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#include "RepRap.h"
#include "Movement/Move.h"
#include "Movement/StepTimer.h"
#include "FilamentMonitors/FilamentMonitor.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"
# if SAME70
static_assert(CONF_HSMCI_XDMAC_CHANNEL == DmacChanHsmci, "mismatched DMA channel assignment");
# endif
#endif
#if SUPPORT_CAN_EXPANSION
# include "CAN/CanInterface.h"
#endif
#ifdef RTOS
# include "FreeRTOS.h"
# include "task.h"
# if SAME70
# include "Hardware/DmacManager.h"
# endif
// We call vTaskNotifyGiveFromISR from various interrupts, so the following must be true
static_assert(configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY <= NvicPriorityHSMCI, "configMAX_SYSCALL_INTERRUPT_PRIORITY is set too high");
static TaskHandle_t hsmciTask = nullptr; // the task that is waiting for a HSMCI command to complete
// HSMCI interrupt handler
extern "C" void HSMCI_Handler()
{
HSMCI->HSMCI_IDR = 0xFFFFFFFF; // disable all HSMCI interrupts
#if SAME70
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF; // disable all DMA interrupts for this channel
#endif
if (hsmciTask != nullptr)
{
BaseType_t higherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(hsmciTask, &higherPriorityTaskWoken); // wake up the task
hsmciTask = nullptr;
portYIELD_FROM_ISR(higherPriorityTaskWoken);
}
}
#if SAME70
// HSMCI DMA complete callback
void HsmciDmaCallback(CallbackParameter cp)
{
HSMCI->HSMCI_IDR = 0xFFFFFFFF; // disable all HSMCI interrupts
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF; // disable all DMA interrupts for this channel
if (hsmciTask != nullptr)
{
BaseType_t higherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(hsmciTask, &higherPriorityTaskWoken); // wake up the task
hsmciTask = nullptr;
portYIELD_FROM_ISR(higherPriorityTaskWoken);
}
}
#endif
// 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[DmacChanHsmci].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
DmacManager::SetInterruptCallback(DmacChanHsmci, HsmciDmaCallback, CallbackParameter());
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CIE = dmaBits;
XDMAC->XDMAC_GIE = 1u << DmacChanHsmci;
#endif
if (ulTaskNotifyTake(pdTRUE, 200) == 0)
{
// We timed out waiting for the HSMCI operation to complete
reprap.GetPlatform().LogError(ErrorCode::HsmciTimeout);
}
}
}
#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
}
#endif
#if SUPPORT_OBJECT_MODEL
// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocate in RAM instead of flash, which wastes too much RAM.
// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(_ret) OBJECT_MODEL_FUNC_BODY(RepRap, _ret)
const ObjectModelTableEntry RepRap::objectModelTable[] =
{
// These entries are temporary pending design of the object model
//TODO design the object model
{ "gcodes", OBJECT_MODEL_FUNC(&(self->GetGCodes())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none },
{ "meshProbe", OBJECT_MODEL_FUNC(&(self->GetMove().GetGrid())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none },
{ "move", OBJECT_MODEL_FUNC(&(self->GetMove())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none },
{ "network", OBJECT_MODEL_FUNC(&(self->GetNetwork())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none },
{ "randomProbe", OBJECT_MODEL_FUNC(&(self->GetMove().GetProbePoints())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none },
};
DEFINE_GET_OBJECT_MODEL_TABLE(RepRap)
#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),
#ifdef RTOS
heatTaskIdleTicks(0),
#endif
spinningModule(noModule), debug(0), stopped(false),
active(false), resetting(false), processingConfig(true), beepFrequency(0), beepDuration(0),
diagnosticsDestination(MessageType::NoDestinationMessage), justSentDiagnostics(false)
{
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.Clear();
messageSequence = 0;
}
void RepRap::Init()
{
toolListMutex.Create("ToolList");
messageBoxMutex.Create("MessageBox");
platform->Init();
network->Init();
SetName(DEFAULT_MACHINE_NAME); // Network must be initialised before calling this because this calls SetHostName
gCodes->Init(); // must be called before Move::Init
#if SUPPORT_CAN_EXPANSION
CanInterface::Init();
#endif
move->Init();
heat->Init();
#if SUPPORT_ROLAND
roland->Init();
#endif
#if SUPPORT_SCANNER
scanner->Init();
#endif
#if SUPPORT_IOBITS
portControl->Init();
#endif
printMonitor->Init();
FilamentMonitor::InitStatic();
#if SUPPORT_12864_LCD
display->Init();
#endif
// Set up the timeout of the regular watchdog, and set up the backup watchdog if there is one.
