path: root/GcodeProcessorLib/gcode_parser.cpp

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Gcode Processor Library
//
// Tools for parsing gcode and calculating printer state from parsed gcode commands.
//
// Copyright(C) 2021 - Brad Hochgesang
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// This program is free software : you can redistribute it and/or modify
// it under the terms of the GNU Affero 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 Affero General Public License for more details.
//
//
// You can contact the author at the following email address: 
// FormerLurker@pm.me
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

#include "gcode_parser.h"
#include "utilities.h"
#include <cmath>
#include <iostream>
gcode_parser::gcode_parser()
{
	// doesn't work in the ancient version of c++ I am forced to use :(
	// or at least I don't know how to us a newer one with python 2.7
	// help...
	/* 
	std::vector<std::string> text_only_function_names = { "M117" }; // "M117" is an example of a command that would work here.

	std::vector<std::string> parsable_command_names = {
		"G0","G1","G2","G3","G10","G11","G20","G21","G28","G29","G80","G90","G91","G92","M82","M83","M104","M105","M106","M109","M114","M116","M140","M141","M190","M191","M207","M208","M240","M400","T"
	};
	*/
	// Have to resort to barbarity.
	// Text only function names
	std::vector<std::string> text_only_function_names;
	text_only_function_names.push_back(("M117"));
	// parsable_command_names
	std::vector<std::string> parsable_command_names;
	parsable_command_names.push_back("G0");
	parsable_command_names.push_back("G1");
	parsable_command_names.push_back("G2");
	parsable_command_names.push_back("G3");
	parsable_command_names.push_back("G10");
	parsable_command_names.push_back("G11");
	parsable_command_names.push_back("G20");
	parsable_command_names.push_back("G21");
	parsable_command_names.push_back("G28");
	parsable_command_names.push_back("G29");
	parsable_command_names.push_back("G80");
	parsable_command_names.push_back("G90");
	parsable_command_names.push_back("G91");
	parsable_command_names.push_back("G92");
	parsable_command_names.push_back("M82");
	parsable_command_names.push_back("M83");
	parsable_command_names.push_back("M104");
	parsable_command_names.push_back("M105");
	parsable_command_names.push_back("M106");
	parsable_command_names.push_back("M109");
	parsable_command_names.push_back("M114");
	parsable_command_names.push_back("M116");
	parsable_command_names.push_back("M140");
	parsable_command_names.push_back("M141");
	parsable_command_names.push_back("M190");
	parsable_command_names.push_back("M191");
	parsable_command_names.push_back("M207");
	parsable_command_names.push_back("M208");
	parsable_command_names.push_back("M218");
	parsable_command_names.push_back("M240");
	parsable_command_names.push_back("M400");
	parsable_command_names.push_back("M563");
	parsable_command_names.push_back("T");
	parsable_command_names.push_back("@OCTOLAPSE");

	for (unsigned int index = 0; index < text_only_function_names.size(); index++)
	{
		std::string functionName = text_only_function_names[index];
		text_only_functions_.insert(functionName);
	}

	for (unsigned int index = 0; index < parsable_command_names.size(); index++)
	{
		std::string commandName = parsable_command_names[index];
		parsable_commands_.insert(commandName);
	}

}

gcode_parser::gcode_parser(const gcode_parser &source)
{
	// Private copy constructor - you can't copy this class
}

gcode_parser::~gcode_parser()
{
	text_only_functions_.clear();
	parsable_commands_.clear();
}

parsed_command gcode_parser::parse_gcode(const char * gcode)
{
	parsed_command p_cmd;
	try_parse_gcode(gcode, p_cmd, true);
	return p_cmd;
}

parsed_command gcode_parser::parse_gcode(const char* gcode, bool preserve_format)
{
	parsed_command p_cmd;
	try_parse_gcode(gcode, p_cmd, preserve_format);
	return p_cmd;
}


bool gcode_parser::try_parse_gcode(const char* gcode, parsed_command& command)
{
	  return try_parse_gcode(gcode, command, true)	 ;
}
// Superfast gcode parser - v2
bool gcode_parser::try_parse_gcode(const char * gcode, parsed_command & command, bool preserve_format)
{
	// Create a command
	char * p_gcode = const_cast<char *>(gcode);
	char * p = const_cast<char *>(gcode);
	command.is_empty = true;
	command.is_known_command = try_extract_gcode_command(&p, &(command.command));
	if (!command.is_known_command)
	{
		while (true)
		{
			char c = *p_gcode;
			if (c == '\0' || c == ';' || c == ' ' || c == '\t')
				break;
			else if (c > 31)
			{
				command.is_empty = false;
				break;
			}
			else if (preserve_format) {
				command.gcode.push_back(c);
			}
			p_gcode++;
		}
		command.command = "";
	}
	else
		command.is_empty = false;

