442 lines
16 KiB
C++
442 lines
16 KiB
C++
/**
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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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#pragma once
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/**
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* parser.h - Parser for a GCode line, providing a parameter interface.
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* Codes like M149 control the way the GCode parser behaves,
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* so settings for these codes are located in this class.
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*/
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#include "../inc/MarlinConfig.h"
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//#define DEBUG_GCODE_PARSER
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#if ENABLED(DEBUG_GCODE_PARSER)
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#include "../libs/hex_print.h"
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#endif
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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typedef enum : uint8_t { TEMPUNIT_C, TEMPUNIT_K, TEMPUNIT_F } TempUnit;
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#endif
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#if ENABLED(INCH_MODE_SUPPORT)
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typedef enum : uint8_t { LINEARUNIT_MM, LINEARUNIT_INCH } LinearUnit;
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#endif
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/**
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* GCode parser
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*
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* - Parse a single gcode line for its letter, code, subcode, and parameters
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* - FASTER_GCODE_PARSER:
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* - Flags existing params (1 bit each)
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* - Stores value offsets (1 byte each)
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* - Provide accessors for parameters:
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* - Parameter exists
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* - Parameter has value
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* - Parameter value in different units and types
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*/
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class GCodeParser {
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private:
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static char *value_ptr; // Set by seen, used to fetch the value
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#if ENABLED(FASTER_GCODE_PARSER)
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static uint32_t codebits; // Parameters pre-scanned
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static uint8_t param[26]; // For A-Z, offsets into command args
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#else
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static char *command_args; // Args start here, for slow scan
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#endif
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public:
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// Global states for GCode-level units features
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static bool volumetric_enabled;
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#if ENABLED(INCH_MODE_SUPPORT)
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static float linear_unit_factor, volumetric_unit_factor;
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#endif
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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static TempUnit input_temp_units;
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#endif
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// Command line state
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static char *command_ptr, // The command, so it can be echoed
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*string_arg, // string of command line
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command_letter; // G, M, or T
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static uint16_t codenum; // 123
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#if ENABLED(USE_GCODE_SUBCODES)
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static uint8_t subcode; // .1
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#endif
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#if ENABLED(GCODE_MOTION_MODES)
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static int16_t motion_mode_codenum;
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#if ENABLED(USE_GCODE_SUBCODES)
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static uint8_t motion_mode_subcode;
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#endif
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FORCE_INLINE static void cancel_motion_mode() { motion_mode_codenum = -1; }
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#endif
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#if ENABLED(DEBUG_GCODE_PARSER)
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static void debug();
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#endif
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// Reset is done before parsing
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static void reset();
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#define LETTER_BIT(N) ((N) - 'A')
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FORCE_INLINE static bool valid_signless(const char * const p) {
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return NUMERIC(p[0]) || (p[0] == '.' && NUMERIC(p[1])); // .?[0-9]
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}
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FORCE_INLINE static bool valid_float(const char * const p) {
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return valid_signless(p) || ((p[0] == '-' || p[0] == '+') && valid_signless(&p[1])); // [-+]?.?[0-9]
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}
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FORCE_INLINE static bool valid_number(const char * const p) {
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// TODO: With MARLIN_DEV_MODE allow HEX values starting with "x"
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return valid_float(p);
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}
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#if ENABLED(FASTER_GCODE_PARSER)
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FORCE_INLINE static bool valid_int(const char * const p) {
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return NUMERIC(p[0]) || ((p[0] == '-' || p[0] == '+') && NUMERIC(p[1])); // [-+]?[0-9]
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}
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// Set the flag and pointer for a parameter
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static inline void set(const char c, char * const ptr) {
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const uint8_t ind = LETTER_BIT(c);
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if (ind >= COUNT(param)) return; // Only A-Z
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SBI32(codebits, ind); // parameter exists
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param[ind] = ptr ? ptr - command_ptr : 0; // parameter offset or 0
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (codenum == 800) {
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SERIAL_ECHOPAIR("Set bit ", (int)ind, " of codebits (", hex_address((void*)(codebits >> 16)));
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print_hex_word((uint16_t)(codebits & 0xFFFF));
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SERIAL_ECHOLNPAIR(") | param = ", (int)param[ind]);
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}
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#endif
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}
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// Code seen bit was set. If not found, value_ptr is unchanged.
