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grblHAL/ngc_flowctrl.c

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/*
ngc_flowctrl.c - An embedded CNC Controller with rs274/ngc (g-code) support
Program flow control, for filesystem macros
Part of grblHAL
Copyright (c) 2023 Terje Io
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "hal.h"
#if NGC_EXPRESSIONS_ENABLE
#include <string.h>
#include "errors.h"
#include "ngc_expr.h"
#include "ngc_params.h"
typedef enum {
NGCFlowCtrl_NoOp = 0,
NGCFlowCtrl_If,
NGCFlowCtrl_ElseIf,
NGCFlowCtrl_Else,
NGCFlowCtrl_EndIf,
NGCFlowCtrl_Do,
NGCFlowCtrl_Continue,
NGCFlowCtrl_Break,
NGCFlowCtrl_While,
NGCFlowCtrl_EndWhile,
NGCFlowCtrl_Repeat,
NGCFlowCtrl_EndRepeat,
NGCFlowCtrl_Return,
NGCFlowCtrl_RaiseAlarm,
NGCFlowCtrl_RaiseError
} ngc_cmd_t;
typedef struct {
uint32_t o_label;
ngc_cmd_t operation;
vfs_file_t *file;
size_t file_pos;
char *expr;
uint32_t repeats;
bool skip;
bool handled;
} ngc_cmd_stack_t;
static ngc_cmd_stack_t stack[10] = {0};
static int_fast8_t stack_index = -1;
static status_code_t read_command (char *line, uint_fast8_t *pos, ngc_cmd_t *operation)
{
char c = line[*pos];
status_code_t status = Status_OK;
(*pos)++;
switch(c) {
case 'A':
if (!strncmp(line + *pos, "LARM", 4)) {
*operation = NGCFlowCtrl_RaiseAlarm;
*pos += 4;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
break;
case 'B':
if (!strncmp(line + *pos, "REAK", 4)) {
*operation = NGCFlowCtrl_Break;
*pos += 4;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
break;
case 'C':
if (!strncmp(line + *pos, "ONTINUE", 7)) {
*operation = NGCFlowCtrl_Continue;
*pos += 7;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
break;
case 'D':
if (line[*pos] == 'O') {
*operation = NGCFlowCtrl_Do;
(*pos)++;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with R
break;
case 'E':
if (!strncmp(line + *pos, "LSEIF", 5)) {
*operation = NGCFlowCtrl_ElseIf;
*pos += 5;
} else if (!strncmp(line + *pos, "LSE", 3)) {
*operation = NGCFlowCtrl_Else;
*pos += 3;
} else if (!strncmp(line + *pos, "NDIF", 4)) {
*operation = NGCFlowCtrl_EndIf;
*pos += 4;
} else if (!strncmp(line + *pos, "NDWHILE", 7)) {
*operation = NGCFlowCtrl_EndWhile;
*pos += 7;
} else if (!strncmp(line + *pos, "NDREPEAT", 8)) {
*operation = NGCFlowCtrl_EndRepeat;
*pos += 8;
} else if (!strncmp(line + *pos, "RROR", 4)) {
*operation = NGCFlowCtrl_RaiseError;
*pos += 4;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
break;
case 'I':
if(line[*pos] == 'F') {
*operation = NGCFlowCtrl_If;
(*pos)++;
} else
*operation = Status_FlowControlSyntaxError;
break;
case 'R':
if (!strncmp(line + *pos, "EPEAT", 5)) {
*operation = NGCFlowCtrl_Repeat;
*pos += 5;
} else if (!strncmp(line + *pos, "ETURN", 5)) {
*operation = NGCFlowCtrl_Return;
*pos += 5;
} else
*operation = Status_FlowControlSyntaxError;
break;
case 'W':
if (!strncmp(line + *pos, "HILE", 4)) {
*operation = NGCFlowCtrl_While;
*pos += 4;
} else
status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
break;
default:
status = Status_FlowControlSyntaxError; // Unknown operation name
}
return status;
}
void ngc_flowctrl_init (void)
{
if(stack_index >= 0) do {
if(stack[stack_index].expr)
free(stack[stack_index].expr);
} while(--stack_index != -1);
memset(stack, 0, sizeof(stack));
}
status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, bool *skip)
{
float value;
bool skipping;
ngc_cmd_t operation, last_op;
status_code_t status;
if((status = read_command(line, pos, &operation)) != Status_OK)
return status;
skipping = stack_index >= 0 && stack[stack_index].skip;
last_op = stack_index >= 0 ? stack[stack_index].operation : NGCFlowCtrl_NoOp;
switch(operation) {
case NGCFlowCtrl_If:
if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
stack[++stack_index].o_label = o_label;
stack[stack_index].operation = operation;
stack[stack_index].o_label = o_label;
stack[stack_index].file = sys.macro_file;
stack[stack_index].skip = value == 0.0f;
stack[stack_index].handled = !stack[stack_index].skip;
}
break;
case NGCFlowCtrl_ElseIf:
if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf) {
if(o_label == stack[stack_index].o_label &&
!(stack[stack_index].skip = stack[stack_index].handled) && !stack[stack_index].handled &&
(status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
if(!(stack[stack_index].skip = value == 0.0f)) {
stack[stack_index].operation = operation;
stack[stack_index].handled = true;
}
}
} else
status = Status_FlowControlSyntaxError;
break;
case NGCFlowCtrl_Else:
if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf) {
if(o_label == stack[stack_index].o_label) {
if(!(stack[stack_index].skip = stack[stack_index].handled))
stack[stack_index].operation = operation;
