Firmware2/Marlin/src/feature/pause.cpp

/**
 * 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/>.
 *
 */

/**
 * feature/pause.cpp - Pause feature support functions
 * This may be combined with related G-codes if features are consolidated.
 */

#include "../inc/MarlinConfig.h"

#if ENABLED(ADVANCED_PAUSE_FEATURE)

#include "../Marlin.h"
#include "../gcode/gcode.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#include "../module/printcounter.h"
#include "../module/temperature.h"

#if ENABLED(FWRETRACT)
  #include "../feature/fwretract.h"
#endif

#if ENABLED(FILAMENT_RUNOUT_SENSOR)
  #include "../feature/runout.h"
#endif

#if ENABLED(ULTIPANEL)
  #include "../lcd/ultralcd.h"
#endif

#include "../libs/buzzer.h"
#include "../libs/nozzle.h"
#include "pause.h"

// private:

static float resume_position[XYZE];

AdvancedPauseMenuResponse advanced_pause_menu_response;

float filament_change_unload_length[EXTRUDERS],
      filament_change_load_length[EXTRUDERS];

#if ENABLED(SDSUPPORT)
  #include "../sd/cardreader.h"
#endif

#if HAS_BUZZER
  static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
    static millis_t next_buzz = 0;
    static int8_t runout_beep = 0;

    if (init) next_buzz = runout_beep = 0;

    const millis_t ms = millis();
    if (ELAPSED(ms, next_buzz)) {
      if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
        next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 1000 : 500);
        BUZZ(50, 880 - (runout_beep & 1) * 220);
        runout_beep++;
      }
    }
  }
#endif

/**
 * Ensure a safe temperature for extrusion
 *
 * - Fail if the TARGET temperature is too low
 * - Display LCD placard with temperature status
 * - Return when heating is done or aborted
 *
 * Returns 'true' if heating was completed, 'false' for abort
 */
static bool ensure_safe_temperature(const AdvancedPauseMode mode=ADVANCED_PAUSE_MODE_PAUSE_PRINT) {

  #if ENABLED(PREVENT_COLD_EXTRUSION)
    if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) {
      SERIAL_ERROR_START();
      SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);
      return false;
    }
  #endif

  #if ENABLED(ULTIPANEL)
    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT, mode);
  #else
    UNUSED(mode);
  #endif

  wait_for_heatup = true; // M108 will clear this
  while (wait_for_heatup && thermalManager.wait_for_heating(active_extruder)) idle();
  const bool status = wait_for_heatup;
  wait_for_heatup = false;

  return status;
}

static void do_pause_e_move(const float &length, const float &fr) {
  set_destination_from_current();
  destination[E_AXIS] += length / planner.e_factor[active_extruder];
  planner.buffer_line_kinematic(destination, fr, active_extruder);
  stepper.synchronize();
  set_current_from_destination();
}

/**
 * Load filament into the hotend
 *
 * - Fail if the a safe temperature was not reached
 * - If pausing for confirmation, wait for a click or M108
 * - Show "wait for load" placard
 * - Load and purge filament
 * - Show "Purge more" / "Continue" menu
 * - Return when "Continue" is selected
 *
 * Returns 'true' if load was completed, 'false' for abort
 */
bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_length/*=0*/, const float &purge_length/*=0*/, const int8_t max_beep_count/*=0*/,
                   const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/,
                   const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
) {
  #if DISABLED(ULTIPANEL)
    UNUSED(show_lcd);
  #endif

  if (!ensure_safe_temperature(mode)) {
    #if ENABLED(ULTIPANEL)
      if (show_lcd) // Show status screen
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
    #endif

    return false;
  }

  if (pause_for_user) {
    #if ENABLED(ULTIPANEL)
      if (show_lcd) // Show "insert filament"
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT, mode);
    #endif
    SERIAL_ECHO_START();
    SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT);

    #if HAS_BUZZER
      filament_change_beep(max_beep_count, true);
    #else
      UNUSED(max_beep_count);
    #endif

    KEEPALIVE_STATE(PAUSED_FOR_USER);
    wait_for_user = true;    // LCD click or M108 will clear this
    while (wait_for_user) {
      #if HAS_BUZZER
        filament_change_beep(max_beep_count);
      #endif
      idle(true);
    }
    KEEPALIVE_STATE(IN_HANDLER);
  }

  #if ENABLED(ULTIPANEL)
    if (show_lcd) // Show "wait for load" message
      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD, mode);
  #endif

  // Slow Load filament
  if (slow_load_length) do_pause_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE);

  // Fast Load Filament
  if (fast_load_length) {
    #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
      const float saved_acceleration = planner.retract_acceleration;
      planner.retract_acceleration = FILAMENT_CHANGE_FAST_LOAD_ACCEL;
    #endif

    do_pause_e_move(fast_load_length, FILAMENT_CHANGE_FAST_LOAD_FEEDRATE);

