diff options
Diffstat (limited to 'src/Linux/LinuxInterface.cpp')
| -rw-r--r-- | src/Linux/LinuxInterface.cpp | 1722 |
1 files changed, 0 insertions, 1722 deletions
diff --git a/src/Linux/LinuxInterface.cpp b/src/Linux/LinuxInterface.cpp deleted file mode 100644 index 202c75f7..00000000 --- a/src/Linux/LinuxInterface.cpp +++ /dev/null @@ -1,1722 +0,0 @@ -/* - * LinuxInterface.cpp - * - * Created on: 29 Mar 2019 - * Author: Christian - */ - -#include "LinuxInterface.h" -#include "DataTransfer.h" - -#if HAS_LINUX_INTERFACE - -#include <GCodes/GCodeBuffer/ExpressionParser.h> -#include <GCodes/GCodeBuffer/GCodeBuffer.h> -#include <Heating/Heat.h> -#include <Movement/Move.h> -#include <Platform/Platform.h> -#include <PrintMonitor/PrintMonitor.h> -#include <Tools/Filament.h> -#include <Platform/RepRap.h> -#include <RepRapFirmware.h> -#include <Platform/Tasks.h> -#include <Hardware/SoftwareReset.h> -#include <Hardware/ExceptionHandlers.h> -#include <Platform/TaskPriorities.h> - -extern char _estack; // defined by the linker - -volatile OutputStack LinuxInterface::gcodeReply; -Mutex LinuxInterface::gcodeReplyMutex; - -// The SBC stack size needs to be enough to support rr_model and expression evaluation -// In RRF 3.3beta3, 744 is only just enough for simple expression evaluation in a release build when using globals -// In 3.3beta3.1 we have saved ~151 bytes (37 words) of stack compared to 3.3beta3 -#ifdef __LPC17xx__ -constexpr size_t SBCTaskStackWords = 375; -#elif defined(DEBUG) -constexpr size_t SBCTaskStackWords = 1200; // debug builds use more stack -#else -constexpr size_t SBCTaskStackWords = 1000; // increased from 820 so that we can evaluate "abs(move.calibration.initial.deviation - move.calibration.final.deviation) < 0.000" -#endif - -constexpr uint32_t LinuxYieldTimeout = 10; - -static Task<SBCTaskStackWords> *sbcTask; - -extern "C" [[noreturn]] void SBCTaskStart(void * pvParameters) noexcept -{ - reprap.GetLinuxInterface().TaskLoop(); -} - -LinuxInterface::LinuxInterface() noexcept : isConnected(false), numDisconnects(0), numTimeouts(0), - maxDelayBetweenTransfers(SpiTransferDelay), maxFileOpenDelay(SpiFileOpenDelay), numMaxEvents(SpiEventsRequired), - delaying(false), numEvents(0), reportPause(false), reportPauseWritten(false), printAborted(false), - codeBuffer(nullptr), rxPointer(0), txPointer(0), txEnd(0), sendBufferUpdate(true), writingIap(false), iapWritePointer(IAP_IMAGE_START), - waitingForFileChunk(false), fileMutex(), fileSemaphore(), fileOperation(FileOperation::none), fileOperationPending(false) -#ifdef TRACK_FILE_CODES - , fileCodesRead(0), fileCodesHandled(0), fileMacrosRunning(0), fileMacrosClosing(0) -#endif -{ -} - -void LinuxInterface::Init() noexcept -{ - if (reprap.UsingLinuxInterface()) - { - fileMutex.Create("SBCFile"); - gcodeReplyMutex.Create("SBCReply"); - codeBuffer = (char *)new uint32_t[(SpiCodeBufferSize + 3)/4]; - -#if defined(DUET_NG) - // Make sure that the Wifi module if present is disabled. The ESP Reset pin is already forced low in Platform::Init(); - pinMode(EspEnablePin, OUTPUT_LOW); -#endif - - transfer.Init(); - sbcTask = new Task<SBCTaskStackWords>(); - sbcTask->Create(SBCTaskStart, "SBC", nullptr, TaskPriority::SbcPriority); - iapRamAvailable = &_estack - Tasks::GetHeapTop(); - } - else - { - // Set up the data transfer to exchange the header + response code. No task is started to save memory - transfer.Init(); - } -} - -void LinuxInterface::Spin() noexcept -{ - if (transfer.IsReady()) - { - // Don't process anything, just kick off the next transfer to report we're operating in standalone mode - transfer.StartNextTransfer(); - } -} - -[[noreturn]] void LinuxInterface::TaskLoop() noexcept -{ - transfer.InitFromTask(); - transfer.StartNextTransfer(); - - bool isReady = false, hadReset = false, skipNextDelay = false; - for (;;) - { - if (hadReset) - { - isReady = true; - hadReset = false; - } - else if (transfer.IsReady()) - { - isReady = true; - hadReset = isConnected && transfer.LinuxHadReset(); - } - else - { - isReady = false; - } - - if (isReady && !hadReset) - { - // Check if the connection state has changed - if (!isConnected && !writingIap) - { - isConnected = true; - reprap.GetPlatform().Message(NetworkInfoMessage, "Connection to Linux established!\n"); - } - - // Process incoming packets - bool codeBufferAvailable = true; - for (size_t i = 0; i < transfer.PacketsToRead(); i++) - { - const PacketHeader * const packet = transfer.ReadPacket(); - if (packet == nullptr) - { - if (reprap.Debug(moduleLinuxInterface)) - { - debugPrintf("Error trying to read next SPI packet\n"); - } - break; - } - - if (packet->request >= (uint16_t)LinuxRequest::InvalidRequest) - { - REPORT_INTERNAL_ERROR; - break; - } - - bool packetAcknowledged = true; - switch ((LinuxRequest)packet->request) - { - // Perform an emergency stop - case LinuxRequest::EmergencyStop: - reprap.EmergencyStop(); - break; - - // Reset the controller - case LinuxRequest::Reset: - SoftwareReset(SoftwareResetReason::user); - break; - - // Perform a G/M/T-code - case LinuxRequest::Code: - { - // Read the next code - if (packet->length == 0) - { - reprap.GetPlatform().Message(WarningMessage, "Received empty binary code, discarding\n"); - break; - } - - const