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|
#include "RepRapFirmware.h"
#include <ctime>
// RepRap member functions.
// Do nothing more in the constructor; put what you want in RepRap:Init()
RepRap::RepRap() : toolList(nullptr), currentTool(nullptr), lastToolWarningTime(0.0), activeExtruders(0),
activeToolHeaters(0), ticksInSpinState(0), spinningModule(noModule), debug(0), stopped(false),
active(false), resetting(false), processingConfig(true), beepFrequency(0), beepDuration(0)
{
OutputBuffer::Init();
platform = new Platform();
network = new Network(platform);
webserver = new Webserver(platform, network);
gCodes = new GCodes(platform, webserver);
move = new Move(platform, gCodes);
heat = new Heat(platform);
#if SUPPORT_ROLAND
roland = new Roland(platform);
#endif
printMonitor = new PrintMonitor(platform, gCodes);
SetPassword(DEFAULT_PASSWORD);
SetName(DEFAULT_NAME);
message[0] = 0;
}
void RepRap::Init()
{
// All of the following init functions must execute reasonably quickly before the watchdog times us out
platform->Init();
gCodes->Init();
network->Init();
webserver->Init();
move->Init();
heat->Init();
#if SUPPORT_ROLAND
roland->Init();
#endif
printMonitor->Init();
Platform::EnableWatchdog(); // do this after all init calls are made
active = true; // must do this before we start the network, else the watchdog may time out
platform->MessageF(HOST_MESSAGE, "%s Version %s dated %s\n", NAME, VERSION, DATE);
// Run the configuration file
const char *configFile = platform->GetConfigFile();
platform->Message(HOST_MESSAGE, "\nExecuting ");
if (platform->GetMassStorage()->FileExists(platform->GetSysDir(), configFile))
{
platform->MessageF(HOST_MESSAGE, "%s...", platform->GetConfigFile());
}
else
{
platform->MessageF(HOST_MESSAGE, "%s (no configuration file found)...", platform->GetDefaultFile());
configFile = platform->GetDefaultFile();
}
if (gCodes->RunConfigFile(configFile))
{
while (gCodes->IsRunningConfigFile())
{
// GCodes::Spin will read the macro and ensure DoingFileMacro returns false when it's done
Spin();
}
platform->Message(HOST_MESSAGE, "Done!\n");
}
else
{
platform->Message(HOST_MESSAGE, "Error, not found\n");
}
processingConfig = false;
// Enable network (unless it's disabled)
#ifdef DUET_NG
network->Activate(); // Need to do this here, as the configuration GCodes may set IP address etc.
if (!network->IsEnabled())
{
platform->Message(HOST_MESSAGE, "Network disabled.\n");
}
#else
if (network->IsEnabled())
{
// Need to do this here, as the configuration GCodes may set IP address etc.
