Firmware/Marlin/gcode.h
2018-01-24 00:30:58 -06:00

339 lines
12 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* gcode.h - Parser for a GCode line, providing a parameter interface.
* Codes like M149 control the way the GCode parser behaves,
* so settings for these codes are located in this class.
*/
#ifndef GCODE_H
#define GCODE_H
#include "enum.h"
#include "types.h"
#include "MarlinConfig.h"
//#define DEBUG_GCODE_PARSER
#if ENABLED(DEBUG_GCODE_PARSER)
#if ENABLED(AUTO_BED_LEVELING_UBL)
extern char* hex_address(const void * const w);
#else
#include "hex_print_routines.h"
#endif
#include "serial.h"
#endif
/**
* GCode parser
*
* - Parse a single gcode line for its letter, code, subcode, and parameters
* - FASTER_GCODE_PARSER:
* - Flags existing params (1 bit each)
* - Stores value offsets (1 byte each)
* - Provide accessors for parameters:
* - Parameter exists
* - Parameter has value
* - Parameter value in different units and types
*/
class GCodeParser {
private:
static char *value_ptr; // Set by seen, used to fetch the value
#if ENABLED(FASTER_GCODE_PARSER)
static uint32_t codebits; // Parameters pre-scanned
static uint8_t param[26]; // For A-Z, offsets into command args
#else
static char *command_args; // Args start here, for slow scan
#endif
public:
// Global states for GCode-level units features
static bool volumetric_enabled;
#if ENABLED(INCH_MODE_SUPPORT)
static float linear_unit_factor, volumetric_unit_factor;
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
static TempUnit input_temp_units;
#endif
// Command line state
static char *command_ptr, // The command, so it can be echoed
*string_arg; // string of command line
static char command_letter; // G, M, or T
static int codenum; // 123
#if USE_GCODE_SUBCODES
static uint8_t subcode; // .1
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
void debug();
#endif
// Reset is done before parsing
static void reset();
#define LETTER_BIT(N) ((N) - 'A')
#if ENABLED(FASTER_GCODE_PARSER)
FORCE_INLINE static bool valid_signless(const char * const p) {
return NUMERIC(p[0]) || (p[0] == '.' && NUMERIC(p[1])); // .?[0-9]
}
FORCE_INLINE static bool valid_float(const char * const p) {
return valid_signless(p) || ((p[0] == '-' || p[0] == '+') && valid_signless(&p[1])); // [-+]?.?[0-9]
}
FORCE_INLINE static bool valid_int(const char * const p) {
return NUMERIC(p[0]) || ((p[0] == '-' || p[0] == '+') && NUMERIC(p[1])); // [-+]?[0-9]
}
// Set the flag and pointer for a parameter
static void set(const char c, char * const ptr) {
const uint8_t ind = LETTER_BIT(c);
if (ind >= COUNT(param)) return; // Only A-Z
SBI(codebits, ind); // parameter exists
param[ind] = ptr ? ptr - command_ptr : 0; // parameter offset or 0
#if ENABLED(DEBUG_GCODE_PARSER)
if (codenum == 800) {
SERIAL_ECHOPAIR("Set bit ", (int)ind);
SERIAL_ECHOPAIR(" of codebits (", hex_address((void*)(codebits >> 16)));
print_hex_word((uint16_t)(codebits & 0xFFFF));
SERIAL_ECHOLNPAIR(") | param = ", (int)param[ind]);
}
#endif
}
// Code seen bit was set. If not found, value_ptr is unchanged.
// This allows "if (seen('A')||seen('B'))" to use the last-found value.
static bool seen(const char c) {
const uint8_t ind = LETTER_BIT(c);
if (ind >= COUNT(param)) return false; // Only A-Z
const bool b = TEST(codebits, ind);
if (b) {
#if ENABLED(DEBUG_GCODE_PARSER)
if (codenum == 800) {
SERIAL_CHAR('\''); SERIAL_CHAR(c); SERIAL_ECHOLNPGM("' is seen");
}
#endif
char * const ptr = command_ptr + param[ind];
value_ptr = param[ind] && valid_float(ptr) ? ptr : (char*)NULL;
}
return b;
}
static bool seen_any() { return !!codebits; }
#define SEEN_TEST(L) TEST(codebits, LETTER_BIT(L))
#else // !FASTER_GCODE_PARSER
// Code is found in the string. If not found, value_ptr is unchanged.
// This allows "if (seen('A')||seen('B'))" to use the last-found value.
