Marlin 2.0 for Flying Bear 4S/5
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/**
* Marlin 3D Printer Firmware
5 years ago
* 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 <https://www.gnu.org/licenses/>.
*
*/
/**
* queue.cpp - The G-code command queue
*/
#include "queue.h"
GCodeQueue queue;
#include "gcode.h"
#include "../lcd/marlinui.h"
#include "../sd/cardreader.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/temperature.h"
#include "../MarlinCore.h"
#include "../core/bug_on.h"
#if ENABLED(PRINTER_EVENT_LEDS)
#include "../feature/leds/printer_event_leds.h"
#endif
#if HAS_ETHERNET
#include "../feature/ethernet.h"
#endif
#if ENABLED(BINARY_FILE_TRANSFER)
#include "../feature/binary_stream.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "../feature/powerloss.h"
#endif
#if ENABLED(GCODE_REPEAT_MARKERS)
#include "../feature/repeat.h"
#endif
// Frequently used G-code strings
PGMSTR(G28_STR, "G28");
GCodeQueue::SerialState GCodeQueue::serial_state[NUM_SERIAL] = { 0 };
GCodeQueue::RingBuffer GCodeQueue::ring_buffer = { 0 };
#if NO_TIMEOUTS > 0
static millis_t last_command_time = 0;
#endif
/**
* Track buffer underruns
*/
#if ENABLED(BUFFER_MONITORING)
uint32_t GCodeQueue::command_buffer_underruns = 0,
GCodeQueue::planner_buffer_underruns = 0;
bool GCodeQueue::command_buffer_empty = false,
GCodeQueue::planner_buffer_empty = false;
millis_t GCodeQueue::max_command_buffer_empty_duration = 0,
GCodeQueue::max_planner_buffer_empty_duration = 0,
GCodeQueue::command_buffer_empty_at = 0,
GCodeQueue::planner_buffer_empty_at = 0;
uint8_t GCodeQueue::auto_buffer_report_interval;
millis_t GCodeQueue::next_buffer_report_ms;
#endif
/**
* Serial command injection
*/
/**
* Next Injected PROGMEM Command pointer. (nullptr == empty)
* Internal commands are enqueued ahead of serial / SD commands.
*/
PGM_P GCodeQueue::injected_commands_P; // = nullptr
/**
* Injected SRAM Commands
*/
char GCodeQueue::injected_commands[64]; // = { 0 }
void GCodeQueue::RingBuffer::commit_command(bool skip_ok
OPTARG(HAS_MULTI_SERIAL, serial_index_t serial_ind/*=-1*/)
) {
commands[index_w].skip_ok = skip_ok;
TERN_(HAS_MULTI_SERIAL, commands[index_w].port = serial_ind);
TERN_(POWER_LOSS_RECOVERY, recovery.commit_sdpos(index_w));
advance_pos(index_w, 1);
}
/**
* 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::RingBuffer::enqueue(const char *cmd, bool skip_ok/*=true*/
OPTARG(HAS_MULTI_SERIAL, serial_index_t serial_ind/*=-1*/)
) {
if (*cmd == ';' || length >= BUFSIZE) return false;
strcpy(commands[index_w].buffer, cmd);
commit_command(skip_ok OPTARG(HAS_MULTI_SERIAL, serial_ind));
return true;
}
/**
* Enqueue with Serial Echo
* Return true if the command was consumed
*/
bool GCodeQueue::enqueue_one(const char *cmd) {
//SERIAL_ECHOLNPGM("enqueue_one(\"", cmd, "\")");
if (*cmd == 0 || ISEOL(*cmd)) return true;
if (ring_buffer.enqueue(cmd)) {
SERIAL_ECHO_MSG(STR_ENQUEUEING, cmd, "\"");
return true;
}
return false;
}
/**
* Process the next "immediate" command from PROGMEM.
* Return 'true' if any commands were processed.
*/
bool GCodeQueue::process_injected_command_P() {
if (!injected_commands_P) 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;
}
/**
* Process the next "immediate" command from SRAM.
* Return 'true' if any commands were processed.
*/
bool GCodeQueue::process_injected_command() {
if (injected_commands[0] == '\0') return false;
char c;
size_t i = 0;
while ((c = injected_commands[i]) && c != '\n') i++;
// Execute a non-blank command
if (i) {
injected_commands[i] = '\0';
parser.parse(injected_commands);
gcode.process_parsed_command();
}
// Copy the next command into place
for (
uint8_t d = 0, s = i + !!c; // dst, src
(injected_commands[d] = injected_commands[s]); // copy, exit if 0
d++, s++ // next dst, src
);
return true;
}
/**
* 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(); }
/**
* Attempt to enqueue a single G-code command
* and return 'true' if successful.
