//pilaSem neutra
void accA1() {
struct TRegA rA;
rA.eR = etiqNew();
rA.eD = etiqNew();
rA.id = atribACT.TCadena;
gc1("ir_a", rA.eR);
gc1("etiq", rA.eD);
gc1("valori", rA.id);
pilaSem = pilaPUSH(pilaSem, rA);
return;
}
//pilaSem +2 rA, rB
void accB1() {
struct TRegA rA;
struct TRegB rB;
rB = pilaTOP(pilaSem);
pilaSem = pilaPOP(pilaSem);
rA = pilaTOP(pilaSem);
gc1("valord", rA.id);
gc1("insi", rB.cte);
gc0("==");
gc1("si_falso_ir_a", rA.eD);
return;
}
//pilaSem +1 rA
void accA2() {
struct TRegA rA;
rA = pilaTOP(pilaSem);
gc0(":=");
gc1("etiq", rA.eR);
/*
* etiqFree(rA.eR);
* etiqFree(rA.eD);
* pilaSem = pilaPOP(pilaSem);
* No hay que eliminar la cima de la pila porque si no se pierden la etiqueta #DATE y el id.
*/
return;
}
HRESULT CLR_HW_Hardware::SpawnDispatcher()
{
NATIVE_PROFILE_CLR_HARDWARE();
TINYCLR_HEADER();
CLR_RT_ApplicationInterrupt* interrupt;
CLR_RT_HeapBlock_NativeEventDispatcher* ioPort;
CLR_RT_HeapBlock_NativeEventDispatcher ::InterruptPortInterrupt *interruptData;
// if reboot is in progress, just bail out
if(CLR_EE_DBG_IS( RebootPending ))
{
return S_OK;
}
interrupt = (CLR_RT_ApplicationInterrupt*)m_interruptData.m_applicationQueue.FirstValidNode();
if((interrupt == NULL) || !g_CLR_RT_ExecutionEngine.EnsureSystemThread( g_CLR_RT_ExecutionEngine.m_interruptThread, ThreadPriority::System_Highest ))
{
return S_OK;
}
interrupt->Unlink();
interruptData = &interrupt->m_interruptPortInterrupt;
ioPort = interruptData->m_context;
CLR_RT_ProtectFromGC gc1 ( *ioPort );
TINYCLR_SET_AND_LEAVE(ioPort->StartDispatch( interrupt, g_CLR_RT_ExecutionEngine.m_interruptThread ));
TINYCLR_CLEANUP();
if(FAILED(hr))
{
ioPort->ThreadTerminationCallback( interrupt );
}
--m_interruptData.m_queuedInterrupts;
TINYCLR_CLEANUP_END();
}
// When a command is received, if it is a Gcode, dispatch it as an object via an event
void GcodeDispatch::on_console_line_received(void *line)
{
SerialMessage new_message = *static_cast<SerialMessage *>(line);
string possible_command = new_message.message;
int ln = 0;
int cs = 0;
// just reply ok to empty lines
if(possible_command.empty()) {
new_message.stream->printf("ok\r\n");
return;
}
try_again:
char first_char = possible_command[0];
unsigned int n;
if(first_char == '$') {
// ignore as simpleshell will handle it
return;
}else if(islower(first_char)) {
// ignore all lowercase as they are simpleshell commands
return;
}
if ( first_char == 'G' || first_char == 'M' || first_char == 'T' || first_char == 'S' || first_char == 'N' ) {
//Get linenumber
if ( first_char == 'N' ) {
Gcode full_line = Gcode(possible_command, new_message.stream, false);
ln = (int) full_line.get_value('N');
int chksum = (int) full_line.get_value('*');
//Catch message if it is M110: Set Current Line Number
if ( full_line.has_m ) {
if ( full_line.m == 110 ) {
currentline = ln;
new_message.stream->printf("ok\r\n");
return;
}
}
//Strip checksum value from possible_command
size_t chkpos = possible_command.find_first_of("*");
possible_command = possible_command.substr(0, chkpos);
//Calculate checksum
if ( chkpos != string::npos ) {
for (auto c = possible_command.cbegin(); *c != '*' && c != possible_command.cend(); c++)
cs = cs ^ *c;
cs &= 0xff; // Defensive programming...
