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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/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(); }
- void GCodeQueue::enqueue_one_now(FSTR_P const fcmd) { while (!enqueue_one(fcmd)) idle(); }
-
- /**
- * Attempt to enqueue a single G-code command
- * and return 'true' if successful.
- */
- bool GCodeQueue::enqueue_one(FSTR_P const fcmd) {
- size_t i = 0;
- PGM_P p = FTOP(fcmd);
- 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<int> Line number of the command, if any
- * P<int> Planner space remaining
- * B<int> 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.task(); // 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_MARLINUI_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(SerialMask::All);
- report_buffer_statistics();
- PORT_RESTORE();
- }
- }
-
- #endif // BUFFER_MONITORING
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