Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

modules/communication/GcodeDispatch.cpp@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
2:1df0b61d3b5a 
Bunch of stuff. Need to locally merge in updated USB changes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
Michael J. Spencer 2:1df0b61d3b5a 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
Michael J. Spencer 2:1df0b61d3b5a 3 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.
Michael J. Spencer 2:1df0b61d3b5a 4 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
Michael J. Spencer 2:1df0b61d3b5a 6 */
Michael J. Spencer 2:1df0b61d3b5a 7
Michael J. Spencer 2:1df0b61d3b5a 8 #include <string>
Michael J. Spencer 2:1df0b61d3b5a 9 using std::string;
Michael J. Spencer 2:1df0b61d3b5a 10 #include "libs/Module.h"
Michael J. Spencer 2:1df0b61d3b5a 11 #include "libs/Kernel.h"
Michael J. Spencer 2:1df0b61d3b5a 12 #include "utils/Gcode.h"
Michael J. Spencer 2:1df0b61d3b5a 13 #include "libs/nuts_bolts.h"
Michael J. Spencer 2:1df0b61d3b5a 14 #include "GcodeDispatch.h"
Michael J. Spencer 2:1df0b61d3b5a 15 #include "modules/robot/Conveyor.h"
Michael J. Spencer 2:1df0b61d3b5a 16 #include "libs/SerialMessage.h"
Michael J. Spencer 2:1df0b61d3b5a 17 #include "libs/StreamOutput.h"
Michael J. Spencer 2:1df0b61d3b5a 18 #include "libs/FileStream.h"
Michael J. Spencer 2:1df0b61d3b5a 19
Michael J. Spencer 2:1df0b61d3b5a 20 GcodeDispatch::GcodeDispatch() {}
Michael J. Spencer 2:1df0b61d3b5a 21
Michael J. Spencer 2:1df0b61d3b5a 22 // Called when the module has just been loaded
Michael J. Spencer 2:1df0b61d3b5a 23 void GcodeDispatch::on_module_loaded()
Michael J. Spencer 2:1df0b61d3b5a 24 {
Michael J. Spencer 2:1df0b61d3b5a 25 return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
Michael J. Spencer 2:1df0b61d3b5a 26 this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
Michael J. Spencer 2:1df0b61d3b5a 27 currentline = -1;
Michael J. Spencer 2:1df0b61d3b5a 28 uploading = false;
Michael J. Spencer 2:1df0b61d3b5a 29 last_g= 255;
Michael J. Spencer 2:1df0b61d3b5a 30 }
Michael J. Spencer 2:1df0b61d3b5a 31
Michael J. Spencer 2:1df0b61d3b5a 32 // When a command is received, if it is a Gcode, dispatch it as an object via an event
Michael J. Spencer 2:1df0b61d3b5a 33 void GcodeDispatch::on_console_line_received(void *line)
Michael J. Spencer 2:1df0b61d3b5a 34 {
Michael J. Spencer 2:1df0b61d3b5a 35 SerialMessage new_message = *static_cast<SerialMessage *>(line);
Michael J. Spencer 2:1df0b61d3b5a 36 string possible_command = new_message.message;
Michael J. Spencer 2:1df0b61d3b5a 37
Michael J. Spencer 2:1df0b61d3b5a 38 int ln = 0;
Michael J. Spencer 2:1df0b61d3b5a 39 int cs = 0;
Michael J. Spencer 2:1df0b61d3b5a 40
Michael J. Spencer 2:1df0b61d3b5a 41 try_again:
Michael J. Spencer 2:1df0b61d3b5a 42
Michael J. Spencer 2:1df0b61d3b5a 43 char first_char = possible_command[0];
Michael J. Spencer 2:1df0b61d3b5a 44 unsigned int n;
Michael J. Spencer 2:1df0b61d3b5a 45 if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ) {
Michael J. Spencer 2:1df0b61d3b5a 46
Michael J. Spencer 2:1df0b61d3b5a 47 //Get linenumber