*/
bool GCodeQueue::enqueue_one_P(PGM_P const pgcode) {
size_t i = 0;
PGM_P p = pgcode;
char c;
while ((c = pgm_read_byte(&p[i])) && c != '\n') i++;
char cmd[i + 1];
memcpy_P(cmd, p, i);
cmd[i] = '\0';
return ring_buffer.enqueue(cmd);
}
/**
* 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::RingBuffer::ok_to_send() {
#if NO_TIMEOUTS > 0
// Start counting from the last command's execution
last_command_time = millis();
#endif
CommandLine &command = commands[index_r];
#if HAS_MULTI_SERIAL
const serial_index_t serial_ind = command.port;
if (!serial_ind.valid()) return; // Optimization here, skip processing if it's not going anywhere
PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command
#endif
if (command.skip_ok) return;
SERIAL_ECHOPGM(STR_OK);
#if ENABLED(ADVANCED_OK)
char* p = command.buffer;
if (*p == 'N') {
SERIAL_CHAR(' ', *p++);
while (NUMERIC_SIGNED(*p))
SERIAL_CHAR(*p++);
}
SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, 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(const serial_index_t serial_ind) {
#if HAS_MULTI_SERIAL
if (!serial_ind.valid()) return; // Optimization here, skip if the command came from SD or Flash Drive
PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command
#endif
SERIAL_FLUSH();
SERIAL_ECHOLNPGM(STR_RESEND, serial_state[serial_ind.index].last_N + 1);
SERIAL_ECHOLNPGM(STR_OK);
}
static bool serial_data_available(serial_index_t index) {
const int a = SERIAL_IMPL.available(index);
#if BOTH(RX_BUFFER_MONITOR, RX_BUFFER_SIZE)
if (a > RX_BUFFER_SIZE - 2) {
PORT_REDIRECT(SERIAL_PORTMASK(index));
SERIAL_ERROR_MSG("RX BUF overflow, increase RX_BUFFER_SIZE: ", a);
}
#endif
return a > 0;
}
#if NO_TIMEOUTS > 0
// Multiserial already handles dispatch to/from multiple ports
static bool any_serial_data_available() {
LOOP_L_N(p, NUM_SERIAL)
if (serial_data_available(p))
return true;
return false;
}
#endif
inline int read_serial(const serial_index_t index) { return SERIAL_IMPL.read(index); }
void GCodeQueue::gcode_line_error(PGM_P const err, const serial_index_t serial_ind) {
PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); // Reply to the serial port that sent the command
SERIAL_ERROR_START();
SERIAL_ECHOLNPGM_P(err, serial_state[serial_ind.index].last_N);
while (read_serial(serial_ind) != -1) { /* nada */ } // Clear out the RX buffer. Why don't use flush here ?
flush_and_request_resend(serial_ind);
serial_state[serial_ind.index].count = 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]);
6 years ago
}
#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
// Backspace erases previous characters
if (c == 0x08) {
if (ind) buff[--ind] = '\0';
}
else {
buff[ind++] = c;
if (ind >= MAX_CMD_SIZE - 1)
sis = PS_EOL; // Skip the rest on overflow
}
}
/**
* Handle a line being completed. For an empty line
* keep sensor readings going and watchdog alive.
*/
inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
sis = PS_NORMAL; // "Normal" Serial Input State
buff[ind] = '\0'; // Of course, I'm a Terminator.
const bool is_empty = (ind == 0); // An empty line?
if (is_empty)
thermalManager.manage_heater(); // Keep sensors satisfied
else
ind = 0; // Start a new line
return is_empty; // Inform the caller
}
/**
* 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() {
#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.index].receive(serial_state[card.transfer_port_index.index].line_buffer);
return;
}
#endif
// If the command buffer is empty for too long,
// send "wait" to indicate Marlin is still waiting.
