path: root/src/RepRap.cpp

#include "RepRap.h"

#include "Movement/Move.h"
#include "GCodes/GCodes.h"
#include "Heating/Heat.h"
#include "Network.h"
#include "Platform.h"
#include "Scanner.h"
#include "PrintMonitor.h"
#include "Tools/Tool.h"
#include "Tools/Filament.h"
#include "Tasks.h"
#include "Version.h"

#ifdef DUET_NG
# include "DueXn.h"
#endif

#if SUPPORT_IOBITS
# include "PortControl.h"
#endif

#if SUPPORT_12864_LCD
# include "Display/Display.h"
#endif

#if HAS_HIGH_SPEED_SD
# include "sam/drivers/hsmci/hsmci.h"
# include "conf_sd_mmc.h"
#endif

#ifdef RTOS
# include "FreeRTOS.h"
# include "task.h"

static TaskHandle_t hsmciTask = nullptr;		// the task that is waiting for a HSMCI command to complete

// Callback function from the hsmci driver, called while it is waiting for an SD card operation to complete
// 'stBits' is the set of bits in the HSMCI status register that the caller is interested in.
// The caller keeps calling this function until at least one of those bits is set.
extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits)
{
	if (   (HSMCI->HSMCI_SR & stBits) == 0
#if SAME70
		&& (XDMAC->XDMAC_CHID[CONF_HSMCI_XDMAC_CHANNEL].XDMAC_CIS & dmaBits) == 0
#endif
	   )
	{
		// Suspend this task until we get an interrupt indicating that a status bit that we are interested in has been set
		hsmciTask = xTaskGetCurrentTaskHandle();
		HSMCI->HSMCI_IER = stBits;
#if SAME70
		XDMAC->XDMAC_CHID[CONF_HSMCI_XDMAC_CHANNEL].XDMAC_CIE = dmaBits;
#endif
		ulTaskNotifyTake(pdTRUE, 200);
	}
}

extern "C" void HSMCI_Handler()
{
	HSMCI->HSMCI_IDR = 0xFFFFFFFF;					// disable all HSMCI interrupts
#if SAME70
	XDMAC->XDMAC_CHID[CONF_HSMCI_XDMAC_CHANNEL].XDMAC_CID = 0xFFFFFFFF;
#endif
	if (hsmciTask != nullptr)
	{
		vTaskNotifyGiveFromISR(hsmciTask, nullptr);	// wake up the task
		hsmciTask = nullptr;
	}
}

#if SAME70
extern "C" void XDMAC_handler() __attribute__ ((alias("HSMCI_Handler")));
#endif

#else

// Non-RTOS code

// Callback function from the hsmci driver, called while it is waiting for an SD card operation to complete
// 'stBits' is the set of bits in the HSMCI status register that the caller is interested in.
// The caller keeps calling this function until at least one of those bits is set.
extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits)
{
	if (reprap.GetSpinningModule() != moduleNetwork)
	{
		reprap.GetNetwork().Spin(false);
	}

#if SUPPORT_IOBITS
	if (reprap.GetSpinningModule() != modulePortControl)
	{
		reprap.GetPortControl().Spin(false);
	}
#endif

#ifdef DUET_NG
	if (reprap.GetSpinningModule() != moduleDuetExpansion)
	{
		DuetExpansion::Spin(false);
	}
#endif

	if (reprap.GetSpinningModule() != moduleFilamentSensors)
	{
		FilamentMonitor::Spin(false);
	}

#if SUPPORT_12864_LCD
	if (reprap.GetSpinningModule() != moduleDisplay)
	{
		reprap.GetDisplay().Spin(false);
	}
#endif
}

#endif

// RepRap member functions.

// Do nothing more in the constructor; put what you want in RepRap:Init()

RepRap::RepRap() : toolList(nullptr), currentTool(nullptr), lastWarningMillis(0), activeExtruders(0),
	activeToolHeaters(0), ticksInSpinState(0), spinningModule(noModule), debug(0), stopped(false),
	active(false), resetting(false), processingConfig(true), beepFrequency(0), beepDuration(0),
	displayMessageBox(false), boxSeq(0),
	diagnosticsDestination(MessageType::NoDestinationMessage)
{
	OutputBuffer::Init();
	platform = new Platform();
	network = new Network(*platform);
	gCodes = new GCodes(*platform);
	move = new Move();
	heat = new Heat(*platform);

#if SUPPORT_ROLAND
	roland = new Roland(*platform);
#endif
#if SUPPORT_SCANNER
	scanner = new Scanner(*platform);
#endif
#if SUPPORT_IOBITS
	portControl = new PortControl();
#endif
#if SUPPORT_12864_LCD
 	display = new Display();
#endif

	printMonitor = new PrintMonitor(*platform, *gCodes);

	SetPassword(DEFAULT_PASSWORD);
	message[0] = 0;
}

void RepRap::Init()
{
	toolListMutex.Create();
	messageBoxMutex.Create();

	// All of the following init functions must execute reasonably quickly before the watchdog times us out
	platform->Init();
	network->Init();
	SetName(DEFAULT_MACHINE_NAME);		// network must be initialised before calling this because this calls SetHostName
	gCodes->Init();
	move->Init();
	heat->Init();
#if SUPPORT_ROLAND
	roland->Init();
#endif
#if SUPPORT_SCANNER
	scanner->Init();
#endif
#if SUPPORT_IOBITS
	portControl->Init();
#endif
	printMonitor->Init();
#if SUPPORT_12864_LCD
 	display->Init();
#endif
	active = true;						// must do this before we start the network or call Spin(), else the watchdog may time out

	platform->MessageF(UsbMessage, "%s Version %s dated %s\n", FIRMWARE_NAME, VERSION, DATE);

	// Run the configuration file
	const char *configFile = platform->GetConfigFile();
	platform->Message(UsbMessage, "\nExecuting ");
	if (platform->GetMassStorage()->FileExists(platform->GetSysDir(), configFile))
	{
		platform->MessageF(UsbMessage, "%s...", platform->GetConfigFile());
	}
	else
	{
		platform->MessageF(UsbMessage, "%s (no configuration file found)...", platform->GetDefaultFile());
		configFile = platform->GetDefaultFile();
	}

	if (gCodes->RunConfigFile(configFile))
	{
		while (gCodes->IsDaemonBusy())
		{
			// GCodes::Spin will read the macro and ensure IsDaemonBusy returns false when it's done
			Spin();
		}
		platform->Message(UsbMessage, "Done!\n");
	}
	else
	{
		platform->Message(UsbMessage, "Error, not found\n");
	}
	processingConfig = false;

	// Enable network (unless it's disabled)
	network->Activate();			// need to do this here, as the configuration GCodes may set IP address etc.

#if HAS_HIGH_SPEED_SD
	hsmci_set_idle_func(hsmciIdle);
# ifdef RTOS
	HSMCI->HSMCI_IDR = 0xFFFFFFFF;	// disable all HSMCI interrupts
	NVIC_EnableIRQ(HSMCI_IRQn);
#  if SAME70
	XDMAC->XDMAC_CHID[CONF_HSMCI_XDMAC_CHANNEL].XDMAC_CID = 0xFFFFFFFF;	// disable all XDMAC interrupts from the HSMCI channel
	NVIC_EnableIRQ(XDMAC_IRQn);
#  endif
# endif
#endif
	platform->MessageF(UsbMessage, "%s is up and running.\n", FIRMWARE_NAME);
	fastLoop = UINT32_MAX;
	slowLoop = 0;
	lastTime = micros();
}

void RepRap::Exit()
{
#if HAS_HIGH_SPEED_SD
	hsmci_set_idle_func(nullptr);
#endif
	active = false;
	heat->Exit();
	move->Exit();
	gCodes->Exit();
#if SUPPORT_SCANNER
	scanner->Exit();
#endif
#if SUPPORT_IOBITS
	portControl->Exit();
#endif
#if SUPPORT_12864_LCD
 	display->Exit();
#endif
	network->Exit();
	platform->Exit();
}

void RepRap::Spin()
{
	if(!active)
		return;

	ticksInSpinState = 0;
	spinningModule = modulePlatform;
	platform->Spin();

