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G-code queue singleton, front injection (#14236)

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This commit is contained in:
Scott Lahteine
2019-06-19 00:00:19 -05:00
committed by GitHub
parent 75aeb41ab7
commit 4c872a01f2
32 changed files with 337 additions and 356 deletions
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270
Marlin/src/gcode/queue.cpp
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@ -25,6 +25,8 @@
*/
#include "queue.h"
GCodeQueue queue;
#include "gcode.h"
#include "../lcd/ultralcd.h"
@ -42,7 +44,7 @@
* 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;
long gcode_N, GCodeQueue::last_N, GCodeQueue::stopped_N = 0;
/**
* GCode Command Queue
@ -53,17 +55,17 @@ long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
* 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
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 command_queue[BUFSIZE][MAX_CMD_SIZE];
char GCodeQueue::buffer[BUFSIZE][MAX_CMD_SIZE];
/*
* The port that the command was received on
*/
#if NUM_SERIAL > 1
int16_t command_queue_port[BUFSIZE];
int16_t GCodeQueue::port[BUFSIZE];
#endif
/**
@ -82,7 +84,7 @@ bool send_ok[BUFSIZE];
*/
static PGM_P injected_commands_P = nullptr;
void queue_setup() {
GCodeQueue::GCodeQueue() {
// Send "ok" after commands by default
for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
}
@ -90,24 +92,24 @@ void queue_setup() {
/**
* Clear the Marlin command queue
*/
void clear_command_queue() {
cmd_queue_index_r = cmd_queue_index_w = commands_in_queue = 0;
void GCodeQueue::clear() {
index_r = index_w = length = 0;
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
inline void _commit_command(bool say_ok
void GCodeQueue::_commit_command(bool say_ok
#if NUM_SERIAL > 1
, int16_t port = -1
, int16_t p/*=-1*/
#endif
) {
send_ok[cmd_queue_index_w] = say_ok;
send_ok[index_w] = say_ok;
#if NUM_SERIAL > 1
command_queue_port[cmd_queue_index_w] = port;
port[index_w] = p;
#endif
if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
commands_in_queue++;
if (++index_w >= BUFSIZE) index_w = 0;
length++;
}
/**
@ -115,16 +117,16 @@ inline void _commit_command(bool say_ok
* 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
bool GCodeQueue::_enqueue(const char* cmd, bool say_ok/*=false*/
#if NUM_SERIAL > 1
, int16_t port = -1
, int16_t pn/*=-1*/
#endif
) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
if (*cmd == ';' || length >= BUFSIZE) return false;
strcpy(buffer[index_w], cmd);
_commit_command(say_ok
#if NUM_SERIAL > 1
, port
, pn
#endif
);
return true;
@ -134,15 +136,15 @@ inline bool _enqueuecommand(const char* cmd, bool say_ok=false
* Enqueue with Serial Echo
* Return true if the command was consumed
*/
bool enqueue_and_echo_command(const char* cmd) {
bool GCodeQueue::enqueue_one(const char* cmd) {
//SERIAL_ECHOPGM("enqueue_and_echo_command(\"");
//SERIAL_ECHOPGM("enqueue_one(\"");
//SERIAL_ECHO(cmd);
//SERIAL_ECHOPGM("\") \n");
if (*cmd == 0 || *cmd == '\n' || *cmd == '\r') return true;
if (_enqueuecommand(cmd)) {
if (_enqueue(cmd)) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_ENQUEUEING, cmd, "\"");
return true;
@ -150,104 +152,67 @@ bool enqueue_and_echo_command(const char* cmd) {
return false;
}
#if HAS_QUEUE_FRONT
bool early_cmd; // = false
/**
* Insert a high Priority command from RAM into the main command buffer.
* Return true if the command was consumed
* Return false for a full buffer, or if the 'command' is a comment.
*/
inline bool _enqueuecommand_front(const char* cmd) {
if (*cmd == 0 || *cmd == '\n' || *cmd == '\r') return true;
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
if (cmd_queue_index_r == 0) cmd_queue_index_r = BUFSIZE;
--cmd_queue_index_r;
strcpy(command_queue[cmd_queue_index_r], cmd);
send_ok[cmd_queue_index_r] = false;
#if NUM_SERIAL > 1
command_queue_port[cmd_queue_index_r] = -1;
#endif
commands_in_queue++;
return true;
}
/**
* Insert in the front of queue, 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_front_P(PGM_P const pgcode) {
early_cmd = true;
enqueue_and_echo_commands_P(pgcode);
}
#endif
/**
* Inject the next "immediate" command, when possible, onto the front of the queue.
* Return true if any immediate commands remain to inject.
* Do not inject a comment or use leading space!.
* Process the next "immediate" command.