    #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
      planner.retract_acceleration = saved_acceleration;
    #endif
  }

  #if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)

    #if ENABLED(ULTIPANEL)
      if (show_lcd)
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE);
    #endif

    wait_for_user = true;
    for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
      do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
    wait_for_user = false;

  #else

    do {
      if (purge_length > 0) {
        // "Wait for filament purge"
        #if ENABLED(ULTIPANEL)
          if (show_lcd)
            lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_PURGE, mode);
        #endif

        // Extrude filament to get into hotend
        do_pause_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
      }

      // Show "Purge More" / "Resume" menu and wait for reply
      #if ENABLED(ULTIPANEL)
        if (show_lcd) {
          KEEPALIVE_STATE(PAUSED_FOR_USER);
          wait_for_user = false;
          lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION, mode);
          while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
          KEEPALIVE_STATE(IN_HANDLER);
        }
      #endif

      // Keep looping if "Purge More" was selected
    } while (
      #if ENABLED(ULTIPANEL)
        show_lcd && advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE
      #else
        0
      #endif
    );

  #endif

  return true;
}

/**
 * Unload filament from the hotend
 *
 * - Fail if the a safe temperature was not reached
 * - Show "wait for unload" placard
 * - Retract, pause, then unload filament
 * - Disable E stepper (on most machines)
 *
 * Returns 'true' if unload was completed, 'false' for abort
 */
bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
                     const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
) {
  if (!ensure_safe_temperature(mode)) {
    #if ENABLED(ULTIPANEL)
      if (show_lcd) // Show status screen
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
    #endif

    return false;
  }

  #if DISABLED(ULTIPANEL)
    UNUSED(show_lcd);
  #else
    if (show_lcd)
      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD, mode);
  #endif

  // Retract filament
  do_pause_e_move(-FILAMENT_UNLOAD_RETRACT_LENGTH, PAUSE_PARK_RETRACT_FEEDRATE);

  // Wait for filament to cool
  safe_delay(FILAMENT_UNLOAD_DELAY);

  // Quickly purge
  do_pause_e_move(FILAMENT_UNLOAD_RETRACT_LENGTH + FILAMENT_UNLOAD_PURGE_LENGTH, planner.max_feedrate_mm_s[E_AXIS]);

  // Unload filament
  #if FILAMENT_CHANGE_UNLOAD_ACCEL > 0
    const float saved_acceleration = planner.retract_acceleration;
    planner.retract_acceleration = FILAMENT_CHANGE_UNLOAD_ACCEL;
  #endif

  do_pause_e_move(unload_length, FILAMENT_CHANGE_UNLOAD_FEEDRATE);

  #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
    planner.retract_acceleration = saved_acceleration;
  #endif

  // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
  #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
    disable_e_stepper(active_extruder);
    safe_delay(100);
  #endif

  return true;
}

// public:

/**
 * Pause procedure
 *
 * - Abort if already paused
 * - Send host action for pause, if configured
 * - Abort if TARGET temperature is too low
 * - Display "wait for start of filament change" (if a length was specified)
 * - Initial retract, if current temperature is hot enough
 * - Park the nozzle at the given position
 * - Call unload_filament (if a length was specified)
 *
 * Returns 'true' if pause was completed, 'false' for abort
 */
uint8_t did_pause_print = 0;

bool pause_print(const float &retract, const point_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/) {
  if (did_pause_print) return false; // already paused

  #ifdef ACTION_ON_PAUSE
    SERIAL_ECHOLNPGM("//action:" ACTION_ON_PAUSE);
  #endif

  #if ENABLED(ULTIPANEL)
    if (show_lcd) // Show initial message
      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
  #endif

  if (!DEBUGGING(DRYRUN) && unload_length && thermalManager.targetTooColdToExtrude(active_extruder)) {
    SERIAL_ERROR_START();
    SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);

    #if ENABLED(ULTIPANEL)
      if (show_lcd) { // Show status screen
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
        LCD_MESSAGEPGM(MSG_M600_TOO_COLD);
      }
    #endif

    return false; // unable to reach safe temperature
  }

  // Indicate that the printer is paused
  ++did_pause_print;

  // Pause the print job and timer
  #if ENABLED(SDSUPPORT)
    if (card.sdprinting) {
      card.pauseSDPrint();
      ++did_pause_print; // Indicate SD pause also
    }
  #endif
  print_job_timer.pause();

  // Wait for synchronize steppers
  stepper.synchronize();

  // Save current position
  COPY(resume_position, current_position);

  // Initial retract before move to filament change position
  if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
    do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);

  #if ENABLED(NO_MOTION_BEFORE_HOMING)
    if (!axis_unhomed_error())
  #endif
      // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
      Nozzle::park(2, park_point);