#ifndef RTOS
	ticksInSpinState = 0;
	spinningModule = moduleNetwork;
	network->Spin(true);
#endif

	ticksInSpinState = 0;
	spinningModule = moduleWebserver;

	ticksInSpinState = 0;
	spinningModule = moduleGcodes;
	gCodes->Spin();

	ticksInSpinState = 0;
	spinningModule = moduleMove;
	move->Spin();

	ticksInSpinState = 0;
	spinningModule = moduleHeat;
	heat->Spin();

#if SUPPORT_ROLAND
	ticksInSpinState = 0;
	spinningModule = moduleRoland;
	roland->Spin();
#endif

#if SUPPORT_SCANNER
	ticksInSpinState = 0;
	spinningModule = moduleScanner;
	scanner->Spin();
#endif

#if SUPPORT_IOBITS
	ticksInSpinState = 0;
	spinningModule = modulePortControl;
	portControl->Spin(true);
#endif

	ticksInSpinState = 0;
	spinningModule = modulePrintMonitor;
	printMonitor->Spin();

#ifdef DUET_NG
	ticksInSpinState = 0;
	spinningModule = moduleDuetExpansion;
	DuetExpansion::Spin(true);
#endif

	ticksInSpinState = 0;
	spinningModule = moduleFilamentSensors;
	FilamentMonitor::Spin(true);

#if SUPPORT_12864_LCD
	ticksInSpinState = 0;
	spinningModule = moduleDisplay;
	display->Spin(true);
#endif

	ticksInSpinState = 0;
	spinningModule = noModule;

	// Check if we need to send diagnostics
	if (diagnosticsDestination != MessageType::NoDestinationMessage)
	{
		Diagnostics(diagnosticsDestination);
		diagnosticsDestination = MessageType::NoDestinationMessage;
	}

	// Check if we need to display a cold extrusion warning
	const uint32_t now = millis();
	if (now - lastWarningMillis >= MinimumWarningInterval)
	{
		MutexLocker lock(toolListMutex);
		for (Tool *t = toolList; t != nullptr; t = t->Next())
		{
			if (t->DisplayColdExtrudeWarning())
			{
				platform->MessageF(WarningMessage, "Tool %d was not driven because its heater temperatures were not high enough or it has a heater fault\n", t->myNumber);
				lastWarningMillis = now;
			}
		}
	}

	// Keep track of the loop time
	const uint32_t t = micros();
	const uint32_t dt = t - lastTime;
	if (dt < fastLoop)
	{
		fastLoop = dt;
	}
	if (dt > slowLoop)
	{
		slowLoop = dt;
	}
	lastTime = t;

	RTOSIface::Yield();
}

void RepRap::Timing(MessageType mtype)
{
	platform->MessageF(mtype, "Slowest main loop (seconds): %f; fastest: %f\n", (double)(slowLoop * 0.000001), (double)(fastLoop * 0.000001));
	fastLoop = UINT32_MAX;
	slowLoop = 0;
}

void RepRap::Diagnostics(MessageType mtype)
{
	platform->Message(mtype, "=== Diagnostics ===\n");

	// Print the firmware version and board type

#ifdef DUET_NG
	platform->MessageF(mtype, "%s version %s running on %s", FIRMWARE_NAME, VERSION, platform->GetElectronicsString());
	const char* const expansionName = DuetExpansion::GetExpansionBoardName();
	platform->MessageF(mtype, (expansionName == nullptr) ? "\n" : " + %s\n", expansionName);
#else
	platform->MessageF(mtype, "%s version %s running on %s\n", FIRMWARE_NAME, VERSION, platform->GetElectronicsString());
#endif

#if SAM4E || SAM4S || SAME70
	platform->PrintUniqueId(mtype);
#endif

	// Show the used and free buffer counts. Do this early in case we are running out of them and the diagnostics get truncated.
	OutputBuffer::Diagnostics(mtype);

	// Now print diagnostics for other modules
	Tasks::Diagnostics(mtype);
	platform->Diagnostics(mtype);				// this includes a call to our Timing() function
	move->Diagnostics(mtype);
	heat->Diagnostics(mtype);
	gCodes->Diagnostics(mtype);
	network->Diagnostics(mtype);
	FilamentMonitor::Diagnostics(mtype);
#ifdef DUET_NG
	DuetExpansion::Diagnostics(mtype);
#endif
}

// Turn off the heaters, disable the motors, and deactivate the Heat and Move classes. Leave everything else working.
void RepRap::EmergencyStop()
{
	stopped = true;

	// Do not turn off ATX power here. If the nozzles are still hot, don't risk melting any surrounding parts...
	//platform->SetAtxPower(false);

	// Deselect all tools (is this necessary?)
	{
		MutexLocker lock(toolListMutex);
		for (Tool* tool = toolList; tool != nullptr; tool = tool->Next())
		{
			tool->Standby();
		}
	}

	heat->Exit();		// this also turns off all heaters

	// We do this twice, to avoid an interrupt switching a drive back on. move->Exit() should prevent interrupts doing this.
	for (int i = 0; i < 2; i++)
	{
		move->Exit();
		platform->DisableAllDrives();
	}

	platform->StopLogging();
}

void RepRap::SetDebug(Module m, bool enable)
{
	if (m < numModules)
	{
		if (enable)
		{
			debug |= (1u << m);
		}
		else
		{
			debug &= ~(1u << m);
		}
	}
	PrintDebug();
}

void RepRap::SetDebug(bool enable)
{
	debug = (enable) ? 0xFFFF : 0;
}

void RepRap::PrintDebug()
{
	platform->Message(GenericMessage, "Debugging enabled for modules:");
	for (size_t i = 0; i < numModules; i++)
	{
		if ((debug & (1u << i)) != 0)
		{
			platform->MessageF(GenericMessage, " %s(%u)", moduleName[i], i);
		}
	}

	platform->Message(GenericMessage, "\nDebugging disabled for modules:");
	for (size_t i = 0; i < numModules; i++)
	{
		if ((debug & (1u << i)) == 0)
		{
			platform->MessageF(GenericMessage, " %s(%u)", moduleName[i], i);
		}
	}
	platform->Message(GenericMessage, "\n");
}

// Add a tool.
// Prior to calling this, delete any existing tool with the same number
// The tool list is maintained in tool number order.
void RepRap::AddTool(Tool* tool)
{
	MutexLocker lock(toolListMutex);
	Tool** t = &toolList;
	while(*t != nullptr && (*t)->Number() < tool->Number())
	{
		t = &((*t)->next);
	}
	tool->next = *t;
	*t = tool;
	tool->UpdateExtruderAndHeaterCount(activeExtruders, activeToolHeaters);
	platform->UpdateConfiguredHeaters();
}

void RepRap::DeleteTool(Tool* tool)
{
	// Must have a valid tool...
	if (tool == nullptr)
	{
		return;
	}

	// Deselect it if necessary
	if (GetCurrentTool() == tool)
	{
		SelectTool(-1, false);
	}

	// Switch off any associated heater and remove heater references
	for (size_t i = 0; i < tool->HeaterCount(); i++)
	{
		heat->SwitchOff(tool->Heater(i));
	}

	// Purge any references to this tool
	MutexLocker lock(toolListMutex);
	for (Tool **t = &toolList; *t != nullptr; t = &((*t)->next))
	{
		if (*t == tool)
		{
			*t = tool->next;
			break;
		}
	}

	// Delete it
	Tool::Delete(tool);

	// Update the number of active heaters and extruder drives
	activeExtruders = activeToolHeaters = 0;
	for (Tool *t = toolList; t != nullptr; t = t->Next())
	{
		t->UpdateExtruderAndHeaterCount(activeExtruders, activeToolHeaters);
	}
	platform->UpdateConfiguredHeaters();
}

// Select the specified tool, putting the existing current tool into standby
void RepRap::SelectTool(int toolNumber, bool simulating)
{
	Tool* const newTool = GetTool(toolNumber);
	if (!simulating)
	{
		if (currentTool != nullptr && currentTool != newTool)
		{
			currentTool->Standby();
		}
		if (newTool != nullptr)
		{
			newTool->Activate();
		}
	}
	currentTool = newTool;
}

void RepRap::PrintTool(int toolNumber, const StringRef& reply) const
{
	const Tool* const tool = GetTool(toolNumber);
	if (tool != nullptr)
	{
		tool->Print(reply);
	}
	else
	{
		reply.copy("Error: Attempt to print details of non-existent tool.\n");
	}
}

void RepRap::StandbyTool(int toolNumber, bool simulating)
{
	Tool* const tool = GetTool(toolNumber);
	if (tool != nullptr)
	{
		if (!simulating)
		{
			tool->Standby();
		}
  		if (currentTool == tool)
		{
			currentTool = nullptr;
		}
	}
	else
	{
		platform->MessageF(ErrorMessage, "Attempt to standby a non-existent tool: %d.\n", toolNumber);
	}
}

