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