*/
static bool drain_injected_commands_P() {
while (injected_commands_P != nullptr) {
size_t i = 0;
char c, cmd[60];
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';
bool GCodeQueue::process_injected_command() {
if (injected_commands_P == nullptr) return false;
if (
#if HAS_QUEUE_FRONT
early_cmd ? _enqueuecommand_front(cmd) :
#endif
enqueue_and_echo_command(cmd)
) {
injected_commands_P = c ? injected_commands_P + i + 1 : nullptr; // next command or done
#if HAS_QUEUE_FRONT
if (!c) early_cmd = false;
#endif
}
else
return true; // buffer is full (or command is comment);
}
return false; // return whether any more remain
char c;
size_t i = 0;
while ((c = pgm_read_byte(&injected_commands_P[i])) && c != '\n') i++;
if (!i) return false;
char cmd[i + 1];
memcpy_P(cmd, injected_commands_P, i);
cmd[i] = '\0';
injected_commands_P = c ? injected_commands_P + i + 1 : nullptr;
parser.parse(cmd);
PORT_REDIRECT(SERIAL_PORT);
gcode.process_parsed_command();
PORT_RESTORE();
return true;
}
/**
* Enqueue one or many commands to run from program memory.
* Do not inject a comment or use leading spaces!
* Aborts the current queue, if any.
* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
* Note: process_injected_command() will be called to drain any commands afterwards
*/
void enqueue_and_echo_commands_P(PGM_P const pgcode) {
#if HAS_QUEUE_FRONT
early_cmd = false;
#endif
void GCodeQueue::inject_P(PGM_P 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.
* Never call this from a G-code handler!
*/
void enqueue_and_echo_command_now(const char* cmd) {
while (!enqueue_and_echo_command(cmd)) idle();
/**
* 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();
}
/**
* 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 = 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;
}
#if HAS_LCD_QUEUE_NOW
/**
* Enqueue from program memory and return only when commands are actually enqueued
* Never call this from a G-code handler!
*/
void enqueue_and_echo_commands_now_P(PGM_P const pgcode) {
enqueue_and_echo_commands_P(pgcode);
while (drain_injected_commands_P()) idle();
}
#endif
#endif
}
/**
* Send an "ok" message to the host, indicating
@ -258,16 +223,16 @@ void enqueue_and_echo_commands_P(PGM_P const pgcode) {
* P<int> Planner space remaining
* B<int> Block queue space remaining
*/
void ok_to_send() {
void GCodeQueue::ok_to_send() {
#if NUM_SERIAL > 1
const int16_t port = command_queue_port[cmd_queue_index_r];
if (port < 0) return;
PORT_REDIRECT(port);
const int16_t p = port[index_r];
if (p < 0) return;
PORT_REDIRECT(p);
#endif
if (!send_ok[cmd_queue_index_r]) return;
if (!send_ok[index_r]) return;
SERIAL_ECHOPGM(MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_queue[cmd_queue_index_r];
char* p = buffer[index_r];
if (*p == 'N') {
SERIAL_ECHO(' ');
SERIAL_ECHO(*p++);
@ -275,7 +240,7 @@ void ok_to_send() {
SERIAL_ECHO(*p++);
}
SERIAL_ECHOPGM(" P"); SERIAL_ECHO(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
SERIAL_ECHOPGM(" B"); SERIAL_ECHO(BUFSIZE - commands_in_queue);
SERIAL_ECHOPGM(" B"); SERIAL_ECHO(BUFSIZE - length);
#endif
SERIAL_EOL();
}
@ -284,15 +249,15 @@ void ok_to_send() {
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
void flush_and_request_resend() {
void GCodeQueue::flush_and_request_resend() {
#if NUM_SERIAL > 1
const int16_t port = command_queue_port[cmd_queue_index_r];
if (port < 0) return;
PORT_REDIRECT(port);
const int16_t p = port[index_r];
if (p < 0) return;
PORT_REDIRECT(p);
#endif
SERIAL_FLUSH();
SERIAL_ECHOPGM(MSG_RESEND);
SERIAL_ECHOLN(gcode_LastN + 1);
SERIAL_ECHOLN(last_N + 1);
ok_to_send();
}
@ -315,16 +280,6 @@ inline int read_serial(const uint8_t index) {
}
}
void gcode_line_error(PGM_P const err, const int8_t port) {
PORT_REDIRECT(port);
SERIAL_ERROR_START();
serialprintPGM(err);
SERIAL_ECHOLN(gcode_LastN);
while (read_serial(port) != -1); // clear out the RX buffer
flush_and_request_resend();
serial_count[port] = 0;
}
#if ENABLED(BINARY_FILE_TRANSFER)
inline bool serial_data_available(const uint8_t index) {
@ -575,6 +530,16 @@ void gcode_line_error(PGM_P const err, const int8_t port) {
#endif // BINARY_FILE_TRANSFER
void GCodeQueue::gcode_line_error(PGM_P const err, const int8_t port) {
PORT_REDIRECT(port);
SERIAL_ERROR_START();
serialprintPGM(err);
SERIAL_ECHOLN(last_N);
while (read_serial(port) != -1); // clear out the RX buffer
flush_and_request_resend();
serial_count[port] = 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]);
@ -585,7 +550,7 @@ FORCE_INLINE bool is_M29(const char * const cmd) { // matches "M29" & "M29 ", b
* Exit when the buffer is full or when no more characters are
* left on the serial port.