platform->Message(HOST_MESSAGE, "Starting network...\n");
network->Enable();
}
else
{
platform->Message(HOST_MESSAGE, "Network disabled.\n");
}
#endif
platform->MessageF(HOST_MESSAGE, "%s is up and running.\n", NAME);
fastLoop = FLT_MAX;
slowLoop = 0.0;
lastTime = platform->Time();
}
void RepRap::Exit()
{
active = false;
heat->Exit();
move->Exit();
gCodes->Exit();
webserver->Exit();
network->Exit();
platform->Message(GENERIC_MESSAGE, "RepRap class exited.\n");
platform->Exit();
}
void RepRap::Spin()
{
if(!active)
return;
spinningModule = modulePlatform;
ticksInSpinState = 0;
platform->Spin();
spinningModule = moduleNetwork;
ticksInSpinState = 0;
network->Spin();
spinningModule = moduleWebserver;
ticksInSpinState = 0;
webserver->Spin();
spinningModule = moduleGcodes;
ticksInSpinState = 0;
gCodes->Spin();
spinningModule = moduleMove;
ticksInSpinState = 0;
move->Spin();
spinningModule = moduleHeat;
ticksInSpinState = 0;
heat->Spin();
#if SUPPORT_ROLAND
spinningModule = moduleRoland;
ticksInSpinState = 0;
roland->Spin();
#endif
spinningModule = modulePrintMonitor;
ticksInSpinState = 0;
printMonitor->Spin();
spinningModule = noModule;
ticksInSpinState = 0;
// Check if we need to display a cold extrusion warning
for (Tool *t = toolList; t != nullptr; t = t->Next())
{
if (t->DisplayColdExtrudeWarning() && ToolWarningsAllowed())
{
platform->MessageF(GENERIC_MESSAGE, "Warning: Tool %d was not driven because its heater temperatures were not high enough or it has a heater fault\n", t->myNumber);
}
}
// Keep track of the loop time
const float t = platform->Time();
const float dt = t - lastTime;
if(dt < fastLoop)
{
fastLoop = dt;
}
if(dt > slowLoop)
{
slowLoop = dt;
}
lastTime = t;
}
void RepRap::Timing(MessageType mtype)
{
platform->MessageF(mtype, "Slowest main loop (seconds): %f; fastest: %f\n", slowLoop, fastLoop);
fastLoop = FLT_MAX;
slowLoop = 0.0;
}
void RepRap::Diagnostics(MessageType mtype)
{
platform->Message(mtype, "=== Diagnostics ===\n");
OutputBuffer::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);
webserver->Diagnostics(mtype);
}
// 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);
Tool* tool = toolList;
while (tool != nullptr)
{
tool->Standby();
tool = tool->Next();
}
heat->Exit();
for(size_t heater = 0; heater < HEATERS; heater++)
{
platform->SetHeater(heater, 0.0);
}
// 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();
for(size_t drive = 0; drive < DRIVES; drive++)
{
platform->SetMotorCurrent(drive, 0.0, false);
platform->DisableDrive(drive);
}
}
}
void RepRap::SetDebug(Module m, bool enable)
{
if (enable)
{
debug |= (1 << m);
}
else
{
debug &= ~(1 << m);
}
PrintDebug();
}
void RepRap::SetDebug(bool enable)
{
debug = (enable) ? 0xFFFF : 0;
}
void RepRap::PrintDebug()
{
if (debug != 0)
{
platform->Message(GENERIC_MESSAGE, "Debugging enabled for modules:");
for (size_t i = 0; i < numModules; i++)
{
if ((debug & (1 << i)) != 0)
{
platform->MessageF(GENERIC_MESSAGE, " %s(%u)", moduleName[i], i);
}
}
platform->Message(GENERIC_MESSAGE, "\nDebugging disabled for modules:");
for (size_t i = 0; i < numModules; i++)
{
if ((debug & (1 << i)) == 0)
{
platform->MessageF(GENERIC_MESSAGE, " %s(%u)", moduleName[i], i);
}
}
platform->Message(GENERIC_MESSAGE, "\n");
}
else
{
platform->Message(GENERIC_MESSAGE, "Debugging disabled\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)
{
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);
}
// Switch off any associated heater
for (size_t i = 0; i < tool->HeaterCount(); i++)
{
reprap.GetHeat()->SwitchOff(tool->Heater(i));
}
// Purge any references to this tool
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();
}
void RepRap::SelectTool(int toolNumber)
{
Tool* tool = toolList;
while(tool != nullptr)
{
if (tool->Number() == toolNumber)
{
tool->Activate(currentTool);
currentTool = tool;
return;
}
tool = tool->Next();
}
// Selecting a non-existent tool is valid. It sets them all to standby.
