Firmware2/Marlin/src/gcode/parser.h

382 lines
14 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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/>.
*
*/
#pragma once
/**
* parser.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.
*/
#include "../inc/MarlinConfig.h"
//#define DEBUG_GCODE_PARSER
#if ENABLED(DEBUG_GCODE_PARSER)
#include "../libs/hex_print_routines.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
command_letter; // G, M, or T
static int codenum; // 123
#if USE_GCODE_SUBCODES
static uint8_t subcode; // .1
#endif
#if ENABLED(GCODE_MOTION_MODES)
static int16_t motion_mode_codenum;
#if USE_GCODE_SUBCODES
static uint8_t motion_mode_subcode;
#endif
FORCE_INLINE static void cancel_motion_mode() { motion_mode_codenum = -1; }
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
static void debug();
#endif
// Reset is done before parsing
static void reset();
#define LETTER_BIT(N) ((N) - 'A')
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]
}
#if ENABLED(FASTER_GCODE_PARSER)
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 inline void set(const char c, char * const ptr) {
const uint8_t ind = LETTER_BIT(c);
if (ind >= COUNT(param)) return; // Only A-Z
SBI32(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, " 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 inline bool seen(const char c) {
const uint8_t ind = LETTER_BIT(c);
if (ind >= COUNT(param)) return false; // Only A-Z
const bool b = TEST32(codebits, ind);
if (b) {
char * const ptr = command_ptr + param[ind];
value_ptr = param[ind] && valid_float(ptr) ? ptr : (char*)NULL;
}
return b;
}
FORCE_INLINE static constexpr uint32_t letter_bits(const char * const str) {
return (str[0] ? _BV32(LETTER_BIT(str[0])) |
(str[1] ? _BV32(LETTER_BIT(str[1])) |
(str[2] ? _BV32(LETTER_BIT(str[2])) |
(str[3] ? _BV32(LETTER_BIT(str[3])) |
(str[4] ? _BV32(LETTER_BIT(str[4])) |
(str[5] ? _BV32(LETTER_BIT(str[5])) |
(str[6] ? _BV32(LETTER_BIT(str[6])) |
(str[7] ? _BV32(LETTER_BIT(str[7])) |
(str[8] ? _BV32(LETTER_BIT(str[8])) |
(str[9] ? _BV32(LETTER_BIT(str[9]))
: 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0);
}
// At least one of a list of code letters was seen
#ifdef CPU_32_BIT
FORCE_INLINE static bool seen(const char * const str) { return !!(codebits & letter_bits(str)); }
#else
// At least one of a list of code letters was seen
FORCE_INLINE static bool seen(const char * const str) {
const uint32_t letrbits = letter_bits(str);
const uint8_t * const cb = (uint8_t*)&codebits;
const uint8_t * const lb = (uint8_t*)&letrbits;
return (cb[0] & lb[0]) || (cb[1] & lb[1]) || (cb[2] & lb[2]) || (cb[3] & lb[3]);
}
#endif
static inline bool seen_any() { return !!codebits; }
#define SEEN_TEST(L) TEST32(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 inline bool seen(const char c) {
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 inline bool seen_any() { return *command_args == '\0'; }
#define SEEN_TEST(L) !!strchr(command_args, L)
// At least one of a list of code letters was seen
static inline bool seen(const char * const str) {
for (uint8_t i = 0; const char c = str[i]; i++)
if (SEEN_TEST(c)) return true;
return false;
}
#endif // !FASTER_GCODE_PARSER
// Seen any axis parameter
static inline 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
static inline bool seenval(const char c) { return seen(c) && has_value(); }
// Float removes 'E' to prevent scientific notation interpretation
static inline 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 = strtof(value_ptr, NULL);
*e = c;
return ret;
}
++e;
}
return strtof(value_ptr, NULL);
}
return 0;
}
// Code value as a long or ulong
static inline int32_t value_long() { return value_ptr ? strtol(value_ptr, NULL, 10) : 0L; }
static inline uint32_t value_ulong() { return value_ptr ? strtoul(value_ptr, NULL, 10) : 0UL; }
// Code value for use as time
static inline millis_t value_millis() { return value_ulong(); }
static inline millis_t value_millis_from_seconds() { return (millis_t)(value_float() * 1000); }
// Reduce to fewer bits
static inline int16_t value_int() { return (int16_t)value_long(); }
static inline uint16_t value_ushort() { return (uint16_t)value_long(); }
static inline uint8_t value_byte() { return (uint8_t)constrain(value_long(), 0, 255); }
// Bool is true with no value or non-zero
static inline bool value_bool() { return !has_value() || !!value_byte(); }
// Units modes: Inches, Fahrenheit, Kelvin
