655 lines
18 KiB
C++
655 lines
18 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* queue.cpp - The G-code command queue
|
|
*/
|
|
|
|
#include "queue.h"
|
|
GCodeQueue queue;
|
|
|
|
#include "gcode.h"
|
|
|
|
#include "../lcd/ultralcd.h"
|
|
#include "../sd/cardreader.h"
|
|
#include "../module/planner.h"
|
|
#include "../module/temperature.h"
|
|
#include "../Marlin.h"
|
|
|
|
#if ENABLED(PRINTER_EVENT_LEDS)
|
|
#include "../feature/leds/printer_event_leds.h"
|
|
#endif
|
|
|
|
#if ENABLED(BINARY_FILE_TRANSFER)
|
|
#include "../feature/binary_protocol.h"
|
|
#endif
|
|
|
|
|
|
/**
|
|
* GCode line number handling. Hosts may opt to include line numbers when
|
|
* sending commands to Marlin, and lines will be checked for sequentiality.
|
|
* M110 N<int> sets the current line number.
|
|
*/
|
|
long gcode_N, GCodeQueue::last_N, GCodeQueue::stopped_N = 0;
|
|
|
|
/**
|
|
* GCode Command Queue
|
|
* A simple ring buffer of BUFSIZE command strings.
|
|
*
|
|
* Commands are copied into this buffer by the command injectors
|
|
* (immediate, serial, sd card) and they are processed sequentially by
|
|
* the main loop. The gcode.process_next_command method parses the next
|
|
* command and hands off execution to individual handler functions.
|
|
*/
|
|
uint8_t GCodeQueue::length = 0, // Count of commands in the queue
|
|
GCodeQueue::index_r = 0, // Ring buffer read position
|
|
GCodeQueue::index_w = 0; // Ring buffer write position
|
|
|
|
char GCodeQueue::buffer[BUFSIZE][MAX_CMD_SIZE];
|
|
|
|
/*
|
|
* The port that the command was received on
|
|
*/
|
|
#if NUM_SERIAL > 1
|
|
int16_t GCodeQueue::port[BUFSIZE];
|
|
#endif
|
|
|
|
/**
|
|
* Serial command injection
|
|
*/
|
|
|
|
// Number of characters read in the current line of serial input
|
|
static int serial_count[NUM_SERIAL] = { 0 };
|
|
|
|
bool send_ok[BUFSIZE];
|
|
|
|
/**
|
|
* Next Injected Command pointer. nullptr if no commands are being injected.
|
|
* Used by Marlin internally to ensure that commands initiated from within
|
|
* are enqueued ahead of any pending serial or sd card commands.
|
|
*/
|
|
static PGM_P injected_commands_P = nullptr;
|
|
|
|
GCodeQueue::GCodeQueue() {
|
|
// Send "ok" after commands by default
|
|
for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
|
|
}
|
|
|
|
/**
|
|
* Check whether there are any commands yet to be executed
|
|
*/
|
|
bool GCodeQueue::has_commands_queued() {
|
|
return queue.length || injected_commands_P;
|
|
}
|
|
|
|
/**
|
|
* Clear the Marlin command queue
|
|
*/
|
|
void GCodeQueue::clear() {
|
|
index_r = index_w = length = 0;
|
|
}
|
|
|
|
/**
|
|
* Once a new command is in the ring buffer, call this to commit it
|
|
*/
|
|
void GCodeQueue::_commit_command(bool say_ok
|
|
#if NUM_SERIAL > 1
|
|
, int16_t p/*=-1*/
|
|
#endif
|
|
) {
|
|
send_ok[index_w] = say_ok;
|
|
#if NUM_SERIAL > 1
|
|
port[index_w] = p;
|
|
#endif
|
|
if (++index_w >= BUFSIZE) index_w = 0;
|
|
length++;
|
|
}
|
|
|
|
/**
|
|
* Copy a command from RAM into the main command buffer.
|
|
* Return true if the command was successfully added.
|
|
* Return false for a full buffer, or if the 'command' is a comment.
