//need to return RAPID for rapids...
MOTION_TYPE linearMotion::getMotionType() {
bool traverse = cmdMatch("STRAIGHT_TRAVERSE");
if (traverse) {
return TRAVERSE;
} else {
return STRAIGHT_FEED;
}
}
int cmdParse(
char *buf, uint32_t *p, unsigned ext_len, char *ext, cmdCtlParse_t *ctl)
{
int f, valid, idx, val, pp, pars, n, n2, i;
char *p8;
int32_t *p32;
char c;
uint32_t tp1, tp2, tp3;
int8_t to1, to2, to3;
int eaten;
/* Check that ext is big enough for the largest message. */
if (ext_len < (4 * CMD_MAX_PARAM)) return CMD_EXT_TOO_SMALL;
bzero(&ctl->opt, sizeof(ctl->opt));
sscanf(buf+ctl->eaten, " %31s %n", intCmdStr, &pp);
ctl->eaten += pp;
p[0] = -1;
idx = cmdMatch(intCmdStr);
if (idx < 0) return idx;
valid = 0;
p[0] = cmdInfo[idx].cmd;
p[1] = 0;
p[2] = 0;
p[3] = 0;
switch (cmdInfo[idx].vt)
{
case 101: /* BR1 BR2 CGI H HELP HWVER
DCRA HALT INRA NO
PIGPV POPA PUSHA RET T TICK WVBSY WVCLR
WVCRE WVGO WVGOR WVHLT WVNEW
No parameters, always valid.
*/
valid = 1;
break;
case 111: /* ADD AND BC1 BC2 BS1 BS2
CMP CSI DIV LDA LDAB MLT
MOD OR RLA RRA STAB SUB WAIT XOR
One parameter, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if (ctl->opt[1] > 0) valid = 1;
break;
case 112: /* BI2CC GDC GPW I2CC
I2CRB MG MICS MILS MODEG NC NP PFG PRG
PROCD PROCP PROCS PRRG R READ SLRC SPIC
WVDEL WVSC WVSM WVSP WVTX WVTXR
One positive parameter.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0)) valid = 1;
break;
case 113: /* DCR INR POP PUSH STA XA
One register parameter.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS)) valid = 1;
break;
case 114: /* CALL JM JMP JNZ JP JZ TAG
One numeric parameter, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if (ctl->opt[1] == CMD_NUMERIC) valid = 1;
break;
case 115: /* PARSE PROC
One parameter, string (rest of input).
*/
p[3] = strlen(buf+ctl->eaten);
memcpy(ext, buf+ctl->eaten, p[3]);
ctl->eaten += p[3];
valid = 1;
break;
case 116: /* SYS
One parameter, a string of letters, digits, '-' and '_'.
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
valid = 1;
for (i=0; i<n; i++)
{
c = buf[ctl->eaten+i];
if ((!isalnum(c)) && (c != '_') && (c != '-'))
{
valid = 0;
break;
}
}
if (valid)
{
p[3] = n;
ctl->opt[3] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
}
}
break;
case 121: /* HC I2CRD I2CRR I2CRW I2CWB I2CWQ P PFS PRS
PWM S SERVO SLR SLRI W WDOG WRITE
Two positive parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0)) valid = 1;
break;
case 122: /* NB
Two parameters, first positive, second any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0)) valid = 1;
break;
case 123: /* LD RL RR
Two parameters, first register, second any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) &&
(p[1] < PI_MAX_SCRIPT_VARS) &&
(ctl->opt[2] > 0)) valid = 1;
break;
case 124: /* X
Two register parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS) &&
(ctl->opt[2] > 0) && (p[2] < PI_MAX_SCRIPT_VARS)) valid = 1;
break;
case 125: /* M MODES
Two parameters, first positive, second in 'RW540123'.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
f = sscanf(buf+ctl->eaten, " %c %n", &c, &n);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1))
{
ctl->eaten += n;
val = toupper(c);
p8 = strchr(fmtMdeStr, val);
if (p8 != NULL)
{
val = p8 - fmtMdeStr;
p[2] = val;
valid = 1;
}
}
break;
case 126: /* PUD
Two parameters, first positive, second in 'ODU'.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
f = sscanf(buf+ctl->eaten, " %c %n", &c, &n);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1))
{
ctl->eaten += n;
val = toupper(c);
p8 = strchr(fmtPudStr, val);
if (p8 != NULL)
{
val = p8 - fmtPudStr;
p[2] = val;
valid = 1;
}
}
break;
case 131: /* BI2CO HP I2CO I2CPC I2CRI I2CWB I2CWW SLRO
SPIO TRIG
Three positive parameters.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0) &&
(to1 == CMD_NUMERIC) && ((int)tp1 >= 0))
{
p[3] = 4;
memcpy(ext, &tp1, 4);
valid = 1;
}
break;
case 132: /* SERO
Three parameters, first a string, rest >=0
*/
f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2);
if ((f >= 0) && n)
{
p[3] = n;
ctl->opt[2] = CMD_NUMERIC;
memcpy(ext, buf+ctl->eaten, n);
ctl->eaten += n2;
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) &&
(ctl->opt[2] > 0) && ((int)p[2] >= 0))
valid = 1;
}
break;
case 191: /* PROCR
One to 11 parameters, first positive,
optional remainder, any value.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0))
{
pars = 0;
p32 = (int32_t *)ext;
while (pars < PI_MAX_SCRIPT_PARAMS)
{
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
pars++;
*p32++ = tp1;
}
else break;
}
p[3] = pars * 4;
valid = 1;
}
break;
case 192: /* WVAG
One or more triplets (gpios on, gpios off, delay),
any value.
