-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-
-#include "libs/Kernel.h"
-#include "Player.h"
-#include "libs/nuts_bolts.h"
-#include "libs/utils.h"
-#include "libs/SerialMessage.h"
-#include "libs/StreamOutput.h"
-#include "modules/robot/Conveyor.h"
-#include "DirHandle.h"
-
-
-void Player::on_module_loaded(){
- this->playing_file = false;
- this->booted = false;
- this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
- this->register_for_event(ON_MAIN_LOOP);
- this->register_for_event(ON_SECOND_TICK);
-
- this->on_boot_file_name = this->kernel->config->value(on_boot_gcode_checksum)->by_default("on_boot.gcode")->as_string();
- this->elapsed_secs= 0;
-}
-
-void Player::on_second_tick(void*) {
- this->elapsed_secs++;
-}
-
-// When a new line is received, check if it is a command, and if it is, act upon it
-void Player::on_console_line_received( void* argument ){
- SerialMessage new_message = *static_cast<SerialMessage*>(argument);
- string possible_command = new_message.message;
-
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
-
- // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
- unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
-
- // Act depending on command
- if (check_sum == play_command_checksum)
- this->play_command( get_arguments(possible_command), new_message.stream );
- else if (check_sum == progress_command_checksum)
- this->progress_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == abort_command_checksum)
- this->abort_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == cd_command_checksum)
- this->cd_command( get_arguments(possible_command), new_message.stream );
-}
-
-// Play a gcode file by considering each line as if it was received on the serial console
-void Player::play_command( string parameters, StreamOutput* stream ){
-
- // Get filename
- string filename = this->absolute_from_relative(shift_parameter( parameters ));
- stream->printf("Playing %s\r\n", filename.c_str());
- string options = shift_parameter( parameters );
-
- this->current_file_handler = fopen( filename.c_str(), "r");
- if(this->current_file_handler == NULL){
- stream->printf("File not found: %s\r\n", filename.c_str());
- return;
- }
-
- this->playing_file = true;
-
- // Do not output to any stream if we were passed the -q ( quiet ) option
- if( options.find_first_of("Qq") == string::npos ){
- this->current_stream = stream;
- }else{
- this->current_stream = &(StreamOutput::NullStream);
- }
-
- // get size of file
- int result = fseek(this->current_file_handler, 0, SEEK_END);
- if (0 != result){
- stream->printf("WARNING - Could not get file size\r\n");
- file_size= -1;
- }else{
- file_size= ftell(this->current_file_handler);
- fseek(this->current_file_handler, 0, SEEK_SET);
- stream->printf(" File size %ld\r\n", file_size);
- }
- this->played_cnt= 0;
- this->elapsed_secs= 0;
-}
-
-void Player::progress_command( string parameters, StreamOutput* stream ){
- if(!playing_file) {
- stream->printf("Not currently playing\r\n");
- return;
- }
-
- if(file_size > 0) {
- int est= -1;
- if(this->elapsed_secs > 0) {
- int bytespersec= played_cnt / this->elapsed_secs;
- if(bytespersec > 0)
- est= (file_size - played_cnt) / bytespersec;
- }
-
- int pcnt= (file_size - (file_size - played_cnt)) * 100 / file_size;
- stream->printf("%d %% complete, elapsed time: %d s, est time: %d s\r\n", pcnt, this->elapsed_secs, est);
-
- }else{
- stream->printf("File size is unknown\r\n");
- }
-}
-
-void Player::abort_command( string parameters, StreamOutput* stream ){
- if(!playing_file) {
- stream->printf("Not currently playing\r\n");
- return;
- }
- playing_file = false;
- played_cnt= 0;
- file_size= 0;
- fclose(current_file_handler);
- stream->printf("Aborted playing file\r\n");
-}
-
-// Convert a path indication ( absolute or relative ) into a path ( absolute )
-string Player::absolute_from_relative( string path ){
- if( path[0] == '/' ){ return path; }
- if( path[0] == '.' ){ return this->current_path; }
- return this->current_path + path;
-}
-
-// Change current absolute path to provided path
-void Player::cd_command( string parameters, StreamOutput* stream ){
- string folder = this->absolute_from_relative( parameters );
- if( folder[folder.length()-1] != '/' ){ folder += "/"; }
- DIR *d;
- d = opendir(folder.c_str());
- if(d == NULL) {
-// stream->printf("Could not open directory %s \r\n", folder.c_str() );
- }else{
- this->current_path = folder;
- closedir(d);
- }
-}
-
-void Player::on_main_loop(void* argument){
- if( !this->booted && this->on_boot_enable ){
- this->play_command(this->on_boot_file_name, this->kernel->serial);
- this->booted = true;
- }
-
- if( this->playing_file ){
- string buffer;
- int c;
- buffer.reserve(20);
- // Print each line of the file
- while ((c = fgetc(this->current_file_handler)) != EOF){
- if (c == '\n'){