cs -= chksum;
}
//Strip line number value from possible_command
size_t lnsize = possible_command.find_first_not_of("N0123456789.,- ");
possible_command = possible_command.substr(lnsize);
} else {
//Assume checks succeeded
cs = 0x00;
ln = currentline + 1;
}
//Remove comments
size_t comment = possible_command.find_first_of(";(");
if( comment != string::npos ) {
possible_command = possible_command.substr(0, comment);
}
//If checksum passes then process message, else request resend
int nextline = currentline + 1;
if( cs == 0x00 && ln == nextline ) {
if( first_char == 'N' ) {
currentline = nextline;
}
while(possible_command.size() > 0) {
// assumes G or M are always the first on the line
size_t nextcmd = possible_command.find_first_of("GM", 2);
string single_command;
if(nextcmd == string::npos) {
single_command = possible_command;
possible_command = "";
} else {
single_command = possible_command.substr(0, nextcmd);
possible_command = possible_command.substr(nextcmd);
}
if(!uploading || upload_stream != new_message.stream) {
// Prepare gcode for dispatch
Gcode *gcode = new Gcode(single_command, new_message.stream);
if(THEKERNEL->is_halted()) {
// we ignore all commands until M999, unless it is in the exceptions list (like M105 get temp)
if(gcode->has_m && gcode->m == 999) {
THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
// fall through and pass onto other modules
}else if(!is_allowed_mcode(gcode->m)) {
// ignore everything, return error string to host
if(THEKERNEL->is_grbl_mode()) {
new_message.stream->printf("error:Alarm lock\n");
}else{
new_message.stream->printf("!!\r\n");
}
delete gcode;
continue;
}
}
if(gcode->has_g) {
if(gcode->g == 53) { // G53 makes next movement command use machine coordinates
// this is ugly to implement as there may or may not be a G0/G1 on the same line
// valid version seem to include G53 G0 X1 Y2 Z3 G53 X1 Y2
if(possible_command.empty()) {
// use last gcode G1 or G0 if none on the line, and pass through as if it was a G0/G1
// TODO it is really an error if the last is not G0 thru G3
if(modal_group_1 > 3) {
delete gcode;
new_message.stream->printf("ok - Invalid G53\r\n");
return;
}
// use last G0 or G1
gcode->g= modal_group_1;
}else{
delete gcode;
// extract next G0/G1 from the rest of the line, ignore if it is not one of these
gcode = new Gcode(possible_command, new_message.stream);
possible_command= "";
if(!gcode->has_g || gcode->g > 1) {
// not G0 or G1 so ignore it as it is invalid
delete gcode;
new_message.stream->printf("ok - Invalid G53\r\n");
return;
}
}
// makes it handle the parameters as a machine position
THEKERNEL->robot->next_command_is_MCS= true;
}
// remember last modal group 1 code
if(gcode->g < 4) {
modal_group_1= gcode->g;
}
}
if(gcode->has_m) {
switch (gcode->m) {
case 28: // start upload command
delete gcode;
this->upload_filename = "/sd/" + single_command.substr(4); // rest of line is filename
// open file
upload_fd = fopen(this->upload_filename.c_str(), "w");
if(upload_fd != NULL) {
this->uploading = true;
new_message.stream->printf("Writing to file: %s\r\nok\r\n", this->upload_filename.c_str());
} else {
new_message.stream->printf("open failed, File: %s.\r\nok\r\n", this->upload_filename.c_str());
}
// only save stuff from this stream
upload_stream= new_message.stream;
//printf("Start Uploading file: %s, %p\n", upload_filename.c_str(), upload_fd);
continue;
case 30: // end of program
if(!THEKERNEL->is_grbl_mode()) break; // Special case M30 as it is also delete sd card file so only do this if in grbl mode
// fall through to M2
case 2:
{
modal_group_1= 1; // set to G1
// issue M5 and M9 in case spindle and coolant are being used
Gcode gc1("M5", &StreamOutput::NullStream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc1);
Gcode gc2("M9", &StreamOutput::NullStream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc2);
}
break;
case 112: // emergency stop, do the best we can with this
// this is also handled out-of-band (it is now with ^X in the serial driver)
// disables heaters and motors, ignores further incoming Gcode and clears block queue
THEKERNEL->call_event(ON_HALT, nullptr);
