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g2/TinyG2/gcode_parser.cpp
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/*
* gcode_parser.cpp - rs274/ngc Gcode parser
* This file is part of the TinyG project
*
* Copyright (c) 2010 - 2014 Alden S. Hart, Jr.
*
* 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 "tinyg2.h" // #1
#include "config.h" // #2
#include "controller.h"
#include "gcode_parser.h"
#include "canonical_machine.h"
#include "spindle.h"
#include "util.h"
#include "xio.h" // for char definitions
#ifdef __cplusplus
extern "C"{
#endif // __cplusplus
struct gcodeParserSingleton { // struct to manage globals
uint8_t modals[MODAL_GROUP_COUNT];// collects modal groups in a block
}; struct gcodeParserSingleton gp;
// local helper functions and macros
static void _normalize_gcode_block(char_t *cmd, char_t **com, char_t **msg, 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(void);
static stat_t _parse_gcode_block(char_t *line); // Parse the block into the GN/GF structs
static stat_t _execute_gcode_block(void); // Execute the gcode block
#define SET_MODAL(m,parm,val) ({cm.gn.parm=val; cm.gf.parm=1; gp.modals[m]+=1; break;})
#define SET_NON_MODAL(parm,val) ({cm.gn.parm=val; cm.gf.parm=1; break;})
#define EXEC_FUNC(f,v) if((uint8_t)cm.gf.v != false) { status = f(cm.gn.v);}
/*
* gc_gcode_parser() - parse a block (line) of gcode
*
* Top level of gcode parser. Normalizes block and looks for special cases
*/
stat_t gc_gcode_parser(char_t *block)
{
char_t *cmd = block; // gcode command or NUL string
char_t none = NUL;
char_t *com = &none; // gcode comment or NUL string
char_t *msg = &none; // gcode message or NUL string
uint8_t block_delete_flag;
// don't process Gcode blocks if in alarmed state
if (cm.machine_state == MACHINE_ALARM) return (STAT_MACHINE_ALARMED);
_normalize_gcode_block(cmd, &com, &msg, &block_delete_flag);
// 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);
}
// queue a "(MSG" response
if (*msg != NUL) {
(void)cm_message(msg); // queue the message
}
return(_parse_gcode_block(block));
}
/*
* _normalize_gcode_block() - normalize a block (line) of gcode in place
*
* Normalization functions:
* - 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
*
* So this: " g1 x100 Y100 f400" becomes this: "G1X100Y100F400"
*
* Comment and message handling:
* - Comments field start with a '(' char or alternately a semicolon ';'
* - Comments and messages are not normalized - they are left alone
* - 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
* - Comments always terminate the block - i.e. leading or embedded comments are not supported
* - Valid cases (examples) Notes:
* G0X10 - command only - no comment
* (comment text) - There is no command on this line
* G0X10 (comment text)
* G0X10 (comment text - It's OK to drop the trailing paren
* G0X10 ;comment text - It's OK to drop the trailing paren
*
* - Invalid cases (examples) Notes:
* G0X10 comment text - Comment with no separator
* N10 (comment) G0X10 - embedded comment. G0X10 will be ignored
* (comment) G0X10 - leading comment. G0X10 will be ignored
* G0X10 # comment - invalid separator
*
* 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 void _normalize_gcode_block(char_t *cmd, char_t **com, char_t **msg, uint8_t *block_delete_flag)
{
char_t *rd = cmd; // read pointer
char_t *wr = cmd; // write pointer
// Preset comments and messages to NUL string
// Not required if com and msg already point to NUL on entry
// for (rd = cmd; *rd != NUL; rd++) { if (*rd == NUL) { *com = rd; *msg = rd; rd = cmd;} }
// mark block deletes
if (*rd == '/') { *block_delete_flag = true; }
else { *block_delete_flag = false; }
// normalize the command block & find the comment (if any)
for (; *wr != NUL; rd++) {
if (*rd == NUL) { *wr = NUL; }
else if ((*rd == '(') || (*rd == ';')) { *wr = NUL; *com = rd+1; }
else if ((isalnum((char)*rd)) || (strchr("-.", *rd))) { // all valid characters
*(wr++) = (char_t)toupper((char)*(rd));
}
}
// Perform Octal stripping - remove invalid leading zeros in number strings
rd = cmd;
while (*rd != NUL) {
if (*rd == '.') break; // don't strip past a decimal point
if ((!isdigit(*rd)) && (*(rd+1) == '0') && (isdigit(*(rd+2)))) {
wr = rd+1;
while (*wr != NUL) { *wr = *(wr+1); wr++;} // copy forward w/overwrite
continue;
}
rd++;
}
// process comments and messages
if (**com != NUL) {
rd = *com;
while (isspace(*rd)) { rd++; } // skip any leading spaces before "msg"
if ((tolower(*rd) == 'm') && (tolower(*(rd+1)) == 's') && (tolower(*(rd+2)) == 'g')) {
*msg = rd+3;
}
for (; *rd != NUL; rd++) {
if (*rd == ')') *rd = NUL; // NUL terminate on trailing parenthesis, if any
}
}
}
/*
* _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_MALFORMED_COMMAND_INPUT); }
*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()
{
// 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_WORD_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).
