// Executes user startup script, if stored.
void system_execute_startup(char *line)
{
uint8_t n;
for (n=0; n < N_STARTUP_LINE; n++) {
if (!(settings_read_startup_line(n, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
if (line[0] != 0) {
printString(line); // Echo startup line to indicate execution.
report_status_message(gc_execute_line(line));
}
}
}
}
void sp_process()
{
char c;
while((c = serialRead()) != -1)
{
if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute!
line[char_counter] = 0; // treminate string
status_message(gc_execute_line(line));
char_counter = 0; // reset line buffer index
} else if (c <= ' ') { // Throw away whitepace and control characters
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
int main(void)
{
FILE *fr;
char fname[200];
char cmd_type;
//printf("Please input the file name:");
//scanf("%s",fname);
//fr=fopen(fname,"r");
while(gets(cmd)!=NULL)
{
gc_execute_line(cmd);
//printf("%c motion= %d group=%d X=%f Y=%f Z=%f F=%d\n",gc.cmd_type,gc.motion_mode,gc.group_num,gc.p.x,gc.p.y,gc.p.z,gc.inverse_feed_rate_mode);
}
//fclose(fr);
return 0;
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the realtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t system_execute_line(char *line)
{
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case '$': case 'G': case 'C': case 'X':
if ( line[(char_counter+1)] != 0 ) { return(STATUS_INVALID_STATEMENT); }
switch( line[char_counter] ) {
case '$' : // Prints Grbl settings
if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
else { report_grbl_settings(); }
break;
case 'G' : // Prints gcode parser state
// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
report_gcode_modes();
break;
case 'C' : // Set check g-code mode [IDLE/CHECK]
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock [ALARM]
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
#ifndef DEFAULTS_TRINAMIC
if (system_check_safety_door_ajar()) { // Check safety door switch before returning.
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode.
}
#endif
} // Otherwise, no effect.
break;
// case 'J' : break; // Jogging methods
// TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
// susceptible to other realtime commands except for e-stop. The jogging function is intended to
// be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
// steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
// start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
// motion by repeatedly toggling to slow the motion to the desired location. Location data would
// need to be updated real-time and supplied to the user through status queries.
// More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
// handled by the planner. It would be possible for the jog subprogram to insert blocks into the
// block buffer without having the planner plan them. It would need to manage de/ac-celerations
// on its own carefully. This approach could be effective and possibly size/memory efficient.
// }
// break;
}
break;
default :
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
switch( line[char_counter] ) {
case '#' : // Print Grbl NGC parameters
if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
else { report_ngc_parameters(); }
break;
case 'H' : // Perform homing cycle [IDLE/ALARM]
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
sys.state = STATE_HOMING; // Set system state variable
// Only perform homing if Grbl is idle or lost.
// TODO: Likely not required.
#ifndef DEFAULTS_TRINAMIC
if (system_check_safety_door_ajar()) { // Check safety door switch before homing.
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode.
}
#endif
mc_homing_cycle();
if (!sys.abort) { // Execute startup scripts after successful homing.
sys.state = STATE_IDLE; // Set to IDLE when complete.
st_go_idle(); // Set steppers to the settings idle state before returning.
system_execute_startup(line);
}
} else { return(STATUS_SETTING_DISABLED); }
break;
case 'I' : // Print or store build info. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) {
settings_read_build_info(line);
report_build_info(line);
} else { // Store startup line [IDLE/ALARM]
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
helper_var = char_counter; // Set helper variable as counter to start of user info line.