#if __LPC17xx__
wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault
#else
{
// The clock frequency for both watchdogs is about 32768/128 = 256Hz
// The watchdogs on the SAM4E seem to be very timing-sensitive. On the Duet WiFi/Ethernet they were going off spuriously depending on how long the DueX initialisation took.
// The documentation says you mustn't write to the mode register within 3 slow clocks after kicking the watchdog.
// I have a theory that the converse is also true, i.e. after enabling the watchdog you mustn't kick it within 3 slow clocks
// So I've added a delay call before we set 'active' true (which enables kicking the watchdog), and that seems to fix the problem.
const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds)
wdt_init(WDT, WDT_MR_WDRSTEN, timeout, timeout); // reset the processor on a watchdog fault
#if SAM4E || SAME70
// The RSWDT must be initialised *after* the main WDT
const uint16_t rsTimeout = 16384/128; // set secondary watchdog timeout to 0.5 second (max allowed value is 4095 = 16 seconds)
rswdt_init(RSWDT, RSWDT_MR_WDFIEN, rsTimeout, rsTimeout); // generate an interrupt on a watchdog fault
NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt
#endif
delayMicroseconds(200); // 200us is about 6 slow clocks
}
#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);
#if !defined(DUET3_V05) // Duet 3 0.5 has no local SD card
// Try to mount the first SD card
{
GCodeResult rslt;
String<100> reply;
do
{
platform->GetMassStorage()->Spin(); // Spin() doesn't get called regularly until after this function completes, and we need it to update the card detect status
rslt = platform->GetMassStorage()->Mount(0, reply.GetRef(), false);
}
while (rslt == GCodeResult::notFinished);
if (rslt == GCodeResult::ok)
{
// Run the configuration file
const char *configFile = platform->GetConfigFile();
platform->Message(UsbMessage, "\nExecuting ");
if (platform->SysFileExists(configFile))
{
platform->MessageF(UsbMessage, "%s...", configFile);
}
else
{
configFile = platform->GetDefaultFile();
platform->MessageF(UsbMessage, "%s (no configuration file found)...", configFile);
}
if (gCodes->RunConfigFile(configFile))
{
do
{
// GCodes::Spin will read the macro and ensure IsDaemonBusy returns false when it's done
Spin();
} while (gCodes->IsDaemonBusy());
platform->Message(UsbMessage, "Done!\n");
}
else
{
platform->Message(UsbMessage, "Error, not found\n");
}
}
else
{
delay(3000); // Wait a few seconds so users have a chance to see this
platform->MessageF(UsbMessage, "%s\n", reply.c_str());
}
}
#endif
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);
# endif
#endif
platform->MessageF(UsbMessage, "%s is up and running.\n", FIRMWARE_NAME);
fastLoop = UINT32_MAX;
slowLoop = 0;
}
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;
}
const uint32_t lastTime = StepTimer::GetInterruptClocks();
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();
#ifndef RTOS
ticksInSpinState = 0;
spinningModule = moduleHeat;
heat->Spin();
#endif
#if SUPPORT_ROLAND
ticksInSpinState = 0;
spinningModule = moduleRoland;
roland->Spin();
#endif
#if SUPPORT_SCANNER && !SCANNER_AS_SEPARATE_TASK
ticksInSpinState = 0;
spinningModule = moduleScanner;
scanner->Spin();
#endif
#if SUPPORT_IOBITS
ticksInSpinState = 0;
spinningModule = modulePortControl;
portControl->Spin(true);
#endif
ticksInSpinState = 0;
spinningModule = modulePrintMonitor;
printMonitor->Spin();
ticksInSpinState = 0;
spinningModule = moduleFilamentSensors;
FilamentMonitor::Spin();
#if SUPPORT_12864_LCD
ticksInSpinState = 0;
spinningModule = moduleDisplay;
display->Spin();
#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
if (justSentDiagnostics)
{
// Sending diagnostics increases the loop time, so don't count it
justSentDiagnostics = false;
}
else
{
const uint32_t now = StepTimer::GetInterruptClocks();
const uint32_t dt = now - lastTime;
#if 0 //DEBUG
if (dt > 1000000)
{
platform->MessageF(ErrorMessage, "dt %" PRIu32 " now %08" PRIx32 " last %08" PRIx32 "\n", dt, now, lastTime);
}
#endif
if (dt < fastLoop)
{
fastLoop = dt;
}
if (dt > slowLoop)
{
slowLoop = dt;
}
}
RTOSIface::Yield();
}
void RepRap::Timing(MessageType mtype)
{
platform->MessageF(mtype, "Slowest loop: %.2fms; fastest: %.2fms\n", (double)(slowLoop * StepTimer::StepClocksToMillis), (double)(fastLoop * StepTimer::StepClocksToMillis));
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
justSentDiagnostics = true;
}
// 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 by turning fans off.