*
* A number of implicit things happen when the gn struct is zeroed:
* - inverse feed rate mode is canceled - set back to units_per_minute mode
*/
static stat_t _parse_gcode_block(char_t *buf)
{
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(&gp, 0, sizeof(gp)); // clear all parser values
memset(&cm.gf, 0, sizeof(GCodeInput_t)); // clear all next-state flags
memset(&cm.gn, 0, sizeof(GCodeInput_t)); // clear all next-state values
cm.gn.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
// 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_COORD_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_UNRECOGNIZED_COMMAND;
}
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_UNRECOGNIZED_COMMAND;
}
break;
}
case 38: {
switch (_point(value)) {
case 2: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE);
default: status = STAT_UNRECOGNIZED_COMMAND;
}
break;
}
case 40: break; // ignore cancel cutter radius compensation
case 49: break; // ignore cancel tool length offset comp.
case 53: SET_NON_MODAL (absolute_override, true);
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_UNRECOGNIZED_COMMAND;
}
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: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
case 91: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
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_UNRECOGNIZED_COMMAND;
}
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_UNRECOGNIZED_COMMAND;
}
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_mode, SPINDLE_CW);
case 4: SET_MODAL (MODAL_GROUP_M7, spindle_mode, SPINDLE_CCW);
case 5: SET_MODAL (MODAL_GROUP_M7, spindle_mode, SPINDLE_OFF);
case 6: SET_NON_MODAL (tool_change, true);
case 7: SET_MODAL (MODAL_GROUP_M8, mist_coolant, true);
case 8: SET_MODAL (MODAL_GROUP_M8, flood_coolant, true);
case 9: SET_MODAL (MODAL_GROUP_M8, flood_coolant, false);
case 48: SET_MODAL (MODAL_GROUP_M9, override_enables, true);
case 49: SET_MODAL (MODAL_GROUP_M9, override_enables, false);
case 50: SET_MODAL (MODAL_GROUP_M9, feed_rate_override_enable, true); // conditionally true
case 51: SET_MODAL (MODAL_GROUP_M9, spindle_override_enable, true); // conditionally true
default: status = STAT_UNRECOGNIZED_COMMAND;
}
break;
case 'T': SET_NON_MODAL (tool_select, (uint8_t)trunc(value));
case 'F': SET_NON_MODAL (feed_rate, value);
case 'P': SET_NON_MODAL (parameter, value); // used for dwell time, G10 coord select
case 'S': SET_NON_MODAL (spindle_speed, 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 '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 'R': SET_NON_MODAL (arc_radius, value);
case 'N': SET_NON_MODAL (linenum,(uint32_t)value); // line number
case 'L': break; // not used for anything
default: status = STAT_UNRECOGNIZED_COMMAND;
}
if(status != STAT_OK) break;
}
if ((status != STAT_OK) && (status != STAT_COMPLETE)) return (status);
ritorno(_validate_gcode_block());
return (_execute_gcode_block()); // 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 as per RS274NGC_3 table 8
* (below, with modifications):
*
* 0. record the line number
* 1. comment (includes message) [handled during block normalization]
* 2. set feed rate mode (G93, G94 - inverse time or per minute)
* 3. set feed rate (F)
* 3a. set feed override rate (M50.1)
* 3a. set traverse override rate (M50.2)
* 4. set spindle speed (S)
* 4a. set spindle override rate (M51.1)
* 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)
* 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)
* 18. set retract mode (G98, G99)
* 19a. homing functions (G28.2, G28.3, G28.1, G28, G30)
* 19b. change coordinate 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 gn 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()
