Merge remote-tracking branch 'dc42/duet' into duet

GCodes.cpp

@@ -111,8 +111,6 @@ void GCodes::Spin()
   if(!active)
     return;
     
-  char b;
-
   // Check each of the sources of G Codes (web, serial, and file) to
   // see if what they are doing has been done.  If it hasn't, return without
   // looking at anything else.
@@ -147,7 +145,7 @@ void GCodes::Spin()
 
   if(webserver->GCodeAvailable())
   {
-	  b = webserver->ReadGCode();
+	  char b = webserver->ReadGCode();
 	  if(webGCode->Put(b))
 	  {
 		  if(webGCode->WritingFileDirectory() != NULL)
@@ -166,6 +164,7 @@ void GCodes::Spin()
   {
 	  if(platform->GetLine()->Status() & byteAvailable)
 	  {
+		  char b;
 		  platform->GetLine()->Read(b);
 		  WriteHTMLToFile(b, serialGCode);
 	  }
@@ -175,14 +174,27 @@ void GCodes::Spin()
 
 	  if(platform->GetLine()->Status() & byteAvailable)
 	  {
-		  platform->GetLine()->Read(b);
+		  // Read several bytes instead of just one. This is mainly to speed up file uploading.
-		  if(serialGCode->Put(b))
+		  int8_t i = 0;
+		  do
 		  {
-			  if(serialGCode->WritingFileDirectory() != NULL)
+			  char b;
-				  WriteGCodeToFile(serialGCode);
+			  platform->GetLine()->Read(b);
-			  else
+			  if(serialGCode->Put(b))	// add char to buffer and test whether the gcode is complete
-				  serialGCode->SetFinished(ActOnGcode(serialGCode));
+			  {
-		  }
+				  // we have a complete gcode
+				  if(serialGCode->WritingFileDirectory() != NULL)
+				  {
+					  WriteGCodeToFile(serialGCode);
+				  }
+				  else
+				  {
+					  serialGCode->SetFinished(ActOnGcode(serialGCode));
+				  }
+				  break;	// stop after receiving a complete gcode in case we haven't finished processing it
+			  }
+			  ++i;
+		  } while (i < 16 && (platform->GetLine()->Status() & byteAvailable));
 		  platform->ClassReport("GCodes", longWait);
 		  return;
 	  }

GCodes.h

@@ -41,9 +41,9 @@ class GCodeBuffer
     char* GetUnprecedentedString();
     char* GetString();
     char* Buffer();
-    bool Finished();
+    bool Finished() const;
     void SetFinished(bool f);
-    char* WritingFileDirectory();
+    char* WritingFileDirectory() const;
     void SetWritingFileDirectory(char* wfd);
     
   private:
@@ -75,8 +75,9 @@ class GCodes
     void QueueFileToPrint(char* fileName);
     bool GetProbeCoordinates(int count, float& x, float& y, float& z);
     char* GetCurrentCoordinates();
-    bool PrintingAFile();
+    bool PrintingAFile() const;
     void Diagnostics();
+    bool HaveIncomingData() const;
     
   private:
   
@@ -97,7 +98,7 @@ class GCodes
     bool SetOffsets(GCodeBuffer *gb);
     bool SetPositions(GCodeBuffer *gb);
     void LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92);
-    bool NoHome();
+    bool NoHome() const;
     bool Push();
     bool Pop();
     bool DisableDrives();
@@ -110,7 +111,7 @@ class GCodes
     void WriteHTMLToFile(char b, GCodeBuffer *gb);
     bool OffsetAxes(GCodeBuffer *gb);
 
-    int8_t Heater(int8_t head);
+    int8_t Heater(int8_t head) const;
     Platform* platform;
     bool active;
     Webserver* webserver;
@@ -172,7 +173,7 @@ inline char* GCodeBuffer::Buffer()
   return gcodeBuffer;
 }
 
