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418 lines
15 KiB
C
418 lines
15 KiB
C
/*
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ngc_flowctrl.c - An embedded CNC Controller with rs274/ngc (g-code) support
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Program flow control, for filesystem macros
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Part of grblHAL
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Copyright (c) 2023 Terje Io
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Grbl 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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Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "hal.h"
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#if NGC_EXPRESSIONS_ENABLE
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#include <string.h>
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#include "errors.h"
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#include "ngc_expr.h"
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#include "ngc_params.h"
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typedef enum {
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NGCFlowCtrl_NoOp = 0,
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NGCFlowCtrl_If,
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NGCFlowCtrl_ElseIf,
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NGCFlowCtrl_Else,
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NGCFlowCtrl_EndIf,
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NGCFlowCtrl_Do,
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NGCFlowCtrl_Continue,
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NGCFlowCtrl_Break,
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NGCFlowCtrl_While,
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NGCFlowCtrl_EndWhile,
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NGCFlowCtrl_Repeat,
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NGCFlowCtrl_EndRepeat,
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NGCFlowCtrl_Return,
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NGCFlowCtrl_RaiseAlarm,
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NGCFlowCtrl_RaiseError
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} ngc_cmd_t;
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typedef struct {
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uint32_t o_label;
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ngc_cmd_t operation;
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vfs_file_t *file;
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size_t file_pos;
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char *expr;
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uint32_t repeats;
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bool skip;
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bool handled;
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} ngc_cmd_stack_t;
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static ngc_cmd_stack_t stack[10] = {0};
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static int_fast8_t stack_index = -1;
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static status_code_t read_command (char *line, uint_fast8_t *pos, ngc_cmd_t *operation)
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{
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char c = line[*pos];
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status_code_t status = Status_OK;
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(*pos)++;
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switch(c) {
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case 'A':
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if (!strncmp(line + *pos, "LARM", 4)) {
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*operation = NGCFlowCtrl_RaiseAlarm;
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*pos += 4;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
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break;
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case 'B':
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if (!strncmp(line + *pos, "REAK", 4)) {
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*operation = NGCFlowCtrl_Break;
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*pos += 4;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
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break;
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case 'C':
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if (!strncmp(line + *pos, "ONTINUE", 7)) {
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*operation = NGCFlowCtrl_Continue;
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*pos += 7;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
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break;
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case 'D':
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if (line[*pos] == 'O') {
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*operation = NGCFlowCtrl_Do;
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(*pos)++;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with R
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break;
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case 'E':
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if (!strncmp(line + *pos, "LSEIF", 5)) {
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*operation = NGCFlowCtrl_ElseIf;
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*pos += 5;
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} else if (!strncmp(line + *pos, "LSE", 3)) {
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*operation = NGCFlowCtrl_Else;
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*pos += 3;
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} else if (!strncmp(line + *pos, "NDIF", 4)) {
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*operation = NGCFlowCtrl_EndIf;
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*pos += 4;
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} else if (!strncmp(line + *pos, "NDWHILE", 7)) {
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*operation = NGCFlowCtrl_EndWhile;
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*pos += 7;
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} else if (!strncmp(line + *pos, "NDREPEAT", 8)) {
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*operation = NGCFlowCtrl_EndRepeat;
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*pos += 8;
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} else if (!strncmp(line + *pos, "RROR", 4)) {
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*operation = NGCFlowCtrl_RaiseError;
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*pos += 4;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
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break;
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case 'I':
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if(line[*pos] == 'F') {
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*operation = NGCFlowCtrl_If;
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(*pos)++;
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} else
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*operation = Status_FlowControlSyntaxError;
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break;
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case 'R':
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if (!strncmp(line + *pos, "EPEAT", 5)) {
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*operation = NGCFlowCtrl_Repeat;
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*pos += 5;
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} else if (!strncmp(line + *pos, "ETURN", 5)) {
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*operation = NGCFlowCtrl_Return;
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*pos += 5;
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} else
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*operation = Status_FlowControlSyntaxError;
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break;
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case 'W':
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if (!strncmp(line + *pos, "HILE", 4)) {
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*operation = NGCFlowCtrl_While;
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*pos += 4;
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} else
