Cancel Objects - As seen at ERRF2019 (#15590)

Marlin/Configuration_adv.h

@@ -2056,7 +2056,7 @@
    *
    * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when
    * homing and adds a guard period for endstop triggering.
-   * 
+   *
    * TMC2209 requires STEALTHCHOP enabled for SENSORLESS_HOMING
    */
   //#define SENSORLESS_HOMING // StallGuard capable drivers only
@@ -2556,6 +2556,13 @@
   //#define HOST_PROMPT_SUPPORT
 #endif
 
+/**
+ * Cancel Objects
+ *
+ * Implement M486 to allow Marlin to skip objects
+ */
+//#define CANCEL_OBJECTS
+
 /**
  * I2C position encoders for closed loop control.
  * Developed by Chris Barr at Aus3D.

Marlin/src/Marlin.cpp

@@ -342,18 +342,31 @@ void disable_all_steppers() {
 
 #endif
 
+#if ENABLED(ADVANCED_PAUSE_FEATURE)
+  #include "feature/pause.h"
+#else
+  constexpr bool did_pause_print = false;
+#endif
+
 /**
  * Printing is active when the print job timer is running
  */
 bool printingIsActive() {
-  return print_job_timer.isRunning() || IS_SD_PRINTING();
+  return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING());
 }
 
 /**
  * Printing is paused according to SD or host indicators
  */
 bool printingIsPaused() {
-  return print_job_timer.isPaused() || IS_SD_PAUSED();
+  return did_pause_print || print_job_timer.isPaused() || IS_SD_PAUSED();
+}
+
+void startOrResumeJob() {
+  #if ENABLED(CANCEL_OBJECTS)
+    if (!printingIsPaused()) cancelable.reset();
+  #endif
+  print_job_timer.start();
 }
 
 /**

Marlin/src/Marlin.h

@@ -333,6 +333,7 @@ inline bool IsStopped() { return !Running; }
 
 bool printingIsActive();
 bool printingIsPaused();
+void startOrResumeJob();
 
 extern bool wait_for_heatup;
 

Marlin/src/feature/cancel_object.cpp

@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(CANCEL_OBJECTS)
+
+#include "cancel_object.h"
+#include "../gcode/gcode.h"
+#include "../lcd/ultralcd.h"
+
+CancelObject cancelable;
+
+int8_t CancelObject::object_count, // = 0
+       CancelObject::active_object = -1;
+uint32_t CancelObject::canceled; // = 0x0000
+bool CancelObject::skipping; // = false
+
+void CancelObject::set_active_object(const int8_t obj) {
+  active_object = obj;
+  if (WITHIN(obj, 0, 31)) {
+    if (obj >= object_count) object_count = obj + 1;
+    skipping = TEST(canceled, obj);
+  }
+  else
+    skipping = false;
+}
+
+void CancelObject::cancel_object(const int8_t obj) {
+  if (WITHIN(obj, 0, 31)) {
+    SBI(canceled, obj);
+    if (obj == active_object) skipping = true;
+  }
+}
+
+void CancelObject::uncancel_object(const int8_t obj) {
+  if (WITHIN(obj, 0, 31)) {
+    CBI(canceled, obj);
+    if (obj == active_object) skipping = false;
+  }
+}
+
+void CancelObject::report() {
+  if (active_object >= 0) {
+    SERIAL_ECHO_START();
+    SERIAL_ECHOLNPAIR("Active Object: ", int(active_object));
+  }
+
+  if (canceled) {
+    SERIAL_ECHO_START();
+    SERIAL_ECHOPGM("Canceled:");
+    for (int i = 0; i < object_count; i++)
+      if (TEST(canceled, i)) { SERIAL_CHAR(' '); SERIAL_ECHO(i); }
+    SERIAL_EOL();
+  }
+}
+
+#endif // CANCEL_OBJECTS

Marlin/src/feature/cancel_object.h

@@ -0,0 +1,40 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+class CancelObject {
+public:
+  static bool skipping;
+  static int8_t object_count, active_object;
+  static uint32_t canceled;
+  static void set_active_object(const int8_t obj);
+  static void cancel_object(const int8_t obj);
+  static void uncancel_object(const int8_t obj);
+  static void report();
+  static inline void clear_active_object() { set_active_object(-1); }
+  static inline void cancel_active_object() { cancel_object(active_object); }
+  static inline void reset() { canceled = 0x0000; object_count = 0; clear_active_object(); }
+};
+
+extern CancelObject cancelable;

