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g2/g2core/gcode_parser.cpp

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/*
* gcode_parser.cpp - rs274/ngc Gcode parser
* This file is part of the g2core project
*
* Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2017 Rob Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
* Free Software Foundation. You should have received a copy of the GNU General Public
* License, version 2 along with the software. If not, see <http://www.gnu.org/licenses/>.
*
* THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
* WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
* SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "g2core.h" // #1
#include "config.h" // #2
#include "controller.h"
#include "gcode.h"
#include "canonical_machine.h"
#include "spindle.h"
#include "coolant.h"
#include "util.h"
#include "xio.h" // for char definitions
// Structures used by Gcode parser
typedef struct GCodeInputValue { // Gcode inputs - meaning depends on context
uint8_t next_action; // handles G modal group 1 moves & non-modals
cmMotionMode motion_mode; // Group1: G0, G1, G2, G3, G38.2, G80, G81, G82, G83, G84, G85, G86, G87, G88, G89
uint8_t program_flow; // used only by the gcode_parser
uint32_t linenum; // N word
float target[AXES]; // XYZABC where the move should go
float arc_offset[3]; // IJK - used by arc commands
float arc_radius; // R - radius value in arc radius mode
float F_word; // F - normalized to millimeters/minute
uint8_t H_word; // H word - used by G43s
uint8_t L_word; // L word - used by G10s
float P_word; // P - parameter used for dwell time in seconds, G10 coord select...
float S_word; // S word - in RPM
uint8_t feed_rate_mode; // See cmFeedRateMode for settings
uint8_t select_plane; // G17,G18,G19 - values to set plane to
uint8_t units_mode; // G20,G21 - 0=inches (G20), 1 = mm (G21)
uint8_t coord_system; // G54-G59 - select coordinate system 1-9
uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
uint8_t arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets
uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode
uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53)
uint8_t tool; // Tool after T and M6 (tool_select and tool_change)
uint8_t tool_select; // T value - T sets this value
uint8_t tool_change; // M6 tool change flag - moves "tool_select" to "tool"
uint8_t coolant_mist; // TRUE = mist on (M7)
uint8_t coolant_flood; // TRUE = flood on (M8)
uint8_t coolant_off; // TRUE = turn off all coolants (M9)
uint8_t spindle_control; // 0=OFF (M5), 1=CW (M3), 2=CCW (M4)
bool m48_enable; // M48/M49 input (enables for feed and spindle)
bool fro_control; // M50 feedrate override control
bool tro_control; // M50.1 traverse override control
bool spo_control; // M51 spindle speed override control
} GCodeValue_t;
typedef struct GCodeFlags { // Gcode input flags
bool next_action;
bool motion_mode;
bool program_flow;
bool linenum;
bool target[AXES];
bool arc_offset[3];
bool arc_radius;
bool F_word;
bool H_word;
bool L_word;
bool P_word;
bool S_word;
bool feed_rate_mode;
bool select_plane;
bool units_mode;
bool coord_system;
bool path_control;
bool distance_mode;
bool arc_distance_mode;
bool origin_offset_mode;
bool absolute_override;
bool tool;
bool tool_select;
bool tool_change;
bool coolant_mist;
bool coolant_flood;
bool coolant_off;
bool spindle_control;
bool m48_enable;
bool fro_control;
bool tro_control;
bool spo_control;
} GCodeFlag_t;
typedef struct GCodeParser {
bool modals[MODAL_GROUP_COUNT];
} GCodeParser_t;
GCodeParser_t gp; // main parser struct
GCodeValue_t gv; // gcode input values
GCodeFlag_t gf; // gcode input flags
// local helper functions and macros
static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag);
static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value);
static stat_t _point(float value);
static stat_t _validate_gcode_block(char *active_comment);
static stat_t _parse_gcode_block(char *line, char *active_comment); // Parse the block into the GN/GF structs
static stat_t _execute_gcode_block(char *active_comment); // Execute the gcode block
#define SET_MODAL(m,parm,val) ({gv.parm=val; gf.parm=true; gp.modals[m]=true; break;})
#define SET_NON_MODAL(parm,val) ({gv.parm=val; gf.parm=true; break;})
#define EXEC_FUNC(f,v) if(gf.v) { status=f(gv.v);}
/*
* gcode_parser_init()
*/
void gcode_parser_init()
{
memset(&gv, 0, sizeof(GCodeValue_t));
memset(&gf, 0, sizeof(GCodeFlag_t));
}
/*
* gcode_parser() - parse a block (line) of gcode
*
* Top level of gcode parser. Normalizes block and looks for special cases
*/
stat_t gcode_parser(char *block)
{
char *str = block; // gcode command or NUL string
char none = NUL;
char *active_comment = &none; // gcode comment or NUL string
uint8_t block_delete_flag;
_normalize_gcode_block(str, &active_comment, &block_delete_flag);
// TODO, now MSG is put in the active comment, handle that.
