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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * queue.cpp - The G-code command queue
- */
-
- #include "queue.h"
- #include "gcode.h"
-
- #include "../lcd/ultralcd.h"
- #include "../sd/cardreader.h"
- #include "../module/planner.h"
- #include "../module/temperature.h"
- #include "../Marlin.h"
-
- #if HAS_COLOR_LEDS
- #include "../feature/leds/leds.h"
- #endif
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- #include "../feature/power_loss_recovery.h"
- #endif
-
- /**
- * GCode line number handling. Hosts may opt to include line numbers when
- * sending commands to Marlin, and lines will be checked for sequentiality.
- * M110 N<int> sets the current line number.
- */
- long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
- /**
- * GCode Command Queue
- * A simple ring buffer of BUFSIZE command strings.
- *
- * Commands are copied into this buffer by the command injectors
- * (immediate, serial, sd card) and they are processed sequentially by
- * the main loop. The gcode.process_next_command method parses the next
- * command and hands off execution to individual handler functions.
- */
- uint8_t commands_in_queue = 0, // Count of commands in the queue
- cmd_queue_index_r = 0, // Ring buffer read position
- cmd_queue_index_w = 0; // Ring buffer write position
-
- char command_queue[BUFSIZE][MAX_CMD_SIZE];
-
- /*
- * The port that the command was received on
- */
- #if NUM_SERIAL > 1
- int16_t command_queue_port[BUFSIZE];
- #endif
-
- /**
- * Serial command injection
- */
-
- // Number of characters read in the current line of serial input
- static int serial_count[NUM_SERIAL] = { 0 };
-
- bool send_ok[BUFSIZE];
-
- /**
- * Next Injected Command pointer. NULL if no commands are being injected.
- * Used by Marlin internally to ensure that commands initiated from within
- * are enqueued ahead of any pending serial or sd card commands.
- */
- static const char *injected_commands_P = NULL;
-
- void queue_setup() {
- // Send "ok" after commands by default
- for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
- }
-
- /**
- * Clear the Marlin command queue
- */
- void clear_command_queue() {
- cmd_queue_index_r = cmd_queue_index_w = commands_in_queue = 0;
- }
-
- /**
- * Once a new command is in the ring buffer, call this to commit it
- */
- inline void _commit_command(bool say_ok
- #if NUM_SERIAL > 1
- , int16_t port = -1
- #endif
- ) {
- send_ok[cmd_queue_index_w] = say_ok;
- #if NUM_SERIAL > 1
- command_queue_port[cmd_queue_index_w] = port;
- #endif
- if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
- commands_in_queue++;
- }
-
- /**
- * 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.
- */
- inline bool _enqueuecommand(const char* cmd, bool say_ok=false
- #if NUM_SERIAL > 1
- , int16_t port = -1
- #endif
- ) {
- if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
- strcpy(command_queue[cmd_queue_index_w], cmd);
- _commit_command(say_ok
- #if NUM_SERIAL > 1
- , port
- #endif
- );
- return true;
- }
-
- /**
- * Enqueue with Serial Echo
- */
- bool enqueue_and_echo_command(const char* cmd) {
- if (_enqueuecommand(cmd)) {
- SERIAL_ECHO_START();
- SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
- SERIAL_CHAR('"');
- SERIAL_EOL();
- return true;
- }
- return false;
- }
-
- /**
- * Inject the next "immediate" command, when possible, onto the front of the queue.
- * Return true if any immediate commands remain to inject.
- */
- static bool drain_injected_commands_P() {
- if (injected_commands_P != NULL) {
- size_t i = 0;
- char c, cmd[30];
- strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
- cmd[sizeof(cmd) - 1] = '\0';
- while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
- cmd[i] = '\0';
- if (enqueue_and_echo_command(cmd)) // success?
- injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
- }
- return (injected_commands_P != NULL); // return whether any more remain
- }
-
- /**
- * Record one or many commands to run from program memory.
- * Aborts the current queue, if any.
- * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
- */
- void enqueue_and_echo_commands_P(const char * const pgcode) {
- injected_commands_P = pgcode;
- (void)drain_injected_commands_P(); // first command executed asap (when possible)
- }
-
- #if HAS_QUEUE_NOW
- /**
- * Enqueue and return only when commands are actually enqueued
- */
- void enqueue_and_echo_command_now(const char* cmd) {
- while (!enqueue_and_echo_command(cmd)) idle();
- }
- #if HAS_LCD_QUEUE_NOW
- /**
- * Enqueue from program memory and return only when commands are actually enqueued
- */
- void enqueue_and_echo_commands_now_P(const char * const pgcode) {
- enqueue_and_echo_commands_P(pgcode);
- while (drain_injected_commands_P()) idle();
- }
- #endif
- #endif
-
- /**
- * 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 ok_to_send() {
- #if NUM_SERIAL > 1
- const int16_t port = command_queue_port[cmd_queue_index_r];
- if (port < 0) return;
- #endif
- if (!send_ok[cmd_queue_index_r]) return;
- SERIAL_PROTOCOLPGM_P(port, MSG_OK);
- #if ENABLED(ADVANCED_OK)
- char* p = command_queue[cmd_queue_index_r];
- if (*p == 'N') {
- SERIAL_PROTOCOL_P(port, ' ');
- SERIAL_ECHO_P(port, *p++);
- while (NUMERIC_SIGNED(*p))
- SERIAL_ECHO_P(port, *p++);
- }
- SERIAL_PROTOCOLPGM_P(port, " P"); SERIAL_PROTOCOL_P(port, int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
- SERIAL_PROTOCOLPGM_P(port, " B"); SERIAL_PROTOCOL_P(port, BUFSIZE - commands_in_queue);
- #endif
- SERIAL_EOL_P(port);
- }
-
- /**
- * Send a "Resend: nnn" message to the host to
- * indicate that a command needs to be re-sent.
- */
- void flush_and_request_resend() {
- #if NUM_SERIAL > 1
- const int16_t port = command_queue_port[cmd_queue_index_r];
- if (port < 0) return;
- #endif
- SERIAL_FLUSH_P(port);
- SERIAL_PROTOCOLPGM_P(port, MSG_RESEND);
- SERIAL_PROTOCOLLN_P(port, gcode_LastN + 1);
- ok_to_send();
- }
-
- void gcode_line_error(const char* err, uint8_t port) {
- SERIAL_ERROR_START_P(port);
- serialprintPGM_P(port, err);
- SERIAL_ERRORLN_P(port, gcode_LastN);
- flush_and_request_resend();
- serial_count[port] = 0;
- }
-
- static bool serial_data_available() {
- return (MYSERIAL0.available() ? true :
- #if NUM_SERIAL > 1
- MYSERIAL1.available() ? true :
- #endif
- false);
- }
-
- static int read_serial(const int index) {
- switch (index) {
- case 0: return MYSERIAL0.read();
- #if NUM_SERIAL > 1
- case 1: return MYSERIAL1.read();
- #endif
- default: return -1;
- }
- }
-
- /**
- * 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.
- */
- inline void get_serial_commands() {
- static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE];
- static bool serial_comment_mode[NUM_SERIAL] = { false };
-
- // If the command buffer is empty for too long,
- // send "wait" to indicate Marlin is still waiting.
