Realtime Reporting, S000, P000, R000 (#19330)

Marlin/src/module/motion.cpp

@@ -230,6 +230,50 @@ void report_current_position_projected() {
   stepper.report_a_position(planner.position);
 }
 
+#if EITHER(FULL_REPORT_TO_HOST_FEATURE, REALTIME_REPORTING_COMMANDS)
+
+  M_StateEnum M_State_grbl = M_INIT;
+
+  /**
+   * Output the current grbl compatible state to serial while moving
+   */
+  void report_current_grblstate_moving() { SERIAL_ECHOLNPAIR("S_XYZ:", int(M_State_grbl)); }
+
+  /**
+   * Output the current position (processed) to serial while moving
+   */
+  void report_current_position_moving() {
+
+    get_cartesian_from_steppers();
+    const xyz_pos_t lpos = cartes.asLogical();
+    SERIAL_ECHOPAIR("X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z, " E:", current_position.e);
+
+    stepper.report_positions();
+    #if IS_SCARA
+      scara_report_positions();
+    #endif
+
+    report_current_grblstate_moving();
+  }
+
+  /**
+   * Set a Grbl-compatible state from the current marlin_state
+   */
+  M_StateEnum grbl_state_for_marlin_state() {
+    switch (marlin_state) {
+      case MF_INITIALIZING: return M_INIT;
+      case MF_SD_COMPLETE:  return M_ALARM;
+      case MF_WAITING:      return M_IDLE;
+      case MF_STOPPED:      return M_END;
+      case MF_RUNNING:      return M_RUNNING;
+      case MF_PAUSED:       return M_HOLD;
+      case MF_KILLED:       return M_ERROR;
+      default:              return M_IDLE;
+    }
+  }
+
+#endif
+
 /**
  * Run out the planner buffer and re-sync the current
  * position from the last-updated stepper positions.
@@ -241,6 +285,20 @@ void quickstop_stepper() {
   sync_plan_position();
 }
 
+#if ENABLED(REALTIME_REPORTING_COMMANDS)
+
+  void quickpause_stepper() {
+    planner.quick_pause();
+    //planner.synchronize();
+  }
+
+  void quickresume_stepper() {
+    planner.quick_resume();
+    //planner.synchronize();
+  }
+
+#endif
+
 /**
  * Set the planner/stepper positions directly from current_position with
  * no kinematic translation. Used for homing axes and cartesian/core syncing.

Marlin/src/module/motion.h

@@ -211,14 +211,49 @@ void report_real_position();
 void report_current_position();
 void report_current_position_projected();
 
+#if EITHER(FULL_REPORT_TO_HOST_FEATURE, REALTIME_REPORTING_COMMANDS)
+  #define HAS_GRBL_STATE 1
+  /**
+   * Machine states for GRBL or TinyG
+   */
+  enum M_StateEnum : uint8_t {
+    M_INIT = 0, //  0 machine is initializing
+    M_RESET,    //  1 machine is ready for use
+    M_ALARM,    //  2 machine is in alarm state (soft shut down)
+    M_IDLE,     //  3 program stop or no more blocks (M0, M1, M60)
+    M_END,      //  4 program end via M2, M30
+    M_RUNNING,  //  5 motion is running
+    M_HOLD,     //  6 motion is holding
+    M_PROBE,    //  7 probe cycle active
+    M_CYCLING,  //  8 machine is running (cycling)
+    M_HOMING,   //  9 machine is homing
+    M_JOGGING,  // 10 machine is jogging
+    M_ERROR     // 11 machine is in hard alarm state (shut down)
+  };
+  extern M_StateEnum M_State_grbl;
+  M_StateEnum grbl_state_for_marlin_state();
+  void report_current_grblstate_moving();
+  void report_current_position_moving();
+
+  #if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
+    inline void set_and_report_grblstate(const M_StateEnum state) {
+      M_State_grbl = state;
+      report_current_grblstate_moving();
+    }
+  #endif
+
+  #if ENABLED(REALTIME_REPORTING_COMMANDS)
+    void quickpause_stepper();
+    void quickresume_stepper();
+  #endif
+#endif
+
 void get_cartesian_from_steppers();
 void set_current_from_steppers_for_axis(const AxisEnum axis);
 
 void quickstop_stepper();
 
 /**
- * sync_plan_position
- *
  * Set the planner/stepper positions directly from current_position with
  * no kinematic translation. Used for homing axes and cartesian/core syncing.
  */

Marlin/src/module/planner.cpp

@@ -1650,6 +1650,24 @@ void Planner::quick_stop() {
   stepper.quick_stop();
 }
 
+#if ENABLED(REALTIME_REPORTING_COMMANDS)
+
+  void Planner::quick_pause() {
+    // Suspend until quick_resume is called
+    // Don't empty buffers or queues
+    const bool did_suspend = stepper.suspend();
+    if (did_suspend)
+      TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
+  }
+
+  // Resume if suspended
+  void Planner::quick_resume() {
+    TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(grbl_state_for_marlin_state()));
+    stepper.wake_up();
+  }
+
+#endif
+
 void Planner::endstop_triggered(const AxisEnum axis) {
   // Record stepper position and discard the current block
   stepper.endstop_triggered(axis);

Marlin/src/module/planner.h

@@ -873,6 +873,13 @@ class Planner {
     // a Full Shutdown is required, or when endstops are hit)
     static void quick_stop();
 
+    #if ENABLED(REALTIME_REPORTING_COMMANDS)
+      // Force a quick pause of the machine (e.g., when a pause is required in the middle of move).
+      // NOTE: Hard-stops will lose steps so encoders are highly recommended if using these!
+      static void quick_pause();
+      static void quick_resume();
+    #endif
+
     // Called when an endstop is triggered. Causes the machine to stop inmediately
     static void endstop_triggered(const AxisEnum axis);