[RFC] Adds the ability to have G29 execute a recovery and retry (10444)

Marlin/Conditionals_post.h

@@ -1277,4 +1277,8 @@
     #define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
   #endif
 
+  #if ENABLED(G29_ADVANCED_RECOVERY_AND_RETRY)
+    #define USE_EXECUTE_COMMANDS_IMMEDIATE
+  #endif
+
 #endif // CONDITIONALS_POST_H

Marlin/Configuration_adv.h

@@ -746,6 +746,30 @@
   //#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET)
 #endif
 
+/* Uncomment G29_ADVANCED_RECOVERY_AND_RETRY to cause G29 to
+ * repeat until it succeeds or until G29_MAX_RETRIES has been
+ * reached.
+ */
+//#define G29_ADVANCED_RECOVERY_AND_RETRY
+#if ENABLED(G29_ADVANCED_RECOVERY_AND_RETRY)
+  #define G29_MAX_RETRIES 3
+  #define G29_HALT_ON_FAILURE
+  /**
+   * Specify the GCODE commands that will be executed when the bed leveling succeeds,
+   * in between attempts, and after the maximum number of retries have been tried.
+   */
+  #define G29_SUCCESS_COMMANDS "M117 Bed leveling done."
+  #define G29_RECOVER_COMMANDS "M117 Probe failed. Rewiping.\nG28\nG12 P0 S12 T0"
+  #define G29_FAILURE_COMMANDS "M117 Bed leveling failed.\nG0 Z10\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nG4 S1"
+  /**
+   * Specify an action command to send to the host on a recovery attempt or failure.
+   * Will be sent in the form '//action:ACTION_ON_G29_FAILURE', e.g. '//action:probe_failed'.
+   * The host must be configured to handle the action command.
+   */
+  #define G29_ACTION_ON_RECOVER "probe_rewipe"
+  #define G29_ACTION_ON_FAILURE "probe_failed"
+#endif
+
 // @section extras
 
 //

Marlin/Marlin_main.cpp

@@ -736,7 +736,11 @@ void stop();
 
 void get_available_commands();
 void process_next_command();
+#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
+void process_parsed_command(bool no_ok = false);
+#else
 void process_parsed_command();
+#endif
 
 void get_cartesian_from_steppers();
 void set_current_from_steppers_for_axis(const AxisEnum axis);
@@ -778,6 +782,33 @@ void report_current_position_detail();
     print_xyz(PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
 #endif
 
+#if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
+  /**
+   * Runs a series of commands, bypassing the command queue. This
+   * allows GCODE "macros" to be called from within other GCODE
+   * routines.
+   *
+   * NOTE: execute_commands_immediate_P() should only be called after the
+   *       parsing stage of a GCODE routine, as the state of the parser
+   *       object will be destroyed.
+   */
+  void execute_commands_immediate_P(const char *pgcode) {
+    char cmd[30];
+    while(pgm_read_byte_near(pgcode) != '\0') {
+      const char *delim = strchr_P(pgcode, '\n');
+      size_t len = delim ? delim - pgcode : strlen_P(pgcode);
+      strncpy_P(cmd, pgcode, len);
+      cmd[len] = '\0';
+      pgcode += len;
+      if(delim) {
+          pgcode++;
+      }
+      parser.parse(cmd);
+      process_parsed_command(true);
+    }
+  }
+#endif
+
 /**
  * sync_plan_position
  *
@@ -5300,6 +5331,37 @@ void home_all_axes() { gcode_G28(true); }
 
