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 "libs/nuts_bolts.h"
  13 #include "modules/robot/Conveyor.h"
  14 #include "libs/SerialMessage.h"
  15 #include "libs/StreamOutput.h"
  16 #include "libs/StreamOutputPool.h"
  17 #include "libs/FileStream.h"
  18 #include "libs/AppendFileStream.h"
  19 #include "Config.h"
  20 #include "checksumm.h"
  21 #include "ConfigValue.h"
  22 #include "PublicDataRequest.h"
  23 #include "PublicData.h"
  24 #include "SimpleShell.h"
  25 #include "utils.h"
  26 #include "LPC17xx.h"
  27
  28 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  29 #define panel_display_message_checksum CHECKSUM("display_message")
  30 #define panel_checksum             CHECKSUM("panel")
  31
  32 // goes in Flash, list of Mxxx codes that are allowed when in Halted state
  33 static const int allowed_mcodes[]= {105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
  34 static bool is_allowed_mcode(int m) {
  35     for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
  36         if(allowed_mcodes[i] == m) return true;
  37     }
  38     return false;
  39 }
  40
  41 GcodeDispatch::GcodeDispatch()
  42 {
  43     uploading = false;
  44     currentline = -1;
  45     last_g= 255;
  46 }
  47
  48 // Called when the module has just been loaded
  49 void GcodeDispatch::on_module_loaded()
  50 {
  51     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  52 }
  53
  54 // When a command is received, if it is a Gcode, dispatch it as an object via an event
  55 void GcodeDispatch::on_console_line_received(void *line)
  56 {
  57     SerialMessage new_message = *static_cast<SerialMessage *>(line);
  58     string possible_command = new_message.message;
  59
  60     int ln = 0;
  61     int cs = 0;
  62
  63 try_again:
  64
  65     char first_char = possible_command[0];
  66     unsigned int n;
  67     if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
  68
  69         //Get linenumber
  70         if ( first_char == 'N' ) {
  71             Gcode full_line = Gcode(possible_command, new_message.stream, false);
  72             ln = (int) full_line.get_value('N');
  73             int chksum = (int) full_line.get_value('*');
  74
  75             //Catch message if it is M110: Set Current Line Number
  76             if ( full_line.has_m ) {
  77                 if ( full_line.m == 110 ) {
  78                     currentline = ln;
  79                     new_message.stream->printf("ok\r\n");
  80                     return;
  81                 }
  82             }
  83
  84             //Strip checksum value from possible_command
  85             size_t chkpos = possible_command.find_first_of("*");
  86             possible_command = possible_command.substr(0, chkpos);
  87             //Calculate checksum
  88             if ( chkpos != string::npos ) {
  89                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
  90                     cs = cs ^ *c;
  91                 cs &= 0xff;  // Defensive programming...
  92                 cs -= chksum;
  93             }
  94             //Strip line number value from possible_command
  95             size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
  96             possible_command = possible_command.substr(lnsize);
  97
  98         } else {
  99             //Assume checks succeeded
 100             cs = 0x00;
 101             ln = currentline + 1;
 102         }
 103
 104         //Remove comments
 105         size_t comment = possible_command.find_first_of(";(");
 106         if( comment != string::npos ) {
 107             possible_command = possible_command.substr(0, comment);
 108         }
 109
 110         //If checksum passes then process message, else request resend
 111         int nextline = currentline + 1;
 112         if( cs == 0x00 && ln == nextline ) {
 113             if( first_char == 'N' ) {
 114                 currentline = nextline;
 115             }
 116
 117             while(possible_command.size() > 0) {
 118                 // assumes G or M are always the first on the line
 119                 size_t nextcmd = possible_command.find_first_of("GM", 2);
 120                 string single_command;
 121                 if(nextcmd == string::npos) {
 122                     single_command = possible_command;
 123                     possible_command = "";
 124                 } else {
 125                     single_command = possible_command.substr(0, nextcmd);
 126                     possible_command = possible_command.substr(nextcmd);
 127                 }
 128
 129
 130                 if(!uploading) {
 131                     //Prepare gcode for dispatch
 132                     Gcode *gcode = new Gcode(single_command, new_message.stream);
 133
 134                     if(THEKERNEL->is_halted()) {
 135                         // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
 136                         if(gcode->has_m && gcode->m == 999) {
 137                             THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 138
 139                             // fall through and pass onto other modules
 140
 141                         }else if(!is_allowed_mcode(gcode->m)) {
 142                             // ignore everything, return error string to host
 143                             new_message.stream->printf("!!\r\n");
 144                             delete gcode;
 145                             continue;
 146                         }
 147                     }
 148
 149                     if(gcode->has_g) {
 150                         last_g= gcode->g;
 151                     }
 152
 153                     if(gcode->has_m) {
 154                         switch (gcode->m) {
 155                             case 28: // start upload command
 156                                 delete gcode;
 157
 158                                 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
 159                                 // open file
 160                                 upload_fd = fopen(this->upload_filename.c_str(), "w");
 161                                 if(upload_fd != NULL) {
 162                                     this->uploading = true;
 163                                     new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
 164                                 } else {
 165                                     new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
 166                                 }
 167                                 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
 168                                 continue;
 169
 170                             case 112: // emergency stop, do the best we can with this
 171                                 // TODO this really needs to be handled out-of-band
 172                                 // disables heaters and motors, ignores further incoming Gcode and clears block queue
 173                                 THEKERNEL->call_event(ON_HALT, nullptr);
 174                                 THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
 175                                 delete gcode;
 176                                 return;
 177
 178                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
 179                             {    // concatenate the command again and send to panel if enabled
 180                                 string str= single_command.substr(4) + possible_command;
 181                                 PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
 182                                 delete gcode;