CodeHeader *code = reinterpret_cast<const CodeHeader*>(transfer.ReadData(packet->length)); - const GCodeChannel channel(code->channel); - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - if (gb->IsInvalidated()) - { - // Don't deal with codes that will be thrown away - break; - } - - // Check if a GB is waiting for a macro file to be started - if (gb->IsWaitingForMacro() && !gb->IsMacroRequestPending()) - { - gb->ResolveMacroRequest(false, false); -#ifdef TRACK_FILE_CODES - if (channel == GCodeChannel::File) - { - fileMacrosRunning++; - } -#endif - } - - // Don't process any more codes if we failed to store them last time... - if (!codeBufferAvailable) - { - packetAcknowledged = false; - break; - } - - TaskCriticalSectionLocker locker; - - // Make sure no existing codes are overwritten - uint16_t bufferedCodeSize = sizeof(BufferedCodeHeader) + packet->length; - if ((txEnd == 0 && bufferedCodeSize > max<uint16_t>(rxPointer, SpiCodeBufferSize - txPointer)) || - (txEnd != 0 && bufferedCodeSize > rxPointer - txPointer)) - { - //debugPrintf("Failed to store code, RX/TX %d/%d-%d\n", rxPointer, txPointer, txEnd); - packetAcknowledged = codeBufferAvailable = false; - break; - } - - // Overlap if necessary - if (txPointer + bufferedCodeSize > SpiCodeBufferSize) - { - txEnd = txPointer; - txPointer = 0; - sendBufferUpdate = true; - } - - // Store the buffer header - BufferedCodeHeader *bufHeader = reinterpret_cast<BufferedCodeHeader *>(codeBuffer + txPointer); - bufHeader->isPending = true; - bufHeader->length = packet->length; - - // Store the corresponding code. Binary codes are always aligned on a 4-byte boundary - uint32_t *dst = reinterpret_cast<uint32_t *>(codeBuffer + txPointer + sizeof(BufferedCodeHeader)); - const uint32_t *src = reinterpret_cast<const uint32_t *>(code); - memcpyu32(dst, src, packet->length / sizeof(uint32_t)); - txPointer += bufferedCodeSize; - break; - } - - // Get the object model - case LinuxRequest::GetObjectModel: - { - String<StringLength100> key; - String<StringLength20> flags; - transfer.ReadGetObjectModel(packet->length, key.GetRef(), flags.GetRef()); - - try - { - OutputBuffer *outBuf = reprap.GetModelResponse(key.c_str(), flags.c_str()); - if (outBuf == nullptr || !transfer.WriteObjectModel(outBuf)) - { - // Failed to write the whole object model, try again later - packetAcknowledged = false; - OutputBuffer::ReleaseAll(outBuf); - } - } - catch (const GCodeException& e) - { - // Get the error message and send it back to DSF - OutputBuffer *buf; - if (OutputBuffer::Allocate(buf)) - { - String<StringLength100> errorMessage; - e.GetMessage(errorMessage.GetRef(), nullptr); - buf->cat(errorMessage.c_str()); - if (!transfer.WriteObjectModel(buf)) - { - OutputBuffer::ReleaseAll(buf); - packetAcknowledged = false; - } - } - else - { - packetAcknowledged = false; - } - } - break; - } - - // Set value in the object model - case LinuxRequest::SetObjectModel: - { - const size_t dataLength = packet->length; - const char * const data = transfer.ReadData(dataLength); - // TODO implement this - (void)data; - break; - } - - // Print is about to be started, set file print info - case LinuxRequest::SetPrintFileInfo: - { - String<MaxFilenameLength> filename; - transfer.ReadPrintStartedInfo(packet->length, filename.GetRef(), fileInfo); - reprap.GetPrintMonitor().SetPrintingFileInfo(filename.c_str(), fileInfo); - break; - } - - // Print has been stopped - case LinuxRequest::PrintStopped: - { - const PrintStoppedReason reason = transfer.ReadPrintStoppedInfo(); - if (reason == PrintStoppedReason::abort) - { - // Stop the print with the given reason - printAborted = true; - InvalidateBufferedCodes(GCodeChannel::File); - } - else - { - // Just mark the print file as finished - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(GCodeChannel::File); - MutexLocker locker(gb->mutex, LinuxYieldTimeout); - if (locker.IsAcquired()) - { - gb->SetPrintFinished(); - } - else - { - packetAcknowledged = false; - } - } - break; - } - - // Macro file has been finished - case LinuxRequest::MacroCompleted: - { - bool error; - const GCodeChannel channel = transfer.ReadMacroCompleteInfo(error); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - if (gb->IsWaitingForMacro() && !gb->IsMacroRequestPending()) - { - gb->ResolveMacroRequest(error, true); - if (reprap.Debug(moduleLinuxInterface)) - { - debugPrintf("Waiting macro completed on channel %u\n", channel.ToBaseType()); - } - } - else - { - MutexLocker locker(gb->mutex, LinuxYieldTimeout); - if (locker.IsAcquired()) - { - if (error) - { - gb->CurrentFileMachineState().CloseFile(); - gb->PopState(); - gb->Init(); - } - else - { -#ifdef TRACK_FILE_CODES - if (channel == GCodeChannel::File) - { - fileMacrosClosing++; - } -#endif - gb->SetFileFinished(); - } - - if (reprap.Debug(moduleLinuxInterface)) - { - debugPrintf("Macro completed on channel %u\n", channel.ToBaseType()); - } - } - else - { - packetAcknowledged = false; - } - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Return heightmap as generated by G29 S0 - case LinuxRequest::GetHeightMap: - { - ConditionalReadLocker locker(reprap.GetMove().heightMapLock); - if (locker.IsLocked()) - { - packetAcknowledged = transfer.WriteHeightMap(); - } - else - { - packetAcknowledged = false; - } - break; - } - - // Set heightmap via G29 S1 - case LinuxRequest::SetHeightMap: - { - ConditionalWriteLocker locker(reprap.GetMove().heightMapLock); - if (locker.IsLocked()) - { - if (!transfer.ReadHeightMap()) - { - reprap.GetPlatform().Message(ErrorMessage, "Failed to set height map - bad data?