 #endif // OLDSCHOOL_ABL
 
+#if HAS_LEVELING && ENABLED(G29_ADVANCED_RECOVERY_AND_RETRY)
+  void gcode_G29_with_retry() {
+    set_bed_leveling_enabled(false);
+    for(uint8_t i = 0; i < G29_MAX_RETRIES; i++) {
+      gcode_G29();
+      if(planner.leveling_active) break;
+      #if defined(G29_ACTION_ON_RECOVER)
+        SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_RECOVER);
+      #endif
+      #if defined(G29_RECOVERY_COMMANDS)
+        execute_commands_immediate_P(PSTR(G29_RECOVER_COMMANDS));
+      #endif
+    }
+    if(planner.leveling_active) {
+      #if defined(G29_SUCCESS_COMMANDS)
+        execute_commands_immediate_P(PSTR(G29_SUCCESS_COMMANDS));
+      #endif
+    } else {
+      #if defined(G29_FAILURE_COMMANDS)
+        execute_commands_immediate_P(PSTR(G29_FAILURE_COMMANDS));
+      #endif
+      #if defined(G29_ACTION_ON_FAILURE)
+        SERIAL_ECHOLNPGM("//action:" G29_ACTION_ON_FAILURE);
+      #endif
+      #if ENABLED(G29_HALT_ON_FAILURE)
+        kill(PSTR(MSG_ERR_PROBING_FAILED));
+      #endif
+    }
+  }
+#endif
+
 #if HAS_BED_PROBE
 
   /**
@@ -5613,7 +5675,7 @@ void home_all_axes() { gcode_G28(true); }
 
   /**
    * kinematics routines and auto tune matrix scaling parameters:
-   * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for  
+   * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
    *  - formulae for approximative forward kinematics in the end-stop displacement matrix
    *  - definition of the matrix scaling parameters
    */
@@ -5627,7 +5689,7 @@ void home_all_axes() { gcode_G28(true); }
       pos[Y_AXIS] = sin(a) * r;
       pos[Z_AXIS] = z_pt[rad];
       inverse_kinematics(pos);
-      LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];           
+      LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
     }
   }
 
@@ -5691,7 +5753,7 @@ void home_all_axes() { gcode_G28(true); }
           delta_t[ABC] = {0.0};
 
     delta_r = diff;
-    calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);     
+    calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
     r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0;
     r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z)
     return r_fac;
@@ -5708,7 +5770,7 @@ void home_all_axes() { gcode_G28(true); }
     LOOP_XYZ(axis) {
       LOOP_XYZ(axis_2) delta_t[axis_2] = 0.0;
       delta_t[axis] = diff;
-      calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);     
+      calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
       a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0;
       a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0;
     }
@@ -5890,7 +5952,7 @@ void home_all_axes() { gcode_G28(true); }
 
         /**
          * convergence matrices:
-         * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for  
+         * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for
          *  - definition of the matrix scaling parameters
          *  - matrices for 4 and 7 point calibration
          */
@@ -5956,7 +6018,7 @@ void home_all_axes() { gcode_G28(true); }
         delta_radius += r_delta;
         LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
       }
-      else if (zero_std_dev >= test_precision) {   
+      else if (zero_std_dev >= test_precision) {
         // roll back
         COPY(delta_endstop_adj, e_old);
         delta_radius = r_old;
@@ -5982,7 +6044,7 @@ void home_all_axes() { gcode_G28(true); }
       NOMORE(zero_std_dev_min, zero_std_dev);
 
       // print report
-  
+
       if (verbose_level == 3)
         print_calibration_results(z_at_pt, _tower_results, _opposite_results);
 
@@ -11834,7 +11896,11 @@ inline void gcode_T(const uint8_t tmp_extruder) {
 /**
  * Process the parsed command and dispatch it to its handler
  */
-void process_parsed_command() {
+void process_parsed_command(
+  #if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
+   bool no_ok
+  #endif
+) {
   KEEPALIVE_STATE(IN_HANDLER);
 
   // Handle a known G, M, or T
@@ -11888,7 +11954,13 @@ void process_parsed_command() {
       case 28: gcode_G28(false); break;                           // G28: Home one or more axes
 
       #if HAS_LEVELING
-        case 29: gcode_G29(); break;                              // G29: Detailed Z probe
+        case 29:
+          #if ENABLED(G29_ADVANCED_RECOVERY_AND_RETRY)
+            gcode_G29_with_retry();
+          #else
+            gcode_G29();
+          #endif
+          break;                              // G29: Detailed Z probe
       #endif
 
       #if HAS_BED_PROBE
@@ -12290,6 +12362,10 @@ void process_parsed_command() {
   }
 
   KEEPALIVE_STATE(NOT_BUSY);
+
+  #if ENABLED(USE_EXECUTE_COMMANDS_IMMEDIATE)
+  if(!no_ok)
+  #endif
   ok_to_send();
 }