-inline bool GCodeBuffer::Finished()
+inline bool GCodeBuffer::Finished() const
 {
   return finished;
 }
@@ -182,7 +183,7 @@ inline void GCodeBuffer::SetFinished(bool f)
   finished = f;
 }
 
-inline char* GCodeBuffer::WritingFileDirectory()
+inline char* GCodeBuffer::WritingFileDirectory() const
 {
 	return writingFileDirectory;
 }
@@ -192,12 +193,17 @@ inline void GCodeBuffer::SetWritingFileDirectory(char* wfd)
 	writingFileDirectory = wfd;
 }
 
-inline bool GCodes::PrintingAFile()
+inline bool GCodes::PrintingAFile() const
 {
   return fileBeingPrinted != NULL;
 }
 
-inline bool GCodes::NoHome()
+inline bool GCodes::HaveIncomingData() const
+{
+	return fileBeingPrinted != NULL || webserver->GCodeAvailable() || (platform->GetLine()->Status() & byteAvailable);
+}
+
+inline bool GCodes::NoHome() const
 {
    return !(homeX || homeY || homeZ || homeAxisMoveCount);
 }
@@ -205,7 +211,7 @@ inline bool GCodes::NoHome()
 // This function takes care of the fact that the heater and head indices 
 // don't match because the bed is heater 0.
 
-inline int8_t GCodes::Heater(int8_t head)
+inline int8_t GCodes::Heater(int8_t head) const
 {
    return head+1; 
 }

Move.cpp

@@ -441,7 +441,7 @@ void Move::DoLookAhead()
   // or both to the maximum that can be achieved because of the requirements of
   // the adjacent moves. 
     
-  if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > LOOK_AHEAD)
+  if(addNoMoreMoves || !gCodes->HaveIncomingData() || lookAheadRingCount > LOOK_AHEAD)
   { 
     
     // Run up the moves
@@ -497,7 +497,7 @@ void Move::DoLookAhead()
   // If there are any new unprocessed moves in there, set their end speeds
   // according to the cosine of the angle between them.
   
-  if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > 1)
+  if(addNoMoreMoves || !gCodes->HaveIncomingData() || lookAheadRingCount > 1)
   {  
     n1 = lookAheadRingGetPointer;
     n0 = n1->Previous();
@@ -531,7 +531,7 @@ void Move::DoLookAhead()
     
     // If we are just doing one isolated move, set its end velocity to InstantDv(Z_AXIS).
     
-    if(addNoMoreMoves || !gCodes->PrintingAFile())
+    if(addNoMoreMoves || !gCodes->HaveIncomingData())
     {
       n1->SetV(platform->InstantDv(Z_AXIS));
       n1->SetProcessed(complete);
@@ -988,18 +988,18 @@ MovementProfile DDA::Init(LookAhead* lookAhead, float& u, float& v)
   } else // Must be extruders only
 	  SetEAcceleration(eDistance);
 
-  // If we are going from an XY move to a Z move, u needs to be platform->InstantDv(Z_AXIS).
+  // If we are going from an XY move or extruder move to a Z move, u needs to be platform->InstantDv(Z_AXIS).
 
-  if((myLookAheadEntry->Previous()->GetMovementType() & xyMove) && (mt & zMove))
+  if((myLookAheadEntry->Previous()->GetMovementType() & (xyMove | eMove)) && (mt & zMove))
   {
 	  u = platform->InstantDv(Z_AXIS);
 	  result = change;
   }
 
-  // if we are going from a Z move to an XY move, v needs to be platform->InstantDv(Z_AXIS),
+  // if we are going from a Z move to an XY move or E move, v needs to be platform->InstantDv(Z_AXIS),
   // as does instantDv.
 
-  if((myLookAheadEntry->Previous()->GetMovementType() & zMove) && (mt & xyMove))
+  if((myLookAheadEntry->Previous()->GetMovementType() & zMove) && (mt & (xyMove | eMove)))
   {
 	  v = platform->InstantDv(Z_AXIS);
 	  instantDv = v;
@@ -1163,7 +1163,7 @@ void LookAhead::Init(long ep[], float f, float vv, bool ce, int8_t mt)
   // are printing a file, so set processed
   // complete when we aren't.
   
