cmdqueue.cpp 26 KB

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  1. #include "cmdqueue.h"
  2. #include "cardreader.h"
  3. #include "ultralcd.h"
  4. extern bool Stopped;
  5. // Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
  6. char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
  7. // Head of the circular buffer, where to read.
  8. size_t bufindr = 0;
  9. // Tail of the buffer, where to write.
  10. static size_t bufindw = 0;
  11. // Number of lines in cmdbuffer.
  12. int buflen = 0;
  13. // Flag for processing the current command inside the main Arduino loop().
  14. // If a new command was pushed to the front of a command buffer while
  15. // processing another command, this replaces the command on the top.
  16. // Therefore don't remove the command from the queue in the loop() function.
  17. bool cmdbuffer_front_already_processed = false;
  18. int serial_count = 0; //index of character read from serial line
  19. boolean comment_mode = false;
  20. char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
  21. unsigned long TimeSent = _millis();
  22. unsigned long TimeNow = _millis();
  23. long gcode_N = 0;
  24. long gcode_LastN = 0;
  25. long Stopped_gcode_LastN = 0;
  26. uint32_t sdpos_atomic = 0;
  27. // Pop the currently processed command from the queue.
  28. // It is expected, that there is at least one command in the queue.
  29. bool cmdqueue_pop_front()
  30. {
  31. if (buflen > 0) {
  32. #ifdef CMDBUFFER_DEBUG
  33. SERIAL_ECHOPGM("Dequeing ");
  34. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  35. SERIAL_ECHOLNPGM("");
  36. SERIAL_ECHOPGM("Old indices: buflen ");
  37. SERIAL_ECHO(buflen);
  38. SERIAL_ECHOPGM(", bufindr ");
  39. SERIAL_ECHO(bufindr);
  40. SERIAL_ECHOPGM(", bufindw ");
  41. SERIAL_ECHO(bufindw);
  42. SERIAL_ECHOPGM(", serial_count ");
  43. SERIAL_ECHO(serial_count);
  44. SERIAL_ECHOPGM(", bufsize ");
  45. SERIAL_ECHO(sizeof(cmdbuffer));
  46. SERIAL_ECHOLNPGM("");
  47. #endif /* CMDBUFFER_DEBUG */
  48. if (-- buflen == 0) {
  49. // Empty buffer.
  50. if (serial_count == 0)
  51. // No serial communication is pending. Reset both pointers to zero.
  52. bufindw = 0;
  53. bufindr = bufindw;
  54. } else {
  55. // There is at least one ready line in the buffer.
  56. // First skip the current command ID and iterate up to the end of the string.
  57. for (bufindr += CMDHDRSIZE; cmdbuffer[bufindr] != 0; ++ bufindr) ;
  58. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  59. for (++ bufindr; bufindr < sizeof(cmdbuffer) && cmdbuffer[bufindr] == 0; ++ bufindr) ;
  60. // If the end of the buffer was empty,
  61. if (bufindr == sizeof(cmdbuffer)) {
  62. // skip to the start and find the nonzero command.
  63. for (bufindr = 0; cmdbuffer[bufindr] == 0; ++ bufindr) ;
  64. }
  65. #ifdef CMDBUFFER_DEBUG
  66. SERIAL_ECHOPGM("New indices: buflen ");
  67. SERIAL_ECHO(buflen);
  68. SERIAL_ECHOPGM(", bufindr ");
  69. SERIAL_ECHO(bufindr);
  70. SERIAL_ECHOPGM(", bufindw ");
  71. SERIAL_ECHO(bufindw);
  72. SERIAL_ECHOPGM(", serial_count ");
  73. SERIAL_ECHO(serial_count);
  74. SERIAL_ECHOPGM(" new command on the top: ");
  75. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  76. SERIAL_ECHOLNPGM("");
  77. #endif /* CMDBUFFER_DEBUG */
  78. }
  79. return true;
  80. }
  81. return false;
  82. }
  83. void cmdqueue_reset()
  84. {
  85. bufindr = 0;
  86. bufindw = 0;
  87. buflen = 0;
  88. //commands are removed from command queue after process_command() function is finished
  89. //reseting command queue and enqueing new commands during some (usually long running) command processing would cause that new commands are immediately removed from queue (or damaged)
  90. //this will ensure that all new commands which are enqueued after cmdqueue reset, will be always executed
  91. cmdbuffer_front_already_processed = true;
  92. }
  93. // How long a string could be pushed to the front of the command queue?
