mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 08:34:01 +08:00
e272f773b5
Added tool name, pocket number and some lathe specific data fields to the $# tool output when available from the tool table. If name is available it will be output as a push message on M6 if there is no message in the same block. Added support for directory up, .., to VFS. Added new option to $650 - File systems options to enable hierarchical listing of files and directories via $F and $F+ commands.
289 lines
15 KiB
C
289 lines
15 KiB
C
/*
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core_handlers.h - core event handler entry points and some reporting entry points
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Part of grblHAL
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Copyright (c) 2020-2025 Terje Io
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*! \file
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\brief core function pointers and data structures definitions.
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*/
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#pragma once
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#include "system.h"
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#include "stream.h"
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#include "alarms.h"
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#include "errors.h"
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#include "settings.h"
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#include "report.h"
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#include "planner.h"
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#include "machine_limits.h"
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#include "vfs.h"
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typedef enum {
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OverrideChanged_FeedRate = 0,
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OverrideChanged_RapidRate = 0,
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OverrideChanged_SpindleRPM = 0,
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OverrideChanged_SpindleState = 0,
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OverrideChanged_CoolantState = 0,
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OverrideChanged_FanState = 0
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} override_changed_t;
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/* TODO: add to grbl pointers so that a different formatting (xml, json etc) of reports may be implemented by a plugin?
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typedef struct {
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void (*report_echo_line_received)(char *line);
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void (*report_realtime_status)(stream_write_ptr stream_write);
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void (*report_probe_parameters)(void);
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void (*report_ngc_parameters)(void);
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void (*report_gcode_modes)(void);
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void (*report_startup_line)(uint8_t n, char *line);
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void (*report_execute_startup_message)(char *line, status_code_t status_code);
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} grbl_report_t;
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*/
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// Report entry points set by core at startup and reset.
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typedef void (*init_message_ptr)(stream_write_ptr write);
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typedef void (*help_message_ptr)(void);
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typedef status_code_t (*status_message_ptr)(status_code_t status_code);
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typedef message_code_t (*feedback_message_ptr)(message_code_t message_code);
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typedef alarm_code_t (*alarm_message_ptr)(alarm_code_t alarm_code);
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typedef struct {
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init_message_ptr init_message; //!< Prints system welcome message.
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help_message_ptr help_message; //!< Prints system help message.
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status_message_ptr status_message; //!< Prints system status messages.
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feedback_message_ptr feedback_message; //!< Prints miscellaneous feedback messages.
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alarm_message_ptr alarm_message; //!< Prints alarm message.
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setting_output_ptr setting;
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} report_t;
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// Core event handler and other entry points.
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// Most of the event handlers defaults to NULL, a few is set up to call a dummy handler for simpler code.
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typedef bool (*enqueue_gcode_ptr)(char *data);
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typedef bool (*protocol_enqueue_realtime_command_ptr)(char c);
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typedef bool (*travel_limits_ptr)(float *target, axes_signals_t axes, bool is_cartesian, work_envelope_t *envelope);
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typedef bool (*arc_limits_ptr)(coord_data_t *target, coord_data_t *position, point_2d_t center, float radius, plane_t plane, int32_t turns, work_envelope_t *envelope);
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typedef void (*apply_travel_limits_ptr)(float *target, float *position, work_envelope_t *envelope);
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typedef bool (*home_machine_ptr)(axes_signals_t cycle, axes_signals_t auto_square);
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typedef void (*on_parser_init_ptr)(parser_state_t *gc_state);
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typedef void (*on_state_change_ptr)(sys_state_t state);
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typedef void (*on_override_changed_ptr)(override_changed_t override);
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typedef void (*on_spindle_programmed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode);
