Fixed some odd bugs in NGC flow control, prepared for file based named O-call subroutines.

terjeio · terjeio · commit ee8eb2c1eb4b · 2024-10-23T20:18:34.000+07:00
Fixed incorrect comment string passed to passed to grbl.on_gcode_comment event.
Added generic redirector for temporarily changing input stream to read from a file. Supports nesting.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,6 +21,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/spindle_control.c
  ${CMAKE_CURRENT_LIST_DIR}/state_machine.c
  ${CMAKE_CURRENT_LIST_DIR}/stream.c
+ ${CMAKE_CURRENT_LIST_DIR}/stream_file.c
  ${CMAKE_CURRENT_LIST_DIR}/stepper.c
  ${CMAKE_CURRENT_LIST_DIR}/stepper2.c
  ${CMAKE_CURRENT_LIST_DIR}/system.c
diff --git a/README.md b/README.md
@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20241016, see the [changelog](changelog.md) for details.  
+Latest build date is 20241023, see the [changelog](changelog.md) for details.  
 
 __NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
 The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.
diff --git a/changelog.md b/changelog.md
@@ -1,5 +1,28 @@
 ## grblHAL changelog
 
+<a name="20241023">Build 20241023
+
+Core:
+
+* Fixed some odd bugs in NGC flow control, prepared for file based named O-call subroutines.
+
+* Fixed incorrect comment string passed to passed to `grbl.on_gcode_comment` event.
+
+* Added generic redirector for temporarily changing input stream to read from a file. Supports nesting.
+
+Drivers:
+
+*ESP32: fix for overriding UART0 pins, reverted  and fixed tests for ESP32-S3 conditional code.
+
+Plugins:
+
+* File system macros: updated to use new input stream redirector, allows nesting of `G65` calls
+ \(max 5 levels depending on available memory\). __NOTE:__ Not extensively tested, feedback required.
+
+* SD card: updated to work alongside new file redirector.
+
+---
+
 <a name="20241019">Build 20241019
 
 Core:
diff --git a/core_handlers.h b/core_handlers.h
@@ -122,6 +122,7 @@ typedef void (*on_gcode_message_ptr)(char *msg);
 typedef void (*on_rt_reports_added_ptr)(report_tracking_flags_t report);
 typedef const char *(*on_set_axis_setting_unit_ptr)(setting_id_t setting_id, uint_fast8_t axis_idx);
 typedef status_code_t (*on_file_open_ptr)(const char *fname, vfs_file_t *handle, bool stream);
+typedef status_code_t (*on_file_end_ptr)(vfs_file_t *handle, status_code_t status);
 typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
 typedef status_code_t (*on_user_command_ptr)(char *line);
 typedef sys_commands_t *(*on_get_commands_ptr)(void);
@@ -252,6 +253,7 @@ typedef struct {
     on_spindle_selected_ptr on_spindle_selected;        //!< Called when spindle is selected, do not change HAL pointers here!
     on_reset_ptr on_reset;                              //!< Called from interrupt context.
     on_file_open_ptr on_file_open;                      //!< Called when a file is opened for streaming.
+    on_file_end_ptr on_file_end;                        //!< Called when a file opened for streaming reaches the end.
     user_mcode_ptrs_t user_mcode;                       //!< Optional handlers for user defined M-codes.
     // core entry points - set up by core before driver_init() is called.
     home_machine_ptr home_machine;
diff --git a/gcode.c b/gcode.c
@@ -37,6 +37,7 @@
 #if NGC_EXPRESSIONS_ENABLE
 #include "ngc_expr.h"
 #include "ngc_flowctrl.h"
+//#include "string_registers.h"
 #ifndef NGC_N_ASSIGN_PARAMETERS_PER_BLOCK
 #define NGC_N_ASSIGN_PARAMETERS_PER_BLOCK 10
 #endif
@@ -587,7 +588,7 @@ char *gc_normalize_block (char *block, char **message)
 
             case '(':
                 // TODO: generate error if a left parenthesis is found inside a comment...
-                comment = s1;
+                comment = s1 + 1;
                 break;
 
             case ')':
@@ -597,27 +598,27 @@ char *gc_normalize_block (char *block, char **message)
 