  94. // If yes, adjust bufindr to the new position, where the new command could be enqued.
  95. // len_asked does not contain the zero terminator size.
  96. static bool cmdqueue_could_enqueue_front(size_t len_asked)
  97. {
  98. // MAX_CMD_SIZE has to accommodate the zero terminator.
  99. if (len_asked >= MAX_CMD_SIZE)
  100. return false;
  101. // Remove the currently processed command from the queue.
  102. if (! cmdbuffer_front_already_processed) {
  103. cmdqueue_pop_front();
  104. cmdbuffer_front_already_processed = true;
  105. }
  106. if (bufindr == bufindw && buflen > 0)
  107. // Full buffer.
  108. return false;
  109. // Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
  110. int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
  111. if (bufindw < bufindr) {
  112. int bufindr_new = bufindr - len_asked - (1 + CMDHDRSIZE);
  113. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  114. if (endw <= bufindr_new) {
  115. bufindr = bufindr_new;
  116. return true;
  117. }
  118. } else {
  119. // Otherwise the free space is split between the start and end.
  120. if (len_asked + (1 + CMDHDRSIZE) <= bufindr) {
  121. // Could fit at the start.
  122. bufindr -= len_asked + (1 + CMDHDRSIZE);
  123. return true;
  124. }
  125. int bufindr_new = sizeof(cmdbuffer) - len_asked - (1 + CMDHDRSIZE);
  126. if (endw <= bufindr_new) {
  127. memset(cmdbuffer, 0, bufindr);
  128. bufindr = bufindr_new;
  129. return true;
  130. }
  131. }
  132. return false;
  133. }
  134. // Could one enqueue a command of length len_asked into the buffer,
  135. // while leaving CMDBUFFER_RESERVE_FRONT at the start?
  136. // If yes, adjust bufindw to the new position, where the new command could be enqued.
  137. // len_asked does not contain the zero terminator size.
  138. // This function may update bufindw, therefore for the power panic to work, this function must be called
  139. // with the interrupts disabled!
  140. static bool cmdqueue_could_enqueue_back(size_t len_asked, bool atomic_update = false)
  141. {
  142. // MAX_CMD_SIZE has to accommodate the zero terminator.
  143. if (len_asked >= MAX_CMD_SIZE)
  144. return false;
  145. if (bufindr == bufindw && buflen > 0)
  146. // Full buffer.
  147. return false;
  148. if (serial_count > 0) {
  149. // If there is some data stored starting at bufindw, len_asked is certainly smaller than
  150. // the allocated data buffer. Try to reserve a new buffer and to move the already received
  151. // serial data.
  152. // How much memory to reserve for the commands pushed to the front?
  153. // End of the queue, when pushing to the end.
  154. size_t endw = bufindw + len_asked + (1 + CMDHDRSIZE);
  155. if (bufindw < bufindr)
  156. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  157. return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
  158. // Otherwise the free space is split between the start and end.
  159. if (// Could one fit to the end, including the reserve?
  160. endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
  161. // Could one fit to the end, and the reserve to the start?
  162. (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
  163. return true;
  164. // Could one fit both to the start?
  165. if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
  166. // Mark the rest of the buffer as used.
  167. memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
  168. // and point to the start.
  169. // Be careful! The bufindw needs to be changed atomically for the power panic & filament panic to work.
  170. if (atomic_update)
  171. cli();
  172. bufindw = 0;
  173. if (atomic_update)
  174. sei();
  175. return true;
  176. }
  177. } else {
  178. // How much memory to reserve for the commands pushed to the front?