	bool has_seen_character = false;

	bool is_text_only_parameter = text_only_functions_.find(command.command) != text_only_functions_.end();

	while (true)
	{
		char cur_char = *p_gcode;
		if (cur_char == '\0' || cur_char == ';')
			break;
		else if (cur_char > 32 || (cur_char == ' ' && has_seen_character))
		{
			if (!preserve_format && !is_text_only_parameter && (cur_char >= 'a' && cur_char <= 'z'))
				command.gcode.push_back(cur_char - 32);
			else
				command.gcode.push_back(cur_char);
			has_seen_character = true;
		}
		else if (preserve_format)
		{
			command.gcode.push_back(cur_char);
		}
		p_gcode++;
	}
	if (!preserve_format){
		command.gcode = utilities::rtrim(command.gcode);
	}

	if (command.is_known_command && parsable_commands_.find(command.command) != parsable_commands_.end())
	{

		if (command.command.length() > 0 && command.command == "@OCTOLAPSE")
		{
			
			parsed_command_parameter octolapse_parameter;

			if (!try_extract_octolapse_parameter(&p, &octolapse_parameter))
			{
				return true;
			}
			command.parameters.push_back(octolapse_parameter);
			// Extract any additional parameters the old way
			while (true)
			{
				//std::cout << "GcodeParser.try_parse_gcode - Trying to extract parameters.\r\n";
				parsed_command_parameter param;
				if (try_extract_parameter(&p, &param))
					command.parameters.push_back(param);
				else
				{
					//std::cout << "GcodeParser.try_parse_gcode - No parameters found.\r\n";
					break;
				}
			}

		}
		else if (
			is_text_only_parameter ||
			(
				command.command.length() > 0 && command.command[0] == '@'
			)
		){
			//std::cout << "GcodeParser.try_parse_gcode - Text only parameter found.\r\n";
			parsed_command_parameter text_command;
			if (!try_extract_text_parameter(&p, &(text_command.string_value)))
			{
				return true;
			}
			text_command.name = '\0';
			command.parameters.push_back(text_command);
		}
		else
		{
			if (command.command[0] == 'T')
			{
				//std::cout << "GcodeParser.try_parse_gcode - T parameter found.\r\n";
				parsed_command_parameter param;

				if (try_extract_t_parameter(&p, &param))
				{
					command.parameters.push_back(param);
				}
					
			}
			else
			{
				while (true)
				{
					//std::cout << "GcodeParser.try_parse_gcode - Trying to extract parameters.\r\n";
					parsed_command_parameter param;
					if (try_extract_parameter(&p, &param))
						command.parameters.push_back(param);
					else
					{
						//std::cout << "GcodeParser.try_parse_gcode - No parameters found.\r\n";
						break;
					}
				}
			}
		}
	}
		
	try_extract_comment(&p_gcode, &(command.comment));
		

	return command.is_known_command;
	
}

bool gcode_parser::try_extract_gcode_command(char ** p_p_gcode, std::string * p_command)
{
	char * p = *p_p_gcode;
	char gcode_word;
	bool found_command = false;

	// Ignore Leading Spaces
	while (*p == ' ')
	{
		p++;
	}
	// See if this is an @ command, which can be used in octoprint for controlling octolapse
	if (*p == '@')
	{
		found_command = gcode_parser::try_extract_at_command(&p, p_command);
	}
	else
	{

	}
	// Deal with case sensitivity
	if (*p >= 'a' && *p <= 'z')
		gcode_word = *p - 32;
	else
		gcode_word = *p;
	if (gcode_word == 'G' || gcode_word == 'M' || gcode_word == 'T')
	{
		// Set the gcode word of the new command to the current pointer's location and increment both
		(*p_command).push_back(gcode_word);
		p++;

		if (gcode_word != 'T')
		{
			// the T command is special, it has no address

			// Now look for a command address
			while ((*p >= '0' && *p <= '9') || *p == ' ') {
				if (*p != ' ')
				{
					found_command = true;
					(*p_command).push_back(*p++);
				}
				else if (found_command)
				{
					// Previously we just ignored all spaces,
					// but for the command itself, it might be a good idea
					// to assume the space is important.
					// instead, keep moving forward until no spaces are found
					while (*p == ' ')
					{
						p++;
					}
					break;
				}
				else
				{
					// a space was encountered, but no command was found.
					// increment the pointer and continue to search
					// for an address
					++p;
				}
			}
			if (*p == '.') {
				(*p_command).push_back(*p++);
				found_command = false;
				while ((*p >= '0' && *p <= '9') || *p == ' ') {
					if (*p != ' ')
					{
						found_command = true;
						(*p_command).push_back(*p++);
					}
					else
						++p;
				}
			}
		}
		else
		{
			// peek at the next character and see if it is either a number, a question mark, a c, x, or integer.
			// Use a different pointer so as not to mess up parameter parsing
			char * p_t = p;
			// skip any whitespace
			// Ignore Leading Spaces
			while (*p_t == ' ' || *p_t == '\t')
			{
				p_t++;
			}
			// create a char to hold the t parameter
			char t_param = '\0';
			// 
			if (*p_t >= 'a' && *p_t <= 'z')
				t_param = *p_t - 32;
			else
				t_param = *p_t;