//platform->SetAtxPower(false);
switch (gCodes->GetMachineType())
{
case MachineType::cnc:
for (size_t i = 0; i < MaxSpindles; i++)
{
platform->AccessSpindle(i).TurnOff();
}
break;
case MachineType::laser:
platform->SetLaserPwm(0);
break;
default:
break;
}
// 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();
}
gCodes->EmergencyStop();
platform->StopLogging();
}
void RepRap::SetDebug(Module m, bool enable)
{
if (m < numModules)
{
if (enable)
{
debug |= (1u << m);
}
else
{
debug &= ~(1u << m);
}
}
PrintDebug();
}
void RepRap::ClearDebug()
{
debug = 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;
}
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()
{
// Kicking the watchdog before it has been initialised may trigger it!
if (active)
{
wdt_restart(WDT); // kick the watchdog
#if SAM4E || SAME70
rswdt_restart(RSWDT); // kick the secondary watchdog
#endif
if (!resetting)
{
platform->Tick();
++ticksInSpinState;
#ifdef RTOS
++heatTaskIdleTicks;
const bool heatTaskStuck = (heatTaskIdleTicks >= MaxTicksInSpinState);
if (heatTaskStuck || ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset
#else
if (ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset
#endif
{
resetting = true;
for (size_t i = 0; i < NumHeaters; i++)
{
platform->SetHeater(i, 0.0);
}
platform->DisableAllDrives();
// We now save the stack when we get stuck in a spin loop
#ifdef RTOS
__asm volatile("mrs r2, psp");
register const uint32_t * stackPtr asm ("r2"); // we want the PSP not the MSP
platform->SoftwareReset(
(heatTaskStuck) ? (uint16_t)SoftwareResetReason::heaterWatchdog : (uint16_t)SoftwareResetReason::stuckInSpin,
stackPtr + 5); // discard uninteresting registers, keep LR PC PSR
#else
register const uint32_t * stackPtr asm ("sp");
platform->SoftwareReset(
(uint16_t)SoftwareResetReason::stuckInSpin,
stackPtr + 5); // discard uninteresting registers, keep LR PC PSR
#endif
}
}
}
}
// 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))
{
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->IsAxisHomed(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
#if SUPPORT_WORKPLACE_COORDINATES
response->catf("],\"wpl\":%u,\"xyz\":", gCodes->GetWorkplaceCoordinateSystemNumber());
#else
response->cat("],\"xyz\":");
#endif
ch = '[';
for (size_t axis = 0; axis < numVisibleAxes; axis++)
{
response->catf("%c%.3f", ch, HideNan(gCodes->GetUserCoordinate(axis)));
ch = ',';
}
// Now the machine coordinates and the extruder coordinates
{
float liveCoordinates[MaxTotalDrivers];
#if SUPPORT_ROLAND
if (roland->Active())
{
roland->GetCurrentRolandPosition(liveCoordinates);
}
else
#endif
{
move->LiveCoordinates(liveCoordinates, currentTool);
}
// 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, HideNan(liveCoordinates[gCodes->GetTotalAxes() + extruder]));
ch = ',';
}
if (ch == '[') // we may have no extruders
{
response->cat(ch);
}
}
// Current speeds
response->catf("]},\"speeds\":{\"requested\":%.1f,\"top\":%.1f}",
(double)move->GetRequestedSpeed(), (double)move->GetTopSpeed());
// 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.IsEmpty();
float timeLeft = 0.0;
MutexLocker lock(messageBoxMutex);
if (mbox.active && mbox.timer != 0)
{
timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0;
mbox.active = (timeLeft > 0.0);
}
if (sendBeep || sendMessage || mbox.active)
{
response->cat(",\"output\":{");
// Report beep values
if (sendBeep)
{
response->catf("\"beepDuration\":%u,\"beepFrequency\":%u", beepDuration, beepFrequency);
if (sendMessage || mbox.active)
{
response->cat(',');
}
beepFrequency = beepDuration = 0;
}