  179. // End of the queue, when pushing to the end.
  180. size_t endw = bufindw + len_asked + (1 + CMDHDRSIZE);
  181. if (bufindw < bufindr)
  182. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  183. return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
  184. // Otherwise the free space is split between the start and end.
  185. if (// Could one fit to the end, including the reserve?
  186. endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
  187. // Could one fit to the end, and the reserve to the start?
  188. (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
  189. return true;
  190. // Could one fit both to the start?
  191. if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
  192. // Mark the rest of the buffer as used.
  193. memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
  194. // and point to the start.
  195. // Be careful! The bufindw needs to be changed atomically for the power panic & filament panic to work.
  196. if (atomic_update)
  197. cli();
  198. bufindw = 0;
  199. if (atomic_update)
  200. sei();
  201. return true;
  202. }
  203. }
  204. return false;
  205. }
  206. #ifdef CMDBUFFER_DEBUG
  207. void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
  208. {
  209. SERIAL_ECHOPGM("Entry nr: ");
  210. SERIAL_ECHO(nr);
  211. SERIAL_ECHOPGM(", type: ");
  212. int type = *p;
  213. SERIAL_ECHO(type);
  214. SERIAL_ECHOPGM(", size: ");
  215. unsigned int size = *(unsigned int*)(p + 1);
  216. SERIAL_ECHO(size);
  217. SERIAL_ECHOPGM(", cmd: ");
  218. SERIAL_ECHO(p + CMDHDRSIZE);
  219. SERIAL_ECHOLNPGM("");
  220. }
  221. void cmdqueue_dump_to_serial()
  222. {
  223. if (buflen == 0) {
  224. SERIAL_ECHOLNPGM("The command buffer is empty.");
  225. } else {
  226. SERIAL_ECHOPGM("Content of the buffer: entries ");
  227. SERIAL_ECHO(buflen);
  228. SERIAL_ECHOPGM(", indr ");
  229. SERIAL_ECHO(bufindr);
  230. SERIAL_ECHOPGM(", indw ");
  231. SERIAL_ECHO(bufindw);
  232. SERIAL_ECHOLNPGM("");
  233. int nr = 0;
  234. if (bufindr < bufindw) {
  235. for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
  236. cmdqueue_dump_to_serial_single_line(nr, p);
  237. // Skip the command.
  238. for (p += CMDHDRSIZE; *p != 0; ++ p);
  239. // Skip the gaps.
  240. for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
  241. }
  242. } else {
  243. for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
  244. cmdqueue_dump_to_serial_single_line(nr, p);
  245. // Skip the command.
  246. for (p += CMDHDRSIZE; *p != 0; ++ p);
  247. // Skip the gaps.
  248. for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
  249. }
  250. for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
  251. cmdqueue_dump_to_serial_single_line(nr, p);
  252. // Skip the command.
  253. for (p += CMDHDRSIZE; *p != 0; ++ p);
  254. // Skip the gaps.
  255. for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
  256. }
  257. }
  258. SERIAL_ECHOLNPGM("End of the buffer.");
  259. }
  260. }
  261. #endif /* CMDBUFFER_DEBUG */
  262. //adds an command to the main command buffer
  263. //thats really done in a non-safe way.
  264. //needs overworking someday
  265. // Currently the maximum length of a command piped through this function is around 20 characters
  266. void enquecommand(const char *cmd, bool from_progmem)
  267. {
  268. size_t len = from_progmem ? strlen_P(cmd) : strlen(cmd);
  269. // Does cmd fit the queue while leaving sufficient space at the front for the chained commands?
  270. // If it fits, it may move bufindw, so it points to a contiguous buffer, which fits cmd.
  271. if (cmdqueue_could_enqueue_back(len)) {
  272. // This is dangerous if a mixing of serial and this happens
  273. // This may easily be tested: If serial_count > 0, we have a problem.
