farmbot-arduino-firmware/src/GCodeProcessor.cpp

/*
 * GCodeProcessor.cpp
 *
 *  Created on: 15 maj 2014
 *      Author: MattLech
 *      Author: Tim Evers
 */

#include "GCodeProcessor.h"
#include "CurrentState.h"

GCodeProcessor::GCodeProcessor() {

}

GCodeProcessor::~GCodeProcessor() {
}

void GCodeProcessor::printCommandLog(Command* command) {
	Serial.print("command == NULL: ");
	Serial.println("\r\n");
}

int GCodeProcessor::execute(Command* command) {

	int execution = 0;

	long Q = command->getQ();
	CurrentState::getInstance()->setQ(Q);


	// Do not execute the command when the config complete parameter is not
	// set by the raspberry pi and it's asked to do a move command

	// Tim 2017-04-15 Disable until the raspberry code is ready
	/*
	if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
		if (	command->getCodeEnum() == G00 ||
			command->getCodeEnum() == G01 ||
			command->getCodeEnum() == F11 ||
			command->getCodeEnum() == F12 ||
			command->getCodeEnum() == F13 ||
			command->getCodeEnum() == F14 ||
			command->getCodeEnum() == F15 ||
			command->getCodeEnum() == F16 ) {

        		Serial.print(COMM_REPORT_NO_CONFIG);
			CurrentState::getInstance()->printQAndNewLine();
			return -1;
		}
        }
	*/

	// Return error when no command or invalid command is found

	if(command == NULL) {
		if(LOGGING) {
			printCommandLog(command);
		}
		return -1;
	}

	if(command->getCodeEnum() == CODE_UNDEFINED) {
		if(LOGGING) {
			printCommandLog(command);
		}
		return -1;
	}

	// Get the right handler for this command

	GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());

	if(handler == NULL) {
		Serial.println("R99 handler == NULL\r\n");
		return -1;
	}

	// Execute te command, report start and end

	Serial.print(COMM_REPORT_CMD_START);
	CurrentState::getInstance()->printQAndNewLine();

	execution = handler->execute(command);
	if(execution == 0) {
		Serial.print(COMM_REPORT_CMD_DONE);
		CurrentState::getInstance()->printQAndNewLine();
	} else {
		Serial.print(COMM_REPORT_CMD_ERROR);
		CurrentState::getInstance()->printQAndNewLine();
	}

	CurrentState::getInstance()->resetQ();
	return execution;
};

GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {

	GCodeHandler* handler = NULL;

	// These are if statements so they can be disabled as test
	// Usefull when running into memory issues again


	if (codeEnum == G00) {handler = G00Handler::getInstance();}

	if (codeEnum == G28) {handler = G28Handler::getInstance();}

	if (codeEnum == F11) {handler = F11Handler::getInstance();}
	if (codeEnum == F12) {handler = F12Handler::getInstance();}
	if (codeEnum == F13) {handler = F13Handler::getInstance();}

	if (codeEnum == F14) {handler = F14Handler::getInstance();}
	if (codeEnum == F15) {handler = F15Handler::getInstance();}
	if (codeEnum == F16) {handler = F16Handler::getInstance();}

	if (codeEnum == F20) {handler = F20Handler::getInstance();}
	if (codeEnum == F21) {handler = F21Handler::getInstance();}
	if (codeEnum == F22) {handler = F22Handler::getInstance();}

//	if (codeEnum == F31) {handler = F31Handler::getInstance();}
//	if (codeEnum == F32) {handler = F32Handler::getInstance();}

	if (codeEnum == F41) {handler = F41Handler::getInstance();}
	if (codeEnum == F42) {handler = F42Handler::getInstance();}
	if (codeEnum == F43) {handler = F43Handler::getInstance();}
	if (codeEnum == F44) {handler = F44Handler::getInstance();}

	if (codeEnum == F61) {handler = F61Handler::getInstance();}

	if (codeEnum == F81) {handler = F81Handler::getInstance();}
	if (codeEnum == F82) {handler = F82Handler::getInstance();}
	if (codeEnum == F83) {handler = F83Handler::getInstance();}
	if (codeEnum == F84) {handler = F84Handler::getInstance();}


	return handler;
}