if (str[0] == NUL) { // normalization returned null string
return (STAT_OK); // most likely a comment line
}
// Trap M30 and M2 as $clear conditions. This has no effect if not in ALARM or SHUTDOWN
cm_parse_clear(str); // parse Gcode and clear alarms if M30 or M2 is found
ritorno(cm_is_alarmed()); // return error status if in alarm, shutdown or panic
// Block delete omits the line if a / char is present in the first space
// For now this is unconditional and will always delete
// if ((block_delete_flag == true) && (cm_get_block_delete_switch() == true)) {
if (block_delete_flag == true) {
return (STAT_NOOP);
}
return(_parse_gcode_block(block, active_comment));
}
/*
* _normalize_gcode_block() - normalize a block (line) of gcode in place
*
* Normalization functions:
* - Isolate "active comments"
* - Many of the following are performed in active comments as well
* - Strings are handled special (TODO)
* - Active comments are moved to the end of the string, and multiple active comments are merged into one
* - convert all letters to upper case
* - remove white space, control and other invalid characters
* - remove (erroneous) leading zeros that might be taken to mean Octal
* - identify and return start of comments and messages
* - signal if a block-delete character (/) was encountered in the first space
* - NOTE: Assumes no leading whitespace as this was removed at the controller dispatch level
*
* So this: "g1 x100 Y100 f400" becomes this: "G1X100Y100F400"
*
* Comment and message handling:
* - Active comments start with exactly "({" and end with "})" (no relaxing, invalid is invalid)
* - Comments field start with a '(' char or alternately a semicolon ';'
* - Active comments are moved to the end of the string and merged.
* - Messages are converted to ({msg:"blah"}) active comments.
* - The 'MSG' specifier in comment can have mixed case but cannot cannot have embedded white spaces
* - Other "plain" comments will be discarded.
* - Multiple embedded comments are acceptable.
* - Multiple active comments will be merged.
* - Only ONE MSG comment will be accepted.
*
* Returns:
* - com points to comment string or to NUL if no comment
* - msg points to message string or to NUL if no comment
* - block_delete_flag is set true if block delete encountered, false otherwise
*/
static char _normalize_scratch[RX_BUFFER_MIN_SIZE];
static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag)
{
_normalize_scratch[0] = 0;
char *gc_rd = str; // read pointer
char *gc_wr = _normalize_scratch; // write pointer
char *ac_rd = str; // Active Comment read pointer
char *ac_wr = _normalize_scratch; // Active Comment write pointer
bool last_char_was_digit = false; // used for octal stripping
/* Active comment notes:
We will convert as follows:
FROM: G0 ({blah: t}) x10 (comment)
TO : g0x10\0{blah:t}
NOTES: Active comments moved to the end, stripped of (), everything lowercased, and plain comment removed.
FROM: M100 ({a:t}) (comment) ({b:f}) (comment)
TO : m100\0{a:t,b:f}
NOTES: multiple active comments merged, stripped of (), and actual comments ignored.
*/
// Move the ac_wr point forward one for every non-AC character we KEEP (plus one for a NULL in between)
ac_wr++; // account for the in-between NULL
// mark block deletes
if (*gc_rd == '/') {
*block_delete_flag = true;
gc_rd++;
} else {
*block_delete_flag = false;
}
while (*gc_rd != 0) {
// check for ';' or '%' comments that end the line.
if ((*gc_rd == ';') || (*gc_rd == '%')) {
// go ahead and snap the string off cleanly here
*gc_rd = 0;
break;
}
// check for comment '('
else if (*gc_rd == '(') {
// We only care if it's a "({" in order to handle string-skipping properly
gc_rd++;
if ((*gc_rd == '{') || (((* gc_rd == 'm') || (* gc_rd == 'M')) &&
((*(gc_rd+1) == 's') || (*(gc_rd+1) == 'S')) &&
((*(gc_rd+2) == 'g') || (*(gc_rd+2) == 'G'))
)) {
if (ac_rd == nullptr) {
ac_rd = gc_rd; // note the start of the first AC
}
// skip the comment, handling strings carefully
bool in_string = false;
while (*(++gc_rd) != 0) {
if (*gc_rd=='"') {
in_string = true;
} else if (in_string) {
if ((*gc_rd == '\\') && (*(gc_rd+1) != 0)) {
gc_rd++; // Skip it, it's escaped.
