Version 1.20beta1

Added support for M3, M4, M5 and M450-M453
Added support for DHT11, DHT21 and DHT22 temperature/humidity sensors
(thanks chrishamm)
Some additional events are now logged
The grid defined by M557 is now stored separately from the grid loaded
by G29 S1 so that they don't overwrite each other
The resurrect.g file is no longer created or deleted during a simulated
print
SCARA prints are simulated without segmentation so that the simulation
runs much faster. In tests, the difference in the simulation time
with/without segmentation was negligible.
The change to fast PID parameters is now made when the temperature is
within 3C of the target instead of when within 1C
M408 S1/2/3 responses now include dummy values for the bed heater if
there is no bed heater
The commands to resume printing that are written to resurrect.g now move
the head to 2mm above the printing height, then sideways, then down
Bug fixes:

If a Duet3D filament sensor was connected and congfigured but flashing
an error code instead of sending filament data, the error recovery code
running on the Duet caused short pauses in the print
On a delta printer if you created additonal axes, when you tried to home
them it ran homedelta.g instead of e.g. homeu.g
On a delta printer with additional axes, you can now do XYZ moves as
soon as the towers have been homed
Fixed a possible race condition if the time and date were set at
midnight
The 4-leadscrew auto/4-screw manual bed levelling code didn't work
properly
The P parameter was missing from G10 commands written to resurrect.g
Arm angle limits are now applied when converting Cartesian to SCARA
coordinates
The correction limit is no longer applied when computing manual bed
levelling screw corrections
SCARA arm mode changes are now only permitted in uncoordinated (G0)
moves

1 files changed, 19 insertions, 36 deletions

diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 3fa167b8..34fda25a 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -589,7 +589,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 
 		if (currentTool != nullptr)
 		{
-			const float *offset = currentTool->GetOffset();
+			const float *offset = currentTool->GetOffsets();
 			for (size_t i = 0; i < numAxes; ++i)
 			{
 				liveCoordinates[i] += offset[i];
@@ -681,7 +681,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 				response->EncodeString(boxMessage, ARRAY_SIZE(boxMessage), false);
 				response->cat(",\"title\":");
 				response->EncodeString(boxTitle, ARRAY_SIZE(boxTitle), false);
-				response->catf(",\"mode\":%d,\"timeout\":%.1f,\"controls\":%u}", boxMode, (double)timeLeft, boxControls);
+				response->catf(",\"mode\":%d,\"timeout\":%.1f,\"controls\":%" PRIu32 "}", boxMode, (double)timeLeft, boxControls);
 			}
 			response->cat("}");
 		}
@@ -716,7 +716,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 	// G-code reply sequence for webserver (sequence number for AUX is handled later)
 	if (source == ResponseSource::HTTP)
 	{
-		response->catf(",\"seq\":%d", network->GetHttpReplySeq());
+		response->catf(",\"seq\":%" PRIu32, network->GetHttpReplySeq());
 	}
 
 	/* Sensors */
@@ -920,7 +920,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 				endstops |= (1u << drive);
 			}
 		}
-		response->catf(",\"endstops\":%u", endstops);
+		response->catf(",\"endstops\":%" PRIu32, endstops);
 
 		// Firmware name, machine geometry and number of axes
 		response->catf(",\"firmwareName\":\"%s\",\"geometry\":\"%s\",\"axes\":%u", FIRMWARE_NAME, move->GetGeometryString(), numAxes);
@@ -945,7 +945,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 			const ZProbeParameters probeParams = platform->GetCurrentZProbeParameters();
 
 			// Trigger threshold
-			response->catf(",\"probe\":{\"threshold\":%d", probeParams.adcValue);
+			response->catf(",\"probe\":{\"threshold\":%" PRIi32, probeParams.adcValue);
 
 			// Trigger height
 			response->catf(",\"height\":%.2f", (double)probeParams.height);
@@ -1111,7 +1111,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 		if (response != nullptr)
 		{
 			// Send the response to the last command. Do this last
-			response->catf(",\"seq\":%u,\"resp\":", platform->GetAuxSeq());			// send the response sequence number
+			response->catf(",\"seq\":%" PRIu32 ",\"resp\":", platform->GetAuxSeq());			// send the response sequence number
 
 			// Send the JSON response
 			response->EncodeReply(reply, true);										// also releases the OutputBuffer chain
@@ -1192,7 +1192,7 @@ OutputBuffer *RepRap::GetConfigResponse()
 