Michael J. Spencer 2:1df0b61d3b5a 48 if ( first_char == 'N' ) {
Michael J. Spencer 2:1df0b61d3b5a 49 Gcode full_line = Gcode(possible_command, new_message.stream);
Michael J. Spencer 2:1df0b61d3b5a 50 ln = (int) full_line.get_value('N');
Michael J. Spencer 2:1df0b61d3b5a 51 int chksum = (int) full_line.get_value('*');
Michael J. Spencer 2:1df0b61d3b5a 52
Michael J. Spencer 2:1df0b61d3b5a 53 //Catch message if it is M110: Set Current Line Number
Michael J. Spencer 2:1df0b61d3b5a 54 if ( full_line.has_letter('M') ) {
Michael J. Spencer 2:1df0b61d3b5a 55 if ( ((int) full_line.get_value('M')) == 110 ) {
Michael J. Spencer 2:1df0b61d3b5a 56 currentline = ln;
Michael J. Spencer 2:1df0b61d3b5a 57 new_message.stream->printf("ok\r\n");
Michael J. Spencer 2:1df0b61d3b5a 58 return;
Michael J. Spencer 2:1df0b61d3b5a 59 }
Michael J. Spencer 2:1df0b61d3b5a 60 }
Michael J. Spencer 2:1df0b61d3b5a 61
Michael J. Spencer 2:1df0b61d3b5a 62 //Strip checksum value from possible_command
Michael J. Spencer 2:1df0b61d3b5a 63 size_t chkpos = possible_command.find_first_of("*");
Michael J. Spencer 2:1df0b61d3b5a 64 possible_command = possible_command.substr(0, chkpos);
Michael J. Spencer 2:1df0b61d3b5a 65 //Calculate checksum
Michael J. Spencer 2:1df0b61d3b5a 66 if ( chkpos != string::npos ) {
Michael J. Spencer 2:1df0b61d3b5a 67 for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
Michael J. Spencer 2:1df0b61d3b5a 68 cs = cs ^ *c;
Michael J. Spencer 2:1df0b61d3b5a 69 cs &= 0xff; // Defensive programming...
Michael J. Spencer 2:1df0b61d3b5a 70 cs -= chksum;
Michael J. Spencer 2:1df0b61d3b5a 71 }
Michael J. Spencer 2:1df0b61d3b5a 72 //Strip line number value from possible_command
Michael J. Spencer 2:1df0b61d3b5a 73 size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
Michael J. Spencer 2:1df0b61d3b5a 74 possible_command = possible_command.substr(lnsize);
Michael J. Spencer 2:1df0b61d3b5a 75
Michael J. Spencer 2:1df0b61d3b5a 76 } else {
Michael J. Spencer 2:1df0b61d3b5a 77 //Assume checks succeeded
Michael J. Spencer 2:1df0b61d3b5a 78 cs = 0x00;
Michael J. Spencer 2:1df0b61d3b5a 79 ln = currentline + 1;
Michael J. Spencer 2:1df0b61d3b5a 80 }
Michael J. Spencer 2:1df0b61d3b5a 81
Michael J. Spencer 2:1df0b61d3b5a 82 //Remove comments
Michael J. Spencer 2:1df0b61d3b5a 83 size_t comment = possible_command.find_first_of(";(");
Michael J. Spencer 2:1df0b61d3b5a 84 if( comment != string::npos ) {
Michael J. Spencer 2:1df0b61d3b5a 85 possible_command = possible_command.substr(0, comment);
Michael J. Spencer 2:1df0b61d3b5a 86 }
Michael J. Spencer 2:1df0b61d3b5a 87
Michael J. Spencer 2:1df0b61d3b5a 88 //If checksum passes then process message, else request resend
Michael J. Spencer 2:1df0b61d3b5a 89 int nextline = currentline + 1;
Michael J. Spencer 2:1df0b61d3b5a 90 if( cs == 0x00 && ln == nextline ) {
Michael J. Spencer 2:1df0b61d3b5a 91 if( first_char == 'N' ) {
Michael J. Spencer 2:1df0b61d3b5a 92 currentline = nextline;
Michael J. Spencer 2:1df0b61d3b5a 93 }
Michael J. Spencer 2:1df0b61d3b5a 94
Michael J. Spencer 2:1df0b61d3b5a 95 while(possible_command.size() > 0) {
Michael J. Spencer 2:1df0b61d3b5a 96 size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT") + 1);
