core_handlers.h File Reference

core function pointers and data structures definitions. More...

#include "system.h"
#include "stream.h"
#include "alarms.h"
#include "errors.h"
#include "settings.h"
#include "report.h"
#include "planner.h"
#include "machine_limits.h"
#include "vfs.h"

Go to the source code of this file.

Data Structures
struct	report_t
struct	tool_table_t
struct	user_mcode_ptrs_t
	Optional handlers for user defined M-codes. More...
struct	grbl_t

Typedefs
typedef void(*	init_message_ptr) (stream_write_ptr write)
typedef void(*	help_message_ptr) (void)
typedef status_code_t(*	status_message_ptr) (status_code_t status_code)
typedef message_code_t(*	feedback_message_ptr) (message_code_t message_code)
typedef alarm_code_t(*	alarm_message_ptr) (alarm_code_t alarm_code)
typedef bool(*	enqueue_gcode_ptr) (char *data)
typedef bool(*	protocol_enqueue_realtime_command_ptr) (char c)
typedef bool(*	travel_limits_ptr) (float *target, axes_signals_t axes, bool is_cartesian)
typedef bool(*	arc_limits_ptr) (coord_data_t *target, coord_data_t *position, point_2d_t center, float radius, plane_t plane, int32_t turns)
typedef void(*	apply_travel_limits_ptr) (float *target, float *position)
typedef bool(*	home_machine_ptr) (axes_signals_t cycle, axes_signals_t auto_square)
typedef void(*	on_parser_init_ptr) (parser_state_t *gc_state)
typedef void(*	on_state_change_ptr) (sys_state_t state)
typedef void(*	on_override_changed_ptr) (override_changed_t override)
typedef void(*	on_spindle_programmed_ptr) (spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode)
typedef void(*	on_wco_changed_ptr) (void)
typedef void(*	on_program_completed_ptr) (program_flow_t program_flow, bool check_mode)
typedef void(*	on_execute_realtime_ptr) (sys_state_t state)
typedef void(*	on_unknown_accessory_override_ptr) (uint8_t cmd)
typedef void(*	on_cycle_start_ptr) (void)
typedef bool(*	on_unknown_realtime_cmd_ptr) (char c)
typedef void(*	on_report_handlers_init_ptr) (void)
typedef void(*	on_report_options_ptr) (bool newopt)
typedef void(*	on_report_ngc_parameters_ptr) (void)
typedef void(*	on_report_command_help_ptr) (void)
typedef const char *(*	on_setting_get_description_ptr) (setting_id_t id)
typedef void(*	on_global_settings_restore_ptr) (void)
typedef void(*	on_realtime_report_ptr) (stream_write_ptr stream_write, report_tracking_flags_t report)
typedef void(*	on_unknown_feedback_message_ptr) (stream_write_ptr stream_write)
typedef void(*	on_stream_changed_ptr) (stream_type_t type)
typedef bool(*	on_laser_ppi_enable_ptr) (uint_fast16_t ppi, uint_fast16_t pulse_length)
typedef void(*	on_homing_rate_set_ptr) (axes_signals_t axes, float rate, homing_mode_t mode)
typedef void(*	on_homing_completed_ptr) (axes_signals_t cycle, bool success)
typedef bool(*	on_probe_toolsetter_ptr) (tool_data_t *tool, coord_data_t *position, bool at_g59_3, bool on)
typedef bool(*	on_probe_start_ptr) (axes_signals_t axes, float *target, plan_line_data_t *pl_data)
typedef void(*	on_probe_completed_ptr) (void)
typedef void(*	on_tool_selected_ptr) (tool_data_t *tool)
typedef void(*	on_tool_changed_ptr) (tool_data_t *tool)
typedef void(*	on_toolchange_ack_ptr) (void)
typedef void(*	on_reset_ptr) (void)
typedef void(*	on_jog_cancel_ptr) (sys_state_t state)
typedef bool(*	on_spindle_select_ptr) (spindle_ptrs_t *spindle)
typedef void(*	on_spindle_selected_ptr) (spindle_ptrs_t *spindle)
typedef char *(*	on_process_gcode_comment_ptr) (char *msg)
typedef status_code_t(*	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)
typedef status_code_t(*	on_user_command_ptr) (char *line)
typedef sys_commands_t *(*	on_get_commands_ptr) (void)
typedef status_code_t(*	on_macro_execute_ptr) (macro_id_t macro)
typedef void(*	on_macro_return_ptr) (void)
typedef void(*	on_file_demarcate_ptr) (bool start)
typedef bool(*	write_tool_data_ptr) (tool_data_t *tool_data)
typedef bool(*	read_tool_data_ptr) (tool_id_t tool_id, tool_data_t *tool_data)
typedef bool(*	clear_tool_data_ptr) (void)
typedef user_mcode_type_t(*	user_mcode_check_ptr) (user_mcode_t mcode)
	Pointer to function for checking if user defined M-code is supported. More...
typedef status_code_t(*	user_mcode_validate_ptr) (parser_block_t *gc_block)
	Pointer to function for validating parameters for a user defined M-code. More...
typedef void(*	user_mcode_execute_ptr) (sys_state_t state, parser_block_t *gc_block)
	Pointer to function for executing a user defined M-code. More...

