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gvm.c
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gvm.c
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#define _POSIX_C_SOURCE /* fmemopen */
#define _GNU_SOURCE /* fmemopen */
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <limits.h>
#include <assert.h>
#include "common.h"
#include "gvm.h"
/*
* Print gcode error "msg" and exit.
*/
static void gcerr(const char *msg)
{
fprintf(stderr, "gcode error: %s\n", msg);
exit(1);
}
/*
* Read a decimal from "string" and return as a long int with 1000 times
* greater magnitude.
*/
static long int strtoml(char *string)
{
long int head;
long int tail;
char *cursor;
head = strtol(string, &cursor, 10);
if (head == LONG_MIN || head == LONG_MAX)
return head;
if (cursor == string)
return head;
if (strlen(cursor) < 2)
return head * 1000;
assert(cursor[0] == '.');
if (strlen(cursor) > 4)
cursor[4] = '\0';
tail = strtol(cursor + 1, &cursor, 10);
assert(tail < 1000);
if (tail == LONG_MIN || tail == LONG_MAX)
return tail;
if (cursor == string)
return head;
while (tail != 0 && tail < 100)
tail *= 10;
return (head * 1000) + tail;
}
/*
* Return true if stream is at the end of the current line.
*/
static bool feol(FILE *stream)
{
char next;
next = getc(stream);
if (next == EOF)
return true;
if (next == '\n')
return true;
if (ungetc(next, stream) == EOF)
return true;
return false;
}
/*
* Consume and discard bytes from a stream until "stop" is reached.
*/
static void fconsume(FILE *stream, char stop)
{
char c;
while (1) {
c = getc(stream);
if (c == EOF)
break;
if (c == stop)
break;
}
}
/*
* Returns true if "c" indicates remainder of line is valid else returns false.
* Consumes and discards comments from the stream.
*/
static bool check_line_discard(FILE *stream, char c)
{
switch (c) {
case '\n':
return false;
case ';':
case '#':
fconsume(stream, '\n');
return false;
default:
break;
}
return true;
}
/*
* Initialise virtual machine to default state.
*/
void gvm_init(struct gvm *m, bool verbose)
{
m->verbose = verbose;
m->sloppy = true;
m->unlocated_moves = true;
m->gcode = NULL;
m->counter = 0;
m->mode = MODE_NONE;
m->located = false;
point_clear(&(m->position), NULL);
point_clear(&(m->previous), NULL);
point_clear(&(m->offset), NULL);
point_clear(&(m->prevoffset), NULL);
}
/*
* Load gcode file "path".
*/
void gvm_load(struct gvm *m, const char *path)
{
if (m->gcode)
bail("gcode file already open");
if (m->verbose)
fprintf(stderr, "gvm [load]: %s\n", path);
m->gcode = fopen(path, "r");
if (m->gcode == NULL)
bail("gvm_load");
}
/*
* Close open gcode file.
*/
void gvm_close(struct gvm *m)
{
if (fclose(m->gcode) != 0)
bail("gvm_close");
m->gcode = NULL;
}
/*
* Decode next line into "cmd" and "result" and set "mask" to denote the axes
* present in the line.
