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bufferflow_grbl.go
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bufferflow_grbl.go
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package main
import (
"encoding/json"
"log"
"regexp"
"strconv"
"strings"
"sync"
"time"
)
type BufferflowGrbl struct {
Name string
Port string
Paused bool
BufferMax int
q *Queue
// use thread locking for b.Paused
lock *sync.Mutex
sem chan int
LatestData string
LastStatus string
version string
quit chan int
parent_serport *serport
reNewLine *regexp.Regexp
ok *regexp.Regexp
err *regexp.Regexp
initline *regexp.Regexp
qry *regexp.Regexp
rpt *regexp.Regexp
}
func (b *BufferflowGrbl) Init() {
b.lock = &sync.Mutex{}
b.SetPaused(false, 1)
log.Println("Initting GRBL buffer flow")
b.BufferMax = 127 //max buffer size 127 bytes available
b.q = NewQueue()
//create channels
b.sem = make(chan int)
//define regex
b.reNewLine, _ = regexp.Compile("\\r{0,1}\\n{1,2}") //\\r{0,1}
b.ok, _ = regexp.Compile("^ok")
b.err, _ = regexp.Compile("^error")
b.initline, _ = regexp.Compile("^Grbl")
b.qry, _ = regexp.Compile("\\?")
b.rpt, _ = regexp.Compile("^<")
//initialize query loop
b.rptQueryLoop(b.parent_serport)
}
func (b *BufferflowGrbl) RewriteSerialData(cmd string, id string) string {
return ""
}
func (b *BufferflowGrbl) BlockUntilReady(cmd string, id string) (bool, bool, string) {
log.Printf("BlockUntilReady() start\n")
b.q.Push(cmd, id)
log.Printf("New line length: %v, buffer size increased to:%v\n", len(cmd), b.q.LenOfCmds())
log.Println(b.q)
if b.q.LenOfCmds() >= b.BufferMax {
b.SetPaused(true, 0)
log.Printf("Buffer Full - Will send this command when space is available")
}
if b.GetPaused() {
log.Println("It appears we are being asked to pause, so we will wait on b.sem")
// We are being asked to pause our sending of commands
// clear all b.sem signals so when we block below, we truly block
b.ClearOutSemaphore()
log.Println("Blocking on b.sem until told from OnIncomingData to go")
unblockType, ok := <-b.sem // will block until told from OnIncomingData to go
log.Printf("Done blocking cuz got b.sem semaphore release. ok:%v, unblockType:%v\n", ok, unblockType)
// we get an unblockType of 1 for normal unblocks
// we get an unblockType of 2 when we're being asked to wipe the buffer, i.e. from a % cmd
if unblockType == 2 {
log.Println("This was an unblock of type 2, which means we're being asked to wipe internal buffer. so return false.")
// returning false asks the calling method to wipe the serial send once
// this function returns
return false, false, ""
}
log.Printf("BlockUntilReady(cmd:%v, id:%v) end\n", cmd, id)
}
return true, true, ""
}
func (b *BufferflowGrbl) OnIncomingData(data string) {
log.Printf("OnIncomingData() start. data:%q\n", data)
b.LatestData += data
//it was found ok was only received with status responses until the grbl buffer is full.
