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 "utils/Gcode.h"
  12 #include "Pauser.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
  24 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  25
  26 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  27 static const int allowed_mcodes[]= {105,114}; // get temp, get pos
  28 static bool is_allowed_mcode(int m) {
  29     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  30         if(allowed_mcodes[i] == m) return true;
  31     }
  32     return false;
  33 }
  34
  35 GcodeDispatch::GcodeDispatch()
  36 {
  37     halted= false;
  38     uploading = false;
  39     currentline = -1;
  40     last_g= 255;
  41 }
  42
  43 // Called when the module has just been loaded
  44 void GcodeDispatch::on_module_loaded()
  45 {
  46     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  47     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  48     this->register_for_event(ON_HALT);
  49 }
  50
  51 void GcodeDispatch::on_halt(void *arg)
  52 {
  53     // set halt stream and ignore everything until M999
  54     this->halted= (arg == nullptr);
  55 }
  56
  57 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  58 void GcodeDispatch::on_console_line_received(void *line)
  59 {
  60     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  61     string possible_command = new_message.message;
  62
  63     int ln = 0;
  64     int cs = 0;
  65
  66 try_again:
  67
  68     char first_char = possible_command[0];
  69     unsigned int n;
  70     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  71
  72         //Get linenumber
  73         if ( first_char == 'N' ) {
  74             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  75             ln = (int) full_line.get_value('N');
  76             int chksum = (int) full_line.get_value('*');
  77
  78             //Catch message if it is M110: Set Current Line Number
  79             if ( full_line.has_m ) {
  80                 if ( full_line.m == 110 ) {
  81                     currentline = ln;
  82                     new_message.stream->printf("ok\r\n");
  83                     return;
  84                 }
  85             }
  86
  87             //Strip checksum value from possible_command
  88             size_t chkpos = possible_command.find_first_of("*");
  89             possible_command = possible_command.substr(0, chkpos);
  90             //Calculate checksum
  91             if ( chkpos != string::npos ) {
  92                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  93                     cs = cs ^ *c;
  94                 cs &= 0xff;  // Defensive programming...
  95                 cs -= chksum;
  96             }
  97             //Strip line number value from possible_command
  98             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  99             possible_command = possible_command.substr(lnsize);
 100
 101         } else {
 102             //Assume checks succeeded
 103             cs = 0x00;
 104             ln = currentline + 1;
 105         }
 106
 107         //Remove comments
 108         size_t comment = possible_command.find_first_of(";(");
 109         if( comment != string::npos ) {
 110             possible_command = possible_command.substr(0, comment);
 111         }
 112
 113         //If checksum passes then process message, else request resend
 114         int nextline = currentline + 1;
 115         if( cs == 0x00 && ln == nextline ) {
 116             if( first_char == 'N' ) {
 117                 currentline = nextline;
 118             }
 119
 120             while(possible_command.size() > 0) {
 121                 size_t nextcmd = possible_command.find_first_of("GM", 1);
 122                 string single_command;
 123                 if(nextcmd == string::npos) {
 124                     single_command = possible_command;
 125                     possible_command = "";
 126                 } else {
 127                     single_command = possible_command.substr(0, nextcmd);
 128                     possible_command = possible_command.substr(nextcmd);
 129                 }
 130
 131
 132                 if(!uploading) {
 133                     //Prepare gcode for dispatch
 134                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 135
 136                     if(halted) {
 137                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 138                         if(gcode->has_m && gcode->m == 999) {
 139                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 140                             halted= false;
 141                             // fall through and pass onto other modules
 142
 143                         }else if(!is_allowed_mcode(gcode->m)) {
 144                             // ignore everything, return error string to host
 145                             new_message.stream->printf("!!\r\n");
 146                             delete gcode;
 147                             continue;
 148                         }
 149                     }
 150
 151                     if(gcode->has_g) {
 152                         last_g= gcode->g;
 153                     }
 154
 155                     if(gcode->has_m) {
 156                         switch (gcode->m) {
 157                             case 28: // start upload command
 158                                 delete gcode;
 159
 160                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 161                                 // open file
 162                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 163                                 if(upload_fd != NULL) {
 164                                     this->uploading = true;
 165                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 166                                 } else {
 167                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 168                                 }
 169                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 170                                 continue;
 171
 172                             case 112: // emergency stop, do the best we can with this
 173                                 // TODO this really needs to be handled out-of-band