Tool* RepRap::GetTool(int toolNumber) const
{
	MutexLocker lock(toolListMutex);
	Tool* tool = toolList;
	while(tool != nullptr)
	{
		if (tool->Number() == toolNumber)
		{
			return tool;
		}
		tool = tool->Next();
	}
	return nullptr; // Not an error
}

// Return the current tool number, or -1 if no tool selected
int RepRap::GetCurrentToolNumber() const
{
	return (currentTool == nullptr) ? -1 : currentTool->Number();
}

// Get the current tool, or failing that the default tool. May return nullptr if we can't
// Called when a M104 or M109 command doesn't specify a tool number.
Tool* RepRap::GetCurrentOrDefaultTool() const
{
	// If a tool is already selected, use that one, else use the lowest-numbered tool which is the one at the start of the tool list
	return (currentTool != nullptr) ? currentTool : toolList;
}

void RepRap::SetToolVariables(int toolNumber, const float* standbyTemperatures, const float* activeTemperatures)
{
	Tool* tool = GetTool(toolNumber);
	if (tool != nullptr)
	{
		tool->SetVariables(standbyTemperatures, activeTemperatures);
	}
	else
	{
		platform->MessageF(ErrorMessage, "Attempt to set variables for a non-existent tool: %d.\n", toolNumber);
	}
}

bool RepRap::IsHeaterAssignedToTool(int8_t heater) const
{
	MutexLocker lock(toolListMutex);
	for (Tool *tool = toolList; tool != nullptr; tool = tool->Next())
	{
		for (size_t i = 0; i < tool->HeaterCount(); i++)
		{
			if (tool->Heater(i) == heater)
			{
				// It's already in use by some tool
				return true;
			}
		}
	}

	return false;
}

unsigned int RepRap::GetNumberOfContiguousTools() const
{
	unsigned int numTools = 0;
	while (GetTool(numTools) != nullptr)
	{
		++numTools;
	}
	return numTools;
}

void RepRap::Tick()
{
	if (active && !resetting)
	{
		platform->Tick();
		++ticksInSpinState;
		if (ticksInSpinState >= MaxTicksInSpinState)	// if we stall for 20 seconds, save diagnostic data and reset
		{
			resetting = true;
			for (size_t i = 0; i < Heaters; i++)
			{
				platform->SetHeater(i, 0.0);
			}
			for (size_t i = 0; i < DRIVES; i++)
			{
				platform->DisableDrive(i);
				// We can't set motor currents to 0 here because that requires interrupts to be working, and we are in an ISR
			}

			// We now save the stack when we get stuck in a spin loop
			register const uint32_t * stackPtr asm ("sp");
			platform->SoftwareReset((uint16_t)SoftwareResetReason::stuckInSpin, stackPtr + 5);
		}
	}
}

// Return true if we are close to timeout
bool RepRap::SpinTimeoutImminent() const
{
	return ticksInSpinState >= HighTicksInSpinState;
}

// Get the JSON status response for the web server (or later for the M105 command).
// Type 1 is the ordinary JSON status response.
// Type 2 is the same except that static parameters are also included.
// Type 3 is the same but instead of static parameters we report print estimation values.
OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
{
	// Need something to write to...
	OutputBuffer *response;
	if (!OutputBuffer::Allocate(response))
	{
		// Should never happen
		return nullptr;
	}

	// Machine status
	char ch = GetStatusCharacter();
	response->printf("{\"status\":\"%c\",\"coords\":{", ch);

	// Coordinates
	const size_t numVisibleAxes = gCodes->GetVisibleAxes();
	// Homed axes
	response->cat("\"axesHomed\":");
	ch = '[';
	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
	{
		response->catf("%c%d", ch, (gCodes->GetAxisIsHomed(axis)) ? 1 : 0);
		ch = ',';
	}

	// XYZ positions
	// Coordinates may be NaNs or infinities, for example when delta or SCARA homing fails. We must replace any NaNs or infinities to avoid JSON parsing errors.
	// Ideally we would report "unknown" or similar for axis positions that are not known because we haven't homed them, but that requires changes to both DWC and PanelDue.
	// So we report 9999.9 instead.

	// First the user coordinates
	response->cat("],\"xyz\":");
	const float * const userPos = gCodes->GetUserPosition();
	ch = '[';
	for (size_t axis = 0; axis < numVisibleAxes; axis++)
	{
		const float coord = userPos[axis];
		response->catf("%c%.3f", ch, HideNan(coord));
		ch = ',';
	}

	// Now the machine coordinates and the extruder coordinates
	{
		float liveCoordinates[DRIVES];
#if SUPPORT_ROLAND
		if (roland->Active())
		{
			roland->GetCurrentRolandPosition(liveCoordinates);
		}
		else
#endif
		{
			move->LiveCoordinates(liveCoordinates, GetCurrentXAxes(), GetCurrentYAxes());
		}

		// Machine coordinates
		response->catf("],\"machine\":");		// announce the machine position
		ch = '[';
		for (size_t drive = 0; drive < numVisibleAxes; drive++)
		{
			response->catf("%c%.3f", ch, HideNan(liveCoordinates[drive]));
			ch = ',';
		}

		// Actual and theoretical extruder positions since power up, last G92 or last M23
		response->catf("],\"extr\":");			// announce actual extruder positions
		ch = '[';
		for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++)
		{
			response->catf("%c%.1f", ch, (double)liveCoordinates[gCodes->GetTotalAxes() + extruder]);
			ch = ',';
		}
		if (ch == '[')							// we may have no extruders
		{
			response->cat(ch);
		}
	}

	// Current tool number
	response->catf("]},\"currentTool\":%d", GetCurrentToolNumber());

	// Output notifications
	{
		const bool sendBeep = ((source == ResponseSource::AUX || !platform->HaveAux()) && beepDuration != 0 && beepFrequency != 0);
		const bool sendMessage = (message[0] != 0);

		float timeLeft = 0.0;
		MutexLocker lock(messageBoxMutex);
		if (displayMessageBox && boxTimer != 0)
		{
			timeLeft = (float)(boxTimeout) / 1000.0 - (float)(millis() - boxTimer) / 1000.0;
			displayMessageBox = (timeLeft > 0.0);
		}

		if (sendBeep || sendMessage || displayMessageBox)
		{
			response->cat(",\"output\":{");

			// Report beep values
			if (sendBeep)
			{
				response->catf("\"beepDuration\":%u,\"beepFrequency\":%u", beepDuration, beepFrequency);
				if (sendMessage)
				{
					response->cat(",");
				}
				beepFrequency = beepDuration = 0;
			}

			// Report message
			if (sendMessage)
			{
				response->cat("\"message\":");
				response->EncodeString(message, ARRAY_SIZE(message), false);
				if (displayMessageBox)
				{
					response->cat(",");
				}
				message[0] = 0;
			}

			// Report message box
			if (displayMessageBox)
			{
				response->cat("\"msgBox\":{\"msg\":");
				response->EncodeString(boxMessage.c_str(), boxMessage.Capacity(), false);
				response->cat(",\"title\":");
				response->EncodeString(boxTitle.c_str(), boxTitle.Capacity(), false);
				response->catf(",\"mode\":%d,\"seq\":%" PRIu32 ",\"timeout\":%.1f,\"controls\":%" PRIu32 "}", boxMode, boxSeq, (double)timeLeft, boxControls);
			}
			response->cat("}");
		}
	}

	// Parameters
	{
		// ATX power
		response->catf(",\"params\":{\"atxPower\":%d", platform->AtxPower() ? 1 : 0);

		// Cooling fan value
		response->cat(",\"fanPercent\":");
		ch = '[';
		for(size_t i = 0; i < NUM_FANS; i++)
		{
			response->catf("%c%.1f", ch, (double)(platform->GetFanValue(i) * 100.0));
			ch = ',';
		}