if (currentTool != nullptr)
{
StandbyTool(currentTool->Number());
}
currentTool = nullptr;
}
void RepRap::PrintTool(int toolNumber, StringRef& reply) const
{
Tool* 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)
{
Tool* tool = GetTool(toolNumber);
if (tool != nullptr)
{
tool->Standby();
if (currentTool == tool)
{
currentTool = nullptr;
}
}
else
{
platform->MessageF(GENERIC_MESSAGE, "Error: Attempt to standby a non-existent tool: %d.\n", toolNumber);
}
}
Tool* RepRap::GetTool(int toolNumber) const
{
Tool* tool = toolList;
while(tool != nullptr)
{
if (tool->Number() == toolNumber)
{
return tool;
}
tool = tool->Next();
}
return nullptr; // Not an error
}
// 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(GENERIC_MESSAGE, "Error: Attempt to set variables for a non-existent tool: %d.\n", toolNumber);
}
}
// chrishamm 02-10-2015: I don't think it's a good idea to write tool warning message after every
// short move, so only print them in a reasonable interval.
bool RepRap::ToolWarningsAllowed()
{
const float now = platform->Time();
if (now - lastToolWarningTime > MINIMUM_TOOL_WARNING_INTERVAL)
{
lastToolWarningTime = platform->Time();
return true;
}
return false;
}
bool RepRap::IsHeaterAssignedToTool(int8_t heater) const
{
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)
{
Platform::KickWatchdog();
if (!resetting)
{
platform->Tick();
++ticksInSpinState;
if (ticksInSpinState >= 20000) // 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
}
platform->SoftwareReset((uint16_t)SoftwareResetReason::stuckInSpin);
}
}
}
}
// 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 numAxes = reprap.GetGCodes()->GetNumAxes();
{
float liveCoordinates[DRIVES + 1];
#if SUPPORT_ROLAND
if (roland->Active())
{
roland->GetCurrentRolandPosition(liveCoordinates);
}
else
#endif
{
move->LiveCoordinates(liveCoordinates, GetCurrentXAxes());
}
if (currentTool != nullptr)
{
const float *offset = currentTool->GetOffset();
for (size_t i = 0; i < numAxes; ++i)
{
liveCoordinates[i] += offset[i];
}
}
// Homed axes
response->cat("\"axesHomed\":");
ch = '[';
for (size_t axis = 0; axis < numAxes; ++axis)
{
response->catf("%c%d", ch, (gCodes->GetAxisIsHomed(axis)) ? 1 : 0);
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, liveCoordinates[numAxes + extruder]);
ch = ',';
}
if (ch == '[')
{
response->cat("[");
}
// XYZ positions
response->cat("],\"xyz\":");
if (!gCodes->AllAxesAreHomed() && move->IsDeltaMode())
{
// If in Delta mode, skip these coordinates if some axes are not homed
response->cat("[0.00,0.00,0.00");
}
else
{
// On Cartesian printers, the live coordinates are (usually) valid
ch = '[';
for (size_t axis = 0; axis < numAxes; axis++)
{
response->catf("%c%.2f", ch, liveCoordinates[axis]);
ch = ',';
}
}
}
// Current tool number
const int toolNumber = (currentTool == nullptr) ? -1 : currentTool->Number();
response->catf("]},\"currentTool\":%d", toolNumber);
// Output - only reported once
{
bool sendBeep = (beepDuration != 0 && beepFrequency != 0);
bool sendMessage = (message[0] != 0);
if (sendBeep || sendMessage)
{
response->cat(",\"output\":{");
// Report beep values
if (sendBeep)
{
response->catf("\"beepDuration\":%d,\"beepFrequency\":%d", beepDuration, beepFrequency);
if (sendMessage)
{
response->cat(",");
}
beepFrequency = beepDuration = 0;
}
// Report message
if (sendMessage)
{
response->cat("\"message\":");
response->EncodeString(message, ARRAY_SIZE(message), false);
message[0] = 0;
}
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%.2f", ch, platform->GetFanValue(i) * 100.0);
