Release 2.03 provisional

When disabling Telnet or HTTP or disabling networking, set the number of sessons to zero
Added virtual extruder position to M114 response for Octoprint
Added M566 P parameter (jerk policy)
Increased pulsed filament monitor pulses/mm displayed value from 2 to 3 decimal places

10 files changed, 50 insertions, 19 deletions

diff --git a/src/BugList.txt b/src/BugList.txt
index 3e5274e6..7b5c18cd 100644
--- a/src/BugList.txt
+++ b/src/BugList.txt
@@ -176,6 +176,12 @@ In 2.03RC5:
 - [done] Duet Maestro build now supports laser cutters
 - [done] SCARA bug: when attempting to move beyond arm limits the cached X and Y are inconsistent with the cached theta and psi
 
+For 2.03 release:
+- Add virtual extruder position to M114 response for Octoprint, https://forum.duet3d.com/topic/10821/returning-virtual-extruder-position-in-m114/3
+- When disabling network or a protocol, set the number of active HTTP and/or Telnet clients to 0
+- Added jerk policy, P parameter to M566
+- Pulse-type filament monitor now reports mm/pulse to 3 decimal places instead of 2
+
 Outstanding issues:
 - Running out of output buffers and not freeing them up, https://forum.duet3d.com/post/96586
 - Inconsistent Z0 position, https://forum.duet3d.com/user/caveman
diff --git a/src/FilamentMonitors/PulsedFilamentMonitor.cpp b/src/FilamentMonitors/PulsedFilamentMonitor.cpp
index 8221f34b..ed97d4bf 100644
--- a/src/FilamentMonitors/PulsedFilamentMonitor.cpp
+++ b/src/FilamentMonitors/PulsedFilamentMonitor.cpp
@@ -81,7 +81,7 @@ bool PulsedFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, b
 	}
 	else
 	{
-		reply.printf("Pulse-type filament monitor on endstop input %u, %s, sensitivity %.2fmm/pulse, allowed movement %ld%% to %ld%%, check every %.1fmm, ",
+		reply.printf("Pulse-type filament monitor on endstop input %u, %s, sensitivity %.3fmm/pulse, allowed movement %ld%% to %ld%%, check every %.1fmm, ",
 						GetEndstopNumber(),
 						(comparisonEnabled) ? "enabled" : "disabled",
 						(double)mmPerPulse,
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 0e859064..257394f6 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -3605,6 +3605,9 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
 		s.catf("%c:%.3f ", axisLetters[axis], HideNan(GetUserCoordinate(axis)));
 	}
 
+	// Now the virtual extruder position, for Octoprint
+	s.catf("E:%.3f ", (double)virtualExtruderPosition);
+
 	// Get the live machine coordinates, we'll need them later
 	float liveCoordinates[MaxTotalDrivers];
 	reprap.GetMove().LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
@@ -3617,7 +3620,7 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
 
 	// Print the axis stepper motor positions as Marlin does, as an aid to debugging.
 	// Don't bother with the extruder endpoints, they are zero after any non-extruding move.
-	s.cat(" Count");
+	s.cat("Count");
 	for (size_t i = 0; i < numVisibleAxes; ++i)
 	{
 		s.catf(" %" PRIi32, reprap.GetMove().GetEndPoint(i));
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index dc32574f..0b111189 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -3245,7 +3245,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					platform.SetInstantDv(numTotalAxes + e, eVals[e] * multiplier1);
 				}
 			}
-			else if (!seen)
+
+			if (code == 566 && gb.Seen('P'))
+			{
+				seen = true;
+				reprap.GetMove().SetJerkPolicy(gb.GetUIValue());
+			}
+
+			if (!seen)
 			{
 				const float multiplier2 = (code == 566) ? MinutesToSeconds : 1.0;
 				reply.printf("Maximum jerk rates (mm/%s): ", (code == 566) ? "min" : "sec");
@@ -3260,6 +3267,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					reply.catf("%c%.1f", sep, (double)(platform.GetInstantDv(extruder + numTotalAxes) * multiplier2));
 					sep = ':';
 				}
+				if (code == 566)
+				{
+					reply.catf(", jerk policy: %u", reprap.GetMove().GetJerkPolicy());
+				}
 			}
 		}
 		break;
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 1830f102..b863de5d 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -473,12 +473,7 @@ bool DDA::InitStandardMove(DDARing& ring, GCodes::RawMove &nextMove, bool doMoto
 	// 7. Calculate the provisional accelerate and decelerate distances and the top speed
 	endSpeed = 0.0;							// until the next move asks us to adjust it
 
