Merge pull request #4226 from thinkyhead/rc_emergency_command_parser

MarlinSerial emergency-command parser (with M108)

Marlin/Conditionals.h

@@ -284,6 +284,12 @@
     #define HardwareSerial_h // trick to disable the standard HWserial
   #endif
 
+  #if ENABLED(EMERGENCY_PARSER)
+    #define EMERGENCY_PARSER_CAPABILITIES " EMERGENCY_CODES:M108,M112,M410"
+  #else
+    #define EMERGENCY_PARSER_CAPABILITIES ""
+  #endif
+
   #include "Arduino.h"
 
   /**

Marlin/Configuration_adv.h

@@ -520,6 +520,12 @@ const unsigned int dropsegments = 5; //everything with less than this number of
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
 
+// Enable an emergency-command parser to intercept certain commands as they
+// enter the serial receive buffer, so they cannot be blocked.
+// Currently handles M108, M112, M410
+// Does not work on boards using AT90USB (USBCON) processors!
+//#define EMERGENCY_PARSER
+
 // 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'.

Marlin/Marlin.h

@@ -230,9 +230,7 @@ void ok_to_send();
 void reset_bed_level();
 void kill(const char*);
 
-#if DISABLED(DELTA) && DISABLED(SCARA)
-  void set_current_position_from_planner();
-#endif
+void quickstop_stepper();
 
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   void handle_filament_runout();
@@ -288,6 +286,7 @@ extern float sw_endstop_min[3]; // axis[n].sw_endstop_min
 extern float sw_endstop_max[3]; // axis[n].sw_endstop_max
 extern bool axis_known_position[3]; // axis[n].is_known
 extern bool axis_homed[3]; // axis[n].is_homed
+extern volatile bool wait_for_heatup;
 
 // GCode support for external objects
 bool code_seen(char);

Marlin/MarlinSerial.cpp

@@ -30,6 +30,7 @@
 
 #include "Marlin.h"
 #include "MarlinSerial.h"
+#include "stepper.h"
 
 #ifndef USBCON
 // this next line disables the entire HardwareSerial.cpp,
@@ -54,6 +55,10 @@ FORCE_INLINE void store_char(unsigned char c) {
       rx_buffer.head = i;
     }
   CRITICAL_SECTION_END;
+
+  #if ENABLED(EMERGENCY_PARSER)
+    emergency_parser(c);
+  #endif
 }
 
 
@@ -310,3 +315,104 @@ MarlinSerial customizedSerial;
 #if defined(USBCON) && ENABLED(BLUETOOTH)
   HardwareSerial bluetoothSerial;
 #endif
+
+#if ENABLED(EMERGENCY_PARSER)
+
+  // Currently looking for: M108, M112, M410
+  // If you alter the parser please don't forget to update the capabilities in Conditionals.h
+
+  void emergency_parser(unsigned char c) {
+
+    enum e_parser_state {
+      state_RESET,
+      state_N,
+      state_M,
+      state_M1,
+      state_M10,
+      state_M108,
+      state_M11,
+      state_M112,
+      state_M4,
+      state_M41,
+      state_M410,
+      state_IGNORE // to '\n'
+    };
+
+    static e_parser_state state = state_RESET;
+
+    switch (state) {
+      case state_RESET:
+        switch (c) {
+          case ' ': break;
+          case 'N': state = state_N;      break;
+          case 'M': state = state_M;      break;
+          default: state = state_IGNORE;
+        }
+        break;
+
+      case state_N:
+        switch (c) {
+          case '0': case '1': case '2':
+          case '3': case '4': case '5':
+          case '6': case '7': case '8':
+          case '9': case '-': case ' ':   break;
+          case 'M': state = state_M;      break;
+          default:  state = state_IGNORE;
+        }
+        break;
+
+      case state_M:
+        switch (c) {
+          case ' ': break;
+          case '1': state = state_M1;     break;
+          case '4': state = state_M4;     break;
+          default: state = state_IGNORE;
+        }
+        break;
+
+      case state_M1:
+        switch (c) {
+          case '0': state = state_M10;    break;
+          case '1': state = state_M11;    break;
+          default: state = state_IGNORE;
+        }
+        break;
+
+      case state_M10:
+        state = (c == '8') ? state_M108 : state_IGNORE;
+        break;
+
+      case state_M11:
+        state = (c == '2') ? state_M112 : state_IGNORE;
+        break;
+
+      case state_M4:
+        state = (c == '1') ? state_M41 : state_IGNORE;
+        break;
+
+      case state_M41:
+        state = (c == '0') ? state_M410 : state_IGNORE;
+        break;
+
+      case state_IGNORE:
+        if (c == '\n') state = state_RESET;
+        break;
+
+      default:
+        if (c == '\n') {
+          switch (state) {
+            case state_M108:
+              wait_for_heatup = false;
+              break;
+            case state_M112:
+              kill(PSTR(MSG_KILLED));
+              break;
+            case state_M410:
+              quickstop_stepper();
+              break;
+          }
+          state = state_RESET;
+        }
+    }
+  }
+#endif