// Report message
if (sendMessage)
{
response->cat("\"message\":");
response->EncodeString(message, false);
if (mbox.active)
{
response->cat(',');
}
message.Clear();
}
// Report message box
if (mbox.active)
{
response->cat("\"msgBox\":{\"msg\":");
response->EncodeString(mbox.message, false);
response->cat(",\"title\":");
response->EncodeString(mbox.title, false);
response->catf(",\"mode\":%d,\"seq\":%" PRIu32 ",\"timeout\":%.1f,\"controls\":%u}", mbox.mode, mbox.seq, (double)timeLeft, mbox.controls);
}
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%d", ch, (int)lrintf(platform->GetFanValue(i) * 100.0));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Cooling fan names
if (type == 2)
{
response->cat(",\"fanNames\":");
ch = '[';
for (size_t fan = 0; fan < NUM_FANS; fan++)
{
response->cat(ch);
ch = ',';
const char *fanName = GetPlatform().GetFanName(fan);
response->EncodeString(fanName, true);
}
response->cat((ch == '[') ? "[]" : "]");
}
// Speed and Extrusion factors in %
response->catf(",\"speedFactor\":%.1f,\"extrFactors\":", (double)(gCodes->GetSpeedFactor()));
ch = '[';
for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++)
{
response->catf("%c%.1f", ch, (double)(gCodes->GetExtrusionFactor(extruder)));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
response->catf(",\"babystep\":%.3f}", (double)gCodes->GetTotalBabyStepOffset(Z_AXIS));
}
// 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;
}
// Send fan RPM value(s)
if (NumTachos != 0)
{
response->cat(",\"fanRPM\":");
// For compatibility with older versions of DWC, if there is only one tacho value then we send it as a simple variable
if (NumTachos > 1)
{
char ch = '[';
for (size_t i = 0; i < NumTachos; ++i)
{
response->catf("%c%" PRIu32, ch, platform->GetFanRPM(i));
ch = ',';
}
response->cat(']');
}
else
{
response->catf("%" PRIu32, platform->GetFanRPM(0));
}
}
response->cat('}'); // end sensors
}
/* 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,\"standby\":%.1f,\"state\":%d,\"heater\":%d},",
(double)heat->GetTemperature(bedHeater), (double)heat->GetActiveTemperature(bedHeater), (double)heat->GetStandbyTemperature(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 < NumHeaters; 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 < NumHeaters; heater++)
{
response->catf("%c%d", ch, heat->GetStatus(heater));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Names
if (type == 2)
{
response->cat(",\"names\":");
ch = '[';
for (size_t heater = 0; heater < NumHeaters; heater++)
{
response->cat(ch);
ch = ',';
response->EncodeString(GetHeat().GetHeaterName(heater), true);
}
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, 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)
{
int lastConfiguredSpindle = -1;
for (size_t spindle = 0; spindle < MaxSpindles; spindle++)
{
if (platform->AccessSpindle(spindle).GetToolNumber() != -1)
{
lastConfiguredSpindle = spindle;
}
}
if (lastConfiguredSpindle != -1)
{
response->cat(",\"spindles\":[");
for (int i = 0; i <= lastConfiguredSpindle; 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));
// Compensation type
response->cat(",\"compensation\":");
if (move->IsUsingMesh())
{
response->cat("\"Mesh\"");
}
else if (move->GetNumProbePoints() > 0)
{
response->catf("\"%u Point\"", move->GetNumProbePoints());
}
else
{
response->cat("\"None\"");
}
// 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 numTotalAxes = gCodes->GetTotalAxes();
for (size_t drive = 0; drive < NumEndstops; drive++)
{
if (drive < numTotalAxes)
{
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,\"totalAxes\":%u,\"axisNames\":\"%s\"",
