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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/>.
- *
- */
- #pragma once
-
- /**
- * queue.h - The G-code command queue, which holds commands before they
- * go to the parser and dispatcher.
- */
-
- #include "../inc/MarlinConfig.h"
-
- class GCodeQueue {
- public:
- /**
- * The buffers per serial port.
- */
- struct SerialState {
- /**
- * GCode line number handling. Hosts may include line numbers when sending
- * commands to Marlin, and lines will be checked for sequentiality.
- * M110 N<int> sets the current line number.
- */
- long last_N;
- int count; //!< Number of characters read in the current line of serial input
- char line_buffer[MAX_CMD_SIZE]; //!< The current line accumulator
- uint8_t input_state; //!< The input state
- };
-
- static SerialState serial_state[NUM_SERIAL]; //!< Serial states for each serial port
-
- /**
- * GCode Command Queue
- * A simple (circular) 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.
- */
- struct CommandLine {
- char buffer[MAX_CMD_SIZE]; //!< The command buffer
- bool skip_ok; //!< Skip sending ok when command is processed?
- #if HAS_MULTI_SERIAL
- serial_index_t port; //!< Serial port the command was received on
- #endif
- };
-
- /**
- * A handy ring buffer type
- */
- struct RingBuffer {
- uint8_t length, //!< Number of commands in the queue
- index_r, //!< Ring buffer's read position
- index_w; //!< Ring buffer's write position
- CommandLine commands[BUFSIZE]; //!< The ring buffer of commands
-
- inline serial_index_t command_port() const { return TERN0(HAS_MULTI_SERIAL, commands[index_r].port); }
-
- inline void clear() { length = index_r = index_w = 0; }
-
- void advance_pos(uint8_t &p, const int inc) { if (++p >= BUFSIZE) p = 0; length += inc; }
-
- void commit_command(bool skip_ok
- OPTARG(HAS_MULTI_SERIAL, serial_index_t serial_ind = serial_index_t())
- );
-
- bool enqueue(const char *cmd, bool skip_ok = true
- OPTARG(HAS_MULTI_SERIAL, serial_index_t serial_ind = serial_index_t())
- );
-
- void ok_to_send();
-
- inline bool full(uint8_t cmdCount=1) const { return length > (BUFSIZE - cmdCount); }
-
- inline bool occupied() const { return length != 0; }
-
- inline bool empty() const { return !occupied(); }
-
- inline CommandLine& peek_next_command() { return commands[index_r]; }
-
- inline char* peek_next_command_string() { return peek_next_command().buffer; }
- };
-
- /**
- * The ring buffer of commands
- */
- static RingBuffer ring_buffer;
-
- /**
- * Clear the Marlin command queue
- */
- static void clear() { ring_buffer.clear(); }
-
- /**
- * Next Injected Command (PROGMEM) pointer. (nullptr == empty)
- * Internal commands are enqueued ahead of serial / SD commands.
- */
- static PGM_P injected_commands_P;
-
- /**
- * Injected Commands (SRAM)
- */
- static char injected_commands[64];
-
- /**
- * Enqueue command(s) to run from PROGMEM. Drained by process_injected_command_P().
- * Don't inject comments or use leading spaces!
- * Aborts the current PROGMEM queue so only use for one or two commands.
- */
- static void inject_P(PGM_P const pgcode) { injected_commands_P = pgcode; }
- static void inject(FSTR_P const fgcode) { inject_P(FTOP(fgcode)); }
-
- /**
- * Enqueue command(s) to run from SRAM. Drained by process_injected_command().
- * Aborts the current SRAM queue so only use for one or two commands.
- */
- static void inject(const char * const gcode) {
- strncpy(injected_commands, gcode, sizeof(injected_commands) - 1);
- }
-
- /**
- * Enqueue and return only when commands are actually enqueued
- */
- static void enqueue_one_now(const char * const cmd);
- static void enqueue_one_now(FSTR_P const fcmd);
-
- /**
- * Attempt to enqueue a single G-code command
- * and return 'true' if successful.
- */
- static bool enqueue_one(FSTR_P const fcmd);
-
- /**
- * Enqueue with Serial Echo
- * Return true on success
- */
- static bool enqueue_one(const char *cmd);
-
- /**
- * Enqueue from program memory and return only when commands are actually enqueued
- */
- static void enqueue_now_P(PGM_P const pcmd);
- static void enqueue_now(FSTR_P const fcmd) { enqueue_now_P(FTOP(fcmd)); }
-
- /**
- * Check whether there are any commands yet to be executed
- */
- static bool has_commands_queued() { return ring_buffer.length || injected_commands_P || injected_commands[0]; }
-
- /**
- * Get the next command in the queue, optionally log it to SD, then dispatch it
- */
- static void advance();
-
- /**
- * Run the entire queue in-place
- */
- static void exhaust();
-
- /**
- * 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
- */
- static void get_available_commands();
-
- /**
- * 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
- */
- static void ok_to_send() { ring_buffer.ok_to_send(); }
-
- /**
- * Clear the serial line and request a resend of
- * the next expected line number.
- */
- static void flush_and_request_resend(const serial_index_t serial_ind);
-
- /**
- * (Re)Set the current line number for the last received command
- */
- static void set_current_line_number(long n) { serial_state[ring_buffer.command_port().index].last_N = n; }
-
- #if ENABLED(BUFFER_MONITORING)
-
- private:
-
- /**
- * Track buffer underruns
- */
- static uint32_t command_buffer_underruns, planner_buffer_underruns;
- static bool command_buffer_empty, planner_buffer_empty;
- static millis_t max_command_buffer_empty_duration, max_planner_buffer_empty_duration,
- command_buffer_empty_at, planner_buffer_empty_at;
-
- /**
- * Report buffer statistics to the host to be able to detect buffer underruns
- *
- * Returns "D576 " followed by:
- * P<uint> Planner space remaining
- * B<uint> Command buffer space remaining
- * PU<uint> Number of planner buffer underruns since last report
- * PD<uint> Max time in ms the planner buffer was empty since last report
- * BU<uint> Number of command buffer underruns since last report
- * BD<uint> Max time in ms the command buffer was empty since last report
- */
- static void report_buffer_statistics();
-
- static uint8_t auto_buffer_report_interval;
- static millis_t next_buffer_report_ms;
-
- public:
-
- static void auto_report_buffer_statistics();
-
- static void set_auto_report_interval(uint8_t v) {
- NOMORE(v, 60);
- auto_buffer_report_interval = v;
- next_buffer_report_ms = millis() + 1000UL * v;
- }
-
- #endif // BUFFER_MONITORING
-
- private:
-
- static void get_serial_commands();
-
- #if ENABLED(SDSUPPORT)
- static void get_sdcard_commands();
- #endif
-
- // Process the next "immediate" command (PROGMEM)
- static bool process_injected_command_P();
-
- // Process the next "immediate" command (SRAM)
- static bool process_injected_command();
-
- static void gcode_line_error(FSTR_P const ferr, const serial_index_t serial_ind);
-
- friend class GcodeSuite;
- };
-
- extern GCodeQueue queue;
-
- extern const char G28_STR[];
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