			if (t_param == 'C' || t_param == 'X' || t_param == '?')
			{
				p_t++;
				// The next letter looks good!  Now see if there are any other characters before the end of the line (excluding comments)
				while (*p_t == ' ' || *p_t == '\t')
				{
					p_t++;
				}
				if (*p_t == ';' || *p_t == '\0')
					found_command = true;
			}
			else if (t_param >= '0' && t_param <= '9')
			{
				found_command = true;
			}
		}
	}
	*p_p_gcode = p;
	return found_command;
}

bool gcode_parser::try_extract_at_command(char ** p_p_gcode, std::string * p_command)
{
	char *p = *p_p_gcode;
	bool found_command = false;
	while (*p != '\0' && *p != ';' && *p!= ' ')
	{
		if (!found_command)
		{
			found_command = true;
		}
		if (*p >= 'a' && *p <= 'z')
			(*p_command).push_back(*p++ - 32);
		else
			(*p_command).push_back(*p++);
		
	}
	*p_p_gcode = p;
	return found_command;

}

bool gcode_parser::try_extract_unsigned_long(char ** p_p_gcode, unsigned long * p_value) {
	char * p = *p_p_gcode;
	unsigned int r = 0;
	bool found_numbers = false;
	// skip any leading whitespace
	while (*p == ' ')
		++p;

	while ((*p >= '0' && *p <= '9') || *p == ' ') {
		if (*p != ' ')
		{
			found_numbers = true;
			r = static_cast<unsigned int>((r * 10.0) + (*p - '0'));
		}
		++p;
	}
	if (found_numbers)
	{
		*p_value = r;
		*p_p_gcode = p;
	}
	
	return found_numbers;
}

double gcode_parser::ten_pow(unsigned short n) {
	double r = 1.0;

	while (n > 0) {
		r *= 10;
		--n;
	}

	return r;
}

bool gcode_parser::try_extract_double(char ** p_p_gcode, double * p_double, unsigned char *p_precision) const
{
	char * p = *p_p_gcode;
	bool neg = false;
	double r = 0;
	bool found_numbers = false;
	// skip any leading whitespace
	while (*p == ' ')
		++p;
	// Check for negative sign
	if (*p == '-') {
		neg = true;
		++p;
		while (*p == ' ')
			++p;
	}
	else if (*p == '+') {
		// Positive sign doesn't affect anything since we assume positive
		++p;
		while (*p == ' ')
			++p;
	}
	// skip any additional whitespace
	

	while ((*p >= '0' && *p <= '9') || *p == ' ') {
		if (*p != ' ')
		{
			found_numbers = true;
			r = (r*10.0) + (*p - '0');
		}
		++p;
	}
	if (*p == '.') {
		double f = 0.0;
		unsigned short n = 0;
		++p;
		while ((*p >= '0' && *p <= '9') || *p == ' ') {
			if (*p != ' ')
			{
				found_numbers = true;
				f = (f*10.0) + (*p - '0');
				++n;
			}
			++p;
		}
		r += f / ten_pow(n);
		*p_precision = (unsigned char)n;
	}
	if (neg) {
		r = -r;
	}
	if (found_numbers)
	{
		*p_double = r;
		*p_p_gcode = p;
	}
	
	return found_numbers;
}

bool gcode_parser::try_extract_text_parameter(char ** p_p_gcode, std::string * p_parameter)
{
	// Skip initial whitespace
	//std::cout << "GcodeParser.try_extract_parameter - Trying to extract a text parameter from  " << *p_p_gcode << "\r\n";
	char * p = *p_p_gcode;
	
	// Ignore Leading Spaces
	while (*p == ' ')
	{
		p++;
	}
	// Add all values, stop at end of string or when we hit a ';'

	while (*p != '\0' && *p != ';')
	{
		(*p_parameter).push_back(*p++);
	}
	*p_p_gcode = p;
	return true;

