/** * Marlin 3D Printer Firmware * 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 . * */ /** * 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 * const 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 * const cmd) { while (!enqueue_one(cmd)) idle(); } /** * Attempt to enqueue a single G-code command * and return 'true' if successful. */ bool GCodeQueue::enqueue_one(FSTR_P const fgcode) { size_t i = 0; PGM_P p = FTOP(fgcode); 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 Line number of the command, if any * P Planner space remaining * B 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 ENABLED(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(FSTR_P const ferr, 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_ECHOLNF(ferr, 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]); } #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(F(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(F(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(F(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(F(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_MESSAGE(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(FPSTR(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(), " ", -planner_buffer_underruns, " (", max_planner_buffer_empty_duration, ")" " B:", BUFSIZE - ring_buffer.length, " ", -command_buffer_underruns, " (", 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 (auto_buffer_report_interval && ELAPSED(ms, next_buffer_report_ms)) { next_buffer_report_ms = ms + 1000UL * auto_buffer_report_interval; PORT_REDIRECT(SERIAL_BOTH); report_buffer_statistics(); PORT_RESTORE(); } } #endif // BUFFER_MONITORING