  // Unload the filament
  if (unload_length)
    unload_filament(unload_length, show_lcd);

  return true;
}

/**
 * - Show "Insert filament and press button to continue"
 * - Wait for a click before returning
 * - Heaters can time out, reheated before accepting a click
 *
 * Used by M125 and M600
 */
void wait_for_filament_reload(const int8_t max_beep_count/*=0*/) {
  bool nozzle_timed_out = false;

  #if ENABLED(ULTIPANEL)
    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  #endif
  SERIAL_ECHO_START();
  SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT);

  #if HAS_BUZZER
    filament_change_beep(max_beep_count, true);
  #endif

  // Start the heater idle timers
  const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;

  HOTEND_LOOP()
    thermalManager.start_heater_idle_timer(e, nozzle_timeout);

  // Wait for filament insert by user and press button
  KEEPALIVE_STATE(PAUSED_FOR_USER);
  wait_for_user = true;    // LCD click or M108 will clear this
  while (wait_for_user) {
    #if HAS_BUZZER
      filament_change_beep(max_beep_count);
    #endif

    // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
    // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
    if (!nozzle_timed_out)
      HOTEND_LOOP()
        nozzle_timed_out |= thermalManager.is_heater_idle(e);

    if (nozzle_timed_out) {
      #if ENABLED(ULTIPANEL)
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
      #endif
      SERIAL_ECHO_START();
      #if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT);
      #elif ENABLED(EMERGENCY_PARSER)
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT_M108);
      #else
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_HEAT_LCD);
      #endif

      // Wait for LCD click or M108
      while (wait_for_user) idle(true);

      // Re-enable the heaters if they timed out
      HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);

      // Wait for the heaters to reach the target temperatures
      ensure_safe_temperature();

      #if ENABLED(ULTIPANEL)
        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
      #endif
      SERIAL_ECHO_START();
      #if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT);
      #elif ENABLED(EMERGENCY_PARSER)
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT_M108);
      #else
        SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT_LCD);
      #endif

      // Start the heater idle timers
      const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;

      HOTEND_LOOP()
        thermalManager.start_heater_idle_timer(e, nozzle_timeout);

      wait_for_user = true; // Wait for user to load filament
      nozzle_timed_out = false;

      #if HAS_BUZZER
        filament_change_beep(max_beep_count, true);
      #endif
    }

    idle(true);
  }
  KEEPALIVE_STATE(IN_HANDLER);
}

/**
 * Resume or Start print procedure
 *
 * - Abort if not paused
 * - Reset heater idle timers
 * - Load filament if specified, but only if:
 *   - a nozzle timed out, or
 *   - the nozzle is already heated.
 * - Display "wait for print to resume"
 * - Re-prime the nozzle...
 *   -  FWRETRACT: Recover/prime from the prior G10.
 *   - !FWRETRACT: Retract by resume_position[E], if negative.
 *                 Not sure how this logic comes into use.
 * - Move the nozzle back to resume_position
 * - Sync the planner E to resume_position[E]
 * - Send host action for resume, if configured
 * - Resume the current SD print job, if any
 */
void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_length/*=0*/, const float &purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/, const int8_t max_beep_count/*=0*/) {
  if (!did_pause_print) return;

  // Re-enable the heaters if they timed out
  bool nozzle_timed_out = false;
  HOTEND_LOOP() {
    nozzle_timed_out |= thermalManager.is_heater_idle(e);
    thermalManager.reset_heater_idle_timer(e);
  }

  if (nozzle_timed_out || thermalManager.hotEnoughToExtrude(active_extruder)) {
    // Load the new filament
    load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out);
  }

  #if ENABLED(ULTIPANEL)
    // "Wait for print to resume"
    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
  #endif

  // Intelligent resuming
  #if ENABLED(FWRETRACT)
    // If retracted before goto pause
    if (fwretract.retracted[active_extruder])
      do_pause_e_move(-fwretract.retract_length, fwretract.retract_feedrate_mm_s);
  #endif

  // If resume_position is negative
  if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], PAUSE_PARK_RETRACT_FEEDRATE);

  // Move XY to starting position, then Z
  do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], NOZZLE_PARK_XY_FEEDRATE);

  // Set Z_AXIS to saved position
  do_blocking_move_to_z(resume_position[Z_AXIS], NOZZLE_PARK_Z_FEEDRATE);

  // Now all extrusion positions are resumed and ready to be confirmed
  // Set extruder to saved position
  planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]));

  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
    runout.reset();
  #endif

  #if ENABLED(ULTIPANEL)
    // Show status screen
    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
  #endif

  #ifdef ACTION_ON_RESUME
    SERIAL_ECHOLNPGM("//action:" ACTION_ON_RESUME);
  #endif

  --did_pause_print;

  #if ENABLED(SDSUPPORT)
    if (did_pause_print) {
      card.startFileprint();
      --did_pause_print;
    }
  #endif
}

#endif // ADVANCED_PAUSE_FEATURE