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// This allows "if (seen('A')||seen('B'))" to use the last-found value.
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static inline bool seen(const char c) {
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const uint8_t ind = LETTER_BIT(c);
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if (ind >= COUNT(param)) return false; // Only A-Z
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const bool b = TEST32(codebits, ind);
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if (b) {
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if (param[ind]) {
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char * const ptr = command_ptr + param[ind];
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value_ptr = valid_number(ptr) ? ptr : nullptr;
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}
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else
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value_ptr = nullptr;
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}
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return b;
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}
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FORCE_INLINE static constexpr uint32_t letter_bits(const char * const str) {
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return (str[0] ? _BV32(LETTER_BIT(str[0])) |
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(str[1] ? _BV32(LETTER_BIT(str[1])) |
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(str[2] ? _BV32(LETTER_BIT(str[2])) |
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(str[3] ? _BV32(LETTER_BIT(str[3])) |
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(str[4] ? _BV32(LETTER_BIT(str[4])) |
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(str[5] ? _BV32(LETTER_BIT(str[5])) |
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(str[6] ? _BV32(LETTER_BIT(str[6])) |
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(str[7] ? _BV32(LETTER_BIT(str[7])) |
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(str[8] ? _BV32(LETTER_BIT(str[8])) |
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(str[9] ? _BV32(LETTER_BIT(str[9]))
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: 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0) : 0);
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}
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// At least one of a list of code letters was seen
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#ifdef CPU_32_BIT
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FORCE_INLINE static bool seen(const char * const str) { return !!(codebits & letter_bits(str)); }
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#else
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FORCE_INLINE static bool seen(const char * const str) {
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const uint32_t letrbits = letter_bits(str);
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const uint8_t * const cb = (uint8_t*)&codebits;
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const uint8_t * const lb = (uint8_t*)&letrbits;
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return (cb[0] & lb[0]) || (cb[1] & lb[1]) || (cb[2] & lb[2]) || (cb[3] & lb[3]);
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}
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#endif
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static inline bool seen_any() { return !!codebits; }
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FORCE_INLINE static bool seen_test(const char c) { return TEST32(codebits, LETTER_BIT(c)); }
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#else // !FASTER_GCODE_PARSER
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#if ENABLED(GCODE_CASE_INSENSITIVE)
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FORCE_INLINE static char* strgchr(char *p, char g) {
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auto uppercase = [](char c) {
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return c + (WITHIN(c, 'a', 'z') ? 'A' - 'a' : 0);
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};
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const char d = uppercase(g);
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for (char cc; (cc = uppercase(*p)); p++) if (cc == d) return p;
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return nullptr;
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}
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#else
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#define strgchr strchr
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#endif
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// Code is found in the string. If not found, value_ptr is unchanged.
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// This allows "if (seen('A')||seen('B'))" to use the last-found value.