		// Speed and Extrusion factors
		response->catf("],\"speedFactor\":%.1f,\"extrFactors\":", (double)(gCodes->GetSpeedFactor() * 100.0));
		ch = '[';
		for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++)
		{
			response->catf("%c%.1f", ch, (double)(gCodes->GetExtrusionFactor(extruder) * 100.0));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");
		response->catf(",\"babystep\":%.03f}", (double)gCodes->GetBabyStepOffset());
	}

	// G-code reply sequence for webserver (sequence number for AUX is handled later)
	if (source == ResponseSource::HTTP)
	{
		response->catf(",\"seq\":%" PRIu32, network->GetHttpReplySeq());
	}

	/* Sensors */
	{
		response->cat(",\"sensors\":{");

		// Probe
		const int v0 = platform->GetZProbeReading();
		int v1, v2;
		switch (platform->GetZProbeSecondaryValues(v1, v2))
		{
			case 1:
				response->catf("\"probeValue\":%d,\"probeSecondary\":[%d]", v0, v1);
				break;
			case 2:
				response->catf("\"probeValue\":%d,\"probeSecondary\":[%d,%d]", v0, v1, v2);
				break;
			default:
				response->catf("\"probeValue\":%d", v0);
				break;
		}

		// Fan RPM
		response->catf(",\"fanRPM\":%d}", static_cast<unsigned int>(platform->GetFanRPM()));
	}

	/* Temperatures */
	{
		response->cat(",\"temps\":{");

		/* Bed */
		const int8_t bedHeater = (NumBedHeaters > 0) ? heat->GetBedHeater(0) : -1;
		if (bedHeater != -1)
		{
			response->catf("\"bed\":{\"current\":%.1f,\"active\":%.1f,\"state\":%d,\"heater\":%d},",
				(double)heat->GetTemperature(bedHeater), (double)heat->GetActiveTemperature(bedHeater),
					heat->GetStatus(bedHeater), bedHeater);
		}

		/* Chamber */
		const int8_t chamberHeater = (NumChamberHeaters > 0) ? heat->GetChamberHeater(0) : -1;
		if (chamberHeater != -1)
		{
			response->catf("\"chamber\":{\"current\":%.1f,\"active\":%.1f,\"state\":%d,\"heater\":%d},",
				(double)heat->GetTemperature(chamberHeater), (double)heat->GetActiveTemperature(chamberHeater),
					heat->GetStatus(chamberHeater), chamberHeater);
		}

		/* Cabinet */
		const int8_t cabinetHeater = (NumChamberHeaters > 1) ? heat->GetChamberHeater(1) : -1;
		if (cabinetHeater != -1)
		{
			response->catf("\"cabinet\":{\"current\":%.1f,\"active\":%.1f,\"state\":%d,\"heater\":%d},",
				(double)heat->GetTemperature(cabinetHeater), (double)heat->GetActiveTemperature(cabinetHeater),
					heat->GetStatus(cabinetHeater), cabinetHeater);
		}

		/* Heaters */

		// Current temperatures
		response->cat("\"current\":");
		ch = '[';
		for (size_t heater = 0; heater < Heaters; heater++)
		{
			response->catf("%c%.1f", ch, (double)heat->GetTemperature(heater));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		// Current states
		response->cat(",\"state\":");
		ch = '[';
		for (size_t heater = 0; heater < Heaters; heater++)
		{
			response->catf("%c%d", ch, heat->GetStatus(heater));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		/* Heads - NOTE: This field is subject to deprecation and will be removed in v1.20 */
		response->cat(",\"heads\":{\"current\":");

		// Current temperatures
		ch = '[';
		for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
		{
			response->catf("%c%.1f", ch, (double)heat->GetTemperature(heater));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		// Active temperatures
		response->catf(",\"active\":");
		ch = '[';
		for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
		{
			response->catf("%c%.1f", ch, (double)heat->GetActiveTemperature(heater));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		// Standby temperatures
		response->catf(",\"standby\":");
		ch = '[';
		for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
		{
			response->catf("%c%.1f", ch, (double)heat->GetStandbyTemperature(heater));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		// Heater statuses (0=off, 1=standby, 2=active, 3=fault)
		response->cat(",\"state\":");
		ch = '[';
		for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
		{
			response->catf("%c%d", ch, static_cast<int>(heat->GetStatus(heater)));
			ch = ',';
		}
		response->cat((ch == '[') ? "[]" : "]");

		/* Tool temperatures */
		response->cat("},\"tools\":{\"active\":[");
		{
			MutexLocker lock(toolListMutex);
			for (const Tool *tool = toolList; tool != nullptr; tool = tool->Next())
			{
				ch = '[';
				for (size_t heater = 0; heater < tool->heaterCount; heater++)
				{
					response->catf("%c%.1f", ch, (double)tool->activeTemperatures[heater]);
					ch = ',';
				}
				response->cat((ch == '[') ? "[]" : "]");

				if (tool->Next() != nullptr)
				{
					response->cat(",");
				}
			}

			response->cat("],\"standby\":[");
			for (const Tool *tool = toolList; tool != nullptr; tool = tool->Next())
			{
				ch = '[';
				for (size_t heater = 0; heater < tool->heaterCount; heater++)
				{
					response->catf("%c%.1f", ch, (double)tool->standbyTemperatures[heater]);
					ch = ',';
				}
				response->cat((ch == '[') ? "[]" : "]");

				if (tool->Next() != nullptr)
				{
					response->cat(",");
				}
			}
		}

		// Named extra temperature sensors
		response->cat("]},\"extra\":[");
		bool first = true;
		for (size_t heater = FirstVirtualHeater; heater < FirstVirtualHeater + MaxVirtualHeaters; ++heater)
		{
			const char * const nm = heat->GetHeaterName(heater);
			if (nm != nullptr)
			{
				if (!first)
				{
					response->cat(',');
				}
				first = false;
				response->cat("{\"name\":");
				response->EncodeString(nm, strlen(nm), false, true);
				TemperatureError err;
				const float t = heat->GetTemperature(heater, err);
				response->catf(",\"temp\":%.1f}", (double)t);
			}
		}

		response->cat("]}");
	}

	// Time since last reset
	response->catf(",\"time\":%.1f", (double)(millis64()/1000u));

#if SUPPORT_SCANNER
	// Scanner
	if (scanner->IsEnabled())
	{
		response->catf(",\"scanner\":{\"status\":\"%c\"", scanner->GetStatusCharacter());
		response->catf(",\"progress\":%.1f}", (double)(scanner->GetProgress()));
	}
#endif

	// Spindles
	if (gCodes->GetMachineType() == MachineType::cnc)
	{
		response->cat(",\"spindles\":[");
		for (size_t i = 0; i < MaxSpindles; i++)
		{
			if (i > 0)
			{
				response->cat(',');
			}

			const Spindle& spindle = platform->AccessSpindle(i);
			response->catf("{\"current\":%.1f,\"active\":%.1f", (double)spindle.GetCurrentRpm(), (double)spindle.GetRpm());
			if (type == 2)
			{
				response->catf(",\"tool\":%d}", spindle.GetToolNumber());
			}
			else
			{
				response->cat('}');
			}
		}
		response->cat(']');
	}

	/* Extended Status Response */
	if (type == 2)
	{
		// Cold Extrude/Retract
		response->catf(",\"coldExtrudeTemp\":%.1f", (double)(heat->ColdExtrude() ? 0.0 : HOT_ENOUGH_TO_EXTRUDE));
		response->catf(",\"coldRetractTemp\":%.1f", (double)(heat->ColdExtrude() ? 0.0 : HOT_ENOUGH_TO_RETRACT));

		// Controllable Fans
		FansBitmap controllableFans = 0;
		for (size_t fan = 0; fan < NUM_FANS; fan++)
		{
			if (platform->IsFanControllable(fan))
			{
				SetBit(controllableFans, fan);
			}
		}
		response->catf(",\"controllableFans\":%lu", controllableFans);

		// Maximum hotend temperature - DWC just wants the highest one
		response->catf(",\"tempLimit\":%.1f", (double)(heat->GetHighestTemperatureLimit()));