FIRMWARE_NAME, move->GetGeometryString(), numVisibleAxes, numTotalAxes, 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, false);
/* Probe */
{
const ZProbe probeParams = platform->GetCurrentZProbeParameters();
// Trigger threshold
response->catf(",\"probe\":{\"threshold\":%d", 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
response->catf("{\"number\":%d", tool->Number());
// Name
const char *toolName = tool->GetName();
if (toolName[0] != 0)
{
response->cat(",\"name\":");
response->EncodeString(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, 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));
// Byte position of the file being printed
response->catf(",\"filePosition\":%lu", gCodes->GetFilePosition());
// 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); // 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 < MaxTotalDrivers; drive++)
{
response->catf("%c%.2f", ch, (double)(platform->Acceleration(drive)));
ch = ',';
}
// Motor currents
response->cat("],\"currents\":");
ch = '[';
for (size_t drive = 0; drive < MaxTotalDrivers; 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->cat("\",\"firmwareName\":");
response->EncodeString(FIRMWARE_NAME, false);
response->cat(",\"firmwareVersion\":");
response->EncodeString(VERSION, false);
#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 < MaxTotalDrivers; drive++)
{
response->catf("%c%.2f", ch, (double)(platform->GetInstantDv(drive)));
ch = ',';
}
// Maximum feedrates
response->cat("],\"maxFeedrates\":");
ch = '[';
for (size_t drive = 0; drive < MaxTotalDrivers; 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
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.
response->catf("%c%.3f", ch, HideNan(gCodes->GetUserCoordinate(axis)));
ch = ',';
}
// Now the machine coordinates
float liveCoordinates[MaxTotalDrivers];
move->LiveCoordinates(liveCoordinates, currentTool);
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 = ',';
}
// Send the speed and extruder override factors
response->catf("],\"sfactor\":%.2f,\"efactor\":", (double)(gCodes->GetSpeedFactor()));
ch = '[';
for (size_t i = 0; i < GetExtrudersInUse(); ++i)
{
response->catf("%c%.2f", ch, (double)(gCodes->GetExtrusionFactor(i)));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the baby stepping offset
response->catf(",\"babystep\":%.03f", (double)(gCodes->GetTotalBabyStepOffset(Z_AXIS)));
// 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
// Currently, PanelDue assumes that the first value is the print cooling fan speed and only uses that one, so send the mapped fan speed first
response->catf(",\"fanPercent\":[%.1f", (double)(gCodes->GetMappedFanSpeed() * 100.0));
for (size_t i = 0; i < NUM_FANS; ++i)
{
response->catf(",%.1f", (double)(platform->GetFanValue(i) * 100.0));
}
response->cat(']');
// Send fan RPM value(s)
if (NumTachos != 0)
{
response->cat(",\"fanRPM\":");
// For compatibility with older versions of DWC and PanelDue, if there is only one tacho value then we send it as a simple variable
if (NumTachos > 1)
{
char ch = '[';
for (size_t i = 0; i < NumTachos; ++i)
{
response->catf("%c%" PRIu32, ch, platform->GetFanRPM(i));
ch = ',';
}
response->cat(']');
}
else
{
response->catf("%" PRIu32, platform->GetFanRPM(0));
}
}
// 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->IsAxisHomed(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.
// Don't send it if we are flashing firmware, because when we flash firmware we send messages directly to PanelDue and we don't want them to get cleared.
