int GCodeProcessor::execute(Command* command) {
if(command == NULL || command->getCodeEnum() == CODE_UNDEFINED) {
if(LOGGING) {
printCommandLog(command);
}
return -1;
}
GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());
if(handler == NULL) {
Serial.println("This is false: handler == NULL");
return -1;
}
Serial.println(COMM_REPORT_CMD_START);
int execution = handler->execute(command);
if(execution == 0) {
Serial.println(COMM_REPORT_CMD_DONE);
} else {
Serial.println(COMM_REPORT_CMD_ERROR);
}
return execution;
};
int GCodeProcessor::execute(Command *command)
{
int execution = 0;
bool isMovement = false;
bool emergencyStop = false;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
int attempt = 0;
int maximumAttempts = ParameterList::getInstance()->getValue(PARAM_MOV_NR_RETRY);
long Q = command->getQ();
CurrentState::getInstance()->setQ(Q);
if
(
command->getCodeEnum() == G00 ||
command->getCodeEnum() == G01 ||
command->getCodeEnum() == F11 ||
command->getCodeEnum() == F12 ||
command->getCodeEnum() == F13 ||
command->getCodeEnum() == F14 ||
command->getCodeEnum() == F15 ||
command->getCodeEnum() == F16
)
{
isMovement = true;
}
//Only allow reset of emergency stop when emergency stop is engaged
if (emergencyStop)
{
if (!(
command->getCodeEnum() == F09 ||
command->getCodeEnum() == F20 ||
command->getCodeEnum() == F21 ||
command->getCodeEnum() == F22 ||
command->getCodeEnum() == F81 ||
command->getCodeEnum() == F82 ||
command->getCodeEnum() == F83 ))
{
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
return -1;
}
}
// Do not execute the command when the config complete parameter is not
// set by the raspberry pi and it's asked to do a move command
if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1)
{
if (isMovement)
{
Serial.print(COMM_REPORT_NO_CONFIG);
CurrentState::getInstance()->printQAndNewLine();
return -1;
}
}
// Return error when no command or invalid command is found
if (command == NULL)
{
Serial.print(COMM_REPORT_BAD_CMD);
CurrentState::getInstance()->printQAndNewLine();
if (LOGGING)
{
printCommandLog(command);
}
return -1;
}
if (command->getCodeEnum() == CODE_UNDEFINED)
{
Serial.print(COMM_REPORT_BAD_CMD);
CurrentState::getInstance()->printQAndNewLine();
if (LOGGING)
{
printCommandLog(command);
}
return -1;
}
// Get the right handler for this command
GCodeHandler *handler = getGCodeHandler(command->getCodeEnum());
if (handler == NULL)
{
Serial.print(COMM_REPORT_BAD_CMD);
CurrentState::getInstance()->printQAndNewLine();
Serial.println("R99 handler == NULL\r\n");
return -1;
}
// Report start of command
Serial.print(COMM_REPORT_CMD_START);
CurrentState::getInstance()->printQAndNewLine();
// Execute command with retry
CurrentState::getInstance()->setLastError(0);
while (attempt < 1 || (!emergencyStop && attempt < maximumAttempts && execution != 0 && execution != 2))
// error 2 is timeout error: stop movement retries
{
if (LOGGING || debugMessages)
{
Serial.print("R99 attempt ");
Serial.print(attempt);
Serial.print(" from ");
Serial.print(maximumAttempts);
Serial.print("\r\n");
}
attempt++;
if (attempt > 1)
{
Serial.print(COMM_REPORT_CMD_RETRY);
CurrentState::getInstance()->printQAndNewLine();
}
handler->execute(command);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (LOGGING || debugMessages)
{
Serial.print("R99 execution ");
Serial.print(execution);
Serial.print("\r\n");
}
}
// Clean serial buffer
while (Serial.available() > 0)
{
Serial.read();
}
// if movemement failed after retry
// and parameter for emergency stop is set
// set the emergency stop
if (execution != 0)
{
if (isMovement)
{
if (ParameterList::getInstance()->getValue(PARAM_E_STOP_ON_MOV_ERR) == 1)
{
CurrentState::getInstance()->setEmergencyStop();
}
}
}
// Report back result of execution
if (execution == 0)
{
Serial.print(COMM_REPORT_CMD_DONE);
CurrentState::getInstance()->printQAndNewLine();
}
else
{
Serial.print(COMM_REPORT_CMD_ERROR);
CurrentState::getInstance()->printQAndNewLine();
}
CurrentState::getInstance()->resetQ();
return execution;
};