		// Endstops
		uint32_t endstops = 0;
		const size_t totalAxes = gCodes->GetTotalAxes();
		for (size_t drive = 0; drive < DRIVES; drive++)
		{
			if (drive < totalAxes)
			{
				const EndStopHit es = platform->Stopped(drive);
				if (es == EndStopHit::highHit || es == EndStopHit::lowHit)
				{
					endstops |= (1u << drive);

				}
			}
			else if (platform->EndStopInputState(drive))
			{
				endstops |= (1u << drive);
			}
		}
		response->catf(",\"endstops\":%" PRIu32, endstops);

		// Firmware name, machine geometry and number of axes
		response->catf(",\"firmwareName\":\"%s\",\"geometry\":\"%s\",\"axes\":%u,\"axisNames\":\"%s\"", FIRMWARE_NAME, move->GetGeometryString(), numVisibleAxes, gCodes->GetAxisLetters());

		// Total and mounted volumes
		size_t mountedCards = 0;
		for (size_t i = 0; i < NumSdCards; i++)
		{
			if (platform->GetMassStorage()->IsDriveMounted(i))
			{
				mountedCards |= (1 << i);
			}
		}
		response->catf(",\"volumes\":%u,\"mountedVolumes\":%u", NumSdCards, mountedCards);

		// Machine name
		response->cat(",\"name\":");
		response->EncodeString(myName.c_str(), myName.Capacity(), false);

		/* Probe */
		{
			const ZProbe probeParams = platform->GetCurrentZProbeParameters();

			// Trigger threshold
			response->catf(",\"probe\":{\"threshold\":%" PRIi32, probeParams.adcValue);

			// Trigger height
			response->catf(",\"height\":%.2f", (double)probeParams.triggerHeight);

			// Type
			response->catf(",\"type\":%u}", (unsigned int)platform->GetZProbeType());
		}

		/* Tool Mapping */
		{
			response->cat(",\"tools\":[");
			MutexLocker lock(toolListMutex);
			for (Tool *tool = toolList; tool != nullptr; tool = tool->Next())
			{
				// Number and Name
				const char *toolName = tool->GetName();
				response->catf("{\"number\":%d,\"name\":", tool->Number());
				response->EncodeString(toolName, strlen(toolName), false);

				// Heaters
				response->cat(",\"heaters\":[");
				for (size_t heater = 0; heater < tool->HeaterCount(); heater++)
				{
					response->catf("%d", tool->Heater(heater));
					if (heater + 1 < tool->HeaterCount())
					{
						response->cat(",");
					}
				}

				// Extruder drives
				response->cat("],\"drives\":[");
				for (size_t drive = 0; drive < tool->DriveCount(); drive++)
				{
					response->catf("%d", tool->Drive(drive));
					if (drive + 1 < tool->DriveCount())
					{
						response->cat(",");
					}
				}

				// Axis mapping
				response->cat("],\"axisMap\":[[");
				bool first = true;
				for (size_t xi = 0; xi < MaxAxes; ++xi)
				{
					if ((tool->GetXAxisMap() & (1u << xi)) != 0)
					{
						if (first)
						{
							first = false;
						}
						else
						{
							response->cat(",");
						}
						response->catf("%u", xi);
					}
				}
				response->cat("],[");
				first = true;
				for (size_t yi = 0; yi < MaxAxes; ++yi)
				{
					if ((tool->GetYAxisMap() & (1u << yi)) != 0)
					{
						if (first)
						{
							first = false;
						}
						else
						{
							response->cat(",");
						}
						response->catf("%u", yi);
					}
				}
				response->cat("]]");

				// Fan mapping
				response->catf(",\"fans\":%lu", tool->GetFanMapping());

				// Filament (if any)
				if (tool->GetFilament() != nullptr)
				{
					const char *filamentName = tool->GetFilament()->GetName();
					response->catf(",\"filament\":");
					response->EncodeString(filamentName, strlen(filamentName), false);
				}

				// Offsets
				response->cat(",\"offsets\":[");
				for (size_t i = 0; i < numVisibleAxes; i++)
				{
					response->catf((i == 0) ? "%.2f" : ",%.2f", (double)tool->GetOffset(i));
				}

  				// Do we have any more tools?
				response->cat((tool->Next() != nullptr) ? "]}," : "]}");
			}
			response->cat("]");
		}

		// MCU temperatures
#if HAS_CPU_TEMP_SENSOR
		{
			float minT, currT, maxT;
			platform->GetMcuTemperatures(minT, currT, maxT);
			response->catf(",\"mcutemp\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", (double)minT, (double)currT, (double)maxT);
		}
#endif

#if HAS_VOLTAGE_MONITOR
		// Power in voltages
		{
			float minV, currV, maxV;
			platform->GetPowerVoltages(minV, currV, maxV);
			response->catf(",\"vin\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", (double)minV, (double)currV, (double)maxV);
		}
#endif
	}
	else if (type == 3)
	{
		// Current Layer
		response->catf(",\"currentLayer\":%d", printMonitor->GetCurrentLayer());

		// Current Layer Time
		response->catf(",\"currentLayerTime\":%.1f", (double)(printMonitor->GetCurrentLayerTime()));

		// Raw Extruder Positions
		response->cat(",\"extrRaw\":");
		ch = '[';
		for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++)		// loop through extruders
		{
			response->catf("%c%.1f", ch, (double)(gCodes->GetRawExtruderTotalByDrive(extruder)));
			ch = ',';
		}
		if (ch == '[')
		{
			response->cat(ch);		// no extruders
		}

		// Fraction of file printed
		response->catf("],\"fractionPrinted\":%.1f", (double)((printMonitor->IsPrinting()) ? (gCodes->FractionOfFilePrinted() * 100.0) : 0.0));

		// First Layer Duration
		response->catf(",\"firstLayerDuration\":%.1f", (double)(printMonitor->GetFirstLayerDuration()));

		// First Layer Height
		// NB: This shouldn't be needed any more, but leave it here for the case that the file-based first-layer detection fails
		response->catf(",\"firstLayerHeight\":%.2f", (double)(printMonitor->GetFirstLayerHeight()));

		// Print Duration
		response->catf(",\"printDuration\":%.1f", (double)(printMonitor->GetPrintDuration()));

		// Warm-Up Time
		response->catf(",\"warmUpDuration\":%.1f", (double)(printMonitor->GetWarmUpDuration()));

		/* Print Time Estimations */
		{
			// Based on file progress
			response->catf(",\"timesLeft\":{\"file\":%.1f", (double)(printMonitor->EstimateTimeLeft(fileBased)));

			// Based on filament usage
			response->catf(",\"filament\":%.1f", (double)(printMonitor->EstimateTimeLeft(filamentBased)));

			// Based on layers
			response->catf(",\"layer\":%.1f}", (double)(printMonitor->EstimateTimeLeft(layerBased)));
		}
	}

	if (source == ResponseSource::AUX)
	{
		OutputBuffer *reply = platform->GetAuxGCodeReply();
		if (response != nullptr)
		{
			// Send the response to the last command. Do this last
			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
		}
	}
	response->cat("}");

	return response;
}

OutputBuffer *RepRap::GetConfigResponse()
{
	// We need some resources to return a valid config response...
	OutputBuffer *response;
	if (!OutputBuffer::Allocate(response))
	{
		return nullptr;
	}

	const size_t numAxes = gCodes->GetVisibleAxes();

	// Axis minima
	response->copy("{\"axisMins\":");
	char ch = '[';
	for (size_t axis = 0; axis < numAxes; axis++)
	{
		response->catf("%c%.2f", ch, (double)(platform->AxisMinimum(axis)));
		ch = ',';
	}

	// Axis maxima
	response->cat("],\"axisMaxes\":");
	ch = '[';
	for (size_t axis = 0; axis < numAxes; axis++)
	{
		response->catf("%c%.2f", ch, (double)(platform->AxisMaximum(axis)));
		ch = ',';
	}

	// Accelerations
	response->cat("],\"accelerations\":");
	ch = '[';
	for (size_t drive = 0; drive < DRIVES; drive++)
	{
		response->catf("%c%.2f", ch, (double)(platform->Acceleration(drive)));
		ch = ',';
	}

	// Motor currents
	response->cat("],\"currents\":");
	ch = '[';
	for (size_t drive = 0; drive < DRIVES; drive++)
	{
		response->catf("%c%.2f", ch, (double)(platform->GetMotorCurrent(drive, 906)));
		ch = ',';
	}