-  if(reprap.GetGCodes()->PrintingAFile())
+  if(reprap.GetGCodes()->HaveIncomingData())
     processed = unprocessed;
   else
     processed = complete|vCosineSet|upPass;
@@ -1198,7 +1198,7 @@ float LookAhead::Cosine()
   
   if(a2 <= 0.0 || b2 <= 0.0)
   {
-    cosine = 0.5; // Why not?
+	cosine = 0.0;		// one of the moves is just an extruder move (probably a retraction), so orthogonal (in 4D space!) to XYZ moves
     return cosine;
   }
  

Platform.cpp

@@ -310,7 +310,7 @@ void Platform::ClassReport(char* className, float &lastTime)
 // should compute it for you (i.e. it won't need to be calculated at run time).
 
 // If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023)
-// then the thermistor resistance, R = V.RS/(1023 - V)
+// then the thermistor resistance, R = V.RS/(1024 - V)
 // and the temperature, T = BETA/ln(R/R_INF)
 // To get degrees celsius (instead of kelvin) add -273.15 to T
 //#define THERMISTOR_R_INFS ( THERMISTOR_25_RS*exp(-THERMISTOR_BETAS/298.15) ) // Compute in Platform constructor
@@ -319,8 +319,10 @@ void Platform::ClassReport(char* className, float &lastTime)
 
 float Platform::GetTemperature(int8_t heater)
 {
-  float r = (float)GetRawTemperature(heater);
+  // If the ADC reading is N then for an ideal ADC, the input voltage is at least N/(ADC_RANGE + 1) and less than (N + 1)/(ADC_RANGE + 1), times the analog reference.
-  return ABS_ZERO + thermistorBetas[heater]/log( (r*thermistorSeriesRs[heater]/(AD_RANGE - r))/thermistorInfRs[heater] );
+  // So we add 0.5 to to the reading to get a better estimate of the input. We don't care whether or not we get exactly zero with the thermistor disconnected.
+  float r = (float)GetRawTemperature(heater) + 0.5;
+  return ABS_ZERO + thermistorBetas[heater]/log( (r*thermistorSeriesRs[heater]/((AD_RANGE + 1) - r))/thermistorInfRs[heater] );
 }
 
 
@@ -831,6 +833,8 @@ Line::Line()
 
 void Line::Init()
 {
+	getIndex = 0;
+	numChars = 0;
 //	alternateInput = NULL;
 //	alternateOutput = NULL;
 	SerialUSB.begin(BAUD_RATE);
@@ -862,9 +866,10 @@ void RepRapNetworkInputBufferReleased(void* pb)
 	reprap.GetPlatform()->GetNetwork()->InputBufferReleased(pb);
 }
 
-void RepRapNetworkHttpStateReleased(void* h)
+void RepRapNetworkConnectionError(void* h)
 {
-	reprap.GetPlatform()->GetNetwork()->HttpStateReleased(h);
+	reprap.GetPlatform()->GetNetwork()->ConnectionError(h);
+	reprap.GetWebserver()->ConnectionError();
 }
 
 // Called to put out a message via the RepRap firmware.
@@ -1046,14 +1051,19 @@ void Network::InputBufferReleased(void* pb)
 	netRingGetPointer->ReleasePbuf();
 }
 
-void Network::HttpStateReleased(void* h)
+void Network::ConnectionError(void* h)
 {
-	if(netRingGetPointer->Hs() != h)
+	// h points to an http state block that the caller is about to release, so we need to stop referring to it.
+	// The state block is usually but not always in use by the current http request being processed, in which case we abandon the current request.
+	if (netRingGetPointer != netRingAddPointer && netRingGetPointer->Hs() == h)
 	{
-		reprap.GetPlatform()->Message(HOST_MESSAGE, "Network::HttpStateReleased() - Pointers don't match!\n");
+		netRingGetPointer->Free();
-		return;
+		netRingGetPointer = netRingGetPointer->Next();
 	}
-	netRingGetPointer->ReleaseHs();
+
+	// Reset the network layer. In particular, this clears the output buffer to make sure nothing more gets sent,
+	// and sets statue to 'nothing' so that we can accept another connection attempt.
+	Reset();
 }
 
