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- /**
- * 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 <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/planner.h"
- #include "../module/temperature.h"
- #include "../MarlinCore.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
-
- /**
- * 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 GCodeQueue::last_N[NUM_SERIAL];
-
- /**
- * 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 GCodeQueue::length = 0, // Count of commands in the queue
- GCodeQueue::index_r = 0, // Ring buffer read position
- GCodeQueue::index_w = 0; // Ring buffer write position
-
- char GCodeQueue::command_buffer[BUFSIZE][MAX_CMD_SIZE];
-
- /*
- * The port that the command was received on
- */
- #if HAS_MULTI_SERIAL
- int16_t GCodeQueue::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 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 }
-
- GCodeQueue::GCodeQueue() {
- // Send "ok" after commands by default
- LOOP_L_N(i, COUNT(send_ok)) send_ok[i] = true;
- }
-
- /**
- * Check whether there are any commands yet to be executed
- */
- bool GCodeQueue::has_commands_queued() {
- return queue.length || injected_commands_P || injected_commands[0];
- }
-
- /**
- * Clear the Marlin command queue
- */
- void GCodeQueue::clear() {
- index_r = index_w = length = 0;
- }
-
- /**
- * Once a new command is in the ring buffer, call this to commit it
- */
- void GCodeQueue::_commit_command(bool say_ok
- #if HAS_MULTI_SERIAL
- , int16_t p/*=-1*/
- #endif
- ) {
- send_ok[index_w] = say_ok;
- TERN_(HAS_MULTI_SERIAL, port[index_w] = p);
- TERN_(POWER_LOSS_RECOVERY, recovery.commit_sdpos(index_w));
- if (++index_w >= BUFSIZE) index_w = 0;
- length++;
- }
-
- /**
- * 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::_enqueue(const char* cmd, bool say_ok/*=false*/
- #if HAS_MULTI_SERIAL
- , int16_t pn/*=-1*/
- #endif
- ) {
- if (*cmd == ';' || length >= BUFSIZE) return false;
- strcpy(command_buffer[index_w], cmd);
- _commit_command(say_ok
- #if HAS_MULTI_SERIAL
- , pn
- #endif
- );
- return true;
- }
-
- #define ISEOL(C) ((C) == '\n' || (C) == '\r')
-
- /**
- * Enqueue with Serial Echo
- * Return true if the command was consumed
- */
- bool GCodeQueue::enqueue_one(const char* cmd) {
-
- //SERIAL_ECHOPGM("enqueue_one(\"");
- //SERIAL_ECHO(cmd);
- //SERIAL_ECHOPGM("\") \n");
-
- if (*cmd == 0 || ISEOL(*cmd)) return true;
-
- if (_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 _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::ok_to_send() {
- #if HAS_MULTI_SERIAL
- const int16_t pn = command_port();
- if (pn < 0) return;
- PORT_REDIRECT(pn); // Reply to the serial port that sent the command
- #endif
- if (!send_ok[index_r]) return;
- SERIAL_ECHOPGM(STR_OK);
- #if ENABLED(ADVANCED_OK)
- char* p = command_buffer[index_r];
- if (*p == 'N') {
- SERIAL_ECHO(' ');
- SERIAL_ECHO(*p++);
- while (NUMERIC_SIGNED(*p))
- SERIAL_ECHO(*p++);
- }
- SERIAL_ECHOPAIR_P(SP_P_STR, int(planner.moves_free()),
- SP_B_STR, int(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 int16_t pn = command_port();
- #if HAS_MULTI_SERIAL
- if (pn < 0) return;
- PORT_REDIRECT(pn); // Reply to the serial port that sent the command
- #endif
- SERIAL_FLUSH();
- SERIAL_ECHOPGM(STR_RESEND);
- SERIAL_ECHOLN(last_N[pn] + 1);
- ok_to_send();
- }
-
- inline bool serial_data_available() {
- byte data_available = 0;
- if (MYSERIAL0.available()) data_available++;
- #ifdef SERIAL_PORT_2
- const bool port2_open = TERN1(HAS_ETHERNET, ethernet.have_telnet_client);
- if (port2_open && MYSERIAL1.available()) data_available++;
- #endif
- return data_available > 0;
- }
-
- inline int read_serial(const uint8_t index) {
- switch (index) {
- case 0: return MYSERIAL0.read();
- case 1: {
- #if HAS_MULTI_SERIAL
- const bool port2_open = TERN1(HAS_ETHERNET, ethernet.have_telnet_client);
- if (port2_open) return MYSERIAL1.read();
- #endif
- }
- default: return -1;
- }
- }
-