	// Firmware details
	response->catf("],\"firmwareElectronics\":\"%s", platform->GetElectronicsString());
#ifdef DUET_NG
	const char* expansionName = DuetExpansion::GetExpansionBoardName();
	if (expansionName != nullptr)
	{
		response->catf(" + %s", expansionName);
	}
	const char* additionalExpansionName = DuetExpansion::GetAdditionalExpansionBoardName();
	if (additionalExpansionName != nullptr)
	{
		response->catf(" + %s", additionalExpansionName);
	}
#endif
	response->catf("\",\"firmwareName\":\"%s\"", FIRMWARE_NAME);
	response->catf(",\"firmwareVersion\":\"%s\"", VERSION);

#if HAS_WIFI_NETWORKING
	// If we have WiFi networking, send the WiFi module firmware version
# ifdef DUET_NG
	if (platform->IsDuetWiFi())
	{
# endif
		response->catf(",\"dwsVersion\":\"%s\"", network->GetWiFiServerVersion());
# ifdef DUET_NG
	}
# endif
#endif

	response->catf(",\"firmwareDate\":\"%s\"", DATE);

	// Motor idle parameters
	response->catf(",\"idleCurrentFactor\":%.1f", (double)(platform->GetIdleCurrentFactor() * 100.0));
	response->catf(",\"idleTimeout\":%.1f", (double)(move->IdleTimeout()));

	// Minimum feedrates
	response->cat(",\"minFeedrates\":");
	ch = '[';
	for (size_t drive = 0; drive < DRIVES; drive++)
	{
		response->catf("%c%.2f", ch, (double)(platform->GetInstantDv(drive)));
		ch = ',';
	}

	// Maximum feedrates
	response->cat("],\"maxFeedrates\":");
	ch = '[';
	for (size_t drive = 0; drive < DRIVES; drive++)
	{
		response->catf("%c%.2f", ch, (double)(platform->MaxFeedrate(drive)));
		ch = ',';
	}

	// Config file is no longer included, because we can use rr_configfile or M503 instead
	response->cat("]}");

	return response;
}

// Get the JSON status response for PanelDue or the old web server.
// Type 0 was the old-style webserver status response, but is no longer supported.
// Type 1 is the new-style webserver status response.
// Type 2 is the M105 S2 response, which is like the new-style status response but some fields are omitted.
// Type 3 is the M105 S3 response, which is like the M105 S2 response except that static values are also included.
// 'seq' is the response sequence number, if it is not -1 and we have a different sequence number then we send the gcode response
OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
{
	// Need something to write to...
	OutputBuffer *response;
	if (!OutputBuffer::Allocate(response))
	{
		// Should never happen
		return nullptr;
	}

	// Send the status. Note that 'S' has always meant that the machine is halted in this version of the status response, so we use A for pAused.
	char ch = GetStatusCharacter();
	if (ch == 'S')			// if paused then send 'A'
	{
		ch = 'A';
	}
	else if (ch == 'H')		// if halted then send 'S'
	{
		ch = 'S';
	}
	response->printf("{\"status\":\"%c\",\"heaters\":", ch);

	// Send the heater actual temperatures. If there is no bed heater, send zero for PanelDue.
	const int8_t bedHeater = (NumBedHeaters > 0) ? heat->GetBedHeater(0) : -1;
	ch = ',';
	response->catf("[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetTemperature(bedHeater)));
	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
	{
		response->catf("%c%.1f", ch, (double)(heat->GetTemperature(heater)));
		ch = ',';
	}
	response->cat((ch == '[') ? "[]" : "]");

	// Send the heater active temperatures
	response->catf(",\"active\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetActiveTemperature(bedHeater)));
	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
	{
		response->catf(",%.1f", (double)(heat->GetActiveTemperature(heater)));
	}
	response->cat("]");

	// Send the heater standby temperatures
	response->catf(",\"standby\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetStandbyTemperature(bedHeater)));
	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
	{
		response->catf(",%.1f", (double)(heat->GetStandbyTemperature(heater)));
	}
	response->cat("]");

	// Send the heater statuses (0=off, 1=standby, 2=active, 3 = fault)
	response->catf(",\"hstat\":[%d", (bedHeater == -1) ? 0 : static_cast<int>(heat->GetStatus(bedHeater)));
	for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
	{
		response->catf(",%d", static_cast<int>(heat->GetStatus(heater)));
	}
	response->cat("]");

	// Send XYZ positions
	const size_t numVisibleAxes = gCodes->GetVisibleAxes();

	// First the user coordinates
	response->catf(",\"pos\":");			// announce the user position
	const float * const userPos = gCodes->GetUserPosition();
	ch = '[';
	for (size_t axis = 0; axis < numVisibleAxes; axis++)
	{
		// Coordinates may be NaNs, for example when delta or SCARA homing fails. Replace any NaNs or infinities by 9999.9 to prevent JSON parsing errors.
		const float coord = userPos[axis];
		response->catf("%c%.3f", ch, (double)((std::isnan(coord) || std::isinf(coord)) ? 9999.9 : coord));
		ch = ',';
	}

	// Now the machine coordinates
	float liveCoordinates[DRIVES];
	move->LiveCoordinates(liveCoordinates, GetCurrentXAxes(), GetCurrentYAxes());
	response->catf("],\"machine\":");		// announce the machine position
	ch = '[';
	for (size_t drive = 0; drive < numVisibleAxes; drive++)
	{
		response->catf("%c%.3f", ch, (double)liveCoordinates[drive]);
		ch = ',';
	}

	// Send the speed and extruder override factors
	response->catf("],\"sfactor\":%.2f,\"efactor\":", (double)(gCodes->GetSpeedFactor() * 100.0));
	ch = '[';
	for (size_t i = 0; i < GetExtrudersInUse(); ++i)
	{
		response->catf("%c%.2f", ch, (double)(gCodes->GetExtrusionFactor(i) * 100.0));
		ch = ',';
	}
	response->cat((ch == '[') ? "[]" : "]");

	// Send the baby stepping offset
	response->catf(",\"babystep\":%.03f", (double)(gCodes->GetBabyStepOffset()));

	// Send the current tool number
	response->catf(",\"tool\":%d", GetCurrentToolNumber());

	// Send the Z probe value
	const int v0 = platform->GetZProbeReading();
	int v1, v2;
	switch (platform->GetZProbeSecondaryValues(v1, v2))
	{
	case 1:
		response->catf(",\"probe\":\"%d (%d)\"", v0, v1);
		break;
	case 2:
		response->catf(",\"probe\":\"%d (%d, %d)\"", v0, v1, v2);
		break;
	default:
		response->catf(",\"probe\":\"%d\"", v0);
		break;
	}

	// Send the fan settings, for PanelDue firmware 1.13 and later
	response->catf(",\"fanPercent\":");
	ch = '[';
	for (size_t i = 0; i < NUM_FANS; ++i)
	{
		response->catf("%c%.02f", ch, (double)(platform->GetFanValue(i) * 100.0));
		ch = ',';
	}

	// Send fan RPM value (we only support one)
	response->catf("],\"fanRPM\":%u", static_cast<unsigned int>(platform->GetFanRPM()));

	// Send the home state. To keep the messages short, we send 1 for homed and 0 for not homed, instead of true and false.
	response->cat(",\"homed\":");
	ch = '[';
	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
	{
		response->catf("%c%d", ch, (gCodes->GetAxisIsHomed(axis)) ? 1 : 0);
		ch = ',';
	}
	response->cat(']');

	if (printMonitor->IsPrinting())
	{
		// Send the fraction printed
		response->catf(",\"fraction_printed\":%.4f", (double)max<float>(0.0, gCodes->FractionOfFilePrinted()));
	}

	// Short messages are now pushed directly to PanelDue, so don't include them here as well
	// We no longer send the amount of http buffer space here because the web interface doesn't use these forms of status response

