/*

gcode.c - rs274/ngc parser.

Part of Grbl

Copyright (c) 2009-2011 Simen Svale Skogsrud

Copyright (c) 2011 Stefan Hechenberger

Copyright (c) 2011 Sungeun K. Jeon

Grbl is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

Grbl is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with Grbl. If not, see <http://www.gnu.org/licenses/>.

*/

/* This code is inspired by the Arduino GCode Interpreter by Mike Ellery and the NIST RS274/NGC Interpreter

by Kramer, Proctor and Messina. */

#include "gcode.h"

#include <string.h>

#include "nuts_bolts.h"

#include <math.h>

#include "settings.h"

#include "motion_control.h"

#include "errno.h"

#include "protocol.h"

#include "config.h"

#define MM_PER_INCH (25.4)

#define NEXT_ACTION_DEFAULT 0

#define NEXT_ACTION_DWELL 1

#define NEXT_ACTION_GO_HOME 2

#define NEXT_ACTION_SET_COORDINATE_OFFSET 3

#define NEXT_ACTION_CANCEL 4

#define MOTION_MODE_SEEK 0 // G0

#define MOTION_MODE_LINEAR 1 // G1

#define MOTION_MODE_CW_ARC 2 // G2

#define MOTION_MODE_CCW_ARC 3 // G3

#define MOTION_MODE_CANCEL 4 // G80

#define PATH_CONTROL_MODE_EXACT_PATH 0

#define PATH_CONTROL_MODE_EXACT_STOP 1

#define PATH_CONTROL_MODE_CONTINOUS 2

#define PROGRAM_FLOW_RUNNING 0

#define PROGRAM_FLOW_PAUSED 1

#define PROGRAM_FLOW_COMPLETED 2

#define SPINDLE_DIRECTION_CW 0

#define SPINDLE_DIRECTION_CCW 1

typedef struct {

uint8_t status_code;

uint8_t motion_mode; /* {G0, G1, G2, G3, G80} */

uint8_t inverse_feed_rate_mode; /* G93, G94 */

uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */

uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */

uint8_t program_flow;

int8_t laser_enable;

double feed_rate, seek_rate; /* Millimeters/second */

double position[3]; /* Where the interpreter considers the tool to be at this point in the code */

uint8_t tool;

int16_t nominal_laser_intensity;

uint8_t plane_axis_0,

plane_axis_1,

plane_axis_2; // The axes of the selected plane

} parser_state_t;

static parser_state_t gc;

#define FAIL(status) gc.status_code = status;

static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter);

static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)

{

gc.plane_axis_0 = axis_0;

gc.plane_axis_1 = axis_1;

gc.plane_axis_2 = axis_2;

}

void gc_init() {

memset(&gc, 0, sizeof(gc));

gc.feed_rate = settings.default_feed_rate;

gc.seek_rate = settings.default_seek_rate;

select_plane(X_AXIS, Y_AXIS, Z_AXIS);

gc.absolute_mode = true;

gc.nominal_laser_intensity = LASER_OFF;

}

static float to_millimeters(double value) {

return(gc.inches_mode ? (value * MM_PER_INCH) : value);

}

// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase

// characters and signed floating point values (no whitespace). Comments and block delete

// characters have been removed.

uint8_t gc_execute_line(char *line) {

uint8_t char_counter = 0;

char letter;

double value;

double unit_converted_value;

double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified

uint8_t radius_mode = false;

uint8_t absolute_override = false; /* 1 = absolute motion for this block only {G53} */

uint8_t next_action = NEXT_ACTION_DEFAULT; /* The action that will be taken by the parsed line */

double target[3], offset[3];

double p = 0, r = 0;

int int_value;

gc.status_code = STATUS_OK;