 
@@ -1072,7 +1082,7 @@ void Network::ReceiveInput(char* data, int length, void* pbuf, void* pcb, void*
 
 
 
-bool Network::CanWrite()
+bool Network::CanWrite() const
 {
 	return writeEnabled;
 }
@@ -1123,7 +1133,7 @@ void Network::Close()
 	//Reset();
 }
 
-int8_t Network::Status()
+int8_t Network::Status() const
 {
 	if(inputPointer >= inputLength)
 		return status;
@@ -1222,6 +1232,27 @@ void NetRing::ReleaseHs()
 	hs = 0;
 }
 
+void Line::Spin()
+{
+	// Read the serial data in blocks to avoid excessive flow control
+	if (numChars <= lineBufsize/2)
+	{
+		int16_t target = SerialUSB.available() + (int16_t)numChars;
+		if (target > lineBufsize)
+		{
+			target = lineBufsize;
+		}
+		while ((int16_t)numChars < target)
+		{
+			int incomingByte = SerialUSB.read();
+			if (incomingByte < 0) break;
+			buffer[(getIndex + numChars) % lineBufsize] = (char)incomingByte;
+			++numChars;
+		}
+	}
+}
+
+
 
 
 

Platform.h

@@ -183,13 +183,15 @@ Licence: GPL
 
 #define BAUD_RATE 115200 // Communication speed of the USB if needed.
 
+const uint16_t lineBufsize = 256;	// use a power of 2 for good performance
+
 /****************************************************************************************************/
 
 enum EndStopHit
 {
-  noStop = 0,
+  noStop = 0,		// no enstop hit
-  lowHit = 1,
+  lowHit = 1,		// low switch hit, or Z-probe in use and above threshold
-  highHit = 2
+  highHit = 2		// high stop hit
 };
 
 /***************************************************************************************************/
@@ -264,17 +266,17 @@ class Network //: public InputOutput
 {
 public:
 
-	int8_t Status(); // Returns OR of IOStatus
+	int8_t Status() const; // Returns OR of IOStatus
 	bool Read(char& b);
-	bool CanWrite();
+	bool CanWrite() const;
 	void SetWriteEnable(bool enable);
 	void Write(char b);
 	void Write(char* s);
 	void Close();
 	void ReceiveInput(char* data, int length, void* pb, void* pc, void* h);
 	void InputBufferReleased(void* pb);
-	void HttpStateReleased(void* h);
+	void ConnectionError(void* h);
-	bool Active();
+	bool Active() const;
 	bool LinkIsUp();
 
 friend class Platform;
@@ -308,7 +310,7 @@ class Line //: public InputOutput
 {
 public:
 
-	int8_t Status(); // Returns OR of IOStatus
+	int8_t Status() const; // Returns OR of IOStatus
 	int Read(char& b);
 	void Write(char b);
 	void Write(char* s);
@@ -324,6 +326,9 @@ protected:
 	void Spin();
 
 private:
+	char buffer[lineBufsize];
+	uint16_t getIndex;
+	uint16_t numChars;
 };
 
 class MassStorage
@@ -979,18 +984,11 @@ inline Line* Platform::GetLine()
 	return line;
 }
 
-inline void Line::Spin()
+inline int8_t Line::Status() const
-{
-}
-
-inline int8_t Line::Status()
 {
 //	if(alternateInput != NULL)
 //		return alternateInput->Status();
-
+	return numChars == 0 ? nothing : byteAvailable;
-	if(SerialUSB.available() > 0)
-		return byteAvailable;
-	return nothing;
 }
 
 inline int Line::Read(char& b)
@@ -998,11 +996,11 @@ inline int Line::Read(char& b)
 //  if(alternateInput != NULL)
 //	return alternateInput->Read(b);
 
