375                         }
 376                     }
 377
 378                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 379                     //Dispatch message!
 380                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 381
 382                     if (gcode->is_error) {
 383                         // report error
 384                         if(THEKERNEL->is_grbl_mode()) {
 385                             new_message.stream->printf("error:");
 386                         }else{
 387                             new_message.stream->printf("Error: ");
 388                         }
 389
 390                         if(!gcode->txt_after_ok.empty()) {
 391                             new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
 392                             gcode->txt_after_ok.clear();
 393
 394                         }else{
 395                             new_message.stream->printf("unknown\r\n");
 396                         }
 397
 398                         // we cannot continue safely after an error so we enter HALT state
 399                         new_message.stream->printf("Entering Alarm/Halt state\n");
 400                         THEKERNEL->call_event(ON_HALT, nullptr);
 401
 402                     }else if(!sent_ok) {
 403
 404                         if(gcode->add_nl)
 405                             new_message.stream->printf("\r\n");
 406
 407                         if(!gcode->txt_after_ok.empty()) {
 408                             new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 409                             gcode->txt_after_ok.clear();
 410
 411                         } else {
 412                             if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
 413                                 // only send ok once per line if this is a multi g code line send ok on the last one
 414                                 if(possible_command.empty())
 415                                     new_message.stream->printf("ok\r\n");
 416                             } else {
 417                                 // maybe should do the above for all hosts?
 418                                 new_message.stream->printf("ok\r\n");
 419                             }
 420                         }
 421                     }
 422
 423                     delete gcode;
 424
 425                 } else {
 426                     // we are uploading and it is the upload stream so so save it
 427                     if(single_command.substr(0, 3) == "M29") {
 428                         // done uploading, close file
 429                         fclose(upload_fd);
 430                         upload_fd = NULL;
 431                         uploading = false;
 432                         upload_filename.clear();
 433                         upload_stream= nullptr;
 434                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 435                         continue;
 436                     }
 437
 438                     if(upload_fd == NULL) {
 439                         // error detected writing to file so discard everything until it stops
 440                         new_message.stream->printf("ok\r\n");
 441                         continue;
 442                     }
 443
 444                     single_command.append("\n");
 445                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 446                         // error writing to file
 447                         new_message.stream->printf("Error:error writing to file.\r\n");
 448                         fclose(upload_fd);
 449                         upload_fd = NULL;
 450                         continue;
 451
 452                     } else {
 453                          new_message.stream->printf("ok\r\n");
 454                         //printf("uploading file write ok\n");
 455                     }
 456                 }
 457             }
 458
 459         } else {
 460             //Request resend
 461             new_message.stream->printf("rs N%d\r\n", nextline);
 462         }
 463
 464     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 465         // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
 466         char buf[6];
 467         snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
 468         possible_command.insert(0, buf);
 469         goto try_again;
 470
 471     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 472         // Ignore comments and blank lines
 473         new_message.stream->printf("ok\n");
 474
 475     } else {
 476         // an uppercase non command word on its own (except XYZF) just returns ok, we could add an error but no hosts expect that.
 477         new_message.stream->printf("ok - ignored\n");
 478     }
 479 }
 480