  274. cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
  275. if (from_progmem)
  276. strcpy_P(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
  277. else
  278. strcpy(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
  279. SERIAL_ECHO_START;
  280. SERIAL_ECHORPGM(MSG_Enqueing);
  281. SERIAL_ECHO(cmdbuffer + bufindw + CMDHDRSIZE);
  282. SERIAL_ECHOLNPGM("\"");
  283. bufindw += len + (CMDHDRSIZE + 1);
  284. if (bufindw == sizeof(cmdbuffer))
  285. bufindw = 0;
  286. ++ buflen;
  287. #ifdef CMDBUFFER_DEBUG
  288. cmdqueue_dump_to_serial();
  289. #endif /* CMDBUFFER_DEBUG */
  290. } else {
  291. SERIAL_ERROR_START;
  292. SERIAL_ECHORPGM(MSG_Enqueing);
  293. if (from_progmem)
  294. SERIAL_PROTOCOLRPGM(cmd);
  295. else
  296. SERIAL_ECHO(cmd);
  297. SERIAL_ECHOLNPGM("\" failed: Buffer full!");
  298. #ifdef CMDBUFFER_DEBUG
  299. cmdqueue_dump_to_serial();
  300. #endif /* CMDBUFFER_DEBUG */
  301. }
  302. }
  303. bool cmd_buffer_empty()
  304. {
  305. return (buflen == 0);
  306. }
  307. void enquecommand_front(const char *cmd, bool from_progmem)
  308. {
  309. size_t len = from_progmem ? strlen_P(cmd) : strlen(cmd);
  310. // Does cmd fit the queue? This call shall move bufindr, so the command may be copied.
  311. if (cmdqueue_could_enqueue_front(len)) {
  312. cmdbuffer[bufindr] = CMDBUFFER_CURRENT_TYPE_UI;
  313. if (from_progmem)
  314. strcpy_P(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
  315. else
  316. strcpy(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
  317. ++ buflen;
  318. SERIAL_ECHO_START;
  319. SERIAL_ECHOPGM("Enqueing to the front: \"");
  320. SERIAL_ECHO(cmdbuffer + bufindr + CMDHDRSIZE);
  321. SERIAL_ECHOLNPGM("\"");
  322. #ifdef CMDBUFFER_DEBUG
  323. cmdqueue_dump_to_serial();
  324. #endif /* CMDBUFFER_DEBUG */
  325. } else {
  326. SERIAL_ERROR_START;
  327. SERIAL_ECHOPGM("Enqueing to the front: \"");
  328. if (from_progmem)
  329. SERIAL_PROTOCOLRPGM(cmd);
  330. else
  331. SERIAL_ECHO(cmd);
  332. SERIAL_ECHOLNPGM("\" failed: Buffer full!");
  333. #ifdef CMDBUFFER_DEBUG
  334. cmdqueue_dump_to_serial();
  335. #endif /* CMDBUFFER_DEBUG */
  336. }
  337. }
  338. // Mark the command at the top of the command queue as new.
  339. // Therefore it will not be removed from the queue.
  340. void repeatcommand_front()
  341. {
  342. cmdbuffer_front_already_processed = true;
  343. }
  344. bool is_buffer_empty()
  345. {
  346. if (buflen == 0) return true;
  347. else return false;
  348. }
  349. void proc_commands() {
  350. if (buflen)
  351. {
  352. process_commands();
  353. if (!cmdbuffer_front_already_processed)
  354. cmdqueue_pop_front();
  355. cmdbuffer_front_already_processed = false;
  356. }
  357. }
  358. void get_command()
  359. {
  360. // Test and reserve space for the new command string.
