initial commit

main.c

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+/*
+ * main.c
+ *
+ *  Created on: 10.04.2018
+ *      Author: julian
+ */
+
+
+#include <stdio.h>
+#include "parser.h"
+
+char buffer[100];
+
+// Parser error handler
+void error(const char * format, ...) {
+	fputs("ERR: ", stderr);
+
+	va_list list;
+	va_start(list, format);
+	vfprintf(stderr, format, list);
+	va_end(list);
+	notok = 1;
+}
+
+/** movement related stuff **/
+enum movement_types {
+	MOVE_ABSOLUTE = 0,
+	MOVE_RELATIVE,
+};
+
+typedef struct coordinate_system {
+	float position[2];
+	enum movement_types movement_type;
+} coordinate_system_t;
+
+coordinate_system_t coordinate_system;
+
+void move(const char * start, const char * end) {
+	argument_t arg;
+	float posa = 0, posb = 0;
+	static float feed = 100;
+
+	int count = 0;
+
+	// parse all arguments
+	while(nextArgument(&arg, &start, end)) {
+		switch(toUpper(arg.c)) {
+		case 'A':
+			posa = arg.num;
+			break;
+		case 'B':
+			posb = arg.num;
+			break;
+		case 'F':
+			if (arg.num <= 0) {
+				error("F%f: feed must be greater than zero!\n", arg.num);
+				return;
+			}
+			feed = arg.num;
+			break;
+		default:
+			continue;
+		}
+
+		count++;
+	}
+
+	if (!count) {
+		error("no arguments provided! need at least a new position for either A or B axis\n");
+		return;
+	}
+
+	printf("move A: %f, B: %f, feed %f\n", posa, posb, feed);
+
+	switch (coordinate_system.movement_type) {
+	case MOVE_RELATIVE:
+		coordinate_system.position[0] += posa;
+		coordinate_system.position[1] += posb;
+		break;
+	case MOVE_ABSOLUTE:
+		coordinate_system.position[0] = posa;
+		coordinate_system.position[1] = posb;
+		break;
+	}
+}
+
+void home(const char * start, const char * end) {
+	argument_t arg;
+	while(nextArgument(&arg, &start, end)) {
+		switch(toUpper(arg.c)) {
+		case 'A':
+			coordinate_system.position[0] = 0;
+			break;
+		case 'B':
+			coordinate_system.position[1] = 0;
+			break;
+		}
+	}
+}
+
+void state(const char * start, const char * end) {
+	printf("current position: A\t%f, B\t%f\n", coordinate_system.position[0], coordinate_system.position[1]);
+}
+
+/** Settings **/
+void set_move_absolute() {
+	coordinate_system.movement_type = MOVE_ABSOLUTE;
+}
+
+void set_move_relative() {
+	coordinate_system.movement_type = MOVE_RELATIVE;
+}
+
+// reads one line of text in
+// handles overflow
+void readline(FILE * input) {
+	char * pos = buffer;
+	char * end = buffer + sizeof(buffer);
+
+	while(!feof(input)) {
+		char c = fgetc(input);
+		*pos = c;
+		pos++;
+
+		if (c == '\n') {
+			parse(buffer, pos);
+			pos = buffer;
+		}
+
+		if (pos >= end) {
+			printf("buffer overflow!");
+			pos = buffer;
+		}
+	}
+}
+
+#include <string.h>
+
+int testAsFloat() {
+	float result = 0;
+	const char * str = "10";
+
+	const char * start = str, * end = str + strlen(str);
+	if (!asFloat(&result, &start, end)) 	return 0;
+	if (result < 9.999 || result > 10.001) return 0;
+
+	str = "0.001";
+	start = str, end = str + strlen(str);
+	if (!asFloat(&result, &start, end)) 	return 0;
+	if (result < 0.0005 || result > 0.0015) return 0;
+
+	return 1;
+}
+
+int main() {
+	printf("Test Float parsing: ");
+	if (testAsFloat()) {
+		printf(" PASS\n");
+	} else {
+		printf(" FAIL\n");
+	}
+
+	readline(stdin);
+	return 0;
+}
+
+