Marlin/src/gcode/feature/cancel/M486.cpp

@@ -0,0 +1,57 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(CANCEL_OBJECTS)
+
+#include "../../gcode.h"
+#include "../../../feature/cancel_object.h"
+
+/**
+ * M486: A simple interface to cancel objects
+ *
+ *   T[count] : Reset objects and/or set the count
+ *   S<index> : Start an object with the given index
+ *   P<index> : Cancel the object with the given index
+ *   U<index> : Un-cancel object with the given index
+ *   C        : Cancel the current object (the last index given by S<index>)
+ *   S-1      : Start a non-object like a brim or purge tower that should always print
+ */
+void GcodeSuite::M486() {
+
+  if (parser.seen('T')) {
+    cancelable.reset();
+    cancelable.object_count = parser.intval('T', 1);
+  }
+
+  if (parser.seen('S'))
+    cancelable.set_active_object(parser.value_integer());
+
+  if (parser.seen('C')) cancelable.cancel_active_object();
+
+  if (parser.seen('P')) cancelable.cancel_object(parser.value_integer());
+
+  if (parser.seen('U')) cancelable.uncancel_object(parser.value_integer());
+}
+
+#endif // CANCEL_OBJECTS

Marlin/src/gcode/gcode.cpp

@@ -114,15 +114,34 @@ int8_t GcodeSuite::get_target_e_stepper_from_command() {
  */
 void GcodeSuite::get_destination_from_command() {
   xyze_bool_t seen = { false, false, false, false };
-  LOOP_XYZE(i) {
+
+  #if ENABLED(CANCEL_OBJECTS)
+    const bool &skip_move = cancelable.skipping;
+  #else
+    constexpr bool skip_move = false;
+  #endif
+
+  // Get new XYZ position, whether absolute or relative
+  LOOP_XYZ(i) {
     if ( (seen[i] = parser.seenval(axis_codes[i])) ) {
       const float v = parser.value_axis_units((AxisEnum)i);
-      destination[i] = axis_is_relative(AxisEnum(i)) ? current_position[i] + v : (i == E_AXIS) ? v : LOGICAL_TO_NATIVE(v, i);
+      if (skip_move)
+        destination[i] = current_position[i];
+      else
+        destination[i] = axis_is_relative(AxisEnum(i)) ? current_position[i] + v : LOGICAL_TO_NATIVE(v, i);
     }
     else
       destination[i] = current_position[i];
   }
 
+  // Get new E position, whether absolute or relative
+  if ( (seen.e = parser.seenval('E')) ) {
+    const float v = parser.value_axis_units(E_AXIS);
+    destination.e = axis_is_relative(E_AXIS) ? current_position.e + v : v;
+  }
+  else
+    destination.e = current_position.e;
+
   #if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
     // Only update power loss recovery on moves with E
     if (recovery.enabled && IS_SD_PRINTING() && seen.e && (seen.x || seen.y))
@@ -133,7 +152,7 @@ void GcodeSuite::get_destination_from_command() {
     feedrate_mm_s = parser.value_feedrate();
 
   #if ENABLED(PRINTCOUNTER)
-    if (!DEBUGGING(DRYRUN))
+    if (!DEBUGGING(DRYRUN) && !skip_move)
       print_job_timer.incFilamentUsed(destination.e - current_position.e);
   #endif
 
@@ -322,6 +341,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
     break;
 
     case 'M': switch (parser.codenum) {
+
       #if HAS_RESUME_CONTINUE
         case 0:                                                   // M0: Unconditional stop - Wait for user button press on LCD
         case 1: M0_M1(); break;                                   // M1: Conditional stop - Wait for user button press on LCD
@@ -667,6 +687,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 428: M428(); break;                                  // M428: Apply current_position to home_offset
       #endif
 
+      #if ENABLED(CANCEL_OBJECTS)
+        case 486: M486(); break;                                  // M486: Identify and cancel objects
+      #endif
+
       case 500: M500(); break;                                    // M500: Store settings in EEPROM
       case 501: M501(); break;                                    // M501: Read settings from EEPROM
       case 502: M502(); break;                                    // M502: Revert to default settings

Marlin/src/gcode/gcode.h

@@ -213,6 +213,7 @@
  * M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (Requires Z_STEPPER_AUTO_ALIGN)
  * M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE)
  * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
+ * M486 - Identify and cancel objects. (Requires CANCEL_OBJECTS)
  * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
@@ -796,6 +797,10 @@ private:
     static void M428();
   #endif
 
+  #if ENABLED(CANCEL_OBJECTS)
+    static void M486();
+  #endif
+
   static void M500();
   static void M501();
   static void M502();