if (!gCodes->IsFlashing())
{
float timeLeft = 0.0;
MutexLocker lock(messageBoxMutex);
if (mbox.active && mbox.timer != 0)
{
timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0;
mbox.active = (timeLeft > 0.0);
}
if (mbox.active)
{
response->catf(",\"msgBox.mode\":%d,\"msgBox.seq\":%" PRIu32 ",\"msgBox.timeout\":%.1f,\"msgBox.controls\":%u",
mbox.mode, mbox.seq, (double)timeLeft, mbox.controls);
response->cat(",\"msgBox.msg\":");
response->EncodeString(mbox.message, false);
response->cat(",\"msgBox.title\":");
response->EncodeString(mbox.title, 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,\"totalAxes\":%u,\"axisNames\":\"%s\",\"volumes\":%u,\"numTools\":%u,\"myName\":",
move->GetGeometryString(), numVisibleAxes, gCodes->GetTotalAxes(), gCodes->GetAxisLetters(), NumSdCards, GetNumberOfContiguousTools());
response->EncodeString(myName, false);
response->cat(",\"firmwareName\":");
response->EncodeString(FIRMWARE_NAME, false);
}
// Send the response to the last command. Do this last because it can be long and may need to be truncated.
const int auxSeq = (int)platform->GetAuxSeq();
if (type < 2 || (seq != -1 && auxSeq != seq))
{
response->catf(",\"seq\":%d,\"resp\":", auxSeq); // send the response sequence number
// Send the JSON response
response->EncodeReply(platform->GetAuxGCodeReply()); // 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, unsigned int startAt, bool flagsDirs)
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
response->copy("{\"dir\":");
response->EncodeString(dir, false);
response->catf(",\"first\":%u,\"files\":[", startAt);
unsigned int err;
unsigned int nextFile = 0;
if (!platform->GetMassStorage()->CheckDriveMounted(dir))
{
err = 1;
}
else if (!platform->GetMassStorage()->DirectoryExists(dir))
{
err = 2;
}
else
{
err = 0;
FileInfo fileInfo;
unsigned int filesFound = 0;
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
{
if (filesFound >= startAt)
{
// Make sure we can end this response properly
if (bytesLeft < fileInfo.fileName.strlen() * 2 + 20)
{
// No more space available - stop here
platform->GetMassStorage()->AbandonFindNext();
nextFile = filesFound;
break;
}
// Write separator and filename
if (filesFound != startAt)
{
bytesLeft -= response->cat(',');
}
bytesLeft -= response->EncodeString(fileInfo.fileName, false, flagsDirs && fileInfo.isDirectory);
}
++filesFound;
}
gotFile = platform->GetMassStorage()->FindNext(fileInfo);
}
}
if (err != 0)
{
response->catf("],\"err\":%u}", err);
}
else
{
response->catf("],\"next\":%u,\"err\":%u}", nextFile, err);
}
return response;
}
// Get a JSON-style filelist including file types and sizes
OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt)
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
response->copy("{\"dir\":");
response->EncodeString(dir, false);
response->catf(",\"first\":%u,\"files\":[", startAt);
unsigned int err;
unsigned int nextFile = 0;
if (!platform->GetMassStorage()->CheckDriveMounted(dir))
{
err = 1;
}
else if (!platform->GetMassStorage()->DirectoryExists(dir))
{
err = 2;
}
else
{
err = 0;
FileInfo fileInfo;
unsigned int filesFound = 0;
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
{
if (filesFound >= startAt)
{
// Make sure we can end this response properly
if (bytesLeft < fileInfo.fileName.strlen() * 2 + 50)
{
// No more space available - stop here
platform->GetMassStorage()->AbandonFindNext();
nextFile = filesFound;
break;
}
// Write delimiter
if (filesFound != startAt)
{
bytesLeft -= response->cat(',');
}
// Write another file entry
bytesLeft -= response->catf("{\"type\":\"%c\",\"name\":", fileInfo.isDirectory ? 'd' : 'f');
bytesLeft -= response->EncodeString(fileInfo.fileName, 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);
}
}
++filesFound;
}
gotFile = platform->GetMassStorage()->FindNext(fileInfo);
}
}
// If there is no error, don't append "err":0 because if we do then DWC thinks there has been an error - looks like it doesn't check the value
if (err != 0)
{
response->catf("],\"err\":%u}", err);
}
else
{
response->catf("],\"next\":%u}", nextFile);
}
return response;
}
// Get information for the specified file, or the currently printing file (if 'filename' is null or empty), in JSON format
bool RepRap::GetFileInfoResponse(const char *filename, OutputBuffer *&response, bool quitEarly)
{
const bool specificFile = (filename != nullptr && filename[0] != 0);
GCodeFileInfo info;
if (specificFile)
{
// Poll file info for a specific file
String<MaxFilenameLength> filePath;
if (!MassStorage::CombineName(filePath.GetRef(), platform->GetGCodeDir(), filename))
{
info.isValid = false;
}
else if (!platform->GetMassStorage()->GetFileInfo(filePath.c_str(), info, quitEarly))
{
// This may take a few runs...
