Added OM field boards[].closedLoop

3 files changed, 40 insertions, 13 deletions

diff --git a/src/CAN/ExpansionManager.cpp b/src/CAN/ExpansionManager.cpp
index 9952e5b2..60ca48af 100644
--- a/src/CAN/ExpansionManager.cpp
+++ b/src/CAN/ExpansionManager.cpp
@@ -29,6 +29,7 @@ constexpr ObjectModelTableEntry ExpansionManager::objectModelTable[] =
 	// 0. boards[] members
 	{ "accelerometer",		OBJECT_MODEL_FUNC_IF(self->FindIndexedBoard(context.GetLastIndex()).hasAccelerometer, self, 4),					ObjectModelEntryFlags::none },
 	{ "canAddress",			OBJECT_MODEL_FUNC((int32_t)(&(self->FindIndexedBoard(context.GetLastIndex())) - self->boards)),					ObjectModelEntryFlags::none },
+	{ "closedLoop",			OBJECT_MODEL_FUNC_IF(self->FindIndexedBoard(context.GetLastIndex()).hasClosedLoop, self, 5),					ObjectModelEntryFlags::none },
 	{ "firmwareDate",		OBJECT_MODEL_FUNC(self->FindIndexedBoard(context.GetLastIndex()).typeName, ExpansionDetail::firmwareDate),		ObjectModelEntryFlags::none },
 	{ "firmwareFileName",	OBJECT_MODEL_FUNC(self->FindIndexedBoard(context.GetLastIndex()).typeName, ExpansionDetail::firmwareFileName),	ObjectModelEntryFlags::none },
 	{ "firmwareVersion",	OBJECT_MODEL_FUNC(self->FindIndexedBoard(context.GetLastIndex()).typeName, ExpansionDetail::firmwareVersion),	ObjectModelEntryFlags::none },
@@ -59,16 +60,21 @@ constexpr ObjectModelTableEntry ExpansionManager::objectModelTable[] =
 	// 4. accelerometer members
 	{ "points",				OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).accelerometerLastRunDataPoints),		ObjectModelEntryFlags::none },
 	{ "runs",				OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).accelerometerRuns),					ObjectModelEntryFlags::none },
+
+	// 5. closedLoop members
+	{ "points",				OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).closedLoopLastRunDataPoints),			ObjectModelEntryFlags::none },
+	{ "runs",				OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).closedLoopRuns),						ObjectModelEntryFlags::none },
 };
 
 constexpr uint8_t ExpansionManager::objectModelTableDescriptor[] =
 {
-	5,				// number of sections
-	12,				// section 0: boards[]
+	6,				// number of sections
+	13,				// section 0: boards[]
 	3,				// section 1: mcuTemp
 	3,				// section 2: vIn
 	3,				// section 3: v12
-	2				// section 4: accelerometer
+	2,				// section 4: accelerometer
+	2				// section 5: closed loop
 };
 
 DEFINE_GET_OBJECT_MODEL_TABLE(ExpansionManager)
@@ -76,8 +82,10 @@ DEFINE_GET_OBJECT_MODEL_TABLE(ExpansionManager)
 #endif
 
 ExpansionBoardData::ExpansionBoardData() noexcept
-	: typeName(nullptr), hasMcuTemp(false), hasVin(false), hasV12(false), hasAccelerometer(false),
-	  accelerometerRuns(0), accelerometerLastRunDataPoints(0),
+	: typeName(nullptr),
+	  accelerometerLastRunDataPoints(0), closedLoopLastRunDataPoints(0),
+	  accelerometerRuns(0), closedLoopRuns(0),
+	  hasMcuTemp(false), hasVin(false), hasV12(false), hasAccelerometer(false),
 	  state(BoardState::unknown), numDrivers(0)
 {
 }
@@ -209,6 +217,7 @@ void ExpansionManager::ProcessBoardStatusReport(const CanMessageBuffer *buf) noe
 		board.mcuTemp = msg.values[index++];
 	}
 	board.hasAccelerometer = msg.hasAccelerometer;
+	board.hasClosedLoop = msg.hasClosedLoop;
 }
 
 // Return a pointer to the expansion board, if it is present
@@ -290,6 +299,13 @@ void ExpansionManager::AddAccelerometerRun(CanAddress address, unsigned int numD
 	reprap.BoardsUpdated();
 }
 