//b.LatestData = regexp.MustCompile(">\\r\\nok").ReplaceAllString(b.LatestData, ">") //remove oks from status responses
arrLines := b.reNewLine.Split(b.LatestData, -1)
log.Printf("arrLines:%v\n", arrLines)
if len(arrLines) > 1 {
// that means we found a newline and have 2 or greater array values
// so we need to analyze our arrLines[] lines but keep last line
// for next trip into OnIncomingData
log.Printf("We have data lines to analyze. numLines:%v\n", len(arrLines))
} else {
// we don't have a newline yet, so just exit and move on
// we don't have to reset b.LatestData because we ended up
// without any newlines so maybe we will next time into this method
log.Printf("Did not find newline yet, so nothing to analyze\n")
return
}
// if we made it here we have lines to analyze
// so analyze all of them except the last line
for index, element := range arrLines[:len(arrLines)-1] {
log.Printf("Working on element:%v, index:%v", element, index)
//check for 'ok' or 'error' response indicating a gcode line has been processed
if b.ok.MatchString(element) || b.err.MatchString(element) {
if b.q.Len() > 0 {
doneCmd, id := b.q.Poll()
if b.ok.MatchString(element) {
// Send cmd:"Complete" back
m := DataCmdComplete{"Complete", id, b.Port, b.q.LenOfCmds(), doneCmd}
bm, err := json.Marshal(m)
if err == nil {
h.broadcastSys <- bm
}
} else if b.err.MatchString(element) {
// Send cmd:"Error" back
log.Printf("Error Response Received:%v, id:%v", doneCmd, id)
m := DataCmdComplete{"Error", id, b.Port, b.q.LenOfCmds(), doneCmd}
bm, err := json.Marshal(m)
if err == nil {
h.broadcastSys <- bm
}
}
log.Printf("Buffer decreased to itemCnt:%v, lenOfBuf:%v\n", b.q.Len(), b.q.LenOfCmds())
} else {
log.Printf("We should NEVER get here cuz we should have a command in the queue to dequeue when we get the r:{} response. If you see this debug stmt this is BAD!!!!")
}
if b.q.LenOfCmds() < b.BufferMax {
log.Printf("Grbl just completed a line of gcode\n")
// if we are paused, tell us to unpause cuz we have clean buffer room now
if b.GetPaused() {
b.SetPaused(false, 1)
}
}
//check for the grbl init line indicating the arduino is ready to accept commands
//could also pull version from this string, if we find a need for that later
} else if b.initline.MatchString(element) {
//grbl init line received, clear anything from current buffer and unpause
b.LocalBufferWipe(b.parent_serport)
//unpause buffer but wipe the command in the queue as grbl has restarted.
if b.GetPaused() {
b.SetPaused(false, 2)
}
b.version = element //save element in version
//Check for report output, compare to last report output, if different return to client to update status; otherwise ignore status.
} else if b.rpt.MatchString(element) {
if element == b.LastStatus {
log.Println("Grbl status has not changed, not reporting to client")
continue //skip this element as the cnc position has not changed, and move on to the next element.
}
b.LastStatus = element //if we make it here something has changed with the status string and laststatus needs updating
}
// handle communication back to client
m := DataPerLine{b.Port, element + "\n"}
bm, err := json.Marshal(m)
if err == nil {
h.broadcastSys <- bm
}
} // for loop
// now wipe the LatestData to only have the last line that we did not analyze
// because we didn't know/think that was a full command yet
b.LatestData = arrLines[len(arrLines)-1]
//time.Sleep(3000 * time.Millisecond)
log.Printf("OnIncomingData() end.\n")
}
// Clean out b.sem so it can truly block
func (b *BufferflowGrbl) ClearOutSemaphore() {
ctr := 0
keepLooping := true
for keepLooping {
select {
case d, ok := <-b.sem:
log.Printf("Consuming b.sem queue to clear it before we block. ok:%v, d:%v\n", ok, string(d))