  361. if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1, true))
  362. return;
  363. if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
  364. MYSERIAL.flush();
  365. SERIAL_ECHOLNPGM("Full RX Buffer"); //if buffer was full, there is danger that reading of last gcode will not be completed
  366. }
  367. // start of serial line processing loop
  368. while ((MYSERIAL.available() > 0 && !saved_printing) || (MYSERIAL.available() > 0 && isPrintPaused)) { //is print is saved (crash detection or filament detection), dont process data from serial line
  369. char serial_char = MYSERIAL.read();
  370. /* if (selectedSerialPort == 1)
  371. {
  372. selectedSerialPort = 0;
  373. MYSERIAL.write(serial_char); // for debuging serial line 2 in farm_mode
  374. selectedSerialPort = 1;
  375. } */ //RP - removed
  376. TimeSent = _millis();
  377. TimeNow = _millis();
  378. if (serial_char < 0)
  379. // Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
  380. // and Marlin does not support such file names anyway.
  381. // Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
  382. // to a hang-up of the print process from an SD card.
  383. continue;
  384. if(serial_char == '\n' ||
  385. serial_char == '\r' ||
  386. serial_count >= (MAX_CMD_SIZE - 1) )
  387. {
  388. if(!serial_count) { //if empty line
  389. comment_mode = false; //for new command
  390. return;
  391. }
  392. cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
  393. if(!comment_mode){
  394. gcode_N = 0;
  395. // Line numbers must be first in buffer
  396. if ((strstr(cmdbuffer+bufindw+CMDHDRSIZE, "PRUSA") == NULL) &&
  397. (cmdbuffer[bufindw+CMDHDRSIZE] == 'N')) {
  398. // Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
  399. // and Marlin tests, whether the successive lines are stamped with an increasing line number ID
  400. gcode_N = (strtol(cmdbuffer+bufindw+CMDHDRSIZE+1, NULL, 10));
  401. if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer+bufindw+CMDHDRSIZE, PSTR("M110")) == NULL) ) {
  402. // M110 - set current line number.
  403. // Line numbers not sent in succession.
  404. SERIAL_ERROR_START;
  405. SERIAL_ERRORRPGM(_n("Line Number is not Last Line Number+1, Last Line: "));////MSG_ERR_LINE_NO
  406. SERIAL_ERRORLN(gcode_LastN);
  407. //Serial.println(gcode_N);
  408. FlushSerialRequestResend();
  409. serial_count = 0;
  410. return;
  411. }
  412. if((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*')) != NULL)
  413. {
  414. byte checksum = 0;
  415. char *p = cmdbuffer+bufindw+CMDHDRSIZE;
  416. while (p != strchr_pointer)
  417. checksum = checksum^(*p++);
  418. if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
  419. SERIAL_ERROR_START;
  420. SERIAL_ERRORRPGM(_n("checksum mismatch, Last Line: "));////MSG_ERR_CHECKSUM_MISMATCH
  421. SERIAL_ERRORLN(gcode_LastN);
  422. FlushSerialRequestResend();
  423. serial_count = 0;
  424. return;
  425. }
  426. // If no errors, remove the checksum and continue parsing.
  427. *strchr_pointer = 0;
  428. }
  429. else
  430. {
  431. SERIAL_ERROR_START;
  432. SERIAL_ERRORRPGM(_n("No Checksum with line number, Last Line: "));////MSG_ERR_NO_CHECKSUM
  433. SERIAL_ERRORLN(gcode_LastN);
  434. FlushSerialRequestResend();
  435. serial_count = 0;
  436. return;
  437. }
  438. // Don't parse N again with code_seen('N')
  439. cmdbuffer[bufindw + CMDHDRSIZE] = '$';
  440. //if no errors, continue parsing
  441. gcode_LastN = gcode_N;
  442. }
  443. // if we don't receive 'N' but still see '*'
  444. if ((cmdbuffer[bufindw + CMDHDRSIZE] != 'N') && (cmdbuffer[bufindw + CMDHDRSIZE] != '$') && (strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*') != NULL))
  445. {
  446. SERIAL_ERROR_START;
  447. SERIAL_ERRORRPGM(_n("No Line Number with checksum, Last Line: "));////MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM
  448. SERIAL_ERRORLN(gcode_LastN);
  449. FlushSerialRequestResend();
  450. serial_count = 0;
  451. return;
  452. }
  453. if ((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'G')) != NULL) {
  454. if (! IS_SD_PRINTING) {
  455. usb_printing_counter = 10;
  456. is_usb_printing = true;
  457. }
  458. if (Stopped == true) {
  459. int gcode = strtol(strchr_pointer+1, NULL, 10);
  460. if (gcode >= 0 && gcode <= 3) {
  461. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  462. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  463. }
  464. }
  465. } // end of 'G' command
  466. //If command was e-stop process now
  467. if(strcmp(cmdbuffer+bufindw+CMDHDRSIZE, "M112") == 0)
  468. kill("", 2);
  469. // Store the current line into buffer, move to the next line.
