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@ -61,6 +61,11 @@ bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES; |
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float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ]; |
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#endif |
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#if HAS_LEVELING && ENABLED(G29_RETRY_AND_RECOVER) |
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#include "../feature/bedlevel/bedlevel.h" |
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#include "../module/planner.h" |
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#endif |
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/**
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* Set target_extruder from the T parameter or the active_extruder |
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* |
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@ -125,6 +130,44 @@ void GcodeSuite::dwell(millis_t time) { |
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while (PENDING(millis(), time)) idle(); |
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} |
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/**
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* When G29_RETRY_AND_RECOVER is enabled, call G29() in |
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* a loop with recovery and retry handling. |
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*/ |
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#if HAS_LEVELING && ENABLED(G29_RETRY_AND_RECOVER) |
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void GcodeSuite::G29_with_retry() { |
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set_bed_leveling_enabled(false); |
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for (uint8_t i = G29_MAX_RETRIES; i--;) { |
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G29(); |
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if (planner.leveling_active) break; |
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#ifdef G29_ACTION_ON_RECOVER |
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SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_RECOVER); |
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#endif |
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#ifdef G29_RECOVERY_COMMANDS |
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process_subcommands_now_P(PSTR(G29_RECOVER_COMMANDS)); |
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#endif |
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} |
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if (planner.leveling_active) { |
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#ifdef G29_SUCCESS_COMMANDS |
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process_subcommands_now_P(PSTR(G29_SUCCESS_COMMANDS)); |
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#endif |
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} |
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else { |
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#ifdef G29_FAILURE_COMMANDS |
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process_subcommands_now_P(PSTR(G29_FAILURE_COMMANDS)); |
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#endif |
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#ifdef G29_ACTION_ON_FAILURE |
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SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_FAILURE); |
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#endif |
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#if ENABLED(G29_HALT_ON_FAILURE) |
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kill(PSTR(MSG_ERR_PROBING_FAILED)); |
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#endif |
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} |
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} |
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#endif // HAS_LEVELING && G29_RETRY_AND_RECOVER
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//
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// Placeholders for non-migrated codes
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//
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@ -135,7 +178,11 @@ void GcodeSuite::dwell(millis_t time) { |
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/**
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* Process the parsed command and dispatch it to its handler |
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*/ |
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void GcodeSuite::process_parsed_command() { |
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void GcodeSuite::process_parsed_command( |
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#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE) |
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const bool no_ok |
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#endif |
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) { |
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KEEPALIVE_STATE(IN_HANDLER); |
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// Handle a known G, M, or T
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@ -190,8 +237,14 @@ void GcodeSuite::process_parsed_command() { |
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case 28: G28(false); break; // G28: Home all axes, one at a time
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#if HAS_LEVELING |
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case 29: G29(); break; // G29: Bed leveling calibration
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#endif |
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case 29: // G29: Bed leveling calibration
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#if ENABLED(G29_RETRY_AND_RECOVER) |
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G29_with_retry(); |
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#else |
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G29(); |
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#endif |
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break; |
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#endif // HAS_LEVELING
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#if HAS_BED_PROBE |
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case 30: G30(); break; // G30: Single Z probe
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@ -612,7 +665,10 @@ void GcodeSuite::process_parsed_command() { |
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KEEPALIVE_STATE(NOT_BUSY); |
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ok_to_send(); |
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#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE) |
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if (!no_ok) |
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#endif |
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ok_to_send(); |
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} |
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/**
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@ -638,6 +694,37 @@ void GcodeSuite::process_next_command() { |
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process_parsed_command(); |
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} |
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#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE) |
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/**
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* Run a series of commands, bypassing the command queue to allow |
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* G-code "macros" to be called from within other G-code handlers. |
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*/ |
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void GcodeSuite::process_subcommands_now_P(const char *pgcode) { |
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// Save the parser state
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char saved_cmd[strlen(parser.command_ptr) + 1]; |
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strcpy(saved_cmd, parser.command_ptr); |
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// Process individual commands in string
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while (pgm_read_byte_near(pgcode)) { |
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// Break up string at '\n' delimiters
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const char *delim = strchr_P(pgcode, '\n'); |
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size_t len = delim ? delim - pgcode : strlen_P(pgcode); |
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char cmd[len + 1]; |
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strncpy_P(cmd, pgcode, len); |
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cmd[len] = '\0'; |
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pgcode += len; |
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if (delim) pgcode++; |
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// Parse the next command in the string
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parser.parse(cmd); |
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process_parsed_command(true); |
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} |
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// Restore the parser state
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parser.parse(saved_cmd); |
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} |
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#endif |
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#if ENABLED(HOST_KEEPALIVE_FEATURE) |
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/**
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Scott Lahteine
6 years ago
GitHub