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status = Status_FlowControlSyntaxError; // Unknown operation name starting with G
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break;
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default:
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status = Status_FlowControlSyntaxError; // Unknown operation name
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}
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return status;
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}
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void ngc_flowctrl_init (void)
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{
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if(stack_index >= 0) do {
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if(stack[stack_index].expr)
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free(stack[stack_index].expr);
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} while(--stack_index != -1);
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memset(stack, 0, sizeof(stack));
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}
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status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, bool *skip)
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{
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float value;
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bool skipping;
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ngc_cmd_t operation, last_op;
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status_code_t status;
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if((status = read_command(line, pos, &operation)) != Status_OK)
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return status;
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skipping = stack_index >= 0 && stack[stack_index].skip;
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last_op = stack_index >= 0 ? stack[stack_index].operation : NGCFlowCtrl_NoOp;
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switch(operation) {
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case NGCFlowCtrl_If:
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if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
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stack[++stack_index].o_label = o_label;
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stack[stack_index].operation = operation;
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stack[stack_index].o_label = o_label;
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stack[stack_index].file = sys.macro_file;
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stack[stack_index].skip = value == 0.0f;
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stack[stack_index].handled = !stack[stack_index].skip;
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}
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break;
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case NGCFlowCtrl_ElseIf:
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if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf) {
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if(o_label == stack[stack_index].o_label &&
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!(stack[stack_index].skip = stack[stack_index].handled) && !stack[stack_index].handled &&
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(status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
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if(!(stack[stack_index].skip = value == 0.0f)) {
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stack[stack_index].operation = operation;
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stack[stack_index].handled = true;
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}
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}
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} else
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status = Status_FlowControlSyntaxError;
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break;
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case NGCFlowCtrl_Else:
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if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf) {
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if(o_label == stack[stack_index].o_label) {
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if(!(stack[stack_index].skip = stack[stack_index].handled))
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stack[stack_index].operation = operation;
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}
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} else
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status = Status_FlowControlSyntaxError;
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break;
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case NGCFlowCtrl_EndIf:
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if(last_op == NGCFlowCtrl_If || last_op == NGCFlowCtrl_ElseIf || last_op == NGCFlowCtrl_Else) {
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if(o_label == stack[stack_index].o_label)
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stack_index--;
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} else
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status = Status_FlowControlSyntaxError;
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break;
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case NGCFlowCtrl_Do:
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if(sys.macro_file) {
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if(!skipping) {
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stack[++stack_index].operation = operation;
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stack[stack_index].o_label = o_label;
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stack[stack_index].file = sys.macro_file;
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stack[stack_index].file_pos = vfs_tell(sys.macro_file);
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stack[stack_index].skip = false;
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}
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_While:
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if(sys.macro_file) {
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char *expr = line + *pos;
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if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
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if(last_op == NGCFlowCtrl_Do) {
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if(o_label == stack[stack_index].o_label) {
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if(value != 0.0f)
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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else
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stack_index--;
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}
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} else {
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stack[++stack_index].operation = operation;
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stack[stack_index].o_label = o_label;
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if(!(stack[stack_index].skip = value == 0.0f)) {
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if((stack[stack_index].expr = malloc(strlen(expr) + 1))) {
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strcpy(stack[stack_index].expr, expr);
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stack[stack_index].file = sys.macro_file;
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stack[stack_index].file_pos = vfs_tell(sys.macro_file);
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} else
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status = Status_FlowControlOutOfMemory;
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}
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}
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}
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_EndWhile:
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if(sys.macro_file) {
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if(last_op == NGCFlowCtrl_While) {
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if(o_label == stack[stack_index].o_label) {
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uint_fast8_t pos = 0;
