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 #include "libs/FileStream.h"
  19
  20 GcodeDispatch::GcodeDispatch() {}
  21
  22 // Called when the module has just been loaded
  23 void GcodeDispatch::on_module_loaded()
  24 {
  25     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  26     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  27     currentline = -1;
  28     uploading = false;
  29     last_g= 255;
  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 {
  35     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  36     string possible_command = new_message.message;
  37
  38     int ln = 0;
  39     int cs = 0;
  40
  41 try_again:
  42
  43     char first_char = possible_command[0];
  44     unsigned int n;
  45     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  46
  47         //Get linenumber
  48         if ( first_char == 'N' ) {
  49             Gcode full_line = Gcode(possible_command, new_message.stream);
  50             ln = (int) full_line.get_value('N');
  51             int chksum = (int) full_line.get_value('*');
  52
  53             //Catch message if it is M110: Set Current Line Number
  54             if ( full_line.has_letter('M') ) {
  55                 if ( ((int) full_line.get_value('M')) == 110 ) {
  56                     currentline = ln;
  57                     new_message.stream->printf("ok\r\n");
  58                     return;
  59                 }
  60             }
  61
  62             //Strip checksum value from possible_command
  63             size_t chkpos = possible_command.find_first_of("*");
  64             possible_command = possible_command.substr(0, chkpos);
  65             //Calculate checksum
  66             if ( chkpos != string::npos ) {
  67                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  68                     cs = cs ^ *c;
  69                 cs &= 0xff;  // Defensive programming...
  70                 cs -= chksum;
  71             }
  72             //Strip line number value from possible_command
  73             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  74             possible_command = possible_command.substr(lnsize);
  75
  76         } else {
  77             //Assume checks succeeded
  78             cs = 0x00;
  79             ln = currentline + 1;
  80         }
  81
  82         //Remove comments
  83         size_t comment = possible_command.find_first_of(";(");
  84         if( comment != string::npos ) {
  85             possible_command = possible_command.substr(0, comment);
  86         }
  87
  88         //If checksum passes then process message, else request resend
  89         int nextline = currentline + 1;
  90         if( cs == 0x00 && ln == nextline ) {
  91             if( first_char == 'N' ) {
  92                 currentline = nextline;
  93             }
  94
  95             while(possible_command.size() > 0) {
  96                 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT") + 1);
  97                 string single_command;
  98                 if(nextcmd == string::npos) {
  99                     single_command = possible_command;
 100                     possible_command = "";
 101                 } else {
 102                     single_command = possible_command.substr(0, nextcmd);
 103                     possible_command = possible_command.substr(nextcmd);
 104                 }
 105
 106                 if(!uploading) {
 107                     //Prepare gcode for dispatch
 108                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 109
 110                     if(gcode->has_g) {
 111                         last_g= gcode->g;
 112                     }
 113                     if(gcode->has_m) {
 114                         switch (gcode->m) {
 115                             case 28: // start upload command
 116                                 delete gcode;
 117
 118                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 119                                 // open file
 120                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 121                                 if(upload_fd != NULL) {
 122                                     this->uploading = true;
 123                                     new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
 124                                 } else {
 125                                     new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
 126                                 }
 127                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 128                                 continue;
 129
 130                             case 500: // M500 save volatile settings to config-override
 131                                 // replace stream with one that writes to config-override file
 132                                 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
 133                                 // dispatch the M500 here so we can free up the stream when done
 134                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 135                                 delete gcode->stream;
 136                                 delete gcode;
 137                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 138                                 continue;
 139
 140                             case 502: // M502 deletes config-override so everything defaults to what is in config
 141                                 remove(THEKERNEL->config_override_filename());
 142                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 143                                 delete gcode;
 144                                 continue;
 145
 146                             case 503: { // M503 display live settings and indicates if there is an override file
 147                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 148                                 if(fd != NULL) {
 149                                     fclose(fd);
 150                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 151
 152                                 } else {
 153                                     new_message.stream->printf("; No config override\n");
 154                                 }
 155                                 break; // fall through to process by modules
 156                             }
 157                         }
 158                     }
 159
 160                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 161                     //Dispatch message!
 162                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 163                     if(gcode->add_nl)
 164                         new_message.stream->printf("\r\n");
 165
 166                     if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
 167                         new_message.stream->printf("ok (command unclaimed)\r\n");
 168                     else if(!gcode->txt_after_ok.empty()) {
 169                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 170                         gcode->txt_after_ok.clear();
 171                     } else
 172                         new_message.stream->printf("ok\r\n");
 173
 174                     delete gcode;
 175
 176                 } else {
 177                     // we are uploading a file so save it
 178                     if(single_command.substr(0, 3) == "M29") {
 179                         // done uploading, close file
 180                         fclose(upload_fd);
 181                         upload_fd = NULL;
 182                         uploading = false;
 183                         upload_filename.clear();
 184                         new_message.stream->printf("Done saving file.\r\n");
 185                         continue;
 186                     }
 187
 188                     if(upload_fd == NULL) {
 189                         // error detected writing to file so discard everything until it stops
 190                         new_message.stream->printf("ok\r\n");
 191                         continue;
 192                     }
 193
 194                     single_command.append("\n");
 195                     static int cnt = 0;
 196                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 197                         // error writing to file
 198                         new_message.stream->printf("Error:error writing to file.\r\n");
 199                         fclose(upload_fd);
 200                         upload_fd = NULL;
 201                         continue;
 202
 203                     } else {
 204                         cnt += single_command.size();
 205                         if (cnt > 400) {
 206                             // HACK ALERT to get around fwrite corruption close and re open for append
 207                             fclose(upload_fd);
 208                             upload_fd = fopen(upload_filename.c_str(), "a");
 209                             cnt = 0;
 210                         }
 211                         new_message.stream->printf("ok\r\n");
 212                         //printf("uploading file write ok\n");
 213                     }
 214                 }
 215             }
 216
 217         } else {
 218             //Request resend
 219             new_message.stream->printf("rs N%d\r\n", nextline);
 220         }
 221
 222     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 223         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 224         if(last_g != 0 && last_g != 1) {
 225             //if no last G1 or G0 ignore
 226             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 227             return;
 228         }
 229         char buf[6];
 230         snprintf(buf, sizeof(buf), "G%d ", last_g);
 231         possible_command.insert(0, buf);
 232         goto try_again;
 233
 234         // Ignore comments and blank lines
 235     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 236         new_message.stream->printf("ok\r\n");
 237     }
 238 }
 239