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static inline bool seen(const char c) {
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char *p = strgchr(command_args, c);
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const bool b = !!p;
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if (b) value_ptr = valid_number(&p[1]) ? &p[1] : nullptr;
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return b;
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}
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static inline bool seen_any() { return *command_args == '\0'; }
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FORCE_INLINE static bool seen_test(const char c) { return (bool)strgchr(command_args, c); }
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// At least one of a list of code letters was seen
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static inline bool seen(const char * const str) {
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for (uint8_t i = 0; const char c = str[i]; i++)
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if (seen_test(c)) return true;
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return false;
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}
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#endif // !FASTER_GCODE_PARSER
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// Seen any axis parameter
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static inline bool seen_axis() {
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return seen_test('X') || seen_test('Y') || seen_test('Z') || seen_test('E');
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}
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#if ENABLED(GCODE_QUOTED_STRINGS)
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static char* unescape_string(char* &src);
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#else
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FORCE_INLINE static char* unescape_string(char* &src) { return src; }
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#endif
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// Populate all fields by parsing a single line of GCode
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// This uses 54 bytes of SRAM to speed up seen/value
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static void parse(char * p);
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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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static bool chain();
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#endif
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// Test whether the parsed command matches the input
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static inline bool is_command(const char ltr, const uint16_t num) { return command_letter == ltr && codenum == num; }
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// The code value pointer was set
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FORCE_INLINE static bool has_value() { return !!value_ptr; }
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// Seen a parameter with a value
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static inline bool seenval(const char c) { return seen(c) && has_value(); }
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// The value as a string
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static inline char* value_string() { return value_ptr; }
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// Float removes 'E' to prevent scientific notation interpretation
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static inline float value_float() {
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if (value_ptr) {
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char *e = value_ptr;
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for (;;) {
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const char c = *e;
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if (c == '\0' || c == ' ') break;
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if (c == 'E' || c == 'e') {
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*e = '\0';
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const float ret = strtof(value_ptr, nullptr);
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*e = c;
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return ret;
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}
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++e;
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}
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return strtof(value_ptr, nullptr);
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}
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return 0;
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}
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// Code value as a long or ulong
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static inline int32_t value_long() { return value_ptr ? strtol(value_ptr, nullptr, 10) : 0L; }
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static inline uint32_t value_ulong() { return value_ptr ? strtoul(value_ptr, nullptr, 10) : 0UL; }
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// Code value for use as time
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static inline millis_t value_millis() { return value_ulong(); }
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static inline millis_t value_millis_from_seconds() { return (millis_t)(value_float() * 1000); }
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// Reduce to fewer bits
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static inline int16_t value_int() { return (int16_t)value_long(); }
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static inline uint16_t value_ushort() { return (uint16_t)value_long(); }
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static inline uint8_t value_byte() { return (uint8_t)constrain(value_long(), 0, 255); }
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// Bool is true with no value or non-zero
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static inline bool value_bool() { return !has_value() || !!value_byte(); }
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// Units modes: Inches, Fahrenheit, Kelvin
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#if ENABLED(INCH_MODE_SUPPORT)
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static inline float mm_to_linear_unit(const float mm) { return mm / linear_unit_factor; }
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static inline float mm_to_volumetric_unit(const float mm) { return mm / (volumetric_enabled ? volumetric_unit_factor : linear_unit_factor); }
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// Init linear units by constructor
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GCodeParser() { set_input_linear_units(LINEARUNIT_MM); }
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static inline void set_input_linear_units(const LinearUnit units) {
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switch (units) {
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default:
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case LINEARUNIT_MM: linear_unit_factor = 1.0f; break;
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case LINEARUNIT_INCH: linear_unit_factor = 25.4f; break;
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}
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volumetric_unit_factor = POW(linear_unit_factor, 3);
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}
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static inline float axis_unit_factor(const AxisEnum axis) {
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return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
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}
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static inline float linear_value_to_mm(const float v) { return v * linear_unit_factor; }
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static inline float axis_value_to_mm(const AxisEnum axis, const float v) { return v * axis_unit_factor(axis); }
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static inline float per_axis_value(const AxisEnum axis, const float v) { return v / axis_unit_factor(axis); }
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#else
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static inline float mm_to_linear_unit(const float mm) { return mm; }
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static inline float mm_to_volumetric_unit(const float mm) { return mm; }
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static inline float linear_value_to_mm(const float v) { return v; }