|
|
*/
|
|
bool GCodeQueue::_enqueue(const char* cmd, bool say_ok/*=false*/
|
|
#if NUM_SERIAL > 1
|
|
, int16_t pn/*=-1*/
|
|
#endif
|
|
) {
|
|
if (*cmd == ';' || length >= BUFSIZE) return false;
|
|
strcpy(buffer[index_w], cmd);
|
|
_commit_command(say_ok
|
|
#if NUM_SERIAL > 1
|
|
, pn
|
|
#endif
|
|
);
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Enqueue with Serial Echo
|
|
* Return true if the command was consumed
|
|
*/
|
|
bool GCodeQueue::enqueue_one(const char* cmd) {
|
|
|
|
//SERIAL_ECHOPGM("enqueue_one(\"");
|
|
//SERIAL_ECHO(cmd);
|
|
//SERIAL_ECHOPGM("\") \n");
|
|
|
|
if (*cmd == 0 || *cmd == '\n' || *cmd == '\r') return true;
|
|
|
|
if (_enqueue(cmd)) {
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPAIR(MSG_ENQUEUEING, cmd, "\"");
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/**
|
|
* Process the next "immediate" command.
|
|
* Return 'true' if any commands were processed,
|
|
* or remain to process.
|
|
*/
|
|
bool GCodeQueue::process_injected_command() {
|
|
if (injected_commands_P == nullptr) return false;
|
|
|
|
char c;
|
|
size_t i = 0;
|
|
while ((c = pgm_read_byte(&injected_commands_P[i])) && c != '\n') i++;
|
|
|
|
// Extract current command and move pointer to next command
|
|
char cmd[i + 1];
|
|
memcpy_P(cmd, injected_commands_P, i);
|
|
cmd[i] = '\0';
|
|
injected_commands_P = c ? injected_commands_P + i + 1 : nullptr;
|
|
|
|
// Execute command if non-blank
|
|
if (i) {
|
|
parser.parse(cmd);
|
|
PORT_REDIRECT(SERIAL_PORT);
|
|
gcode.process_parsed_command();
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Enqueue one or many commands to run from program memory.
|
|
* Do not inject a comment or use leading spaces!
|
|
* Aborts the current queue, if any.
|
|
* Note: process_injected_command() will be called to drain any commands afterwards
|
|
*/
|
|
void GCodeQueue::inject_P(PGM_P const pgcode) { injected_commands_P = pgcode; }
|
|
|
|
/**
|
|
* Enqueue and return only when commands are actually enqueued.
|
|
* Never call this from a G-code handler!
|
|
*/
|
|
void GCodeQueue::enqueue_one_now(const char* cmd) { while (!enqueue_one(cmd)) idle(); }
|
|
|
|
/**
|
|
* Enqueue from program memory and return only when commands are actually enqueued
|
|
* Never call this from a G-code handler!
|
|
*/
|
|
void GCodeQueue::enqueue_now_P(PGM_P const pgcode) {
|
|
size_t i = 0;
|
|
PGM_P p = pgcode;
|
|
for (;;) {
|
|
char c;
|
|
while ((c = pgm_read_byte(&p[i])) && c != '\n') i++;
|
|
char cmd[i + 1];
|
|
memcpy_P(cmd, p, i);
|
|
cmd[i] = '\0';
|
|
enqueue_one_now(cmd);
|
|
if (!c) break;
|
|
p += i + 1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Send an "ok" message to the host, indicating
|
|
* that a command was successfully processed.
|
|
*
|
|
* If ADVANCED_OK is enabled also include:
|
|
* N<int> Line number of the command, if any
|
|
* P<int> Planner space remaining
|
|
* B<int> Block queue space remaining
|
|
*/
|
|
void GCodeQueue::ok_to_send() {
|
|
#if NUM_SERIAL > 1
|
|
const int16_t pn = port[index_r];
|
|
if (pn < 0) return;
|
|
PORT_REDIRECT(pn);
|
|
#endif
|
|
if (!send_ok[index_r]) return;
|
|
SERIAL_ECHOPGM(MSG_OK);
|
|
#if ENABLED(ADVANCED_OK)
|
|
char* p = buffer[index_r];
|
|
if (*p == 'N') {
|
|
SERIAL_ECHO(' ');
|
|
SERIAL_ECHO(*p++);
|
|
while (NUMERIC_SIGNED(*p))
|
|
SERIAL_ECHO(*p++);
|
|
}
|
|
SERIAL_ECHOPGM(" P"); SERIAL_ECHO(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
|
|
SERIAL_ECHOPGM(" B"); SERIAL_ECHO(BUFSIZE - length);
|
|
#endif
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* Send a "Resend: nnn" message to the host to
|
|
* indicate that a command needs to be re-sent.
