X-Ryl669
4 years ago
committed by
GitHub
GitHub
64 changed files with 784 additions and 950 deletions
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/**
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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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#if ENABLED(EMERGENCY_PARSER) |
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#include "../feature/e_parser.h" |
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#endif |
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#ifndef DEC |
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#define DEC 10 |
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#define HEX 16 |
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#define OCT 8 |
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#define BIN 2 |
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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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// 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 compiler writing a completely
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// 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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bool 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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FORCE_INLINE void print(char c, int base = 0) { print((long)c, base); } |
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FORCE_INLINE void print(unsigned char c, int base = 0) { print((unsigned long)c, base); } |
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FORCE_INLINE void print(int c, int base = DEC) { print((long)c, base); } |
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FORCE_INLINE void print(unsigned int c, int base = DEC) { print((unsigned long)c, base); } |
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void print(long c, int base = DEC) { if (!base) write(c); write((const uint8_t*)"-", c < 0); printNumber(c < 0 ? -c : c, base); } |
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void print(unsigned long c, int base = DEC) { printNumber(c, base); } |
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void print(double c, int digits = 2) { printFloat(c, digits); } |
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FORCE_INLINE void println(const char s[]) { print(s); println(); } |
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FORCE_INLINE void println(char c, int base = 0) { print(c, base); println(); } |
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FORCE_INLINE void println(unsigned char c, int base = 0) { print(c, base); println(); } |
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FORCE_INLINE void println(int c, int base = DEC) { print(c, base); println(); } |
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FORCE_INLINE void println(unsigned int c, int base = DEC) { print(c, base); println(); } |
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FORCE_INLINE void println(long c, int base = DEC) { print(c, base); println(); } |
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FORCE_INLINE void println(unsigned long c, int base = DEC) { print(c, base); println(); } |
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FORCE_INLINE void println(double c, int digits = 2) { print(c, digits); println(); } |
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void println() { write("\r\n"); } |
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// Print a number with the given base
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void printNumber(unsigned long n, const uint8_t base) { |
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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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// Print a decimal number
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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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int toPrint = int(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 for the function in a form of a template
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// type definition
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@ -0,0 +1,230 @@ |
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/**
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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 "serial_base.h" |
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// The most basic serial class: it dispatch to the base serial class with no hook whatsoever. This will compile to nothing but the base serial class
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template <class SerialT> |
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struct BaseSerial : public SerialBase< BaseSerial<SerialT> >, public SerialT { |
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typedef SerialBase< BaseSerial<SerialT> > BaseClassT; |
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// It's required to implement a write method here to help compiler disambiguate what method to call
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using SerialT::write; |
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using SerialT::flush; |
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void msgDone() {} |
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bool available(uint8_t index) { return index == 0 && SerialT::available(); } |
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int read(uint8_t index) { return index == 0 ? SerialT::read() : -1; } |
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bool connected() { return CALL_IF_EXISTS(bool, static_cast<SerialT*>(this), connected);; } |
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// We have 2 implementation of the same method in both base class, let's say which one we want
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using SerialT::available; |
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using SerialT::read; |
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using SerialT::begin; |
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using SerialT::end; |
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using BaseClassT::print; |
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using BaseClassT::println; |
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BaseSerial(const bool e) : BaseClassT(e) {} |
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// Forward constructor
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template <typename... Args> |
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BaseSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...) {} |
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}; |
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// A serial with a condition checked at runtime for its output
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// A bit less efficient than static dispatching but since it's only used for ethernet's serial output right now, it's ok.
