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

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fedetony 2021-04-16 08:59:28 +02:00 committed by GitHub
parent 58cc4b7043
commit 32dba5e0c7
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17 changed files with 275 additions and 70 deletions
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9
Marlin/Configuration_adv.h
View file

@ -2115,6 +2115,15 @@
*/
//#define EMERGENCY_PARSER
/**
* Realtime Reporting
* Add support for commands S000 State, P000 Pause, and R000 Resume
*/
//#define REALTIME_REPORTING_COMMANDS
#if ENABLED(REALTIME_REPORTING_COMMANDS)
//#define FULL_REPORT_TO_HOST_FEATURE // Auto-report the machine status like Grbl CNC
#endif
// Bad Serial-connections can miss a received command by sending an 'ok'
// Therefore some clients abort after 30 seconds in a timeout.
// Some other clients start sending commands while receiving a 'wait'.

92
Marlin/src/feature/e_parser.h
View file

@ -34,29 +34,33 @@
// External references
extern bool wait_for_user, wait_for_heatup;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
// From motion.h, which cannot be included here
void report_current_position_moving();
void quickpause_stepper();
void quickresume_stepper();
#endif
class EmergencyParser {
public:
// Currently looking for: M108, M112, M410, M876
enum State : char {
// Currently looking for: M108, M112, M410, M876 S[0-9], S000, P000, R000
enum State : uint8_t {
EP_RESET,
EP_N,
EP_M,
EP_M1,
EP_M10,
EP_M108,
EP_M11,
EP_M112,
EP_M4,
EP_M41,
EP_M410,
EP_M10, EP_M108,
EP_M11, EP_M112,
EP_M4, EP_M41, EP_M410,
#if ENABLED(HOST_PROMPT_SUPPORT)
EP_M8,
EP_M87,
EP_M876,
EP_M876S,
EP_M876SN,
EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN,
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
EP_S, EP_S0, EP_S00, EP_GRBL_STATUS,
EP_R, EP_R0, EP_R00, EP_GRBL_RESUME,
EP_P, EP_P0, EP_P00, EP_GRBL_PAUSE,
#endif
EP_IGNORE // to '\n'
};
@ -71,7 +75,6 @@ public:
EmergencyParser() { enable(); }
FORCE_INLINE static void enable() { enabled = true; }
FORCE_INLINE static void disable() { enabled = false; }
FORCE_INLINE static void update(State &state, const uint8_t c) {
@ -81,6 +84,11 @@ public:
case ' ': case '\n': case '\r': break;
case 'N': state = EP_N; break;
case 'M': state = EP_M; break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': state = EP_S; break;
case 'P': state = EP_P; break;
case 'R': state = EP_R; break;
#endif
default: state = EP_IGNORE;
}
break;
@ -90,10 +98,29 @@ public:
case '0' ... '9':
case '-': case ' ': break;
case 'M': state = EP_M; break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': state = EP_S; break;
case 'P': state = EP_P; break;
case 'R': state = EP_R; break;
#endif
default: state = EP_IGNORE;
}
break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case EP_S: state = (c == '0') ? EP_S0 : EP_IGNORE; break;
case EP_S0: state = (c == '0') ? EP_S00 : EP_IGNORE; break;
case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break;
case EP_R: state = (c == '0') ? EP_R0 : EP_IGNORE; break;
case EP_R0: state = (c == '0') ? EP_R00 : EP_IGNORE; break;
case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break;
case EP_P: state = (c == '0') ? EP_P0 : EP_IGNORE; break;
case EP_P0: state = (c == '0') ? EP_P00 : EP_IGNORE; break;
case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE : EP_IGNORE; break;
#endif
case EP_M:
switch (c) {
case ' ': break;
@ -114,30 +141,15 @@ public:
}
break;
case EP_M10:
state = (c == '8') ? EP_M108 : EP_IGNORE;
break;
case EP_M11:
state = (c == '2') ? EP_M112 : EP_IGNORE;
break;
case EP_M4:
state = (c == '1') ? EP_M41 : EP_IGNORE;
break;
case EP_M41:
state = (c == '0') ? EP_M410 : EP_IGNORE;
break;
case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break;
case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break;
case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break;
case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;
#if ENABLED(HOST_PROMPT_SUPPORT)
case EP_M8:
state = (c == '7') ? EP_M87 : EP_IGNORE;
break;
case EP_M87:
state = (c == '6') ? EP_M876 : EP_IGNORE;
break;
case EP_M8: state = (c == '7') ? EP_M87 : EP_IGNORE; break;
case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break;
case EP_M876:
switch (c) {
@ -152,10 +164,11 @@ public:
case ' ': break;
case '0' ... '9':
state = EP_M876SN;
M876_reason = (uint8_t)(c - '0');
M876_reason = uint8_t(c - '0');
break;
}
break;
#endif
case EP_IGNORE:
@ -171,6 +184,11 @@ public:
#if ENABLED(HOST_PROMPT_SUPPORT)
case EP_M876SN: host_response_handler(M876_reason); break;
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case EP_GRBL_STATUS: report_current_position_moving(); break;
case EP_GRBL_PAUSE: quickpause_stepper(); break;
case EP_GRBL_RESUME: quickresume_stepper(); break;
#endif
default: break;
}
state = EP_RESET;