Marlin/src/gcode/parser.cpp

@@ -138,7 +138,9 @@ void GCodeParser::parse(char *p) {
   switch (letter) {
 
     case 'G': case 'M': case 'T':
-
+    #if ENABLED(CANCEL_OBJECTS)
+      case 'O':
+    #endif
       // Skip spaces to get the numeric part
       while (*p == ' ') p++;
 
@@ -230,7 +232,14 @@ void GCodeParser::parse(char *p) {
     case 23: case 28: case 30: case 117: case 118: case 928: string_arg = p; return;
     default: break;
   }
-
+/*
+  #if ENABLED(CANCEL_OBJECTS)
+  if (letter == 'O') switch (codenum) {
+    case 1:  string_arg = p; return;
+    default: break;
+  }
+  #endif
+*/
   #if ENABLED(DEBUG_GCODE_PARSER)
     const bool debug = codenum == 800;
   #endif

Marlin/src/gcode/sdcard/M24_M25.cpp

@@ -42,6 +42,8 @@
   #include "../../feature/power_loss_recovery.h"
 #endif
 
+#include "../../Marlin.h" // for startOrResumeJob
+
 /**
  * M24: Start or Resume SD Print
  */
@@ -54,14 +56,14 @@ void GcodeSuite::M24() {
 
   #if ENABLED(PARK_HEAD_ON_PAUSE)
     if (did_pause_print) {
-      resume_print();
+      resume_print(); // will call print_job_timer.start()
       return;
     }
   #endif
 
   if (card.isFileOpen()) {
-    card.startFileprint();
-    print_job_timer.start();
+    card.startFileprint();            // SD card will now be read for commands
+    startOrResumeJob();               // Start (or resume) the print job timer
     #if ENABLED(POWER_LOSS_RECOVERY)
       recovery.prepare();
     #endif

Marlin/src/gcode/sdcard/M32.cpp

@@ -29,6 +29,8 @@
 #include "../../module/printcounter.h"
 #include "../../module/planner.h"
 
+#include "../../Marlin.h" // for startOrResumeJob
+
 /**
  * M32: Select file and start SD Print
  *
@@ -52,7 +54,7 @@ void GcodeSuite::M32() {
     card.startFileprint();
 
     // Procedure calls count as normal print time.
-    if (!call_procedure) print_job_timer.start();
+    if (!call_procedure) startOrResumeJob();
   }
 }
 

Marlin/src/gcode/stats/M75-M78.cpp

@@ -24,11 +24,13 @@
 #include "../../module/printcounter.h"
 #include "../../lcd/ultralcd.h"
 
+#include "../../Marlin.h" // for startOrResumeJob
+
 /**
  * M75: Start print timer
  */
 void GcodeSuite::M75() {
-  print_job_timer.start();
+  startOrResumeJob();
 }
 
 /**

Marlin/src/gcode/temperature/M104_M109.cpp

@@ -29,10 +29,14 @@
 #include "../../module/motion.h"
 #include "../../module/planner.h"
 #include "../../lcd/ultralcd.h"
-#include "../../Marlin.h"
+
+#include "../../Marlin.h" // for startOrResumeJob, etc.
 
 #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
   #include "../../module/printcounter.h"
+  #if ENABLED(CANCEL_OBJECTS)
+    #include "../../feature/cancel_object.h"
+  #endif
 #endif
 
 #if ENABLED(SINGLENOZZLE)
@@ -126,7 +130,7 @@ void GcodeSuite::M109() {
         ui.reset_status();
       }
       else
-        print_job_timer.start();
+        startOrResumeJob();
     #endif
 
     #if HAS_DISPLAY

Marlin/src/gcode/temperature/M140_M190.cpp

@@ -37,7 +37,7 @@
   #include "../../feature/leds/leds.h"
 #endif
 
-#include "../../Marlin.h" // for wait_for_heatup and idle()
+#include "../../Marlin.h" // for wait_for_heatup, idle, startOrResumeJob
 
 /**
  * M140: Set bed temperature
@@ -59,7 +59,7 @@ void GcodeSuite::M190() {
     thermalManager.setTargetBed(parser.value_celsius());
     #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
       if (parser.value_celsius() > BED_MINTEMP)
-        print_job_timer.start();
+        startOrResumeJob();
     #endif
   }
   else return;

Marlin/src/gcode/temperature/M141_M191.cpp

@@ -38,7 +38,7 @@
   #include "../../feature/leds/leds.h"
 #endif
 
-#include "../../Marlin.h" // for wait_for_heatup and idle()
+#include "../../Marlin.h" // for wait_for_heatup, idle, startOrResumeJob
 
 /**
  * M141: Set chamber temperature
@@ -60,7 +60,7 @@ void GcodeSuite::M191() {
     thermalManager.setTargetChamber(parser.value_celsius());
     #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
       if (parser.value_celsius() > BED_MINTEMP)
-        print_job_timer.start();
+        startOrResumeJob();
     #endif
   }
   else return;

