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432 lines
14 KiB
432 lines
14 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* parser.cpp - Parser for a GCode line, providing a parameter interface.
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*/
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#include "parser.h"
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#include "../MarlinCore.h"
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// Must be declared for allocation and to satisfy the linker
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// Zero values need no initialization.
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bool GCodeParser::volumetric_enabled;
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#if ENABLED(INCH_MODE_SUPPORT)
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float GCodeParser::linear_unit_factor, GCodeParser::volumetric_unit_factor;
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#endif
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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TempUnit GCodeParser::input_temp_units = TEMPUNIT_C;
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#endif
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char *GCodeParser::command_ptr,
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*GCodeParser::string_arg,
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*GCodeParser::value_ptr;
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char GCodeParser::command_letter;
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uint16_t GCodeParser::codenum;
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#if USE_GCODE_SUBCODES
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uint8_t GCodeParser::subcode;
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#endif
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#if ENABLED(GCODE_MOTION_MODES)
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int16_t GCodeParser::motion_mode_codenum = -1;
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#if USE_GCODE_SUBCODES
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uint8_t GCodeParser::motion_mode_subcode;
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#endif
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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// Optimized Parameters
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uint32_t GCodeParser::codebits; // found bits
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uint8_t GCodeParser::param[26]; // parameter offsets from command_ptr
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#else
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char *GCodeParser::command_args; // start of parameters
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#endif
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// Create a global instance of the GCode parser singleton
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GCodeParser parser;
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/**
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* Clear all code-seen (and value pointers)
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*
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* Since each param is set/cleared on seen codes,
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* this may be optimized by commenting out ZERO(param)
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*/
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void GCodeParser::reset() {
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string_arg = nullptr; // No whole line argument
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command_letter = '?'; // No command letter
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codenum = 0; // No command code
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TERN_(USE_GCODE_SUBCODES, subcode = 0); // No command sub-code
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#if ENABLED(FASTER_GCODE_PARSER)
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codebits = 0; // No codes yet
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//ZERO(param); // No parameters (should be safe to comment out this line)
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#endif
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}
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#if ENABLED(GCODE_QUOTED_STRINGS)
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// Pass the address after the first quote (if any)
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char* GCodeParser::unescape_string(char* &src) {
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if (*src == '"') ++src; // Skip the leading quote
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char * const out = src; // Start of the string
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char *dst = src; // Prepare to unescape and terminate
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for (;;) {
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char c = *src++; // Get the next char
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switch (c) {
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case '\\': c = *src++; break; // Get the escaped char
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case '"' : c = '\0'; break; // Convert bare quote to nul
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}
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if (!(*dst++ = c)) break; // Copy and break on nul
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}
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return out;
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}
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#endif
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/**
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* Populate the command line state (command_letter, codenum, subcode, and string_arg)
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* by parsing a single line of GCode. 58 bytes of SRAM are used to speed up seen/value.
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*/
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void GCodeParser::parse(char *p) {
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reset(); // No codes to report
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auto uppercase = [](char c) {
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if (TERN0(GCODE_CASE_INSENSITIVE, WITHIN(c, 'a', 'z')))
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c += 'A' - 'a';
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return c;
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};
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// Skip spaces
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while (*p == ' ') ++p;
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// Skip N[-0-9] if included in the command line
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if (uppercase(*p) == 'N' && NUMERIC_SIGNED(p[1])) {
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//TERN_(FASTER_GCODE_PARSER, set('N', p + 1)); // (optional) Set the 'N' parameter value
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p += 2; // skip N[-0-9]
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while (NUMERIC(*p)) ++p; // skip [0-9]*
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while (*p == ' ') ++p; // skip [ ]*
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}
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// *p now points to the current command, which should be G, M, or T
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command_ptr = p;
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// Get the command letter, which must be G, M, or T
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const char letter = uppercase(*p++);
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// Nullify asterisk and trailing whitespace
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char *starpos = strchr(p, '*');
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if (starpos) {
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--starpos; // *
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while (*starpos == ' ') --starpos; // spaces...
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starpos[1] = '\0';
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}
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#if ANY(MARLIN_DEV_MODE, SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
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#define SIGNED_CODENUM 1
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#endif
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/**
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* Screen for good command letters.
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* With Realtime Reporting, commands S000, P000, and R000 are allowed.
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*/
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#if ENABLED(REALTIME_REPORTING_COMMANDS)
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switch (letter) {
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case 'P': case 'R' ... 'S': {
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uint8_t digits = 0;
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char *a = p;
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while (*a++ == '0') digits++; // Count up '0' characters
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if (digits == 3) { // Three '0' digits is a good command
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codenum = 0;
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command_letter = letter;
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return;
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}
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}
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}
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#endif
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/**
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* Screen for good command letters. G, M, and T are always accepted.