ctr++
if ok == false {
keepLooping = false
}
default:
keepLooping = false
log.Println("Hit default in select clause")
}
}
log.Printf("Done consuming b.sem queue so we're good to block on it now. ctr:%v\n", ctr)
// ok, all b.sem signals are now consumed into la-la land
}
func (b *BufferflowGrbl) BreakApartCommands(cmd string) []string {
// add newline after !~%
log.Printf("Command Before Break-Apart: %q\n", cmd)
cmds := strings.Split(cmd, "\n")
finalCmds := []string{}
for _, item := range cmds {
//remove comments and whitespace from item
item = regexp.MustCompile("\\(.*?\\)").ReplaceAllString(item, "")
item = regexp.MustCompile(";.*").ReplaceAllString(item, "")
item = strings.Replace(item, " ", "", -1)
if item == "*init*" { //return init string to update grbl widget when already connected to grbl
m := DataPerLine{b.Port, b.version + "\n"}
bm, err := json.Marshal(m)
if err == nil {
h.broadcastSys <- bm
}
} else if item == "*status*" { //return status when client first connects to existing open port
m := DataPerLine{b.Port, b.LastStatus + "\n"}
bm, err := json.Marshal(m)
if err == nil {
h.broadcastSys <- bm
}
} else if item == "?" {
log.Printf("Query added without newline: %q\n", item)
finalCmds = append(finalCmds, item) //append query request without newline character
} else if item == "%" {
log.Printf("Wiping Grbl BufferFlow")
b.LocalBufferWipe(b.parent_serport)
//dont add this command to the list of finalCmds
} else if item != "" {
log.Printf("Re-adding newline to item:%v\n", item)
s := item + "\n"
finalCmds = append(finalCmds, s)
log.Printf("New cmd item:%v\n", s)
}
}
log.Printf("Final array of cmds after BreakApartCommands(). finalCmds:%v\n", finalCmds)
return finalCmds
//return []string{cmd} //do not process string
}
func (b *BufferflowGrbl) Pause() {
b.SetPaused(true, 0)
//b.BypassMode = false // turn off bypassmode in case it's on
log.Println("Paused buffer on next BlockUntilReady() call")
}
func (b *BufferflowGrbl) Unpause() {
//unpause buffer by setting paused to false and passing a 1 to b.sem
b.SetPaused(false, 1)
log.Println("Unpaused buffer inside BlockUntilReady() call")
}
func (b *BufferflowGrbl) SeeIfSpecificCommandsShouldSkipBuffer(cmd string) bool {
// remove comments
//cmd = regexp.MustCompile("\\(.*?\\)").ReplaceAllString(cmd, "")
//cmd = regexp.MustCompile(";.*").ReplaceAllString(cmd, "")
if match, _ := regexp.MatchString("[!~\\?]|(\u0018)", cmd); match {
log.Printf("Found cmd that should skip buffer. cmd:%v\n", cmd)
return true
}
return false
}
func (b *BufferflowGrbl) SeeIfSpecificCommandsShouldPauseBuffer(cmd string) bool {
// remove comments
//cmd = regexp.MustCompile("\\(.*?\\)").ReplaceAllString(cmd, "")
//cmd = regexp.MustCompile(";.*").ReplaceAllString(cmd, "")
if match, _ := regexp.MatchString("[!]", cmd); match {
log.Printf("Found cmd that should pause buffer. cmd:%v\n", cmd)
return true
}
return false
}
func (b *BufferflowGrbl) SeeIfSpecificCommandsShouldUnpauseBuffer(cmd string) bool {
//cmd = regexp.MustCompile("\\(.*?\\)").ReplaceAllString(cmd, "")
//cmd = regexp.MustCompile(";.*").ReplaceAllString(cmd, "")
if match, _ := regexp.MatchString("[~]", cmd); match {
log.Printf("Found cmd that should unpause buffer. cmd:%v\n", cmd)
return true
}
return false
}
func (b *BufferflowGrbl) SeeIfSpecificCommandsShouldWipeBuffer(cmd string) bool {
//cmd = regexp.MustCompile("\\(.*?\\)").ReplaceAllString(cmd, "")
//cmd = regexp.MustCompile(";.*").ReplaceAllString(cmd, "")
if match, _ := regexp.MatchString("(\u0018)", cmd); match {
log.Printf("Found cmd that should wipe out and reset buffer. cmd:%v\n", cmd)
//b.q.Delete() //delete tracking queue, all buffered commands will be wiped.