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template <class SerialT> |
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struct ConditionalSerial : public SerialBase< ConditionalSerial<SerialT> > { |
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typedef SerialBase< ConditionalSerial<SerialT> > BaseClassT; |
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bool & condition; |
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SerialT & out; |
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size_t write(uint8_t c) { if (condition) return out.write(c); return 0; } |
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void flush() { if (condition) out.flush(); } |
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void begin(long br) { out.begin(br); } |
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void end() { out.end(); } |
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void msgDone() {} |
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bool connected() { return CALL_IF_EXISTS(bool, &out, connected); } |
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bool available(uint8_t index) { return index == 0 && out.available(); } |
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int read(uint8_t index) { return index == 0 ? out.read() : -1; } |
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using BaseClassT::available; |
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using BaseClassT::read; |
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ConditionalSerial(bool & conditionVariable, SerialT & out, const bool e) : BaseClassT(e), condition(conditionVariable), out(out) {} |
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}; |
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// A simple foward class that taking a reference to an existing serial instance (likely created in their respective framework)
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template <class SerialT> |
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struct ForwardSerial : public SerialBase< ForwardSerial<SerialT> > { |
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typedef SerialBase< ForwardSerial<SerialT> > BaseClassT; |
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SerialT & out; |
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size_t write(uint8_t c) { return out.write(c); } |
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void flush() { out.flush(); } |
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void begin(long br) { out.begin(br); } |
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void end() { out.end(); } |
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void msgDone() {} |
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// Existing instances implement Arduino's operator bool, so use that if it's available
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bool connected() { return Private::HasMember_connected<SerialT>::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; } |
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bool available(uint8_t index) { return index == 0 && out.available(); } |
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int read(uint8_t index) { return index == 0 ? out.read() : -1; } |
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bool available() { return out.available(); } |
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int read() { return out.read(); } |
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ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} |
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}; |
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// A class that's can be hooked and unhooked at runtime, useful to capturing the output of the serial interface
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template <class SerialT> |
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struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public SerialT { |
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typedef SerialBase< RuntimeSerial<SerialT> > BaseClassT; |
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typedef void (*WriteHook)(void * userPointer, uint8_t c); |
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typedef void (*EndOfMessageHook)(void * userPointer); |
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WriteHook writeHook; |
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EndOfMessageHook eofHook; |
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void * userPointer; |
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size_t write(uint8_t c) { |
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if (writeHook) writeHook(userPointer, c); |
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return SerialT::write(c); |
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} |
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void msgDone() { |
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if (eofHook) eofHook(userPointer); |
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} |
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bool available(uint8_t index) { return index == 0 && SerialT::available(); } |
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int read(uint8_t index) { return index == 0 ? SerialT::read() : -1; } |
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using SerialT::available; |
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using SerialT::read; |
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using SerialT::flush; |
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using SerialT::begin; |
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using SerialT::end; |
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using BaseClassT::print; |
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using BaseClassT::println; |
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void setHook(WriteHook writeHook = 0, EndOfMessageHook eofHook = 0, void * userPointer = 0) { |
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// Order is important here as serial code can be called inside interrupts
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// When setting a hook, the user pointer must be set first so if writeHook is called as soon as it's set, it'll be valid
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if (userPointer) this->userPointer = userPointer; |
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this->writeHook = writeHook; |
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this->eofHook = eofHook; |
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// Order is important here because of asynchronous access here
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// When unsetting a hook, the user pointer must be unset last so that any pending writeHook is still using the old pointer
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if (!userPointer) this->userPointer = 0; |
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} |
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RuntimeSerial(const bool e) : BaseClassT(e), writeHook(0), eofHook(0), userPointer(0) {} |
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// Forward constructor
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template <typename... Args> |
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RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...) {} |
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}; |
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// A class that's duplicating its output conditionally to 2 serial interface
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template <class Serial0T, class Serial1T, const uint8_t offset = 0> |
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struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset> > { |
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typedef SerialBase< MultiSerial<Serial0T, Serial1T, offset> > BaseClassT; |
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uint8_t portMask; |
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Serial0T & serial0; |
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Serial1T & serial1; |
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enum Masks { |
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FirstOutputMask = (1 << offset), |
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SecondOutputMask = (1 << (offset + 1)), |
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AllMask = FirstOutputMask | SecondOutputMask, |
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}; |
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size_t write(uint8_t c) { |
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size_t ret = 0; |
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if (portMask & FirstOutputMask) ret = serial0.write(c); |
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if (portMask & SecondOutputMask) ret = serial1.write(c) | ret; |
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return ret; |
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} |
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void msgDone() { |
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if (portMask & FirstOutputMask) serial0.msgDone(); |
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if (portMask & SecondOutputMask) serial1.msgDone(); |
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} |
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bool available(uint8_t index) { |
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switch(index) { |
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case 0 + offset: return serial0.available(); |
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case 1 + offset: return serial1.available(); |
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default: return false; |
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} |
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} |
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int read(uint8_t index) { |