}
} else if ((*gc_rd == ')')) {
break;
}
}
if (*gc_rd == 0) { // We don't want the rd++ later to skip the NULL if we're at one
break;
}
} else {
*(gc_rd-1) = ' '; // Change the '(' to a space to simplify the comment copy later
// skip ahead until we find a ')' (or NULL)
while ((*gc_rd != 0) && (*gc_rd != ')')) {
gc_rd++;
}
}
} else if (!isspace(*gc_rd)) {
bool do_copy = false;
// Perform Octal stripping - remove invalid leading zeros in number strings
// Change 0123.004 to 123.004, or -0234.003 to -234.003
if (isdigit(*gc_rd) || (*gc_rd == '.')) { // treat '.' as a digit so we don't strip after one
if (last_char_was_digit || (*gc_rd != '0') || !isdigit(*(gc_rd+1))) {
do_copy = true;
}
last_char_was_digit = true;
}
else if ((isalnum((char)*gc_rd)) || (strchr("-.", *gc_rd))) { // all valid characters
last_char_was_digit = false;
do_copy = true;
}
if (do_copy) {
*(gc_wr++) = toupper(*gc_rd);
ac_wr++; // move the ac start position
}
}
gc_rd++;
}
// Enforce null termination
*gc_wr = 0;
// note the beginning of the comments
char *comment_start = ac_wr;
if (ac_rd != nullptr) {
// Now we'll copy the comments to the scratch
while (*ac_rd != 0) {
// check for comment '('
// Remember: we're only "counting characters" at this point, no more.
if (*ac_rd == '(') {
// We only care if it's a "({" in order to handle string-skipping properly
ac_rd++;
bool do_copy = false;
bool in_msg = false;
if (((* ac_rd == 'm') || (* ac_rd == 'M')) &&
((*(ac_rd+1) == 's') || (*(ac_rd+1) == 'S')) &&
((*(ac_rd+2) == 'g') || (*(ac_rd+2) == 'G'))
) {
ac_rd += 3;
if (*ac_rd == ' ') {
ac_rd++; // skip the first space.
}
if (*(ac_wr-1) == '}') {
*(ac_wr-1) = ',';
} else {
*(ac_wr++) = '{';
}
*(ac_wr++) = 'm';
*(ac_wr++) = 's';
*(ac_wr++) = 'g';
*(ac_wr++) = ':';
*(ac_wr++) = '"';
// TODO - FIX BUFFER OVERFLOW POTENTIAL
// "(msg)" is four characters. "{msg:" is five. If the write buffer is full, we'll overflow.
// Also " is MSG will be quoted, making one character into two.
in_msg = true;
do_copy = true;
}
else if (*ac_rd == '{') {
// merge json comments
if (*(ac_wr-1) == '}') {
*(ac_wr-1) = ',';
// don't copy the '{'
ac_rd++;
}
do_copy = true;
}
if (do_copy) {
// skip the comment, handling strings carefully
bool in_string = false;
bool escaped = false;
while (*ac_rd != 0) {
if (in_string && (*ac_rd == '\\')) {
escaped = true;
} else if (!escaped && (*ac_rd == '"')) {
// In msg comments, we have to escape "
if (in_msg) {
*(ac_wr++) = '\\';
} else {
in_string = !in_string;
}
} else if (!in_string && (*ac_rd == ')')) {
ac_rd++;
if (in_msg) {
*(ac_wr++) = '"';
*(ac_wr++) = '}';
}
break;
} else {
escaped = false;
}
// Skip spaces if we're not in a string or msg (implicit string)
if (in_string || in_msg || (*ac_rd != ' ')) {
*ac_wr = *ac_rd;
ac_wr++;
}
ac_rd++;
}
}
// We don't want the rd++ later to skip the NULL if we're at one
if (*ac_rd == 0) {
break;
}
}
ac_rd++;
}
}
// Enforce null termination
*ac_wr = 0;
// Now copy it all back
memcpy(str, _normalize_scratch, (ac_wr-_normalize_scratch)+1);
*active_comment = str + (comment_start - _normalize_scratch);
}
/*
* _get_next_gcode_word() - get gcode word consisting of a letter and a value
*
* This function requires the Gcode string to be normalized.