  470. // Store type of entry
  471. cmdbuffer[bufindw] = gcode_N ? CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR : CMDBUFFER_CURRENT_TYPE_USB;
  472. #ifdef CMDBUFFER_DEBUG
  473. SERIAL_ECHO_START;
  474. SERIAL_ECHOPGM("Storing a command line to buffer: ");
  475. SERIAL_ECHO(cmdbuffer+bufindw+CMDHDRSIZE);
  476. SERIAL_ECHOLNPGM("");
  477. #endif /* CMDBUFFER_DEBUG */
  478. bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
  479. if (bufindw == sizeof(cmdbuffer))
  480. bufindw = 0;
  481. ++ buflen;
  482. #ifdef CMDBUFFER_DEBUG
  483. SERIAL_ECHOPGM("Number of commands in the buffer: ");
  484. SERIAL_ECHO(buflen);
  485. SERIAL_ECHOLNPGM("");
  486. #endif /* CMDBUFFER_DEBUG */
  487. } // end of 'not comment mode'
  488. serial_count = 0; //clear buffer
  489. // Don't call cmdqueue_could_enqueue_back if there are no characters waiting
  490. // in the queue, as this function will reserve the memory.
  491. if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1, true))
  492. return;
  493. } // end of "end of line" processing
  494. else {
  495. // Not an "end of line" symbol. Store the new character into a buffer.
  496. if(serial_char == ';') comment_mode = true;
  497. if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
  498. }
  499. } // end of serial line processing loop
  500. if(farm_mode){
  501. TimeNow = _millis();
  502. if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
  503. cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0;
  504. bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
  505. if (bufindw == sizeof(cmdbuffer))
  506. bufindw = 0;
  507. ++ buflen;
  508. serial_count = 0;
  509. SERIAL_ECHOPGM("TIMEOUT:");
  510. //memset(cmdbuffer, 0 , sizeof(cmdbuffer));
  511. return;
  512. }
  513. }
  514. #ifdef SDSUPPORT
  515. if(!card.sdprinting || serial_count!=0){
  516. // If there is a half filled buffer from serial line, wait until return before
  517. // continuing with the serial line.
  518. return;
  519. }
  520. //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  521. // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  522. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
  523. static bool stop_buffering=false;
  524. if(buflen==0) stop_buffering=false;
  525. union {
  526. struct {
  527. char lo;
  528. char hi;
  529. } lohi;
  530. uint16_t value;
  531. } sd_count;
  532. sd_count.value = 0;
  533. // Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
  534. while( !card.eof() && !stop_buffering) {
  535. int16_t n=card.get();
  536. char serial_char = (char)n;
  537. if(serial_char == '\n' ||
  538. serial_char == '\r' ||
  539. ((serial_char == '#' || serial_char == ':') && comment_mode == false) ||
  540. serial_count >= (MAX_CMD_SIZE - 1) || n==-1)
  541. {
  542. if(card.eof()) break;
  543. if(serial_char=='#')
  544. stop_buffering=true;
  545. if(!serial_count)
  546. {
  547. // This is either an empty line, or a line with just a comment.
  548. // Continue to the following line, and continue accumulating the number of bytes
  549. // read from the sdcard into sd_count,
  550. // so that the lenght of the already read empty lines and comments will be added
  551. // to the following non-empty line.
