void get_command() {
while (1) {
int foo = usb_peek();
if (foo < 0 || buflen >= BUFSIZE) {
break;
}
serial_char = foo;
if (serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1)) {
if (!serial_count) { //if empty line
comment_mode = false; //for new command
return;
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if (!comment_mode) {
comment_mode = false; //for new command
if (strstr(cmdbuffer[bufindw], "N") != NULL) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if (gcode_N != gcode_LastN + 1 && (strstr(cmdbuffer[bufindw], "M110") == NULL)) {
printf("Error: Line Number is not Last Line Number+1, Last Line:%lu\n", gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if (strstr(cmdbuffer[bufindw], "*") != NULL) {
unsigned char checksum = 0;
unsigned char count = 0;
while (cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if ((int) (strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
printf("Error:checksum mismatch, Last Line:%lu\n", gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
//if no errors, continue parsing
}
} else {
printf("Error:No Checksum with line number, Last Line:%lu\n", gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
} else // if we don't receive 'N' but still see '*'
{
if ((strstr(cmdbuffer[bufindw], "*") != NULL)) {
printf("Error:No Line Number with checksum, Last Line:%lu\n", gcode_LastN);
serial_count = 0;
return;
}
}
if ((strstr(cmdbuffer[bufindw], "G") != NULL)) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch ((int) ((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))) {
case 0:
case 1:
case 2:
case 3:
printf("ok\n");
break;
default:
break;
}
}
bufindw = (bufindw + 1) % BUFSIZE;
buflen += 1;
}
serial_count = 0; //clear buffer
} else {
bool skipmode = false;
if (serial_char == ';') {
// IN;SP1;PU698,727;PD453,632;PD236,779;PD251,517;PD44,356;PD298,289;PD387,42;PD529,263;PD791,272;PD625,475;PD698,727;PU;
if (serial_count == 2 &&
cmdbuffer[bufindw][0] == 'I' &&
cmdbuffer[bufindw][1] == 'N') {
hgpl_ack();
skipmode = true;
}
else if (serial_count == 3 &&
cmdbuffer[bufindw][0] == 'S' &&
cmdbuffer[bufindw][1] == 'P' &&
cmdbuffer[bufindw][2] == '1') {
hgpl_ack();
skipmode = true;
}
else if (serial_count >= 2 &&
cmdbuffer[bufindw][0] == 'P' &&
(cmdbuffer[bufindw][1] == 'U' ||
cmdbuffer[bufindw][1] == 'D')) {
if (serial_count > 2) {
cmdbuffer[bufindw][serial_count] = '\0';
strchr_pointer = strchr(cmdbuffer[bufindw], ',');
if (strchr_pointer != NULL) {
int y = atoi(strchr_pointer + 1);
*strchr_pointer = '\0';
int x = atoi(&cmdbuffer[bufindw][2]);
if (cmdbuffer[bufindw][1] == 'U') {
stepper_move(x, y);
} else {
stepper_draw(x, y);
}
hgpl_ack();
}
} else {
if (cmdbuffer[bufindw][1] == 'U') {
stepper_move(0, 0);
beeper_on(1360);
msleep(30);
beeper_off();
hgpl_ack();
}
}
skipmode = true;
} else {
comment_mode = true;
}
}
if (skipmode) {
serial_count = 0;
skipmode = false;
} else {
if (!comment_mode) {
cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
}
}
}
void get_command()
{
while( SERIAL_PORT.available() > 0 && buflen < BUFSIZE) {
serial_read = SERIAL_PORT.read();
if( serial_read == -1 )
continue;
serial_char = (char)serial_read;
if(serial_char == '\n' || serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) || serial_count >= (MAX_CMD_SIZE - 1) ) {
if(!serial_count) { //if empty line
comment_mode = false; //for new command
return;
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode) {
comment_mode = false; //for new command
if(strchr(cmdbuffer[bufindw], 'N') != NULL) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
SERIAL_PGM(MSG_ERR_LINE_NO);
SERIAL_PORT.println(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strchr(cmdbuffer[bufindw], '*') != NULL) {
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
SERIAL_PGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_PORT.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
} else {
SERIAL_PGM(MSG_ERR_NO_CHECKSUM);
SERIAL_PORT.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
} else { // if we don't receive 'N' but still see '*'
if((strchr(cmdbuffer[bufindw], '*') != NULL)) {
SERIAL_PGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_PORT.println(gcode_LastN);
serial_count = 0;
return;
}
}
// Determine if an outstanding error caused safety shutdown. If so respond with header
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))) {
case 0:
case 1:
case 2:
case 3:
case 4:
case 5:
if(Stopped) { // If robot is stopped by an error the G[0-5] codes are ignored.
SERIAL_PGMLN(MSG_ERR_STOPPED);
}
break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
serial_count = 0; //clear buffer
} else {
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
}