                         if(message && *message == NULL) {
 #if NGC_EXPRESSIONS_ENABLE
-                            if(!strncmp(comment, "(DEBUG,", 7)) { // Debug message string substitution
+                            if(!strncasecmp(comment, "DEBUG,", 6)) { // Debug message string substitution
                                 if(settings.flags.ngc_debug_out) {
-                                    comment += 7;
+                                    comment += 6;
                                     ngc_substitute_parameters(comment, message);
                                 }
                                 *comment = '\0'; // Do not generate grbl.on_gcode_comment event!
-                            } else if(!strncmp(comment, "(PRINT,", 7)) { // Print message string substitution
-                                comment += 7;
+                            } else if(!strncasecmp(comment, "PRINT,", 6)) { // Print message string substitution
+                                comment += 6;
                                 ngc_substitute_parameters(comment, message);
                                 *comment = '\0'; // Do not generate grbl.on_gcode_comment event!
-                            } else if(!strncmp(comment, "(MSG,", 5)) {
-                                    comment += 5;
+                            } else if(!strncasecmp(comment, "MSG,", 4)) {
+                                    comment += 4;
                                     ngc_substitute_parameters(comment, message);
                                 }
                             }
 #else
-                            size_t len = s1 - comment - 4;
+                            size_t len = s1 - comment - 3;
 
-                            if(!strncmp(comment, "(MSG,", 5) && (*message = malloc(len))) {
+                            if(!strncasecmp(comment, "MSG,", 4) && (*message = malloc(len))) {
 
-                                comment += 5;
+                                comment += 4;
                                 while(*comment == ' ') {
                                     comment++;
                                     len--;
@@ -639,14 +640,6 @@ char *gc_normalize_block (char *block, char **message)
                     *s2++ = CAPS(c);
                 break;
         }
-
-#if NGC_EXPRESSIONS_ENABLE
-        if(comment && s1 - comment < (strncmp(comment, "(DEBU", 5) && strncmp(comment, "(PRIN", 5) ? 5 : 7))
-            *s1 = CAPS(c);
-#else
-        if(comment && s1 - comment < 5)
-            *s1 = CAPS(c);
-#endif
         s1++;
     }
 
@@ -923,7 +916,7 @@ status_code_t gc_execute_block (char *block)
                 if((status = ngc_read_name(block, &char_counter, o_slabel)) != Status_OK)
                     FAIL(status);
                 gc_block.words.o = On;
-                if(gc_block.values.o = string_register_set_name(o_slabel) == 0)
+                if((gc_block.values.o = string_register_set_name(o_slabel)) == 0)
                     FAIL(Status_FlowControlOutOfMemory);
                 continue;
 #else
diff --git a/grbl.h b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20241019
+#define GRBL_BUILD 20241023
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/ngc_flowctrl.c b/ngc_flowctrl.c
@@ -25,11 +25,15 @@
 
 #if NGC_EXPRESSIONS_ENABLE
 
+#include <math.h>
+#include <stdio.h>
 #include <string.h>
 
 #include "errors.h"
 #include "ngc_expr.h"
 #include "ngc_params.h"
+#include "stream_file.h"
+//#include "string_registers.h"
 
 #ifndef NGC_STACK_DEPTH
 #define NGC_STACK_DEPTH 20
@@ -193,6 +197,28 @@ static status_code_t read_command (char *line, uint_fast8_t *pos, ngc_cmd_t *ope
     return status;
 }
 