Enumerations
enum	override_changed_t {   OverrideChanged_FeedRate = 0 , OverrideChanged_RapidRate = 0 , OverrideChanged_SpindleRPM = 0 , OverrideChanged_SpindleState = 0 ,   OverrideChanged_CoolantState = 0 , OverrideChanged_FanState = 0 }
enum	user_mcode_type_t { UserMCode_Unsupported = 0 , UserMCode_Normal , UserMCode_NoValueWords }

Variables
grbl_t	grbl

Detailed Description

core function pointers and data structures definitions.

Typedef Documentation

alarm_message_ptr

typedef alarm_code_t(* alarm_message_ptr) (alarm_code_t alarm_code)

apply_travel_limits_ptr

typedef void(* apply_travel_limits_ptr) (float *target, float *position)

arc_limits_ptr

typedef bool(* arc_limits_ptr) (coord_data_t *target, coord_data_t *position, point_2d_t center, float radius, plane_t plane, int32_t turns)

clear_tool_data_ptr

typedef bool(* clear_tool_data_ptr) (void)

enqueue_gcode_ptr

typedef bool(* enqueue_gcode_ptr) (char *data)

feedback_message_ptr

typedef message_code_t(* feedback_message_ptr) (message_code_t message_code)

help_message_ptr

typedef void(* help_message_ptr) (void)

home_machine_ptr

typedef bool(* home_machine_ptr) (axes_signals_t cycle, axes_signals_t auto_square)

init_message_ptr

typedef void(* init_message_ptr) (stream_write_ptr write)

on_cycle_start_ptr

typedef void(* on_cycle_start_ptr) (void)

on_execute_realtime_ptr

typedef void(* on_execute_realtime_ptr) (sys_state_t state)

on_file_demarcate_ptr

typedef void(* on_file_demarcate_ptr) (bool start)

on_file_end_ptr

typedef status_code_t(* on_file_end_ptr) (vfs_file_t *handle, status_code_t status)

on_file_open_ptr

typedef status_code_t(* on_file_open_ptr) (const char *fname, vfs_file_t *handle, bool stream)

on_gcode_message_ptr

typedef status_code_t(* on_gcode_message_ptr) (char *msg)

on_get_commands_ptr

typedef sys_commands_t*(* on_get_commands_ptr) (void)

on_global_settings_restore_ptr

typedef void(* on_global_settings_restore_ptr) (void)

on_homing_completed_ptr

typedef void(* on_homing_completed_ptr) (axes_signals_t cycle, bool success)

on_homing_rate_set_ptr

typedef void(* on_homing_rate_set_ptr) (axes_signals_t axes, float rate, homing_mode_t mode)

on_jog_cancel_ptr

typedef void(* on_jog_cancel_ptr) (sys_state_t state)

on_laser_ppi_enable_ptr

typedef bool(* on_laser_ppi_enable_ptr) (uint_fast16_t ppi, uint_fast16_t pulse_length)

on_macro_execute_ptr

typedef status_code_t(* on_macro_execute_ptr) (macro_id_t macro)

on_macro_return_ptr

typedef void(* on_macro_return_ptr) (void)

on_override_changed_ptr

typedef void(* on_override_changed_ptr) (override_changed_t override)

on_parser_init_ptr

typedef void(* on_parser_init_ptr) (parser_state_t *gc_state)

on_probe_completed_ptr

typedef void(* on_probe_completed_ptr) (void)

on_probe_start_ptr

typedef bool(* on_probe_start_ptr) (axes_signals_t axes, float *target, plan_line_data_t *pl_data)

on_probe_toolsetter_ptr

typedef bool(* on_probe_toolsetter_ptr) (tool_data_t *tool, coord_data_t *position, bool at_g59_3, bool on)

on_process_gcode_comment_ptr

typedef char*(* on_process_gcode_comment_ptr) (char *msg)

on_program_completed_ptr

typedef void(* on_program_completed_ptr) (program_flow_t program_flow, bool check_mode)

on_realtime_report_ptr

typedef void(* on_realtime_report_ptr) (stream_write_ptr stream_write, report_tracking_flags_t report)

on_report_command_help_ptr

typedef void(* on_report_command_help_ptr) (void)

on_report_handlers_init_ptr

typedef void(* on_report_handlers_init_ptr) (void)

on_report_ngc_parameters_ptr

typedef void(* on_report_ngc_parameters_ptr) (void)

on_report_options_ptr

typedef void(* on_report_options_ptr) (bool newopt)

on_reset_ptr

typedef void(* on_reset_ptr) (void)

on_rt_reports_added_ptr

typedef void(* on_rt_reports_added_ptr) (report_tracking_flags_t report)