ch = ',';
}
// Speed and Extrusion factors
response->catf("],\"speedFactor\":%.2f,\"extrFactors\":", gCodes->GetSpeedFactor() * 100.0);
ch = '[';
for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++)
{
response->catf("%c%.2f", ch, gCodes->GetExtrusionFactor(extruder) * 100.0);
ch = ',';
}
response->cat((ch == '[') ? "[]}" : "]}");
}
// G-code reply sequence for webserver (seqence number for AUX is handled later)
if (source == ResponseSource::HTTP)
{
response->catf(",\"seq\":%d", webserver->GetReplySeq());
// There currently appears to be no need for this one, so skip it
//response->catf(",\"buff\":%u", webserver->GetGCodeBufferSpace(WebSource::HTTP));
}
/* Sensors */
{
response->cat(",\"sensors\":{");
// Probe
const int v0 = platform->ZProbe();
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 = heat->GetBedHeater();
if (bedHeater != -1)
{
response->catf("\"bed\":{\"current\":%.1f,\"active\":%.1f,\"state\":%d},",
heat->GetTemperature(bedHeater), heat->GetActiveTemperature(bedHeater),
heat->GetStatus(bedHeater));
}
/* Chamber */
const int8_t chamberHeater = heat->GetChamberHeater();
if (chamberHeater != -1)
{
response->catf("\"chamber\":{\"current\":%.1f,", heat->GetTemperature(chamberHeater));
response->catf("\"active\":%.1f,", heat->GetActiveTemperature(chamberHeater));
response->catf("\"state\":%d},", static_cast<int>(heat->GetStatus(chamberHeater)));
}
/* Heads */
{
response->cat("\"heads\":{\"current\":");
// Current temperatures
ch = '[';
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%.1f", ch, 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, 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, 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 == '[') ? "[]" : "]");
}
response->cat("}}");
}
// Time since last reset
response->catf(",\"time\":%.1f", platform->Time());
/* Extended Status Response */
if (type == 2)
{
// Cold Extrude/Retract
response->catf(",\"coldExtrudeTemp\":%1.f", heat->ColdExtrude() ? 0 : HOT_ENOUGH_TO_EXTRUDE);
response->catf(",\"coldRetractTemp\":%1.f", heat->ColdExtrude() ? 0 : HOT_ENOUGH_TO_RETRACT);
// Maximum hotend temperature - DWC just wants the highest one
response->catf(",\"tempLimit\":%1.f", heat->GetHighestTemperatureLimit());
// Endstops
uint16_t endstops = 0;
for(size_t drive = 0; drive < DRIVES; drive++)
{
EndStopHit stopped = platform->Stopped(drive);
if (stopped == EndStopHit::highHit || stopped == EndStopHit::lowHit)
{
endstops |= (1 << drive);
}
}
response->catf(",\"endstops\":%d", endstops);
// Delta configuration and number of axes
response->catf(",\"geometry\":\"%s\",\"axes\":%u", move->GetGeometryString(), numAxes);
// Firmware name, for PanelDue
response->catf(",\"firmwareName\":\"%s\"", NAME);
// 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, ARRAY_SIZE(myName), false);
/* Probe */
{
const ZProbeParameters probeParams = platform->GetZProbeParameters();
// Trigger threshold
response->catf(",\"probe\":{\"threshold\":%d", probeParams.adcValue);
// Trigger height
response->catf(",\"height\":%.2f", probeParams.height);
// Type
response->catf(",\"type\":%d}", platform->GetZProbeType());
}
/* Tool Mapping */
{
response->cat(",\"tools\":[");
for(Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
// Heaters
response->catf("{\"number\":%d,\"heaters\":[", tool->Number());
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. Currently we only map the X axis, but we return an array of arrays to allow for mapping other axes in future.
