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
  29 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  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             possible_command = possible_command.substr(0, chkpos);
 104             //Calculate checksum
 105             if ( chkpos != string::npos ) {
 106                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
 107                     cs = cs ^ *c;
 108                 cs &= 0xff;  // Defensive programming...
 109                 cs -= chksum;
 110             }
 111             //Strip line number value from possible_command
 112             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
 113             possible_command = possible_command.substr(lnsize);
 114
 115         } else {
 116             //Assume checks succeeded
 117             cs = 0x00;
 118             ln = currentline + 1;
 119         }
 120
 121         //Remove comments
 122         size_t comment = possible_command.find_first_of(";(");
 123         if( comment != string::npos ) {
 124             possible_command = possible_command.substr(0, comment);
 125         }
 126
 127         //If checksum passes then process message, else request resend
 128         int nextline = currentline + 1;
 129         if( cs == 0x00 && ln == nextline ) {
 130             if( first_char == 'N' ) {
 131                 currentline = nextline;
 132             }
 133
 134             while(possible_command.size() > 0) {
 135                 // assumes G or M are always the first on the line
 136                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 137                 string single_command;
 138                 if(nextcmd == string::npos) {
 139                     single_command = possible_command;
 140                     possible_command = "";
 141                 } else {
 142                     single_command = possible_command.substr(0, nextcmd);
 143                     possible_command = possible_command.substr(nextcmd);
 144                 }
 145
 146
 147                 if(!uploading || upload_stream != new_message.stream) {
 148                     // Prepare gcode for dispatch
 149                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 150
 151                     if(THEKERNEL->is_halted()) {
 152                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 153                         if(gcode->has_m && gcode->m == 999) {
 154                             if(THEKERNEL->is_halted()) {
 155                                 THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 156                                 new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
 157                             }
 158                             new_message.stream->printf("ok\n");
 159                             delete gcode;
 160                             continue;
 161
 162                         }else if(!is_allowed_mcode(gcode->m)) {
 163                             // ignore everything, return error string to host
 164                             if(THEKERNEL->is_grbl_mode()) {
 165                                 new_message.stream->printf("error:Alarm lock\n");
 166
 167                             }else{
 168                                 new_message.stream->printf("!!\r\n");
 169                             }
 170                             delete gcode;
 171                             continue;
 172                         }
 173                     }
 174
 175                     if(gcode->has_g) {
 176                         if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
 177                             // this is ugly to implement as there may or may not be a G0/G1 on the same line
 178                             // valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
 179                             if(possible_command.empty()) {
 180                                 // use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
 181                                 // TODO it is really an error if the last is not G0 thru G3
 182                                 if(modal_group_1 > 3) {
 183                                     delete gcode;
 184                                     new_message.stream->printf("ok - Invalid G53\r\n");
 185                                     return;
 186                                 }
 187                                 // use last G0 or G1
 188                                 gcode->g= modal_group_1;
 189
 190                             }else{
 191                                 delete gcode;
 192                                 // extract next G0/G1 from the rest of the line, ignore if it is not one of these
 193                                 gcode = new Gcode(possible_command, new_message.stream);
 194                                 possible_command= "";
 195                                 if(!gcode->has_g || gcode->g > 1) {
 196                                     // not G0 or G1 so ignore it as it is invalid
 197                                     delete gcode;
 198                                     new_message.stream->printf("ok - Invalid G53\r\n");
 199                                     return;
 200                                 }
 201                             }
 202                             // makes it handle the parameters as a machine position
 203                             THEROBOT->next_command_is_MCS= true;
 204
 205                         }
 206
 207                         // remember last modal group 1 code
 208                         if(gcode->g < 4) {
 209                             modal_group_1= gcode->g;
 210                         }
 211                     }
 212
 213                     if(gcode->has_m) {
 214                         switch (gcode->m) {
 215                             case 28: // start upload command
 216                                 delete gcode;
 217
 218                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 219                                 // open file
 220                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 221                                 if(upload_fd != NULL) {
 222                                     this->uploading = true;
 223                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 224                                 } else {
 225                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 226                                 }
 227
 228                                 // only save stuff from this stream
 229                                 upload_stream= new_message.stream;
 230
 231                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 232                                 continue;
 233
 234                             case 30: // end of program
 235                                 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
 236                                 // fall through to M2
 237                             case 2:
 238                                 {
 239                                     modal_group_1= 1; // set to G1
 240                                     // issue M5 and M9 in case spindle and coolant are being used
 241                                     Gcode gc1("M5", &StreamOutput::NullStream);
 242                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
 243                                     Gcode gc2("M9", &StreamOutput::NullStream);
 244                                     THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
 245                                 }
 246                                 break;
 247
 248                             case 112: // emergency stop, do the best we can with this
 249                                 // this is also handled out-of-band (it is now with ^X in the serial driver)
 250                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 251                                 THEKERNEL->call_event(ON_HALT, nullptr);
 252                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
 253                                 delete gcode;
 254                                 return;
 255
 256                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 257                             {    // concatenate the command again and send to panel if enabled
 258                                 string str= single_command.substr(4) + possible_command;
 259                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 260                                 delete gcode;
 261                                 new_message.stream->printf("ok\r\n");
 262                                 return;
 263                             }
 264
 265                             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)
 266                             {
 267                                 // reconstruct entire command line again
 268                                 string str= single_command.substr(5) + possible_command;
 269                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 270
 271                                 delete gcode;
