/*
* _system_assertions() - check memory integrity and other assertions
*/
uint8_t _system_assertions()
{
uint8_t value = 0;
if (tg.magic_start != MAGICNUM) { value = 1; } // Note: reported VALue is offset by ALARM_MEMORY_OFFSET
if (tg.magic_end != MAGICNUM) { value = 2; }
if (cm.magic_start != MAGICNUM) { value = 3; }
if (cm.magic_end != MAGICNUM) { value = 4; }
if (gm.magic_start != MAGICNUM) { value = 5; }
if (gm.magic_end != MAGICNUM) { value = 6; }
if (cfg.magic_start != MAGICNUM) { value = 7; }
if (cfg.magic_end != MAGICNUM) { value = 8; }
if (cmdStr.magic_start != MAGICNUM) { value = 9; }
if (cmdStr.magic_end != MAGICNUM) { value = 10; }
if (mb.magic_start != MAGICNUM) { value = 11; }
if (mb.magic_end != MAGICNUM) { value = 12; }
if (mr.magic_start != MAGICNUM) { value = 13; }
if (mr.magic_end != MAGICNUM) { value = 14; }
if (ar.magic_start != MAGICNUM) { value = 15; }
if (ar.magic_end != MAGICNUM) { value = 16; }
if (st_get_st_magic() != MAGICNUM) { value = 17; }
if (st_get_sps_magic() != MAGICNUM) { value = 18; }
if (rtc.magic_end != MAGICNUM) { value = 19; }
xio_assertions(&value); // run xio assertions
if (value == 0) { return (STAT_OK);}
rpt_exception(STAT_MEMORY_FAULT, value);
cm_alarm(ALARM_MEMORY_OFFSET + value);
return (STAT_EAGAIN);
}
/*
* _system_assertions() - check memory integrity and other assertions
*/
uint8_t _system_assertions()
{
uint8_t value = 0;
if (tg.magic_start != MAGICNUM) { value = 1; }
if (tg.magic_end != MAGICNUM) { value = 2; }
if (cm.magic_start != MAGICNUM) { value = 3; }
if (cm.magic_end != MAGICNUM) { value = 4; }
if (gm.magic_start != MAGICNUM) { value = 5; }
if (gm.magic_end != MAGICNUM) { value = 6; }
if (cfg.magic_start != MAGICNUM) { value = 7; }
if (cfg.magic_end != MAGICNUM) { value = 8; }
if (cmdStr.magic_start != MAGICNUM) { value = 9; }
if (cmdStr.magic_end != MAGICNUM) { value = 10; }
if (mb.magic_start != MAGICNUM) { value = 11; }
if (mb.magic_end != MAGICNUM) { value = 12; }
if (mr.magic_start != MAGICNUM) { value = 13; }
if (mr.magic_end != MAGICNUM) { value = 14; }
if (st_get_st_magic() != MAGICNUM) { value = 15; }
if (st_get_sps_magic() != MAGICNUM) { value = 16; }
if (rtc.magic_end != MAGICNUM) { value = 17; }
xio_assertions(&value); // run xio assertions
if (value == 0) { return (TG_OK);}
rpt_exception(TG_MEMORY_CORRUPTION, value);
cm_shutdown();
return (TG_EAGAIN);
}
stat_t write_persistent_value(nvObj_t *nv)
{
if (cm.cycle_state != CYCLE_OFF)
return(rpt_exception(STAT_FILE_NOT_OPEN)); // can't write when machine is moving
/* not needed
if (nv->valuetype == TYPE_FLOAT) {
if (isnan((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_NAN)); // bad floating point value
if (isinf((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_INFINITE));// bad floating point value
}
*/
return (STAT_OK);
}
mpBuf_t * mp_get_write_buffer() // get & clear a buffer
{
if (mb.w->buffer_state == MP_BUFFER_EMPTY) {
mpBuf_t *w = mb.w;
mpBuf_t *nx = mb.w->nx; // save linked list pointers
mpBuf_t *pv = mb.w->pv;
memset(mb.w, 0, sizeof(mpBuf_t)); // clear all values
w->nx = nx; // restore pointers
w->pv = pv;
w->buffer_state = MP_BUFFER_LOADING;
mb.buffers_available--;
mb.w = w->nx;
return (w);
}
rpt_exception(STAT_FAILED_TO_GET_PLANNER_BUFFER);
return (NULL);
}
stat_t write_persistent_value(nvObj_t *nv)
{
if (cm.cycle_state != CYCLE_OFF)
return(rpt_exception(STAT_FILE_NOT_OPEN)); // can't write when machine is moving
/* not needed
if (nv->valuetype == TYPE_FLOAT) {
if (isnan((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_NAN)); // bad floating point value
if (isinf((double)nv->value)) return(rpt_exception(STAT_FLOAT_IS_INFINITE));// bad floating point value
}
*/
nvm.tmp_value = nv->value;
ritorno(read_persistent_value(nv));
if ((isnan((double)nv->value)) || (isinf((double)nv->value)) || (fp_NE(nv->value, nvm.tmp_value))) {
memcpy(&nvm.byte_array, &nvm.tmp_value, NVM_VALUE_LEN);
nvm.address = nvm.profile_base + (nv->index * NVM_VALUE_LEN);
(void)EEPROM_WriteBytes(nvm.address, nvm.byte_array, NVM_VALUE_LEN);
}
nv->value =nvm.tmp_value; // always restore value
return (STAT_OK);
}
void json_print_response(uint8_t status)
{
#ifdef __SILENCE_JSON_RESPONSES
return;
#endif
if (js.json_verbosity == JV_SILENT) { // silent means no responses