-	if (prev->state != provisional || flags.isPrintingMove != prev->flags.isPrintingMove || flags.xyMoving != prev->flags.xyMoving)
-	{
-		// There is no previous move that we can adjust, so this move must start at zero speed.
-		startSpeed = 0.0;
-	}
-	else
+	if (prev->state == provisional && (move.GetJerkPolicy() != 0 || (flags.isPrintingMove == prev->flags.isPrintingMove && flags.xyMoving == prev->flags.xyMoving)))
 	{
 		// Try to meld this move to the previous move to avoid stop/start
 		// Assuming that this move ends with zero speed, calculate the maximum possible starting speed: u^2 = v^2 - 2as
@@ -486,6 +481,11 @@ bool DDA::InitStandardMove(DDARing& ring, GCodes::RawMove &nextMove, bool doMoto
 		DoLookahead(ring, prev);
 		startSpeed = prev->endSpeed;
 	}
+	else
+	{
+		// There is no previous move that we can adjust, so start at zero speed.
+		startSpeed = 0.0;
+	}
 
 	RecalculateMove(ring);
 	state = provisional;
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 9695f989..70d79f4f 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -66,10 +66,16 @@ DEFINE_GET_OBJECT_MODEL_TABLE(Move)
 
 #endif
 
-Move::Move() : active(false)
+Move::Move()
+	: active(false),
+	  drcEnabled(false),											// disable dynamic ringing cancellation
+	  maxPrintingAcceleration(10000.0), maxTravelAcceleration(10000.0),
+	  drcPeriod(0.025),												// 40Hz
+	  drcMinimumAcceleration(10.0),
+	  jerkPolicy(0)
 {
 	// Kinematics must be set up here because GCodes::Init asks the kinematics for the assumed initial position
-	kinematics = Kinematics::Create(KinematicsType::cartesian);			// default to Cartesian
+	kinematics = Kinematics::Create(KinematicsType::cartesian);		// default to Cartesian
 	mainDDARing.Init1(DdaRingLength);
 	DriveMovement::InitialAllocate(NumDms);
 }
@@ -78,11 +84,6 @@ void Move::Init()
 {
 	mainDDARing.Init2();
 
-	maxPrintingAcceleration = maxTravelAcceleration = 10000.0;
-	drcEnabled = false;											// disable dynamic ringing cancellation
-	drcMinimumAcceleration = 10.0;
-	drcPeriod = 50.0;
-
 	// Clear the transforms
 	SetIdentityTransform();
 	tanXY = tanYZ = tanXZ = 0.0;
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 972f3fb5..4bbd90c2 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -165,6 +165,9 @@ public:
 
 	uint32_t ExtruderPrintingSince() const { return mainDDARing.ExtruderPrintingSince(); }	// When we started doing normal moves after the most recent extruder-only move
 
+	unsigned int GetJerkPolicy() const { return jerkPolicy; }
+	void SetJerkPolicy(unsigned int jp) { jerkPolicy = jp; }
+
 #if HAS_SMART_DRIVERS
 	uint32_t GetStepInterval(size_t axis, uint32_t microstepShift) const;			// Get the current step interval for this axis or extruder
 #endif
@@ -203,6 +206,7 @@ private:
 	float drcPeriod;									// the period of ringing that we don't want to excite
 	float drcMinimumAcceleration;						// the minimum value that we reduce acceleration to
 
+	unsigned int jerkPolicy;							// When we allow jerk
 	unsigned int idleCount;								// The number of times Spin was called and had no new moves to process
 	uint32_t longestGcodeWaitInterval;					// the longest we had to wait for a new GCode
 	uint32_t numHiccups;								// How many times we delayed an interrupt to avoid using too much CPU time in interrupts
diff --git a/src/Networking/HttpResponder.cpp b/src/Networking/HttpResponder.cpp
index 85c4d96f..29945acc 100644
--- a/src/Networking/HttpResponder.cpp
+++ b/src/Networking/HttpResponder.cpp
@@ -1353,6 +1353,9 @@ void HttpResponder::Diagnostics(MessageType mt) const
 /*static*/ void HttpResponder::Disable()
 {
 	MutexLocker lock(gcodeReplyMutex);
+
+	clientsServed = 0;
+	numSessions = 0;
 	gcodeReply.ReleaseAll();
 }
 
diff --git a/src/Networking/TelnetResponder.cpp b/src/Networking/TelnetResponder.cpp
index 8d23f491..7fc01310 100644
--- a/src/Networking/TelnetResponder.cpp
+++ b/src/Networking/TelnetResponder.cpp
@@ -301,6 +301,9 @@ void TelnetResponder::ProcessLine()
 /*static*/ void TelnetResponder::Disable()
 {
 	MutexLocker lock(gcodeReplyMutex);
+
+	clientsServed = 0;
+	numSessions = 0;
 	OutputBuffer::ReleaseAll(gcodeReply);
 }
 
diff --git a/src/Version.h b/src/Version.h
index 423b0f97..60983f3e 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -11,16 +11,16 @@
 
 #ifndef VERSION
 #ifdef RTOS
-# define MAIN_VERSION	"2.03RC5"
+# define MAIN_VERSION	"2.03"
 #else
-# define MAIN_VERSION	"1.24RC5"
+# define MAIN_VERSION	"1.24"
 #endif
 
 # define VERSION MAIN_VERSION
 #endif
 
 #ifndef DATE
-# define DATE "2019-06-05b5"
+# define DATE "2019-06-13b2"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"