// Pass 1: Commands

while(next_statement(&letter, &value, line, &char_counter)) {

int_value = trunc(value);

switch(letter) {

case 'G':

switch(int_value) {

case 0: gc.motion_mode = MOTION_MODE_SEEK; break;

case 1: gc.motion_mode = MOTION_MODE_LINEAR; break;

case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break;

case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break;

case 4: next_action = NEXT_ACTION_DWELL; break;

case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break;

case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break;

case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;

case 20: gc.inches_mode = true; break;

case 21: gc.inches_mode = false; break;

case 28: case 30: next_action = NEXT_ACTION_GO_HOME; break;

case 53: absolute_override = true; break;

case 80: gc.motion_mode = MOTION_MODE_CANCEL; break;

case 90: gc.absolute_mode = true; break;

case 91: gc.absolute_mode = false; break;

case 92: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET; break;

case 93: gc.inverse_feed_rate_mode = true; break;

case 94: gc.inverse_feed_rate_mode = false; break;

default: FAIL(STATUS_UNSUPPORTED_STATEMENT);

}

break;

case 'M':

switch(int_value) {

case 0: case 1: gc.program_flow = PROGRAM_FLOW_PAUSED; break;

case 2: case 30: case 60: gc.program_flow = PROGRAM_FLOW_COMPLETED; break;

case 3: gc.laser_enable = 1; break;

case 4: gc.laser_enable = 1; break;

case 5: gc.laser_enable = 0; break;

case 112: next_action = NEXT_ACTION_CANCEL; break;

default: FAIL(STATUS_UNSUPPORTED_STATEMENT);

}

break;

case 'T': gc.tool = trunc(value); break;

}

if(gc.status_code) { break; }

}

// If there were any errors parsing this line, we will return right away with the bad news

if (gc.status_code) { return(gc.status_code); }

char_counter = 0;

clear_vector(target);

clear_vector(offset);

memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position

// Pass 2: Parameters

while(next_statement(&letter, &value, line, &char_counter)) {

int_value = trunc(value);

unit_converted_value = to_millimeters(value);

switch(letter) {

case 'F':

if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // Must be greater than zero

if (gc.inverse_feed_rate_mode) {

inverse_feed_rate = unit_converted_value; // seconds per motion for this motion only

} else {

if (gc.motion_mode == MOTION_MODE_SEEK) {

gc.seek_rate = unit_converted_value;

} else {

gc.feed_rate = unit_converted_value; // millimeters per minute

}

}

break;

case 'I': case 'J': case 'K': offset[letter-'I'] = unit_converted_value; break;

case 'P': p = value; break;

case 'R': r = unit_converted_value; radius_mode = true; break;

case 'S': gc.nominal_laser_intensity = value; break;

case 'X': case 'Y': case 'Z':

if (gc.absolute_mode || absolute_override) {

target[letter - 'X'] = unit_converted_value;

} else {

target[letter - 'X'] += unit_converted_value;

}

break;

}

}

// If there were any errors parsing this line, we will return right away with the bad news

if (gc.status_code) { return(gc.status_code); }

// Perform any physical actions

switch (next_action) {

case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector(gc.position); break;

case NEXT_ACTION_DWELL: mc_dwell(p); break;

case NEXT_ACTION_SET_COORDINATE_OFFSET:

mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);

break;

case NEXT_ACTION_CANCEL:

//mc_emergency_stop();

// captain, we have a new target!

//st_get_position(&gc.position[X_AXIS], &gc.position[Y_AXIS], &gc.position[Z_AXIS]);

//mc_set_current_position(gc.position[X_AXIS], gc.position[Y_AXIS], gc.position[Z_AXIS]);

mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false, LASER_OFF);

//return; // totally bail

break;

case NEXT_ACTION_DEFAULT:

switch (gc.motion_mode) {

case MOTION_MODE_CANCEL: break;

case MOTION_MODE_SEEK:

mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false, LASER_OFF);

break;

case MOTION_MODE_LINEAR:

mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],

(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,

gc.nominal_laser_intensity);

break;

case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:

if (radius_mode) {

/*

We need to calculate the center of the circle that has the designated radius and passes

through both the current position and the target position. This method calculates the following

set of equations where [x,y] is the vector from current to target position, d == magnitude of

that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to

the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the

length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point

[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.