|
|
*/
|
|
void GCodeQueue::flush_and_request_resend() {
|
|
#if NUM_SERIAL > 1
|
|
const int16_t p = port[index_r];
|
|
if (p < 0) return;
|
|
PORT_REDIRECT(p);
|
|
#endif
|
|
SERIAL_FLUSH();
|
|
SERIAL_ECHOPGM(MSG_RESEND);
|
|
SERIAL_ECHOLN(last_N + 1);
|
|
ok_to_send();
|
|
}
|
|
|
|
inline bool serial_data_available() {
|
|
return false
|
|
|| MYSERIAL0.available()
|
|
#if NUM_SERIAL > 1
|
|
|| MYSERIAL1.available()
|
|
#endif
|
|
;
|
|
}
|
|
|
|
inline int read_serial(const uint8_t index) {
|
|
switch (index) {
|
|
case 0: return MYSERIAL0.read();
|
|
#if NUM_SERIAL > 1
|
|
case 1: return MYSERIAL1.read();
|
|
#endif
|
|
default: return -1;
|
|
}
|
|
}
|
|
|
|
void GCodeQueue::gcode_line_error(PGM_P const err, const int8_t port) {
|
|
PORT_REDIRECT(port);
|
|
SERIAL_ERROR_START();
|
|
serialprintPGM(err);
|
|
SERIAL_ECHOLN(last_N);
|
|
while (read_serial(port) != -1); // clear out the RX buffer
|
|
flush_and_request_resend();
|
|
serial_count[port] = 0;
|
|
}
|
|
|
|
FORCE_INLINE bool is_M29(const char * const cmd) { // matches "M29" & "M29 ", but not "M290", etc
|
|
const char * const m29 = strstr_P(cmd, PSTR("M29"));
|
|
return m29 && !NUMERIC(m29[3]);
|
|
}
|
|
|
|
/**
|
|
* Get all commands waiting on the serial port and queue them.
|
|
* Exit when the buffer is full or when no more characters are
|
|
* left on the serial port.
|
|
*/
|
|
void GCodeQueue::get_serial_commands() {
|
|
static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE];
|
|
static bool serial_comment_mode[NUM_SERIAL] = { false }
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
, serial_comment_paren_mode[NUM_SERIAL] = { false }
|
|
#endif
|
|
;
|
|
|
|
#if ENABLED(BINARY_FILE_TRANSFER)
|
|
if (card.flag.binary_mode) {
|
|
/**
|
|
* For binary stream file transfer, use serial_line_buffer as the working
|
|
* receive buffer (which limits the packet size to MAX_CMD_SIZE).
|
|
* The receive buffer also limits the packet size for reliable transmission.
|
|
*/
|
|
binaryStream[card.transfer_port_index].receive(serial_line_buffer[card.transfer_port_index]);
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
// If the command buffer is empty for too long,
|
|
// send "wait" to indicate Marlin is still waiting.
|
|
#if NO_TIMEOUTS > 0
|
|
static millis_t last_command_time = 0;
|
|
const millis_t ms = millis();
|
|
if (length == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
|
|
SERIAL_ECHOLNPGM(MSG_WAIT);
|
|
last_command_time = ms;
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Loop while serial characters are incoming and the queue is not full
|
|
*/
|
|
while (length < BUFSIZE && serial_data_available()) {
|
|
for (uint8_t i = 0; i < NUM_SERIAL; ++i) {
|
|
int c;
|
|
if ((c = read_serial(i)) < 0) continue;
|
|
|
|
char serial_char = c;
|
|
|
|
/**
|
|
* If the character ends the line
|
|
*/
|
|
if (serial_char == '\n' || serial_char == '\r') {
|
|
|
|
// Start with comment mode off
|
|
serial_comment_mode[i] = false;
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
serial_comment_paren_mode[i] = false;
|
|
#endif
|
|
|
|
// Skip empty lines and comments
|
|
if (!serial_count[i]) { thermalManager.manage_heater(); continue; }
|
|
|
|
serial_line_buffer[i][serial_count[i]] = 0; // Terminate string
|
|
serial_count[i] = 0; // Reset buffer
|
|
|
|
char* command = serial_line_buffer[i];
|
|
|
|
while (*command == ' ') command++; // Skip leading spaces
|
|
char *npos = (*command == 'N') ? command : nullptr; // Require the N parameter to start the line
|
|
|
|
if (npos) {
|
|
|
|
bool M110 = strstr_P(command, PSTR("M110")) != nullptr;
|
|
|
|
if (M110) {
|
|
char* n2pos = strchr(command + 4, 'N');
|