Marlin/src/lcd/language/language_en.h

@@ -427,6 +427,7 @@ namespace Language_en {
   PROGMEM Language_Str MSG_PAUSE_PRINT                     = _UxGT("Pause Print");
   PROGMEM Language_Str MSG_RESUME_PRINT                    = _UxGT("Resume Print");
   PROGMEM Language_Str MSG_STOP_PRINT                      = _UxGT("Stop Print");
+  PROGMEM Language_Str MSG_OBJECT_CANCEL                   = _UxGT("Cancel Object");
   PROGMEM Language_Str MSG_OUTAGE_RECOVERY                 = _UxGT("Outage Recovery");
   PROGMEM Language_Str MSG_MEDIA_MENU                      = _UxGT("Print from Media");
   PROGMEM Language_Str MSG_NO_MEDIA                        = _UxGT("No Media");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -50,6 +50,7 @@
 
 void menu_tmc();
 void menu_backlash();
+void menu_cancelobject();
 
 #if ENABLED(DAC_STEPPER_CURRENT)
 
@@ -652,6 +653,10 @@ void menu_advanced_settings() {
     SUBMENU(MSG_BACKLASH, menu_backlash);
   #endif
 
+  #if ENABLED(CANCEL_OBJECTS)
+    SUBMENU(MSG_CANCELOBJECTS, [](){ editable.int8 = -1; goto_screen(menu_cancelobject); });
+  #endif
+
   #if ENABLED(DAC_STEPPER_CURRENT)
     SUBMENU(MSG_DRIVE_STRENGTH, menu_dac);
   #endif

Marlin/src/lcd/menu/menu_cancelobject.cpp

@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+//
+// Cancel Object Menu
+//
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_LCD_MENU && ENABLED(CANCEL_OBJECTS)
+
+#include "menu.h"
+
+#include "../../feature/cancel_object.h"
+
+//
+// TODO: Select the active object
+// upon entry to the menu and present
+// a confirmation screen.
+//
+void menu_cancelobject() {
+  START_MENU();
+  MENU_BACK(MSG_MAIN);
+
+  GCODES_ITEM(MSG_OBJECT_CANCEL, PSTR("M486 C"));
+
+  // Draw cancelable items in a loop
+  for (int8_t i = 0; i < cancelable.object_count; i++) {
+    if (!TEST(cancelable.canceled, i)) {
+      editable.int8 = i;
+      ACTION_ITEM(MSG_OBJECT_CANCEL, [](){
+        cancelable.cancel_object(editable.int8);
+        ui.quick_feedback();
+      });
+      MENU_ITEM_ADDON_START(LCD_WIDTH - 2 - (i >= 10));
+        lcd_put_int(i);
+      MENU_ITEM_ADDON_END();
+    }
+  }
+
+  /*
+  MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(int3, MSG_OBJECT_CANCEL, &editable.int8, -1, 32, [](){
+    if (editable.int8 > -1) {
+      cancelable.cancel_object(editable.int8);
+      ui.quick_feedback();
+      editable.int8 = -1;
+    }
+  });
+  */
+
+  END_MENU();
+}
+
+#endif // HAS_LCD_MENU && CANCEL_OBJECTS

Marlin/src/module/planner.cpp

@@ -96,6 +96,10 @@
   #include "../feature/backlash.h"
 #endif
 
+#if ENABLED(CANCEL_OBJECTS)
+  #include "../feature/cancel_object.h"
+#endif
+
 #if ENABLED(POWER_LOSS_RECOVERY)
   #include "../feature/power_loss_recovery.h"
 #endif
@@ -2597,7 +2601,11 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
   #endif
 
   // DRYRUN prevents E moves from taking place
-  if (DEBUGGING(DRYRUN)) {
+  if (DEBUGGING(DRYRUN)
+    #if ENABLED(CANCEL_OBJECTS)
+      || cancelable.skipping
+    #endif
+  ) {
     position.e = target.e;
     #if HAS_POSITION_FLOAT
       position_float.e = e;

Marlin/src/module/stepper.cpp

@@ -2229,7 +2229,7 @@ int32_t Stepper::position(const AxisEnum axis) {
 // be very careful here. If the interrupt being preempted was the
 // Stepper ISR (this CAN happen with the endstop limits ISR) then
 // when the stepper ISR resumes, we must be very sure that the movement
-// is properly cancelled
+// is properly canceled
 void Stepper::endstop_triggered(const AxisEnum axis) {
 
   const bool was_enabled = STEPPER_ISR_ENABLED();