#if NO_TIMEOUTS > 0
const millis_t ms = millis();
if (ring_buffer.empty() && !any_serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
SERIAL_ECHOLNPGM(STR_WAIT);
last_command_time = ms;
}
#endif
// Loop while serial characters are incoming and the queue is not full
for (bool hadData = true; hadData;) {
// Unless a serial port has data, this will exit on next iteration
hadData = false;
LOOP_L_N(p, NUM_SERIAL) {
// Check if the queue is full and exit if it is.
if (ring_buffer.full()) return;
// No data for this port ? Skip it
if (!serial_data_available(p)) continue;
// Ok, we have some data to process, let's make progress here
hadData = true;
const int c = read_serial(p);
if (c < 0) {
// This should never happen, let's log it
PORT_REDIRECT(SERIAL_PORTMASK(p)); // Reply to the serial port that sent the command
// Crash here to get more information why it failed
BUG_ON("SP available but read -1");
SERIAL_ERROR_MSG(STR_ERR_SERIAL_MISMATCH);
SERIAL_FLUSH();
continue;
}
const char serial_char = (char)c;
SerialState &serial = serial_state[p];
if (ISEOL(serial_char)) {
// Reset our state, continue if the line was empty
if (process_line_done(serial.input_state, serial.line_buffer, serial.count))
continue;
char* command = serial.line_buffer;
while (*command == ' ') command++; // Skip leading spaces
char *npos = (*command == 'N') ? command : nullptr; // Require the N parameter to start the line
if (npos) {
const bool M110 = !!strstr_P(command, PSTR("M110"));
if (M110) {
char* n2pos = strchr(command + 4, 'N');
if (n2pos) npos = n2pos;
}
const long gcode_N = strtol(npos + 1, nullptr, 10);
if (gcode_N != serial.last_N + 1 && !M110) {
// In case of error on a serial port, don't prevent other serial port from making progress
gcode_line_error(PSTR(STR_ERR_LINE_NO), p);
break;
}
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) {
// In case of error on a serial port, don't prevent other serial port from making progress
gcode_line_error(PSTR(STR_ERR_CHECKSUM_MISMATCH), p);
break;
}
}
else {
// In case of error on a serial port, don't prevent other serial port from making progress
gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p);
break;
}
serial.last_N = gcode_N;
}
#if ENABLED(SDSUPPORT)
// Pronterface "M29" and "M29 " has no line number
else if (card.flag.saving && !is_M29(command)) {
gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), p);
break;
}
#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 ... 1:
TERN_(ARC_SUPPORT, case 2 ... 3:)
TERN_(BEZIER_CURVE_SUPPORT, case 5:)
PORT_REDIRECT(SERIAL_PORTMASK(p)); // Reply to the serial port that sent the command
SERIAL_ECHOLNPGM(STR_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
break;
}
}
}
#if DISABLED(EMERGENCY_PARSER)
// Process critical commands early
if (command[0] == 'M') switch (command[3]) {
case '8': if (command[2] == '0' && command[1] == '1') { wait_for_heatup = false; TERN_(HAS_LCD_MENU, wait_for_user = false); } break;
case '2': if (command[2] == '1' && command[1] == '1') kill(M112_KILL_STR, nullptr, true); break;
case '0': if (command[1] == '4' && command[2] == '1') quickstop_stepper(); break;
}
#endif
#if NO_TIMEOUTS > 0
last_command_time = ms;
#endif
// Add the command to the queue
ring_buffer.enqueue(serial.line_buffer, false OPTARG(HAS_MULTI_SERIAL, p));
}
else
process_stream_char(serial_char, serial.input_state, serial.line_buffer, serial.count);
} // NUM_SERIAL loop
} // queue has space, serial has data
}
#if ENABLED(SDSUPPORT)
/**
* Get lines from the SD Card until the command buffer is full
* or until the end of the file is reached. Because this method
* always receives complete command-lines, they can go directly
* into the main command queue.
*/
inline void GCodeQueue::get_sdcard_commands() {
static uint8_t sd_input_state = PS_NORMAL;
// Get commands if there are more in the file
if (!IS_SD_FETCHING()) return;
int sd_count = 0;
while (!ring_buffer.full() && !card.eof()) {
const int16_t n = card.get();
const bool card_eof = card.eof();
if (n < 0 && !card_eof) { SERIAL_ERROR_MSG(STR_SD_ERR_READ); continue; }
CommandLine &command = ring_buffer.commands[ring_buffer.index_w];
const char sd_char = (char)n;
const bool is_eol = ISEOL(sd_char);
if (is_eol || card_eof) {
// Reset stream state, terminate the buffer, and commit a non-empty command
if (!is_eol && sd_count) ++sd_count; // End of file with no newline
if (!process_line_done(sd_input_state, command.buffer, sd_count)) {
// M808 L saves the sdpos of the next line. M808 loops to a new sdpos.
