562 lines
17 KiB
C++
562 lines
17 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* queue.cpp - The G-code command queue
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*/
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#include "queue.h"
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#include "gcode.h"
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#include "../lcd/ultralcd.h"
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#include "../sd/cardreader.h"
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#include "../module/planner.h"
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#include "../module/temperature.h"
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#include "../Marlin.h"
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#if HAS_COLOR_LEDS
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#include "../feature/leds/leds.h"
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#endif
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/**
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* GCode line number handling. Hosts may opt to include line numbers when
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* sending commands to Marlin, and lines will be checked for sequentiality.
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* M110 N<int> sets the current line number.
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*/
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long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
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/**
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* GCode Command Queue
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* A simple ring buffer of BUFSIZE command strings.
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*
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* Commands are copied into this buffer by the command injectors
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* (immediate, serial, sd card) and they are processed sequentially by
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* the main loop. The gcode.process_next_command method parses the next
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* command and hands off execution to individual handler functions.
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*/
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uint8_t commands_in_queue = 0, // Count of commands in the queue
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cmd_queue_index_r = 0, // Ring buffer read position
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cmd_queue_index_w = 0; // Ring buffer write position
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char command_queue[BUFSIZE][MAX_CMD_SIZE];
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/*
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* The port that the command was received on
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*/
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#if NUM_SERIAL > 1
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int16_t command_queue_port[BUFSIZE];
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#endif
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/**
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* Serial command injection
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*/
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// Number of characters read in the current line of serial input
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static int serial_count[NUM_SERIAL] = { 0 };
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bool send_ok[BUFSIZE];
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/**
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* Next Injected Command pointer. NULL if no commands are being injected.
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* Used by Marlin internally to ensure that commands initiated from within
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* are enqueued ahead of any pending serial or sd card commands.
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*/
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static const char *injected_commands_P = NULL;
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void queue_setup() {
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// Send "ok" after commands by default
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for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
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}
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/**
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* Clear the Marlin command queue
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*/
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void clear_command_queue() {
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cmd_queue_index_r = cmd_queue_index_w = commands_in_queue = 0;
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}
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/**
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* Once a new command is in the ring buffer, call this to commit it
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*/
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inline void _commit_command(bool say_ok
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#if NUM_SERIAL > 1
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, int16_t port = -1
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#endif
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) {
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send_ok[cmd_queue_index_w] = say_ok;
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#if NUM_SERIAL > 1
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command_queue_port[cmd_queue_index_w] = port;
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#endif
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if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
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commands_in_queue++;
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}
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/**
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* Copy a command from RAM into the main command buffer.
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* Return true if the command was successfully added.
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* Return false for a full buffer, or if the 'command' is a comment.
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*/
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inline bool _enqueuecommand(const char* cmd, bool say_ok
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#if NUM_SERIAL > 1
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, int16_t port = -1
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#endif
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) {
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if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
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strcpy(command_queue[cmd_queue_index_w], cmd);
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_commit_command(say_ok
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#if NUM_SERIAL > 1
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, port
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#endif
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);
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return true;
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}
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/**
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* Enqueue with Serial Echo
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*/
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bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
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if (_enqueuecommand(cmd, say_ok)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
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SERIAL_CHAR('"');
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SERIAL_EOL();
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return true;
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}
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return false;
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}
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/**
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* Inject the next "immediate" command, when possible, onto the front of the queue.
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* Return true if any immediate commands remain to inject.
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*/
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static bool drain_injected_commands_P() {
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if (injected_commands_P != NULL) {
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size_t i = 0;
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char c, cmd[30];
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strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
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cmd[sizeof(cmd) - 1] = '\0';
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while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
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cmd[i] = '\0';
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if (enqueue_and_echo_command(cmd)) // success?
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injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
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}
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return (injected_commands_P != NULL); // return whether any more remain
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}
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/**
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* Record one or many commands to run from program memory.
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* Aborts the current queue, if any.
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* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
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*/
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void enqueue_and_echo_commands_P(const char * const pgcode) {
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injected_commands_P = pgcode;
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(void)drain_injected_commands_P(); // first command executed asap (when possible)
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}
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#if HAS_QUEUE_NOW
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/**
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* Enqueue and return only when commands are actually enqueued
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*/
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void enqueue_and_echo_command_now(const char* cmd) {
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while (!enqueue_and_echo_command(cmd)) idle();
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}
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#if HAS_LCD_QUEUE_NOW
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/**
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* Enqueue from program memory and return only when commands are actually enqueued
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*/
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void enqueue_and_echo_commands_now_P(const char * const pgcode) {
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enqueue_and_echo_commands_P(pgcode);
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while (drain_injected_commands_P()) idle();
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}
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#endif
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#endif
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/**
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* Send an "ok" message to the host, indicating
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* that a command was successfully processed.
