#include "SimpleShell.h"
#include "utils.h"
#include "LPC17xx.h"
+#include "version.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[]= {2,5,9,30,105,114,119,80,81,911,503,106,107}; // get temp, get pos, get endstops etc
+static const int allowed_mcodes[]= {2,5,9,30,105,114,115,119,80,81,911,503,106,107}; // 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;
//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
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);
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
- new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
- // fall through and pass onto other modules
+ if(THEKERNEL->is_halted()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("WARNING: After HALT you should HOME as position is currently unknown\n");
+ }
+ new_message.stream->printf("ok\n");
+ delete gcode;
+ return;
}else if(!is_allowed_mcode(gcode->m)) {
// ignore everything, return error string to host
new_message.stream->printf("!!\r\n");
}
delete gcode;
- continue;
+ return;
}
}
// 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
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, X-GRBL_MODE:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS, THEKERNEL->is_grbl_mode());
+
+ #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;
string arg= get_arguments(single_command + possible_command); // rest of line is filename
if(arg.empty()) arg= "/sd/config-override";
else arg= "/sd/config-override." + arg;
- new_message.stream->printf("args: <%s>\n", arg.c_str());
+ //new_message.stream->printf("args: <%s>\n", arg.c_str());
SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
}
delete gcode;
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: ");
}
new_message.stream->printf("unknown\r\n");
}
- }else{
+ // we cannot continue safely after an error so we enter HALT state
+ new_message.stream->printf("Entering Alarm/Halt state\n");
+ THEKERNEL->call_event(ON_HALT, nullptr);
+
+ }else if(!sent_ok) {
if(gcode->add_nl)
new_message.stream->printf("\r\n");
}
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");
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");
}
}
new_message.stream->printf("rs N%d\r\n", nextline);
}
+ } else if ( first_char == ';' || first_char == '(' || first_char == '\n' || first_char == '\r' ) {
+ // Ignore comments and blank lines
+ new_message.stream->printf("ok\n");
+
} else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
// handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
char buf[6];
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");
+
+ } 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");
}
}
HCoop / clinton / Smoothieware.git / blobdiff