Firmware2/Marlin/src/gcode/queue.cpp
Scott Lahteine 78ea4871f9 Fix up enqueue now functions
…and apply to MALYAN_LCD.
2018-04-19 19:45:53 -05:00

562 lines
17 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 "../module/temperature.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];
/*
* The port that the command was received on
*/
#if NUM_SERIAL > 1
int16_t command_queue_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. 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
#if NUM_SERIAL > 1
, int16_t port = -1
#endif
) {
send_ok[cmd_queue_index_w] = say_ok;
#if NUM_SERIAL > 1
command_queue_port[cmd_queue_index_w] = port;
#endif
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
#if NUM_SERIAL > 1
, int16_t port = -1
#endif
) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
_commit_command(say_ok
#if NUM_SERIAL > 1
, port
#endif
);
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;
(void)drain_injected_commands_P(); // first command executed asap (when possible)
}
#if HAS_QUEUE_NOW
/**
* Enqueue and return only when commands are actually enqueued
*/
void enqueue_and_echo_command_now(const char* cmd) {
while (!enqueue_and_echo_command(cmd)) idle();
}
#if HAS_LCD_QUEUE_NOW
/**
* Enqueue from program memory and return only when commands are actually enqueued
*/
void enqueue_and_echo_commands_now_P(const char * const pgcode) {
enqueue_and_echo_commands_P(pgcode);
while (drain_injected_commands_P()) idle();
}
#endif
#endif
/**
* 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() {
#if NUM_SERIAL > 1
const int16_t port = command_queue_port[cmd_queue_index_r];
if (port < 0) return;
#endif
if (!send_ok[cmd_queue_index_r]) return;
SERIAL_PROTOCOLPGM_P(port, MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_queue[cmd_queue_index_r];
if (*p == 'N') {
SERIAL_PROTOCOL_P(port, ' ');
SERIAL_ECHO_P(port, *p++);
while (NUMERIC_SIGNED(*p))
SERIAL_ECHO_P(port, *p++);
}
SERIAL_PROTOCOLPGM_P(port, " P"); SERIAL_PROTOCOL_P(port, int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
SERIAL_PROTOCOLPGM_P(port, " B"); SERIAL_PROTOCOL_P(port, BUFSIZE - commands_in_queue);
#endif
SERIAL_EOL_P(port);
}
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
void flush_and_request_resend() {
#if NUM_SERIAL > 1
const int16_t port = command_queue_port[cmd_queue_index_r];
if (port < 0) return;
#endif
SERIAL_FLUSH_P(port);
SERIAL_PROTOCOLPGM_P(port, MSG_RESEND);
SERIAL_PROTOCOLLN_P(port, gcode_LastN + 1);
ok_to_send();
}
void gcode_line_error(const char* err, uint8_t port) {
SERIAL_ERROR_START_P(port);
serialprintPGM_P(port, err);
SERIAL_ERRORLN_P(port, gcode_LastN);
flush_and_request_resend();
serial_count[port] = 0;
}
static bool serial_data_available() {
return (MYSERIAL0.available() ? true :
#if NUM_SERIAL > 1
MYSERIAL1.available() ? true :
#endif
false);
}
static int read_serial(const int index) {
switch (index) {
case 0: return MYSERIAL0.read();
#if NUM_SERIAL > 1
case 1: return MYSERIAL1.read();
#endif
default: return -1;
}
}
/**
* 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[NUM_SERIAL][MAX_CMD_SIZE];
static bool serial_comment_mode[NUM_SERIAL] = { false };
// 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 (commands_in_queue == 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 (commands_in_queue < 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') {
serial_comment_mode[i] = false; // end of line == end of comment
// 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 : 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)
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, NULL, 10) != checksum)
return gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH), i);
}
else
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
gcode_LastN = gcode_N;
}
#if ENABLED(SDSUPPORT)
else if (card.saving)
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) {
const int codenum = strtol(gpos + 1, NULL, 10);
switch (codenum) {
case 0:
case 1:
case 2:
case 3:
SERIAL_ERRORLNPGM_P(i, 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 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[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])
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 (!serial_comment_mode[i]) 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 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
gcode.lights_off_after_print = true;
enqueue_and_echo_commands_P(PSTR("M0 S"
#if ENABLED(NEWPANEL)
"1800"
#else
"60"
#endif
));
#else
safe_delay(2000);
leds.set_off();
#endif
#endif // PRINTER_EVENT_LEDS
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
// Skip empty lines and comments
if (!sd_count) { thermalManager.manage_heater(); continue; }
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 !defined(__AVR__) || !defined(USBCON)
#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
#endif // !defined(__AVR__) || !defined(USBCON)
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;
}
}