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*
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* If ADVANCED_OK is enabled also include:
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* N<int> Line number of the command, if any
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* P<int> Planner space remaining
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* B<int> Block queue space remaining
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*/
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void ok_to_send() {
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#if NUM_SERIAL > 1
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const int16_t port = command_queue_port[cmd_queue_index_r];
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if (port < 0) return;
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#endif
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if (!send_ok[cmd_queue_index_r]) return;
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SERIAL_PROTOCOLPGM_P(port, MSG_OK);
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#if ENABLED(ADVANCED_OK)
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char* p = command_queue[cmd_queue_index_r];
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if (*p == 'N') {
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SERIAL_PROTOCOL_P(port, ' ');
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SERIAL_ECHO_P(port, *p++);
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while (NUMERIC_SIGNED(*p))
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SERIAL_ECHO_P(port, *p++);
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}
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SERIAL_PROTOCOLPGM_P(port, " P"); SERIAL_PROTOCOL_P(port, int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
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SERIAL_PROTOCOLPGM_P(port, " B"); SERIAL_PROTOCOL_P(port, BUFSIZE - commands_in_queue);
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#endif
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SERIAL_EOL_P(port);
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}
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/**
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* Send a "Resend: nnn" message to the host to
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* indicate that a command needs to be re-sent.
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*/
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void flush_and_request_resend() {
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#if NUM_SERIAL > 1
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const int16_t port = command_queue_port[cmd_queue_index_r];
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if (port < 0) return;
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#endif
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SERIAL_FLUSH_P(port);
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SERIAL_PROTOCOLPGM_P(port, MSG_RESEND);
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SERIAL_PROTOCOLLN_P(port, gcode_LastN + 1);
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ok_to_send();
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}
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void gcode_line_error(const char* err, uint8_t port) {
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SERIAL_ERROR_START_P(port);
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serialprintPGM_P(port, err);
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SERIAL_ERRORLN_P(port, gcode_LastN);
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flush_and_request_resend();
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serial_count[port] = 0;
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}
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static bool serial_data_available() {
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return (MYSERIAL0.available() ? true :
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#if NUM_SERIAL > 1
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MYSERIAL1.available() ? true :
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#endif
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false);
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}
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static int read_serial(const int index) {
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switch (index) {
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case 0: return MYSERIAL0.read();
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#if NUM_SERIAL > 1
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case 1: return MYSERIAL1.read();
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#endif
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default: return -1;
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}
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}
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/**
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* Get all commands waiting on the serial port and queue them.
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* Exit when the buffer is full or when no more characters are
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* left on the serial port.
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*/
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inline void get_serial_commands() {
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static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE];
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static bool serial_comment_mode[NUM_SERIAL] = { false };
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// If the command buffer is empty for too long,
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// send "wait" to indicate Marlin is still waiting.
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#if NO_TIMEOUTS > 0
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static millis_t last_command_time = 0;
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const millis_t ms = millis();
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if (commands_in_queue == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
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SERIAL_ECHOLNPGM(MSG_WAIT);
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last_command_time = ms;
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}
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#endif
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/**
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* Loop while serial characters are incoming and the queue is not full
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*/
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while (commands_in_queue < BUFSIZE && serial_data_available()) {
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for (uint8_t i = 0; i < NUM_SERIAL; ++i) {
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int c;
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if ((c = read_serial(i)) < 0) continue;
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char serial_char = c;
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/**
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* If the character ends the line
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*/
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if (serial_char == '\n' || serial_char == '\r') {
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serial_comment_mode[i] = false; // end of line == end of comment
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// Skip empty lines and comments
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if (!serial_count[i]) { thermalManager.manage_heater(); continue; }
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serial_line_buffer[i][serial_count[i]] = 0; // Terminate string
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serial_count[i] = 0; // Reset buffer
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char* command = serial_line_buffer[i];
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while (*command == ' ') command++; // Skip leading spaces
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char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
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if (npos) {
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bool M110 = strstr_P(command, PSTR("M110")) != NULL;
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if (M110) {
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char* n2pos = strchr(command + 4, 'N');
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if (n2pos) npos = n2pos;
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}
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gcode_N = strtol(npos + 1, NULL, 10);
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if (gcode_N != gcode_LastN + 1 && !M110)
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return gcode_line_error(PSTR(MSG_ERR_LINE_NO), i);
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char *apos = strrchr(command, '*');
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if (apos) {
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uint8_t checksum = 0, count = uint8_t(apos - command);
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while (count) checksum ^= command[--count];
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if (strtol(apos + 1, NULL, 10) != checksum)
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return gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH), i);
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}
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else
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return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
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gcode_LastN = gcode_N;
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}
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#if ENABLED(SDSUPPORT)
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else if (card.saving)
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return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
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#endif
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// Movement commands alert when stopped
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if (IsStopped()) {
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char* gpos = strchr(command, 'G');
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if (gpos) {
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const int codenum = strtol(gpos + 1, NULL, 10);
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switch (codenum) {
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case 0:
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case 1:
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case 2:
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case 3:
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SERIAL_ERRORLNPGM_P(i, MSG_ERR_STOPPED);
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LCD_MESSAGEPGM(MSG_STOPPED);
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break;
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}
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}
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}
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#if DISABLED(EMERGENCY_PARSER)
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// Process critical commands early
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if (strcmp(command, "M108") == 0) {
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wait_for_heatup = false;
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#if ENABLED(ULTIPANEL)
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wait_for_user = false;
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#endif
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}
