//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(); }