- this->current_stream->printf("%s\n", buffer.c_str());
- struct SerialMessage message;
- message.message = buffer;
- message.stream = this->current_stream;
- // wait for the queue to have enough room that a serial message could still be received before sending
- this->kernel->conveyor->wait_for_queue(2);
- this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
- played_cnt += buffer.size();
- buffer.clear();
- return;
- }else{
- buffer += c;
- }
- };
- this->playing_file = false;
- played_cnt= 0;
- file_size= 0;
- fclose(this->current_file_handler);
- }
-}
-
-/*
-void Player::on_main_loop(void* argument){
- if( !this->on_booted ){
- this->play_command(this->on_boot_file_name, new StreamOutput());
- this->on_booted = true;
- }
- if( this->playing_file ){
- string buffer;
- int c;
- // Print each line of the file
- while ((c = fgetc(this->current_file_handler)) != EOF){
- if (c == '\n'){
- this->current_stream->printf("%s\n", buffer.c_str());
- struct SerialMessage message;
- message.message = buffer;
- message.stream = this->current_stream;
- // wait for the queue to have enough room that a serial message could still be received before sending
- this->kernel->conveyor->wait_for_queue(2);
- this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
- buffer.clear();
- return;
- }else{
- buffer += c;
- }
- };
-
- fclose(this->current_file_handler);
- this->playing_file = false;
- }
-}
-*/
-
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Player.h"
+
+#include "libs/Kernel.h"
+#include "libs/nuts_bolts.h"
+#include "libs/utils.h"
+#include "SerialConsole.h"
+#include "libs/SerialMessage.h"
+#include "libs/StreamOutputPool.h"
+#include "libs/StreamOutput.h"
+#include "Gcode.h"
+#include "checksumm.h"
+#include "Pauser.h"
+#include "Config.h"
+#include "ConfigValue.h"
+
+#include "modules/robot/Conveyor.h"
+#include "DirHandle.h"
+#include "PublicDataRequest.h"
+#include "PlayerPublicAccess.h"
+
+#define play_command_checksum CHECKSUM("play")
+#define progress_command_checksum CHECKSUM("progress")
+#define abort_command_checksum CHECKSUM("abort")
+#define on_boot_gcode_checksum CHECKSUM("on_boot_gcode")
+#define on_boot_gcode_enable_checksum CHECKSUM("on_boot_gcode_enable")
+
+void Player::on_module_loaded()
+{
+ this->playing_file = false;
+ this->current_file_handler = NULL;
+ this->booted = false;
+ this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
+ this->register_for_event(ON_MAIN_LOOP);
+ this->register_for_event(ON_SECOND_TICK);
+ this->register_for_event(ON_GET_PUBLIC_DATA);
+ this->register_for_event(ON_SET_PUBLIC_DATA);
+ this->register_for_event(ON_GCODE_RECEIVED);
+
+ this->on_boot_gcode = THEKERNEL->config->value(on_boot_gcode_checksum)->by_default("/sd/on_boot.gcode")->as_string();
+ this->on_boot_gcode_enable = THEKERNEL->config->value(on_boot_gcode_enable_checksum)->by_default(true)->as_bool();
+ this->elapsed_secs = 0;
+ this->reply_stream = NULL;
+}
+
+void Player::on_second_tick(void *)
+{
+ if (!THEKERNEL->pauser->paused()) this->elapsed_secs++;
+}
+
+void Player::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ string args = get_arguments(gcode->command);
+ if (gcode->has_m) {
+ if (gcode->m == 21) { // Dummy code; makes Octoprint happy -- supposed to initialize SD card
+ gcode->mark_as_taken();
+ gcode->stream->printf("SD card ok\r\n");
+
+ } else if (gcode->m == 23) { // select file
+ gcode->mark_as_taken();
+ // Get filename
+ this->filename = "/sd/" + shift_parameter( args );
+ this->current_stream = &(StreamOutput::NullStream);
+
+ if(this->current_file_handler != NULL) {
+ this->playing_file = false;
+ fclose(this->current_file_handler);
+ }
+ this->current_file_handler = fopen( this->filename.c_str(), "r");
+
+ if(this->current_file_handler == NULL) {
+ gcode->stream->printf("file.open failed: %s\r\n", this->filename.c_str());
+ return;
+
+ } else {
+ // get size of file
+ int result = fseek(this->current_file_handler, 0, SEEK_END);
+ if (0 != result) {
+ this->file_size = 0;
+ } else {
+ this->file_size = ftell(this->current_file_handler);
+ fseek(this->current_file_handler, 0, SEEK_SET);
+ }
+ gcode->stream->printf("File opened:%s Size:%ld\r\n", this->filename.c_str(), this->file_size);
+ gcode->stream->printf("File selected\r\n");
+ }
+
+
+ this->played_cnt = 0;
+ this->elapsed_secs = 0;
+
+ } else if (gcode->m == 24) { // start print
+ gcode->mark_as_taken();
+ if (this->current_file_handler != NULL) {
+ this->playing_file = true;
+ // this would be a problem if the stream goes away before the file has finished,
+ // so we attach it to the kernel stream, however network connections from pronterface
+ // do not connect to the kernel streams so won't see this FIXME
+ this->reply_stream = THEKERNEL->streams;
+ }
+
+ } else if (gcode->m == 25) { // pause print
+ gcode->mark_as_taken();
+ this->playing_file = false;
+