TERN_(GCODE_REPEAT_MARKERS, repeat.early_parse_M808(command.buffer));
#if DISABLED(PARK_HEAD_ON_PAUSE)
// When M25 is non-blocking it can still suspend SD commands
// Otherwise the M125 handler needs to know SD printing is active
if (command.buffer[0] == 'M' && command.buffer[1] == '2' && command.buffer[2] == '5' && !NUMERIC(command.buffer[3]))
card.pauseSDPrint();
#endif
// Put the new command into the buffer (no "ok" sent)
ring_buffer.commit_command(true);
// Prime Power-Loss Recovery for the NEXT commit_command
TERN_(POWER_LOSS_RECOVERY, recovery.cmd_sdpos = card.getIndex());
}
if (card.eof()) card.fileHasFinished(); // Handle end of file reached
}
else
process_stream_char(sd_char, sd_input_state, command.buffer, sd_count);
}
}
#endif // SDSUPPORT
/**
* Add to the circular command queue the next command from:
* - The command-injection queues (injected_commands_P, injected_commands)
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
void GCodeQueue::get_available_commands() {
if (ring_buffer.full()) return;
get_serial_commands();
TERN_(SDSUPPORT, get_sdcard_commands());
}
/**
* Run the entire queue in-place. Blocks SD completion/abort until complete.
*/
void GCodeQueue::exhaust() {
while (ring_buffer.occupied()) advance();
planner.synchronize();
}
/**
* 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_P() || process_injected_command()) return;
// Return if the G-code buffer is empty
if (ring_buffer.empty()) {
#if ENABLED(BUFFER_MONITORING)
if (!command_buffer_empty) {
command_buffer_empty = true;
command_buffer_underruns++;
command_buffer_empty_at = millis();
}
#endif
return;
}
#if ENABLED(BUFFER_MONITORING)
if (command_buffer_empty) {
command_buffer_empty = false;
const millis_t command_buffer_empty_duration = millis() - command_buffer_empty_at;
NOLESS(max_command_buffer_empty_duration, command_buffer_empty_duration);
}
#endif
#if ENABLED(SDSUPPORT)
if (card.flag.saving) {
char * const cmd = ring_buffer.peek_next_command_string();
if (is_M29(cmd)) {
// M29 closes the file
card.closefile();
SERIAL_ECHOLNPGM(STR_FILE_SAVED);
#if !defined(__AVR__) || !defined(USBCON)
#if ENABLED(SERIAL_STATS_DROPPED_RX)
SERIAL_ECHOLNPGM("Dropped bytes: ", MYSERIAL1.dropped());
#endif
#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
SERIAL_ECHOLNPGM("Max RX Queue Size: ", MYSERIAL1.rxMaxEnqueued());
#endif
#endif
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(cmd);
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
ring_buffer.advance_pos(ring_buffer.index_r, -1);
}
#if ENABLED(BUFFER_MONITORING)
void GCodeQueue::report_buffer_statistics() {
SERIAL_ECHOLNPGM("D576"
" P:", planner.moves_free(), " ", -queue.planner_buffer_underruns, " (", queue.max_planner_buffer_empty_duration, ")"
" B:", BUFSIZE - ring_buffer.length, " ", -queue.command_buffer_underruns, " (", queue.max_command_buffer_empty_duration, ")"
);
command_buffer_underruns = planner_buffer_underruns = 0;
max_command_buffer_empty_duration = max_planner_buffer_empty_duration = 0;
}
void GCodeQueue::auto_report_buffer_statistics() {
// Bit of a hack to try to catch planner buffer underruns without having logic
// running inside Stepper::block_phase_isr
const millis_t ms = millis();
if (planner.movesplanned() == 0) {
if (!planner_buffer_empty) { // the planner buffer wasn't empty, but now it is
planner_buffer_empty = true;
planner_buffer_underruns++;
planner_buffer_empty_at = ms;
}
}
else if (planner_buffer_empty) { // the planner buffer was empty, but now it's not
planner_buffer_empty = false;
const millis_t planner_buffer_empty_duration = ms - planner_buffer_empty_at;
NOLESS(max_planner_buffer_empty_duration, planner_buffer_empty_duration); // if it's longer than the currently tracked max duration, replace it
}
if (queue.auto_buffer_report_interval && ELAPSED(ms, queue.next_buffer_report_ms)) {
queue.next_buffer_report_ms = ms + 1000UL * queue.auto_buffer_report_interval;
PORT_REDIRECT(SERIAL_BOTH);
report_buffer_statistics();
PORT_RESTORE();
}
}
#endif // BUFFER_MONITORING