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static inline float axis_value_to_mm(const AxisEnum, const float v) { return v; }
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static inline float per_axis_value(const AxisEnum, const float v) { return v; }
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#endif
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static inline bool using_inch_units() { return mm_to_linear_unit(1.0f) != 1.0f; }
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#define IN_TO_MM(I) ((I) * 25.4f)
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#define MM_TO_IN(M) ((M) / 25.4f)
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#define LINEAR_UNIT(V) parser.mm_to_linear_unit(V)
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#define VOLUMETRIC_UNIT(V) parser.mm_to_volumetric_unit(V)
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static inline float value_linear_units() { return linear_value_to_mm(value_float()); }
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static inline float value_axis_units(const AxisEnum axis) { return axis_value_to_mm(axis, value_float()); }
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static inline float value_per_axis_units(const AxisEnum axis) { return per_axis_value(axis, value_float()); }
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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static inline void set_input_temp_units(const TempUnit units) { input_temp_units = units; }
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#if HAS_LCD_MENU && DISABLED(DISABLE_M503)
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static inline char temp_units_code() {
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return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C';
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}
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static inline PGM_P temp_units_name() {
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return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius");
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}
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static inline float to_temp_units(const float &f) {
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switch (input_temp_units) {
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case TEMPUNIT_F:
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return f * 0.5555555556f + 32;
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case TEMPUNIT_K:
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return f + 273.15f;
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case TEMPUNIT_C:
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default:
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return f;
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}
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}
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#endif // HAS_LCD_MENU && !DISABLE_M503
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static inline float value_celsius() {
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const float f = value_float();
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switch (input_temp_units) {
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case TEMPUNIT_F:
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return (f - 32) * 0.5555555556f;
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case TEMPUNIT_K:
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return f - 273.15f;
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case TEMPUNIT_C:
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default:
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return f;
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}
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}
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static inline float value_celsius_diff() {
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switch (input_temp_units) {
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case TEMPUNIT_F:
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return value_float() * 0.5555555556f;
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case TEMPUNIT_C:
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case TEMPUNIT_K:
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default:
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return value_float();
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}
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}
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#define TEMP_UNIT(N) parser.to_temp_units(N)
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#else // !TEMPERATURE_UNITS_SUPPORT
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static inline float value_celsius() { return value_float(); }
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static inline float value_celsius_diff() { return value_float(); }
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#define TEMP_UNIT(N) (N)
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#endif // !TEMPERATURE_UNITS_SUPPORT
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static inline feedRate_t value_feedrate() { return MMM_TO_MMS(value_linear_units()); }
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void unknown_command_warning();
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// Provide simple value accessors with default option
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static inline char* stringval(const char c, char * const dval=nullptr) { return seenval(c) ? value_string() : dval; }
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static inline float floatval(const char c, const float dval=0.0) { return seenval(c) ? value_float() : dval; }
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static inline bool boolval(const char c, const bool dval=false) { return seenval(c) ? value_bool() : (seen(c) ? true : dval); }
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static inline uint8_t byteval(const char c, const uint8_t dval=0) { return seenval(c) ? value_byte() : dval; }
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static inline int16_t intval(const char c, const int16_t dval=0) { return seenval(c) ? value_int() : dval; }
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static inline uint16_t ushortval(const char c, const uint16_t dval=0) { return seenval(c) ? value_ushort() : dval; }
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static inline int32_t longval(const char c, const int32_t dval=0) { return seenval(c) ? value_long() : dval; }
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static inline uint32_t ulongval(const char c, const uint32_t dval=0) { return seenval(c) ? value_ulong() : dval; }
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static inline float linearval(const char c, const float dval=0) { return seenval(c) ? value_linear_units() : dval; }
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static inline float celsiusval(const char c, const float dval=0) { return seenval(c) ? value_celsius() : dval; }
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#if ENABLED(MARLIN_DEV_MODE)
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static inline uint8_t* hex_adr_val(const char c, uint8_t * const dval=nullptr) {
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if (!seen(c) || *value_ptr != 'x') return dval;
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uint8_t *out = nullptr;
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for (char *vp = value_ptr + 1; HEXCHR(*vp) >= 0; vp++)
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out = (uint8_t*)((uintptr_t(out) << 8) | HEXCHR(*vp));
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return out;
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}
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static inline uint16_t hex_val(const char c, uint16_t const dval=0) {
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if (!seen(c) || *value_ptr != 'x') return dval;
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uint16_t out = 0;
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for (char *vp = value_ptr + 1; HEXCHR(*vp) >= 0; vp++)
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out = ((out) << 8) | HEXCHR(*vp);
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return out;
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}
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#endif
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};
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extern GCodeParser parser;
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