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typedef void (*on_spindle_at_speed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state);
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typedef void (*on_wco_changed_ptr)(void);
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typedef void (*on_wco_saved_ptr)(coord_system_id_t id, coord_data_t *data);
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typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
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typedef void (*on_execute_realtime_ptr)(sys_state_t state);
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typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
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typedef void (*on_cycle_start_ptr)(void);
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typedef void (*on_control_signals_changed_ptr)(control_signals_t signals);
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typedef bool (*on_unknown_realtime_cmd_ptr)(char c);
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typedef void (*on_report_handlers_init_ptr)(void);
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typedef void (*on_report_options_ptr)(bool newopt);
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typedef void (*on_report_ngc_parameters_ptr)(void);
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typedef void (*on_report_command_help_ptr)(void);
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typedef const char *(*on_setting_get_description_ptr)(setting_id_t id);
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typedef void (*on_global_settings_restore_ptr)(void);
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typedef void (*on_realtime_report_ptr)(stream_write_ptr stream_write, report_tracking_flags_t report);
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typedef void (*on_unknown_feedback_message_ptr)(stream_write_ptr stream_write);
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typedef void (*on_stream_changed_ptr)(stream_type_t type);
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typedef void (*on_mpg_registered_ptr)(io_stream_t *stream, bool tx_capable);
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typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
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typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, homing_mode_t mode);
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// NOTE: cycle contains the axis flags of the executed homing cycle, success will be true when all the configured cycles are completed.
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typedef void (*on_homing_completed_ptr)(axes_signals_t cycle, bool success);
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typedef bool (*on_probe_toolsetter_ptr)(tool_data_t *tool, coord_data_t *position, bool at_g59_3, bool on);
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typedef bool (*on_probe_start_ptr)(axes_signals_t axes, float *target, plan_line_data_t *pl_data);
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typedef void (*on_probe_completed_ptr)(void);
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typedef void (*on_tool_selected_ptr)(tool_data_t *tool);
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typedef void (*on_tool_changed_ptr)(tool_data_t *tool);
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typedef void (*on_toolchange_ack_ptr)(void);
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typedef void (*on_reset_ptr)(void);
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typedef void (*on_jog_cancel_ptr)(sys_state_t state);
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typedef bool (*on_spindle_select_ptr)(spindle_ptrs_t *spindle);
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typedef void (*on_spindle_selected_ptr)(spindle_ptrs_t *spindle);
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typedef char *(*on_process_gcode_comment_ptr)(char *msg);
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typedef status_code_t (*on_gcode_message_ptr)(char *msg);
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typedef void (*on_rt_reports_added_ptr)(report_tracking_flags_t report);
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typedef const char *(*on_set_axis_setting_unit_ptr)(setting_id_t setting_id, uint_fast8_t axis_idx);
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typedef status_code_t (*on_file_open_ptr)(const char *fname, vfs_file_t *handle, bool stream);
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typedef status_code_t (*on_file_end_ptr)(vfs_file_t *handle, status_code_t status);
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typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
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typedef status_code_t (*on_user_command_ptr)(char *line);
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typedef sys_commands_t *(*on_get_commands_ptr)(void);
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typedef status_code_t (*on_macro_execute_ptr)(macro_id_t macro); // macro implementations _must_ claim hal.stream.read to stream macros!
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typedef void (*on_macro_return_ptr)(void);
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typedef void (*on_file_demarcate_ptr)(bool start);
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typedef tool_table_entry_t *(*get_tool_ptr)(tool_id_t tool_id);
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typedef tool_table_entry_t *(*get_tool_by_idx_ptr)(uint32_t idx);
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typedef bool (*set_tool_data_ptr)(tool_data_t *tool_data);
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typedef bool (*clear_tool_data_ptr)(void);
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typedef struct {
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uint32_t n_tools;
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get_tool_ptr get_tool;
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get_tool_by_idx_ptr get_tool_by_idx;
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set_tool_data_ptr set_tool;
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clear_tool_data_ptr clear;
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} tool_table_t;
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/*****************
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* User M-code *
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*****************/
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typedef enum {
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UserMCode_Unsupported = 0, //!< 0 - M-code is not supported.
