/**
Check if result is plausible. If it is, an ok is send and the command is stored in queue.
If not, a resend and ok is send.
*/
void GCode::checkAndPushCommand()
{
if(hasM())
{
if(M==110) // Reset line number
{
lastLineNumber = actLineNumber;
Com::printFLN(Com::tOk);
waitingForResend = -1;
return;
}
if(M==112) // Emergency kill - freeze printer
{
Commands::emergencyStop();
}
#ifdef DEBUG_COM_ERRORS
if(M==666)
{
lastLineNumber++;
return;
}
#endif // DEBUG_COM_ERRORS
}
if(hasN())
{
if((((lastLineNumber+1) & 0xffff)!=(actLineNumber&0xffff)))
{
if(waitingForResend<0) // after a resend, we have to skip the garbage in buffers, no message for this
{
if(Printer::debugErrors())
{
Com::printF(Com::tExpectedLine,lastLineNumber+1);
Com::printFLN(Com::tGot,actLineNumber);
}
requestResend(); // Line missing, force resend
}
else
{
--waitingForResend;
commandsReceivingWritePosition = 0;
Com::printFLN(Com::tSkip,actLineNumber);
Com::printFLN(Com::tOk);
}
return;
}
lastLineNumber = actLineNumber;
}
pushCommand();
#ifdef ACK_WITH_LINENUMBER
Com::printFLN(Com::tOkSpace,actLineNumber);
#else
Com::printFLN(Com::tOk);
#endif
wasLastCommandReceivedAsBinary = sendAsBinary;
waitingForResend = -1; // everything is ok.
}
/** \brief Print command on serial console */
void GCode::printCommand()
{
if(hasN()) {
Com::print('N');
Com::print((int32_t)N);
Com::print(' ');
}
if(hasM())
{
Com::print('M');
Com::print((int)M);
Com::print(' ');
}
if(hasG())
{
Com::print('G');
Com::print((int)G);
Com::print(' ');
}
if(hasT())
{
Com::print('T');
Com::print((int)T);
Com::print(' ');
}
if(hasX())
{
Com::printF(Com::tX,X);
}
if(hasY())
{
Com::printF(Com::tY,Y);
}
if(hasZ())
{
Com::printF(Com::tZ,Z);
}
if(hasE())
{
Com::printF(Com::tE,E,4);
}
if(hasF())
{
Com::printF(Com::tF,F);
}
if(hasS())
{
Com::printF(Com::tS,S);
}
if(hasP())
{
Com::printF(Com::tP,P);
}
if(hasI())
{
Com::printF(Com::tI,I);
}
if(hasJ())
{
Com::printF(Com::tJ,J);
}
if(hasR())
{
Com::printF(Com::tR,R);
}
if(hasString())
{
Com::print(text);
}
Com::println();
}
/**
Check if result is plausible. If it is, an ok is send and the command is stored in queue.
If not, a resend and ok is send.
*/
void GCode::checkAndPushCommand()
{
if(hasM())
{
if(M == 110) // Reset line number
{
lastLineNumber = actLineNumber;
Com::printFLN(Com::tOk);
waitingForResend = -1;
return;
}
if(M == 112) // Emergency kill - freeze printer
{
Commands::emergencyStop();
}
#ifdef DEBUG_COM_ERRORS
if(M == 666) // force an communication error
{
lastLineNumber++;
return;
} else if(M == 668) {
lastLineNumber = 0; // simulate a reset so lines are out of resend buffer
}
#endif // DEBUG_COM_ERRORS
}
if(hasN())
{
if((((lastLineNumber + 1) & 0xffff) != (actLineNumber & 0xffff)))
{
if(static_cast<uint16_t>(lastLineNumber - actLineNumber) < 40)
{
// we have seen that line already. So we assume it is a repeated resend and we ignore it
commandsReceivingWritePosition = 0;
Com::printFLN(Com::tSkip,actLineNumber);
Com::printFLN(Com::tOk);
}
else if(waitingForResend < 0) // after a resend, we have to skip the garbage in buffers, no message for this
{
if(Printer::debugErrors())
{
Com::printF(Com::tExpectedLine, lastLineNumber + 1);
Com::printFLN(Com::tGot, actLineNumber);
}
requestResend(); // Line missing, force resend
}
else
{
--waitingForResend;
commandsReceivingWritePosition = 0;
Com::printFLN(Com::tSkip, actLineNumber);
Com::printFLN(Com::tOk);
}
return;
}
lastLineNumber = actLineNumber;
} /*
This test is not compatible with all hosts. Replaced by forbidding backward switch of protocols.
else if(lastLineNumber && !(hasM() && M == 117)) { // once line number always line number!
if(Printer::debugErrors())
{
Com::printErrorFLN(PSTR("Missing linenumber"));
}
requestResend();
return;
}*/
if(GCode::hasFatalError() && !(hasM() && M==999)) {
GCode::reportFatalError();
} else {
pushCommand();
}
#ifdef DEBUG_COM_ERRORS
if(hasM() && M == 667)
return; // omit ok
#endif
#if ACK_WITH_LINENUMBER
Com::printFLN(Com::tOkSpace, actLineNumber);
#else
Com::printFLN(Com::tOk);
#endif
wasLastCommandReceivedAsBinary = sendAsBinary;
keepAlive(NotBusy);
waitingForResend = -1; // everything is ok.
}
