mirror of
https://github.com/grblHAL/core.git
synced 2026-02-06 00:52:35 +08:00
adba5d031c
Added ADC/DAC resolution to $pinstate command, changed reported values to integer for ADC/DAC devices and float formatted for PWM devices. Numeric settings can now be set via G65P1Q<n>S<value>, <n> is the setting number, <value> is the new value. Changed alarm code for Modbus exceptions (communication errors) from 14 to 19. Refactored MPG stream code to allow plugins to hook into MPG streams (via event handler). Added _free memory system parameter, returns value in KBytes or -1 if not available from driver. Changed basic stream data type from char to uint8_t, added HAL function and core API for releasing/closing UART streams.
291 lines
15 KiB
C
291 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_data_t *(*get_tool_ptr)(tool_id_t tool_id);
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typedef tool_data_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 pocket_id_t (*get_pocket_ptr)(tool_id_t tool_id);
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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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get_pocket_ptr get_pocket;
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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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