 183                                 new_message.stream->printf("ok\r\n");
 184                                 return;
 185                             }
 186
 187                             case 1000: // M1000 is a special comanad that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
 188                             {
 189                                 // reconstruct entire command line again
 190                                 string str= single_command.substr(5) + possible_command;
 191                                 while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
 192
 193                                 delete gcode;
 194
 195                                 if(str.empty()) {
 196                                     SimpleShell::parse_command("help", "", new_message.stream);
 197
 198                                 }else{
 199                                     string args= lc(str);
 200                                     string cmd = shift_parameter(args);
 201                                     // find command and execute it
 202                                     if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
 203                                         new_message.stream->printf("Command not found: %s\n", cmd.c_str());
 204                                     }
 205                                 }
 206
 207                                 new_message.stream->printf("ok\r\n");
 208                                 return;
 209                             }
 210
 211                             case 500: // M500 save volatile settings to config-override
 212                                 THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
 213                                 //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
 214                                 __disable_irq();
 215                                 {
 216                                     FileStream fs(THEKERNEL->config_override_filename());
 217                                     fs.printf("; DO NOT EDIT THIS FILE\n");
 218                                     // this also will truncate the existing file instead of deleting it
 219                                 }
 220                                 // replace stream with one that writes to config-override file
 221                                 gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
 222                                 // dispatch the M500 here so we can free up the stream when done
 223                                 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 224                                 delete gcode->stream;
 225                                 delete gcode;
 226                                 __enable_irq();
 227                                 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
 228                                 continue;
 229
 230                             case 502: // M502 deletes config-override so everything defaults to what is in config
 231                                 remove(THEKERNEL->config_override_filename());
 232                                 delete gcode;
 233                                 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
 234                                 continue;
 235
 236                             case 503: { // M503 display live settings and indicates if there is an override file
 237                                 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
 238                                 if(fd != NULL) {
 239                                     fclose(fd);
 240                                     new_message.stream->printf("; config override present: %s\n",  THEKERNEL->config_override_filename());
 241
 242                                 } else {
 243                                     new_message.stream->printf("; No config override\n");
 244                                 }
 245                                 gcode->add_nl= true;
 246                                 break; // fall through to process by modules
 247                             }
 248                         }
 249                     }
 250
 251                     //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
 252                     //Dispatch message!
 253                     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 254                     if(gcode->add_nl)
 255                         new_message.stream->printf("\r\n");
 256
 257                     if(!gcode->txt_after_ok.empty()) {
 258                         new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
 259                         gcode->txt_after_ok.clear();
 260                     } else
 261                         new_message.stream->printf("ok\r\n");
 262
 263                     delete gcode;
 264
 265                 } else {
 266                     // we are uploading a file so save it
 267                     if(single_command.substr(0, 3) == "M29") {
 268                         // done uploading, close file
 269                         fclose(upload_fd);
 270                         upload_fd = NULL;
 271                         uploading = false;
 272                         upload_filename.clear();
 273                         new_message.stream->printf("Done saving file.\r\nok\r\n");
 274                         continue;
 275                     }
 276
 277                     if(upload_fd == NULL) {
 278                         // error detected writing to file so discard everything until it stops
 279                         new_message.stream->printf("ok\r\n");
 280                         continue;
 281                     }
 282
 283                     single_command.append("\n");
 284                     static int cnt = 0;
 285                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
 286                         // error writing to file
 287                         new_message.stream->printf("Error:error writing to file.\r\n");
 288                         fclose(upload_fd);
 289                         upload_fd = NULL;
 290                         continue;
 291
 292                     } else {
 293                         cnt += single_command.size();
 294                         if (cnt > 400) {
 295                             // HACK ALERT to get around fwrite corruption close and re open for append
 296                             fclose(upload_fd);
 297                             upload_fd = fopen(upload_filename.c_str(), "a");
 298                             cnt = 0;
 299                         }
 300                         new_message.stream->printf("ok\r\n");
 301                         //printf("uploading file write ok\n");
 302                     }
 303                 }
 304             }
 305
 306         } else {
 307             //Request resend
 308             new_message.stream->printf("rs N%d\r\n", nextline);
 309         }
 310
 311     } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
 312         // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
 313         if(last_g != 0 && last_g != 1) {
 314             //if no last G1 or G0 ignore
 315             //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
 316             return;
 317         }
 318         char buf[6];
 319         snprintf(buf, sizeof(buf), "G%d ", last_g);
 320         possible_command.insert(0, buf);
 321         goto try_again;
 322
 323         // Ignore comments and blank lines
 324     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
 325         new_message.stream->printf("ok\r\n");
 326     }
 327 }
 328