- void GCodeQueue::gcode_line_error(PGM_P const err, const int8_t pn) {
- PORT_REDIRECT(pn); // Reply to the serial port that sent the command
- SERIAL_ERROR_START();
- serialprintPGM(err);
- SERIAL_ECHOLN(last_N[pn]);
- while (read_serial(pn) != -1); // Clear out the RX buffer
- flush_and_request_resend();
- serial_count[pn] = 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() {
- static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE];
-
- static uint8_t serial_input_state[NUM_SERIAL] = { PS_NORMAL };
-
- #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].receive(serial_line_buffer[card.transfer_port_index]);
- return;
- }
- #endif
-
- // 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 (length == 0 && !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
- */
- while (length < BUFSIZE && serial_data_available()) {
- LOOP_L_N(i, NUM_SERIAL) {
-
- const int c = read_serial(i);
- if (c < 0) continue;
-
- const char serial_char = c;
-
- if (ISEOL(serial_char)) {
-
- // Reset our state, continue if the line was empty
- if (process_line_done(serial_input_state[i], serial_line_buffer[i], serial_count[i]))
- continue;
-
- char* command = serial_line_buffer[i];
-
- 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 != last_N[i] + 1 && !M110)
- return gcode_line_error(PSTR(STR_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, nullptr, 10) != checksum)
- return gcode_line_error(PSTR(STR_ERR_CHECKSUM_MISMATCH), i);
- }
- else
- return gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), i);
-
- last_N[i] = gcode_N;
- }
- #if ENABLED(SDSUPPORT)
- // Pronterface "M29" and "M29 " has no line number
- else if (card.flag.saving && !is_M29(command))
- return gcode_line_error(PSTR(STR_ERR_NO_CHECKSUM), i);
- #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: case 1:
- #if ENABLED(ARC_SUPPORT)
- case 2: case 3:
- #endif
- #if ENABLED(BEZIER_CURVE_SUPPORT)
- case 5:
- #endif
- PORT_REDIRECT(i); // 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 defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- last_command_time = ms;
- #endif
-
- // Add the command to the queue
- _enqueue(serial_line_buffer[i], true
- #if HAS_MULTI_SERIAL
- , i
- #endif
- );
- }
- else
- process_stream_char(serial_char, serial_input_state[i], serial_line_buffer[i], serial_count[i]);
-
- } // for NUM_SERIAL
- } // 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;
-
- if (!IS_SD_PRINTING()) return;
-
- int sd_count = 0;
- while (length < BUFSIZE && !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; }
-
- 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[index_w], sd_count)) {
-
- // M808 S saves the sdpos of the next line. M808 loops to a new sdpos.
- TERN_(GCODE_REPEAT_MARKERS, repeat.early_parse_M808(command_buffer[index_w]));
-
- // Put the new command into the buffer (no "ok" sent)
- _commit_command(false);
-
- // 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[index_w], 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() {
-
- get_serial_commands();
-
- TERN_(SDSUPPORT, get_sdcard_commands());
- }
-
- /**
- * 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 (!length) return;
-
- #if ENABLED(SDSUPPORT)
-
- if (card.flag.saving) {
- char* command = command_buffer[index_r];
- if (is_M29(command)) {
- // M29 closes the file
- card.closefile();
- SERIAL_ECHOLNPGM(STR_FILE_SAVED);
-
- #if !defined(__AVR__) || !defined(USBCON)
- #if ENABLED(SERIAL_STATS_DROPPED_RX)
- SERIAL_ECHOLNPAIR("Dropped bytes: ", MYSERIAL0.dropped());
- #endif
- #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
- SERIAL_ECHOLNPAIR("Max RX Queue Size: ", MYSERIAL0.rxMaxEnqueued());
- #endif
- #endif
-
- ok_to_send();
- }
- else {
- // Write the string from the read buffer to SD
- card.write_command(command);
- 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
- --length;
- if (++index_r >= BUFSIZE) index_r = 0;
-
- }
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