Merge pull request #1423 from MoonCactus/Development

Multi-line G-code commands

Marlin/Marlin.h

@@ -201,8 +201,9 @@ void Stop();
 
 bool IsStopped();
 
-void enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer.
+bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
-void enquecommand_P(const char *cmd); //put an ASCII command at the end of the current buffer, read from flash
+void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
+
 void prepare_arc_move(char isclockwise);
 void clamp_to_software_endstops(float target[3]);
 

Marlin/Marlin_main.cpp

@@ -385,6 +385,8 @@ static int serial_count = 0;
 static boolean comment_mode = false;
 static char *strchr_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
 
+const char* queued_commands_P= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
+
 const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
 
 // Inactivity shutdown
@@ -448,13 +450,51 @@ void serial_echopair_P(const char *s_P, unsigned long v)
   }
 #endif //!SDSUPPORT
 
-//adds an command to the main command buffer
+//Injects the next command from the pending sequence of commands, when possible
-//thats really done in a non-safe way.
+//Return false if and only if no command was pending
-//needs overworking someday
+static bool drain_queued_commands_P()
-void enquecommand(const char *cmd)
 {
-  if(buflen < BUFSIZE)
+  char cmd[30];
+  if(!queued_commands_P)
+    return false;
+  // Get the next 30 chars from the sequence of gcodes to run
+  strncpy_P(cmd, queued_commands_P, sizeof(cmd)-1);
+  cmd[sizeof(cmd)-1]= 0;
+  // Look for the end of line, or the end of sequence
+  size_t i= 0;
+  char c;
+  while( (c= cmd[i]) && c!='\n' )
+    ++i; // look for the end of this gcode command
+  cmd[i]= 0;
+  if(enquecommand(cmd)) // buffer was not full (else we will retry later)
   {
+    if(c)
+      queued_commands_P+= i+1; // move to next command
+    else
+      queued_commands_P= NULL; // will have no more commands in the sequence
+  }
+  return true;
+}
+
+//Record one or many commands to run from program memory.
+//Aborts the current queue, if any.
+//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
+void enquecommands_P(const char* pgcode)
+{
+    queued_commands_P= pgcode;
+    drain_queued_commands_P(); // first command exectuted asap (when possible)
+}
+
+//adds a single command to the main command buffer, from RAM
+//that is really done in a non-safe way.
+//needs overworking someday
+//Returns false if it failed to do so
+bool enquecommand(const char *cmd)
+{
+  if(*cmd==';')
+    return false;
+  if(buflen >= BUFSIZE)
+    return false;
   //this is dangerous if a mixing of serial and this happens
   strcpy(&(cmdbuffer[bufindw][0]),cmd);
   SERIAL_ECHO_START;
@@ -463,23 +503,10 @@ void enquecommand(const char *cmd)
   SERIAL_ECHOLNPGM("\"");
   bufindw= (bufindw + 1)%BUFSIZE;
   buflen += 1;
-  }
+  return true;
 }
 
-void enquecommand_P(const char *cmd)
+
-{
-  if(buflen < BUFSIZE)
-  {
-    //this is dangerous if a mixing of serial and this happens
-    strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM(MSG_Enqueing);
-    SERIAL_ECHO(cmdbuffer[bufindw]);
-    SERIAL_ECHOLNPGM("\"");
-    bufindw= (bufindw + 1)%BUFSIZE;
-    buflen += 1;
-  }
-}
 
 void setup_killpin()
 {
@@ -684,6 +711,9 @@ void loop()
 
 void get_command()
 {
+  if(drain_queued_commands_P()) // priority is given to non-serial commands
+    return;
+  
   while( MYSERIAL.available() > 0  && buflen < BUFSIZE) {
     serial_char = MYSERIAL.read();
     if(serial_char == '\n' ||
@@ -4459,7 +4489,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
     {
        if (homeDebounceCount == 0)
        {
-          enquecommand_P((PSTR("G28")));
+          enquecommands_P((PSTR("G28")));
           homeDebounceCount++;
           LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
        }