*/
int gvm_read(struct gvm *m, struct command *cmd, struct point *result,
enum axismask *mask)
{
int n;
char axis;
char value[128];
*mask = AXIS_NONE;
n = fscanf(m->gcode, "%c%u", &(cmd->prefix), &(cmd->code));
if (n < 1)
return -1;
if (n > 0 && !check_line_discard(m->gcode, cmd->prefix))
return -1;
if (n < 2 && !m->sloppy)
gcerr("invalid command");
if (m->verbose)
fprintf(stderr, "gvm [cmd]: %c%d\n", cmd->prefix, cmd->code);
if (feol(m->gcode))
return 0;
while ((n = fscanf(m->gcode, " %c%127[0-9.-]", &axis, value)) == 2) {
if (m->verbose)
fprintf(stderr, "gvm [axis]: %c%s\n", axis, value);
if (!check_line_discard(m->gcode, axis))
return 0;
switch (axis) {
case 'X':
result->x = strtoml(value);
*mask |= AXIS_X;
if (result->x == LONG_MIN || result->x == LONG_MAX)
gcerr("invalid value");
break;
case 'Y':
result->y = strtoml(value);
*mask |= AXIS_Y;
if (result->y == LONG_MIN || result->y == LONG_MAX)
gcerr("invalid value");
break;
case 'Z':
result->z = strtoml(value);
*mask |= AXIS_Z;
if (result->z == LONG_MIN || result->z == LONG_MAX)
gcerr("invalid value");
break;
case 'E':
result->e = strtoml(value);
*mask |= AXIS_E;
if (result->e == LONG_MIN || result->e == LONG_MAX)
gcerr("invalid value");
break;
default:
break;
}
if (feol(m->gcode))
return 0;
}
if (m->sloppy) {
if (m->verbose) {
fprintf(stderr, "gvm [warn]: discarding remainder of "
"line\n");
}
check_line_discard(m->gcode, ';');
} else {
if (n > 0)
check_line_discard(m->gcode, axis);
}
return 0;
}
/*
* Apply a command to the virtual machine.:
*/
void gvm_apply(struct gvm *m, struct command *cmd, struct point *values,
enum axismask *mask)
{
switch (cmd->prefix) {
case 'G':
switch (cmd->code) {
case 0:
case 1:
/* G0 / G1 Move */
if (!m->unlocated_moves && !m->located)
gcerr("un-located moves not enabled");
switch (m->mode) {
case MODE_ABSOLUTE:
point_cpy(&(m->position), values, mask);
break;
case MODE_RELATIVE:
point_delta(&(m->position), values, mask, 1);
break;
default:
gcerr("mode undeclared");
}
break;
case 28:
/* G28 Home */
point_clear(&(m->position), mask);
point_clear(&(m->offset), mask);
m->located = true;
break;
case 90:
/* G90 Absolute Positioning */
m->mode = MODE_ABSOLUTE;
break;
case 91:
/* G91 Relative Positioning */
m->mode = MODE_RELATIVE;
break;
case 92:
/* G92 Set */
point_delta(&(m->offset), values, mask, 1);
point_delta(&(m->offset), &(m->position), mask, -1);
point_cpy(&(m->position), values, mask);
break;
}
break;
case ';':
case '#':
/* comment */
break;
}
}
/*
* Step through the next line of gcode in the open file.
*/
int gvm_step(struct gvm *m)
{
struct command cmd;
struct point values;
enum axismask mask;
if (!m->gcode) {
bail("no gcode file has been opened");
return -1;
}
/* record for delta queries */
m->previous = m->position;
m->prevoffset = m->offset;
if (gvm_read(m, &cmd, &values, &mask) == 0)
gvm_apply(m, &cmd, &values, &mask);
if (m->verbose) {
fprintf(stderr, "gvm [resu]: ");
point_print(stderr, &(m->position));
}
if (feof(m->gcode) != 0)
return -1;
m->counter++;
return 0;
}
/*
* Run entire gcode file.
*/
void gvm_run(struct gvm *m)
{
while (gvm_step(m) != -1);
}
/*
* Return gcode line counter.
*/
unsigned int gvm_get_counter(struct gvm *m)
{
return m->counter;
}
/*
* Set "result" to values of current axis positions.
* If "physical" is true then use values of real axis positions relative to the
* homing position.
*/
int gvm_get_position(struct gvm *m, struct point *result, bool physical)
{
if (!physical) {
*result = m->position;
return 0;
}
if (!m->located)
return -1;
*result = m->position;
point_delta(result, &(m->offset), NULL, -1);
return 0;
}
/*
* Set "result" to the delta incurred by the last step.
*/
int gvm_get_delta(struct gvm *m, struct point *result, bool physical)
{
point_clear(result, NULL);
point_delta(result, &(m->position), NULL, 1);
point_delta(result, &(m->previous), NULL, -1);
if (physical) {
if (!m->located)
return -1;
point_delta(result, &(m->offset), NULL, -1);
point_delta(result, &(m->prevoffset), NULL, 1);
}
return 0;
}