#if ENABLED(INCH_MODE_SUPPORT)
static inline float mm_to_linear_unit(const float mm) { return mm / linear_unit_factor; }
static inline float mm_to_volumetric_unit(const float mm) { return mm / (volumetric_enabled ? volumetric_unit_factor : linear_unit_factor); }
// Init linear units by constructor
GCodeParser() { set_input_linear_units(LINEARUNIT_MM); }
static inline void set_input_linear_units(const LinearUnit units) {
switch (units) {
case LINEARUNIT_INCH:
linear_unit_factor = 25.4f;
break;
case LINEARUNIT_MM:
default:
linear_unit_factor = 1;
break;
}
volumetric_unit_factor = POW(linear_unit_factor, 3);
}
static inline float axis_unit_factor(const AxisEnum axis) {
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
}
static inline float linear_value_to_mm(const float v) { return v * linear_unit_factor; }
static inline float axis_value_to_mm(const AxisEnum axis, const float v) { return v * axis_unit_factor(axis); }
static inline float per_axis_value(const AxisEnum axis, const float v) { return v / axis_unit_factor(axis); }
#else
static inline float mm_to_linear_unit(const float mm) { return mm; }
static inline float mm_to_volumetric_unit(const float mm) { return mm; }
static inline float linear_value_to_mm(const float v) { return v; }
static inline float axis_value_to_mm(const AxisEnum axis, const float v) { UNUSED(axis); return v; }
static inline float per_axis_value(const AxisEnum axis, const float v) { UNUSED(axis); return v; }
#endif
#define LINEAR_UNIT(V) parser.mm_to_linear_unit(V)
#define VOLUMETRIC_UNIT(V) parser.mm_to_volumetric_unit(V)
static inline float value_linear_units() { return linear_value_to_mm(value_float()); }
static inline float value_axis_units(const AxisEnum axis) { return axis_value_to_mm(axis, value_float()); }
static inline float value_per_axis_units(const AxisEnum axis) { return per_axis_value(axis, value_float()); }
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
static inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
#if HAS_LCD_MENU && DISABLED(DISABLE_M503)
static inline char temp_units_code() {
return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C';
}
static inline PGM_P temp_units_name() {
return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius");
}
static inline float to_temp_units(const float &f) {
switch (input_temp_units) {
case TEMPUNIT_F:
return f * 0.5555555556f + 32;
case TEMPUNIT_K:
return f + 273.15f;
case TEMPUNIT_C:
default:
return f;
}
}
#endif // HAS_LCD_MENU && !DISABLE_M503
static inline float value_celsius() {
const float f = value_float();
switch (input_temp_units) {
case TEMPUNIT_F:
return (f - 32) * 0.5555555556f;
case TEMPUNIT_K:
return f - 273.15f;
case TEMPUNIT_C:
default:
return f;
}
}
static inline float value_celsius_diff() {
switch (input_temp_units) {
case TEMPUNIT_F:
return value_float() * 0.5555555556f;
case TEMPUNIT_C:
case TEMPUNIT_K:
default:
return value_float();
}
}
#define TEMP_UNIT(N) parser.to_temp_units(N)
#else // !TEMPERATURE_UNITS_SUPPORT
static inline float value_celsius() { return value_float(); }
static inline float value_celsius_diff() { return value_float(); }
#define TEMP_UNIT(N) (N)
#endif // !TEMPERATURE_UNITS_SUPPORT
static inline float value_feedrate() { return value_linear_units(); }
void unknown_command_error();
// Provide simple value accessors with default option
static inline float floatval(const char c, const float dval=0.0) { return seenval(c) ? value_float() : dval; }
static inline bool boolval(const char c, const bool dval=false) { return seenval(c) ? value_bool() : (seen(c) ? true : dval); }
static inline uint8_t byteval(const char c, const uint8_t dval=0) { return seenval(c) ? value_byte() : dval; }
static inline int16_t intval(const char c, const int16_t dval=0) { return seenval(c) ? value_int() : dval; }
static inline uint16_t ushortval(const char c, const uint16_t dval=0) { return seenval(c) ? value_ushort() : dval; }
static inline int32_t longval(const char c, const int32_t dval=0) { return seenval(c) ? value_long() : dval; }
static inline uint32_t ulongval(const char c, const uint32_t dval=0) { return seenval(c) ? value_ulong() : dval; }
static inline float linearval(const char c, const float dval=0) { return seenval(c) ? value_linear_units() : dval; }
static inline float celsiusval(const char c, const float dval=0) { return seenval(c) ? value_celsius() : dval; }
};
extern GCodeParser parser;