|
if (n2pos) npos = n2pos;
|
|
}
|
|
|
|
gcode_N = strtol(npos + 1, nullptr, 10);
|
|
|
|
if (gcode_N != last_N + 1 && !M110)
|
|
return gcode_line_error(PSTR(MSG_ERR_LINE_NO), i);
|
|
|
|
char *apos = strrchr(command, '*');
|
|
if (apos) {
|
|
uint8_t checksum = 0, count = uint8_t(apos - command);
|
|
while (count) checksum ^= command[--count];
|
|
if (strtol(apos + 1, nullptr, 10) != checksum)
|
|
return gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH), i);
|
|
}
|
|
else
|
|
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
|
|
|
|
last_N = gcode_N;
|
|
}
|
|
#if ENABLED(SDSUPPORT)
|
|
// Pronterface "M29" and "M29 " has no line number
|
|
else if (card.flag.saving && !is_M29(command))
|
|
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
|
|
#endif
|
|
|
|
// Movement commands alert when stopped
|
|
if (IsStopped()) {
|
|
char* gpos = strchr(command, 'G');
|
|
if (gpos) {
|
|
switch (strtol(gpos + 1, nullptr, 10)) {
|
|
case 0:
|
|
case 1:
|
|
#if ENABLED(ARC_SUPPORT)
|
|
case 2:
|
|
case 3:
|
|
#endif
|
|
#if ENABLED(BEZIER_CURVE_SUPPORT)
|
|
case 5:
|
|
#endif
|
|
SERIAL_ECHOLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
#if DISABLED(EMERGENCY_PARSER)
|
|
// Process critical commands early
|
|
if (strcmp(command, "M108") == 0) {
|
|
wait_for_heatup = false;
|
|
#if HAS_LCD_MENU
|
|
wait_for_user = false;
|
|
#endif
|
|
}
|
|
if (strcmp(command, "M112") == 0) kill();
|
|
if (strcmp(command, "M410") == 0) quickstop_stepper();
|
|
#endif
|
|
|
|
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
|
|
last_command_time = ms;
|
|
#endif
|
|
|
|
// Add the command to the queue
|
|
_enqueue(serial_line_buffer[i], true
|
|
#if NUM_SERIAL > 1
|
|
, i
|
|
#endif
|
|
);
|
|
}
|
|
else if (serial_count[i] >= MAX_CMD_SIZE - 1) {
|
|
// Keep fetching, but ignore normal characters beyond the max length
|
|
// The command will be injected when EOL is reached
|
|
}
|
|
else if (serial_char == '\\') { // Handle escapes
|
|
// if we have one more character, copy it over
|
|
if ((c = read_serial(i)) >= 0 && !serial_comment_mode[i]
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
&& !serial_comment_paren_mode[i]
|
|
#endif
|
|
)
|
|
serial_line_buffer[i][serial_count[i]++] = (char)c;
|
|
}
|
|
else { // it's not a newline, carriage return or escape char
|
|
if (serial_char == ';') serial_comment_mode[i] = true;
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
else if (serial_char == '(') serial_comment_paren_mode[i] = true;
|
|
else if (serial_char == ')') serial_comment_paren_mode[i] = false;
|
|
#endif
|
|
else if (!serial_comment_mode[i]
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
&& ! serial_comment_paren_mode[i]
|
|
#endif
|
|
) serial_line_buffer[i][serial_count[i]++] = serial_char;
|
|
}
|
|
} // for NUM_SERIAL
|
|
} // queue has space, serial has data
|
|
}
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
|
|
/**
|
|
* Get commands from the SD Card until the command buffer is full
|
|
* or until the end of the file is reached. The special character '#'
|
|
* can also interrupt buffering.
|
|
*/
|
|
inline void GCodeQueue::get_sdcard_commands() {
|
|
static bool stop_buffering = false,
|
|
sd_comment_mode = false
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
, sd_comment_paren_mode = false
|
|
#endif
|
|
;
|
|
|
|
if (!IS_SD_PRINTING()) return;
|
|
|
|
/**
|
|
* '#' stops reading from SD to the buffer prematurely, so procedural
|
|
* macro calls are possible. If it occurs, stop_buffering is triggered
|
|
* and the buffer is run dry; this character _can_ occur in serial com
|
|
* due to checksums, however, no checksums are used in SD printing.