  552. comment_mode = false;
  553. continue; //if empty line
  554. }
  555. // The new command buffer could be updated non-atomically, because it is not yet considered
  556. // to be inside the active queue.
  557. sd_count.value = (card.get_sdpos()+1) - sdpos_atomic;
  558. cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
  559. cmdbuffer[bufindw+1] = sd_count.lohi.lo;
  560. cmdbuffer[bufindw+2] = sd_count.lohi.hi;
  561. cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
  562. // Calculate the length before disabling the interrupts.
  563. uint8_t len = strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
  564. // SERIAL_ECHOPGM("SD cmd(");
  565. // MYSERIAL.print(sd_count.value, DEC);
  566. // SERIAL_ECHOPGM(") ");
  567. // SERIAL_ECHOLN(cmdbuffer+bufindw+CMDHDRSIZE);
  568. // SERIAL_ECHOPGM("cmdbuffer:");
  569. // MYSERIAL.print(cmdbuffer);
  570. // SERIAL_ECHOPGM("buflen:");
  571. // MYSERIAL.print(buflen+1);
  572. sd_count.value = 0;
  573. cli();
  574. // This block locks the interrupts globally for 3.56 us,
  575. // which corresponds to a maximum repeat frequency of 280.70 kHz.
  576. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  577. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  578. ++ buflen;
  579. bufindw += len;
  580. sdpos_atomic = card.get_sdpos()+1;
  581. if (bufindw == sizeof(cmdbuffer))
  582. bufindw = 0;
  583. sei();
  584. comment_mode = false; //for new command
  585. serial_count = 0; //clear buffer
  586. // The following line will reserve buffer space if available.
  587. if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1, true))
  588. return;
  589. }
  590. else
  591. {
  592. if(serial_char == ';') comment_mode = true;
  593. else if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
  594. }
  595. }
  596. if(card.eof())
  597. {
  598. // file was fully buffered, but commands might still need to be planned!
  599. // do *not* clear sdprinting until all SD commands are consumed to ensure
  600. // SD state can be resumed from a saved printing state. sdprinting is only
  601. // cleared by printingHasFinished after peforming all remaining moves.
  602. if(!cmdqueue_calc_sd_length())
  603. {
  604. SERIAL_PROTOCOLLNRPGM(_n("Done printing file"));////MSG_FILE_PRINTED
  605. stoptime=_millis();
  606. char time[30];
  607. unsigned long t=(stoptime-starttime-pause_time)/1000;
  608. pause_time = 0;
  609. int hours, minutes;
  610. minutes=(t/60)%60;
  611. hours=t/60/60;
  612. save_statistics(total_filament_used, t);
  613. sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
  614. SERIAL_ECHO_START;
  615. SERIAL_ECHOLN(time);
  616. lcd_setstatus(time);
  617. card.printingHasFinished();
  618. card.checkautostart(true);
  619. if (farm_mode)
  620. {
  621. prusa_statistics(6);
  622. lcd_commands_type = LcdCommands::FarmModeConfirm;
  623. }
  624. }
  625. }
  626. #endif //SDSUPPORT
  627. }
  628. uint16_t cmdqueue_calc_sd_length()
  629. {
  630. if (buflen == 0)
  631. return 0;
  632. union {
  633. struct {
  634. char lo;
  635. char hi;
  636. } lohi;
  637. uint16_t value;
  638. } sdlen_single;
  639. uint16_t sdlen = 0;
  640. for (size_t _buflen = buflen, _bufindr = bufindr;;) {
  641. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  642. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  643. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  644. sdlen += sdlen_single.value;
  645. }
  646. if (-- _buflen == 0)
  647. break;
  648. // First skip the current command ID and iterate up to the end of the string.
  649. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  650. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  651. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  652. // If the end of the buffer was empty,
  653. if (_bufindr == sizeof(cmdbuffer)) {
  654. // skip to the start and find the nonzero command.
  655. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  656. }
  657. }
  658. return sdlen;
  659. }