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239 lines
11 KiB
C++
239 lines
11 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(EMERGENCY_PARSER)
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#include "../feature/e_parser.h"
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#endif
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// Used in multiple places
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// You can build it but not manipulate it.
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// There are only few places where it's required to access the underlying member: GCodeQueue, SerialMask and MultiSerial
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struct serial_index_t {
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// A signed index, where -1 is a special case meaning no action (neither output or input)
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int8_t index;
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// Check if the index is within the range [a ... b]
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constexpr inline bool within(const int8_t a, const int8_t b) const { return WITHIN(index, a, b); }
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constexpr inline bool valid() const { return WITHIN(index, 0, 7); } // At most, 8 bits
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// Construction is either from an index
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constexpr serial_index_t(const int8_t index) : index(index) {}
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// Default to "no index"
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constexpr serial_index_t() : index(-1) {}
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};
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// In order to catch usage errors in code, we make the base to encode number explicit
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// If given a number (and not this enum), the compiler will reject the overload, falling back to the (double, digit) version
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// We don't want hidden conversion of the first parameter to double, so it has to be as hard to do for the compiler as creating this enum
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enum class PrintBase {
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Dec = 10,
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Hex = 16,
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Oct = 8,
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Bin = 2
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};
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// A simple feature list enumeration
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enum class SerialFeature {
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None = 0x00,
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MeatPack = 0x01, //!< Enabled when Meatpack is present
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BinaryFileTransfer = 0x02, //!< Enabled for BinaryFile transfer support (in the future)
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Virtual = 0x04, //!< Enabled for virtual serial port (like Telnet / Websocket / ...)
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Hookable = 0x08, //!< Enabled if the serial class supports a setHook method
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};
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ENUM_FLAGS(SerialFeature);
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// flushTX is not implemented in all HAL, so use SFINAE to call the method where it is.
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CALL_IF_EXISTS_IMPL(void, flushTX);
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CALL_IF_EXISTS_IMPL(bool, connected, true);
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CALL_IF_EXISTS_IMPL(SerialFeature, features, SerialFeature::None);
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// A simple forward struct to prevent the compiler from selecting print(double, int) as a default overload
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// for any type other than double/float. For double/float, a conversion exists so the call will be invisible.
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struct EnsureDouble {
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double a;
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FORCE_INLINE operator double() { return a; }
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// If the compiler breaks on ambiguity here, it's likely because print(X, base) is called with X not a double/float, and
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// a base that's not a PrintBase value. This code is made to detect the error. You MUST set a base explicitly like this:
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// SERIAL_PRINT(v, PrintBase::Hex)
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FORCE_INLINE EnsureDouble(double a) : a(a) {}
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FORCE_INLINE EnsureDouble(float a) : a(a) {}
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};
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// Using Curiously-Recurring Template Pattern here to avoid virtual table cost when compiling.
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// Since the real serial class is known at compile time, this results in the compiler writing
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// a completely efficient code.