	// Deal with the message box, if there is one
	{
		float timeLeft = 0.0;
		MutexLocker lock(messageBoxMutex);

		if (displayMessageBox && boxTimer != 0)
		{
			timeLeft = (float)(boxTimeout) / 1000.0 - (float)(millis() - boxTimer) / 1000.0;
			displayMessageBox = (timeLeft > 0.0);
		}

		if (displayMessageBox)
		{
			response->catf(",\"msgBox.mode\":%d,\"msgBox.seq\":%" PRIu32 ",\"msgBox.timeout\":%.1f,\"msgBox.controls\":%" PRIu32 "",
							boxMode, boxSeq, (double)timeLeft, boxControls);
			response->cat(",\"msgBox.msg\":");
			response->EncodeString(boxMessage.c_str(), boxMessage.Capacity(), false);
			response->cat(",\"msgBox.title\":");
			response->EncodeString(boxTitle.c_str(), boxTitle.Capacity(), false);
		}
		else
		{
			response->cat(",\"msgBox.mode\":-1");					// tell PanelDue that there is no active message box
		}
	}

	if (type == 2)
	{
		if (printMonitor->IsPrinting())
		{
			// Send estimated times left based on file progress, filament usage, and layers
			response->catf(",\"timesLeft\":[%.1f,%.1f,%.1f]",
					(double)(printMonitor->EstimateTimeLeft(fileBased)),
					(double)(printMonitor->EstimateTimeLeft(filamentBased)),
					(double)(printMonitor->EstimateTimeLeft(layerBased)));
		}
	}
	else if (type == 3)
	{
		// Add the static fields
		response->catf(",\"geometry\":\"%s\",\"axes\":%u,\"axisNames\":\"%s\",\"volumes\":%u,\"numTools\":%u,\"myName\":",
						move->GetGeometryString(), numVisibleAxes, gCodes->GetAxisLetters(), NumSdCards, GetNumberOfContiguousTools());
		response->EncodeString(myName.c_str(), myName.Capacity(), false);
		response->cat(",\"firmwareName\":");
		response->EncodeString(FIRMWARE_NAME, strlen(FIRMWARE_NAME), false);
	}

	const int auxSeq = (int)platform->GetAuxSeq();
	if (type < 2 || (seq != -1 && auxSeq != seq))
	{

		// Send the response to the last command. Do this last because it can be long and may need to be truncated.
		response->catf(",\"seq\":%d,\"resp\":", auxSeq);					// send the response sequence number

		// Send the JSON response
		response->EncodeReply(platform->GetAuxGCodeReply(), true);			// also releases the OutputBuffer chain
	}

	response->cat("}");
	return response;
}

// Get the list of files in the specified directory in JSON format.
// If flagDirs is true then we prefix each directory with a * character.
OutputBuffer *RepRap::GetFilesResponse(const char *dir, bool flagsDirs)
{
	// Need something to write to...
	OutputBuffer *response;
	if (!OutputBuffer::Allocate(response))
	{
		return nullptr;
	}

	response->copy("{\"dir\":");
	response->EncodeString(dir, strlen(dir), false);
	response->cat(",\"files\":[");
	unsigned int err;

	if (!platform->GetMassStorage()->CheckDriveMounted(dir))
	{
		err = 1;
	}
	else
	{
		err = 0;
		FileInfo fileInfo;
		bool firstFile = true;
		bool gotFile = platform->GetMassStorage()->FindFirst(dir, fileInfo);	// TODO error handling here

		size_t bytesLeft = OutputBuffer::GetBytesLeft(response);	// don't write more bytes than we can
		char filename[MaxFilenameLength];
		filename[0] = '*';
		const char *fname;

		while (gotFile)
		{
			if (fileInfo.fileName[0] != '.')						// ignore Mac resource files and Linux hidden files
			{
				// Get the long filename if possible
				if (flagsDirs && fileInfo.isDirectory)
				{
					SafeStrncpy(filename + 1, fileInfo.fileName, ARRAY_SIZE(fileInfo.fileName) - 1);
					fname = filename;
				}
				else
				{
					fname = fileInfo.fileName;
				}

				// Make sure we can end this response properly
				if (bytesLeft < strlen(fname) * 2 + 4)
				{
					// No more space available - stop here
					platform->GetMassStorage()->AbandonFindNext();
					break;
				}

				// Write separator and filename
				if (!firstFile)
				{
					bytesLeft -= response->cat(',');
				}
				bytesLeft -= response->EncodeString(fname, MaxFilenameLength, false);

				firstFile = false;
			}
			gotFile = platform->GetMassStorage()->FindNext(fileInfo);	// TODO error handling here
		}
	}
	response->catf("],\"err\":%u}", err);
	return response;
}

// Get information for the specified file, or the currently printing file, in JSON format
bool RepRap::GetFileInfoResponse(const char *filename, OutputBuffer *&response, bool quitEarly)
{
	// Poll file info for a specific file
	if (filename != nullptr && filename[0] != 0)
	{
		GCodeFileInfo info;
		if (!platform->GetMassStorage()->GetFileInfo(FS_PREFIX, filename, info, quitEarly))
		{
			// This may take a few runs...
			return false;
		}

		if (info.isValid)
		{
			if (!OutputBuffer::Allocate(response))
			{
				// Should never happen
				return false;
			}

			response->printf("{\"err\":0,\"size\":%lu,",info.fileSize);
			const struct tm * const timeInfo = gmtime(&info.lastModifiedTime);
			if (timeInfo->tm_year > /*19*/80)
			{
				response->catf("\"lastModified\":\"%04u-%02u-%02uT%02u:%02u:%02u\",",
						timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday,
						timeInfo->tm_hour, timeInfo->tm_min, timeInfo->tm_sec);
			}

			response->catf("\"height\":%.2f,\"firstLayerHeight\":%.2f,\"layerHeight\":%.2f,\"filament\":",
				(double)info.objectHeight, (double)info.firstLayerHeight, (double)info.layerHeight);
			char ch = '[';
			if (info.numFilaments == 0)
			{
				response->cat(ch);
			}
			else
			{
				for (size_t i = 0; i < info.numFilaments; ++i)
				{
					response->catf("%c%.1f", ch, (double)info.filamentNeeded[i]);
					ch = ',';
				}
			}
			response->cat("],\"generatedBy\":");
			response->EncodeString(info.generatedBy.c_str(), info.generatedBy.Capacity(), false);
			response->cat("}");
		}
		else
		{
			if (!OutputBuffer::Allocate(response))
			{
				// Should never happen
				return false;
			}

			response->copy("{\"err\":1}");
		}
	}
	else if (GetPrintMonitor().IsPrinting())
	{
		return GetPrintMonitor().GetPrintingFileInfoResponse(response);
	}
	else
	{
		if (!OutputBuffer::Allocate(response))
		{
			// Should never happen
			return false;
		}

		response->copy("{\"err\":1}");
	}
	return true;
}

// Get a JSON-style filelist including file types and sizes
OutputBuffer *RepRap::GetFilelistResponse(const char *dir)
{
	// Need something to write to...
	OutputBuffer *response;
	if (!OutputBuffer::Allocate(response))
	{
		return nullptr;
	}

	// If the requested volume is not mounted, report an error
	if (!platform->GetMassStorage()->CheckDriveMounted(dir))
	{
		response->copy("{\"err\":1}");
		return response;
	}

	// Check if the directory exists
	if (!platform->GetMassStorage()->DirectoryExists(dir))
	{
		response->copy("{\"err\":2}");
		return response;
	}

	response->copy("{\"dir\":");
	response->EncodeString(dir, strlen(dir), false);
	response->cat(",\"files\":[");

	FileInfo fileInfo;
	bool firstFile = true;
	bool gotFile = platform->GetMassStorage()->FindFirst(dir, fileInfo);
	size_t bytesLeft = OutputBuffer::GetBytesLeft(response);	// don't write more bytes than we can

	while (gotFile)
	{
		if (fileInfo.fileName[0] != '.')			// ignore Mac resource files and Linux hidden files
		{
			// Make sure we can end this response properly
			if (bytesLeft < strlen(fileInfo.fileName) + 70)
			{
				// No more space available - stop here
				platform->GetMassStorage()->AbandonFindNext();
				break;
			}

			// Write delimiter
			if (!firstFile)
			{
				bytesLeft -= response->cat(',');
			}
			firstFile = false;