on_set_axis_setting_unit_ptr

typedef const char*(* on_set_axis_setting_unit_ptr) (setting_id_t setting_id, uint_fast8_t axis_idx)

on_setting_get_description_ptr

typedef const char*(* on_setting_get_description_ptr) (setting_id_t id)

on_spindle_programmed_ptr

typedef void(* on_spindle_programmed_ptr) (spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode)

on_spindle_select_ptr

typedef bool(* on_spindle_select_ptr) (spindle_ptrs_t *spindle)

on_spindle_selected_ptr

typedef void(* on_spindle_selected_ptr) (spindle_ptrs_t *spindle)

on_state_change_ptr

typedef void(* on_state_change_ptr) (sys_state_t state)

on_stream_changed_ptr

typedef void(* on_stream_changed_ptr) (stream_type_t type)

on_tool_changed_ptr

typedef void(* on_tool_changed_ptr) (tool_data_t *tool)

on_tool_selected_ptr

typedef void(* on_tool_selected_ptr) (tool_data_t *tool)

on_toolchange_ack_ptr

typedef void(* on_toolchange_ack_ptr) (void)

on_unknown_accessory_override_ptr

typedef void(* on_unknown_accessory_override_ptr) (uint8_t cmd)

on_unknown_feedback_message_ptr

typedef void(* on_unknown_feedback_message_ptr) (stream_write_ptr stream_write)

on_unknown_realtime_cmd_ptr

typedef bool(* on_unknown_realtime_cmd_ptr) (char c)

on_unknown_sys_command_ptr

typedef status_code_t(* on_unknown_sys_command_ptr) (sys_state_t state, char *line)

on_user_command_ptr

typedef status_code_t(* on_user_command_ptr) (char *line)

on_wco_changed_ptr

typedef void(* on_wco_changed_ptr) (void)

protocol_enqueue_realtime_command_ptr

typedef bool(* protocol_enqueue_realtime_command_ptr) (char c)

read_tool_data_ptr

typedef bool(* read_tool_data_ptr) (tool_id_t tool_id, tool_data_t *tool_data)

status_message_ptr

typedef status_code_t(* status_message_ptr) (status_code_t status_code)

travel_limits_ptr

typedef bool(* travel_limits_ptr) (float *target, axes_signals_t axes, bool is_cartesian)

user_mcode_check_ptr

typedef user_mcode_type_t(* user_mcode_check_ptr) (user_mcode_t mcode)

Pointer to function for checking if user defined M-code is supported.

Parameters

mcode

as a user_mcode_t enum.

Returns

UserMCode_Normal or UserMCode_NoValueWords if M-code is handled, UserMCode_Unsupported if not.

user_mcode_execute_ptr

typedef void(* user_mcode_execute_ptr) (sys_state_t state, parser_block_t *gc_block)

Pointer to function for executing a user defined M-code.

The M-code to execute is found in gc_block->user_mcode, parameter values in gc_block->values and claimed/validated parameter letters in the gc_block->words bitfield union.

Parameters

state	as a sys_state_t variable.
gc_block	pointer to a parser_block_t structure.

Returns

Status_OK enum value if validated ok, appropriate status_code_t enum value if not or Status_Unhandled if M-code is not recognized.

user_mcode_validate_ptr

typedef status_code_t(* user_mcode_validate_ptr) (parser_block_t *gc_block)

Pointer to function for validating parameters for a user defined M-code.

The M-code to validate is found in gc_block->user_mcode, parameter values in gc_block->values and corresponding parameter letters in the gc_block->words bitfield union.

Parameter values claimed by the M-code must be flagged in the gc_block->words bitfield union by setting the respective parameter letters to false or the parser will raise the Status_GcodeUnusedWords error.

The validation function may set gc_block->user_mcode_sync to true if it is to be executed after all buffered motions are completed, otherwise it will be executed immediately.

NOTE: Valueless parameter letters are allowed for floats if the check function returns UserMCode_NoValueWords for the M-code. The corresponding values are set to NAN (not a number) if no value is given. The validation function should always test all parameter values by using the isnan() function in addition to any range checks when the check function returns UserMCode_NoValueWords for the M-code.

Parameters

gc_block

pointer to a parser_block_t structure.

Returns

Status_OK enum value if validated ok, appropriate status_code_t enum value if not or Status_Unhandled if the M-code is not recognized.

write_tool_data_ptr

typedef bool(* write_tool_data_ptr) (tool_data_t *tool_data)

Enumeration Type Documentation

override_changed_t

enum override_changed_t

Enumerator
OverrideChanged_FeedRate
OverrideChanged_RapidRate
OverrideChanged_SpindleRPM
OverrideChanged_SpindleState
OverrideChanged_CoolantState
OverrideChanged_FanState

user_mcode_type_t

enum user_mcode_type_t

Enumerator
UserMCode_Unsupported	0 - M-code is not supported.
UserMCode_Normal	1 - M-code is supported.
UserMCode_NoValueWords	2 - M-code supports valueless parameter words.

Variable Documentation

grbl

grbl_t grbl

extern