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* With Motion Modes enabled any axis letter can come first.
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*/
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switch (letter) {
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case 'G': case 'M': case 'T': TERN_(MARLIN_DEV_MODE, case 'D':) {
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// Skip spaces to get the numeric part
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while (*p == ' ') p++;
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#if HAS_PRUSA_MMU2
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if (letter == 'T') {
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// check for special MMU2 T?/Tx/Tc commands
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if (*p == '?' || *p == 'x' || *p == 'c') {
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command_letter = letter;
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string_arg = p;
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return;
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}
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}
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#endif
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// Bail if there's no command code number
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if (!TERN(SIGNED_CODENUM, NUMERIC_SIGNED(*p), NUMERIC(*p))) return;
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// Save the command letter at this point
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// A '?' signifies an unknown command
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command_letter = letter;
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#if ENABLED(SIGNED_CODENUM)
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int sign = 1; // Allow for a negative code like D-1 or T-1
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if (*p == '-') { sign = -1; ++p; }
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#endif
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// Get the code number - integer digits only
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codenum = 0;
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do { codenum = codenum * 10 + *p++ - '0'; } while (NUMERIC(*p));
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// Apply the sign, if any
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TERN_(SIGNED_CODENUM, codenum *= sign);
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// Allow for decimal point in command
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#if USE_GCODE_SUBCODES
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if (*p == '.') {
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p++;
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while (NUMERIC(*p))
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subcode = subcode * 10 + *p++ - '0';
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}
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#endif
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// Skip all spaces to get to the first argument, or nul
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while (*p == ' ') p++;
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#if ENABLED(GCODE_MOTION_MODES)
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if (letter == 'G'
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&& (codenum <= TERN(ARC_SUPPORT, 3, 1) || TERN0(BEZIER_CURVE_SUPPORT, codenum == 5) || TERN0(G38_PROBE_TARGET, codenum == 38))
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) {
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motion_mode_codenum = codenum;
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TERN_(USE_GCODE_SUBCODES, motion_mode_subcode = subcode);
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}
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#endif
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} break;
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#if ENABLED(GCODE_MOTION_MODES)
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#if EITHER(BEZIER_CURVE_SUPPORT, ARC_SUPPORT)
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case 'I' ... 'J': case 'P':
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if (TERN1(BEZIER_CURVE_SUPPORT, motion_mode_codenum != 5)
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&& TERN1(ARC_P_CIRCLES, !WITHIN(motion_mode_codenum, 2, 3))
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) return;
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#endif
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#if ENABLED(BEZIER_CURVE_SUPPORT)
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case 'Q': if (motion_mode_codenum != 5) return;
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#endif
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#if ENABLED(ARC_SUPPORT)
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case 'R': if (!WITHIN(motion_mode_codenum, 2, 3)) return;
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#endif
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LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':, case AXIS4_NAME:, case AXIS5_NAME:, case AXIS6_NAME:, case AXIS7_NAME:, case AXIS8_NAME:, case AXIS9_NAME:)
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case 'F':
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if (motion_mode_codenum < 0) return;
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command_letter = 'G';
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codenum = motion_mode_codenum;
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TERN_(USE_GCODE_SUBCODES, subcode = motion_mode_subcode);
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p--; // Back up one character to use the current parameter
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break;
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#endif
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default: return;
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}
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// The command parameters (if any) start here, for sure!
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IF_DISABLED(FASTER_GCODE_PARSER, command_args = p); // Scan for parameters in seen()
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// Only use string_arg for these M codes
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if (letter == 'M') switch (codenum) {
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TERN_(GCODE_MACROS, case 810 ... 819:)
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TERN_(EXPECTED_PRINTER_CHECK, case 16:)
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case 23: case 28: case 30: case 117 ... 118: case 928:
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string_arg = unescape_string(p);
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return;
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default: break;
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}
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#if ENABLED(DEBUG_GCODE_PARSER)
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const bool debug = codenum == 800;
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#endif
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/**
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* Find all parameters, set flags and pointers for fast parsing
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*
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* Most codes ignore 'string_arg', but those that want a string will get the right pointer.
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* The following loop assigns the first "parameter" having no numeric value to 'string_arg'.
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* This allows M0/M1 with expire time to work: "M0 S5 You Win!"
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* For 'M118' you must use 'E1' and 'A1' rather than just 'E' or 'A'
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*/
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#if ENABLED(GCODE_QUOTED_STRINGS)
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bool quoted_string_arg = false;
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#endif
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string_arg = nullptr;
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while (const char param = uppercase(*p++)) { // Get the next parameter. A NUL ends the loop
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// Special handling for M32 [P] !/path/to/file.g#
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// The path must be the last parameter
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if (param == '!' && is_command('M', 32)) {
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string_arg = p; // Name starts after '!'