THEKERNEL->streams->printf("ok Emergency Stop Requested - reset or M999 required to exit HALT state\r\n");
delete gcode;
return;
case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
{ // concatenate the command again and send to panel if enabled
string str= single_command.substr(4) + possible_command;
PublicData::set_value( panel_checksum, panel_display_message_checksum, &str );
delete gcode;
new_message.stream->printf("ok\r\n");
return;
}
case 1000: // M1000 is a special command that will pass thru the raw lowercased command to the simpleshell (for hosts that do not allow such things)
{
// reconstruct entire command line again
string str= single_command.substr(5) + possible_command;
while(is_whitespace(str.front())){ str= str.substr(1); } // strip leading whitespace
delete gcode;
// TODO : TOADDBACK When Simpleshell is added back in
/*if(str.empty()) {
SimpleShell::parse_command("help", "", new_message.stream);
}else{
string args= lc(str);
string cmd = shift_parameter(args);
// find command and execute it
if(!SimpleShell::parse_command(cmd.c_str(), args, new_message.stream)) {
new_message.stream->printf("Command not found: %s\n", cmd.c_str());
}
}
*/
new_message.stream->printf("ok\r\n");
return;
}
case 500: // M500 save volatile settings to config-override
THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
// TOADDBACK : __disable_irq();
{
FileStream fs(THEKERNEL->config_override_filename());
fs.printf("; DO NOT EDIT THIS FILE\n");
// this also will truncate the existing file instead of deleting it
}
// replace stream with one that writes to config-override file
gcode->stream = new AppendFileStream(THEKERNEL->config_override_filename());
// dispatch the M500 here so we can free up the stream when done
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
delete gcode->stream;
delete gcode;
// TOADDBACK : __enable_irq();
new_message.stream->printf("Settings Stored to %s\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 501: // load config override
case 504: // save to specific config override file
{
string arg= get_arguments(single_command + possible_command); // rest of line is filename
if(arg.empty()) arg= "/sd/config-override";
else arg= "/sd/config-override." + arg;
new_message.stream->printf("args: <%s>\n", arg.c_str());
//TOADDBACK : SimpleShell::parse_command((gcode->m == 501) ? "load_command" : "save_command", arg, new_message.stream);
}
delete gcode;
new_message.stream->printf("ok\r\n");
return;
case 502: // M502 deletes config-override so everything defaults to what is in config
remove(THEKERNEL->config_override_filename());
delete gcode;
new_message.stream->printf("config override file deleted %s, reboot needed\r\nok\r\n", THEKERNEL->config_override_filename());
continue;
case 503: { // M503 display live settings and indicates if there is an override file
FILE *fd = fopen(THEKERNEL->config_override_filename(), "r");
if(fd != NULL) {
fclose(fd);
new_message.stream->printf("; config override present: %s\n", THEKERNEL->config_override_filename());
} else {
new_message.stream->printf("; No config override\n");
}
gcode->add_nl= true;
break; // fall through to process by modules
}
}
}
//printf("dispatch %p: '%s' G%d M%d...", gcode, gcode->command.c_str(), gcode->g, gcode->m);
//Dispatch message!
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
if (gcode->is_error) {
// report error
if(THEKERNEL->is_grbl_mode()) {
new_message.stream->printf("error: ");
}else{
new_message.stream->printf("Error: ");
}
if(!gcode->txt_after_ok.empty()) {
new_message.stream->printf("%s\r\n", gcode->txt_after_ok.c_str());
gcode->txt_after_ok.clear();
}else{
new_message.stream->printf("unknown\r\n");
}
}else{
if(gcode->add_nl)
new_message.stream->printf("\r\n");
if(!gcode->txt_after_ok.empty()) {
new_message.stream->printf("ok %s\r\n", gcode->txt_after_ok.c_str());
gcode->txt_after_ok.clear();
} else {
if(THEKERNEL->is_ok_per_line() || THEKERNEL->is_grbl_mode()) {
// only send ok once per line if this is a multi g code line send ok on the last one
if(possible_command.empty())
new_message.stream->printf("ok\r\n");
} else {
// maybe should do the above for all hosts?