* Normalization must remove any leading zeros or they will be converted to Octal
* G0X... is not interpreted as hexadecimal. This is trapped.
*/
static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value)
{
if (**pstr == NUL) { return (STAT_COMPLETE); } // no more words
// get letter part
if(isupper(**pstr) == false) {
return (STAT_INVALID_OR_MALFORMED_COMMAND);
}
*letter = **pstr;
(*pstr)++;
// X-axis-becomes-a-hexadecimal-number get-value case, e.g. G0X100 --> G255
if ((**pstr == '0') && (*(*pstr+1) == 'X')) {
*value = 0;
(*pstr)++;
return (STAT_OK); // pointer points to X
}
// get-value general case
char *end;
*value = strtof(*pstr, &end);
if(end == *pstr) {
return(STAT_BAD_NUMBER_FORMAT);
} // more robust test then checking for value=0;
*pstr = end;
return (STAT_OK); // pointer points to next character after the word
}
/*
* _point() - isolate the decimal point value as an integer
*/
static uint8_t _point(float value)
{
return((uint8_t)(value*10 - trunc(value)*10)); // isolate the decimal point as an int
}
/*
* _validate_gcode_block() - check for some gross Gcode block semantic violations
*/
static stat_t _validate_gcode_block(char *active_comment)
{
// Check for modal group violations. From NIST, section 3.4 "It is an error to put
// a G-code from group 1 and a G-code from group 0 on the same line if both of them
// use axis words. If an axis word-using G-code from group 1 is implicitly in effect
// on a line (by having been activated on an earlier line), and a group 0 G-code that
// uses axis words appears on the line, the activity of the group 1 G-code is suspended
// for that line. The axis word-using G-codes from group 0 are G10, G28, G30, and G92"
// if ((gp.modals[MODAL_GROUP_G0] == true) && (gp.modals[MODAL_GROUP_G1] == true)) {
// return (STAT_MODAL_GROUP_VIOLATION);
// }
// look for commands that require an axis word to be present
// if ((gp.modals[MODAL_GROUP_G0] == true) || (gp.modals[MODAL_GROUP_G1] == true)) {
// if (_axis_changed() == false)
// return (STAT_GCODE_AXIS_IS_MISSING);
// }
return (STAT_OK);
}
/*
* _parse_gcode_block() - parses one line of NULL terminated G-Code.
*
* All the parser does is load the state values in gn (next model state) and set flags
* in gf (model state flags). The execute routine applies them. The buffer is assumed to
* contain only uppercase characters and signed floats (no whitespace).