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switch(index) { |
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case 0 + offset: return serial0.read(); |
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case 1 + offset: return serial1.read(); |
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default: return -1; |
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} |
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} |
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void begin(const long br) { |
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if (portMask & FirstOutputMask) serial0.begin(br); |
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if (portMask & SecondOutputMask) serial1.begin(br); |
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} |
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void end() { |
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if (portMask & FirstOutputMask) serial0.end(); |
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if (portMask & SecondOutputMask) serial1.end(); |
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} |
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bool connected() { |
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bool ret = true; |
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if (portMask & FirstOutputMask) ret = CALL_IF_EXISTS(bool, &serial0, connected); |
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if (portMask & SecondOutputMask) ret = ret && CALL_IF_EXISTS(bool, &serial1, connected); |
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return ret; |
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} |
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using BaseClassT::available; |
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using BaseClassT::read; |
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// Redirect flush
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void flush() { |
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if (portMask & FirstOutputMask) serial0.flush(); |
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if (portMask & SecondOutputMask) serial1.flush(); |
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} |
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void flushTX() { |
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if (portMask & FirstOutputMask) CALL_IF_EXISTS(void, &serial0, flushTX); |
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if (portMask & SecondOutputMask) CALL_IF_EXISTS(void, &serial1, flushTX); |
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} |
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MultiSerial(Serial0T & serial0, Serial1T & serial1, int8_t mask = AllMask, const bool e = false) : |
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BaseClassT(e), |
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portMask(mask), serial0(serial0), serial1(serial1) {} |
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}; |
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// Build the actual serial object depending on current configuration
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#define Serial0Type TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, BaseSerial) |
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#define ForwardSerial0Type TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial) |
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#ifdef HAS_MULTI_SERIAL |
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#define Serial1Type ConditionalSerial |
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#endif |
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@ -0,0 +1,44 @@ |
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# Serial port architecture in Marlin |
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Marlin is targeting a pletora of different CPU architecture and platforms. Each of these platforms has its own serial interface. |
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While many provide a Arduino-like Serial class, it's not all of them, and the differences in the existing API create a very complex brain teaser for writing code that works more or less on each platform. |
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Moreover, many platform have intrinsic needs about serial port (like forwarding the output on multiple serial port, providing a *serial-like* telnet server, mixing USB-based serial port with SD card emulation) that are difficult to handle cleanly in the other platform serial logic. |
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Starting with version `2.0.9`, Marlin provides a common interface for its serial needs. |
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## Common interface |
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This interface is declared in `Marlin/src/core/serial_base.h` |
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Any implementation will need to follow this interface for being used transparently in Marlin's codebase. |
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The implementation was written to prioritize performance over abstraction, so the base interface is not using virtual inheritance to avoid the cost of virtual dispatching while calling methods. |
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Instead, the Curiously Recurring Template Pattern (**CRTP**) is used so that, upon compilation, the interface abstraction does not incur a performance cost. |
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Because some platform do not follow the same interface, the missing method in the actual low-level implementation are detected via SFINAE and a wrapper is generated when such method are missing. See `CALL_IF_EXISTS` macro in `Marlin/src/core/macros.h` for the documentation of this technic. |
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## Composing the desired feature |
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The different specificities for each architecture are provided by composing the serial type based on desired functionality. |
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In the `Marlin/src/core/serial_hook.h` file, the different serial feature are declared and defined in each templated type: |
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1. `BaseSerial` is a simple 1:1 wrapper to the underlying, Arduino compatible, `Serial`'s class. It derives from it. You'll use this if the platform does not do anything specific for the `Serial` object (for example, if an interrupt callback calls directly the serial **instance** in the platform's framework code, this is not the right class to use). This wrapper is completely inlined so that it does not generate any code upon compilation. `BaseSerial` constructor forwards any parameter to the platform's `Serial`'s constructor. |
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2. `ForwardSerial` is a composing wrapper. It references an actual Arduino compatible `Serial` instance. You'll use this if the instance is declared in the platform's framework and is being referred directly in the framework. This is not as efficient as the `BaseSerial` implementation since static dereferencing is done for each method call (it'll still be faster than virtual dispatching) |
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3. `ConditionalSerial` is working a bit like the `ForwardSerial` interface, but it checks a boolean condition before calling the referenced instance. You'll use it when the serial output can be switch off at runtime, for example in a *telnet* like serial output that should not emit any packet if no client is connected. |
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4. `RuntimeSerial` is providing a runtime-modifiable hooking method for its `write` and `msgDone` method. You'll use it if you need to capture the serial output of Marlin, for example to display the G-Code parser's output on a GUI interface. The hooking interface is setup via the `setHook` method. |
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5. `MultiSerial` is a runtime modifiable serial output multiplexer. It can output (*respectively input*) to 2 different interface based on a port *mask*. You'll use this if you need to output the same serial stream to multiple port. You can plug a `MultiSerial` to itself to duplicate to more than 2 ports. |
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## Plumbing |
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Since all the types above are using CRTP, it's possible to combine them to get the appropriate functionality. |
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This is easily done via type definition of the feature. |
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For example, to present a serial interface that's outputting to 2 serial port, the first one being hooked at runtime and the second one connected to a runtime switchable telnet client, you'll declare the type to use as: |
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``` |
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typedef MultiSerial< RuntimeSerial<Serial>, ConditionalSerial<TelnetClient> > Serial0Type; |
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``` |
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## Emergency parser |
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By default, the serial base interface provide an emergency parser that's only enable for serial classes that support it. |
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Because of this condition, all underlying type takes a first `bool emergencyParserEnabled` argument to their constructor. You must take into account this parameter when defining the actual type used. |
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*This document was written by [X-Ryl669](https://blog.cyril.by) and is under [CC-SA license](https://creativecommons.org/licenses/by-sa)* |
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