194 lines
9.3 KiB
C++
194 lines
9.3 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfigPre.h"
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#include "macros.h"
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#if ENABLED(EMERGENCY_PARSER)
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#include "../feature/e_parser.h"
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#endif
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// flushTX is not implemented in all HAL, so use SFINAE to call the method where it is.
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CALL_IF_EXISTS_IMPL(void, flushTX);
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CALL_IF_EXISTS_IMPL(bool, connected, true);
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// In order to catch usage errors in code, we make the base to encode number explicit
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// If given a number (and not this enum), the compiler will reject the overload, falling back to the (double, digit) version
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// We don't want hidden conversion of the first parameter to double, so it has to be as hard to do for the compiler as creating this enum
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enum class PrintBase {
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Dec = 10,
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Hex = 16,
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Oct = 8,
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Bin = 2
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};
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// A simple forward struct that prevent the compiler to select print(double, int) as a default overload for any type different than
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// double or float. For double or float, a conversion exists so the call will be transparent
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struct EnsureDouble {
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double a;
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FORCE_INLINE operator double() { return a; }
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// If the compiler breaks on ambiguity here, it's likely because you're calling print(X, base) with X not a double or a float, and a
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// base that's not one of PrintBase's value. This exact code is made to detect such error, you NEED to set a base explicitely like this:
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// SERIAL_PRINT(v, PrintBase::Hex)
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FORCE_INLINE EnsureDouble(double a) : a(a) {}
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FORCE_INLINE EnsureDouble(float a) : a(a) {}
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};
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// Using Curiously Recurring Template Pattern here to avoid virtual table cost when compiling.
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// Since the real serial class is known at compile time, this results in the compiler writing
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// a completely efficient code.
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template <class Child>
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struct SerialBase {
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#if ENABLED(EMERGENCY_PARSER)
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const bool ep_enabled;
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EmergencyParser::State emergency_state;
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inline bool emergency_parser_enabled() { return ep_enabled; }
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SerialBase(bool ep_capable) : ep_enabled(ep_capable), emergency_state(EmergencyParser::State::EP_RESET) {}
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#else
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SerialBase(const bool) {}
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#endif
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// Static dispatch methods below:
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// The most important method here is where it all ends to:
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size_t write(uint8_t c) { return static_cast<Child*>(this)->write(c); }
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// Called when the parser finished processing an instruction, usually build to nothing
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void msgDone() { static_cast<Child*>(this)->msgDone(); }
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// Called upon initialization
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void begin(const long baudRate) { static_cast<Child*>(this)->begin(baudRate); }
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// Called upon destruction
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void end() { static_cast<Child*>(this)->end(); }
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/** Check for available data from the port
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@param index The port index, usually 0 */
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int available(uint8_t index = 0) { return static_cast<Child*>(this)->available(index); }
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/** Read a value from the port
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@param index The port index, usually 0 */
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int read(uint8_t index = 0) { return static_cast<Child*>(this)->read(index); }
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// Check if the serial port is connected (usually bypassed)
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bool connected() { return static_cast<Child*>(this)->connected(); }
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// Redirect flush
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void flush() { static_cast<Child*>(this)->flush(); }
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// Not all implementation have a flushTX, so let's call them only if the child has the implementation
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void flushTX() { CALL_IF_EXISTS(void, static_cast<Child*>(this), flushTX); }
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// Glue code here
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FORCE_INLINE void write(const char* str) { while (*str) write(*str++); }
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FORCE_INLINE void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
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FORCE_INLINE void print(const char* str) { write(str); }
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// No default argument to avoid ambiguity
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NO_INLINE void print(char c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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NO_INLINE void print(unsigned char c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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NO_INLINE void print(int c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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NO_INLINE void print(unsigned int c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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void print(unsigned long c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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void print(long c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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void print(EnsureDouble c, int digits) { printFloat(c, digits); }
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// Forward the call to the former's method
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FORCE_INLINE void print(char c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned char c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(int c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned int c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned long c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(long c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(double c) { print(c, 2); }
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FORCE_INLINE void println(const char s[]) { print(s); println(); }
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FORCE_INLINE void println(char c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned char c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(int c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned int c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(long c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned long c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(double c, int digits) { print(c, digits); println(); }
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FORCE_INLINE void println() { write('\r'); write('\n'); }
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// Forward the call to the former's method
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FORCE_INLINE void println(char c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned char c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(int c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned int c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned long c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(long c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(double c) { println(c, 2); }
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// Print a number with the given base
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NO_INLINE void printNumber(unsigned long n, const uint8_t base) {
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if (!base) return; // Hopefully, this should raise visible bug immediately
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if (n) {
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unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
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int8_t i = 0;
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while (n) {
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buf[i++] = n % base;
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n /= base;
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}
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while (i--) write((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
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}
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else write('0');
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}
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void printNumber(signed long n, const uint8_t base) {
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if (base == 10 && n < 0) {
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n = -n; // This works because all platforms Marlin's builds on are using 2-complement encoding for negative number
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// On such CPU, changing the sign of a number is done by inverting the bits and adding one, so if n = 0x80000000 = -2147483648 then
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// -n = 0x7FFFFFFF + 1 => 0x80000000 = 2147483648 (if interpreted as unsigned) or -2147483648 if interpreted as signed.
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// On non 2-complement CPU, there would be no possible representation for 2147483648.
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write('-');
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}
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printNumber((unsigned long)n , base);
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}
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// Print a decimal number
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NO_INLINE void printFloat(double number, uint8_t digits) {
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// Handle negative numbers
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if (number < 0.0) {
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write('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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LOOP_L_N(i, digits) rounding *= 0.1;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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printNumber(int_part, 10);
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// Print the decimal point, but only if there are digits beyond
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if (digits) {
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write('.');
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// Extract digits from the remainder one at a time
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while (digits--) {
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remainder *= 10.0;
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unsigned long toPrint = (unsigned long)remainder;
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printNumber(toPrint, 10);
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remainder -= toPrint;
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}
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}
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}
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};
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// All serial instances will be built by chaining the features required
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// for the function in the form of a template type definition.
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