Michael J. Spencer 2:1df0b61d3b5a 97 string single_command;
Michael J. Spencer 2:1df0b61d3b5a 98 if(nextcmd == string::npos) {
Michael J. Spencer 2:1df0b61d3b5a 99 single_command = possible_command;
Michael J. Spencer 2:1df0b61d3b5a 100 possible_command = "";
Michael J. Spencer 2:1df0b61d3b5a 101 } else {
Michael J. Spencer 2:1df0b61d3b5a 102 single_command = possible_command.substr(0, nextcmd);
Michael J. Spencer 2:1df0b61d3b5a 103 possible_command = possible_command.substr(nextcmd);
Michael J. Spencer 2:1df0b61d3b5a 104 }
Michael J. Spencer 2:1df0b61d3b5a 105
Michael J. Spencer 2:1df0b61d3b5a 106 if(!uploading) {
Michael J. Spencer 2:1df0b61d3b5a 107 //Prepare gcode for dispatch
Michael J. Spencer 2:1df0b61d3b5a 108 Gcode *gcode = new Gcode(single_command, new_message.stream);
Michael J. Spencer 2:1df0b61d3b5a 109
Michael J. Spencer 2:1df0b61d3b5a 110 if(gcode->has_g) {
Michael J. Spencer 2:1df0b61d3b5a 111 last_g= gcode->g;
Michael J. Spencer 2:1df0b61d3b5a 112 }
Michael J. Spencer 2:1df0b61d3b5a 113 if(gcode->has_m) {
Michael J. Spencer 2:1df0b61d3b5a 114 switch (gcode->m) {
Michael J. Spencer 2:1df0b61d3b5a 115 case 28: // start upload command
Michael J. Spencer 2:1df0b61d3b5a 116 delete gcode;
Michael J. Spencer 2:1df0b61d3b5a 117
Michael J. Spencer 2:1df0b61d3b5a 118 this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
Michael J. Spencer 2:1df0b61d3b5a 119 // open file
Michael J. Spencer 2:1df0b61d3b5a 120 upload_fd = fopen(this->upload_filename.c_str(), "w");
Michael J. Spencer 2:1df0b61d3b5a 121 if(upload_fd != NULL) {
Michael J. Spencer 2:1df0b61d3b5a 122 this->uploading = true;
Michael J. Spencer 2:1df0b61d3b5a 123 new_message.stream->printf("Writing to file: %s\r\n", this->upload_filename.c_str());
Michael J. Spencer 2:1df0b61d3b5a 124 } else {
Michael J. Spencer 2:1df0b61d3b5a 125 new_message.stream->printf("open failed, File: %s.\r\n", this->upload_filename.c_str());
Michael J. Spencer 2:1df0b61d3b5a 126 }
Michael J. Spencer 2:1df0b61d3b5a 127 //printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
Michael J. Spencer 2:1df0b61d3b5a 128 continue;
Michael J. Spencer 2:1df0b61d3b5a 129
Michael J. Spencer 2:1df0b61d3b5a 130 case 500: // M500 save volatile settings to config-override
Michael J. Spencer 2:1df0b61d3b5a 131 // replace stream with one that writes to config-override file
Michael J. Spencer 2:1df0b61d3b5a 132 gcode->stream = new FileStream(THEKERNEL->config_override_filename());
Michael J. Spencer 2:1df0b61d3b5a 133 // dispatch the M500 here so we can free up the stream when done
Michael J. Spencer 2:1df0b61d3b5a 134 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
Michael J. Spencer 2:1df0b61d3b5a 135 delete gcode->stream;
Michael J. Spencer 2:1df0b61d3b5a 136 delete gcode;
Michael J. Spencer 2:1df0b61d3b5a 137 new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
Michael J. Spencer 2:1df0b61d3b5a 138 continue;
Michael J. Spencer 2:1df0b61d3b5a 139
Michael J. Spencer 2:1df0b61d3b5a 140 case 502: // M502 deletes config-override so everything defaults to what is in config