+ } else if (gcode->m == 26) { // Reset print. Slightly different than M26 in Marlin and the rest
+ gcode->mark_as_taken();
+ if(this->current_file_handler != NULL) {
+ string currentfn = this->filename.c_str();
+ unsigned long old_size = this->file_size;
+
+ // abort the print
+ abort_command("", gcode->stream);
+
+ if(!currentfn.empty()) {
+ // reload the last file opened
+ this->current_file_handler = fopen(currentfn.c_str() , "r");
+
+ if(this->current_file_handler == NULL) {
+ gcode->stream->printf("file.open failed: %s\r\n", currentfn.c_str());
+ } else {
+ this->filename = currentfn;
+ this->file_size = old_size;
+ this->current_stream = &(StreamOutput::NullStream);
+ }
+ }
+
+ } else {
+ gcode->stream->printf("No file loaded\r\n");
+ }
+
+ } else if (gcode->m == 27) { // report print progress, in format used by Marlin
+ gcode->mark_as_taken();
+ progress_command("-b", gcode->stream);
+
+ } else if (gcode->m == 32) { // select file and start print
+ gcode->mark_as_taken();
+ // Get filename
+ this->filename = "/sd/" + shift_parameter( args );
+ this->current_stream = &(StreamOutput::NullStream);
+
+ if(this->current_file_handler != NULL) {
+ this->playing_file = false;
+ fclose(this->current_file_handler);
+ }
+
+ this->current_file_handler = fopen( this->filename.c_str(), "r");
+ if(this->current_file_handler == NULL) {
+ gcode->stream->printf("file.open failed: %s\r\n", this->filename.c_str());
+ } else {
+ this->playing_file = true;
+ }
+ }
+ }
+}
+
+
+// When a new line is received, check if it is a command, and if it is, act upon it
+void Player::on_console_line_received( void *argument )
+{
+ SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+
+ // ignore comments
+ if(new_message.message[0] == ';') return;
+
+ string possible_command = new_message.message;
+
+ //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+
+ // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
+ unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
+
+ // Act depending on command
+ if (check_sum == play_command_checksum)
+ this->play_command( get_arguments(possible_command), new_message.stream );
+ else if (check_sum == progress_command_checksum)
+ this->progress_command(get_arguments(possible_command), new_message.stream );
+ else if (check_sum == abort_command_checksum)
+ this->abort_command(get_arguments(possible_command), new_message.stream );
+}
+
+// Play a gcode file by considering each line as if it was received on the serial console
+void Player::play_command( string parameters, StreamOutput *stream )
+{
+
+ // Get filename
+ this->filename = absolute_from_relative(shift_parameter( parameters ));
+ string options = shift_parameter( parameters );
+
+ if(this->playing_file) {
+ stream->printf("Currently printing, abort print first\r\n");
+ return;
+ }
+
+ if(this->current_file_handler != NULL) { // must have been a paused print
+ fclose(this->current_file_handler);
+ }
+
+ this->current_file_handler = fopen( this->filename.c_str(), "r");
+ if(this->current_file_handler == NULL) {
+ stream->printf("File not found: %s\r\n", this->filename.c_str());
+ return;
+ }
+
+ stream->printf("Playing %s\r\n", this->filename.c_str());
+
+ this->playing_file = true;
+
+ // Output to the current stream if we were passed the -v ( verbose ) option
+ if( options.find_first_of("Vv") == string::npos ) {
+ this->current_stream = &(StreamOutput::NullStream);
+ } else {
+ // we send to the kernels stream as it cannot go away
+ this->current_stream = THEKERNEL->streams;
+ }
+
+ // get size of file
+ int result = fseek(this->current_file_handler, 0, SEEK_END);
+ if (0 != result) {
+ stream->printf("WARNING - Could not get file size\r\n");
+ file_size = 0;
+ } else {
+ file_size = ftell(this->current_file_handler);
+ fseek(this->current_file_handler, 0, SEEK_SET);
+ stream->printf(" File size %ld\r\n", file_size);
+ }
+ this->played_cnt = 0;
+ this->elapsed_secs = 0;
+}
+
+void Player::progress_command( string parameters, StreamOutput *stream )
+{
+
+ // get options
+ string options = shift_parameter( parameters );
+ bool sdprinting= options.find_first_of("Bb") != string::npos;
+
+ if(!playing_file && current_file_handler != NULL) {
+ if(sdprinting)
+ stream->printf("SD printing byte %lu/%lu\r\n", played_cnt, file_size);
+ else
+ stream->printf("SD print is paused at %lu/%lu\r\n", played_cnt, file_size);
+ return;
+
+ } else if(!playing_file) {
+ stream->printf("Not currently playing\r\n");
+ return;
+ }
+
+ if(file_size > 0) {
+ unsigned long est = 0;
+ if(this->elapsed_secs > 10) {
+ unsigned long bytespersec = played_cnt / this->elapsed_secs;
+ if(bytespersec > 0)
+ est = (file_size - played_cnt) / bytespersec;
+ }
+
+ unsigned int pcnt = (file_size - (file_size - played_cnt)) * 100 / file_size;
+ // If -b or -B is passed, report in the format used by Marlin and the others.
