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/*
* Scanner.cpp
*
* Created on: 21 Mar 2017
* Author: Christian
*/
#include "Scanner.h"
#if SUPPORT_SCANNER
#include "RepRap.h"
#include "Platform.h"
const char* const ALIGN_ON_G = "align_on.g";
const char* const ALIGN_OFF_G = "align_off.g";
const char* const SCAN_PRE_G = "scan_pre.g";
const char* const SCAN_POST_G = "scan_post.g";
const char* const CALIBRATE_PRE_G = "calibrate_pre.g";
const char* const CALIBRATE_POST_G = "calibrate_post.g";
void Scanner::Init()
{
longWait = millis();
enabled = false;
SetState(ScannerState::Disconnected);
bufferPointer = 0;
progress = 0.0f;
fileBeingUploaded = nullptr;
}
void Scanner::SetState(const ScannerState s)
{
progress = 0.0f;
doingGCodes = false;
state = s;
}
void Scanner::Exit()
{
if (IsEnabled())
{
// Notify the scanner that we cannot complete the current action
if (state == ScannerState::Scanning || state == ScannerState::Calibrating)
{
Cancel();
}
// Delete any pending uploads
if (fileBeingUploaded != nullptr)
{
fileBeingUploaded->Close();
fileBeingUploaded = nullptr;
platform.GetMassStorage()->Delete(SCANS_DIRECTORY, uploadFilename);
}
// Pretend the scanner is no longer connected
SetState(ScannerState::Disconnected);
}
}
void Scanner::Spin()
{
// Is the 3D scanner extension enabled at all and is a device registered?
if (!IsEnabled() || state == ScannerState::Disconnected)
{
platform.ClassReport(longWait);
return;
}
// Check if the scanner device is still present
if (!SERIAL_MAIN_DEVICE)
{
// Scanner has been detached - report a warning if we were scanning or uploading
if (state == ScannerState::ScanningPre || state == ScannerState::Scanning || state == ScannerState::ScanningPost ||
state == ScannerState::Uploading)
{
platform.Message(WarningMessage, "Scanner disconnected while a 3D scan or upload was in progress");
}
// Delete any pending uploads
if (fileBeingUploaded != nullptr)
{
fileBeingUploaded->Close();
fileBeingUploaded = nullptr;
platform.GetMassStorage()->Delete(SCANS_DIRECTORY, uploadFilename);
}
SetState(ScannerState::Disconnected);
// Cannot do anything else...
platform.ClassReport(longWait);
return;
}
// Deal with the current state
switch (state)
{
case ScannerState::EnablingAlign:
if (!IsDoingFileMacro())
{
// Send ALIGN ON to the scanner
SERIAL_MAIN_DEVICE.write("ALIGN ON\n");
SERIAL_MAIN_DEVICE.flush();
SetState(ScannerState::Idle);
}
break;
case ScannerState::DisablingAlign:
if (!IsDoingFileMacro())
{
// Send ALIGN OFF to the scanner
SERIAL_MAIN_DEVICE.write("ALIGN OFF\n");
SERIAL_MAIN_DEVICE.flush();
SetState(ScannerState::Idle);
}
break;
case ScannerState::ScanningPre:
if (!IsDoingFileMacro())
{
// Pre macro complete, build and send SCAN command
String<MaxFilenameLength + 16> scanCommand;
scanCommand.GetRef().printf("SCAN %d %s\n", scanParam, scanFilename.c_str());
SERIAL_MAIN_DEVICE.write(scanCommand.c_str());
SERIAL_MAIN_DEVICE.flush();
// Advance to the next state
SetState(ScannerState::Scanning);
}
break;
// Scanning state is controlled by external 3D scanner
case ScannerState::ScanningPost:
if (!IsDoingFileMacro())
{
// Post macro complete, reset the state
SetState(ScannerState::Idle);
}
break;
case ScannerState::CalibratingPre:
if (!IsDoingFileMacro())
{
// Pre macro complete, send CALIBRATE
SERIAL_MAIN_DEVICE.write("CALIBRATE\n");
SERIAL_MAIN_DEVICE.flush();
// Advance to the next state
SetState(ScannerState::Calibrating);
}
break;
// Calibrating state is controlled by external 3D scanner
case ScannerState::CalibratingPost:
if (!IsDoingFileMacro())
{
// Post macro complete, reset the state
SetState(ScannerState::Idle);
}
break;
case ScannerState::Uploading:
// Write incoming scan data from USB to the file
while (SERIAL_MAIN_DEVICE.available() > 0)
{
char b = static_cast<char>(SERIAL_MAIN_DEVICE.read());
if (fileBeingUploaded->Write(&b, sizeof(char)))
{
uploadBytesLeft--;
if (uploadBytesLeft == 0)
{
if (reprap.Debug(moduleScanner))
{
platform.MessageF(HttpMessage, "Finished uploading %u bytes of scan data\n", uploadSize);
}
fileBeingUploaded->Close();
fileBeingUploaded = nullptr;
SetState(ScannerState::Idle);
break;
}
}
else
{
fileBeingUploaded->Close();
fileBeingUploaded = nullptr;
platform.GetMassStorage()->Delete(SCANS_DIRECTORY, uploadFilename);
platform.Message(ErrorMessage, "Failed to write scan file\n");
SetState(ScannerState::Idle);
break;
}
}
break;
default:
// Pick up incoming commands only if the GCodeBuffer is idle.