Michael J. Spencer 2:1df0b61d3b5a 141 remove(THEKERNEL->config_override_filename());
Michael J. Spencer 2:1df0b61d3b5a 142 new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
Michael J. Spencer 2:1df0b61d3b5a 143 delete gcode;
Michael J. Spencer 2:1df0b61d3b5a 144 continue;
Michael J. Spencer 2:1df0b61d3b5a 145
Michael J. Spencer 2:1df0b61d3b5a 146 case 503: { // M503 display live settings and indicates if there is an override file
Michael J. Spencer 2:1df0b61d3b5a 147 FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
Michael J. Spencer 2:1df0b61d3b5a 148 if(fd != NULL) {
Michael J. Spencer 2:1df0b61d3b5a 149 fclose(fd);
Michael J. Spencer 2:1df0b61d3b5a 150 new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
Michael J. Spencer 2:1df0b61d3b5a 151
Michael J. Spencer 2:1df0b61d3b5a 152 } else {
Michael J. Spencer 2:1df0b61d3b5a 153 new_message.stream->printf("; No config override\n");
Michael J. Spencer 2:1df0b61d3b5a 154 }
Michael J. Spencer 2:1df0b61d3b5a 155 break; // fall through to process by modules
Michael J. Spencer 2:1df0b61d3b5a 156 }
Michael J. Spencer 2:1df0b61d3b5a 157 }
Michael J. Spencer 2:1df0b61d3b5a 158 }
Michael J. Spencer 2:1df0b61d3b5a 159
Michael J. Spencer 2:1df0b61d3b5a 160 //printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
Michael J. Spencer 2:1df0b61d3b5a 161 //Dispatch message!
Michael J. Spencer 2:1df0b61d3b5a 162 THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
Michael J. Spencer 2:1df0b61d3b5a 163 if(gcode->add_nl)
Michael J. Spencer 2:1df0b61d3b5a 164 new_message.stream->printf("\r\n");
Michael J. Spencer 2:1df0b61d3b5a 165
Michael J. Spencer 2:1df0b61d3b5a 166 if( return_error_on_unhandled_gcode == true && gcode->accepted_by_module == false)
Michael J. Spencer 2:1df0b61d3b5a 167 new_message.stream->printf("ok (command unclaimed)\r\n");
Michael J. Spencer 2:1df0b61d3b5a 168 else if(!gcode->txt_after_ok.empty()) {
Michael J. Spencer 2:1df0b61d3b5a 169 new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
Michael J. Spencer 2:1df0b61d3b5a 170 gcode->txt_after_ok.clear();
Michael J. Spencer 2:1df0b61d3b5a 171 } else
Michael J. Spencer 2:1df0b61d3b5a 172 new_message.stream->printf("ok\r\n");
Michael J. Spencer 2:1df0b61d3b5a 173
Michael J. Spencer 2:1df0b61d3b5a 174 delete gcode;
Michael J. Spencer 2:1df0b61d3b5a 175
Michael J. Spencer 2:1df0b61d3b5a 176 } else {
Michael J. Spencer 2:1df0b61d3b5a 177 // we are uploading a file so save it
Michael J. Spencer 2:1df0b61d3b5a 178 if(single_command.substr(0, 3) == "M29") {
Michael J. Spencer 2:1df0b61d3b5a 179 // done uploading, close file
Michael J. Spencer 2:1df0b61d3b5a 180 fclose(upload_fd);
Michael J. Spencer 2:1df0b61d3b5a 181 upload_fd = NULL;
Michael J. Spencer 2:1df0b61d3b5a 182 uploading = false;
Michael J. Spencer 2:1df0b61d3b5a 183 upload_filename.clear();
Michael J. Spencer 2:1df0b61d3b5a 184 new_message.stream->printf("Done saving file.\r\n");
Michael J. Spencer 2:1df0b61d3b5a 185 continue;
Michael J. Spencer 2:1df0b61d3b5a 186 }
Michael J. Spencer 2:1df0b61d3b5a 187
Michael J. Spencer 2:1df0b61d3b5a 188 if(upload_fd == NULL) {
Michael J. Spencer 2:1df0b61d3b5a 189 // error detected writing to file so discard everything until it stops
