hfjbuis schreef: ↑12 feb 2023 23:18
Therefore the code isn't easy to read or parce from C++ to C#.
Here is a function for parsing numbers.
How does it differ PRINCIPALLY from C#?
Moreover, the code is commented.
Code: Selecteer alles
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
{
char *ptr = line + *char_counter;
unsigned char c;
// Grab first character and increment pointer. No spaces assumed in line.
c = *ptr++;
// Capture initial positive/minus character
bool isnegative = false;
if (c == '-') {
isnegative = true;
c = *ptr++;
} else if (c == '+') {
c = *ptr++;
}
// Extract number into fast integer. Track decimal in terms of exponent value.
uint32_t intval = 0;
int8_t exp = 0;
uint8_t ndigit = 0;
bool isdecimal = false;
while(1) {
c -= '0';
if (c <= 9) {
ndigit++;
if (ndigit <= MAX_INT_DIGITS) {
if (isdecimal) { exp--; }
intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
} else {
if (!(isdecimal)) { exp++; } // Drop overflow digits
}
} else if (c == (('.'-'0') & 0xff) && !(isdecimal)) {
isdecimal = true;
} else {
break;
}
c = *ptr++;
}
// Return if no digits have been read.
if (!ndigit) { return(false); };
// Convert integer into floating point.
float fval;
fval = (float)intval;
// Apply decimal. Should perform no more than two floating point multiplications for the
// expected range of E0 to E-4.
if (fval != 0) {
while (exp <= -2) {
fval *= 0.01;
exp += 2;
}
if (exp < 0) {
fval *= 0.1;
} else if (exp > 0) {
do {
fval *= 10.0;
} while (--exp > 0);
}
}
// Assign floating point value with correct sign.
if (isnegative) {
*float_ptr = -fval;
} else {
*float_ptr = fval;
}
*char_counter = ptr - line - 1; // Set char_counter to next statement
return(true);
}
And a snippet of the parsing code.
Code: Selecteer alles
/* -------------------------------------------------------------------------------------
STEP 2: Import all g-code words in the block line. A g-code word is a letter followed by
a number, which can either be a 'G'/'M' command or sets/assigns a command value. Also,
perform initial error-checks for command word modal group violations, for any repeated
words, and for negative values set for the value words F, N, P, T, and S. */
uint32_t dword_bit; // Bit-value for assigning tracking variables
uint8_t char_counter;
char letter;
float value;
uint8_t int_value = 0;
uint16_t mantissa = 0;
if (gc_parser_flags & GC_PARSER_JOG_MOTION) { char_counter = 3; } // Start parsing after `$J=`
else { char_counter = 0; }
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
letter = line[char_counter];
if((letter < 'A') || (letter > 'Z')) { FAIL(STATUS_EXPECTED_COMMAND_LETTER); } // [Expected word letter]
char_counter++;
if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value]
// Convert values to smaller uint8 significand and mantissa values for parsing this word.
// NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more
// accurate than the NIST gcode requirement of x10 when used for commands, but not quite
// accurate enough for value words that require integers to within 0.0001. This should be
// a good enough comprimise and catch most all non-integer errors. To make it compliant,
// we would simply need to change the mantissa to int16, but this add compiled flash space.
// Maybe update this later.
int_value = trunc(value);
mantissa = round(100*(value - int_value)); // Compute mantissa for Gxx.x commands.
// NOTE: Rounding must be used to catch small floating point errors.
// Check if the g-code word is supported or errors due to modal group violations or has
// been repeated in the g-code block. If ok, update the command or record its value.
switch(letter) {
/* 'G' and 'M' Command Words: Parse commands and check for modal group violations.
NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
case 'G':
// Determine 'G' command and its modal group
switch(int_value) {
case 10: case 28: case 30: case 92:
// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_NON_MODAL;
}
// No break. Continues to next line.
case 4: case 53:
dword_bit = MODAL_GROUP_G0;
gc_block.non_modal_command = int_value;
if ((int_value == 28) || (int_value == 30) || (int_value == 92)) {
if (!((mantissa == 0) || (mantissa == 10))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); }
gc_block.non_modal_command += mantissa;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 0: case 1: case 2: case 3: case 38:
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_MOTION_MODE;
// No break. Continues to next line.
case 80:
dword_bit = MODAL_GROUP_G1;
gc_block.modal.motion = int_value;
if (int_value == 38){
if (!((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
gc_block.modal.motion += (mantissa/10)+100;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 17: case 18: case 19:
dword_bit = MODAL_GROUP_G2;
gc_block.modal.plane_select = int_value - 17;
break;
case 90: case 91:
if (mantissa == 0) {
dword_bit = MODAL_GROUP_G3;
gc_block.modal.distance = int_value - 90;
} else {
dword_bit = MODAL_GROUP_G4;
if ((mantissa != 10) || (int_value == 90)) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
// Otherwise, arc IJK incremental mode is default. G91.1 does nothing.
}
break;
case 93: case 94:
dword_bit = MODAL_GROUP_G5;
gc_block.modal.feed_rate = 94 - int_value;
break;
case 20: case 21:
dword_bit = MODAL_GROUP_G6;
gc_block.modal.units = 21 - int_value;
break;
case 40:
dword_bit = MODAL_GROUP_G7;
// NOTE: Not required since cutter radius compensation is always disabled. Only here
// to support G40 commands that often appear in g-code program headers to setup defaults.
// gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
break;
case 43: case 49:
dword_bit = MODAL_GROUP_G8;
// NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
// there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
// all are explicit axis commands, regardless if they require axis words or not.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] }
axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET;
if (int_value == 49) { // G49
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
} else if (mantissa == 10) { // G43.1
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC;
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 54: case 55: case 56: case 57: case 58: case 59:
// NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)
dword_bit = MODAL_GROUP_G12;
gc_block.modal.coord_select = int_value - 54; // Shift to array indexing.
break;
case 61:
dword_bit = MODAL_GROUP_G13;
if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported]
// gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'dword_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_dwords,dwbit(dword_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
command_dwords |= dwbit(dword_bit);
break;
case 'M':
// Determine 'M' command and its modal group
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [No Mxx.x commands]
switch(int_value) {
case 0: case 1: case 2: case 30:
This is nothing more than my opinion. If something is wrong, I apologize.