 	// Motor idle parameters
 	response->catf(",\"idleCurrentFactor\":%.1f", (double)(platform->GetIdleCurrentFactor() * 100.0));
-	response->catf(",\"idleTimeout\":%u", (double)(move->IdleTimeout()));
+	response->catf(",\"idleTimeout\":%.1f", (double)(move->IdleTimeout()));
 
 	// Minimum feedrates
 	response->cat(",\"minFeedrates\":");
@@ -1258,44 +1258,28 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
 	response->cat((ch == '[') ? "[]" : "]");
 
 	// Send the heater active temperatures
-	response->catf(",\"active\":");
-	ch = ',';
-	response->catf("[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetActiveTemperature(heat->GetBedHeater())));
+	response->catf(",\"active\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetActiveTemperature(heat->GetBedHeater())));
 	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
 	{
-		response->catf("%c%.1f", ch, (double)(heat->GetActiveTemperature(heater)));
-		ch = ',';
+		response->catf(",%.1f", (double)(heat->GetActiveTemperature(heater)));
 	}
-	response->cat((ch == '[') ? "[]" : "]");
+	response->cat("]");
 
 	// Send the heater standby temperatures
-	response->catf(",\"standby\":");
-	ch = ',';
-	response->catf("[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetStandbyTemperature(bedHeater)));
+	response->catf(",\"standby\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetStandbyTemperature(bedHeater)));
 	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
 	{
-		response->catf("%c%.1f", ch, (double)(heat->GetStandbyTemperature(heater)));
-		ch = ',';
+		response->catf(",%.1f", (double)(heat->GetStandbyTemperature(heater)));
 	}
-	response->cat((ch == '[') ? "[]" : "]");
+	response->cat("]");
 
 	// Send the heater statuses (0=off, 1=standby, 2=active, 3 = fault)
-	response->cat(",\"hstat\":");
-	if (bedHeater != -1)
-	{
-		ch = ',';
-		response->catf("[%d", static_cast<int>(heat->GetStatus(bedHeater)));
-	}
-	else
-	{
-		ch = '[';
-	}
+	response->catf(",\"hstat\":[%d", (bedHeater == -1) ? 0 : static_cast<int>(heat->GetStatus(bedHeater)));
 	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
 	{
-		response->catf("%c%d", ch, static_cast<int>(heat->GetStatus(heater)));
-		ch = ',';
+		response->catf(",%d", static_cast<int>(heat->GetStatus(heater)));
 	}
-	response->cat((ch == '[') ? "[]" : "]");
+	response->cat("]");
 
 	// Send XYZ positions
 	const size_t numAxes = reprap.GetGCodes().GetVisibleAxes();
@@ -1304,7 +1288,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
 	const Tool* const currentTool = reprap.GetCurrentTool();
 	if (currentTool != nullptr)
 	{
-		const float *offset = currentTool->GetOffset();
+		const float *offset = currentTool->GetOffsets();
 		for (size_t i = 0; i < numAxes; ++i)
 		{
 			liveCoordinates[i] += offset[i];
@@ -1392,8 +1376,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
 
 	if (displayMessageBox)
 	{
-		response->catf(",\"msgBox.mode\":%d,\"msgBox.timeout\":%.1f,\"msgBox.controls\":%u",
-				boxMode, (double)timeLeft, boxControls);
+		response->catf(",\"msgBox.mode\":%d,\"msgBox.timeout\":%.1f,\"msgBox.controls\":%" PRIu32 "", boxMode, (double)timeLeft, boxControls);
 		response->cat(",\"msgBox.msg\":");
 		response->EncodeString(boxMessage, ARRAY_SIZE(boxMessage), false);
 		response->cat(",\"msgBox.title\":");
@@ -1564,7 +1547,7 @@ OutputBuffer *RepRap::GetFilelistResponse(const char *dir)
 			// Write another file entry
 			bytesLeft -= response->catf("{\"type\":\"%c\",\"name\":", fileInfo.isDirectory ? 'd' : 'f');
 			bytesLeft -= response->EncodeString(fileInfo.fileName, FILENAME_LENGTH, false);
-			bytesLeft -= response->catf(",\"size\":%u", fileInfo.size);
+			bytesLeft -= response->catf(",\"size\":%" PRIu32, fileInfo.size);
 
 			const struct tm * const timeInfo = gmtime(&fileInfo.lastModified);
 			if (timeInfo->tm_year <= /*19*/80)