- #if NO_TIMEOUTS > 0
- static millis_t last_command_time = 0;
- const millis_t ms = millis();
- if (commands_in_queue == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
- SERIAL_ECHOLNPGM(MSG_WAIT);
- last_command_time = ms;
- }
- #endif
-
- /**
- * Loop while serial characters are incoming and the queue is not full
- */
- while (commands_in_queue < BUFSIZE && serial_data_available()) {
- for (uint8_t i = 0; i < NUM_SERIAL; ++i) {
- int c;
- if ((c = read_serial(i)) < 0) continue;
-
- char serial_char = c;
-
- /**
- * If the character ends the line
- */
- if (serial_char == '\n' || serial_char == '\r') {
-
- serial_comment_mode[i] = false; // end of line == end of comment
-
- // Skip empty lines and comments
- if (!serial_count[i]) { thermalManager.manage_heater(); continue; }
-
- serial_line_buffer[i][serial_count[i]] = 0; // Terminate string
- serial_count[i] = 0; // Reset buffer
-
- char* command = serial_line_buffer[i];
-
- while (*command == ' ') command++; // Skip leading spaces
- char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
-
- if (npos) {
-
- bool M110 = strstr_P(command, PSTR("M110")) != NULL;
-
- if (M110) {
- char* n2pos = strchr(command + 4, 'N');
- if (n2pos) npos = n2pos;
- }
-
- gcode_N = strtol(npos + 1, NULL, 10);
-
- if (gcode_N != gcode_LastN + 1 && !M110)
- return gcode_line_error(PSTR(MSG_ERR_LINE_NO), i);
-
- char *apos = strrchr(command, '*');
- if (apos) {
- uint8_t checksum = 0, count = uint8_t(apos - command);
- while (count) checksum ^= command[--count];
- if (strtol(apos + 1, NULL, 10) != checksum)
- return gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH), i);
- }
- else
- return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
-
- gcode_LastN = gcode_N;
- }
- #if ENABLED(SDSUPPORT)
- else if (card.saving)
- return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
- #endif
-
- // Movement commands alert when stopped
- if (IsStopped()) {
- char* gpos = strchr(command, 'G');
- if (gpos) {
- const int codenum = strtol(gpos + 1, NULL, 10);
- switch (codenum) {
- case 0:
- case 1:
- case 2:
- case 3:
- SERIAL_ERRORLNPGM_P(i, MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- break;
- }
- }
- }
-
- #if DISABLED(EMERGENCY_PARSER)
- // Process critical commands early
- if (strcmp(command, "M108") == 0) {
- wait_for_heatup = false;
- #if ENABLED(ULTIPANEL)
- wait_for_user = false;
- #endif
- }
- if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
- if (strcmp(command, "M410") == 0) quickstop_stepper();
- #endif
-
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- last_command_time = ms;
- #endif
-
- // Add the command to the queue
- _enqueuecommand(serial_line_buffer[i], true
- #if NUM_SERIAL > 1
- , i
- #endif
- );
- }
- else if (serial_count[i] >= MAX_CMD_SIZE - 1) {
- // Keep fetching, but ignore normal characters beyond the max length
- // The command will be injected when EOL is reached
- }
- else if (serial_char == '\\') { // Handle escapes
- // if we have one more character, copy it over
- if ((c = read_serial(i)) >= 0 && !serial_comment_mode[i])
- serial_line_buffer[i][serial_count[i]++] = (char)c;
- }
- else { // it's not a newline, carriage return or escape char
- if (serial_char == ';') serial_comment_mode[i] = true;
- if (!serial_comment_mode[i]) serial_line_buffer[i][serial_count[i]++] = serial_char;
- }
- } // for NUM_SERIAL
- } // queue has space, serial has data
- }
-
- #if ENABLED(SDSUPPORT)
-
- /**
- * Get commands from the SD Card until the command buffer is full
- * or until the end of the file is reached. The special character '#'
- * can also interrupt buffering.
- */
- inline void get_sdcard_commands() {
- static bool stop_buffering = false,
- sd_comment_mode = false;
-
- if (!IS_SD_PRINTING) return;
-
- /**
- * '#' stops reading from SD to the buffer prematurely, so procedural
- * macro calls are possible. If it occurs, stop_buffering is triggered
- * and the buffer is run dry; this character _can_ occur in serial com
- * due to checksums, however, no checksums are used in SD printing.