return false;
}
}
else if (!printMonitor->GetPrintingFileInfo(info))
{
return false;
}
if (!OutputBuffer::Allocate(response))
{
return false;
}
if (info.isValid)
{
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,",
HideNan(info.objectHeight), HideNan(info.firstLayerHeight), HideNan(info.layerHeight));
if (info.printTime != 0)
{
response->catf("\"printTime\":%" PRIu32 ",", info.printTime);
}
if (info.simulatedTime != 0)
{
response->catf("\"simulatedTime\":%" PRIu32 ",", info.simulatedTime);
}
response->cat("\"filament\":");
char ch = '[';
if (info.numFilaments == 0)
{
response->cat(ch);
}
else
{
for (size_t i = 0; i < info.numFilaments; ++i)
{
response->catf("%c%.1f", ch, HideNan(info.filamentNeeded[i]));
ch = ',';
}
}
response->cat("]");
if (!specificFile)
{
response->catf(",\"printDuration\":%d,\"fileName\":", (int)printMonitor->GetPrintDuration());
response->EncodeString(printMonitor->GetPrintingFilename(), false);
}
response->cat(",\"generatedBy\":");
response->EncodeString(info.generatedBy, false);
response->cat('}');
}
else
{
response->copy("{\"err\":1}");
}
return true;
}
// 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
bool bleeped = false;
#if SUPPORT_12864_LCD
if (display->IsPresent())
{
display->Beep(freq, ms);
bleeped = true;
}
#endif
if (platform->HaveAux())
{
platform->Beep(freq, ms);
bleeped = true;
}
if (!bleeped)
{
beepFrequency = freq;
beepDuration = ms;
}
}
// Send a short message. We send it to both PanelDue and the web interface.
void RepRap::SetMessage(const char *msg)
{
message.copy(msg);
++messageSequence;
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);
mbox.message.copy(msg);
mbox.title.copy(title);
mbox.mode = mode;
mbox.timer = (timeout <= 0.0) ? 0 : millis();
mbox.timeout = round(max<float>(timeout, 0.0) * 1000.0);
mbox.controls = controls;
mbox.active = true;
++mbox.seq;
}
// Clear pending message box
void RepRap::ClearAlert()
{
MutexLocker lock(messageBoxMutex);
mbox.active = 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() && !gCodes->IsSimulating()) ? 'O' // Off i.e. powered down
#endif
: (gCodes->IsPausing()) ? 'D' // Pausing / Decelerating
: (gCodes->IsResuming()) ? 'R' // Resuming
: (gCodes->IsPaused()) ? 'S' // Paused / Stopped
: (printMonitor->IsPrinting() && gCodes->IsSimulating()) ? 'M' // Simulating
: (printMonitor->IsPrinting()) ? 'P' // Printing
: (gCodes->IsDoingToolChange()) ? 'T' // Changing tool
: (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<RepRapPasswordLength> 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 no 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 settings of the active tool and the commands to select it. If no current tool, just deselect all tools.
if (ok)
{
if (currentTool == nullptr)
{
ok = f->Write("T-1 P0\n");
}
else
{
ok = currentTool->WriteSettings(f);
if (ok)
{
String<StringLength20> buf;
buf.printf("T%u P0\n", currentTool->Number());
ok = f->Write(buf.c_str());
}
}
}
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;
}
// Helper function for diagnostic tests in Platform.cpp, to calculate sine and cosine
/*static*/ float RepRap::SinfCosf(float angle)
{
return sinf(angle) + cosf(angle);
}
// Helper function for diagnostic tests in Platform.cpp, to calculate sine and cosine
/*static*/ double RepRap::SinCos(double angle)
{
return sin(angle) + cos(angle);
}
// 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);
}
#if SUPPORT_12864_LCD
const char *RepRap::GetLatestMessage(uint16_t& sequence) const
{
sequence = messageSequence;
return message.c_str();
}
#endif
// End
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