 174                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 175                                 THEKERNEL->call_event(ON_HALT, nullptr);
 176                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
 177                                 delete gcode;
 178                                 return;
 179
 180                             case 500: // M500 save volatile settings to config-override
 181                                 THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
 182                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 183                                 {
 184                                     FileStream fs(THEKERNEL->config_override_filename());
 185                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 186                                     // this also will truncate the existing file instead of deleting it
 187                                 }
 188                                 // replace stream with one that writes to config-override file
 189                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 190                                 // dispatch the M500 here so we can free up the stream when done
 191                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 192                                 delete gcode->stream;
 193                                 delete gcode;
 194                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 195                                 continue;
 196
 197                             case 502: // M502 deletes config-override so everything defaults to what is in config
 198                                 remove(THEKERNEL->config_override_filename());
 199                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 200                                 delete gcode;
 201                                 continue;
 202
 203                             case 503: { // M503 display live settings and indicates if there is an override file
 204                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 205                                 if(fd != NULL) {
 206                                     fclose(fd);
 207                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 208
 209                                 } else {
 210                                     new_message.stream->printf("; No config override\n");
 211                                 }
 212                                 gcode->add_nl= true;
 213                                 break; // fall through to process by modules
 214                             }
 215                         }
 216                     }
 217
 218                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 219                     //Dispatch message!
 220                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 221                     if(gcode->add_nl)
 222                         new_message.stream->printf("\r\n");
 223
 224                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 225                         new_message.stream->printf("ok (command unclaimed)\r\n");
 226                     else if(!gcode->txt_after_ok.empty()) {
 227                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 228                         gcode->txt_after_ok.clear();
 229                     } else
 230                         new_message.stream->printf("ok\r\n");
 231
 232                     delete gcode;
 233
 234                 } else {
 235                     // we are uploading a file so save it
 236                     if(single_command.substr(0, 3) == "M29") {
 237                         // done uploading, close file
 238                         fclose(upload_fd);
 239                         upload_fd = NULL;
 240                         uploading = false;
 241                         upload_filename.clear();
 242                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 243                         continue;
 244                     }
 245
 246                     if(upload_fd == NULL) {
 247                         // error detected writing to file so discard everything until it stops
 248                         new_message.stream->printf("ok\r\n");
 249                         continue;
 250                     }
 251
 252                     single_command.append("\n");
 253                     static int cnt = 0;
 254                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 255                         // error writing to file
 256                         new_message.stream->printf("Error:error writing to file.\r\n");
 257                         fclose(upload_fd);
 258                         upload_fd = NULL;
 259                         continue;
 260
 261                     } else {
 262                         cnt += single_command.size();
 263                         if (cnt > 400) {
 264                             // HACK ALERT to get around fwrite corruption close and re open for append
 265                             fclose(upload_fd);
 266                             upload_fd = fopen(upload_filename.c_str(), "a");
 267                             cnt = 0;
 268                         }
 269                         new_message.stream->printf("ok\r\n");
 270                         //printf("uploading file write ok\n");
 271                     }
 272                 }
 273             }
 274
 275         } else {
 276             //Request resend
 277             new_message.stream->printf("rs N%d\r\n", nextline);
 278         }
 279
 280     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 281         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 282         if(last_g != 0 && last_g != 1) {
 283             //if no last G1 or G0 ignore
 284             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 285             return;
 286         }
 287         char buf[6];
 288         snprintf(buf, sizeof(buf), "G%d ", last_g);
 289         possible_command.insert(0, buf);
 290         goto try_again;
 291
 292         // Ignore comments and blank lines
 293     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 294         new_message.stream->printf("ok\r\n");
 295     }
 296 }
 297