d^2 == x^2 + y^2

h^2 == r^2 - (d/2)^2

i == x/2 - y/d*h

j == y/2 + x/d*h

O <- [i,j]

- |

r - |

- |

- | h

- |

[0,0] -> C -----------------+--------------- T <- [x,y]

| <------ d/2 ---->|

C - Current position

T - Target position

O - center of circle that pass through both C and T

d - distance from C to T

r - designated radius

h - distance from center of CT to O

Expanding the equations:

d -> sqrt(x^2 + y^2)

h -> sqrt(4 * r^2 - x^2 - y^2)/2

i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2

j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2

Which can be written:

i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2

j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2

Which we for size and speed reasons optimize to:

h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)

i = (x - (y * h_x2_div_d))/2

j = (y + (x * h_x2_div_d))/2

*/

// Calculate the change in position along each selected axis

double x = target[gc.plane_axis_0]-gc.position[gc.plane_axis_0];

double y = target[gc.plane_axis_1]-gc.position[gc.plane_axis_1];

clear_vector(offset);

double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)

// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any

// real CNC, and thus - for practical reasons - we will terminate promptly:

if(isnan(h_x2_div_d)) { FAIL(STATUS_FLOATING_POINT_ERROR); return(gc.status_code); }

// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)

if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }

/* The counter clockwise circle lies to the left of the target direction. When offset is positive,

the left hand circle will be generated - when it is negative the right hand circle is generated.

T <-- Target position

^

Clockwise circles with this center | Clockwise circles with this center will have

will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!

\ | /

center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative

|

|

C <-- Current position */

// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),

// even though it is advised against ever generating such circles in a single line of g-code. By

// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of

// travel and thus we get the unadvisably long arcs as prescribed.

if (r < 0) {

h_x2_div_d = -h_x2_div_d;

r = -r; // Finished with r. Set to positive for mc_arc

}

// Complete the operation by calculating the actual center of the arc

offset[gc.plane_axis_0] = 0.5*(x-(y*h_x2_div_d));

offset[gc.plane_axis_1] = 0.5*(y+(x*h_x2_div_d));

} else { // Offset mode specific computations

r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); // Compute arc radius for mc_arc

}

// Set clockwise/counter-clockwise sign for mc_arc computations

uint8_t isclockwise = false;

if (gc.motion_mode == MOTION_MODE_CW_ARC) { isclockwise = true; }

// Trace the arc

mc_arc(gc.position, target, offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2,

(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,

r, isclockwise, gc.nominal_laser_intensity);

break;

}

}

// As far as the parser is concerned, the position is now == target. In reality the

// motion control system might still be processing the action and the real tool position

// in any intermediate location.

memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];

return(gc.status_code);

}

// Parses the next statement and leaves the counter on the first character following

// the statement. Returns 1 if there was a statements, 0 if end of string was reached

// or there was an error (check state.status_code).

static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) {

if (line[*char_counter] == 0) {

return(0); // No more statements

}

*letter = line[*char_counter];

if((*letter < 'A') || (*letter > 'Z')) {

FAIL(STATUS_EXPECTED_COMMAND_LETTER);

return(0);

}

(*char_counter)++;

if (!read_double(line, char_counter, double_ptr)) {

FAIL(STATUS_BAD_NUMBER_FORMAT);

return(0);

};

return(1);

}

/*

Intentionally not supported:

- Canned cycles

- Tool radius compensation

- A,B,C-axes

- Multiple coordinate systems

- Evaluation of expressions

- Variables

- Multiple home locations

- Probing

- Override control

group 0 = {G10, G28, G30, G92, G92.1, G92.2, G92.3} (Non modal G-codes)

group 8 = {M7, M8, M9} coolant (special case: M7 and M8 may be active at the same time)

group 9 = {M48, M49} enable/disable feed and speed override switches

group 12 = {G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection

group 13 = {G61, G61.1, G64} path control mode

*/