// The GCodes class will do the processing for us.
if (serialGCode->IsIdle() && SERIAL_MAIN_DEVICE.available() > 0)
{
char b = static_cast<char>(SERIAL_MAIN_DEVICE.read());
if (b == '\n' || b == '\r')
{
buffer[bufferPointer] = 0;
ProcessCommand();
bufferPointer = 0;
}
else
{
buffer[bufferPointer++] = b;
if (bufferPointer >= ScanBufferSize)
{
platform.Message(ErrorMessage, "Scan buffer overflow\n");
bufferPointer = 0;
}
}
}
break;
}
platform.ClassReport(longWait);
}
// Process incoming commands from the scanner board
void Scanner::ProcessCommand()
{
// Output some info if debugging is enabled
if (reprap.Debug(moduleScanner))
{
platform.MessageF(HttpMessage, "Scanner request: '%s'\n", buffer);
}
// Register request: M751
if (StringEquals(buffer, "M751"))
{
SERIAL_MAIN_DEVICE.write("OK\n");
SERIAL_MAIN_DEVICE.flush();
SetState(ScannerState::Idle);
}
// G-Code request: GCODE <CODE>
else if (StringStartsWith(buffer, "GCODE "))
{
doingGCodes = true;
serialGCode->Put(&buffer[6], bufferPointer - 6);
}
// Switch to post-processing mode: POSTPROCESS
else if (StringEquals(buffer, "POSTPROCESS"))
{
SetState(ScannerState::PostProcessing);
}
// Progress indicator: PROGRESS <PERCENT>
else if (StringStartsWith(buffer, "PROGRESS "))
{
float parsedProgress = atof(&buffer[9]);
progress = constrain<float>(parsedProgress, 0.0f, 100.0f);
}
// Upload request: UPLOAD <SIZE> <FILENAME>
else if (StringStartsWith(buffer, "UPLOAD "))
{
uploadSize = atoi(&buffer[7]);
uploadFilename = nullptr;
for(size_t i = 8; i < bufferPointer - 1; i++)
{
if (buffer[i] == ' ')
{
uploadFilename = &buffer[i+1];
break;
}
}
if (uploadFilename != nullptr)
{
uploadBytesLeft = uploadSize;
fileBeingUploaded = platform.OpenFile(SCANS_DIRECTORY, uploadFilename, OpenMode::write);
if (fileBeingUploaded != nullptr)
{
SetState(ScannerState::Uploading);
if (reprap.Debug(moduleScanner))
{
platform.MessageF(HttpMessage, "Starting scan upload for file %s (%u bytes total)\n", uploadFilename, uploadSize);
}
}
}
else
{
platform.Message(ErrorMessage, "Malformed scanner upload request\n");
}
}
// Acknowledgement: OK
else if (StringEquals(buffer, "OK"))
{
if (state == ScannerState::Scanning)
{
// Scan complete, run scan_post.g
DoFileMacro(SCAN_POST_G);
SetState(ScannerState::ScanningPost);
}
else if (state == ScannerState::PostProcessing)
{
// Post-processing complete, reset the state
SetState(ScannerState::Idle);
}
else if (state == ScannerState::Calibrating)
{
// Calibration complete, run calibrate_post.g
DoFileMacro(CALIBRATE_POST_G);
SetState(ScannerState::CalibratingPost);
}
}
// Error message: ERROR msg
else if (StringStartsWith(buffer, "ERROR"))
{
// if this command contains a message, report it
if (bufferPointer > 6)
{
platform.MessageF(ErrorMessage, "%s\n", &buffer[6]);
}
// reset the state
SetState(ScannerState::Idle);
}
}
// Enable the scanner extensions
bool Scanner::Enable()
{
enabled = true;
return true;
}
// Register a scanner device
bool Scanner::Register()
{
if (IsRegistered())
{
// Don't do anything if a device is already registered
return true;
}
SERIAL_MAIN_DEVICE.write("OK\n");
SERIAL_MAIN_DEVICE.flush();
SetState(ScannerState::Idle);
return true;
}
// Initiate a new scan
bool Scanner::StartScan(const char *filename, int param)
{
if (state != ScannerState::Idle)
{
// We're doing something else at this moment
return false;
}
if (!serialGCode->IsIdle())