5
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

@ -217,9 +217,10 @@ public:
* There's no extra effect if you have a fixed Z probe.
*/
G29_TYPE GcodeSuite::G29() {
TERN_(PROBE_MANUALLY, static) G29_State abl;
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE));
reset_stepper_timeout();
const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen('Q');
@ -897,6 +898,8 @@ G29_TYPE GcodeSuite::G29() {
report_current_position();
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
G29_RETURN(ISNAN(abl.measured_z));
}

4
Marlin/src/gcode/bedlevel/mbl/G29.cpp
View file

@ -60,6 +60,8 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
*/
void GcodeSuite::G29() {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE));
static int mbl_probe_index = -1;
MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
@ -187,6 +189,8 @@ void GcodeSuite::G29() {
}
report_current_position();
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
}
#endif // MESH_BED_LEVELING

13
Marlin/src/gcode/bedlevel/ubl/G29.cpp
View file

@ -31,6 +31,17 @@
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
void GcodeSuite::G29() { ubl.G29(); }
#if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
#include "../../../module/motion.h"
#endif
void GcodeSuite::G29() {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE));
ubl.G29();
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
}
#endif // AUTO_BED_LEVELING_UBL

4
Marlin/src/gcode/calibrate/G28.cpp
View file

@ -211,6 +211,8 @@ void GcodeSuite::G28() {
TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false)); // turn off laser
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOMING));
#if ENABLED(DUAL_X_CARRIAGE)
bool IDEX_saved_duplication_state = extruder_duplication_enabled;
DualXMode IDEX_saved_mode = dual_x_carriage_mode;
@ -479,6 +481,8 @@ void GcodeSuite::G28() {
if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS)))
SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#if HAS_L64XX
// Set L6470 absolute position registers to counts
// constexpr *might* move this to PROGMEM.

4
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -387,6 +387,8 @@ static float auto_tune_a() {
*/
void GcodeSuite::G33() {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE));
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
if (!WITHIN(probe_points, 0, 10)) {
SERIAL_ECHOLNPGM("?(P)oints implausible (0-10).");
@ -645,6 +647,8 @@ void GcodeSuite::G33() {
while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
}
#endif // DELTA_AUTO_CALIBRATION

11
Marlin/src/gcode/gcode.cpp
View file

@ -289,8 +289,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
}
#endif
// Handle a known G, M, or T
// Handle a known command or reply "unknown command"
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
case 0: case 1: // G0: Fast Move, G1: Linear Move
@ -995,6 +997,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 'D': D(parser.codenum); break; // Dn: Debug codes
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': case 'P': case 'R': break; // Invalid S, P, R commands already filtered
#endif
default:
#if ENABLED(WIFI_CUSTOM_COMMAND)
if (wifi_custom_command(parser.command_ptr)) break;
@ -1087,12 +1093,15 @@ void GcodeSuite::process_subcommands_now(char * gcode) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_MSG(STR_BUSY_PROCESSING);
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_position_moving());
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_USER);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_INPUT);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
break;
default:
break;