response->cat("],\"axisMap\":[[");
bool first = true;
for (size_t xi = 0; xi < MAX_AXES; ++xi)
{
if ((tool->GetXAxisMap() & (1u << xi)) != 0)
{
if (first)
{
first = false;
}
else
{
response->cat(",");
}
response->catf("%u", xi);
}
}
// Do we have any more tools?
if (tool->Next() != nullptr)
{
response->cat("]]},");
}
else
{
response->cat("]]}");
}
}
response->cat("]");
}
// MCU temperatures
{
float minT, currT, maxT;
platform->GetMcuTemperatures(minT, currT, maxT);
response->catf(",\"mcutemp\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", minT, currT, maxT);
}
#ifdef DUET_NG
// Power in voltages
{
float minV, currV, maxV;
platform->GetPowerVoltages(minV, currV, maxV);
response->catf(",\"vin\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", minV, currV, maxV);
}
#endif
}
else if (type == 3)
{
// Current Layer
response->catf(",\"currentLayer\":%d", printMonitor->GetCurrentLayer());
// Current Layer Time
response->catf(",\"currentLayerTime\":%.1f", 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, gCodes->GetRawExtruderTotalByDrive(extruder));
ch = ',';
}
if (ch == '[')
{
response->cat("]");
}
// Fraction of file printed
response->catf("],\"fractionPrinted\":%.1f", (printMonitor->IsPrinting()) ? (gCodes->FractionOfFilePrinted() * 100.0) : 0.0);
// First Layer Duration
response->catf(",\"firstLayerDuration\":%.1f", 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", printMonitor->GetFirstLayerHeight());
// Print Duration
response->catf(",\"printDuration\":%.1f", printMonitor->GetPrintDuration());
// Warm-Up Time
response->catf(",\"warmUpDuration\":%.1f", printMonitor->GetWarmUpDuration());
/* Print Time Estimations */
{
// Based on file progress
response->catf(",\"timesLeft\":{\"file\":%.1f", printMonitor->EstimateTimeLeft(fileBased));
// Based on filament usage
response->catf(",\"filament\":%.1f", printMonitor->EstimateTimeLeft(filamentBased));
// Based on layers
response->catf(",\"layer\":%.1f}", 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\":%u,\"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 = reprap.GetGCodes()->GetNumAxes();
// Axis minima
response->copy("{\"axisMins\":");
char ch = '[';
for (size_t axis = 0; axis < numAxes; axis++)
{
response->catf("%c%.2f", ch, platform->AxisMinimum(axis));
ch = ',';
}
// Axis maxima
response->cat("],\"axisMaxes\":");
ch = '[';
for (size_t axis = 0; axis < numAxes; axis++)
{
response->catf("%c%.2f", ch, platform->AxisMaximum(axis));
ch = ',';
}
// Accelerations
response->cat("],\"accelerations\":");
ch = '[';
for (size_t drive = 0; drive < DRIVES; drive++)
{
response->catf("%c%.2f", ch, platform->Acceleration(drive));
ch = ',';
}
// Motor currents
response->cat("],\"currents\":");
ch = '[';
for (size_t drive = 0; drive < DRIVES; drive++)
{
response->catf("%c%.2f", ch, platform->GetMotorCurrent(drive, false));
ch = ',';
}
// Firmware details
response->catf("],\"firmwareElectronics\":\"%s", platform->GetElectronicsString());
#ifdef DUET_NG
const char* expansionName = DuetExpansion::GetExpansionBoardName();
if (expansionName != nullptr)
{
response->catf(" + %s", expansionName);
}
#endif
response->catf("\",\"firmwareName\":\"%s\"", NAME);
response->catf(",\"firmwareVersion\":\"%s\"", VERSION);
#ifdef DUET_NG
response->catf(",\"dwsVersion\":\"%s\"", network->GetWiFiServerVersion());
#endif
response->catf(",\"firmwareDate\":\"%s\"", DATE);
// Motor idle parameters
response->catf(",\"idleCurrentFactor\":%.1f", platform->GetIdleCurrentFactor() * 100.0);
response->catf(",\"idleTimeout\":%.1f", move->IdleTimeout());
// Minimum feedrates
response->cat(",\"minFeedrates\":");
ch = '[';
for (size_t drive = 0; drive < DRIVES; drive++)