new_message.stream->printf("ok\r\n");
}
}
}
delete gcode;
} else {
// we are uploading and it is the upload stream so so save it
if(single_command.substr(0, 3) == "M29") {
// done uploading, close file
fclose(upload_fd);
upload_fd = NULL;
uploading = false;
upload_filename.clear();
upload_stream= nullptr;
new_message.stream->printf("Done saving file.\r\nok\r\n");
continue;
}
if(upload_fd == NULL) {
// error detected writing to file so discard everything until it stops
new_message.stream->printf("ok\r\n");
continue;
}
single_command.append("\n");
static int cnt = 0;
if(fwrite(single_command.c_str(), 1, single_command.size(), upload_fd) != single_command.size()) {
// error writing to file
new_message.stream->printf("Error:error writing to file.\r\n");
fclose(upload_fd);
upload_fd = NULL;
continue;
} else {
cnt += single_command.size();
if (cnt > 400) {
// HACK ALERT to get around fwrite corruption close and re open for append
fclose(upload_fd);
upload_fd = fopen(upload_filename.c_str(), "a");
cnt = 0;
}
new_message.stream->printf("ok\r\n");
//printf("uploading file write ok\n");
}
}
}
} else {
//Request resend
new_message.stream->printf("rs N%d\r\n", nextline);
}
} else if( (n=possible_command.find_first_of("XYZF")) == 0 || (first_char == ' ' && n != string::npos) ) {
// handle pycam syntax, use last modal group 1 command and resubmit if an X Y Z or F is found on its own line
char buf[6];
snprintf(buf, sizeof(buf), "G%d ", modal_group_1);
possible_command.insert(0, buf);
goto try_again;
// Ignore comments and blank lines
} else if ( first_char == ';' || first_char == '(' || first_char == ' ' || first_char == '\n' || first_char == '\r' ) {
new_message.stream->printf("ok\r\n");
}
}
HRESULT Library_spot_net_security_native_Microsoft_SPOT_Net_Security_SslNative::ParseCertificate___STATIC__VOID__SZARRAY_U1__STRING__BYREF_STRING__BYREF_STRING__BYREF_mscorlibSystemDateTime__BYREF_mscorlibSystemDateTime( CLR_RT_StackFrame& stack )
{
NATIVE_PROFILE_CLR_NETWORK();
TINYCLR_HEADER();
CLR_RT_HeapBlock_Array* arrData = stack.Arg0().DereferenceArray();
CLR_UINT8* certBytes;
CLR_RT_HeapBlock hbIssuer;
CLR_RT_HeapBlock hbSubject;
CLR_RT_ProtectFromGC gc1( hbIssuer );
CLR_RT_ProtectFromGC gc2( hbSubject );
X509CertData cert;
CLR_INT64* val;
CLR_INT64 tzOffset;
SYSTEMTIME st;
INT32 standardBias;
CLR_RT_HeapBlock* hbPwd = stack.Arg1().DereferenceString();
LPCSTR szPwd;
FAULT_ON_NULL_ARG(hbPwd);
szPwd = hbPwd->StringText();
CLR_RT_Memory::ZeroFill( &cert, sizeof(cert) );
FAULT_ON_NULL(arrData);
certBytes = arrData->GetFirstElement();
if(!SSL_ParseCertificate( (const char*)certBytes, arrData->m_numOfElements, szPwd, &cert )) TINYCLR_SET_AND_LEAVE(CLR_E_INVALID_PARAMETER);
TINYCLR_CHECK_HRESULT(CLR_RT_HeapBlock_String::CreateInstance( hbIssuer, cert.Issuer ));
TINYCLR_CHECK_HRESULT(hbIssuer.StoreToReference( stack.Arg2(), 0 ));
TINYCLR_CHECK_HRESULT(CLR_RT_HeapBlock_String::CreateInstance( hbSubject, cert.Subject ));
TINYCLR_CHECK_HRESULT(hbSubject.StoreToReference( stack.Arg3(), 0 ));
st.wYear = cert.EffectiveDate.year;
st.wMonth = cert.EffectiveDate.month;
st.wDay = cert.EffectiveDate.day;
st.wHour = cert.EffectiveDate.hour;
st.wMinute = cert.EffectiveDate.minute;
st.wSecond = cert.EffectiveDate.second;
st.wMilliseconds = cert.EffectiveDate.msec;
standardBias = Time_GetTimeZoneOffset();
standardBias *= TIME_CONVERSION__ONEMINUTE;
val = Library_corlib_native_System_DateTime::GetValuePtr( stack.Arg4() );
*val = Time_FromSystemTime( &st );
tzOffset = cert.EffectiveDate.tzOffset;
// adjust for timezone differences
if(standardBias != tzOffset)
{
*val += tzOffset - standardBias;
}
st.wYear = cert.ExpirationDate.year;
st.wMonth = cert.ExpirationDate.month;
st.wDay = cert.ExpirationDate.day;
st.wHour = cert.ExpirationDate.hour;
st.wMinute = cert.ExpirationDate.minute;
st.wSecond = cert.ExpirationDate.second;
st.wMilliseconds = cert.ExpirationDate.msec;
val = Library_corlib_native_System_DateTime::GetValuePtr( stack.ArgN( 5 ) );
*val = Time_FromSystemTime( &st );
tzOffset = cert.ExpirationDate.tzOffset;
if(standardBias != tzOffset)
{
*val += tzOffset - standardBias;
}
TINYCLR_NOCLEANUP();
}