*/
inline void get_serial_commands() {
void GCodeQueue::get_serial_commands() {
static char serial_line_buffer[NUM_SERIAL][MAX_CMD_SIZE];
static bool serial_comment_mode[NUM_SERIAL] = { false }
#if ENABLED(PAREN_COMMENTS)
@ -610,7 +575,7 @@ inline void get_serial_commands() {
#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)) {
if (length == 0 && !serial_data_available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
@ -619,7 +584,7 @@ inline void get_serial_commands() {
/**
* Loop while serial characters are incoming and the queue is not full
*/
while (commands_in_queue < BUFSIZE && serial_data_available()) {
while (length < BUFSIZE && serial_data_available()) {
for (uint8_t i = 0; i < NUM_SERIAL; ++i) {
int c;
if ((c = read_serial(i)) < 0) continue;
@ -659,7 +624,7 @@ inline void get_serial_commands() {
gcode_N = strtol(npos + 1, nullptr, 10);
if (gcode_N != gcode_LastN + 1 && !M110)
if (gcode_N != last_N + 1 && !M110)
return gcode_line_error(PSTR(MSG_ERR_LINE_NO), i);
char *apos = strrchr(command, '*');
@ -672,7 +637,7 @@ inline void get_serial_commands() {
else
return gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), i);
gcode_LastN = gcode_N;
last_N = gcode_N;
}
#if ENABLED(SDSUPPORT)
// Pronterface "M29" and "M29 " has no line number
@ -718,7 +683,7 @@ inline void get_serial_commands() {
#endif
// Add the command to the queue
_enqueuecommand(serial_line_buffer[i], true
_enqueue(serial_line_buffer[i], true
#if NUM_SERIAL > 1
, i
#endif
@ -760,7 +725,7 @@ inline void get_serial_commands() {
* or until the end of the file is reached. The special character '#'
* can also interrupt buffering.
*/
inline void get_sdcard_commands() {
inline void GCodeQueue::get_sdcard_commands() {
static bool stop_buffering = false,
sd_comment_mode = false
#if ENABLED(PAREN_COMMENTS)
@ -777,11 +742,11 @@ inline void get_serial_commands() {
* due to checksums, however, no checksums are used in SD printing.
*/
if (commands_in_queue == 0) stop_buffering = false;
if (length == 0) stop_buffering = false;
uint16_t sd_count = 0;
bool card_eof = card.eof();
while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
while (length < BUFSIZE && !card_eof && !stop_buffering) {
const int16_t n = card.get();
char sd_char = (char)n;
card_eof = card.eof();
@ -804,7 +769,7 @@ inline void get_serial_commands() {
#if ENABLED(PRINTER_EVENT_LEDS)
printerEventLEDs.onPrintCompleted();
#if HAS_RESUME_CONTINUE
enqueue_and_echo_commands_P(PSTR("M0 S"
inject_P(PSTR("M0 S"
#if HAS_LCD_MENU
"1800"
#else
@ -828,7 +793,7 @@ inline void get_serial_commands() {
// Skip empty lines and comments
if (!sd_count) { thermalManager.manage_heater(); continue; }
command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
buffer[index_w][sd_count] = '\0'; // terminate string
sd_count = 0; // clear sd line buffer
_commit_command(false);
@ -849,7 +814,7 @@ inline void get_serial_commands() {
#if ENABLED(PAREN_COMMENTS)
&& ! sd_comment_paren_mode
#endif
) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
) buffer[index_w][sd_count++] = sd_char;
}
}
}
@ -862,10 +827,7 @@ inline void get_serial_commands() {
* - 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;
void GCodeQueue::get_available_commands() {
get_serial_commands();
@ -877,14 +839,18 @@ void get_available_commands() {
/**
* Get the next command in the queue, optionally log it to SD, then dispatch it
*/
void advance_command_queue() {
void GCodeQueue::advance() {
if (!commands_in_queue) return;
// Process immediate commands
if (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_queue[cmd_queue_index_r];
char* command = buffer[index_r];
if (is_M29(command)) {
// M29 closes the file
card.closefile();
@ -921,9 +887,9 @@ void advance_command_queue() {
#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;
if (length) {
--length;
if (++index_r >= BUFSIZE) index_r = 0;
}
}