X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/d82b3e847e0c88f45b8ab27950d614acefbc5aa2..75920bf9fb7373b423850f8c7ffba999cfc732fd:/src/modules/communication/GcodeDispatch.cpp diff --git a/src/modules/communication/GcodeDispatch.cpp b/src/modules/communication/GcodeDispatch.cpp index 79ad0941..a2f78edf 100644 --- a/src/modules/communication/GcodeDispatch.cpp +++ b/src/modules/communication/GcodeDispatch.cpp @@ -25,13 +25,13 @@ #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; @@ -100,17 +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 @@ -131,6 +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); @@ -151,9 +159,13 @@ try_again: 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 @@ -164,7 +176,7 @@ try_again: new_message.stream->printf("!!\r\n"); } delete gcode; - continue; + return; } } @@ -198,6 +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 @@ -249,6 +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, 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; @@ -307,7 +346,7 @@ try_again: 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; @@ -343,7 +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: "); } @@ -356,7 +395,11 @@ try_again: 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"); @@ -399,7 +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"); @@ -408,14 +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"); } } @@ -426,6 +461,10 @@ try_again: 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]; @@ -433,9 +472,10 @@ 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"); + + } 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"); } }