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
settings_store_build_info(line);
}
break;
case 'R' : // Restore defaults [IDLE/ALARM]
if (line[++char_counter] != 'S') { return(STATUS_INVALID_STATEMENT); }
if (line[++char_counter] != 'T') { return(STATUS_INVALID_STATEMENT); }
if (line[++char_counter] != '=') { return(STATUS_INVALID_STATEMENT); }
if (line[char_counter+2] != 0) { return(STATUS_INVALID_STATEMENT); }
switch (line[++char_counter]) {
case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
default: return(STATUS_INVALID_STATEMENT);
}
report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
mc_reset(); // Force reset to ensure settings are initialized correctly.
break;
case 'N' : // Startup lines. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
}
}
break;
} else { // Store startup line [IDLE Only] Prevents motion during ALARM.
if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods [IDLE/ALARM]
if(!read_float(line, &char_counter, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
return(settings_store_global_setting((uint8_t)parameter, value));
}
}
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the runtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t protocol_execute_line(char *line)
{
// Grbl internal command and parameter lines are of the form '$4=374.3' or '$' for help
if(line[0] == '$') {
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case '$' : // Prints Grbl settings
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_grbl_settings(); }
break;
case '#' : // Print gcode parameters
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_parameters(); }
break;
case 'G' : // Prints gcode parser state
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_modes(); }
break;
case 'C' : // Set check g-code mode
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); }
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
}
break;
case 'H' : // Perform homing cycle
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Only perform homing if Grbl is idle or lost.
if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) {
mc_go_home();
if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
} else { return(STATUS_IDLE_ERROR); }
} else { return(STATUS_SETTING_DISABLED); }
break;
// case 'J' : break; // Jogging methods
// TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
// susceptible to other runtime commands except for e-stop. The jogging function is intended to
// be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
// steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
// start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
// motion by repeatedly toggling to slow the motion to the desired location. Location data would
// need to be updated real-time and supplied to the user through status queries.
// More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
// handled by the planner. It would be possible for the jog subprogram to insert blocks into the
// block buffer without having the planner plan them. It would need to manage de/ac-celerations
// on its own carefully. This approach could be effective and possibly size/memory efficient.
case 'N' : // Startup lines.
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
}
}
break;
} else { // Store startup line
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods
if(!read_float(line, &char_counter, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter] != 0) { return(STATUS_UNSUPPORTED_STATEMENT); }
return(settings_store_global_setting(parameter, value));
}
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
} else {
return(gc_execute_line(line)); // Everything else is gcode
}
}
void cnc_gfile(char *fileName, int mode)
{
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
int n;
#endif
int lineNum;
uint8_t hasMoreLines;
initGcodeProc();
#if (USE_SDCARD != 0)
FIL fid;
FRESULT res = f_open(&fid, fileName, FA_READ);
