EReturn getVector(const tinyxml2::XMLElement & xml_vector,
Eigen::VectorXd & eigen_vector)
{
//!< Temporaries
double temp_entry;
int i = 0;
if (!xml_vector.GetText())
{
INDICATE_FAILURE
;
eigen_vector = Eigen::VectorXd(); //!< Null matrix again
return PAR_ERR;
}
std::istringstream text_parser(xml_vector.GetText());
//!< Initialise looping
text_parser >> temp_entry;
while (!(text_parser.fail() || text_parser.bad())) //!< No commenting!
{
eigen_vector.conservativeResize(++i); //!< Allocate storage for this entry (by increasing i)
eigen_vector(i - 1) = temp_entry;
text_parser >> temp_entry;
}
return (i > 0) ? SUCCESS : PAR_ERR;
}
EReturn getMatrix(const tinyxml2::XMLElement & xml_matrix,
Eigen::MatrixXd & eigen_matrix)
{
int dimension = 0;
if (xml_matrix.QueryIntAttribute("dim", &dimension)
!= tinyxml2::XML_NO_ERROR)
{
INDICATE_FAILURE
;
eigen_matrix = Eigen::MatrixXd(); //!< Null matrix again
return PAR_ERR;
}
if (dimension < 1)
{
INDICATE_FAILURE
;
eigen_matrix = Eigen::MatrixXd(); //!< Null matrix again
return PAR_ERR;
}
eigen_matrix.resize(dimension, dimension);
if (!xml_matrix.GetText())
{
INDICATE_FAILURE
;
eigen_matrix = Eigen::MatrixXd(); //!< Null matrix again
return PAR_ERR;
}
std::istringstream text_parser(xml_matrix.GetText());
double temp_entry;
for (int i = 0; i < dimension; i++) //!< Note that this does not handle comments!
{
for (int j = 0; j < dimension; j++)
{
text_parser >> temp_entry;
if (text_parser.fail() || text_parser.bad()) //!< If a failure other than end of file
{
INDICATE_FAILURE
;
eigen_matrix.resize(0, 0);
return PAR_ERR;
}
else
{
eigen_matrix(i, j) = temp_entry;
}
}
}
return SUCCESS;
}
stat_t _command_dispatch()
{
#ifdef __AVR
stat_t status;
// read input line or return if not a completed line
// xio_gets() is a non-blocking workalike of fgets()
while (true) {
if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
cs.bufp = cs.in_buf;
break;
}
// handle end-of-file from file devices
if (status == STAT_EOF) { // EOF can come from file devices only
if (cfg.comm_mode == TEXT_MODE) {
fprintf_P(stderr, PSTR("End of command file\n"));
} else {
rpt_exception(STAT_EOF); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
#endif // __AVR
#ifdef __ARM
// detect USB connection and transition to disconnected state if it disconnected
if (SerialUSB.isConnected() == false) cs.state = CONTROLLER_NOT_CONNECTED;
// read input line and return if not a completed line
if (cs.state == CONTROLLER_READY) {
if (read_line(cs.in_buf, &cs.read_index, sizeof(cs.in_buf)) != STAT_OK) {
cs.bufp = cs.in_buf;
return (STAT_OK); // This is an exception: returns OK for anything NOT OK, so the idler always runs
}
} else if (cs.state == CONTROLLER_NOT_CONNECTED) {
if (SerialUSB.isConnected() == false) return (STAT_OK);
cm_request_queue_flush();
rpt_print_system_ready_message();
cs.state = CONTROLLER_STARTUP;
} else if (cs.state == CONTROLLER_STARTUP) { // run startup code
cs.state = CONTROLLER_READY;
} else {
return (STAT_OK);
}
cs.read_index = 0;
#endif // __ARM
#ifdef __RX
stat_t status;
parse_gcode_func_selection(CODE_PARSER);
// read input line or return if not a completed line
// xio_gets() is a non-blocking workalike of fgets()
while (true) {
if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
cs.bufp = cs.in_buf;
break;
}
// handle end-of-file from file devices
if (status == STAT_EOF) { // EOF can come from file devices only
//gfilerunning = false;
xio_close(cs.primary_src);
// macro_func_ptr = command_idle;
if (cfg.comm_mode == TEXT_MODE) {
fprintf_P(stderr, PSTR("End of command file\n"));
} else {
rpt_exception(STAT_EOF); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
#endif // __AVR
// set up the buffers
cs.linelen = strlen(cs.in_buf)+1; // linelen only tracks primary input
strncpy(cs.saved_buf, cs.bufp, SAVED_BUFFER_LEN-1); // save input buffer for reporting
// dispatch the new text line
switch (toupper(*cs.bufp)) { // first char
case '!': { cm_request_feedhold(); break; } // include for AVR diagnostics and ARM serial
case '%': { cm_request_queue_flush(); break; }
case '~': { cm_request_cycle_start(); break; }
case NUL: { // blank line (just a CR)
if (cfg.comm_mode != JSON_MODE) {
text_response(STAT_OK, cs.saved_buf);
}
break;
}
case '$': case '?': case 'H': { // text mode input
cfg.comm_mode = TEXT_MODE;
text_response(text_parser(cs.bufp), cs.saved_buf);
break;
}
case '{': { // JSON input
cfg.comm_mode = JSON_MODE;
json_parser(cs.bufp);
break;
}
default: { // anything else must be Gcode
if (cfg.comm_mode == JSON_MODE) { // run it as JSON...
strncpy(cs.out_buf, cs.bufp, INPUT_BUFFER_LEN -8); // use out_buf as temp
sprintf((char *)cs.bufp,"{\"gc\":\"%s\"}\n", (char *)cs.out_buf); // '-8' is used for JSON chars
json_parser(cs.bufp);
} else { //...or run it as text
text_response(gc_gcode_parser(cs.bufp), cs.saved_buf);
}
}
}
return (STAT_OK);
}
