008.02 refactored gcode normalizer to include octal stripping

TinyG2/TinyG2.cppproj

@@ -30,7 +30,7 @@
       <ToolNumber>000028011884</ToolNumber>
       <Channel>
         <host>127.0.0.1</host>
-        <port>4114</port>
+        <port>4123</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>

TinyG2/canonical_machine.cpp

@@ -168,6 +168,7 @@ uint8_t cm_get_distance_mode() { return gm.distance_mode;}
 uint8_t cm_get_inverse_feed_rate_mode() { return gm.inverse_feed_rate_mode;}
 uint8_t cm_get_spindle_mode() { return gm.spindle_mode;} 
 uint32_t cm_get_model_linenum() { return gm.linenum;}
+uint8_t	cm_get_block_delete_switch() { return gm.block_delete_switch;}
 uint8_t cm_isbusy() { return (mp_isbusy());}
 
 // set parameters in gm struct
@@ -560,6 +561,8 @@ void canonical_machine_init()
 	cm_set_path_control(cfg.path_control);
 	cm_set_distance_mode(cfg.distance_mode);
 
+	gm.block_delete_switch = true;
+	
 	// never start a machine in a motion mode	
 	gm.motion_mode = MOTION_MODE_CANCEL_MOTION_MODE;
 

TinyG2/canonical_machine.h

@@ -94,11 +94,11 @@ typedef struct GCodeModel {				// Gcode dynamic model
 	float g28_position[AXES];			// XYZABC stored machine position for G28
 	float g30_position[AXES];			// XYZABC stored machine position for G30
 
-	float min_time;					// minimum time possible for the move given axis constraints
+	float min_time;						// minimum time possible for the move given axis constraints
 	float feed_rate; 					// F - normalized to millimeters/minute
 	float inverse_feed_rate; 			// ignored if inverse_feed_rate not active
 	float feed_rate_override_factor;	// 1.0000 x F feed rate. Go up or down from there
-	float traverse_override_factor;	// 1.0000 x traverse rate. Go down from there
+	float traverse_override_factor;		// 1.0000 x traverse rate. Go down from there
 	uint8_t inverse_feed_rate_mode;		// G93 TRUE = inverse, FALSE = normal (G94)
 	uint8_t	feed_rate_override_enable;	// TRUE = overrides enabled (M48), F=(M49)
 	uint8_t	traverse_override_enable;	// TRUE = traverse override enabled
@@ -124,9 +124,11 @@ typedef struct GCodeModel {				// Gcode dynamic model
 
 	uint8_t spindle_mode;				// 0=OFF (M5), 1=CW (M3), 2=CCW (M4)
 	float  spindle_speed;				// in RPM
-	float  spindle_override_factor;	// 1.0000 x S spindle speed. Go up or down from there
+	float  spindle_override_factor;		// 1.0000 x S spindle speed. Go up or down from there
 	uint8_t	spindle_override_enable;	// TRUE = override enabled
 
+	uint8_t block_delete_switch;		// set true to enable block deletes (true is default)
+
 // unimplemented gcode parameters
 //	float cutter_radius;				// D - cutter radius compensation (0 is off)
 //	float cutter_length;				// H - cutter length compensation (0 is off)
@@ -443,6 +445,8 @@ uint8_t cm_get_distance_mode(void);
 uint8_t cm_get_inverse_feed_rate_mode(void);
 uint8_t cm_get_spindle_mode(void);
 uint32_t cm_get_model_linenum(void);
+uint8_t	cm_get_block_delete_switch(void);
+
 uint8_t cm_isbusy(void);
 
 void cm_set_motion_mode(uint8_t motion_mode);

TinyG2/controller.cpp

@@ -196,6 +196,7 @@ static stat_t _command_dispatch()
 	} else if (cs.state == CONTROLLER_STARTUP) {
 //		strcpy(cs.in_buf, "$x");
 //		strcpy(cs.in_buf, "g1f400x100");
+		strcpy(cs.in_buf, "?");
 		cs.state = CONTROLLER_READY;
 	} else {
 		return (STAT_OK);