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UserMCode_Normal, //!< 1 - M-code is supported.
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UserMCode_NoValueWords //!< 2 - M-code supports valueless parameter words.
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} user_mcode_type_t;
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/*! \brief Pointer to function for checking if user defined M-code is supported.
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\param mcode as a #user_mcode_t enum.
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\returns #UserMCode_Normal or #UserMCode_NoValueWords if M-code is handled, #UserMCode_Unsupported if not.
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*/
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typedef user_mcode_type_t (*user_mcode_check_ptr)(user_mcode_t mcode);
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/*! \brief Pointer to function for validating parameters for a user defined M-code.
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The M-code to validate is found in \a gc_block->user_mcode, parameter values in \a gc_block->values
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and corresponding parameter letters in the \a gc_block->words bitfield union.
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Parameter values claimed by the M-code must be flagged in the \a gc_block->words bitfield union by setting the
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respective parameter letters to \a false or the parser will raise the #Status_GcodeUnusedWords error.
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The validation function may set \a gc_block->user_mcode_sync to \a true if it is to be executed
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after all buffered motions are completed, otherwise it will be executed immediately.
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__NOTE:__ Valueless parameter letters are allowed for floats if the check function returns
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#UserMCode_NoValueWords for the M-code. The corresponding values are set to NAN (not a number)
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if no value is given.
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The validation function should always test all parameter values by using the isnan() function in addition
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to any range checks when the check function returns #UserMCode_NoValueWords for the M-code.
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\param gc_block pointer to a parser_block_t structure.
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\returns #Status_OK enum value if validated ok, appropriate \ref status_code_t enum value if not or #Status_Unhandled if the M-code is not recognized.
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*/
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typedef status_code_t (*user_mcode_validate_ptr)(parser_block_t *gc_block);
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/*! \brief Pointer to function for executing a user defined M-code.
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The M-code to execute is found in \a gc_block->user_mcode, parameter values in \a gc_block->values
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and claimed/validated parameter letters in the \a gc_block->words bitfield union.
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\param state as a #sys_state_t variable.
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\param gc_block pointer to a parser_block_t structure.
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\returns #Status_OK enum value if validated ok, appropriate \ref status_code_t enum value if not or #Status_Unhandled if M-code is not recognized.
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*/
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typedef void (*user_mcode_execute_ptr)(sys_state_t state, parser_block_t *gc_block);
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/*! \brief Optional handlers for user defined M-codes.
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Handlers may be chained so that several plugins can add M-codes.
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Chaining is achieved by saving a copy of the current user_mcode_ptrs_t struct
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when the plugin is initialized and calling the same handler via the copy when a
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M-code is not recognized.
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*/
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typedef struct {
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user_mcode_check_ptr check; //!< Handler for checking if a user defined M-code is supported.
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user_mcode_validate_ptr validate; //!< Handler for validating parameters for a user defined M-code.
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user_mcode_execute_ptr execute; //!< Handler for executing a user defined M-code.
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} user_mcode_ptrs_t;
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typedef settings_changed_ptr on_settings_changed_ptr;
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typedef struct {
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// report entry points set by core at reset.
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report_t report;
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//
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tool_table_t tool_table;
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// grbl core events - may be subscribed to by drivers or by the core.
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on_parser_init_ptr on_parser_init;
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on_state_change_ptr on_state_change;
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on_override_changed_ptr on_override_changed;
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on_report_handlers_init_ptr on_report_handlers_init;
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on_spindle_programmed_ptr on_spindle_programmed;
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on_spindle_at_speed_ptr on_spindle_at_speed;
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on_wco_changed_ptr on_wco_changed;
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on_wco_saved_ptr on_wco_saved;
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on_program_completed_ptr on_program_completed;
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on_execute_realtime_ptr on_execute_realtime;
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on_execute_realtime_ptr on_execute_delay;
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on_unknown_accessory_override_ptr on_unknown_accessory_override;
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on_report_options_ptr on_report_options;
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on_report_ngc_parameters_ptr on_report_ngc_parameters;
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on_report_command_help_ptr on_report_command_help; //!< Deprecated, use system_register_commands() to register new commands.