Marlin/MarlinSerial.h

@@ -101,6 +101,11 @@ struct ring_buffer {
   extern ring_buffer rx_buffer;
 #endif
 
+#if ENABLED(EMERGENCY_PARSER)
+  #include "language.h"
+  void emergency_parser(unsigned char c);
+#endif
+
 class MarlinSerial { //: public Stream
 
   public:
@@ -141,6 +146,10 @@ class MarlinSerial { //: public Stream
             rx_buffer.head = i;
           }
         CRITICAL_SECTION_END;
+
+        #if ENABLED(EMERGENCY_PARSER)
+          emergency_parser(c);
+        #endif
       }
     }
 

Marlin/Marlin_main.cpp

@@ -160,7 +160,7 @@
  * M105 - Read current temp
  * M106 - Fan on
  * M107 - Fan off
- * M108 - Cancel heatup and wait for the hotend and bed, this G-code is asynchronously handled in the get_serial_commands() parser
+ * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  *        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  *        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
@@ -332,7 +332,7 @@ uint8_t active_extruder = 0;
 // Relative Mode. Enable with G91, disable with G90.
 static bool relative_mode = false;
 
-bool wait_for_heatup = true;
+volatile bool wait_for_heatup = true;
 
 const char errormagic[] PROGMEM = "Error:";
 const char echomagic[] PROGMEM = "echo:";
@@ -1105,9 +1105,12 @@ inline void get_serial_commands() {
         }
       }
 
-      // If command was e-stop process now
-      if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
-      if (strcmp(command, "M108") == 0) wait_for_heatup = false;
+      #if DISABLED(EMERGENCY_PARSER)
+        // If command was e-stop process now
+        if (strcmp(command, "M108") == 0) wait_for_heatup = false;
+        if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
+        if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
+      #endif
 
       #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
         last_command_time = ms;
@@ -4535,10 +4538,29 @@ inline void gcode_M105() {
 
 #endif // FAN_COUNT > 0
 
-/**
- * M108: Cancel heatup and wait for the hotend and bed, this G-code is asynchronously handled in the get_serial_commands() parser
- */
-inline void gcode_M108() { wait_for_heatup = false; }
+#if DISABLED(EMERGENCY_PARSER)
+
+  /**
+   * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
+   */
+  inline void gcode_M108() { wait_for_heatup = false; }
+
+
+  /**
+   * M112: Emergency Stop
+   */
+  inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
+
+
+  /**
+   * M410: Quickstop - Abort all planned moves
+   *
+   * This will stop the carriages mid-move, so most likely they
+   * will be out of sync with the stepper position after this.
+   */
+  inline void gcode_M410() { quickstop_stepper(); }
+
+#endif
 
 /**
  * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
@@ -4810,11 +4832,6 @@ inline void gcode_M111() {
   SERIAL_EOL;
 }
 
-/**
- * M112: Emergency Stop
- */
-inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
-
 #if ENABLED(HOST_KEEPALIVE_FEATURE)
 