			// Write another file entry
			bytesLeft -= response->catf("{\"type\":\"%c\",\"name\":", fileInfo.isDirectory ? 'd' : 'f');
			bytesLeft -= response->EncodeString(fileInfo.fileName, MaxFilenameLength, false);
			bytesLeft -= response->catf(",\"size\":%" PRIu32, fileInfo.size);

			const struct tm * const timeInfo = gmtime(&fileInfo.lastModified);
			if (timeInfo->tm_year <= /*19*/80)
			{
				// Don't send the last modified date if it is invalid
				bytesLeft -= response->cat('}');
			}
			else
			{
				bytesLeft -= response->catf(",\"date\":\"%04u-%02u-%02uT%02u:%02u:%02u\"}",
						timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday,
						timeInfo->tm_hour, timeInfo->tm_min, timeInfo->tm_sec);
			}
		}
		gotFile = platform->GetMassStorage()->FindNext(fileInfo);
	}
	response->cat("]}");

	return response;
}

// Send a beep. We send it to both PanelDue and the web interface.
void RepRap::Beep(unsigned int freq, unsigned int ms)
{
	// Limit the frequency and duration to sensible values
	freq = constrain<unsigned int>(freq, 50, 10000);
	ms = constrain<unsigned int>(ms, 10, 60000);

	// If there is an LCD device present, make it beep
#if SUPPORT_12864_LCD
	if (display->IsPresent())
	{
		display->Beep(freq, ms);
	}
	else
#endif
	if (platform->HaveAux())
	{
		platform->Beep(freq, ms);
	}
	else
	{
		beepFrequency = freq;
		beepDuration = ms;
	}
}

// Send a short message. We send it to both PanelDue and the web interface.
void RepRap::SetMessage(const char *msg)
{
	SafeStrncpy(message, msg, ARRAY_SIZE(message));

	if (platform->HaveAux())
	{
		platform->SendAuxMessage(msg);
	}
}

// Display a message box on the web interface
void RepRap::SetAlert(const char *msg, const char *title, int mode, float timeout, AxesBitmap controls)
{
	MutexLocker lock(messageBoxMutex);
	boxMessage.copy(msg);
	boxTitle.copy(title);
	boxMode = mode;
	boxTimer = (timeout <= 0.0) ? 0 : millis();
	boxTimeout = round(max<float>(timeout, 0.0) * 1000.0);
	boxControls = controls;
	displayMessageBox = true;
	++boxSeq;
}

// Clear pending message box
void RepRap::ClearAlert()
{
	MutexLocker lock(messageBoxMutex);
	displayMessageBox = false;
}

// Get the status character for the new-style status response
char RepRap::GetStatusCharacter() const
{
	return    (processingConfig)										? 'C'	// Reading the configuration file
			: (gCodes->IsFlashing())									? 'F'	// Flashing a new firmware binary
			: (IsStopped()) 											? 'H'	// Halted
#if HAS_VOLTAGE_MONITOR
			: (!platform->HasVinPower())								? 'O'	// Off i.e. powered down
#endif
			: (gCodes->IsPausing()) 									? 'D'	// Pausing / Decelerating
			: (gCodes->IsResuming()) 									? 'R'	// Resuming
			: (gCodes->IsDoingToolChange())								? 'T'	// Changing tool
			: (gCodes->IsPaused()) 										? 'S'	// Paused / Stopped
			: (printMonitor->IsPrinting())
			  ? ((gCodes->IsSimulating())								? 'M'	// Simulating
			  :															  'P'	// Printing
				)
			: (gCodes->DoingFileMacro() || !move->NoLiveMovement()) 	? 'B'	// Busy
			:															  'I';	// Idle
}

bool RepRap::NoPasswordSet() const
{
	return (password[0] == 0 || CheckPassword(DEFAULT_PASSWORD));
}

bool RepRap::CheckPassword(const char *pw) const
{
	String<PASSWORD_LENGTH> copiedPassword;
	copiedPassword.CopyAndPad(pw);
	return password.ConstantTimeEquals(copiedPassword);
}

void RepRap::SetPassword(const char* pw)
{
	password.CopyAndPad(pw);
}

const char *RepRap::GetName() const
{
	return myName.c_str();
}

void RepRap::SetName(const char* nm)
{
	// Users sometimes put a tab character between the machine name and the comment, so allow for this
	myName.copy(nm);

	// Set new DHCP hostname
	network->SetHostname(myName.c_str());
}

// Given that we want to extrude/retract the specified extruder drives, check if they are allowed.
// For each disallowed one, log an error to report later and return a bit in the bitmap.
// This may be called by an ISR!
unsigned int RepRap::GetProhibitedExtruderMovements(unsigned int extrusions, unsigned int retractions)
{
	if (GetHeat().ColdExtrude())
	{
		return 0;
	}

	Tool * const tool = currentTool;
	if (tool == nullptr)
	{
		// This should not happen, but if on tool is selected then don't allow any extruder movement
		return extrusions | retractions;
	}

	unsigned int result = 0;
	for (size_t driveNum = 0; driveNum < tool->DriveCount(); driveNum++)
	{
		const unsigned int extruderDrive = (unsigned int)(tool->Drive(driveNum));
		const unsigned int mask = 1 << extruderDrive;
		if (extrusions & mask)
		{
			if (!tool->ToolCanDrive(true))
			{
				result |= mask;
			}
		}
		else if (retractions & mask)
		{
			if (!tool->ToolCanDrive(false))
			{
				result |= mask;
			}
		}
	}

	return result;
}

void RepRap::FlagTemperatureFault(int8_t dudHeater)
{
	MutexLocker lock(toolListMutex);
	if (toolList != nullptr)
	{
		toolList->FlagTemperatureFault(dudHeater);
	}
}

void RepRap::ClearTemperatureFault(int8_t wasDudHeater)
{
	heat->ResetFault(wasDudHeater);
	MutexLocker lock(toolListMutex);
	if (toolList != nullptr)
	{
		toolList->ClearTemperatureFault(wasDudHeater);
	}
}

// Get the current axes used as X axes
AxesBitmap RepRap::GetCurrentXAxes() const
{
	return (currentTool == nullptr) ? DefaultXAxisMapping : currentTool->GetXAxisMap();
}

// Get the current axes used as X axes
AxesBitmap RepRap::GetCurrentYAxes() const
{
	return (currentTool == nullptr) ? DefaultYAxisMapping : currentTool->GetYAxisMap();
}

// Save some resume information, returning true if successful
// We assume that the tool configuration doesn't change, only the temperatures and the mix
bool RepRap::WriteToolSettings(FileStore *f) const
{
	// First write the settings of all tools except the current one and the command to select them if they are on standby
	bool ok = true;
	MutexLocker lock(toolListMutex);
	for (const Tool *t = toolList; t != nullptr && ok; t = t->Next())
	{
		if (t != currentTool)
		{
			ok = t->WriteSettings(f);
		}
	}

	// Finally write the setting of the active tool and the commands to select it
	if (ok && currentTool != nullptr)
	{
		ok = currentTool->WriteSettings(f);
	}
	return ok;
}

// Save some information in config-override.g
bool RepRap::WriteToolParameters(FileStore *f) const
{
	bool ok = true, written = false;
	MutexLocker lock(toolListMutex);
	for (const Tool *t = toolList; ok && t != nullptr; t = t->Next())
	{
		const AxesBitmap axesProbed = t->GetAxisOffsetsProbed();
		if (axesProbed != 0)
		{
			String<ScratchStringLength> scratchString;
			if (!written)
			{
				scratchString.copy("; Probed tool offsets\n");
				written = true;
			}
			scratchString.catf("G10 P%d", t->Number());
			for (size_t axis = 0; axis < MaxAxes; ++axis)
			{
				if (IsBitSet(axesProbed, axis))
				{
					scratchString.catf(" %c%.2f", gCodes->GetAxisLetters()[axis], (double)(t->GetOffset(axis)));
				}
			}
			scratchString.cat('\n');
			ok = f->Write(scratchString.c_str());
		}
	}
	return ok;
}

// Helper function for diagnostic tests in Platform.cpp, to cause a deliberate divide-by-zero
/*static*/ uint32_t RepRap::DoDivide(uint32_t a, uint32_t b)
{
	return a/b;
}

// Report an internal error
void RepRap::ReportInternalError(const char *file, const char *func, int line) const
{
	platform->MessageF(ErrorMessage, "Internal Error in %s at %s(%d)\n", func, file, line);
}

// End