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template <class Child>
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struct SerialBase {
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#if ENABLED(EMERGENCY_PARSER)
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const bool ep_enabled;
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EmergencyParser::State emergency_state;
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inline bool emergency_parser_enabled() { return ep_enabled; }
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SerialBase(bool ep_capable) : ep_enabled(ep_capable), emergency_state(EmergencyParser::State::EP_RESET) {}
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#else
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SerialBase(const bool) {}
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#endif
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#define SerialChild static_cast<Child*>(this)
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// Static dispatch methods below:
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// The most important method here is where it all ends to:
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size_t write(uint8_t c) { return SerialChild->write(c); }
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// Called when the parser finished processing an instruction, usually build to nothing
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void msgDone() const { SerialChild->msgDone(); }
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// Called on initialization
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void begin(const long baudRate) { SerialChild->begin(baudRate); }
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// Called on destruction
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void end() { SerialChild->end(); }
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/** Check for available data from the port
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@param index The port index, usually 0 */
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int available(serial_index_t index=0) const { return SerialChild->available(index); }
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/** Read a value from the port
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@param index The port index, usually 0 */
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int read(serial_index_t index=0) { return SerialChild->read(index); }
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/** Combine the features of this serial instance and return it
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@param index The port index, usually 0 */
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SerialFeature features(serial_index_t index=0) const { return static_cast<const Child*>(this)->features(index); }
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// Check if the serial port has a feature
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bool has_feature(serial_index_t index, SerialFeature flag) const { return (features(index) & flag) != SerialFeature::None; }
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// Check if the serial port is connected (usually bypassed)
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bool connected() const { return SerialChild->connected(); }
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// Redirect flush
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void flush() { SerialChild->flush(); }
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// Not all implementation have a flushTX, so let's call them only if the child has the implementation
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void flushTX() { CALL_IF_EXISTS(void, SerialChild, flushTX); }
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// Glue code here
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FORCE_INLINE void write(const char *str) { while (*str) write(*str++); }
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FORCE_INLINE void write(const uint8_t *buffer, size_t size) { while (size--) write(*buffer++); }
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FORCE_INLINE void print(const char *str) { write(str); }
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// No default argument to avoid ambiguity
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NO_INLINE void print(char c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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NO_INLINE void print(unsigned char c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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NO_INLINE void print(int c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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NO_INLINE void print(unsigned int c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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void print(unsigned long c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); }
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void print(long c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); }
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void print(EnsureDouble c, int digits) { printFloat(c, digits); }
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// Forward the call to the former's method
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FORCE_INLINE void print(char c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned char c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(int c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned int c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(unsigned long c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(long c) { print(c, PrintBase::Dec); }
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FORCE_INLINE void print(double c) { print(c, 2); }
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FORCE_INLINE void println(const char s[]) { print(s); println(); }
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FORCE_INLINE void println(char c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned char c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(int c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned int c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(long c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(unsigned long c, PrintBase base) { print(c, base); println(); }
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FORCE_INLINE void println(double c, int digits) { print(c, digits); println(); }
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FORCE_INLINE void println() { write('\r'); write('\n'); }
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// Forward the call to the former's method
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FORCE_INLINE void println(char c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned char c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(int c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned int c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(unsigned long c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(long c) { println(c, PrintBase::Dec); }
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FORCE_INLINE void println(double c) { println(c, 2); }
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// Print a number with the given base
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NO_INLINE void printNumber(unsigned long n, const uint8_t base) {
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if (!base) return; // Hopefully, this should raise visible bug immediately
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if (n) {
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unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
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int8_t i = 0;
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while (n) {
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buf[i++] = n % base;
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n /= base;
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}
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while (i--) write((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
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}
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else write('0');
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}
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void printNumber(signed long n, const uint8_t base) {
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if (base == 10 && n < 0) {
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n = -n; // This works because all platforms Marlin's builds on are using 2-complement encoding for negative number
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// On such CPU, changing the sign of a number is done by inverting the bits and adding one, so if n = 0x80000000 = -2147483648 then
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// -n = 0x7FFFFFFF + 1 => 0x80000000 = 2147483648 (if interpreted as unsigned) or -2147483648 if interpreted as signed.
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// On non 2-complement CPU, there would be no possible representation for 2147483648.
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write('-');
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}
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printNumber((unsigned long)n , base);
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}
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// Print a decimal number
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NO_INLINE void printFloat(double number, uint8_t digits) {
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// Handle negative numbers
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if (number < 0.0) {
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write('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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LOOP_L_N(i, digits) rounding *= 0.1;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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printNumber(int_part, 10);
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// Print the decimal point, but only if there are digits beyond
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if (digits) {
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write('.');
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// Extract digits from the remainder one at a time
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while (digits--) {
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remainder *= 10.0;
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unsigned long toPrint = (unsigned long)remainder;
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printNumber(toPrint, 10);
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remainder -= toPrint;
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}
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}
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}
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};
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// All serial instances will be built by chaining the features required
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// for the function in the form of a template type definition.
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