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if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
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if (strcmp(command, "M410") == 0) quickstop_stepper();
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#endif
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#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
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last_command_time = ms;
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#endif
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// Add the command to the queue
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_enqueuecommand(serial_line_buffer[i], true
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#if NUM_SERIAL > 1
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, i
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#endif
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);
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}
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else if (serial_count[i] >= MAX_CMD_SIZE - 1) {
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// Keep fetching, but ignore normal characters beyond the max length
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// The command will be injected when EOL is reached
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}
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else if (serial_char == '\\') { // Handle escapes
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// if we have one more character, copy it over
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if ((c = read_serial(i)) >= 0 && !serial_comment_mode[i])
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serial_line_buffer[i][serial_count[i]++] = (char)c;
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}
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else { // it's not a newline, carriage return or escape char
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if (serial_char == ';') serial_comment_mode[i] = true;
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if (!serial_comment_mode[i]) serial_line_buffer[i][serial_count[i]++] = serial_char;
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}
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} // for NUM_SERIAL
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} // queue has space, serial has data
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}
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#if ENABLED(SDSUPPORT)
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/**
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* Get commands from the SD Card until the command buffer is full
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* or until the end of the file is reached. The special character '#'
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* can also interrupt buffering.
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*/
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inline void get_sdcard_commands() {
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static bool stop_buffering = false,
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sd_comment_mode = false;
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if (!IS_SD_PRINTING) return;
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/**
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* '#' stops reading from SD to the buffer prematurely, so procedural
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* macro calls are possible. If it occurs, stop_buffering is triggered
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* and the buffer is run dry; this character _can_ occur in serial com
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* due to checksums, however, no checksums are used in SD printing.
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*/
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if (commands_in_queue == 0) stop_buffering = false;
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uint16_t sd_count = 0;
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bool card_eof = card.eof();
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while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
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const int16_t n = card.get();
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char sd_char = (char)n;
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card_eof = card.eof();
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if (card_eof || n == -1
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|| sd_char == '\n' || sd_char == '\r'
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|| ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
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) {
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if (card_eof) {
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card.printingHasFinished();
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if (card.sdprinting)
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sd_count = 0; // If a sub-file was printing, continue from call point
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else {
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SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
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#if ENABLED(PRINTER_EVENT_LEDS)
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LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
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leds.set_green();
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#if HAS_RESUME_CONTINUE
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gcode.lights_off_after_print = true;
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enqueue_and_echo_commands_P(PSTR("M0 S"
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#if ENABLED(NEWPANEL)
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"1800"
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#else
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"60"
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#endif
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));
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#else
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safe_delay(2000);
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leds.set_off();
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#endif
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#endif // PRINTER_EVENT_LEDS
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card.checkautostart(true);
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}
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}
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else if (n == -1) {
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SERIAL_ERROR_START();
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SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
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}
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if (sd_char == '#') stop_buffering = true;
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sd_comment_mode = false; // for new command
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// Skip empty lines and comments
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if (!sd_count) { thermalManager.manage_heater(); continue; }
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command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
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sd_count = 0; // clear sd line buffer
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_commit_command(false);
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}
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else if (sd_count >= MAX_CMD_SIZE - 1) {
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/**
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* Keep fetching, but ignore normal characters beyond the max length
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* The command will be injected when EOL is reached
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*/
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}
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else {
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if (sd_char == ';') sd_comment_mode = true;
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if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
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}
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}
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}
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#endif // SDSUPPORT
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/**
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* Add to the circular command queue the next command from:
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* - The command-injection queue (injected_commands_P)
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* - The active serial input (usually USB)
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* - The SD card file being actively printed
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*/
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void get_available_commands() {
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// if any immediate commands remain, don't get other commands yet
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if (drain_injected_commands_P()) return;
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get_serial_commands();
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#if ENABLED(SDSUPPORT)
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get_sdcard_commands();
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#endif
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}
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/**
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* Get the next command in the queue, optionally log it to SD, then dispatch it
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*/
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void advance_command_queue() {
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if (!commands_in_queue) return;
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|
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#if ENABLED(SDSUPPORT)
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if (card.saving) {
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char* command = command_queue[cmd_queue_index_r];
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if (strstr_P(command, PSTR("M29"))) {
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// M29 closes the file
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|
card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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|
|
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#if !defined(__AVR__) || !defined(USBCON)
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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|
SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
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#endif
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|
|
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#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
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SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
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|
#endif
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#endif // !defined(__AVR__) || !defined(USBCON)
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|
|
|
ok_to_send();
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|
}
|
|
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();
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|
|
|
#else
|
|
|
|
gcode.process_next_command();
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|
|
|
#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;
|
|
}
|
|
|
|
}
|