   /**
@@ -5970,8 +5987,9 @@ inline void gcode_M400() { stepper.synchronize(); }
 
 #endif // FILAMENT_WIDTH_SENSOR
 
-#if DISABLED(DELTA) && DISABLED(SCARA)
-  void set_current_position_from_planner() {
+void quickstop_stepper() {
+  stepper.quick_stop();
+  #if DISABLED(DELTA) && DISABLED(SCARA)
     stepper.synchronize();
     #if ENABLED(AUTO_BED_LEVELING_FEATURE)
       vector_3 pos = planner.adjusted_position(); // values directly from steppers...
@@ -5984,23 +6002,9 @@ inline void gcode_M400() { stepper.synchronize(); }
       current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
     #endif
     sync_plan_position();                       // ...re-apply to planner position
-  }
-#endif
-
-/**
- * M410: Quickstop - Abort all planned moves
- *
- * This will stop the carriages mid-move, so most likely they
- * will be out of sync with the stepper position after this.
- */
-inline void gcode_M410() {
-  stepper.quick_stop();
-  #if DISABLED(DELTA) && DISABLED(SCARA)
-    set_current_position_from_planner();
   #endif
 }
 
-
 #if ENABLED(MESH_BED_LEVELING)
 
   /**
@@ -6955,9 +6959,21 @@ void process_next_command() {
         gcode_M111();
         break;
 
-      case 112: // M112: Emergency Stop
-        gcode_M112();
-        break;
+      #if DISABLED(EMERGENCY_PARSER)
+
+        case 108: // M108: Cancel Waiting
+          gcode_M108();
+          break;
+
+        case 112: // M112: Emergency Stop
+          gcode_M112();
+          break;
+
+        case 410: // M410 quickstop - Abort all the planned moves.
+          gcode_M410();
+          break;
+
+      #endif
 
       #if ENABLED(HOST_KEEPALIVE_FEATURE)
 
@@ -6976,10 +6992,6 @@ void process_next_command() {
         KEEPALIVE_STATE(NOT_BUSY);
         return; // "ok" already printed
 
-      case 108:
-        gcode_M108();
-        break;
-
       case 109: // M109: Wait for temperature
         gcode_M109();
         break;
@@ -7263,10 +7275,6 @@ void process_next_command() {
           break;
       #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
 
-      case 410: // M410 quickstop - Abort all the planned moves.
-        gcode_M410();
-        break;
-
       #if ENABLED(MESH_BED_LEVELING)
         case 420: // M420 Enable/Disable Mesh Bed Leveling
           gcode_M420();

Marlin/SanityCheck.h

@@ -579,6 +579,13 @@
 #endif
 
 /**
+ * emergency-command parser
+ */
+#if ENABLED(EMERGENCY_PARSER) && ENABLED(USBCON)
+  #error "EMERGENCY_PARSER does not work on boards with AT90USB processors (USBCON)."
+#endif
+
+ /**
  * Warnings for old configurations
  */
 #if WATCH_TEMP_PERIOD > 500

Marlin/endstops.cpp

@@ -186,10 +186,7 @@ void Endstops::report_state() {
       if (stepper.abort_on_endstop_hit) {
         card.sdprinting = false;
         card.closefile();
-        stepper.quick_stop();
-        #if DISABLED(DELTA) && DISABLED(SCARA)
-          set_current_position_from_planner();
-        #endif
+        quickstop_stepper();
         thermalManager.disable_all_heaters(); // switch off all heaters.
       }
     #endif

Marlin/example_configurations/Cartesio/Configuration_adv.h

@@ -520,6 +520,12 @@ const unsigned int dropsegments = 5; //everything with less than this number of
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
 
+// Enable an emergency-command parser to intercept certain commands as they
+// enter the serial receive buffer, so they cannot be blocked.
+// Currently handles M108, M112, M410
+// Does not work on boards using AT90USB (USBCON) processors!
+//#define EMERGENCY_PARSER
+
 // 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'.