TinyG2/gcode_parser.cpp

@@ -78,82 +78,72 @@ stat_t gc_gcode_parser(char_t *block)
  *		chars < 0x20 (control characters)
  *		! $ % ,	; ; ? @ ^ _ ~ " ' <DEL>
  * 
- *	Valid characters in a Gcode block are (see RS274NGC_3 Appendix E)
- *		digits						all digits are passed to interpreter
- *		lower case alpha			all alpha is passed
- *		upper case alpha			all alpha is passed
- *		+ - . / *	< = > 			chars passed to interpreter
- *		| % # ( ) [ ] { } 			chars passed to interpreter
- *		<sp> <tab> 					chars are legal but are not passed
- *		/  							if first, block delete char - omits the block
+ *	Valid characters in a Gcode block are a sub-set of those in RS274NGC_3 Appendix E:
+ *	 - alphanumeric plus '-' and '.'
+ *
+ *	Block delete: Blocks starting with '/' are ignored if block delete switch is on,
+ *	  otherwise they are processed as usual.
+ *
+ *	Octal stripping: Leading zeros in number fields are stripped unless followed by a period
  *
  *	Comment handling:
- *
  *	 - Comments are not normalized - they are left alone
  *	 - Comments always terminate the block (i.e. embedded comments are not supported)
  *	 - Messages in comments are sent to console 
  *	 - The 'MSG' specifier in comment can have mixed case but cannot cannot have embedded white spaces
  *	 - Normalization returns true if there was a message to display, false otherwise
- *	 - Processing splits string into command and comment portions - cases:
- *		  supported:	COMMAND
- *		  supported:	comment
- *		  supported:	COMMAND comment
- *
- *		unsupported:	COMMAND COMMAND
- *		unsupported:	comment COMMAND
- *		unsupported:	COMMAND comment COMMAND
- *
- *	++++ todo: Support leading and trailing spaces around the MSG specifier
- *	++++ todo: Refactor to reject Octal numbers (leading 0's)
+ *	 - Processing splits string into command and comment portions - supported cases are:
+ *		 COMMAND
+ *		 (comment)
+ *		 COMMAND (comment)
  */
-
-static uint8_t _normalize_gcode_block(char_t *block) 
+static uint8_t _normalize_gcode_block(char_t *str) 
 {
-	char_t c;
-	char_t *comment=0;	// comment pointer - first char past opening paren
-	uint8_t i=0; 		// index for incoming characters
-	uint8_t j=0;		// index for normalized characters
+	char_t *rd = str;						// read pointer
+	char_t *wr = str;						// pointer to write normalized characters
+	char_t *cp = NUL;							// comment pointer - first char past opening paren
 
-	if (block[0] == '/') {					// discard deleted blocks
-		block[0] = NUL;
-		return (false);
-	}
-	if (block[0] == '?') {					// trap and return ? command
-		return (false);
+	if (*rd == '?') { return (false); }		// trap and return ? command
+	if (*rd == '/') {						// handle block deletes
+		rd++;
+		if (cm_get_block_delete_switch() == true) {
+			*wr = NUL;
+			return (false);
+		}
 	}
 	// normalize the command block & mark the comment(if any)
-	while ((c = toupper(block[i++])) != NUL) {
-		if ((isupper(c)) || (isdigit(c))) {	// capture common chars
-		 	block[j++] = c; 
+	do {
+		if (*rd == NUL) { *wr = NUL; }
+		else if (*rd == '(') { *wr = NUL; cp = rd+1; } 
+		else if ((isalnum((char)*rd)) || (strchr("-.", *rd))) { // all valid characters
+			*(wr++) = (char_t)toupper((char)*(rd));
+		}
+		rd++;
+	} while (*wr != NUL);
+
+	// Perform Octal stripping - remove invalid leading zeros in number strings
+	rd = str;
+	while (*rd != NUL) {
+		if ((!isdigit(*rd)) && (*(rd+1) == '0') && (isdigit(*(rd+2)))) {
+			wr = rd+1;
+			while (*wr != NUL) { *wr = *(wr+1); wr++;}
+//			while (*wr != NUL) { *(wr++) = *(wr+1); }
 			continue;
 		}
-		if (c == '(') {						// detect & handle comments
-			block[j] = NUL;
-			comment = &block[i]; 
-			break;
-		}
-		if (c <= ' ') continue;				// toss controls & whitespace
-		if (c == DEL) continue;				// toss DELETE (0x7F)
-		if (strchr("!$%,;:?@^_~`\'\"", c))	// toss invalid punctuation
-			continue;
-		block[j++] = c;
+		rd++;
 	}
-	block[j] = NUL;							// terminate the command
-	if (comment != 0) {
-		if ((toupper(comment[0]) == 'M') && 
-			(toupper(comment[1]) == 'S') &&
-			(toupper(comment[2]) == 'G')) {
-			i=0;
-			comment +=3;					// skip past the leading chars
-			while ((c = comment[i++]) != NUL) {// remove trailing parenthesis
-				if (c == ')') {
-					comment[--i] = NUL;
-					break;
-				}
-			}
-			(void)cm_message(comment);
+
+	// process a comment with a message, otherwise ignore it
+	rd = cp;
+	if (cp != NUL) {
+		if ((tolower(*(rd++)) == 'm') && (toupper(*(rd++)) == 's') && (toupper(*(rd++)) == 'g')) {
+			do {
+				if (*rd == ')') *rd = NUL;   // remove trailing parenthesis, if any
+				rd++;
+			} while (*rd != NUL);
+			(void)cm_message(cp);
 			return (true);
-		}
+		}				
 	}
 	return (false);
 }