{
// The G-code buffer is still blocked
return false;
}
// Copy the scan length/degree and the filename
scanParam = param;
scanFilename.copy(filename);
// Run the scan_pre macro and wait for it to finish
DoFileMacro(SCAN_PRE_G);
SetState(ScannerState::ScanningPre);
return true;
}
// Cancel current 3D scanner action
bool Scanner::Cancel()
{
if (state == ScannerState::ScanningPre || state == ScannerState::ScanningPost ||
state == ScannerState::CalibratingPre || state == ScannerState::CalibratingPost)
{
// We're waiting for the scan/calibration to start/end, so wait a little longer
return false;
}
if (state != ScannerState::Scanning && state != ScannerState::Calibrating)
{
// Only permit this request if the 3D scanner is actually working
return true;
}
// Send CANCEL request to the scanner
SERIAL_MAIN_DEVICE.write("CANCEL\n");
SERIAL_MAIN_DEVICE.flush();
SetState(ScannerState::Idle);
return true;
}
// Send ALIGN ON/OFF to the 3D scanner
bool Scanner::SetAlignment(bool on)
{
if (state != ScannerState::Idle)
{
// Not ready yet, try again later
return false;
}
if (!serialGCode->IsIdle())
{
// The G-code buffer is still blocked
return false;
}
DoFileMacro(on ? ALIGN_ON_G : ALIGN_OFF_G);
SetState(on ? ScannerState::EnablingAlign : ScannerState::DisablingAlign);
return true;
}
// Sends SHUTDOWN to the 3D scanner and unregisters it
bool Scanner::Shutdown()
{
if (state != ScannerState::Idle)
{
// Not ready yet, try again later
return false;
}
// Send SHUTDOWN to the scanner
SERIAL_MAIN_DEVICE.write("SHUTDOWN\n");
SERIAL_MAIN_DEVICE.flush();
// Unregister it
SetState(ScannerState::Disconnected);
return true;
}
// Calibrate the 3D scanner
bool Scanner::Calibrate()
{
if (state != ScannerState::Idle)
{
// We're doing something else at this moment
return false;
}
if (!serialGCode->IsIdle())
{
// The G-code buffer is still blocked
return false;
}
// In theory it would be good to verify if this succeeds, but the scanner client cannot give feedback (yet)
DoFileMacro(CALIBRATE_PRE_G);
SetState(ScannerState::CalibratingPre);
return true;
}
const char Scanner::GetStatusCharacter() const
{
switch (state)
{
case ScannerState::Disconnected:
return 'D';
case ScannerState::EnablingAlign:
case ScannerState::DisablingAlign:
case ScannerState::Idle:
return 'I';
case ScannerState::ScanningPre:
case ScannerState::Scanning:
case ScannerState::ScanningPost:
return 'S';
case ScannerState::PostProcessing:
return 'P';
case ScannerState::CalibratingPre:
case ScannerState::Calibrating:
case ScannerState::CalibratingPost:
return 'C';
case ScannerState::Uploading:
return 'U';
}
return 'I';
}
// Return the progress of the current operation
float Scanner::GetProgress() const
{
if (state == ScannerState::Uploading)
{
return ((float)(uploadSize - uploadBytesLeft) / (float)uploadSize) * 100.0f;
}
return progress;
}
// Is a macro file being executed?
bool Scanner::IsDoingFileMacro() const
{
return (serialGCode->IsDoingFileMacro() || (serialGCode->Seen('M') && serialGCode->GetIValue() == 98));
}
// Perform a file macro using the GCodeBuffer
void Scanner::DoFileMacro(const char *filename)
{
if (platform.GetMassStorage()->FileExists(SYS_DIR, filename))
{
String<MaxFilenameLength + 7> gcode;
gcode.GetRef().printf("M98 P%s\n", filename);
serialGCode->Put(gcode.c_str());
}
}
#endif
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