+void ExpansionManager::AddClosedLoopRun(CanAddress address, unsigned int numDataPoints) noexcept
+{
+	boards[address].closedLoopLastRunDataPoints = numDataPoints;
+	++boards[address].closedLoopRuns;
+	reprap.BoardsUpdated();
+}
+
 GCodeResult ExpansionManager::ResetRemote(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
 {
 	CanInterface::CheckCanAddress(boardAddress, gb);
diff --git a/src/CAN/ExpansionManager.h b/src/CAN/ExpansionManager.h
index edc2fdd1..a2046274 100644
--- a/src/CAN/ExpansionManager.h
+++ b/src/CAN/ExpansionManager.h
@@ -24,16 +24,19 @@ struct ExpansionBoardData
 {
 	ExpansionBoardData() noexcept;
 
-	const char *typeName;
-	UniqueId uniqueId;
+	const char *_ecv_array typeName;
 	MinCurMax mcuTemp, vin, v12;
+	uint32_t accelerometerLastRunDataPoints;
+	uint32_t closedLoopLastRunDataPoints;
+	UniqueId uniqueId;
+	uint16_t accelerometerRuns;
+	uint16_t closedLoopRuns;
 	uint16_t hasMcuTemp : 1,
 			 hasVin : 1,
 			 hasV12 : 1,
 			 hasAccelerometer : 1,
-			 spare : 12;
-	uint16_t accelerometerRuns;
-	uint16_t accelerometerLastRunDataPoints;
+			 hasClosedLoop : 1,
+			 spare : 11;
 	BoardState state;
 	uint8_t numDrivers;
 };
@@ -56,6 +59,7 @@ public:
 	void UpdateFinished(CanAddress address) noexcept;
 	void UpdateFailed(CanAddress address) noexcept;
 	void AddAccelerometerRun(CanAddress address, unsigned int numDataPoints) noexcept;
+	void AddClosedLoopRun(CanAddress address, unsigned int numDataPoints) noexcept;
 	bool IsFlashing() const noexcept { return numBoardsFlashing != 0; }
 
 	void EmergencyStop() noexcept;
diff --git a/src/ClosedLoop/ClosedLoop.cpp b/src/ClosedLoop/ClosedLoop.cpp
index 40bbd96b..00f6c229 100644
--- a/src/ClosedLoop/ClosedLoop.cpp
+++ b/src/ClosedLoop/ClosedLoop.cpp
@@ -69,6 +69,7 @@ static void CloseDataCollectionFile() noexcept
 	closedLoopFile->Truncate();				// truncate the file in case we didn't write all the preallocated space
 	closedLoopFile->Close();
 	closedLoopFile = nullptr;
+	reprap.GetExpansion().AddClosedLoopRun(expectedRemoteBoardAddress, expectedRemoteSampleNumber);
 }
 
 // Handle M569.5 - Collect closed loop data
@@ -143,7 +144,15 @@ GCodeResult ClosedLoop::StartDataCollection(DriverId driverId, GCodeBuffer& gb,
 
 	String<MaxFilenameLength> closedLoopFileName;
 	MassStorage::CombineName(closedLoopFileName.GetRef(), "0:/sys/closed-loop/", tempFilename.c_str());
-	OpenDataCollectionFile(closedLoopFileName, preallocSize);
+	if (!OpenDataCollectionFile(closedLoopFileName, preallocSize))
+	{
+		reply.copy("failed to create data collection file");
+		return GCodeResult::error;
+	}
+
+	// Set up the expected CAN address and next point number before we do anything that might call CloseDataFile
+	expectedRemoteSampleNumber = 0;
+	expectedRemoteBoardAddress = deviceRequested.boardAddress;
 
 	// If no samples have been requested, return with an info message
 	if (numSamplesRequested == 0)
@@ -154,8 +163,6 @@ GCodeResult ClosedLoop::StartDataCollection(DriverId driverId, GCodeBuffer& gb,
 	}
 
 	// Set up & start the CAN data transfer
-	expectedRemoteSampleNumber = 0;
-	expectedRemoteBoardAddress = deviceRequested.boardAddress;
 	const GCodeResult rslt = CanInterface::StartClosedLoopDataCollection(deviceRequested, filterRequested, numSamplesRequested, rateRequested, movementRequested, modeRequested, gb, reply);
 	if (rslt > GCodeResult::warning)
 	{