482 lines
14 KiB
C++
482 lines
14 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 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"
|
|
#include "gcode.h"
|
|
|
|
#include "../lcd/ultralcd.h"
|
|
#include "../sd/cardreader.h"
|
|
#include "../module/planner.h"
|
|
#include "../Marlin.h"
|
|
|
|
#if HAS_COLOR_LEDS
|
|
#include "../feature/leds/leds.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, gcode_LastN, Stopped_gcode_LastN = 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 commands_in_queue = 0, // Count of commands in the queue
|
|
cmd_queue_index_r = 0, // Ring buffer read position
|
|
cmd_queue_index_w = 0; // Ring buffer write position
|
|
|
|
char command_queue[BUFSIZE][MAX_CMD_SIZE];
|
|
|
|
/**
|
|
* Serial command injection
|
|
*/
|
|
|
|
// Number of characters read in the current line of serial input
|
|
static int serial_count = 0;
|
|
|
|
bool send_ok[BUFSIZE];
|
|
|
|
/**
|
|
* Next Injected Command pointer. NULL 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 const char *injected_commands_P = NULL;
|
|
|
|
void queue_setup() {
|
|
// Send "ok" after commands by default
|
|
for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
|
|
}
|
|
|
|
/**
|
|
* Clear the Marlin command queue
|
|
*/
|
|
void clear_command_queue() {
|
|
cmd_queue_index_r = cmd_queue_index_w;
|
|
commands_in_queue = 0;
|
|
}
|
|
|
|
/**
|
|
* Once a new command is in the ring buffer, call this to commit it
|
|
*/
|
|
inline void _commit_command(bool say_ok) {
|
|
send_ok[cmd_queue_index_w] = say_ok;
|
|
if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
|
|
commands_in_queue++;
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
inline bool _enqueuecommand(const char* cmd, bool say_ok/*=false*/) {
|
|
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
|
|
strcpy(command_queue[cmd_queue_index_w], cmd);
|
|
_commit_command(say_ok);
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Enqueue with Serial Echo
|
|
*/
|
|
bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
|
|
if (_enqueuecommand(cmd, say_ok)) {
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
|
|
SERIAL_CHAR('"');
|
|
SERIAL_EOL();
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/**
|
|
* Inject the next "immediate" command, when possible, onto the front of the queue.
|
|
* Return true if any immediate commands remain to inject.
|
|
*/
|
|
static bool drain_injected_commands_P() {
|
|
if (injected_commands_P != NULL) {
|
|
size_t i = 0;
|
|
char c, cmd[30];
|
|
strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
|
|
cmd[sizeof(cmd) - 1] = '\0';
|
|
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
|
|
cmd[i] = '\0';
|
|
if (enqueue_and_echo_command(cmd)) // success?
|
|
injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
|
|
}
|
|
return (injected_commands_P != NULL); // return whether any more remain
|
|
}
|
|
|
|
/**
|
|
* Record one or many commands to run from program memory.
|
|
* Aborts the current queue, if any.
|
|
* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
|
|
*/
|
|
void enqueue_and_echo_commands_P(const char * const pgcode) {
|
|
injected_commands_P = pgcode;
|
|
drain_injected_commands_P(); // first command executed asap (when possible)
|
|
}
|
|
|
|
/**
|
|
* 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 ok_to_send() {
|
|
gcode.refresh_cmd_timeout();
|
|
if (!send_ok[cmd_queue_index_r]) return;
|
|
SERIAL_PROTOCOLPGM(MSG_OK);
|
|
#if ENABLED(ADVANCED_OK)
|
|
char* p = command_queue[cmd_queue_index_r];
|
|
if (*p == 'N') {
|
|
SERIAL_PROTOCOL(' ');
|
|
SERIAL_ECHO(*p++);
|
|
while (NUMERIC_SIGNED(*p))
|
|
SERIAL_ECHO(*p++);
|
|
}
|
|
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
|
|
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
|
|
#endif
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
/**
|
|
* Send a "Resend: nnn" message to the host to
|
|
* indicate that a command needs to be re-sent.
|
|
*/
|
|
void flush_and_request_resend() {
|
|
//char command_queue[cmd_queue_index_r][100]="Resend:";
|
|
MYSERIAL.flush();
|
|
SERIAL_PROTOCOLPGM(MSG_RESEND);
|
|
SERIAL_PROTOCOLLN(gcode_LastN + 1);
|
|
ok_to_send();
|
|
}
|
|
|
|
void gcode_line_error(const char* err, bool doFlush = true) {
|
|
SERIAL_ERROR_START();
|
|
serialprintPGM(err);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
//Serial.println(gcode_N);
|
|
if (doFlush) flush_and_request_resend();
|
|
serial_count = 0;
|
|
}
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
inline void get_serial_commands() {
|
|
static char serial_line_buffer[MAX_CMD_SIZE];
|
|
static bool serial_comment_mode = false;
|
|
|
|
// If the command buffer is empty for too long,
|
|
// send "wait" to indicate Marlin is still waiting.