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char * const lb = strchr(p, '#'); // Already seen '#' as SD char (to pause buffering)
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if (lb) *lb = '\0'; // Safe to mark the end of the filename
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return;
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}
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#if ENABLED(GCODE_QUOTED_STRINGS)
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if (!quoted_string_arg && param == '"') {
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quoted_string_arg = true;
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string_arg = unescape_string(p);
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}
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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// Arguments MUST be uppercase for fast GCode parsing
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#define PARAM_OK(P) WITHIN((P), 'A', 'Z')
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#else
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#define PARAM_OK(P) true
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#endif
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if (PARAM_OK(param)) {
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while (*p == ' ') p++; // Skip spaces between parameters & values
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#if ENABLED(GCODE_QUOTED_STRINGS)
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const bool is_str = (*p == '"'), has_val = is_str || valid_float(p);
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char * const valptr = has_val ? is_str ? unescape_string(p) : p : nullptr;
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#else
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const bool has_val = valid_float(p);
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#if ENABLED(FASTER_GCODE_PARSER)
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char * const valptr = has_val ? p : nullptr;
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#endif
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#endif
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) {
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SERIAL_ECHOPGM("Got param ", AS_CHAR(param), " at index ", p - command_ptr - 1);
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if (has_val) SERIAL_ECHOPGM(" (has_val)");
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}
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#endif
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if (!has_val && !string_arg) { // No value? First time, keep as string_arg
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string_arg = p - 1;
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) SERIAL_ECHOPGM(" string_arg: ", hex_address((void*)string_arg)); // DEBUG
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#endif
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}
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if (TERN0(DEBUG_GCODE_PARSER, debug)) SERIAL_EOL();
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TERN_(FASTER_GCODE_PARSER, set(param, valptr)); // Set parameter exists and pointer (nullptr for no value)
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}
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else if (!string_arg) { // Not A-Z? First time, keep as the string_arg
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string_arg = p - 1;
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) SERIAL_ECHOPGM(" string_arg: ", hex_address((void*)string_arg)); // DEBUG
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#endif
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}
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if (!WITHIN(*p, 'A', 'Z')) { // Another parameter right away?
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while (*p && DECIMAL_SIGNED(*p)) p++; // Skip over the value section of a parameter
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while (*p == ' ') p++; // Skip over all spaces
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}
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}
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}
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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// Parse the next parameter as a new command
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bool GCodeParser::chain() {
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#if ENABLED(FASTER_GCODE_PARSER)
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char *next_command = command_ptr;
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if (next_command) {
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while (*next_command && *next_command != ' ') ++next_command;
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while (*next_command == ' ') ++next_command;
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if (!*next_command) next_command = nullptr;
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}
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#else
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const char *next_command = command_args;
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#endif
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if (next_command) parse(next_command);
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return !!next_command;
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}
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#endif // CNC_COORDINATE_SYSTEMS
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void GCodeParser::unknown_command_warning() {
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SERIAL_ECHO_MSG(STR_UNKNOWN_COMMAND, command_ptr, "\"");
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}
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#if ENABLED(DEBUG_GCODE_PARSER)
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void GCodeParser::debug() {
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SERIAL_ECHOPGM("Command: ", command_ptr, " (", command_letter);
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SERIAL_ECHO(codenum);
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SERIAL_ECHOLNPGM(")");
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#if ENABLED(FASTER_GCODE_PARSER)
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SERIAL_ECHOPGM(" args: { ");
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for (char c = 'A'; c <= 'Z'; ++c) if (seen(c)) SERIAL_CHAR(c, ' ');
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SERIAL_CHAR('}');
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#else
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SERIAL_ECHOPGM(" args: { ", command_args, " }");
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#endif
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if (string_arg) {
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SERIAL_ECHOPGM(" string: \"", string_arg);
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SERIAL_CHAR('"');
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}
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SERIAL_ECHOLNPGM("\n");
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for (char c = 'A'; c <= 'Z'; ++c) {
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if (seen(c)) {
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SERIAL_ECHOPGM("Code '", c); SERIAL_ECHOPGM("':");
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if (has_value()) {
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SERIAL_ECHOLNPGM(
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"\n float: ", value_float(),
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"\n long: ", value_long(),
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"\n ulong: ", value_ulong(),
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"\n millis: ", value_millis(),
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"\n sec-ms: ", value_millis_from_seconds(),
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"\n int: ", value_int(),
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"\n ushort: ", value_ushort(),
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"\n byte: ", value_byte(),
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"\n bool: ", value_bool(),
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"\n linear: ", value_linear_units(),
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"\n celsius: ", value_celsius()
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);
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}
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else
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SERIAL_ECHOLNPGM(" (no value)");
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}
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}
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}
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#endif // DEBUG_GCODE_PARSER
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