*/
static stat_t _parse_gcode_block(char *buf, char *active_comment)
{
char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words
char letter; // parsed letter, eg.g. G or X or Y
float value = 0; // value parsed from letter (e.g. 2 for G2)
stat_t status = STAT_OK;
// set initial state for new move
memset(&gv, 0, sizeof(GCodeValue_t)); // clear all next-state values
memset(&gf, 0, sizeof(GCodeFlag_t)); // clear all next-state flags
gv.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
// Causes a later exception if
// (1) INVERSE_TIME_MODE is active and a feed rate is not provided or
// (2) INVERSE_TIME_MODE is changed to UNITS_PER_MINUTE and a new feed rate is missing
if (cm->gm.feed_rate_mode == INVERSE_TIME_MODE) {// new feed rate req'd when in INV_TIME_MODE
gv.F_word = 0;
gf.F_word = true;
}
// extract commands and parameters
while((status = _get_next_gcode_word(&pstr, &letter, &value)) == STAT_OK) {
switch(letter) {
case 'G':
switch((uint8_t)value) {
case 0: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_TRAVERSE);
case 1: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_FEED);
case 2: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CW_ARC);
case 3: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CCW_ARC);
case 4: SET_NON_MODAL (next_action, NEXT_ACTION_DWELL);
case 10: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G10_DATA);
case 17: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XY);
case 18: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XZ);
case 19: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_YZ);
case 20: SET_MODAL (MODAL_GROUP_G6, units_mode, INCHES);
case 21: SET_MODAL (MODAL_GROUP_G6, units_mode, MILLIMETERS);
case 28: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G28_POSITION);
case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G28_POSITION);
case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SEARCH_HOME);
case 3: SET_NON_MODAL (next_action, NEXT_ACTION_SET_ABSOLUTE_ORIGIN);
case 4: SET_NON_MODAL (next_action, NEXT_ACTION_HOMING_NO_SET);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 30: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G30_POSITION);
case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G30_POSITION);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 38: {
switch (_point(value)) {
case 2: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_ERR);
case 3: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE);
case 4: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR);
case 5: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_AWAY);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 40: break; // ignore cancel cutter radius compensation
case 43: {
switch (_point(value)) {
case 0: SET_NON_MODAL (next_action, NEXT_ACTION_SET_TL_OFFSET);
case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 49: SET_NON_MODAL (next_action, NEXT_ACTION_CANCEL_TL_OFFSET);
case 53: SET_NON_MODAL (absolute_override, ABSOLUTE_OVERRIDE_ON_AND_DISPLAY);
case 54: SET_MODAL (MODAL_GROUP_G12, coord_system, G54);
case 55: SET_MODAL (MODAL_GROUP_G12, coord_system, G55);
case 56: SET_MODAL (MODAL_GROUP_G12, coord_system, G56);
case 57: SET_MODAL (MODAL_GROUP_G12, coord_system, G57);
case 58: SET_MODAL (MODAL_GROUP_G12, coord_system, G58);
case 59: SET_MODAL (MODAL_GROUP_G12, coord_system, G59);
case 61: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_PATH);
case 1: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_STOP);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 64: SET_MODAL (MODAL_GROUP_G13,path_control, PATH_CONTINUOUS);
case 80: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CANCEL_MOTION_MODE);
case 90: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_DISTANCE_MODE);
case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, ABSOLUTE_DISTANCE_MODE);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 91: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_DISTANCE_MODE);
case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, INCREMENTAL_DISTANCE_MODE);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 92: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_ORIGIN_OFFSETS);
case 1: SET_NON_MODAL (next_action, NEXT_ACTION_RESET_ORIGIN_OFFSETS);
case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS);
case 3: SET_NON_MODAL (next_action, NEXT_ACTION_RESUME_ORIGIN_OFFSETS);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 93: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, INVERSE_TIME_MODE);
case 94: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_MINUTE_MODE);
// case 95: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_REVOLUTION_MODE);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
case 'M':
switch((uint8_t)value) {
case 0: case 1: case 60:
SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_STOP);
case 2: case 30:
SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_END);
case 3: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_CW);
case 4: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_CCW);
case 5: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_OFF);
case 6: SET_NON_MODAL (tool_change, true);
case 7: SET_MODAL (MODAL_GROUP_M8, coolant_mist, COOLANT_ON);
case 8: SET_MODAL (MODAL_GROUP_M8, coolant_flood, COOLANT_ON);
case 9: SET_MODAL (MODAL_GROUP_M8, coolant_off, COOLANT_OFF);
case 48: SET_MODAL (MODAL_GROUP_M9, m48_enable, true);
case 49: SET_MODAL (MODAL_GROUP_M9, m48_enable, false);
case 50:
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_M9, fro_control, true);
case 1: SET_MODAL (MODAL_GROUP_M9, tro_control, true);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
case 51: SET_MODAL (MODAL_GROUP_M9, spo_control, true);
case 100: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_COMMAND_SYNC);
case 101: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_WAIT);
default: status = STAT_MCODE_COMMAND_UNSUPPORTED;
}
break;
case 'T': SET_NON_MODAL (tool_select, (uint8_t)trunc(value));
case 'F': SET_NON_MODAL (F_word, value);
case 'P': SET_NON_MODAL (P_word, value); // used for dwell time, G10 coord select
case 'S': SET_NON_MODAL (S_word, value);
case 'X': SET_NON_MODAL (target[AXIS_X], value);
case 'Y': SET_NON_MODAL (target[AXIS_Y], value);
case 'Z': SET_NON_MODAL (target[AXIS_Z], value);
case 'A': SET_NON_MODAL (target[AXIS_A], value);
case 'B': SET_NON_MODAL (target[AXIS_B], value);
case 'C': SET_NON_MODAL (target[AXIS_C], value);
// case 'U': SET_NON_MODAL (target[AXIS_U], value); // reserved
// case 'V': SET_NON_MODAL (target[AXIS_V], value); // reserved
// case 'W': SET_NON_MODAL (target[AXIS_W], value); // reserved
case 'H': SET_NON_MODAL (H_word, value);
case 'I': SET_NON_MODAL (arc_offset[0], value);
case 'J': SET_NON_MODAL (arc_offset[1], value);
case 'K': SET_NON_MODAL (arc_offset[2], value);
case 'L': SET_NON_MODAL (L_word, value);
case 'R': SET_NON_MODAL (arc_radius, value);
case 'N': SET_NON_MODAL (linenum,(uint32_t)value); // line number
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
if(status != STAT_OK) break;
}
if ((status != STAT_OK) && (status != STAT_COMPLETE)) return (status);
ritorno(_validate_gcode_block(active_comment));
return (_execute_gcode_block(active_comment)); // if successful execute the block
}
/*
* _execute_gcode_block() - execute parsed block
*
* Conditionally (based on whether a flag is set in gf) call the canonical machining
* functions in order of execution. Derived from RS274NGC_3 table 8:
*
* 0. record the line number
* 1. comment (includes message) [handled during block normalization]
* 1a. enable or disable overrides (M48, M49)
* 1b. set feed override rate (M50)
* 1c. set traverse override rate (M50.1)
* 1d. set spindle override rate (M51)
* 2. set feed rate mode (G93, G94 - inverse time or per minute)
* 3. set feed rate (F)
* 4. set spindle speed (S)
* 5. select tool (T)
* 6. change tool (M6)
* 7. spindle on or off (M3, M4, M5)
* 8. coolant on or off (M7, M8, M9)
* // 9. enable or disable overrides (M48, M49, M50, M51) (see 1a)
* 10. dwell (G4)
* 11. set active plane (G17, G18, G19)
* 12. set length units (G20, G21)
* 13. cutter radius compensation on or off (G40, G41, G42)
* 14. cutter length compensation on or off (G43, G49)
* 15. coordinate system selection (G54, G55, G56, G57, G58, G59)
* 16. set path control mode (G61, G61.1, G64)
* 17. set distance mode (G90, G91)
* 17a. set arc distance mode (G90.1, G91.1)
* 18. set retract mode (G98, G99)
* 19a. homing functions (G28.2, G28.3, G28.1, G28, G30)
* 19b. update system data (G10)
* 19c. set axis offsets (G92, G92.1, G92.2, G92.3)
* 20. perform motion (G0 to G3, G80-G89) as modified (possibly) by G53
* 21. stop and end (M0, M1, M2, M30, M60)
*
* Values in gv are in original units and should not be unit converted prior
* to calling the canonical functions (which do the unit conversions)
*/
static stat_t _execute_gcode_block(char *active_comment)
{
stat_t status = STAT_OK;
cm_set_model_linenum(gv.linenum);
EXEC_FUNC(cm_m48_enable, m48_enable);
if (gf.fro_control) { // feedrate override
ritorno(cm_fro_control(gv.P_word, gf.P_word));
}
if (gf.tro_control) { // traverse override
ritorno(cm_tro_control(gv.P_word, gf.P_word));
}
if (gf.spo_control) { // spindle speed override
ritorno(spindle_override_control(gv.P_word, gf.P_word));
}
EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode); // G93, G94
EXEC_FUNC(cm_set_feed_rate, F_word); // F
EXEC_FUNC(spindle_speed_sync, S_word); // S
EXEC_FUNC(cm_select_tool, tool_select); // T - tool_select is where it's written
EXEC_FUNC(cm_change_tool, tool_change); // M6 - is where it's effected
if (gf.spindle_control) { // M3, M4, M5 (spindle OFF, CW, CCW)
ritorno(spindle_control_sync((spControl)gv.spindle_control));
}
if (gf.coolant_mist) {