-  int incomingByte = SerialUSB.read();
+  if (numChars == 0) return 0;
-  if(incomingByte < 0)
+  b = buffer[getIndex];
-    return 0;
+  getIndex = (getIndex + 1) % lineBufsize;
-  b = (char)incomingByte;
+  --numChars;
-  return true;
+  return 1;
 }
 
 inline void Line::Write(char b)
@@ -1046,7 +1044,7 @@ inline bool Network::LinkIsUp()
 	return status_link_up();
 }
 
-inline bool Network::Active()
+inline bool Network::Active() const
 {
 	return active;
 }

Webserver.cpp

@@ -137,7 +137,7 @@ bool Webserver::LoadGcodeBuffer(char* gc, bool convertWeb)
     {
       if(!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), &gcodeBuffer[4]))
       {
-        platform->Message(HOST_MESSAGE, "Unsuccsessful attempt to delete: ");
+        platform->Message(HOST_MESSAGE, "Unsuccessful attempt to delete: ");
         platform->Message(HOST_MESSAGE, &gcodeBuffer[4]);
         platform->Message(HOST_MESSAGE, "\n");
       } 
@@ -711,6 +711,30 @@ void Webserver::Init()
   //platform->GetMassStorage()->Delete(platform->GetWebDir(), MESSAGE_FILE);
 }
 
+// This is called when the connection has been lost.
+// In particular, we must cancel any pending writes.
+void Webserver::ConnectionError()
+{
+	  writing = false;
+	  receivingPost = false;
+	  postSeen = false;
+	  getSeen = false;
+	  jsonPointer = -1;
+	  clientLineIsBlank = true;
+	  needToCloseClient = false;
+	  clientLinePointer = 0;
+	  clientLine[0] = 0;
+	  clientRequest[0] = 0;
+	  gotPassword = false;
+	  gcodeAvailable = false;
+	  gcodePointer = 0;
+	  InitialisePost();
+	  lastTime = platform->Time();
+	  longWait = lastTime;
+	  active = true;
+
+}
+
 void Webserver::Exit()
 {
   platform->Message(HOST_MESSAGE, "Webserver class exited.\n");

Webserver.h

@@ -50,6 +50,7 @@ class Webserver
     void Diagnostics();
     void SetPassword(char* pw);
     void SetName(char* nm);
+    void ConnectionError();
     
   private:
   

network/httpd.c

@@ -72,7 +72,7 @@ struct http_state {
 
 void RepRapNetworkReceiveInput(char* ip, int length, void* pbuf, void* pcb, void* hs);
 void RepRapNetworkInputBufferReleased(void* pbuf);
-void RepRapNetworkHttpStateReleased(void* h);
+void RepRapNetworkConnectionError(void* h);
 void RepRapNetworkMessage(char* s);
 void RepRapNetworkAllowWriting();
 bool RepRapNetworkHasALiveClient();
@@ -86,15 +86,19 @@ static int initCount = 0;
 static void
 conn_err(void *arg, err_t err)
 {
-  struct http_state *hs;
+  // Report the error to the monitor
+  RepRapNetworkMessage("Network connection error, code ");
+  {
+	char tempBuf[10];
+	snprintf(tempBuf, sizeof(tempBuf)/sizeof(char), "%d\n", err);
+	RepRapNetworkMessage(tempBuf);
+  }
 
-  LWIP_UNUSED_ARG(err);
+  struct http_state *hs = arg;
-
+  RepRapNetworkConnectionError(hs);		// tell the higher levels about the error
-  hs = arg;
+  mem_free(hs);							// release the state data
-  mem_free(hs);
-  //RepRapNetworkHttpStateReleased(hs);
-  RepRapNetworkMessage("Network connection error.\n");
 }
+
 /*-----------------------------------------------------------------------------------*/
 
 static void