{
response->catf("%c%.2f", ch, platform->ConfiguredInstantDv(drive));
ch = ',';
}
// Maximum feedrates
response->cat("],\"maxFeedrates\":");
ch = '[';
for (size_t drive = 0; drive < DRIVES; drive++)
{
response->catf("%c%.2f", ch, 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
const int8_t bedHeater = heat->GetBedHeater();
if (bedHeater != -1)
{
ch = ',';
response->catf("[%.1f", heat->GetTemperature(bedHeater));
}
else
{
ch = '[';
}
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%.1f", ch, heat->GetTemperature(heater));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the heater active temperatures
response->catf(",\"active\":");
if (heat->GetBedHeater() != -1)
{
ch = ',';
response->catf("[%.1f", heat->GetActiveTemperature(heat->GetBedHeater()));
}
else
{
ch = '[';
}
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%.1f", ch, heat->GetActiveTemperature(heater));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the heater standby temperatures
response->catf(",\"standby\":");
if (bedHeater != -1)
{
ch = ',';
response->catf("[%.1f", heat->GetStandbyTemperature(bedHeater));
}
else
{
ch = '[';
}
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%.1f", ch, heat->GetStandbyTemperature(heater));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the heater statuses (0=off, 1=standby, 2=active, 3 = fault)
response->cat(",\"hstat\":");
if (bedHeater != -1)
{
ch = ',';
response->catf("[%d", static_cast<int>(heat->GetStatus(bedHeater)));
}
else
{
ch = '[';
}
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%d", ch, static_cast<int>(heat->GetStatus(heater)));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send XYZ positions
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
float liveCoordinates[DRIVES];
reprap.GetMove()->LiveCoordinates(liveCoordinates, GetCurrentXAxes());
const Tool* const currentTool = reprap.GetCurrentTool();
if (currentTool != nullptr)
{
const float *offset = currentTool->GetOffset();
for (size_t i = 0; i < numAxes; ++i)
{
liveCoordinates[i] += offset[i];
}
}
response->catf(",\"pos\":"); // announce the XYZ position
ch = '[';
for (size_t drive = 0; drive < numAxes; drive++)
{
response->catf("%c%.2f", ch, liveCoordinates[drive]);
ch = ',';
}
// Send extruder total extrusion since power up, last G92 or last M23
response->cat("],\"extr\":"); // announce the extruder positions
ch = '[';
for (size_t drive = 0; drive < reprap.GetExtrudersInUse(); drive++) // loop through extruders
{
response->catf("%c%.1f", ch, gCodes->GetRawExtruderPosition(drive));
ch = ',';
}
response->cat((ch == ']') ? "[]" : "]");
// Send the speed and extruder override factors
response->catf(",\"sfactor\":%.2f,\"efactor\":", gCodes->GetSpeedFactor() * 100.0);
ch = '[';
for (size_t i = 0; i < reprap.GetExtrudersInUse(); ++i)
{
response->catf("%c%.2f", ch, gCodes->GetExtrusionFactor(i) * 100.0);
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the current tool number
const int toolNumber = (currentTool == nullptr) ? 0 : currentTool->Number();
response->catf(",\"tool\":%d", toolNumber);
// Send the Z probe value
const int v0 = platform->ZProbe();
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, 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 < numAxes; ++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", 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 formns of status response
if (type == 2)
{
if (printMonitor->IsPrinting())
{
// Send estimated times left based on file progress, filament usage, and layers
response->catf(",\"timesLeft\":[%.1f,%.1f,%.1f]",
printMonitor->EstimateTimeLeft(fileBased),
printMonitor->EstimateTimeLeft(filamentBased),