if (res != FR_OK)
{
win_showErrorWin();
#if (USE_SDCARD == 1)
scr_printf("Error open file:'%s'\nStatus:%d [%d]", fileName, (int)res, SD_errno);
#elif (USE_SDCARD == 2)
scr_printf("Error open file:'%s'\nStatus:%d", fileName, (int)res);
#endif
return;
}
#endif
curGCodeMode = mode;
#if (USE_LCD != 0)
if ((curGCodeMode & GFILE_MODE_MASK_SHOW) != 0)
{
scr_Rectangle(crdXtoScr(0), crdYtoScr(MAX_TABLE_SIZE_Y), crdXtoScr(MAX_TABLE_SIZE_X), crdYtoScr(0), Red, false);
scr_Line(prev_scrX, 30, prev_scrX, 240 - 30, Green);
scr_Line(50, prev_scrY, 320 - 50, prev_scrY, Green);
}
#endif
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) != 0)
{
#if (USE_KEYBOARD == 1)
scr_fontColor(Blue, Black);
scr_gotoxy(3, 14);
scr_puts("C-Cancel A-Pause 0/1-encoder");
#elif (USE_KEYBOARD == 2)
SetTouchKeys(kbdGFile);
#endif
}
lineNum = 1;
hasMoreLines = true;
do
{
char *p = cncFileBuf, *str;
while (true)
{
*p = 0;
str = p + 1;
if ((cncFileBuf + sizeof(cncFileBuf) - str) < (MAX_STR_SIZE + 1))
break;
#if (USE_SDCARD != 0)
if (f_gets(str, MAX_STR_SIZE, &fid) == NULL)
{
hasMoreLines = false;
break;
}
#endif
str_trim(str);
*p = (uint8_t)strlen(str) + 1;
p += *p + 1;
}
for (p = cncFileBuf; !isGcodeStop && *p != 0; lineNum++, p += *p + 1)
{
uint8_t st;
str = p + 1;
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) != 0)
{
GCODE_CMD *gp;
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
int i;
#endif
linesBuffer.gcodePtrCur++;
if (linesBuffer.gcodePtrCur > (MAX_SHOW_GCODE_LINES - 1))
linesBuffer.gcodePtrCur = 0;
gp = &linesBuffer.gcode[linesBuffer.gcodePtrCur];
strcpy(gp->cmd, str);
gp->lineNum = lineNum;
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
scr_fontColor(Green, Black);
// if(stepm_getRemainLines() > 1) {
for (i = 0, n = linesBuffer.gcodePtrCur + 1; i < MAX_SHOW_GCODE_LINES; i++, n++)
{
if (n > (MAX_SHOW_GCODE_LINES - 1))
n = 0;
gp = &linesBuffer.gcode[n];
scr_gotoxy(1, i);
if (gp->lineNum)
scr_printf("%d:%s", gp->lineNum, gp->cmd);
scr_clrEndl();
}
// }
#endif
}
DBG("\n [gcode:%d] %s", lineNum, str);
st = gc_execute_line(str);
if (st != GCSTATUS_OK)
{
#if (USE_LCD != 0)
scr_fontColor(Red, Black);
scr_gotoxy(1, 11);
switch (st)
{
case GCSTATUS_BAD_NUMBER_FORMAT:
scr_puts("BAD_NUMBER_FORMAT");
break;
case GCSTATUS_EXPECTED_COMMAND_LETTER:
scr_puts("EXPECTED_COMMAND_LETTER");
break;
case GCSTATUS_UNSUPPORTED_STATEMENT:
scr_puts("UNSUPPORTED_STATEMENT");
break;
case GCSTATUS_FLOATING_POINT_ERROR:
scr_puts("FLOATING_POINT_ERROR");
break;
case GCSTATUS_UNSUPPORTED_PARAM:
scr_puts("UNSUPPORTED_PARAM");
break;
case GCSTATUS_UNSOPORTED_FEEDRATE:
scr_puts("GCSTATUS_UNSUPPORTED_FEEDRATE");
break;
case GCSTATUS_TABLE_SIZE_OVER_X:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_X");
break;
case GCSTATUS_TABLE_SIZE_OVER_Y:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_Y");
break;
case GCSTATUS_TABLE_SIZE_OVER_Z:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_Z");
break;
case GCSTATUS_CANCELED:
scr_puts("GCSTATUS_CANCELED");
break;
}
scr_printf(" at line %d:\n %s", lineNum, str);
#endif
#if (USE_SDCARD != 0)
f_close(&fid);
#endif
return;
}
}
} while (!isGcodeStop && hasMoreLines);
#if (USE_SDCARD != 0)
f_close(&fid);
#endif
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) == 0)
{
#if (USE_LCD != 0)
short scrX = crdXtoScr(TABLE_CENTER_X);
short scrY = crdYtoScr(TABLE_CENTER_Y);
int t1 = commonTimeIdeal / 1000;
int t2 = commonTimeReal / 1000;
scr_Line(scrX - 8, scrY, scrX + 8, scrY, Red);
scr_Line(scrX, scrY - 8, scrX, scrY + 8, Red);
scr_fontColor(Green, Black);
scr_gotoxy(1, 0);
scr_printf("Time %02d:%02d:%02d(%02d:%02d:%02d) N.cmd:%d",
t1 / 3600, (t1 / 60) % 60, t1 % 60,
t2 / 3600, (t2 / 60) % 60, t2 % 60,
lineNum
);
scr_printf("\n X%f/%f Y%f/%f Z%f/%f", minX, maxX, minY, maxY, minZ, maxZ);
#endif
}
else
{
#ifndef NO_ACCELERATION_CORRECTION
cnc_line(0, 0, 0, 0, 0, 0);
cnc_line(0, 0, 0, 0, 0, 0);
#endif
}
}