parser.c

@@ -0,0 +1,198 @@
+/*
+ * parser.c
+ *
+ *  Created on: 10.04.2018
+ *      Author: julian
+ */
+
+#include "parser.h"
+#include <stdio.h>
+
+int isWhite(char c) {
+	return c == ' ' || c == '\t' || c == '\r' || c == '\n';
+}
+
+int isNumber(char c) {
+	return c >= '0' && c <= '9';
+}
+
+// point that splits real numbers
+int isPoint(char c) {
+	return c == '.' || c == ',';
+}
+
+char toLower(char in) {
+	if (in >= 'A' && in <= 'Z') {
+		return in - 'A' + 'a';
+	}
+
+	return in;
+}
+
+char toUpper(char in) {
+	if (in >= 'a' && in <= 'z') {
+		return in - 'a' + 'A';
+	}
+
+	return in;
+}
+
+void skipWhite(const char ** start, const char * end) {
+	if (!start) return;
+
+	while(*start < end && isWhite(**start)) {
+		++*start;
+	}
+}
+
+// returns 1 on success
+int asInt(int * result, const char ** start, const char * end) {
+	if (!result || !start) return 0;
+
+	skipWhite(start, end);
+	if (*start == end) { return 0; }
+
+	int inv = 0;
+	unsigned int count = 0;
+
+	switch(**start) {
+	case '-':
+		inv = 1;
+	case '+':
+		++*start;
+		break;
+	}
+
+	*result = 0;
+
+	for(;*start != end && isNumber(**start); ++*start, count++) {
+		*result *= 10;
+		*result += **start - '0';
+	}
+
+	if (inv) {
+		*result = -*result;
+	}
+
+	return count > 0;
+}
+
+int asFloat(float *result, const char **start, const char * end) {
+	if (!result || !start ) return 0;
+	skipWhite(start, end);
+	if (*start == end) return 0;
+
+	int nominator = 0;
+	float denomiator = 0.f;
+
+	if (!asInt(&nominator, start, end)) return 0;
+
+	if (isPoint(**start)) {
+		const char * denom_end = *start +1;
+
+		while(denom_end < end && isNumber(*denom_end))
+			denom_end++;
+
+
+		while(--denom_end > *start) {
+			denomiator += *denom_end - '0';
+			denomiator /= 10.f;
+		}
+	}
+
+	*result = (float)(nominator) + denomiator;
+	return 1;
+}
+
+int nextArgument(argument_t* result, const char ** start, const char * end) {
+	if (!start | !result) return 0;
+	skipWhite(start, end);
+	if (*start == end) return 0;
+
+	result->c = **start;
+	++*start;
+	asFloat(&result->num, start, end);
+	return 1;
+}
+
+volatile int notok;
+
+void gcode(const char * start, const char * end) {
+	int code;
+	skipWhite(&start, end);
+
+	if (start == end || !asInt(&code, &start, end)) {
+		error("expected number after G\n");
+		return;
+	}
+
+	switch(code) {
+	case 0:
+	case 1:
+		// move
+		move(start, end);
+		break;
+	case 28:
+		// home;
+		home(start, end);
+		break;
+	case 90:
+		set_move_absolute();
+		break;
+	case 91:
+		set_move_relative();
+		break;
+	default:
+		error("unknown gcode: %d\n",code);
+	}
+}
+
+void mcode(const char * start, const char * end) {
+	int code;
+	skipWhite(&start, end);
+
+	if (start == end || !asInt(&code, &start, end)) {
+		printf("expected number after M\n");
+		return;
+	}
+
+	switch(code) {
+	case 500:
+		// save config data
+		printf("save config data\n");
+		break;
+	case 502:
+		printf("restore default config\n");
+		break;
+	default:
+		error("no Mcode: %d\n", code);
+	}
+}
+
+void parse(const char * start, const char * end) {
+	notok = 0;
+
+	skipWhite(&start, end);
+	if (start == end) return;
+
+	switch (toLower(*start)) {
+	case 'g':
+		gcode(++start, end);
+		break;
+	case 'm':
+		mcode(++start, end);
+		break;
+	case '?':
+		state(++start, end);
+		return;
+	default:
+		error("expected g or m codes\n");
+	}
+
+	if (notok) { return; }
+
+	printf("ok\n");
+}
+
+
+

parser.h

@@ -0,0 +1,56 @@
+/*
+ * parser.h
+ *
+ *  Created on: 10.04.2018
+ *      Author: julian
+ */
+
+#ifndef PARSER_H_
+#define PARSER_H_
+
+#include <stdarg.h>
+
+
+int isWhite(char c);
+int isNumber(char c);
+
+// point that splits real numbers
+int isPoint(char c);
+
+
+char toLower(char in);
+char toUpper(char in);
+
+void skipWhite(const char ** start, const char * end);
+
+// returns 1 on success
+int asInt(int * result, const char ** start, const char * end);
+int asFloat(float *result, const char **start, const char * end);
+
+typedef struct argument {
+	char c;
+	float num;
+} argument_t;
+
+int nextArgument(argument_t* result, const char ** start, const char * end);
+
+extern volatile int notok;
+void error(const char * format, ...);
+
+
+/** system functions **/
+void move(const char * start, const char * end);
+void home(const char * start, const char * end);
+void state(const char * start, const char * end);
+
+void set_move_absolute();
+void set_move_relative();
+
+/** parser functions **/
+void gcode(const char * start, const char * end);
+void mcode(const char * start, const char * end);
+
+void parse(const char * start, const char * end);
+
+
+#endif /* PARSER_H_ */