|
|
*/
|
|
|
|
if (length == 0) stop_buffering = false;
|
|
|
|
uint16_t sd_count = 0;
|
|
bool card_eof = card.eof();
|
|
while (length < BUFSIZE && !card_eof && !stop_buffering) {
|
|
const int16_t n = card.get();
|
|
char sd_char = (char)n;
|
|
card_eof = card.eof();
|
|
if (card_eof || n == -1
|
|
|| sd_char == '\n' || sd_char == '\r'
|
|
|| ((sd_char == '#' || sd_char == ':') && !sd_comment_mode
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
&& !sd_comment_paren_mode
|
|
#endif
|
|
)
|
|
) {
|
|
if (card_eof) {
|
|
|
|
card.printingHasFinished();
|
|
|
|
if (IS_SD_PRINTING())
|
|
sd_count = 0; // If a sub-file was printing, continue from call point
|
|
else {
|
|
SERIAL_ECHOLNPGM(MSG_FILE_PRINTED);
|
|
#if ENABLED(PRINTER_EVENT_LEDS)
|
|
printerEventLEDs.onPrintCompleted();
|
|
#if HAS_RESUME_CONTINUE
|
|
inject_P(PSTR("M0 S"
|
|
#if HAS_LCD_MENU
|
|
"1800"
|
|
#else
|
|
"60"
|
|
#endif
|
|
));
|
|
#endif
|
|
#endif // PRINTER_EVENT_LEDS
|
|
}
|
|
}
|
|
else if (n == -1)
|
|
SERIAL_ERROR_MSG(MSG_SD_ERR_READ);
|
|
|
|
if (sd_char == '#') stop_buffering = true;
|
|
|
|
sd_comment_mode = false; // for new command
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
sd_comment_paren_mode = false;
|
|
#endif
|
|
|
|
// Skip empty lines and comments
|
|
if (!sd_count) { thermalManager.manage_heater(); continue; }
|
|
|
|
buffer[index_w][sd_count] = '\0'; // terminate string
|
|
sd_count = 0; // clear sd line buffer
|
|
|
|
_commit_command(false);
|
|
}
|
|
else if (sd_count >= MAX_CMD_SIZE - 1) {
|
|
/**
|
|
* Keep fetching, but ignore normal characters beyond the max length
|
|
* The command will be injected when EOL is reached
|
|
*/
|
|
}
|
|
else {
|
|
if (sd_char == ';') sd_comment_mode = true;
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
else if (sd_char == '(') sd_comment_paren_mode = true;
|
|
else if (sd_char == ')') sd_comment_paren_mode = false;
|
|
#endif
|
|
else if (!sd_comment_mode
|
|
#if ENABLED(PAREN_COMMENTS)
|
|
&& ! sd_comment_paren_mode
|
|
#endif
|
|
) buffer[index_w][sd_count++] = sd_char;
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // SDSUPPORT
|
|
|
|
/**
|
|
* Add to the circular command queue the next command from:
|
|
* - The command-injection queue (injected_commands_P)
|
|
* - The active serial input (usually USB)
|
|
* - The SD card file being actively printed
|
|
*/
|
|
void GCodeQueue::get_available_commands() {
|
|
|
|
get_serial_commands();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
get_sdcard_commands();
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Get the next command in the queue, optionally log it to SD, then dispatch it
|
|
*/
|
|
void GCodeQueue::advance() {
|
|
|
|
// Process immediate commands
|
|
if (process_injected_command()) return;
|
|
|
|
// Return if the G-code buffer is empty
|
|
if (!length) return;
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
|
|
if (card.flag.saving) {
|
|
char* command = buffer[index_r];
|
|
if (is_M29(command)) {
|
|
// M29 closes the file
|
|
card.closefile();
|
|
SERIAL_ECHOLNPGM(MSG_FILE_SAVED);
|
|
|
|
#if !defined(__AVR__) || !defined(USBCON)
|
|
#if ENABLED(SERIAL_STATS_DROPPED_RX)
|
|
SERIAL_ECHOLNPAIR("Dropped bytes: ", MYSERIAL0.dropped());
|
|
#endif
|
|
|
|
#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
|
|
SERIAL_ECHOLNPAIR("Max RX Queue Size: ", MYSERIAL0.rxMaxEnqueued());
|
|
#endif
|
|
#endif // !defined(__AVR__) || !defined(USBCON)
|
|
|
|
ok_to_send();
|
|
}
|
|
else {
|
|
// Write the string from the read buffer to SD
|
|
card.write_command(command);
|
|
if (card.flag.logging)
|
|
gcode.process_next_command(); // The card is saving because it's logging
|
|
else
|
|
ok_to_send();
|
|
}
|
|
}
|
|
else
|
|
gcode.process_next_command();
|
|
|
|
#else
|
|
|
|
gcode.process_next_command();
|
|
|
|
#endif // SDSUPPORT
|
|
|
|
// The queue may be reset by a command handler or by code invoked by idle() within a handler
|
|
if (length) {
|
|
--length;
|
|
if (++index_r >= BUFSIZE) index_r = 0;
|
|
}
|
|
|
|
}
|