//log.Println("Buffer variables cleared for new input.")
return true
}
return false
}
func (b *BufferflowGrbl) SeeIfSpecificCommandsReturnNoResponse(cmd string) bool {
/*
// remove comments
cmd = b.reComment.ReplaceAllString(cmd, "")
cmd = b.reComment2.ReplaceAllString(cmd, "")
if match := b.reNoResponse.MatchString(cmd); match {
log.Printf("Found cmd that does not get a response from TinyG. cmd:%v\n", cmd)
return true
}
*/
return false
}
func (b *BufferflowGrbl) ReleaseLock() {
log.Println("Lock being released in GRBL buffer")
b.q.Delete()
log.Println("ReleaseLock(), so we will send signal of 2 to b.sem to unpause the BlockUntilReady() thread")
//release lock, send signal 2 to b.sem
b.SetPaused(false, 2)
}
func (b *BufferflowGrbl) IsBufferGloballySendingBackIncomingData() bool {
//telling json server that we are handling client responses
return true
}
//Use this function to open a connection, write directly to serial port and close connection.
//This is used for sending query requests outside of the normal buffered operations that will pause to wait for room in the grbl buffer
//'?' is asynchronous to the normal buffer load and does not need to be paused when buffer full
func (b *BufferflowGrbl) rptQueryLoop(p *serport) {
b.parent_serport = p //make note of this port for use in clearing the buffer later, on error.
ticker := time.NewTicker(250 * time.Millisecond)
b.quit = make(chan int)
go func() {
for {
select {
case <-ticker.C:
n2, err := p.portIo.Write([]byte("?"))
log.Print("Just wrote ", n2, " bytes to serial: ?")
if err != nil {
errstr := "Error writing to " + p.portConf.Name + " " + err.Error() + " Closing port."
log.Print(errstr)
h.broadcastSys <- []byte(errstr)
ticker.Stop() //stop query loop if we can't write to the port
break
}
case <-b.quit:
ticker.Stop()
return
}
}
}()
}
func (b *BufferflowGrbl) Close() {
//stop the status query loop when the serial port is closed off.
log.Println("Stopping the status query loop")
b.quit <- 1
}
// Gets the paused state of this buffer
// go-routine safe.
func (b *BufferflowGrbl) GetPaused() bool {
b.lock.Lock()
defer b.lock.Unlock()
return b.Paused
}
// Sets the paused state of this buffer
// go-routine safe.
func (b *BufferflowGrbl) SetPaused(isPaused bool, semRelease int) {
b.lock.Lock()
defer b.lock.Unlock()
b.Paused = isPaused
//if we are unpausing the buffer, we need to send a signal to release the channel
if isPaused == false {
go func() {
// sending a 2 asks BlockUntilReady() to cancel the send
b.sem <- semRelease
defer func() {
log.Printf("Unpause Semaphore just got consumed by the BlockUntilReady()\n")
}()
}()
}
}
//local version of buffer wipe loop needed to handle pseudo clear buffer (%) without passing that value on to
func (b *BufferflowGrbl) LocalBufferWipe(p *serport) {
log.Printf("Pseudo command received to wipe grbl buffer but *not* send on to grbl controller.")
// consume all stuff queued
func() {
ctr := 0
keepLooping := true
for keepLooping {
select {
case d, ok := <-p.sendBuffered:
log.Printf("Consuming sendBuffered queue. ok:%v, d:%v, id:%v\n", ok, string(d.data), string(d.id))
ctr++
p.itemsInBuffer--
if ok == false {
keepLooping = false
}
default:
keepLooping = false
log.Println("Hit default in select clause")
}
}
log.Printf("Done consuming sendBuffered cmds. ctr:%v\n", ctr)
}()
b.ReleaseLock()
// let user know we wiped queue
log.Printf("itemsInBuffer:%v\n", p.itemsInBuffer)
h.broadcastSys <- []byte("{\"Cmd\":\"WipedQueue\",\"QCnt\":" + strconv.Itoa(p.itemsInBuffer) + ",\"Port\":\"" + p.portConf.Name + "\"}")
}
func (b *BufferflowGrbl) GetManualPaused() bool {
return false
}
func (b *BufferflowGrbl) SetManualPaused(isPaused bool) {
}