}

bool gcode_parser::try_extract_octolapse_parameter(char ** p_p_gcode, parsed_command_parameter * p_parameter)
{
	p_parameter->name = "";
	p_parameter->value_type = 'N';
	// Skip initial whitespace
	//std::cout << "GcodeParser.try_extract_parameter - Trying to extract a text parameter from  " << *p_p_gcode << "\r\n";
	char * p = *p_p_gcode;
	bool has_found_parameter = false;
	// Ignore Leading Spaces
	while (*p == ' ')
	{
		p++;
	}
	// extract name, make all caps.
	while (*p != '\0' && *p != ';' && *p != ' ')
	{
		if (!has_found_parameter)
		{
			has_found_parameter = true;
		}

		if (*p >= 'a' && *p <= 'z')
		{
			p_parameter->name.push_back(*p++ - 32);
		}
		else
		{
			p_parameter->name.push_back(*p++);
		}
	}
	// Todo: Handle any otolapse commands require a string parameter
	/*
	// Ignore spaces after the command name
	while (*p == ' ')
	{
		p++;
	}
	// Extract the value (we may do this per command in the future).  This will output mixed case.
	bool has_parameter_value = false;
	while (*p != '\0' && *p != ';')
	{
		if (!has_parameter_value)
		{
			p_parameter->value_type = 'S';
			has_parameter_value = true;
		}
		p_parameter->string_value.push_back(*p++);
	}
	if (has_parameter_value)
	{
		p_parameter->string_value = utilities::rtrim(p_parameter->string_value);
	}
	*/
	*p_p_gcode = p;
	return has_found_parameter;
}

bool gcode_parser::try_extract_parameter(char ** p_p_gcode, parsed_command_parameter * parameter) const
{
	//std::cout << "GcodeParser.try_extract_parameter - Trying to extract a parameter from  " << *p_p_gcode << "\r\n";
	char * p = *p_p_gcode;

	// Ignore Leading Spaces
	while (*p == ' ')
	{
		p++;
	}
	
	// Deal with case sensitivity
	if (*p >= 'a' && *p <= 'z')
		parameter->name = *p++ - 32;
	else if (*p >= 'A' && *p <= 'Z')
		parameter->name = *p++;
	else
		return false;
	// TODO:  See if unsigned long works....

	// Add all values, stop at end of string or when we hit a ';'
	if (try_extract_double(&p,&(parameter->double_value), &(parameter->double_precision)))
	{
		parameter->value_type = 'F';
	}
	else
	{
		if(try_extract_text_parameter(&p, &(parameter->string_value)))
		{
			parameter->value_type = 'S';
		}
		else
		{
			return false;
		}
	}

	*p_p_gcode = p;
	return true;

}

bool gcode_parser::try_extract_t_parameter(char ** p_p_gcode, parsed_command_parameter * parameter)
{
	//std::cout << "Trying to extract a T parameter from " << *p_p_gcode << "\r\n";
	char * p = *p_p_gcode;
	parameter->name = 'T';
	// Ignore Leading Spaces
	while (*p == L' ')
	{
		p++;
	}

	if (*p == L'c' || *p == L'C')
	{
		//std::cout << "Found C value for T parameter\r\n";
		parameter->string_value = "C";
		parameter->value_type = 'S';
	}
	else if (*p == L'x' || *p == L'X')
	{
		//std::cout << "Found X value for T parameter\r\n";
		parameter->string_value = "X";
		parameter->value_type = 'S';
	}
	else if (*p == L'?')
	{
		//std::cout << "Found ? value for T parameter\r\n";
		parameter->string_value = "?";
		parameter->value_type = 'S';
	}
	else
	{
		//std::cout << "No char t parameter found, looking for unsigned int values.\r\n";
		if(!try_extract_unsigned_long(&p,&(parameter->unsigned_long_value)))
		{
			//std::cout << "No parameter for the T command.\r\n";
			return false;
		}
		parameter->value_type = 'U';
	}
	return true;
}

bool gcode_parser::try_extract_comment(char ** p_p_gcode, std::string * p_comment)
{
	// Skip initial whitespace
	//std::cout << "GcodeParser.try_extract_parameter - Trying to extract a text parameter from  " << *p_p_gcode << "\r\n";
	char * p = *p_p_gcode;

	bool found_comment = false;
	// Hunt for the comment (semicolon)
	while (*p != '\0' && !found_comment)
	{
		if (*p == ';')
		{
			found_comment = true;
		}
		p++;
	}

	// Add all values, stop at end of string or when we hit a ';'
	/*while (*p == ';' || *p == ' ')
	{
		p++;
	}*/
	// Add all characters until we hit the null terminator
	while (*p != '\0')
	{
		if (*p != '\r' && *p != '\n')
		{
			// Dont't add line breaks
			(*p_comment).push_back(*p++);
		}
		else
			p++;
	}
	*p_p_gcode = p;
	return p_comment->length() != 0;

}