Diff: modules/communication/GcodeDispatch.cpp

Revision:

0:31e91bb0ef3c

Child:

2:1df0b61d3b5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/communication/GcodeDispatch.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,115 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      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.
+      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.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#include <string>
+using std::string;
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "utils/Gcode.h"
+#include "libs/nuts_bolts.h"
+#include "GcodeDispatch.h"
+#include "modules/robot/Player.h" 
+#include "libs/SerialMessage.h"
+#include "libs/StreamOutput.h"
+
+GcodeDispatch::GcodeDispatch(){}
+
+// Called when the module has just been loaded
+void GcodeDispatch::on_module_loaded() {
+    this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
+    currentline = -1;
+}
+
+// When a command is received, if it is a Gcode, dispatch it as an object via an event
+void GcodeDispatch::on_console_line_received(void * line){
+    SerialMessage new_message = *static_cast<SerialMessage*>(line);
+    string possible_command = new_message.message;    
+
+    char first_char = possible_command[0];
+    int ln = 0;
+    int cs = 0;
+    if( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'N' ){ 
+
+        //Get linenumber
+        if( first_char == 'N' ){ 
+            Gcode full_line = Gcode();
+            full_line.command = possible_command;
+            full_line.stream = new_message.stream;
+            ln = (int) full_line.get_value('N');
+            int chksum = (int) full_line.get_value('*');
+
+            //Catch message if it is M110: Set Current Line Number
+            if( full_line.has_letter('M') ){
+                if( ((int) full_line.get_value('M')) == 110 ){
+                    currentline = ln;
+                    new_message.stream->printf("ok\r\n");
+                    return;
+                }
+            }
+
+            //Strip checksum value from possible_command
+            size_t chkpos = possible_command.find_first_of("*");
+            possible_command = possible_command.substr(0, chkpos); 
+            //Calculate checksum
+            if( chkpos != string::npos ){ 
+                for(int i = 0; possible_command[i] != '*' && possible_command[i] != NULL; i++)
+                    cs = cs ^ possible_command[i];
+                cs &= 0xff;  // Defensive programming...
+                cs -= chksum;
+            }
+            //Strip line number value from possible_command
+            size_t lnsize = possible_command.find_first_of(" ") + 1;
+            possible_command = possible_command.substr(lnsize); 
+
+        }else{
+            //Assume checks succeeded
+            cs = 0x00;
+            ln = currentline + 1;
+        }
+
+        //Remove comments
+        size_t comment = possible_command.find_first_of(";");
+        if( comment != string::npos ){ possible_command = possible_command.substr(0, comment); }
+
+        //If checksum passes then process message, else request resend
+        int nextline = currentline + 1;
+        if( cs == 0x00 && ln == nextline ){
+            if( first_char == 'N' ) {
+                currentline = nextline;
+            }
+
+            while(possible_command.size() > 0) {
+                size_t nextcmd = possible_command.find_first_of("GMT", possible_command.find_first_of("GMT")+1);
+                string single_command;
+                if(nextcmd == string::npos) {
+                    single_command = possible_command;
+                    possible_command = "";
+                }
+                else {
+                    single_command = possible_command.substr(0,nextcmd);
+                    possible_command = possible_command.substr(nextcmd);
+                }
+                //Prepare gcode for dispatch
+                Gcode gcode = Gcode();
+                gcode.command = single_command;
+                gcode.stream = new_message.stream;
+
+                //Dispatch message!
+                this->kernel->call_event(ON_GCODE_RECEIVED, &gcode );
+                new_message.stream->printf("ok\r\n");
+            }
+        }else{
+            //Request resend
+            new_message.stream->printf("rs N%d\r\n", nextline);
+        }
+
+    // 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");
+    }
+}
+