- */
-
- if (commands_in_queue == 0) stop_buffering = false;
-
- uint16_t sd_count = 0;
- bool card_eof = card.eof();
- while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
- const int16_t n = card.get();
- char sd_char = (char)n;
- card_eof = card.eof();
- if (card_eof || n == -1
- || sd_char == '\n' || sd_char == '\r'
- || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
- ) {
- if (card_eof) {
-
- card.printingHasFinished();
-
- if (card.sdprinting)
- sd_count = 0; // If a sub-file was printing, continue from call point
- else {
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- #if ENABLED(PRINTER_EVENT_LEDS)
- LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
- leds.set_green();
- #if HAS_RESUME_CONTINUE
- gcode.lights_off_after_print = true;
- enqueue_and_echo_commands_P(PSTR("M0 S"
- #if ENABLED(NEWPANEL)
- "1800"
- #else
- "60"
- #endif
- ));
- #else
- safe_delay(2000);
- leds.set_off();
- #endif
- #endif // PRINTER_EVENT_LEDS
- }
- }
- else if (n == -1) {
- SERIAL_ERROR_START();
- SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
- }
- if (sd_char == '#') stop_buffering = true;
-
- sd_comment_mode = false; // for new command
-
- // Skip empty lines and comments
- if (!sd_count) { thermalManager.manage_heater(); continue; }
-
- command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
- sd_count = 0; // clear sd line buffer
-
- _commit_command(false);
- }
- else if (sd_count >= MAX_CMD_SIZE - 1) {
- /**
- * Keep fetching, but ignore normal characters beyond the max length
- * The command will be injected when EOL is reached
- */
- }
- else {
- if (sd_char == ';') sd_comment_mode = true;
- if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
- }
- }
- }
-
- #if ENABLED(POWER_LOSS_RECOVERY)
-
- inline bool drain_job_recovery_commands() {
- static uint8_t job_recovery_commands_index = 0; // Resets on reboot
- if (job_recovery_commands_count) {
- if (_enqueuecommand(job_recovery_commands[job_recovery_commands_index])) {
- ++job_recovery_commands_index;
- if (!--job_recovery_commands_count) job_recovery_phase = JOB_RECOVERY_IDLE;
- }
- return true;
- }
- return false;
- }
-
- #endif
-
- #endif // SDSUPPORT
-
- /**
- * Add to the circular command queue the next command from:
- * - The command-injection queue (injected_commands_P)
- * - The active serial input (usually USB)
- * - The SD card file being actively printed
- */
- void get_available_commands() {
-
- // if any immediate commands remain, don't get other commands yet
- if (drain_injected_commands_P()) return;
-
- get_serial_commands();
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- // Commands for power-loss recovery take precedence
- if (job_recovery_phase == JOB_RECOVERY_YES && drain_job_recovery_commands()) return;
- #endif
-
- #if ENABLED(SDSUPPORT)
- get_sdcard_commands();
- #endif
- }
-
- /**
- * Get the next command in the queue, optionally log it to SD, then dispatch it
- */
- void advance_command_queue() {
-
- if (!commands_in_queue) return;
-
- #if ENABLED(SDSUPPORT)
-
- if (card.saving) {
- char* command = command_queue[cmd_queue_index_r];
- if (strstr_P(command, PSTR("M29"))) {
- // M29 closes the file
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
-
- #if !defined(__AVR__) || !defined(USBCON)
- #if ENABLED(SERIAL_STATS_DROPPED_RX)
- SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
- #endif
-
- #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
- SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
- #endif
- #endif // !defined(__AVR__) || !defined(USBCON)
-
- ok_to_send();
- }
- else {
- // Write the string from the read buffer to SD
- card.write_command(command);
- if (card.logging)
- gcode.process_next_command(); // The card is saving because it's logging
- else
- ok_to_send();
- }
- }
- else {
- gcode.process_next_command();
- #if ENABLED(POWER_LOSS_RECOVERY)
- if (card.cardOK && card.sdprinting) save_job_recovery_info();
- #endif
- }
-
- #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
- if (commands_in_queue) {
- --commands_in_queue;
- if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
- }
-
- }
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