{
stat_t status = STAT_OK;
cm_set_model_linenum(cm.gn.linenum);
EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode);
EXEC_FUNC(cm_set_feed_rate, feed_rate);
EXEC_FUNC(cm_feed_rate_override_factor, feed_rate_override_factor);
EXEC_FUNC(cm_traverse_override_factor, traverse_override_factor);
EXEC_FUNC(cm_set_spindle_speed, spindle_speed);
EXEC_FUNC(cm_spindle_override_factor, spindle_override_factor);
EXEC_FUNC(cm_select_tool, tool_select); // tool_select is where it's written
EXEC_FUNC(cm_change_tool, tool_change);
EXEC_FUNC(cm_spindle_control, spindle_mode); // spindle on or off
EXEC_FUNC(cm_mist_coolant_control, mist_coolant);
EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // also disables mist coolant if OFF
EXEC_FUNC(cm_feed_rate_override_enable, feed_rate_override_enable);
EXEC_FUNC(cm_traverse_override_enable, traverse_override_enable);
EXEC_FUNC(cm_spindle_override_enable, spindle_override_enable);
EXEC_FUNC(cm_override_enables, override_enables);
if (cm.gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
ritorno(cm_dwell(cm.gn.parameter)); // return if error, otherwise complete the block
}
EXEC_FUNC(cm_select_plane, select_plane);
EXEC_FUNC(cm_set_units_mode, units_mode);
//--> cutter radius compensation goes here
//--> cutter length compensation goes here
EXEC_FUNC(cm_set_coord_system, coord_system);
EXEC_FUNC(cm_set_path_control, path_control);
EXEC_FUNC(cm_set_distance_mode, distance_mode);
//--> set retract mode goes here
switch (cm.gn.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(cm.gn.target, cm.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(cm.gn.target, cm.gf.target); break;} // G30
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(); break;} // G28.2
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(cm.gn.target, cm.gf.target); break;}// G28.3
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(); break;} // G28.4
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target); break;} // G38.2
case NEXT_ACTION_SET_COORD_DATA: { status = cm_set_coord_offsets(cm.gn.parameter, cm.gn.target, cm.gf.target); break;}
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(cm.gn.target, cm.gf.target); break;}
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;}
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;}
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;}
case NEXT_ACTION_DEFAULT: {
cm_set_absolute_override(MODEL, cm.gn.absolute_override); // apply override setting to gm struct
switch (cm.gn.motion_mode) {
case MOTION_MODE_CANCEL_MOTION_MODE: { cm.gm.motion_mode = cm.gn.motion_mode; break;}
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(cm.gn.target, cm.gf.target); break;}
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(cm.gn.target, cm.gf.target); break;}
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// gf.radius sets radius mode if radius was collected in gn
{ status = cm_arc_feed(cm.gn.target, cm.gf.target, cm.gn.arc_offset[0], cm.gn.arc_offset[1],
cm.gn.arc_offset[2], cm.gn.arc_radius, cm.gn.motion_mode); break;}
}
}
}
cm_set_absolute_override(MODEL, false); // un-set absolute override once the move is planned
// do the M stops: M0, M1, M2, M30, M60
if (cm.gf.program_flow == true) {
if (cm.gn.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(cmdObj_t *cmd)
{
ritorno(cmd_copy_string(cmd, cs.in_buf));
cmd->objtype = TYPE_STRING;
return (STAT_OK);
}
stat_t gc_run_gc(cmdObj_t *cmd)
{
return(gc_gcode_parser(*cmd->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
#ifdef __cplusplus
}
#endif
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