printMonitor->EstimateTimeLeft(layerBased));
}
}
else if (type == 3)
{
// Add the static fields
response->catf(",\"geometry\":\"%s\",\"axes\":%u,\"volumes\":%u,\"numTools\":%u,\"myName\":",
move->GetGeometryString(), numAxes, NumSdCards, GetNumberOfContiguousTools());
response->EncodeString(myName, ARRAY_SIZE(myName), 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;
}
// Copy some parameter text, stopping at the first control character or when the destination buffer is full, and removing trailing spaces
void RepRap::CopyParameterText(const char* src, char *dst, size_t length)
{
size_t i;
for (i = 0; i + 1 < length && src[i] >= ' '; ++i)
{
dst[i] = src[i];
}
// Remove any trailing spaces
while (i > 0 && dst[i - 1] == ' ')
{
--i;
}
dst[i] = 0;
}
// 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[FILENAME_LENGTH];
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)
{
strncpy(filename + sizeof(char), fileInfo.fileName, FILENAME_LENGTH - 1);
filename[FILENAME_LENGTH - 1] = 0;
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
break;
}
// Write separator and filename
if (!firstFile)
{
bytesLeft -= response->cat(',');
}
bytesLeft -= response->EncodeString(fname, FILENAME_LENGTH, false);
firstFile = false;
}
gotFile = platform->GetMassStorage()->FindNext(fileInfo); // TODO error handling here
}
}
response->catf("],\"err\":%u}", err);
return response;
}
// 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
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, FILENAME_LENGTH, false);
bytesLeft -= response->catf(",\"size\":%u", 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(int freq, int ms)
{
beepFrequency = freq;
beepDuration = ms;
if (platform->HaveAux())
{
// If there is an LCD device present, make it beep
platform->Beep(freq, ms);
}
}
// Send a short message. We send it to both PanelDue and the web interface.
void RepRap::SetMessage(const char *msg)
{
strncpy(message, msg, MESSAGE_LENGTH);
message[MESSAGE_LENGTH] = 0;
if (platform->HaveAux())
{
platform->SendMessage(msg);
}
}
// 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
: (gCodes->IsPausing()) ? 'D' // Pausing / Decelerating
: (gCodes->IsResuming()) ? 'R' // Resuming
: (gCodes->IsPaused()) ? 'S' // Paused / Stopped
: (printMonitor->IsPrinting()) ? 'P' // Printing
: (gCodes->DoingFileMacro() || !move->NoLiveMovement()) ? 'B' // Busy
: 'I'; // Idle
}
bool RepRap::NoPasswordSet() const
{
return (!password[0] || StringEquals(password, DEFAULT_PASSWORD));
}
bool RepRap::CheckPassword(const char *pw) const
{
return StringEquals(pw, password);
}
void RepRap::SetPassword(const char* pw)
{
// Users sometimes put a tab character between the password and the comment, so allow for this
CopyParameterText(pw, password, ARRAY_SIZE(password));
}
const char *RepRap::GetName() const
{
return myName;
}
void RepRap::SetName(const char* nm)
{
// Users sometimes put a tab character between the machine name and the comment, so allow for this
CopyParameterText(nm, myName, ARRAY_SIZE(myName));
// Set new DHCP hostname
network->SetHostname(myName);
}
// 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 *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)
{
if (toolList != nullptr)
{
toolList->FlagTemperatureFault(dudHeater);
}
}
void RepRap::ClearTemperatureFault(int8_t wasDudHeater)
{
reprap.GetHeat()->ResetFault(wasDudHeater);
if (toolList != nullptr)
{
toolList->ClearTemperatureFault(wasDudHeater);
}
}
// Get the current axes used as X axes
uint32_t RepRap::GetCurrentXAxes() const
{
return (currentTool == nullptr) ? DefaultXAxisMapping : currentTool->GetXAxisMap();
}
// End
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