\n"); - } - } - else - { - packetAcknowledged = false; - } - break; - } - - // Lock movement and wait for standstill - case LinuxRequest::LockMovementAndWaitForStandstill: - { - const GCodeChannel channel = transfer.ReadCodeChannel(); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - MutexLocker locker(gb->mutex, LinuxYieldTimeout); - if (locker.IsAcquired() && reprap.GetGCodes().LockMovementAndWaitForStandstill(*gb)) - { - transfer.WriteLocked(channel); - } - else - { - packetAcknowledged = false; - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Unlock everything - case LinuxRequest::Unlock: - { - const GCodeChannel channel = transfer.ReadCodeChannel(); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - MutexLocker locker(gb->mutex, LinuxYieldTimeout); - if (locker.IsAcquired()) - { - reprap.GetGCodes().UnlockAll(*gb); - } - else - { - packetAcknowledged = false; - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Write another chunk of the IAP binary to the designated Flash area - case LinuxRequest::WriteIap: - { - if (iapWritePointer == IAP_IMAGE_START) // if start of IAP write - { - reprap.PrepareToLoadIap(); - writingIap = true; - } - - // Copy another IAP chunk. It's always bound on a 4-byte boundary - uint32_t *dst = reinterpret_cast<uint32_t *>(iapWritePointer); - const uint32_t *src = reinterpret_cast<const uint32_t *>(transfer.ReadData(packet->length)); - memcpyu32(dst, src, packet->length / sizeof(uint32_t)); - iapWritePointer += packet->length; - break; - } - - // Launch the IAP binary - case LinuxRequest::StartIap: - reprap.StartIap(nullptr); - break; - - // Assign filament (deprecated) - case LinuxRequest::AssignFilament_deprecated: - (void)transfer.ReadData(packet->length); // skip the packet content - break; - - // Return a file chunk - case LinuxRequest::FileChunk: - transfer.ReadFileChunk(requestedFileBuffer, requestedFileDataLength, requestedFileLength); - requestedFileSemaphore.Give(); - break; - - // Evaluate an expression - case LinuxRequest::EvaluateExpression: - { - String<GCODE_LENGTH> expression; - const GCodeChannel channel = transfer.ReadEvaluateExpression(packet->length, expression.GetRef()); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - - // If there is a macro file waiting, the first instruction must be conditional. Don't block any longer... - if (gb->IsWaitingForMacro()) - { - gb->ResolveMacroRequest(false, false); -#ifdef TRACK_FILE_CODES - if (channel == GCodeChannel::File) - { - fileMacrosRunning++; - } -#endif - } - - try - { - // Evaluate the expression and send the result to DSF - MutexLocker lock(gb->mutex, LinuxYieldTimeout); - if (lock.IsAcquired()) - { - ExpressionParser parser(*gb, expression.c_str(), expression.c_str() + expression.strlen()); - const ExpressionValue val = parser.Parse(); - packetAcknowledged = transfer.WriteEvaluationResult(expression.c_str(), val); - } - else - { - packetAcknowledged = false; - } - } - catch (const GCodeException& e) - { - // Get the error message and send it back to DSF - String<StringLength100> errorMessage; - e.GetMessage(errorMessage.GetRef(), nullptr); - packetAcknowledged = transfer.WriteEvaluationError(expression.c_str(), errorMessage.c_str()); - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Send a firmware message, typically a response to a command that has been passed to DSF. - // These responses can get quite long (e.g. responses to M20) so receive it into an OutputBuffer. - case LinuxRequest::Message: - { - OutputBuffer *buf; - if (OutputBuffer::Allocate(buf)) - { - MessageType type; - if (transfer.ReadMessage(type, buf)) - { - // FIXME Push flag is not supported yet - reprap.GetPlatform().Message(type, buf); - } - else - { - // Not enough memory for reading the whole message, try again later - OutputBuffer::ReleaseAll(buf); - packetAcknowledged = false; - } - } - break; - } - - // Macro file has been started - case LinuxRequest::MacroStarted: - { - const GCodeChannel channel = transfer.ReadCodeChannel(); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - if (gb->IsWaitingForMacro() && !gb->IsMacroRequestPending()) - { - // File exists and is open, but no code has arrived yet - gb->ResolveMacroRequest(false, false); -#ifdef TRACK_FILE_CODES - if (channel == GCodeChannel::File) - { - fileMacrosRunning++; - } -#endif - } - else if (channel != GCodeChannel::Daemon) - { - reprap.GetPlatform().MessageF(WarningMessage, "Macro file has been started on channel %s but none was requested\n", channel.ToString()); - } - else - { - // dameon.g is running, now the OM may report the file is being executed - reprap.InputsUpdated(); - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Invalidate all files and codes on a given channel - case LinuxRequest::InvalidateChannel: - { - const GCodeChannel channel = transfer.ReadCodeChannel(); - if (channel.IsValid()) - { - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - if (gb->IsWaitingForMacro()) - { - gb->ResolveMacroRequest(true, false); - } - - MutexLocker locker(gb->mutex, LinuxYieldTimeout); - if (locker.IsAcquired()) - { - // Note that we do not call StopPrint here or set any other variables; DSF already does that - gb->AbortFile(true, false); - InvalidateBufferedCodes(channel); - } - else - { - packetAcknowledged = false; - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - } - - // Set the content of a variable - case LinuxRequest::SetVariable: - { - bool createVariable; - String<MaxVariableNameLength> varName; - String<GCODE_LENGTH> expression; - const GCodeChannel channel = transfer.ReadSetVariable(createVariable, varName.GetRef(), expression.GetRef()); - - // Make sure we can access the gb safely... - if (!channel.IsValid()) - { - REPORT_INTERNAL_ERROR; - break; - } - - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - MutexLocker lock(gb->mutex, LinuxYieldTimeout); - if (!lock.IsAcquired()) - { - packetAcknowledged = false; - break; - } - - // Get the variable set - const bool isGlobal = StringStartsWith(varName.c_str(), "global."); - if (!isGlobal && !StringStartsWith(varName.c_str(), "var.")) - { - packetAcknowledged = transfer.WriteSetVariableError(varName.c_str(), "expected a global or local variable"); - break; - } - WriteLockedPointer<VariableSet> vset = (isGlobal) ? reprap.GetGlobalVariablesForWriting() : WriteLockedPointer<VariableSet>(nullptr, &gb->GetVariables()); - - // Check if the variable is valid - const char *shortVarName = varName.c_str() + strlen(isGlobal ? "global." : "var."); - Variable * const v = vset->Lookup(shortVarName); - if (createVariable && v != nullptr) - { - // For now we don't allow an existing variable to be reassigned using a 'var' or 'global' statement. We may need to allow it for 'global' statements. - // Save memory by re-using 'expression' to capture the error message - expression.printf("variable '%s' already exists", varName.c_str()); - packetAcknowledged = transfer.WriteSetVariableError(varName.c_str(), expression.c_str()); - break; - } - if (!createVariable && v == nullptr) - { - // Save memory by re-using 'expression' to capture the error message - expression.printf("unknown variable '%s'", varName.c_str()); - packetAcknowledged = transfer.WriteSetVariableError(varName.c_str(), expression.c_str()); - break; - } - - // Evaluate the expression and assign it - try - { - ExpressionParser parser(*gb, expression.c_str(), expression.c_str() + expression.strlen()); - ExpressionValue ev = parser.Parse(); - if (v == nullptr) - { - // DSF doesn't provide indent values but instructs RRF to delete local variables when the current block ends - vset->InsertNew(shortVarName, ev, 0); - } - else - { - v->Assign(ev); - } - - transfer.WriteSetVariableResult(varName.c_str(), ev); - if (isGlobal) - { - reprap.GlobalUpdated(); - } - } - catch (const GCodeException& e) - { - // Get the error message and send it back to DSF - // Save memory by re-using 'expression' to capture the error message - e.GetMessage(expression.GetRef(), nullptr); - packetAcknowledged = transfer.WriteSetVariableError(varName.c_str(), expression.c_str()); - } - break; - } - - // Delete a local variable - case LinuxRequest::DeleteLocalVariable: - { - String<MaxVariableNameLength> varName; - const GCodeChannel channel = transfer.ReadDeleteLocalVariable(varName.GetRef()); - - // Make sure we can access the gb safely... - if (!channel.IsValid()) - { - REPORT_INTERNAL_ERROR; - break; - } - - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - MutexLocker lock(gb->mutex, LinuxYieldTimeout); - if (!lock.IsAcquired()) - { - packetAcknowledged = false; - break; - } - - // Try to delete the variable again - WriteLockedPointer<VariableSet> vset = WriteLockedPointer<VariableSet>(nullptr, &gb->GetVariables()); - vset.Ptr()->Delete(varName.c_str()); - break; - } - - // Result of a file exists check - case LinuxRequest::CheckFileExistsResult: - if (fileOperation == FileOperation::checkFileExists) - { - fileSuccess = transfer.ReadBoolean(); - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - - // Result of a deletion request - case LinuxRequest::FileDeleteResult: - if (fileOperation == FileOperation::deleteFileOrDirectory) - { - fileSuccess = transfer.ReadBoolean(); - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Result of a file open request - case LinuxRequest::OpenFileResult: - if (fileOperation == FileOperation::openRead || - fileOperation == FileOperation::openWrite || - fileOperation == FileOperation::openAppend) - { - fileHandle = transfer.ReadOpenFileResult(fileOffset); - fileSuccess = (fileHandle != noFileHandle); - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Result of a file read request - case LinuxRequest::FileReadResult: - if (fileOperation == FileOperation::read) - { - int bytesRead = transfer.ReadFileData(fileReadBuffer, fileBufferLength); - fileSuccess = bytesRead >= 0; - fileOffset = fileSuccess ? bytesRead : 0; - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Result of a file write request - case LinuxRequest::FileWriteResult: - if (fileOperation == FileOperation::write) - { - fileSuccess = transfer.ReadBoolean(); - if (!fileSuccess || fileBufferLength == 0) - { - fileOperationPending = false; - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Result of a file seek request - case LinuxRequest::FileSeekResult: - if (fileOperation == FileOperation::seek) - { - fileSuccess = transfer.ReadBoolean(); - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Result of a file seek request - case LinuxRequest::FileTruncateResult: - if (fileOperation == FileOperation::truncate) - { - fileSuccess = transfer.ReadBoolean(); - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - else - { - REPORT_INTERNAL_ERROR; - } - break; - - // Invalid request - default: - REPORT_INTERNAL_ERROR; - break; - } - - // Request the packet again if no response could be sent back - if (!packetAcknowledged) - { - transfer.ResendPacket(packet); - } - } - - if (!writingIap) // it's not safe to access other resources once we have started writing the IAP - { - // Check if we can wait a short moment to reduce CPU load on the SBC - if (!skipNextDelay && numEvents < numMaxEvents && !waitingForFileChunk && - !fileOperationPending && fileOperation == FileOperation::none) - { - delaying = true; - if (!TaskBase::Take(MassStorage::AnyFileOpen() ? maxFileOpenDelay : maxDelayBetweenTransfers)) - { - delaying = false; - } - } - numEvents = 0; - skipNextDelay = false; - - // Send code replies and generic messages - if (!gcodeReply.IsEmpty()) - { - MutexLocker lock(gcodeReplyMutex); - while (!gcodeReply.IsEmpty()) - { - const MessageType type = gcodeReply.GetFirstItemType(); - OutputBuffer *buffer = gcodeReply.GetFirstItem(); // this may be null - if (!transfer.WriteCodeReply(type, buffer)) // this handles the null case too - { - break; - } - gcodeReply.SetFirstItem(buffer); // this does a pop if buffer is null - } - } - - // Notify DSF about the available buffer space - if (!codeBufferAvailable || sendBufferUpdate) - { - TaskCriticalSectionLocker locker; - - const uint16_t bufferSpace = (txEnd == 0) ? max<uint16_t>(rxPointer, SpiCodeBufferSize - txPointer) : rxPointer - txPointer; - sendBufferUpdate = !transfer.WriteCodeBufferUpdate(bufferSpace); - } - - // Get another chunk of the file being requested - if (waitingForFileChunk && - !fileChunkRequestSent && transfer.WriteFileChunkRequest(requestedFileName.c_str(), requestedFileOffset, requestedFileLength)) - { - fileChunkRequestSent = true; - } - - // Perform the next file operation if requested - if (fileOperationPending) - { - switch (fileOperation) - { - case FileOperation::checkFileExists: - fileOperationPending = !transfer.WriteCheckFileExists(filePath); - break; - - case FileOperation::deleteFileOrDirectory: - fileOperationPending = !transfer.WriteDeleteFileOrDirectory(filePath); - break; - - case FileOperation::openRead: - case FileOperation::openWrite: - case FileOperation::openAppend: - fileOperationPending = !transfer.WriteOpenFile(filePath, fileOperation == FileOperation::openWrite || fileOperation == FileOperation::openAppend, fileOperation == FileOperation::openAppend, filePreAllocSize); - break; - - case FileOperation::read: - fileOperationPending = !transfer.WriteReadFile(fileHandle, fileBufferLength); - break; - - case FileOperation::write: - { - size_t bytesNotWritten = fileBufferLength; - if (transfer.WriteFileData(fileHandle, fileWriteBuffer, fileBufferLength)) - { - fileWriteBuffer += bytesNotWritten - fileBufferLength; - if (fileBufferLength == 0) - { - fileOperationPending = false; - } - } - break; - } - - case FileOperation::seek: - fileOperationPending = !transfer.WriteSeekFile(fileHandle, fileOffset); - break; - - case FileOperation::truncate: - fileOperationPending = !transfer.WriteTruncateFile(fileHandle); - break; - - case FileOperation::close: - fileOperationPending = !transfer.WriteCloseFile(fileHandle); - if (!fileOperationPending) - { - // Close requests don't get a result back, so they can be resolved as soon as they are sent to the SBC - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - break; - - default: - REPORT_INTERNAL_ERROR; - break; - } - } - - // Deal with code channel requests - for (size_t i = 0; i < NumGCodeChannels; i++) - { - const GCodeChannel channel(i); - GCodeBuffer * const gb = reprap.GetGCodes().GetGCodeBuffer(channel); - - // Invalidate buffered codes if required - if (gb->IsInvalidated()) - { - InvalidateBufferedCodes(gb->GetChannel()); - gb->Invalidate(false); - } - - // Deal with macro files being closed - if (gb->IsMacroFileClosed() && transfer.WriteMacroFileClosed(channel)) - { - // Note this is only sent when a macro file has finished successfully - gb->MacroFileClosedSent(); - } - - // Handle blocking macro requests - if (gb->IsWaitingForMacro() && gb->IsMacroRequestPending()) - { - const char * const requestedMacroFile = gb->GetRequestedMacroFile(); - bool fromCode = gb->IsMacroStartedByCode(); - if (transfer.WriteMacroRequest(channel, requestedMacroFile, fromCode)) - { - if (reprap.Debug(moduleLinuxInterface)) - { - debugPrintf("Requesting macro file '%s' (fromCode: %s)\n", requestedMacroFile, fromCode ? "true" : "false"); - } - gb->MacroRequestSent(); - gb->Invalidate(); - } - } - - // Deal with other requests unless we are still waiting in a semaphore - if (!gb->IsWaitingForMacro()) - { - MutexLocker gbLock(gb->mutex, LinuxYieldTimeout); - if (gbLock.IsAcquired()) - { - if (gb->GetChannel() != GCodeChannel::Daemon) - { - skipNextDelay |= gb->IsMacroRequestPending() || gb->HasJustStartedMacro(); - } - - // Handle file abort requests - if (gb->IsAbortRequested() && transfer.WriteAbortFileRequest(channel, gb->IsAbortAllRequested())) - { -#ifdef TRACK_FILE_CODES - if (channel == GCodeChannel::File) - { - if (gb->IsAbortAllRequested()) - { - fileCodesRead = fileCodesHandled = fileMacrosRunning = fileMacrosClosing = 0; - } - else - { - fileMacrosClosing++; - } - } -#endif - gb->FileAbortSent(); - gb->Invalidate(); - } - - // Handle blocking messages and their results - if (gb->LatestMachineState().waitingForAcknowledgement && gb->IsMessagePromptPending() && - transfer.WriteWaitForAcknowledgement(channel)) - { - gb->MessagePromptSent(); - gb->Invalidate(); - } - else if (gb->IsMessageAcknowledged() && transfer.WriteMessageAcknowledged(channel)) - { - // Note this is only sent when a message was acknowledged in a regular way (i.e. by M292) - gb->MessageAcknowledgementSent(); - } - - // Handle non-blocking macro requests (e.g. daemon.g) - if (gb->IsMacroRequestPending()) - { - const char * const requestedMacroFile = gb->GetRequestedMacroFile(); - bool fromCode = gb->IsMacroStartedByCode(); - if (transfer.WriteMacroRequest(channel, requestedMacroFile, fromCode)) - { - if (reprap.Debug(moduleLinuxInterface)) - { - debugPrintf("Requesting non-blocking macro file '%s' (fromCode: %s)\n", requestedMacroFile, fromCode ? "true" : "false"); - } - gb->MacroRequestSent(); - gb->Invalidate(); - } - } - - // Send pending firmware codes - if (gb->IsSendRequested() && transfer.WriteDoCode(channel, gb->DataStart(), gb->DataLength())) - { - gb->SetFinished(true); - } - } - } - } - - // Send pause notification on demand - if (reportPause && transfer.WritePrintPaused(pauseFilePosition, pauseReason)) - { - reportPause = false; - } - } - - // Start the next transfer and wait for it to complete - transfer.StartNextTransfer(); - } - else if (!writingIap) - { - if (isConnected && (!transfer.IsConnected() || hadReset)) - { - isConnected = false; - numDisconnects++; - if (!hadReset) - { - numTimeouts++; - } - reprap.GetPlatform().Message(NetworkInfoMessage, "Lost connection to Linux\n"); - - rxPointer = txPointer = txEnd = 0; - sendBufferUpdate = true; - iapWritePointer = IAP_IMAGE_START; - - if (!requestedFileName.IsEmpty()) - { - requestedFileDataLength = -1; - requestedFileSemaphore.Give(); - } - - if (fileOperation != FileOperation::none) - { - fileOperation = FileOperation::none; - fileSemaphore.Give(); - } - MassStorage::InvalidateAllFiles(); - - // Don't cache any messages if they cannot be sent - { - MutexLocker lock(gcodeReplyMutex); - gcodeReply.ReleaseAll(); - } - - // Close all open G-code files - for (size_t i = 0; i < NumGCodeChannels; i++) - { - GCodeBuffer *gb = reprap.GetGCodes().GetGCodeBuffer(GCodeChannel(i)); - if (gb->IsWaitingForMacro()) - { - gb->ResolveMacroRequest(true, false); - } - - MutexLocker locker(gb->mutex); - if (gb->IsMacroRequestPending()) - { - gb->MacroRequestSent(); - } - gb->AbortFile(true, false); - gb->MessageAcknowledged(true); - } - - // Abort the print (if applicable) - printAborted = true; - - // Turn off all the heaters - reprap.GetHeat().SwitchOffAll(true); - - // Reset the SPI connection - transfer.ResetConnection(); - - if (hadReset) - { - // Let the main task invalidate resources - TaskBase::Take(LinuxYieldTimeout); - } - } - else if (isConnected || transfer.IsConnected()) - { - // Wait for the next SPI transaction to complete or for a timeout to occur - TaskBase::Take(SpiConnectionTimeout); - } - else - { - // Wait indefinitely for the next transfer - TaskBase::Take(); - } - } - } -} - -void LinuxInterface::Diagnostics(MessageType mtype) noexcept -{ - reprap.GetPlatform().Message(mtype, "=== SBC interface ===\n"); - transfer.Diagnostics(mtype); - reprap.GetPlatform().MessageF(mtype, "Disconnects: %" PRIu32 ", timeouts: %" PRIu32 ", IAP RAM available 0x%05" PRIx32 "\n", numDisconnects, numTimeouts, iapRamAvailable); - reprap.GetPlatform().MessageF(mtype, "Buffer RX/TX: %d/%d-%d\n", (int)rxPointer, (int)txPointer, (int)txEnd); -#ifdef TRACK_FILE_CODES - reprap.GetPlatform().MessageF(mtype, "File codes read/handled: %d/%d, file macros open/closing: %d %d\n", (int)fileCodesRead, (int)fileCodesHandled, (int)fileMacrosRunning, (int)fileMacrosClosing); -#endif -} - -GCodeResult LinuxInterface::HandleM576(GCodeBuffer& gb, const StringRef& reply) noexcept -{ - bool seen = false; - - if (gb.Seen('S')) - { - uint32_t sParam = gb.GetUIValue(); - if (sParam > SpiConnectionTimeout) - { - reply.printf("SPI transfer delay must not exceed %" PRIu32 "ms", SpiConnectionTimeout); - return GCodeResult::error; - } - maxDelayBetweenTransfers = sParam; - seen = true; - } - - if (gb.Seen('F')) - { - uint32_t fParam = gb.GetUIValue(); - if (fParam > SpiConnectionTimeout) - { - reply.printf("SPI transfer delay must not exceed %" PRIu32 "ms", SpiConnectionTimeout); - return GCodeResult::error; - } - maxFileOpenDelay = fParam; - seen = true; - } - - if (gb.Seen('P')) - { - numMaxEvents = gb.GetUIValue(); - seen = true; - } - - if (!seen) - { - reply.printf("Max transfer delay %" PRIu32 "ms, max number of events during delays: %" PRIu32, maxDelayBetweenTransfers, numMaxEvents); - } - return GCodeResult::ok; -} - -bool LinuxInterface::FillBuffer(GCodeBuffer &gb) noexcept -{ - if (gb.IsInvalidated() || gb.IsMacroFileClosed() || gb.IsMessageAcknowledged() || - gb.IsAbortRequested() || (reportPause && gb.GetChannel() == GCodeChannel::File) || - (gb.LatestMachineState().waitingForAcknowledgement && gb.IsMessagePromptPending())) - { - // Don't process codes that are supposed to be suspended... - return false; - } - - bool gotCommand = false; - { - //TODO can we take the lock inside the loop body instead, if we re-read readPointer and writePointer after taking it? - TaskCriticalSectionLocker locker; - if (rxPointer != txPointer || txEnd != 0) - { - bool updateRxPointer = true; - uint16_t readPointer = rxPointer; - do - { - BufferedCodeHeader *bufHeader = reinterpret_cast<BufferedCodeHeader*>(codeBuffer + readPointer); - readPointer += sizeof(BufferedCodeHeader); - const CodeHeader *codeHeader = reinterpret_cast<const CodeHeader*>(codeBuffer + readPointer); - readPointer += bufHeader->length; - - RRF_ASSERT(bufHeader->length > 0); - RRF_ASSERT(readPointer <= SpiCodeBufferSize); - - if (bufHeader->isPending) - { - if (gb.GetChannel().RawValue() == codeHeader->channel) - { -#ifdef TRACK_FILE_CODES - if (gb.GetChannel() == GCodeChannel::File && gb.GetCommandLetter() != 'Q') - { - fileMacrosRunning -= fileMacrosClosing; - fileMacrosClosing = 0; - if (fileCodesRead > fileCodesHandled + fileMacrosRunning) - { - // Note that we cannot use MessageF here because the task scheduler is suspended - OutputBuffer *buf; - if (OutputBuffer::Allocate(buf)) - { - String<SHORT_GCODE_LENGTH> codeString; - gb.PrintCommand(codeString.GetRef()); - buf->printf("Code %s did not return a code result, delta %d, running macros %d\n", codeString.c_str(), fileCodesRead - fileCodesHandled - fileMacrosRunning, fileMacrosRunning); - gcodeReply.Push(buf, WarningMessage); - } - fileCodesRead = fileCodesHandled - fileMacrosRunning; - } - fileCodesRead++; - } -#endif - - // Process the next binary G-code - gb.PutBinary(reinterpret_cast<const uint32_t *>(codeHeader), bufHeader->length / sizeof(uint32_t)); - bufHeader->isPending = false; - - // Check if we can reset the ring buffer pointers - if (updateRxPointer) - { - sendBufferUpdate = true; - if (readPointer == txPointer && txEnd == 0) - { - // Buffer completely read, reset RX/TX pointers - rxPointer = txPointer = 0; - } - else if (readPointer == txEnd) - { - // Read last code before overlapping, restart from the beginning - rxPointer = txEnd = 0; - } - else - { - // Code has been read, move on to the next one - rxPointer = readPointer; - } - } - - gotCommand = true; - break; - } - updateRxPointer = false; - } - - if (readPointer == txEnd) - { - if (updateRxPointer) - { - // Skipped non-pending codes, restart from the beginning - rxPointer = txEnd = 0; - } - - // About to overlap, continue from the start - readPointer = 0; - } - } while (readPointer != txPointer); - } - } - - if (gotCommand) - { - gb.DecodeCommand(); - return true; - } - return false; -} - -bool LinuxInterface::FileExists(const char *filename) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - filePath = filename; - fileOperation = FileOperation::checkFileExists; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Return the result - return fileSuccess; -} - -bool LinuxInterface::DeleteFileOrDirectory(const char *fileOrDirectory) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - filePath = fileOrDirectory; - fileOperation = FileOperation::deleteFileOrDirectory; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Return the result - return fileSuccess; -} - -FileHandle LinuxInterface::OpenFile(const char *filename, OpenMode mode, FilePosition& fileLength, uint32_t preAllocSize) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - filePath = filename; - filePreAllocSize = preAllocSize; - switch (mode) - { - case OpenMode::read: - fileOperation = FileOperation::openRead; - break; - - case OpenMode::write: - case OpenMode::writeWithCrc: - fileOperation = FileOperation::openWrite; - break; - - case OpenMode::append: - fileOperation = FileOperation::openAppend; - break; - - default: - filePath = nullptr; - REPORT_INTERNAL_ERROR; - break; - } - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Update the file length and return the handle - fileLength = fileOffset; - return fileHandle; -} - -int LinuxInterface::ReadFile(FileHandle handle, char *buffer, size_t bufferLength) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - fileHandle = handle; - fileReadBuffer = buffer; - fileBufferLength = bufferLength; - fileOperation = FileOperation::read; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); -; - - // Return the number of bytes read - return fileSuccess ? (int)fileOffset : -1; -} - -bool LinuxInterface::WriteFile(FileHandle handle, const char *buffer, size_t bufferLength) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - fileHandle = handle; - fileWriteBuffer = buffer; - fileBufferLength = bufferLength; - fileOperation = FileOperation::write; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Return