4
Marlin/src/gcode/host/M114.cpp
View file

@ -176,6 +176,8 @@
const xyze_float_t diff = from_steppers - leveled;
SERIAL_ECHOPGM("Diff: ");
report_xyze(diff);
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
}
#endif // M114_DETAIL
@ -211,4 +213,6 @@ void GcodeSuite::M114() {
TERN_(M114_LEGACY, planner.synchronize());
report_current_position_projected();
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
}

4
Marlin/src/gcode/motion/G0_G1.cpp
View file

@ -54,6 +54,7 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
| (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
#endif
) {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
#ifdef G0_FEEDRATE
feedRate_t old_feedrate;
@ -116,6 +117,9 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
planner.synchronize();
SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
}
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
#else
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
#endif
}
}

4
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -306,6 +306,8 @@ void plan_arc(
void GcodeSuite::G2_G3(const bool clockwise) {
if (MOTION_CONDITIONS) {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_RUNNING));
#if ENABLED(SF_ARC_FIX)
const bool relative_mode_backup = relative_mode;
relative_mode = true;
@ -364,6 +366,8 @@ void GcodeSuite::G2_G3(const bool clockwise) {
}
else
SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE));
}
}

23
Marlin/src/gcode/parser.cpp
View file

@ -106,8 +106,10 @@ void GCodeParser::reset() {
#endif
// Populate all fields by parsing a single line of GCode
// 58 bytes of SRAM are used to speed up seen/value
/**
* Populate the command line state (command_letter, codenum, subcode, and string_arg)
* by parsing a single line of GCode. 58 bytes of SRAM are used to speed up seen/value.
*/
void GCodeParser::parse(char *p) {
reset(); // No codes to report
@ -147,10 +149,12 @@ void GCodeParser::parse(char *p) {
#define SIGNED_CODENUM 1
#endif
// Bail if the letter is not G, M, or T
// (or a valid parameter for the current motion mode)
/**
* Screen for good command letters. G, M, and T are always accepted.
* With Motion Modes enabled any axis letter can come first.
* With Realtime Reporting, commands S000, P000, and R000 are allowed.
*/
switch (letter) {
case 'G': case 'M': case 'T': TERN_(MARLIN_DEV_MODE, case 'D':)
// Skip spaces to get the numeric part
while (*p == ' ') p++;
@ -227,6 +231,15 @@ void GCodeParser::parse(char *p) {
break;
#endif // GCODE_MOTION_MODES
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': case 'P': case 'R': {
codenum = 0; // The only valid codenum is 0
uint8_t digits = 0;
while (*p++ == '0') digits++; // Count up '0' characters
command_letter = (digits == 3) ? letter : '?'; // Three '0' digits is a good command
} return; // No parameters, so return
#endif
default: return;
}

58
Marlin/src/module/motion.cpp
View file

@ -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.

39
Marlin/src/module/motion.h
View file

@ -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.
*/

18
Marlin/src/module/planner.cpp
View file

@ -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);

7
Marlin/src/module/planner.h
View file

@ -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);

4
buildroot/tests/LPC1768
View file

@ -26,8 +26,8 @@ restore_configs
opt_set MOTHERBOARD BOARD_MKS_SBASE \
EXTRUDERS 2 TEMP_SENSOR_1 1 \
NUM_SERVOS 2 SERVO_DELAY '{ 300, 300 }'
opt_enable SWITCHING_NOZZLE SWITCHING_NOZZLE_E1_SERVO_NR ULTIMAKERCONTROLLER
exec_test $1 $2 "MKS SBASE with SWITCHING_NOZZLE" "$3"
opt_enable SWITCHING_NOZZLE SWITCHING_NOZZLE_E1_SERVO_NR ULTIMAKERCONTROLLER REALTIME_REPORTING_COMMANDS FULL_REPORT_TO_HOST_FEATURE
exec_test $1 $2 "MKS SBASE with SWITCHING_NOZZLE, Grbl Realtime Report" "$3"
restore_configs
opt_set MOTHERBOARD BOARD_RAMPS_14_RE_ARM_EEB \