}
} else
status = Status_FlowControlSyntaxError;
break;
case NGCFlowCtrl_EndIf:
if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf || last_op == NGCFlowCtrl_Else) {
if(o_label == stack[stack_index].o_label)
stack_index--;
} else
status = Status_FlowControlSyntaxError;
break;
case NGCFlowCtrl_Do:
if(sys.macro_file) {
if(!skipping) {
stack[++stack_index].operation = operation;
stack[stack_index].o_label = o_label;
stack[stack_index].file = sys.macro_file;
stack[stack_index].file_pos = vfs_tell(sys.macro_file);
stack[stack_index].skip = false;
}
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_While:
if(sys.macro_file) {
char *expr = line + *pos;
if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
if(last_op == NGCFlowCtrl_Do) {
if(o_label == stack[stack_index].o_label) {
if(value != 0.0f)
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
else
stack_index--;
}
} else {
stack[++stack_index].operation = operation;
stack[stack_index].o_label = o_label;
if(!(stack[stack_index].skip = value == 0.0f)) {
if((stack[stack_index].expr = malloc(strlen(expr) + 1))) {
strcpy(stack[stack_index].expr, expr);
stack[stack_index].file = sys.macro_file;
stack[stack_index].file_pos = vfs_tell(sys.macro_file);
} else
status = Status_FlowControlOutOfMemory;
}
}
}
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_EndWhile:
if(sys.macro_file) {
if(last_op == NGCFlowCtrl_While) {
if(o_label == stack[stack_index].o_label) {
uint_fast8_t pos = 0;
if(!stack[stack_index].skip && (status = ngc_eval_expression(stack[stack_index].expr, &pos, &value)) == Status_OK) {
if(!(stack[stack_index].skip = value == 0))
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
}
if(stack[stack_index].skip) {
if(stack[stack_index].expr) {
free(stack[stack_index].expr);
stack[stack_index].expr = NULL;
}
stack_index--;
}
}
} else
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_Repeat:
if(sys.macro_file) {
if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
stack[++stack_index].operation = operation;
stack[stack_index].o_label = o_label;
if(!(stack[stack_index].skip = value == 0.0f)) {
stack[stack_index].file = sys.macro_file;
stack[stack_index].file_pos = vfs_tell(sys.macro_file);
stack[stack_index].repeats = (uint32_t)value;
}
}
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_EndRepeat:
if(sys.macro_file) {
if(last_op == NGCFlowCtrl_Repeat) {
if(o_label == stack[stack_index].o_label) {
if(stack[stack_index].repeats && --stack[stack_index].repeats)
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
else
stack_index--;
}
} else
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_Break:
if(sys.macro_file) {
if(last_op == NGCFlowCtrl_Do || last_op == NGCFlowCtrl_While || last_op == NGCFlowCtrl_Repeat) {
if(o_label == stack[stack_index].o_label) {
stack[stack_index].repeats = 0;
stack[stack_index].skip = true;
}
} else
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_Continue:
if(sys.macro_file) {
if(o_label == stack[stack_index].o_label) switch(last_op) {
case NGCFlowCtrl_Repeat:
if(stack[stack_index].repeats && --stack[stack_index].repeats)
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
else
stack_index--;
break;
case NGCFlowCtrl_Do:
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
break;
case NGCFlowCtrl_While:
{
uint_fast8_t pos = 0;
if(!stack[stack_index].skip && (status = ngc_eval_expression(stack[stack_index].expr, &pos, &value)) == Status_OK) {
if(!(stack[stack_index].skip = value == 0))
vfs_seek(sys.macro_file, stack[stack_index].file_pos);
}
if(stack[stack_index].skip) {
if(stack[stack_index].expr) {
free(stack[stack_index].expr);
stack[stack_index].expr = NULL;
}
stack_index--;
}
}
break;
default:
status = Status_FlowControlSyntaxError;
break;
} else
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
break;
case NGCFlowCtrl_RaiseAlarm:
if(ngc_eval_expression(line, pos, &value) == Status_OK)
system_raise_alarm((alarm_code_t)value);
break;
case NGCFlowCtrl_RaiseError:
if(ngc_eval_expression(line, pos, &value) == Status_OK)
status = (status_code_t)value;
break;
case NGCFlowCtrl_Return:
if(!skipping && grbl.on_macro_return) {
stack_index = -1;
if(ngc_eval_expression(line, pos, &value) == Status_OK) {
ngc_named_param_set("_value", value);
ngc_named_param_set("_value_returned", 1.0f);
} else
ngc_named_param_set("_value_returned", 0.0f);
grbl.on_macro_return();
} else
status = Status_FlowControlNotExecutingMacro;
break;
default:
status = Status_FlowControlSyntaxError;
}
if(status != Status_OK) {
ngc_flowctrl_init();
*skip = false;
} else
*skip = stack_index >= 0 && stack[stack_index].skip;
return status;
}
#endif // NGC_EXPRESSIONS_ENABLE
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