 272
 273                                 if(str.empty()) {
 274                                     SimpleShell::parse_command("help", "", new_message.stream);
 275
 276                                 }else{
 277                                     string args= lc(str);
 278                                     string cmd = shift_parameter(args);
 279                                     // find command and execute it
 280                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 281                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 282                                     }
 283                                 }
 284
 285                                 new_message.stream->printf("ok\r\n");
 286                                 return;
 287                             }
 288
 289                             case 500: // M500 save volatile settings to config-override
 290                                 THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
 291                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 292                                 __disable_irq();
 293                                 {
 294                                     FileStream fs(THEKERNEL->config_override_filename());
 295                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 296                                     // this also will truncate the existing file instead of deleting it
 297                                 }
 298                                 // replace stream with one that writes to config-override file
 299                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 300                                 // dispatch the M500 here so we can free up the stream when done
 301                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 302                                 delete gcode->stream;
 303                                 delete gcode;
 304                                 __enable_irq();
 305                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 306                                 continue;
 307
 308                             case 501: // load config override
 309                             case 504: // save to specific config override file
 310                                 {
 311                                     string arg= get_arguments(single_command + possible_command); // rest of line is filename
 312                                     if(arg.empty()) arg= "/sd/config-override";
 313                                     else arg= "/sd/config-override." + arg;
 314                                     //new_message.stream->printf("args: <%s>\n", arg.c_str());
 315                                     SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
 316                                 }
 317                                 delete gcode;
 318                                 new_message.stream->printf("ok\r\n");
 319                                 return;
 320
 321                             case 502: // M502 deletes config-override so everything defaults to what is in config
 322                                 remove(THEKERNEL->config_override_filename());
 323                                 delete gcode;
 324                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 325                                 continue;
 326
 327                             case 503: { // M503 display live settings and indicates if there is an override file
 328                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 329                                 if(fd != NULL) {
 330                                     fclose(fd);
 331                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 332
 333                                 } else {
 334                                     new_message.stream->printf("; No config override\n");
 335                                 }
 336                                 gcode->add_nl= true;
 337                                 break; // fall through to process by modules
 338                             }
 339
 340                         }
 341                     }
 342
 343                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 344                     //Dispatch message!
 345                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 346
 347                     if (gcode->is_error) {
 348                         // report error
 349                         if(THEKERNEL->is_grbl_mode()) {
 350                             new_message.stream->printf("error: ");
 351                         }else{
 352                             new_message.stream->printf("Error: ");
 353                         }
 354
 355                         if(!gcode->txt_after_ok.empty()) {
 356                             new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
 357                             gcode->txt_after_ok.clear();
 358
 359                         }else{
 360                             new_message.stream->printf("unknown\r\n");
 361                         }
 362
 363                         // we cannot continue safely after an error so we enter HALT state
 364                         new_message.stream->printf("Entering Alarm/Halt state\n");
 365                         THEKERNEL->call_event(ON_HALT, nullptr);
 366
 367                     }else{
 368
 369                         if(gcode->add_nl)
 370                             new_message.stream->printf("\r\n");
 371
 372                         if(!gcode->txt_after_ok.empty()) {
 373                             new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 374                             gcode->txt_after_ok.clear();
 375
 376                         } else {
 377                             if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
 378                                 // only send ok once per line if this is a multi g code line send ok on the last one
 379                                 if(possible_command.empty())
 380                                     new_message.stream->printf("ok\r\n");
 381                             } else {
 382                                 // maybe should do the above for all hosts?
 383                                 new_message.stream->printf("ok\r\n");
 384                             }
 385                         }
 386                     }
 387
 388                     delete gcode;
 389
 390                 } else {
 391                     // we are uploading and it is the upload stream so so save it
 392                     if(single_command.substr(0, 3) == "M29") {
 393                         // done uploading, close file
 394                         fclose(upload_fd);
 395                         upload_fd = NULL;
 396                         uploading = false;
 397                         upload_filename.clear();
 398                         upload_stream= nullptr;
 399                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 400                         continue;
 401                     }
 402
 403                     if(upload_fd == NULL) {
 404                         // error detected writing to file so discard everything until it stops
 405                         new_message.stream->printf("ok\r\n");
 406                         continue;
 407                     }
 408
 409                     single_command.append("\n");
 410                     static int cnt = 0;
 411                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 412                         // error writing to file
 413                         new_message.stream->printf("Error:error writing to file.\r\n");
 414                         fclose(upload_fd);
 415                         upload_fd = NULL;
 416                         continue;
 417
 418                     } else {
 419                         cnt += single_command.size();
 420                         if (cnt > 400) {
 421                             // HACK ALERT to get around fwrite corruption close and re open for append
 422                             fclose(upload_fd);
 423                             upload_fd = fopen(upload_filename.c_str(), "a");
 424                             cnt = 0;
 425                         }
 426                         new_message.stream->printf("ok\r\n");
 427                         //printf("uploading file write ok\n");
 428                     }
 429                 }
 430             }
 431
 432         } else {
 433             //Request resend
 434             new_message.stream->printf("rs N%d\r\n", nextline);
 435         }
 436
 437     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 438         // handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
 439         char buf[6];
 440         snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
 441         possible_command.insert(0, buf);
 442         goto try_again;
 443
 444         // Ignore comments and blank lines
 445     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 446         new_message.stream->printf("ok\r\n");
 447     }
 448 }
 449