TinyG2/report.cpp

@@ -236,7 +236,7 @@ void rpt_print_system_ready_message(void)
 /* 
  * rpt_init_status_report()
  *
- *	Call this function to completely re-initialze the status report
+ *	Call this function to completely re-initialize the status report
  *	Sets SR list to hard-coded defaults and re-initializes sr values in NVM
  */
 
@@ -248,7 +248,6 @@ void rpt_init_status_report()
 	cmdObj_t *cmd = cmd_reset_list();	// used for status report persistence locations
 	cs.status_report_counter = (cfg.status_report_interval / RTC_PERIOD);	// RTC fires every 10 ms
 
-//	cmd->index = cmd_get_index((const char_t *)"",(const char_t *)"se00");	// set first SR persistence index
 	cmd->index = cmd_get_index(nul, se00);				// set first SR persistence index
 	for (uint8_t i=0; i < CMD_STATUS_REPORT_LEN ; i++) {
 		if (sr_defaults[i][0] == NUL) break;			// quit on first blank array entry

TinyG2/settings/settings_default.h

@@ -49,7 +49,7 @@
 
 // *** motor settings ***
 
-#define M1_MOTOR_MAP 			AXIS_X			// 1ma
+#define M1_MOTOR_MAP 			AXIS_X		// 1ma
 #define M1_STEP_ANGLE 			1.8			// 1sa
 #define M1_TRAVEL_PER_REV		1.25		// 1tr
 #define M1_MICROSTEPS			8			// 1mi		1,2,4,8
@@ -94,7 +94,7 @@
 // *** axis settings ***
 
 #define X_AXIS_MODE 			AXIS_STANDARD		// xam		see canonical_machine.h cmAxisMode for valid values
-#define X_VELOCITY_MAX 			1200 				// xvm		G0 max velocity in mm/min
+#define X_VELOCITY_MAX 			800 				// xvm		G0 max velocity in mm/min
 #define X_FEEDRATE_MAX 			X_VELOCITY_MAX		// xfr 		G1 max feed rate in mm/min
 #define X_TRAVEL_MAX 			150					// xtm		travel between switches or crashes
 #define X_JERK_MAX 				JERK_MAX			// xjm
@@ -108,7 +108,7 @@
 #define X_JERK_HOMING			X_JERK_MAX			// xjh
 
 #define Y_AXIS_MODE 			AXIS_STANDARD
-#define Y_VELOCITY_MAX 			1200
+#define Y_VELOCITY_MAX 			800
 #define Y_FEEDRATE_MAX 			Y_VELOCITY_MAX
 #define Y_TRAVEL_MAX 			150
 #define Y_JERK_MAX 				JERK_MAX
@@ -122,7 +122,7 @@
 #define Y_JERK_HOMING			Y_JERK_MAX
 
 #define Z_AXIS_MODE 			AXIS_STANDARD
-#define Z_VELOCITY_MAX 			1200
+#define Z_VELOCITY_MAX 			800
 #define Z_FEEDRATE_MAX 			Z_VELOCITY_MAX
 #define Z_TRAVEL_MAX 			75
 #define Z_JERK_MAX 				JERK_MAX

TinyG2/tinyg2.h

@@ -40,7 +40,7 @@
 extern "C"{
 #endif
 
-#define TINYG2_FIRMWARE_BUILD   	008.01	// refining a functioning unit!
+#define TINYG2_FIRMWARE_BUILD   	008.02	// refining a functioning unit!
 #define TINYG2_FIRMWARE_VERSION		0.01	// firmware major version
 #define TINYG2_HARDWARE_PLATFORM	1.00	// hardware platform indicator (Native Arduino Due)
 #define TINYG2_HARDWARE_VERSION		1.00	// hardware platform revision number