Marlin/cardreader.cpp

@@ -532,7 +532,7 @@ void CardReader::checkautostart(bool force)
 
       sprintf_P(cmd, PSTR("M23 %s"), autoname);
       enquecommand(cmd);
-      enquecommand_P(PSTR("M24"));
+      enquecommands_P(PSTR("M24"));
       found=true;
     }
   }
@@ -637,7 +637,7 @@ void CardReader::printingHasFinished()
       if(SD_FINISHED_STEPPERRELEASE)
       {
           //finishAndDisableSteppers();
-          enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+          enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
       }
       autotempShutdown();
     }

Marlin/ultralcd.cpp

@@ -324,7 +324,7 @@ static void lcd_sdcard_stop()
     quickStop();
     if(SD_FINISHED_STEPPERRELEASE)
     {
-        enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+        enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
     }
     autotempShutdown();
 
@@ -347,6 +347,7 @@ static void lcd_main_menu()
         MENU_ITEM(submenu, MSG_DELTA_CALIBRATE, lcd_delta_calibrate_menu);
 #endif // DELTA_CALIBRATION_MENU
     }
+/*JFR TEST*/            MENU_ITEM(gcode, "test multiline", PSTR("G4 S3\nM104 S50\nG4 S1\nM104 S200\nG4 S2\nM104 S0"));  // SD-card changed by user
     MENU_ITEM(submenu, MSG_CONTROL, lcd_control_menu);
 #ifdef SDSUPPORT
     if (card.cardOK)
@@ -394,8 +395,7 @@ void lcd_set_home_offsets()
     plan_set_position(0.0, 0.0, 0.0, current_position[E_AXIS]);
 
     // Audio feedback
-    enquecommand_P(PSTR("M300 S659 P200"));
+    enquecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
-    enquecommand_P(PSTR("M300 S698 P200"));
     lcd_return_to_status();
 }
 
@@ -677,6 +677,13 @@ static void lcd_prepare_menu()
     }
 #endif
     MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
+		
+    // JFR for RMud delta printer
+    MENU_ITEM(gcode, "Calibrate bed", PSTR("M702\nG28\nG1 X-77.94 Y-45 Z36 F8000\nG4 S3\nM701 P0\nG1 X77.94 Y-45 Z36\nG4 S3\nM701 P1\nG1 X0 Y90 Z36\nG4 S3\nM701 P2\nM700\nG1 X0 Y0 Z100 F8000"));
+    MENU_ITEM(gcode, "Check level", PSTR("G28\nG1 X0 Y0 Z1 F4000\nG1 X-77.94 Y-45 Z1\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG4 S2\nG1 X-77.94 Y-45 Z0.3 F2000\nG1 X-77.94 Y-45\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG1 X0 Y0 Z0"));
+    MENU_ITEM(gcode, "Retract filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E-800"));
+    MENU_ITEM(gcode, "Insert filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E60"));
+    MENU_ITEM(gcode, "Finalize filament", PSTR("G1 F4000 E790"));
     END_MENU();
 }
 
@@ -1148,7 +1155,7 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01)
     lcd_move_y();
 	}
 	static void reprapworld_keypad_move_home() {
-		enquecommand_P((PSTR("G28"))); // move all axis home
+		enquecommands_P((PSTR("G28"))); // move all axis home
 	}
 #endif
 
@@ -1164,7 +1171,13 @@ static void lcd_quick_feedback()
 /** Menu action functions **/
 static void menu_action_back(menuFunc_t data) { lcd_goto_menu(data); }
 static void menu_action_submenu(menuFunc_t data) { lcd_goto_menu(data); }
-static void menu_action_gcode(const char* pgcode) { enquecommand_P(pgcode); }
+
+static void menu_action_gcode(const char* pgcode)
+{
+    enquecommands_P(pgcode);
+}
+
+
 static void menu_action_function(menuFunc_t data) { (*data)(); }
 static void menu_action_sdfile(const char* filename, char* longFilename)
 {
@@ -1174,7 +1187,7 @@ static void menu_action_sdfile(const char* filename, char* longFilename)
     for(c = &cmd[4]; *c; c++)
         *c = tolower(*c);
     enquecommand(cmd);
-    enquecommand_P(PSTR("M24"));
+    enquecommands_P(PSTR("M24"));
     lcd_return_to_status();
 }
 static void menu_action_sddirectory(const char* filename, char* longFilename)