ritorno(coolant_control_sync((coControl)gv.coolant_mist, COOLANT_MIST)); // M7
}
if (gf.coolant_flood) {
ritorno(coolant_control_sync((coControl)gv.coolant_flood, COOLANT_FLOOD)); // M8
}
if (gf.coolant_off) {
ritorno(coolant_control_sync((coControl)gv.coolant_off, COOLANT_BOTH)); // M9
}
if (gv.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
ritorno(cm_dwell(gv.P_word)); // return if error, otherwise complete the block
}
EXEC_FUNC(cm_select_plane, select_plane); // G17, G18, G19
EXEC_FUNC(cm_set_units_mode, units_mode); // G20, G21
//--> cutter radius compensation goes here
switch (gv.next_action) { // Tool length offsets
case NEXT_ACTION_SET_TL_OFFSET: { // G43
ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, false));
break;
}
case NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET: { // G43.2
ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, true));
break;
}
case NEXT_ACTION_CANCEL_TL_OFFSET: { // G49
ritorno(cm_cancel_tl_offset());
break;
}
}
EXEC_FUNC(cm_set_coord_system, coord_system); // G54, G55, G56, G57, G58, G59
if (gf.path_control) { // G61, G61.1, G64
status = cm_set_path_control(MODEL, gv.path_control);
}
EXEC_FUNC(cm_set_distance_mode, distance_mode); // G90, G91
EXEC_FUNC(cm_set_arc_distance_mode, arc_distance_mode); // G90.1, G91.1
//--> set retract mode goes here
switch (gv.next_action) {
case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1
case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(gv.target, gf.target); break;} // G28
case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gv.target, gf.target); break;} // G30
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(gv.target, gf.target); break;} // G28.2
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gv.target, gf.target); break;}// G28.3
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(gv.target, gf.target); break;} // G28.4
case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(gv.target, gf.target, true, true); break;} // G38.2
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(gv.target, gf.target, true, false); break;} // G38.3
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(gv.target, gf.target, false, true); break;} // G38.4
case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(gv.target, gf.target, false, false); break;}// G38.5
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gv.P_word, gf.P_word,
gv.L_word, gf.L_word,
gv.target, gf.target); break;}
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gv.target, gf.target); break;}// G92
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;} // G92.1
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;} // G92.2
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;} // G92.3
case NEXT_ACTION_JSON_COMMAND_SYNC: { status = cm_json_command(active_comment); break;} // M100
case NEXT_ACTION_JSON_WAIT: { status = cm_json_wait(active_comment); break;} // M101
// case NEXT_ACTION_JSON_COMMAND_IMMEDIATE: { status = mp_json_command_immediate(active_comment); break;} // M102
case NEXT_ACTION_DEFAULT: {
cm_set_absolute_override(MODEL, gv.absolute_override); // apply absolute override & display as absolute
switch (gv.motion_mode) {
case MOTION_MODE_CANCEL_MOTION_MODE: { cm->gm.motion_mode = gv.motion_mode; break;} // G80
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gv.target, gf.target); break;} // G0
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gv.target, gf.target); break;} // G1
case MOTION_MODE_CW_ARC: // G2
case MOTION_MODE_CCW_ARC: { status = cm_arc_feed(gv.target, gf.target, // G3
gv.arc_offset, gf.arc_offset,
gv.arc_radius, gf.arc_radius,
gv.P_word, gf.P_word,
gp.modals[MODAL_GROUP_G1],
gv.motion_mode);
break;
}
default: break;
}
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // un-set absolute override once the move is planned
}
}
// do the program stops and ends : M0, M1, M2, M30, M60
if (gf.program_flow == true) {
if (gv.program_flow == PROGRAM_STOP) {
cm_program_stop();
} else {
cm_program_end();
}
}
return (status);
}
/***********************************************************************************
* CONFIGURATION AND INTERFACE FUNCTIONS
* Functions to get and set variables from the cfgArray table
***********************************************************************************/
stat_t gc_get_gc(nvObj_t *nv)
{
ritorno(nv_copy_string(nv, cs.saved_buf));
nv->valuetype = TYPE_STRING;
return (STAT_OK);
}
stat_t gc_run_gc(nvObj_t *nv)
{
return(gcode_parser(*nv->stringp));
}
/***********************************************************************************
* TEXT MODE SUPPORT
* Functions to print variables from the cfgArray table
***********************************************************************************/
#ifdef __TEXT_MODE
// no text mode functions here. Move along
#endif // __TEXT_MODE
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