+static ngc_sub_t *add_sub (uint32_t o_label, vfs_file_t *file)
+{
+    ngc_sub_t *sub;
+
+    if((sub = malloc(sizeof(ngc_sub_t))) != NULL) {
+        sub->o_label = o_label;
+        sub->file = file;
+        sub->file_pos = vfs_tell(file);
+        sub->next = NULL;
+        if(subs == NULL)
+            subs = sub;
+        else {
+            ngc_sub_t *last = subs;
+            while(last->next)
+                last = last->next;
+            last->next = sub;
+        }
+    }
+
+    return sub;
+}
+
 static void clear_subs (vfs_file_t *file)
 {
     ngc_sub_t *current = subs, *prev = NULL, *next;
@@ -249,7 +275,10 @@ static void stack_unwind_sub (uint32_t o_label)
         stack_pull();
 
     if(stack_idx >= 0) {
-        vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
+        if(o_label > NGC_MAX_PARAM_ID)
+            stream_redirect_close(stack[stack_idx].file);
+        else
+            vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
         stack_pull();
     }
 
@@ -272,6 +301,56 @@ void ngc_flowctrl_init (void)
         stack_pull();
 }
 
+/*
+
+static status_code_t onError (status_code_t status)
+{
+    static bool closing = false;
+
+    if(stack_idx >= 0) {
+
+        uint32_t o_label = 0;
+        ngc_sub_t *sub;
+
+        if((sub = subs)) do {
+            if(sub->o_label > NGC_MAX_PARAM_ID)
+                o_label = sub->o_label;
+        } while((sub = sub->next));
+
+        if((sub = subs)) do {
+            if(sub->o_label == o_label)
+                break;
+        } while((sub = sub->next));
+
+        if(sub) {
+            if(!closing) {
+                char msg[100];
+                closing = true;
+                char *name = string_register_get_by_id((string_register_id_t)sub->o_label);
+                sprintf(msg, "error %d in named sub %s.macro", (uint8_t)status, name);
+                report_message(msg, Message_Warning);
+            }
+
+            sub->o_label = 1;
+
+            stream_redirect_close(sub->file);
+            status = grbl.report.status_message(status);
+        }
+        closing = false;
+        ngc_flowctrl_init();
+    }
+
+    return status;
+}
+
+static status_code_t onFileEnd (vfs_file_t *file, status_code_t status)
+{
+    if(stack_idx >= 0 && stack[stack_idx].file == file)
+        ngc_flowctrl_unwind_stack(file);
+
+    return status;
+}
+*/
 status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, bool *skip)
 {
     float value;
@@ -346,13 +425,11 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
                     if(last_op == NGCFlowCtrl_Do && o_label == stack[stack_idx].o_label)
                         stack_pull();
                 } else if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
-                    if(last_op == NGCFlowCtrl_Do) {
-                        if(o_label == stack[stack_idx].o_label) {
-                            if(value != 0.0f)
-                                vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
-                            else
-                                stack_pull();
-                        }
+                    if(last_op == NGCFlowCtrl_Do && o_label == stack[stack_idx].o_label) {
+                        if(value != 0.0f)
+                            vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
+                        else
+                            stack_pull();
                     } else if((status = stack_push(o_label, operation)) == Status_OK) {
                         if(!(stack[stack_idx].skip = value == 0.0f)) {
                             if((stack[stack_idx].expr = malloc(strlen(expr) + 1))) {
@@ -371,11 +448,13 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
         case NGCFlowCtrl_EndWhile:
             if(hal.stream.file) {
                 if(last_op == NGCFlowCtrl_While) {
-                    if(!skipping && o_label == stack[stack_idx].o_label) {
-                        uint_fast8_t pos = 0;
-                        if(!stack[stack_idx].skip && (status = ngc_eval_expression(stack[stack_idx].expr, &pos, &value)) == Status_OK) {
-                            if(!(stack[stack_idx].skip = value == 0))
-                                vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
+                    if(o_label == stack[stack_idx].o_label) {
+                        if(!skipping) {
+                            uint_fast8_t pos = 0;
+                            if(!stack[stack_idx].skip && (status = ngc_eval_expression(stack[stack_idx].expr, &pos, &value)) == Status_OK) {
+                                if(!(stack[stack_idx].skip = value == 0.0f))
+                                    vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
+                            }
                         }
                         if(stack[stack_idx].skip)
                             stack_pull();
@@ -390,7 +469,8 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             if(hal.stream.file) {
                 if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
                     if((status = stack_push(o_label, operation)) == Status_OK) {
-                        if(!(stack[stack_idx].skip = value == 0.0f)) {
+                        value = nearbyintf(value);
+                        if(!(stack[stack_idx].skip = value <= 0.0f)) {
                             stack[stack_idx].file = hal.stream.file;
                             stack[stack_idx].file_pos = vfs_tell(hal.stream.file);
                             stack[stack_idx].repeats = (uint32_t)value;
@@ -490,20 +570,17 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
         case NGCFlowCtrl_Sub:
             if(hal.stream.file) {
                 ngc_sub_t *sub;
-                if((skip_sub = (sub = malloc(sizeof(ngc_sub_t))) != NULL)) {
-                    sub->o_label = o_label;
-                    sub->file = hal.stream.file;
-                    sub->file_pos = vfs_tell(hal.stream.file);
-                    sub->next = NULL;
-                    if(subs == NULL)
-                        subs = sub;
-                    else {
-                        ngc_sub_t *last = subs;
-                        while(last->next)
-                            last = last->next;
-                        last->next = sub;
-                    }
-                } // else out of memory
+                if(o_label > NGC_MAX_PARAM_ID) {
+
+                    if((sub = subs)) do {
+//                        if(sub->o_label == o_label && sub->file == hal.stream.file)
+//                            break;
+                    } while(sub->next && (sub = sub->next));
+
+                    if(sub == NULL || sub->o_label != o_label)
+                        status = Status_FlowControlSyntaxError;
+                } else if(!(skip_sub = (sub = add_sub(o_label, hal.stream.file)) != NULL))
+                    status = Status_FlowControlOutOfMemory;
             } else
                 status = Status_FlowControlNotExecutingMacro;
             break;
@@ -524,11 +601,37 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_Call:
-            if(hal.stream.file) {
+
+            if(hal.stream.file || o_label > NGC_MAX_PARAM_ID) {
+
                 if(!skipping) {
 
