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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/>.
*
*/
#pragma once
/**
* queue.h - The G-code command queue, which holds commands before they
* go to the parser and dispatcher.
*/
#include "../inc/MarlinConfig.h"
class GCodeQueue {
public:
/**
* GCode line number handling. Hosts may include line numbers when sending
* commands to Marlin, and lines will be checked for sequentiality.
* M110 N<int> sets the current line number.
*/
static long last_N[NUM_SERIAL];
/**
* GCode Command Queue
* A simple ring buffer of BUFSIZE command strings.
*
* Commands are copied into this buffer by the command injectors
* (immediate, serial, sd card) and they are processed sequentially by
* the main loop. The gcode.process_next_command method parses the next
* command and hands off execution to individual handler functions.
*/
static uint8_t length, // Count of commands in the queue
index_r; // Ring buffer read position
static char command_buffer[BUFSIZE][MAX_CMD_SIZE];
/**
* The port that the command was received on
*/
#if HAS_MULTI_SERIAL
static serial_index_t port[BUFSIZE];
#endif
static inline serial_index_t command_port() { return TERN0(HAS_MULTI_SERIAL, port[index_r]); }
GCodeQueue();
/**
* Clear the Marlin command queue
*/
static void clear();
/**
* Next Injected Command (PROGMEM) pointer. (nullptr == empty)
* Internal commands are enqueued ahead of serial / SD commands.
*/
static PGM_P injected_commands_P;
/**
* Injected Commands (SRAM)
*/
static char injected_commands[64];
/**
* Enqueue command(s) to run from PROGMEM. Drained by process_injected_command_P().
* Don't inject comments or use leading spaces!
* Aborts the current PROGMEM queue so only use for one or two commands.
*/
static inline void inject_P(PGM_P const pgcode) { injected_commands_P = pgcode; }
/**
* Enqueue command(s) to run from SRAM. Drained by process_injected_command().
* Aborts the current SRAM queue so only use for one or two commands.
*/
static inline void inject(char * const gcode) {
strncpy(injected_commands, gcode, sizeof(injected_commands) - 1);
}
/**
* Enqueue and return only when commands are actually enqueued
*/
static void enqueue_one_now(const char* cmd);
/**
* Attempt to enqueue a single G-code command
* and return 'true' if successful.
*/
static bool enqueue_one_P(PGM_P const pgcode);
/**
* Enqueue from program memory and return only when commands are actually enqueued
*/
static void enqueue_now_P(PGM_P const cmd);
/**
* Check whether there are any commands yet to be executed
*/
static bool has_commands_queued();
/**
* Get the next command in the queue, optionally log it to SD, then dispatch it
*/
static void advance();
/**
* Add to the circular command queue the next command from:
* - The command-injection queue (injected_commands_P)
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
static void get_available_commands();
/**
* 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
*/
static void ok_to_send();
/**
* Clear the serial line and request a resend of
* the next expected line number.
*/
static void flush_and_request_resend();
private:
static uint8_t index_w; // Ring buffer write position
static void get_serial_commands();
#if ENABLED(SDSUPPORT)
static void get_sdcard_commands();
#endif
static void _commit_command(bool say_ok
#if HAS_MULTI_SERIAL
, serial_index_t serial_ind=-1
#endif
);
static bool _enqueue(const char* cmd, bool say_ok=false
#if HAS_MULTI_SERIAL
, serial_index_t serial_ind=-1
#endif
);
// Process the next "immediate" command (PROGMEM)
static bool process_injected_command_P();
// Process the next "immediate" command (SRAM)
static bool process_injected_command();
/**
* Enqueue with Serial Echo
* Return true on success
*/
static bool enqueue_one(const char* cmd);
static void gcode_line_error(PGM_P const err, const serial_index_t serial_ind);
};
extern GCodeQueue queue;
extern const char G28_STR[];
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