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if(!stack[stack_index].skip && (status = ngc_eval_expression(stack[stack_index].expr, &pos, &value)) == Status_OK) {
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if(!(stack[stack_index].skip = value == 0))
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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}
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if(stack[stack_index].skip) {
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if(stack[stack_index].expr) {
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free(stack[stack_index].expr);
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stack[stack_index].expr = NULL;
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}
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stack_index--;
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}
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}
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} else
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status = Status_FlowControlSyntaxError;
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_Repeat:
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if(sys.macro_file) {
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if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
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stack[++stack_index].operation = operation;
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stack[stack_index].o_label = o_label;
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if(!(stack[stack_index].skip = value == 0.0f)) {
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stack[stack_index].file = sys.macro_file;
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stack[stack_index].file_pos = vfs_tell(sys.macro_file);
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stack[stack_index].repeats = (uint32_t)value;
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}
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}
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_EndRepeat:
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if(sys.macro_file) {
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if(last_op == NGCFlowCtrl_Repeat) {
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if(o_label == stack[stack_index].o_label) {
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if(stack[stack_index].repeats && --stack[stack_index].repeats)
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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else
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stack_index--;
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}
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} else
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status = Status_FlowControlSyntaxError;
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_Break:
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if(sys.macro_file) {
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if(last_op == NGCFlowCtrl_Do || last_op == NGCFlowCtrl_While || last_op == NGCFlowCtrl_Repeat) {
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if(o_label == stack[stack_index].o_label) {
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stack[stack_index].repeats = 0;
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stack[stack_index].skip = true;
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}
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} else
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status = Status_FlowControlSyntaxError;
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_Continue:
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if(sys.macro_file) {
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if(o_label == stack[stack_index].o_label) switch(last_op) {
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case NGCFlowCtrl_Repeat:
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if(stack[stack_index].repeats && --stack[stack_index].repeats)
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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else
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stack_index--;
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break;
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case NGCFlowCtrl_Do:
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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break;
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case NGCFlowCtrl_While:
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{
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uint_fast8_t pos = 0;
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if(!stack[stack_index].skip && (status = ngc_eval_expression(stack[stack_index].expr, &pos, &value)) == Status_OK) {
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if(!(stack[stack_index].skip = value == 0))
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vfs_seek(sys.macro_file, stack[stack_index].file_pos);
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}
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if(stack[stack_index].skip) {
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if(stack[stack_index].expr) {
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free(stack[stack_index].expr);
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stack[stack_index].expr = NULL;
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}
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stack_index--;
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}
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}
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break;
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default:
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status = Status_FlowControlSyntaxError;
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break;
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} else
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status = Status_FlowControlSyntaxError;
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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case NGCFlowCtrl_RaiseAlarm:
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if(ngc_eval_expression(line, pos, &value) == Status_OK)
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system_raise_alarm((alarm_code_t)value);
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break;
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case NGCFlowCtrl_RaiseError:
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if(ngc_eval_expression(line, pos, &value) == Status_OK)
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status = (status_code_t)value;
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break;
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case NGCFlowCtrl_Return:
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if(!skipping && grbl.on_macro_return) {
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stack_index = -1;
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if(ngc_eval_expression(line, pos, &value) == Status_OK) {
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ngc_named_param_set("_value", value);
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ngc_named_param_set("_value_returned", 1.0f);
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} else
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ngc_named_param_set("_value_returned", 0.0f);
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grbl.on_macro_return();
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} else
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status = Status_FlowControlNotExecutingMacro;
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break;
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default:
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status = Status_FlowControlSyntaxError;
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}
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if(status != Status_OK) {
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ngc_flowctrl_init();
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*skip = false;
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} else
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*skip = stack_index >= 0 && stack[stack_index].skip;
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return status;
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}
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#endif // NGC_EXPRESSIONS_ENABLE
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