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on_rt_reports_added_ptr on_rt_reports_added;
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on_settings_changed_ptr on_settings_changed; //!< Called on initial settings load and on setting changes.
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on_global_settings_restore_ptr on_global_settings_restore;
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on_setting_get_description_ptr on_setting_get_description;
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on_get_alarms_ptr on_get_alarms;
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on_get_errors_ptr on_get_errors;
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on_get_settings_ptr on_get_settings;
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on_realtime_report_ptr on_realtime_report;
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on_unknown_feedback_message_ptr on_unknown_feedback_message;
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on_cycle_start_ptr on_cycle_start; //!< Called from interrupt context. NOTE: this is for the cycle start signal.
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on_control_signals_changed_ptr on_control_signals_changed; //!< Called from interrupt context. NOTE: this is only for cycle start and some of the optional signals.
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on_unknown_realtime_cmd_ptr on_unknown_realtime_cmd; //!< Called from interrupt context.
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on_unknown_sys_command_ptr on_unknown_sys_command; //!< Return Status_Unhandled if not handled.
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on_get_commands_ptr on_get_commands; //!< Deprecated, use system_register_commands() to register new commands.
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on_user_command_ptr on_user_command;
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on_stream_changed_ptr on_stream_changed;
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on_mpg_registered_ptr on_mpg_registered;
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on_homing_rate_set_ptr on_homing_rate_set;
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on_homing_completed_ptr on_homing_completed;
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on_probe_toolsetter_ptr on_probe_toolsetter;
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on_probe_start_ptr on_probe_start;
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on_probe_completed_ptr on_probe_completed;
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on_set_axis_setting_unit_ptr on_set_axis_setting_unit;
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on_process_gcode_comment_ptr on_process_gcode_comment;
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on_gcode_message_ptr on_gcode_message; //!< Called on output of message parsed from gcode. NOTE: string pointed to is freed after this call.
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on_gcode_message_ptr on_gcode_comment; //!< Called when a plain gcode comment has been parsed.
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on_tool_selected_ptr on_tool_selected; //!< Called prior to executing M6 or after executing M61.
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on_tool_changed_ptr on_tool_changed; //!< Called after executing M6 or M61.
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on_toolchange_ack_ptr on_toolchange_ack; //!< Called from interrupt context.
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on_jog_cancel_ptr on_jog_cancel; //!< Called from interrupt context.
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on_laser_ppi_enable_ptr on_laser_ppi_enable;
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on_spindle_select_ptr on_spindle_select; //!< Called before spindle is selected, hook in HAL overrides here
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on_spindle_selected_ptr on_spindle_selected; //!< Called when spindle is selected, do not change HAL pointers here!
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on_reset_ptr on_reset; //!< Called from interrupt context.
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on_file_demarcate_ptr on_file_demarcate; //!< Called when percent sign is parsed in the gcode stream.
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on_file_open_ptr on_file_open; //!< Called when a file is opened for streaming.
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on_file_end_ptr on_file_end; //!< Called when a file opened for streaming reaches the end.
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user_mcode_ptrs_t user_mcode; //!< Optional handlers for user defined M-codes.
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// core entry points - set up by core before driver_init() is called.
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home_machine_ptr home_machine;
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travel_limits_ptr check_travel_limits;
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arc_limits_ptr check_arc_travel_limits;
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apply_travel_limits_ptr apply_travel_limits;
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enqueue_gcode_ptr enqueue_gcode;
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enqueue_realtime_command_ptr enqueue_realtime_command;
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on_macro_execute_ptr on_macro_execute;
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on_macro_return_ptr on_macro_return; //!< NOTE: will be cleared on a hal.driver_reset call.
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} grbl_t;
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extern grbl_t grbl;
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/*EOF*/
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