static bool seen(const char c) {
const char *p = strchr(command_args, c);
const bool b = !!p;
if (b) value_ptr = valid_float(&p[1]) ? &p[1] : (char*)NULL;
return b;
}
static bool seen_any() { return *command_args == '\0'; }
#define SEEN_TEST(L) !!strchr(command_args, L)
#endif // !FASTER_GCODE_PARSER
// Seen any axis parameter
static bool seen_axis() {
return SEEN_TEST('X') || SEEN_TEST('Y') || SEEN_TEST('Z') || SEEN_TEST('E');
}
// Populate all fields by parsing a single line of GCode
// This uses 54 bytes of SRAM to speed up seen/value
static void parse(char * p);
#if ENABLED(CNC_COORDINATE_SYSTEMS)
// Parse the next parameter as a new command
static bool chain();
#endif
// The code value pointer was set
FORCE_INLINE static bool has_value() { return value_ptr != NULL; }
// Seen a parameter with a value
inline static bool seenval(const char c) { return seen(c) && has_value(); }
// Float removes 'E' to prevent scientific notation interpretation
inline static float value_float() {
if (value_ptr) {
char *e = value_ptr;
for (;;) {
const char c = *e;
if (c == '\0' || c == ' ') break;
if (c == 'E' || c == 'e') {
*e = '\0';
const float ret = strtod(value_ptr, NULL);
*e = c;
return ret;
}
++e;
}
return strtod(value_ptr, NULL);
}
return 0.0;
}
// Code value as a long or ulong
inline static int32_t value_long() { return value_ptr ? strtol(value_ptr, NULL, 10) : 0L; }
inline static uint32_t value_ulong() { return value_ptr ? strtoul(value_ptr, NULL, 10) : 0UL; }
// Code value for use as time
FORCE_INLINE static millis_t value_millis() { return value_ulong(); }
FORCE_INLINE static millis_t value_millis_from_seconds() { return value_float() * 1000UL; }
// Reduce to fewer bits
FORCE_INLINE static int16_t value_int() { return (int16_t)value_long(); }
FORCE_INLINE static uint16_t value_ushort() { return (uint16_t)value_long(); }
inline static uint8_t value_byte() { return (uint8_t)constrain(value_long(), 0, 255); }
// Bool is true with no value or non-zero
inline static bool value_bool() { return !has_value() || !!value_byte(); }
// Units modes: Inches, Fahrenheit, Kelvin
#if ENABLED(INCH_MODE_SUPPORT)
inline static void set_input_linear_units(const LinearUnit units) {
switch (units) {
case LINEARUNIT_INCH:
linear_unit_factor = 25.4;
break;
case LINEARUNIT_MM:
default:
linear_unit_factor = 1.0;
break;
}
volumetric_unit_factor = POW(linear_unit_factor, 3.0);
}
inline static float axis_unit_factor(const AxisEnum axis) {
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
}
inline static float value_linear_units() { return value_float() * linear_unit_factor; }
inline static float value_axis_units(const AxisEnum axis) { return value_float() * axis_unit_factor(axis); }
inline static float value_per_axis_unit(const AxisEnum axis) { return value_float() / axis_unit_factor(axis); }
#else
FORCE_INLINE static float value_linear_units() { return value_float(); }
FORCE_INLINE static float value_axis_units(const AxisEnum a) { UNUSED(a); return value_float(); }
FORCE_INLINE static float value_per_axis_unit(const AxisEnum a) { UNUSED(a); return value_float(); }
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
inline static void set_input_temp_units(TempUnit units) { input_temp_units = units; }
#if ENABLED(ULTIPANEL) && DISABLED(DISABLE_M503)
FORCE_INLINE static char temp_units_code() {
return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C';
}
FORCE_INLINE static char* temp_units_name() {
return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius");
}
inline static float to_temp_units(const float &f) {
switch (input_temp_units) {
case TEMPUNIT_F:
return f * 0.5555555556 + 32.0;
case TEMPUNIT_K:
return f + 273.15;
case TEMPUNIT_C:
default:
return f;
}
}
#endif // ULTIPANEL && !DISABLE_M503
inline static float value_celsius() {
const float f = value_float();
switch (input_temp_units) {
case TEMPUNIT_F:
return (f - 32.0) * 0.5555555556;
case TEMPUNIT_K:
return f - 273.15;
case TEMPUNIT_C:
default:
return f;
}
}
inline static float value_celsius_diff() {
switch (input_temp_units) {
case TEMPUNIT_F:
return value_float() * 0.5555555556;
case TEMPUNIT_C:
case TEMPUNIT_K:
default:
return value_float();
}
}
#else // !TEMPERATURE_UNITS_SUPPORT
FORCE_INLINE static float value_celsius() { return value_float(); }
FORCE_INLINE static float value_celsius_diff() { return value_float(); }
#endif // !TEMPERATURE_UNITS_SUPPORT
FORCE_INLINE static float value_feedrate() { return value_linear_units(); }
void unknown_command_error();
// Provide simple value accessors with default option
FORCE_INLINE static float floatval(const char c, const float dval=0.0) { return seenval(c) ? value_float() : dval; }
FORCE_INLINE static bool boolval(const char c) { return seenval(c) ? value_bool() : seen(c); }
FORCE_INLINE static uint8_t byteval(const char c, const uint8_t dval=0) { return seenval(c) ? value_byte() : dval; }
FORCE_INLINE static int16_t intval(const char c, const int16_t dval=0) { return seenval(c) ? value_int() : dval; }
FORCE_INLINE static uint16_t ushortval(const char c, const uint16_t dval=0) { return seenval(c) ? value_ushort() : dval; }
FORCE_INLINE static int32_t longval(const char c, const int32_t dval=0) { return seenval(c) ? value_long() : dval; }
FORCE_INLINE static uint32_t ulongval(const char c, const uint32_t dval=0) { return seenval(c) ? value_ulong() : dval; }
FORCE_INLINE static float linearval(const char c, const float dval=0.0) { return seenval(c) ? value_linear_units() : dval; }
FORCE_INLINE static float celsiusval(const char c, const float dval=0.0) { return seenval(c) ? value_celsius() : dval; }
};
extern GCodeParser parser;
#endif // GCODE_H