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22b974691e
Firmware2/Marlin/src/gcode/queue.cpp
Scott Lahteine 22b974691e Tweak process_line_done for speed
2020-02-20 20:36:51 -06:00

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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 "../MarlinCore.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
#if ENABLED(POWER_LOSS_RECOVERY)
#include "../feature/power_loss_recovery.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;
/**
* 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::command_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 ENABLED(POWER_LOSS_RECOVERY)
recovery.commit_sdpos(index_w);
#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(command_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_MSG(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);
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); // Reply to the serial port that sent the command
#endif
if (!send_ok[index_r]) return;
SERIAL_ECHOPGM(MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_buffer[index_r];
if (*p == 'N') {
SERIAL_ECHO(' ');
SERIAL_ECHO(*p++);
while (NUMERIC_SIGNED(*p))
SERIAL_ECHO(*p++);
}
SERIAL_ECHOPAIR_P(SP_P_STR, int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
SERIAL_ECHOPAIR(" B", int(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 pn = port[index_r];
if (pn < 0) return;
PORT_REDIRECT(pn); // Reply to the serial port that sent the command
#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 pn) {
PORT_REDIRECT(pn); // Reply to the serial port that sent the command
SERIAL_ERROR_START();
serialprintPGM(err);
SERIAL_ECHOLN(last_N);
while (read_serial(pn) != -1); // Clear out the RX buffer
flush_and_request_resend();
serial_count[pn] = 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]);
}
#define PS_NORMAL 0
#define PS_EOL 1
#define PS_QUOTED 2
#define PS_PAREN 3
#define PS_ESC 4
inline void process_stream_char(const char c, uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
if (sis == PS_EOL) return; // EOL comment or overflow
#if ENABLED(PAREN_COMMENTS)
else if (sis == PS_PAREN) { // Inline comment
if (c == ')') sis = PS_NORMAL;
return;
}
#endif
else if (sis >= PS_ESC) // End escaped char
sis -= PS_ESC;
else if (c == '\\') { // Start escaped char
sis += PS_ESC;
if (sis == PS_ESC) return; // Keep if quoting
}
#if ENABLED(GCODE_QUOTED_STRINGS)
else if (sis == PS_QUOTED) {
if (c == '"') sis = PS_NORMAL; // End quoted string
}
else if (c == '"') // Start quoted string
sis = PS_QUOTED;
#endif
else if (c == ';') { // Start end-of-line comment
sis = PS_EOL;
return;
}
#if ENABLED(PAREN_COMMENTS)
else if (c == '(') { // Start inline comment
sis = PS_PAREN;
return;
}
#endif
buff[ind++] = c;
if (ind >= MAX_CMD_SIZE - 1)
sis = PS_EOL; // Skip the rest on overflow
}
inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
sis = PS_NORMAL;
buff[ind] = 0;
if (ind) { ind = 0; return false; }
thermalManager.manage_heater();
return true;
}
/**
* 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 uint8_t serial_input_state[NUM_SERIAL] = { PS_NORMAL };
#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) {
const int c = read_serial(i);
if (c < 0) continue;
const char serial_char = c;
if (serial_char == '\n' || serial_char == '\r') {
// Reset our state, continue if the line was empty
if (process_line_done(serial_input_state[i], serial_line_buffer[i], serial_count[i]))
continue;
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 give an alert when the machine is 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
PORT_REDIRECT(i); // Reply to the serial port that sent the command
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(M112_KILL_STR, nullptr, true);
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
process_stream_char(serial_char, serial_input_state[i], serial_line_buffer[i], serial_count[i]);
} // 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 uint8_t sd_input_state = PS_NORMAL;
if (!IS_SD_PRINTING()) return;
int sd_count = 0;
bool card_eof = card.eof();
while (length < BUFSIZE && !card_eof) {
const int16_t n = card.get();
card_eof = card.eof();
const char sd_char = (char)n;
if (card_eof || n < 0 || sd_char == '\n' || sd_char == '\r') {
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
enqueue_now_P(PSTR("M0 S"
#if HAS_LCD_MENU
"1800"
#else
"60"
#endif
));
#endif
#endif
}
}
else if (n < 0)
SERIAL_ERROR_MSG(MSG_SD_ERR_READ);
// Terminate the buffer, reset the input state, continue for empty line
if (process_line_done(sd_input_state, command_buffer[index_w], sd_count))
continue;
_commit_command(false);
#if ENABLED(POWER_LOSS_RECOVERY)
recovery.cmd_sdpos = card.getIndex(); // Prime for the next _commit_command
#endif
}
else
process_stream_char(sd_char, sd_input_state, command_buffer[index_w], sd_count);
}
}
#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 = 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;
}
}
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