You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
-#include <string>
-using std::string;
-#include "libs/Module.h"
+#include "GcodeDispatch.h"
+
#include "libs/Kernel.h"
#include "utils/Gcode.h"
#include "libs/nuts_bolts.h"
-#include "GcodeDispatch.h"
#include "modules/robot/Conveyor.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
+#include "libs/StreamOutputPool.h"
#include "libs/FileStream.h"
+#include "libs/AppendFileStream.h"
#include "Config.h"
#include "checksumm.h"
#include "ConfigValue.h"
+#include "PublicDataRequest.h"
+#include "PublicData.h"
+#include "SimpleShell.h"
+#include "utils.h"
+#include "LPC17xx.h"
+
+#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
+#define panel_display_message_checksum CHECKSUM("display_message")
+#define panel_checksum CHECKSUM("panel")
+
+// goes in Flash, list of Mxxx codes that are allowed when in Halted state
+static const int allowed_mcodes[]= {105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
+static bool is_allowed_mcode(int m) {
+ for (size_t i = 0; i < sizeof(allowed_mcodes)/sizeof(int); ++i) {
+ if(allowed_mcodes[i] == m) return true;
+ }
+ return false;
+}
-GcodeDispatch::GcodeDispatch() {}
+GcodeDispatch::GcodeDispatch()
+{
+ uploading = false;
+ currentline = -1;
+ last_g= 255;
+}
// Called when the module has just been loaded
void GcodeDispatch::on_module_loaded()
{
- return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
- currentline = -1;
- uploading = false;
- last_g= 255;
}
// When a command is received, if it is a Gcode, dispatch it as an object via an event
//Get linenumber
if ( first_char == 'N' ) {
- Gcode full_line = Gcode(possible_command, new_message.stream);
+ Gcode full_line = Gcode(possible_command, new_message.stream, false);
ln = (int) full_line.get_value('N');
int chksum = (int) full_line.get_value('*');
}
while(possible_command.size() > 0) {
- size_t nextcmd = possible_command.find_first_of("GM", possible_command.find_first_of("GMT") + 1);
+ // assumes G or M are always the first on the line
+ size_t nextcmd = possible_command.find_first_of("GM", 2);
string single_command;
if(nextcmd == string::npos) {
single_command = possible_command;
possible_command = possible_command.substr(nextcmd);
}
+
if(!uploading) {
//Prepare gcode for dispatch
Gcode *gcode = new Gcode(single_command, new_message.stream);
+ if(THEKERNEL->is_halted()) {
+ // we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
+ if(gcode->has_m && gcode->m == 999) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+
+ // fall through and pass onto other modules
+
+ }else if(!is_allowed_mcode(gcode->m)) {
+ // ignore everything, return error string to host
+ new_message.stream->printf("!!\r\n");
+ delete gcode;
+ continue;
+ }
+ }
+
if(gcode->has_g) {
last_g= gcode->g;
}
+
if(gcode->has_m) {
switch (gcode->m) {
case 28: // start upload command
upload_fd = fopen(this->upload_filename.c_str(), "w");
if(upload_fd != NULL) {
this->uploading = true;
- new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
+ new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
} else {
- new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
+ new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
}
//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
continue;
+ case 112: // emergency stop, do the best we can with this
+ // TODO this really needs to be handled out-of-band
+ // disables heaters and motors, ignores further incoming Gcode and clears block queue
+ THEKERNEL->call_event(ON_HALT, nullptr);
+ THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to continue\r\n");
+ delete gcode;
+ return;
+
+ case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
+ { // concatenate the command again and send to panel if enabled
+ string str= single_command.substr(4) + possible_command;
+ PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
+ delete gcode;
+ new_message.stream->printf("ok\r\n");
+ return;
+ }
+
+ 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)
+ {
+ // reconstruct entire command line again
+ string str= single_command.substr(5) + possible_command;
+ while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
+
+ delete gcode;
+
+ if(str.empty()) {
+ SimpleShell::parse_command("help", "", new_message.stream);
+
+ }else{
+ string args= lc(str);
+ string cmd = shift_parameter(args);
+ // find command and execute it
+ if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
+ new_message.stream->printf("Command not found: %s\n", cmd.c_str());
+ }
+ }
+
+ new_message.stream->printf("ok\r\n");
+ return;
+ }
+
case 500: // M500 save volatile settings to config-override
+ THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
+ //remove(THEKERNEL->config_override_filename()); // seems to cause a hang every now and then
+ __disable_irq();
+ {
+ FileStream fs(THEKERNEL->config_override_filename());
+ fs.printf("; DO NOT EDIT THIS FILE\n");
+ // this also will truncate the existing file instead of deleting it
+ }
// replace stream with one that writes to config-override file
- gcode->stream = new FileStream(THEKERNEL->config_override_filename());
+ gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
// dispatch the M500 here so we can free up the stream when done
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
delete gcode->stream;
delete gcode;
+ __enable_irq();
new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 502: // M502 deletes config-override so everything defaults to what is in config
remove(THEKERNEL->config_override_filename());
- new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
delete gcode;
+ new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 503: { // M503 display live settings and indicates if there is an override file
} else {
new_message.stream->printf("; No config override\n");
}
+ gcode->add_nl= true;
break; // fall through to process by modules
}
}
if(gcode->add_nl)
new_message.stream->printf("\r\n");
- if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
- new_message.stream->printf("ok (command unclaimed)\r\n");
- else if(!gcode->txt_after_ok.empty()) {
+ if(!gcode->txt_after_ok.empty()) {
new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
gcode->txt_after_ok.clear();
} else
upload_fd = NULL;
uploading = false;
upload_filename.clear();
- new_message.stream->printf("Done saving file.\r\n");
+ new_message.stream->printf("Done saving file.\r\nok\r\n");
continue;
}
HCoop / clinton / Smoothieware.git / blobdiff