|
|
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
|
|
static millis_t last_command_time = 0;
|
|
const millis_t ms = millis();
|
|
if (commands_in_queue == 0 && !MYSERIAL.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
|
|
*/
|
|
int c;
|
|
while (commands_in_queue < BUFSIZE && (c = MYSERIAL.read()) >= 0) {
|
|
char serial_char = c;
|
|
|
|
/**
|
|
* If the character ends the line
|
|
*/
|
|
if (serial_char == '\n' || serial_char == '\r') {
|
|
|
|
serial_comment_mode = false; // end of line == end of comment
|
|
|
|
if (!serial_count) continue; // Skip empty lines
|
|
|
|
serial_line_buffer[serial_count] = 0; // Terminate string
|
|
serial_count = 0; // Reset buffer
|
|
|
|
char* command = serial_line_buffer;
|
|
|
|
while (*command == ' ') command++; // Skip leading spaces
|
|
char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
|
|
|
|
if (npos) {
|
|
|
|
bool M110 = strstr_P(command, PSTR("M110")) != NULL;
|
|
|
|
if (M110) {
|
|
char* n2pos = strchr(command + 4, 'N');
|
|
if (n2pos) npos = n2pos;
|
|
}
|
|
|
|
gcode_N = strtol(npos + 1, NULL, 10);
|
|
|
|
if (gcode_N != gcode_LastN + 1 && !M110) {
|
|
gcode_line_error(PSTR(MSG_ERR_LINE_NO));
|
|
return;
|
|
}
|
|
|
|
char *apos = strrchr(command, '*');
|
|
if (apos) {
|
|
uint8_t checksum = 0, count = uint8_t(apos - command);
|
|
while (count) checksum ^= command[--count];
|
|
if (strtol(apos + 1, NULL, 10) != checksum) {
|
|
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
|
|
return;
|
|
}
|
|
}
|
|
else {
|
|
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
|
|
return;
|
|
}
|
|
|
|
gcode_LastN = gcode_N;
|
|
}
|
|
|
|
// Movement commands alert when stopped
|
|
if (IsStopped()) {
|
|
char* gpos = strchr(command, 'G');
|
|
if (gpos) {
|
|
const int codenum = strtol(gpos + 1, NULL, 10);
|
|
switch (codenum) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
#if DISABLED(EMERGENCY_PARSER)
|
|
// If command was e-stop process now
|
|
if (strcmp(command, "M108") == 0) {
|
|
wait_for_heatup = false;
|
|
#if ENABLED(ULTIPANEL)
|
|
wait_for_user = false;
|
|
#endif
|
|
}
|
|
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
|
|
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
|
|
_enqueuecommand(serial_line_buffer, true);
|
|
}
|
|
else if (serial_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 (serial_char == '\\') { // Handle escapes
|
|
// if we have one more character, copy it over
|
|
if ((c = MYSERIAL.read()) >= 0 && !serial_comment_mode)
|
|
serial_line_buffer[serial_count++] = serial_char;
|
|
}
|
|
else { // it's not a newline, carriage return or escape char
|
|
if (serial_char == ';') serial_comment_mode = true;
|
|
if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
|
|
}
|
|
|
|
} // 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 get_sdcard_commands() {
|
|
static bool stop_buffering = false,
|
|
sd_comment_mode = false;
|
|
|
|
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 (commands_in_queue == 0) stop_buffering = false;
|
|
|
|
uint16_t sd_count = 0;
|
|
bool card_eof = card.eof();
|
|
while (commands_in_queue < 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 (card_eof) {
|
|
|
|
card.printingHasFinished();
|
|
|
|
if (card.sdprinting)
|
|
sd_count = 0; // If a sub-file was printing, continue from call point
|
|
else {
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
|
|
#if ENABLED(PRINTER_EVENT_LEDS)
|
|
LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
|
|
leds.set_green();
|
|
#if HAS_RESUME_CONTINUE
|
|
enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
|
|
#else
|
|
safe_delay(1000);
|
|
#endif
|
|
leds.set_off();
|
|
#endif
|
|
card.checkautostart(true);
|
|
}
|
|
}
|
|
else if (n == -1) {
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
|
|
}
|
|
if (sd_char == '#') stop_buffering = true;
|
|
|
|
sd_comment_mode = false; // for new command
|
|
|
|
if (!sd_count) continue; // skip empty lines (and comment lines)
|
|
|
|
command_queue[cmd_queue_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 (!sd_comment_mode) command_queue[cmd_queue_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 get_available_commands() {
|
|
|
|
// if any immediate commands remain, don't get other commands yet
|
|
if (drain_injected_commands_P()) return;
|
|
|
|
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 advance_command_queue() {
|
|
|
|
if (!commands_in_queue) return;
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
|
|
if (card.saving) {
|
|
char* command = command_queue[cmd_queue_index_r];
|
|
if (strstr_P(command, PSTR("M29"))) {
|
|
// M29 closes the file
|
|
card.closefile();
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
|
|
|
|
#if ENABLED(SERIAL_STATS_DROPPED_RX)
|
|
SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
|
|
#endif
|
|
|
|
#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
|
|
SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
|
|
#endif
|
|
|
|
ok_to_send();
|
|
}
|
|
else {
|
|
// Write the string from the read buffer to SD
|
|
card.write_command(command);
|
|
if (card.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 (commands_in_queue) {
|
|
--commands_in_queue;
|
|
if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
|
|
}
|
|
|
|
}
|