+ if (!sdprinting) {
+ stream->printf("%u %% complete, elapsed time: %lu s", pcnt, this->elapsed_secs);
+ if(est > 0) {
+ stream->printf(", est time: %lu s", est);
+ }
+ stream->printf("\r\n");
+ } else {
+ stream->printf("SD printing byte %lu/%lu\r\n", played_cnt, file_size);
+ }
+
+ } else {
+ stream->printf("File size is unknown\r\n");
+ }
+}
+
+void Player::abort_command( string parameters, StreamOutput *stream )
+{
+ if(!playing_file && current_file_handler == NULL) {
+ stream->printf("Not currently playing\r\n");
+ return;
+ }
+ playing_file = false;
+ played_cnt = 0;
+ file_size = 0;
+ this->filename = "";
+ this->current_stream = NULL;
+ fclose(current_file_handler);
+ current_file_handler = NULL;
+ stream->printf("Aborted playing or paused file\r\n");
+}
+
+void Player::on_main_loop(void *argument)
+{
+ if( !this->booted ) {
+ this->booted = true;
+ if( this->on_boot_gcode_enable ) {
+ this->play_command(this->on_boot_gcode, THEKERNEL->serial);
+ } else {
+ //THEKERNEL->serial->printf("On boot gcode disabled! skipping...\n");
+ }
+ }
+
+ if( this->playing_file ) {
+ char buf[130]; // lines upto 128 characters are allowed, anything longer is discarded
+ bool discard = false;
+
+ while(fgets(buf, sizeof(buf), this->current_file_handler) != NULL) {
+ int len = strlen(buf);
+ if(len == 0) continue; // empty line? should not be possible
+ if(buf[len - 1] == '\n') {
+ if(discard) { // we are discarding a long line
+ discard = false;
+ continue;
+ }
+ if(len == 1) continue; // empty line
+
+ this->current_stream->printf("%s", buf);
+ struct SerialMessage message;
+ message.message = buf;
+ message.stream = this->current_stream;
+
+ // waits for the queue to have enough room
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
+ played_cnt += len;
+ return; // we feed one line per main loop
+
+ } else {
+ // discard long line
+ this->current_stream->printf("Warning: Discarded long line\n");
+ discard = true;
+ }
+ }
+
+ this->playing_file = false;
+ this->filename = "";
+ played_cnt = 0;
+ file_size = 0;
+ fclose(this->current_file_handler);
+ current_file_handler = NULL;
+ this->current_stream = NULL;
+
+ if(this->reply_stream != NULL) {
+ // if we were printing from an M command from pronterface we need to send this back
+ this->reply_stream->printf("Done printing file\r\n");
+ this->reply_stream = NULL;
+ }
+ }
+}
+
+void Player::on_get_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(player_checksum)) return;
+
+ if(pdr->second_element_is(is_playing_checksum)) {
+ static bool bool_data;
+ bool_data = this->playing_file;
+ pdr->set_data_ptr(&bool_data);
+ pdr->set_taken();
+
+ } else if(pdr->second_element_is(get_progress_checksum)) {
+ static struct pad_progress p;
+ if(file_size > 0 && playing_file) {
+ p.elapsed_secs = this->elapsed_secs;
+ p.percent_complete = (this->file_size - (this->file_size - this->played_cnt)) * 100 / this->file_size;
+ p.filename = this->filename;
+ pdr->set_data_ptr(&p);
+ pdr->set_taken();
+ }
+ }
+}
+
+void Player::on_set_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(player_checksum)) return;
+
+ if(pdr->second_element_is(abort_play_checksum)) {
+ abort_command("", &(StreamOutput::NullStream));
+ pdr->set_taken();
+ }
+}
HCoop / clinton / Smoothieware.git / blobdiff