return;
}
if (js.json_verbosity == JV_EXCEPTIONS) { // cutout for JV_EXCEPTIONS mode
if (status == STAT_OK) {
if (cm.machine_state != MACHINE_INITIALIZING) { // always do full echo during startup
return;
}
}
}
// Body processing
nvObj_t *nv = nv_body;
if (status == STAT_JSON_SYNTAX_ERROR) {
nv_reset_nv_list();
nv_add_string((const char *)"err", escape_string(cs.bufp, cs.saved_buf));
} else if (cm.machine_state != MACHINE_INITIALIZING) { // always do full echo during startup
uint8_t nv_type;
do {
if ((nv_type = nv_get_type(nv)) == NV_TYPE_NULL) break;
if (nv_type == NV_TYPE_GCODE) {
if (js.echo_json_gcode_block == false) { // kill command echo if not enabled
nv->valuetype = TYPE_EMPTY;
}
//++++ } else if (nv_type == NV_TYPE_CONFIG) { // kill config echo if not enabled
//fix me if (js.echo_json_configs == false) {
// nv->valuetype = TYPE_EMPTY;
// }
} else if (nv_type == NV_TYPE_MESSAGE) { // kill message echo if not enabled
if (js.echo_json_messages == false) {
nv->valuetype = TYPE_EMPTY;
}
} else if (nv_type == NV_TYPE_LINENUM) { // kill line number echo if not enabled
if ((js.echo_json_linenum == false) || (fp_ZERO(nv->value))) { // do not report line# 0
nv->valuetype = TYPE_EMPTY;
}
}
} while ((nv = nv->nx) != NULL);
}
// Footer processing
while(nv->valuetype != TYPE_EMPTY) { // find a free nvObj at end of the list...
if ((nv = nv->nx) == NULL) { // oops! No free nvObj!
rpt_exception(STAT_JSON_TOO_LONG, "json_print"); // report this as an exception
return;
}
}
char footer_string[NV_FOOTER_LEN];
// in xio.cpp:xio.readline the CR||LF read from the host is not appended to the string.
// to ensure that the correct number of bytes are reported back to the host we add a +1 to
// cs.linelen so that the number of bytes received matches the number of bytes reported
sprintf((char *)footer_string, "%d,%d,%d", 1, status, cs.linelen + 1);
cs.linelen = 0; // reset linelen so it's only reported once
// if (xio.enable_window_mode) { // 2 footer styles are supported...
// sprintf((char *)footer_string, "%d,%d,%d", 2, status, xio_get_window_slots()); //...windowing
// } else {
// sprintf((char *)footer_string, "%d,%d,%d", 1, status, cs.linelen); //...streaming
// cs.linelen = 0; // reset linelen so it's only reported once
// }
nv_copy_string(nv, footer_string); // link string to nv object
nv->depth = 0; // footer 'f' is a peer to response 'r' (hard wired to 0)
nv->valuetype = TYPE_ARRAY; // declare it as an array
strcpy(nv->token, "f"); // set it to Footer
nv->nx = NULL; // terminate the list
// serialize the JSON response and print it if there were no errors
if (json_serialize(nv_header, cs.out_buf, sizeof(cs.out_buf)) >= 0) {
fprintf(stderr, "%s", cs.out_buf);
}
}
static stat_t _dispatch()
{
uint8_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(tg.primary_src, tg.in_buf, sizeof(tg.in_buf))) == STAT_OK) {
tg.bufp = tg.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, 0); // not really an exception
}
tg_reset_source(); // reset to default source
}
return (status); // Note: STAT_EAGAIN, errors, etc. will drop through
}
tg.linelen = strlen(tg.in_buf)+1; // linelen only tracks primary input
strncpy(tg.saved_buf, tg.bufp, SAVED_BUFFER_LEN-1); // save input buffer for reporting
// dispatch the new text line
switch (toupper(*tg.bufp)) { // first char
// case '!': { cm_request_feedhold(); break; } // include for diagnostics
// 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) {
tg_text_response(STAT_OK, tg.saved_buf);
}
break;
}
case 'H': { // intercept help screens
cfg.comm_mode = TEXT_MODE;
print_general_help();
tg_text_response(STAT_OK, tg.bufp);
break;
}
case '$': case '?':{ // text-mode configs
cfg.comm_mode = TEXT_MODE;
tg_text_response(cfg_text_parser(tg.bufp), tg.saved_buf);
break;
}
case '{': { // JSON input
cfg.comm_mode = JSON_MODE;
js_json_parser(tg.bufp);
break;
}
default: { // anything else must be Gcode
if (cfg.comm_mode == JSON_MODE) {
strncpy(tg.out_buf, tg.bufp, INPUT_BUFFER_LEN -8); // use out_buf as temp
sprintf(tg.bufp,"{\"gc\":\"%s\"}\n", tg.out_buf);
js_json_parser(tg.bufp);
} else {
tg_text_response(gc_gcode_parser(tg.bufp), tg.saved_buf);
}
}
}
return (STAT_OK);
}
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);
}