                     ngc_sub_t *sub = subs;
-                    do {
+
+                    if(o_label > NGC_MAX_PARAM_ID) {
+#if 0
+                        char *subname;
+                        if((subname = string_register_get_by_id((string_register_id_t)o_label))) {
+                            char filename[60];
+                            vfs_file_t *file;
+
+                            strcpy(filename, "/");
+                            strcat(filename, subname);
+                            strcat(filename, ".macro");
+
+#if LITTLEFS_ENABLE
+                            sprintf(filename, "/littlefs/P%d.macro", macro_id);
+
+                            if((file = vfs_open(filename, "r")) == NULL)
+#endif
+                            if((file = stream_redirect_read(filename, onError, onFileEnd))) {
+                                if((sub = add_sub(o_label, file)) == NULL)
+                                    status = Status_FlowControlOutOfMemory;
+                            } else
+                                status = Status_FlowControlOutOfMemory; // file not found...
+                       }
+#endif
+                    } else do {
                         if(sub->o_label == o_label && sub->file == hal.stream.file)
                             break;
                     } while((sub = sub->next));
diff --git a/ngc_params.h b/ngc_params.h
@@ -34,6 +34,8 @@
 #define NGC_MAX_PARAM_LENGTH 20
 #endif
 
+#define NGC_MAX_PARAM_ID 65535
+
 typedef uint16_t ngc_param_id_t;
 
 typedef struct {
diff --git a/protocol.c b/protocol.c
diff --git a/stream_file.c b/stream_file.c
diff --git a/stream_file.h b/stream_file.h