Michael J. Spencer 2:1df0b61d3b5a 190 new_message.stream->printf("ok\r\n");
Michael J. Spencer 2:1df0b61d3b5a 191 continue;
Michael J. Spencer 2:1df0b61d3b5a 192 }
Michael J. Spencer 2:1df0b61d3b5a 193
Michael J. Spencer 2:1df0b61d3b5a 194 single_command.append("\n");
Michael J. Spencer 2:1df0b61d3b5a 195 static int cnt = 0;
Michael J. Spencer 2:1df0b61d3b5a 196 if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
Michael J. Spencer 2:1df0b61d3b5a 197 // error writing to file
Michael J. Spencer 2:1df0b61d3b5a 198 new_message.stream->printf("Error:error writing to file.\r\n");
Michael J. Spencer 2:1df0b61d3b5a 199 fclose(upload_fd);
Michael J. Spencer 2:1df0b61d3b5a 200 upload_fd = NULL;
Michael J. Spencer 2:1df0b61d3b5a 201 continue;
Michael J. Spencer 2:1df0b61d3b5a 202
Michael J. Spencer 2:1df0b61d3b5a 203 } else {
Michael J. Spencer 2:1df0b61d3b5a 204 cnt += single_command.size();
Michael J. Spencer 2:1df0b61d3b5a 205 if (cnt > 400) {
Michael J. Spencer 2:1df0b61d3b5a 206 // HACK ALERT to get around fwrite corruption close and re open for append
Michael J. Spencer 2:1df0b61d3b5a 207 fclose(upload_fd);
Michael J. Spencer 2:1df0b61d3b5a 208 upload_fd = fopen(upload_filename.c_str(), "a");
Michael J. Spencer 2:1df0b61d3b5a 209 cnt = 0;
Michael J. Spencer 2:1df0b61d3b5a 210 }
Michael J. Spencer 2:1df0b61d3b5a 211 new_message.stream->printf("ok\r\n");
Michael J. Spencer 2:1df0b61d3b5a 212 //printf("uploading file write ok\n");
Michael J. Spencer 2:1df0b61d3b5a 213 }
Michael J. Spencer 2:1df0b61d3b5a 214 }
Michael J. Spencer 2:1df0b61d3b5a 215 }
Michael J. Spencer 2:1df0b61d3b5a 216
Michael J. Spencer 2:1df0b61d3b5a 217 } else {
Michael J. Spencer 2:1df0b61d3b5a 218 //Request resend
Michael J. Spencer 2:1df0b61d3b5a 219 new_message.stream->printf("rs N%d\r\n", nextline);
Michael J. Spencer 2:1df0b61d3b5a 220 }
Michael J. Spencer 2:1df0b61d3b5a 221
Michael J. Spencer 2:1df0b61d3b5a 222 } else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
Michael J. Spencer 2:1df0b61d3b5a 223 // handle pycam syntax, use last G0 or G1 and resubmit if an X Y Z or F is found on its own line
Michael J. Spencer 2:1df0b61d3b5a 224 if(last_g != 0 && last_g != 1) {
Michael J. Spencer 2:1df0b61d3b5a 225 //if no last G1 or G0 ignore
Michael J. Spencer 2:1df0b61d3b5a 226 //THEKERNEL->streams->printf("ignored: %s\r\n", possible_command.c_str());
Michael J. Spencer 2:1df0b61d3b5a 227 return;
Michael J. Spencer 2:1df0b61d3b5a 228 }
Michael J. Spencer 2:1df0b61d3b5a 229 char buf[6];
Michael J. Spencer 2:1df0b61d3b5a 230 snprintf(buf, sizeof(buf), "G%d ", last_g);
Michael J. Spencer 2:1df0b61d3b5a 231 possible_command.insert(0, buf);
Michael J. Spencer 2:1df0b61d3b5a 232 goto try_again;
Michael J. Spencer 2:1df0b61d3b5a 233
Michael J. Spencer 2:1df0b61d3b5a 234 // Ignore comments and blank lines
Michael J. Spencer 2:1df0b61d3b5a 235 } else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
Michael J. Spencer 2:1df0b61d3b5a 236 new_message.stream->printf("ok\r\n");
Michael J. Spencer 2:1df0b61d3b5a 237 }
Michael J. Spencer 2:1df0b61d3b5a 238 }
Michael J. Spencer 2:1df0b61d3b5a 239