*/
pars = 0;
p32 = (int32_t *)ext;
while (pars < CMD_MAX_PARAM)
{
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
pars++;
*p32++ = tp1;
}
else break;
}
p[3] = pars * 4;
if (pars && ((pars % 3) == 0)) valid = 1;
break;
case 193: /* BI2CZ I2CWD I2CZ SERW SPIW SPIX
Two or more parameters, first >=0, rest 0-255.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0))
{
pars = 0;
p8 = ext;
while (pars < CMD_MAX_PARAM)
{
eaten = getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
if (((int)tp1>=0) && ((int)tp1<=255))
{
pars++;
*p8++ = tp1;
ctl->eaten += eaten;
}
else break; /* invalid number, end of command */
}
else break;
}
p[3] = pars;
if (pars) valid = 1;
}
break;
case 194: /* I2CPK I2CWI I2CWK
Three to 34 parameters, all 0-255.
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if ((ctl->opt[1] == CMD_NUMERIC) &&
(ctl->opt[2] == CMD_NUMERIC) &&
((int)p[1]>=0) && ((int)p[2]>=0) && ((int)p[2]<=255))
{
pars = 0;
p8 = ext;
while (pars < 32)
{
eaten = getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
if (((int)tp1>=0) && ((int)tp1<=255))
{
pars++;
*p8++ = tp1;
ctl->eaten += eaten;
}
else break; /* invalid number, end of command */
}
else break;
}
p[3] = pars;
if (pars > 0) valid = 1;
}
break;
case 195: /* CF1 CF2
Zero or more parameters, first two >=0, rest 0-255.
*/
valid = 1;
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
if (ctl->opt[1] == CMD_NUMERIC)
{
if ((int)p[1] >= 0)
{
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
if (ctl->opt[2] == CMD_NUMERIC)
{
if ((int)p[2] >= 0)
{
pars = 0;
p8 = ext;
while (pars < CMD_MAX_PARAM)
{
eaten = getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
if (((int)tp1>=0) && ((int)tp1<=255))
{
pars++;
*p8++ = tp1;
ctl->eaten += eaten;
}
else break;
}
else break;
}
p[3] = pars;
}
else valid = 0;
}
}
else valid = 0;
}
break;
case 196: /* WVAS
gpio baud offset char...
p1 gpio
p2 baud
p3 len + 4
---------
uint32_t databits
uint32_t stophalfbits
uint32_t offset
uint8_t[len]
*/
ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]);
ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]);
ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1);
ctl->eaten += getNum(buf+ctl->eaten, &tp2, &to2);
ctl->eaten += getNum(buf+ctl->eaten, &tp3, &to3);
if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0) &&
(ctl->opt[2] == CMD_NUMERIC) && ((int)p[2] > 0) &&
(to1 == CMD_NUMERIC) &&
(to2 == CMD_NUMERIC) &&
(to3 == CMD_NUMERIC))
{
pars = 0;
memcpy(ext, &tp1, 4);
memcpy(ext+4, &tp2, 4);
memcpy(ext+8, &tp3, 4);
p8 = ext + 12;
while (pars < CMD_MAX_PARAM)
{
eaten = getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
if (((int)tp1>=0) && ((int)tp1<=255))
{
*p8++ = tp1;
pars++;
ctl->eaten += eaten;
}
else break; /* invalid number, end of command */
}
else break;
}
p[3] = pars + 12;
if (pars > 0) valid = 1;
}
break;
case 197: /* WVCHA
One or more parameters, all 0-255.
*/
pars = 0;
p8 = ext;
while (pars < CMD_MAX_PARAM)
{
eaten = getNum(buf+ctl->eaten, &tp1, &to1);
if (to1 == CMD_NUMERIC)
{
if (((int)tp1>=0) && ((int)tp1<=255))
{
pars++;
*p8++ = tp1;
ctl->eaten += eaten;
}
else break; /* invalid number, end of command */
}
else break;
}
p[3] = pars;
if (pars) valid = 1;
break;
}
if (valid) return idx; else return CMD_BAD_PARAMETER;
}
