#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")
return;
}
- if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
+ if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
//Get linenumber
if ( first_char == 'N' ) {
//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
-
- // 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
- THEKERNEL->robot->next_command_is_MCS= true;
+ 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", 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;
}
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
+ THEKERNEL->conveyor->wait_for_idle(); //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();
{
new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
+ case 501: // load config override
+ case 504: // save to specific config override file
+ {
+ 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());
+ SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
+ }
+ delete gcode;
+ new_message.stream->printf("ok\r\n");
+ return;
+
case 502: // M502 deletes config-override so everything defaults to what is in config
remove(THEKERNEL->config_override_filename());
delete gcode;
gcode->add_nl= true;
break; // fall through to process by modules
}
+
}
}
//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
//Dispatch message!
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
- if(gcode->add_nl)
- new_message.stream->printf("\r\n");
- 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();
+ if (gcode->is_error) {
+ // report error
+ if(THEKERNEL->is_grbl_mode()) {
+ new_message.stream->printf("error:");
+ }else{
+ new_message.stream->printf("Error: ");
+ }
+
+ if(!gcode->txt_after_ok.empty()) {
+ new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
+ gcode->txt_after_ok.clear();
+
+ }else{
+ new_message.stream->printf("unknown\r\n");
+ }
+
+ // 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");
+
+ 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 {
- if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
- // only send ok once per line if this is a multi g code line send ok on the last one
- if(possible_command.empty())
- new_message.stream->printf("ok\r\n");
} else {
- // maybe should do the above for all hosts?
- new_message.stream->printf("ok\r\n");
+ if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
+ // only send ok once per line if this is a multi g code line send ok on the last one
+ if(possible_command.empty())
+ new_message.stream->printf("ok\r\n");
+ } else {
+ // maybe should do the above for all hosts?
+ new_message.stream->printf("ok\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");
}
}
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");
}
}
HCoop / clinton / Smoothieware.git / blobdiff