the result - return fileSuccess; -} - -bool LinuxInterface::SeekFile(FileHandle handle, FilePosition offset) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - fileHandle = handle; - fileOffset = offset; - fileOperation = FileOperation::seek; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Return the result - return fileSuccess; -} - -bool LinuxInterface::TruncateFile(FileHandle handle) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return false; - } - - // Set up the request content - MutexLocker locker(fileMutex); - fileHandle = handle; - fileOperation = FileOperation::truncate; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); - - // Return the result - return fileSuccess; -} - -void LinuxInterface::CloseFile(FileHandle handle) noexcept -{ - // Don't do anything if the SBC is not connected - if (!IsConnected()) - { - return; - } - - // Set up the request content - MutexLocker locker(fileMutex); - fileHandle = handle; - fileOperation = FileOperation::close; - fileOperationPending = true; - - // Let the SBC task process this request as quickly as possible - if (delaying) - { - delaying = false; - sbcTask->Give(); - } - fileSemaphore.Take(); -} - -void LinuxInterface::HandleGCodeReply(MessageType mt, const char *reply) noexcept -{ - if (!IsConnected()) - { - return; - } - -#ifdef TRACK_FILE_CODES - if ((mt & (1 << GCodeChannel::File)) != 0) - { - fileCodesHandled++; - } -#endif - - MutexLocker lock(gcodeReplyMutex); - OutputBuffer *buffer = gcodeReply.GetLastItem(); - if (buffer != nullptr && mt == gcodeReply.GetLastItemType() && (mt & PushFlag) != 0 && !buffer->IsReferenced()) - { - // Try to save some space by combining segments that have the Push flag set - buffer->cat(reply); - } - else if (reply[0] != 0 && OutputBuffer::Allocate(buffer)) - { - // Attempt to allocate one G-code buffer per non-empty output message - buffer->cat(reply); - gcodeReply.Push(buffer, mt); - } - else - { - // Store nullptr to indicate an empty response. This way many OutputBuffer references can be saved - gcodeReply.Push(nullptr, mt); - } - EventOccurred(); -} - -void LinuxInterface::HandleGCodeReply(MessageType mt, OutputBuffer *buffer) noexcept -{ - if (!IsConnected()) - { - OutputBuffer::ReleaseAll(buffer); - return; - } - -#ifdef TRACK_FILE_CODES - if ((mt & (1 << GCodeChannel::File)) != 0) - { - fileCodesHandled++; - } -#endif - - MutexLocker lock(gcodeReplyMutex); - gcodeReply.Push(buffer, mt); - EventOccurred(); -} - -// Read a file chunk from the SBC. When a response has been received, the current task is woken up again. -// It changes bufferLength to the number of received bytes -// This method returns true on success and false if an error occurred (e.g. file not found) -bool LinuxInterface::GetFileChunk(const char *filename, uint32_t offset, char *buffer, uint32_t& bufferLength, uint32_t& fileLength) noexcept -{ - if (waitingForFileChunk) - { - reprap.GetPlatform().Message(ErrorMessage, "Trying to request a file chunk from two independent tasks\n"); - bufferLength = fileLength = 0; - return false; - } - - fileChunkRequestSent = false; - requestedFileName.copy(filename); - requestedFileLength = bufferLength; - requestedFileOffset = offset; - requestedFileBuffer = buffer; - - waitingForFileChunk = true; - requestedFileSemaphore.Take(); - - waitingForFileChunk = false; - if (requestedFileDataLength < 0) - { - bufferLength = fileLength = 0; - return false; - } - bufferLength = requestedFileDataLength; - fileLength = requestedFileLength; - return true; -} - -void LinuxInterface::EventOccurred(bool timeCritical) noexcept -{ - if (!IsConnected()) - { - return; - } - - // Increment the number of events - if (timeCritical) - { - numEvents = numMaxEvents; - } - else - { - numEvents++; - } - - // Stop delaying if the next transfer is time-critical - if (delaying && numEvents >= numMaxEvents) - { - delaying = false; - sbcTask->Give(); - } -} - -void LinuxInterface::InvalidateBufferedCodes(GCodeChannel channel) noexcept -{ - TaskCriticalSectionLocker locker; - if (rxPointer != txPointer || txEnd != 0) - { - bool updateRxPointer = true; - uint16_t readPointer = rxPointer; - do - { - BufferedCodeHeader *bufHeader = reinterpret_cast<BufferedCodeHeader *>(codeBuffer + readPointer); - if (bufHeader->isPending) - { - const CodeHeader *codeHeader = reinterpret_cast<const CodeHeader*>(codeBuffer + readPointer + sizeof(BufferedCodeHeader)); - if (codeHeader->channel == channel.RawValue()) - { - bufHeader->isPending = false; - } - else - { - updateRxPointer = false; - } - } - readPointer += sizeof(BufferedCodeHeader) + bufHeader->length; - - if (updateRxPointer) - { - sendBufferUpdate = true; - if (readPointer == txPointer && txEnd == 0) - { - // Buffer is empty again, reset the pointers - rxPointer = txPointer = 0; - break; - } - else if (readPointer == txEnd) - { - // Invalidated last code before overlapping, continue from the beginning - readPointer = 0; - rxPointer = txEnd = 0; - } - else - { - // Invalidated next code - rxPointer = readPointer; - } - } - else if (readPointer == txEnd) - { - // About to overlap, continue from the start - readPointer = 0; - } - } while (readPointer != txPointer); - } -} - -#endif |