return ok on an uppercase non command word

[clinton/Smoothieware.git] / src / modules / communication / GcodeDispatch.cpp

diff --git a/src/modules/communication/GcodeDispatch.cpp b/src/modules/communication/GcodeDispatch.cpp
index bd437bf..b6b84d8 100644 (file)
--- a/src/modules/communication/GcodeDispatch.cpp
+++ b/src/modules/communication/GcodeDispatch.cpp
@@ -25,6 +25,7 @@
 #include "SimpleShell.h"
 #include "utils.h"
 #include "LPC17xx.h"
+#include "version.h"
 
 #define panel_display_message_checksum CHECKSUM("display_message")
 #define panel_checksum             CHECKSUM("panel")
@@ -99,17 +100,24 @@ try_again:
 
             //Strip checksum value from possible_command
             size_t chkpos = possible_command.find_first_of("*");
-            possible_command = possible_command.substr(0, chkpos);
-            //Calculate checksum
+
+                       //Calculate checksum
             if ( chkpos != string::npos ) {
+                               possible_command = possible_command.substr(0, chkpos);
                 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
                     cs = cs ^ *c;
                 cs &= 0xff;  // Defensive programming...
                 cs -= chksum;
-            }
+                       }
+
             //Strip line number value from possible_command
-            size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
-            possible_command = possible_command.substr(lnsize);
+                       size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
+                       if(lnsize != string::npos) {
+                               possible_command = possible_command.substr(lnsize);
+                       }else{
+                               // it is a blank line
+                               possible_command.clear();
+                       }
 
         } else {
             //Assume checks succeeded
@@ -130,6 +138,7 @@ try_again:
                 currentline = nextline;
             }
 
+            bool sent_ok= false; // used for G1 optimization
             while(possible_command.size() > 0) {
                 // assumes G or M are always the first on the line
                 size_t nextcmd = possible_command.find_first_of("GM", 2);
@@ -156,7 +165,7 @@ try_again:
                             }
                             new_message.stream->printf("ok\n");
                             delete gcode;
-                            continue;
+                            return;
 
                         }else if(!is_allowed_mcode(gcode->m)) {
                             // ignore everything, return error string to host
@@ -167,7 +176,7 @@ try_again:
                                 new_message.stream->printf("!!\r\n");
                             }
                             delete gcode;
-                            continue;
+                            return;
                         }
                     }
 
@@ -201,6 +210,12 @@ try_again:
                             // makes it handle the parameters as a machine position
                             THEROBOT->next_command_is_MCS= true;
 
+                        } else if(gcode->g == 1) {
+                            // optimize G1 to send ok immediately (one per line) before it is planned
+                            if(!sent_ok) {
+                                sent_ok= true;
+                                new_message.stream->printf("ok\n");
+                            }
                         }
 
                         // remember last modal group 1 code
@@ -252,6 +267,27 @@ try_again:
                                 delete gcode;
                                 return;
 
+                            case 115: { // M115 Get firmware version and capabilities
+                                Version vers;
+
+                                new_message.stream->printf("FIRMWARE_NAME:Smoothieware, FIRMWARE_URL:http%%3A//smoothieware.org, X-SOURCE_CODE_URL:https://github.com/Smoothieware/Smoothieware, FIRMWARE_VERSION:%s, X-FIRMWARE_BUILD_DATE:%s, X-SYSTEM_CLOCK:%ldMHz, X-AXES:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS);
+
+                                #ifdef CNC
+                                new_message.stream->printf(", X-CNC:1");
+                                #else
+                                new_message.stream->printf(", X-CNC:0");
+                                #endif
+
+                                #ifdef DISABLEMSD
+                                new_message.stream->printf(", X-MSD:0");
+                                #else
+                                new_message.stream->printf(", X-MSD:1");
+                                #endif
+
+                                new_message.stream->printf("\nok\n");
+                                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;
@@ -346,7 +382,7 @@ try_again:
                     if (gcode->is_error) {
                         // report error
                         if(THEKERNEL->is_grbl_mode()) {
-                            new_message.stream->printf("error: ");
+                            new_message.stream->printf("error:");
                         }else{
                             new_message.stream->printf("Error: ");
                         }
@@ -363,7 +399,7 @@ try_again:
                         new_message.stream->printf("Entering Alarm/Halt state\n");
                         THEKERNEL->call_event(ON_HALT, nullptr);
 
-                    }else{
+                    }else if(!sent_ok) {
 
                         if(gcode->add_nl)
                             new_message.stream->printf("\r\n");
@@ -406,7 +442,6 @@ try_again:
                     }
 
                     single_command.append("\n");
-                    static int cnt = 0;
                     if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
                         // error writing to file
                         new_message.stream->printf("Error:error writing to file.\r\n");
@@ -415,14 +450,7 @@ try_again:
                         continue;
 
                     } else {
-                        cnt += single_command.size();
-                        if (cnt > 400) {
-                            // HACK ALERT to get around fwrite corruption close and re open for append
-                            fclose(upload_fd);
-                            upload_fd = fopen(upload_filename.c_str(), "a");
-                            cnt = 0;
-                        }
-                        new_message.stream->printf("ok\r\n");
+                         new_message.stream->printf("ok\r\n");
                         //printf("uploading file write ok\n");
                     }
                 }
@@ -440,9 +468,13 @@ try_again:
         possible_command.insert(0, buf);
         goto try_again;
 
-        // Ignore comments and blank lines
     } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
-        new_message.stream->printf("ok\r\n");
+        // Ignore comments and blank lines
+        new_message.stream->printf("ok\n");
+
+    } else {
+        // an uppercase non command word on its own (except XYZF) just returns ok, we could add an error but no hosts expect that.
+        new_message.stream->printf("ok - ignored\n");
     }
 }