Hooks added for (I hope) the final and complete set of all parameter-changing

M Codes that we will need.  Network initialisation delayed until after the
config.g file is run, to allow machine name etc to be set from that.

GCodes.cpp

@@ -5,6 +5,10 @@ RepRapFirmware - G Codes
 This class interprets G Codes from one or more sources, and calls the functions in Move, Heat etc
 that drive the machine to do what the G Codes command.
 
+Most of the functions in here are designed not to wait, and they return a boolean.  When you want them to do
+something, you call them.  If they return false, the machine can't do what you want yet.  So you go away
+and do something else.  Then you try again.  If they return true, the thing you wanted done has been done.
+
 -----------------------------------------------------------------------------------------------------
 
 Version 0.1
@@ -45,7 +49,6 @@ void GCodes::Init()
   fileGCode->SetFinished(true);
   serialGCode->SetFinished(true);
   moveAvailable = false;
- // heatAvailable = false;
   drivesRelative = true;
   axesRelative = false;
   checkEndStops = false;
@@ -59,9 +62,6 @@ void GCodes::Init()
   homeY = false;
   homeZ = false;
   homeZFinalMove = false;
-//  homeXQueued = false;
-//  homeYQueued = false;
-//  homeZQueued = false;
   dwellWaiting = false;
   stackPointer = 0;
   selectedHead = -1;
@@ -71,7 +71,6 @@ void GCodes::Init()
   zProbesSet = false;
   probeCount = 0;
   cannedCycleMoveCount = 0;
-//  probeMoveQueued = false;
   cannedCycleMoveQueued = false;
   active = true;
   dwellTime = platform->Time();
@@ -84,6 +83,14 @@ void GCodes::Spin()
     
   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.
+  //
+  // Note the order establishes a priority: web first, then serial, and file
+  // last.  If file weren't last, then the others would never get a look in when
+  // a file was being printed.
+
   if(!webGCode->Finished())
   {
     webGCode->SetFinished(ActOnGcode(webGCode));
@@ -102,6 +109,9 @@ void GCodes::Spin()
     return;
   }  
 
+  // Now check if a G Code byte is available from each of the sources
+  // in the same order for the same reason.
+
   if(webserver->GCodeAvailable())
   {
     if(webGCode->Put(webserver->ReadGCode()))
@@ -138,6 +148,11 @@ void GCodes::Diagnostics()
   platform->Message(HOST_MESSAGE, "GCodes Diagnostics:\n");
 }
 
+// The wait till everything's done function.  If you need the machine to
+// be idle before you do something (for example homeing an axis, or shutting down) call this
+// until it returns true.  As a side-effect it loads moveBuffer with the last
+// position and feedrate for you.
+
 bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded()
 {
   // Last one gone?
@@ -159,6 +174,9 @@ bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded()
   return true;  
 }
 
+// Save (some of) the state of the machine for recovery in the future.
+// Call repeatedly till it returns true.
+
 bool GCodes::Push()
 {
   if(stackPointer >= STACK)
@@ -178,6 +196,8 @@ bool GCodes::Push()
   return true;
 }
 
+// Recover a saved state.  Call repeatedly till it returns true.
+
 bool GCodes::Pop()
 {
   if(stackPointer <= 0)
@@ -209,6 +229,7 @@ bool GCodes::Pop()
   return true;
 }
 
+// This function is called for a G Code that makes a move.
 // If the Move class can't receive the move (i.e. things have to wait)
 // this returns false, otherwise true.
 
@@ -245,26 +266,24 @@ bool GCodes::ReadMove(float* m, bool& ce)
     return true;
 }
 
-
-bool GCodes::ReadHeat(float* h)
-{
-
-}
-
 // To execute any move, call this until it returns true.
-// false entries in action[] will be ignored.
+// moveToDo[] entries corresponding with false entries in action[] will
+// be ignored.  Recall that moveToDo[DRIVES] should contain the feedrate
+// you want (if action[DRIVES] is true).
 
 bool GCodes::DoCannedCycleMove(float moveToDo[], bool action[], bool ce)
 {
+	// Is the move already running?
+
 	if(cannedCycleMoveQueued)
-	{
+	{ // Yes.
-		if(!Pop()) // Wait for the move to finish
+		if(!Pop()) // Wait for the move to finish then restore the state
 			return false;
 		cannedCycleMoveQueued = false;
 		return true;
 	} else
-	{
+	{ // No.
-		if(!Push()) // Wait for the RepRap to finish whatever it was doing
+		if(!Push()) // Wait for the RepRap to finish whatever it was doing and save it's state
 			return false;
 		for(int8_t drive = 0; drive <= DRIVES; drive++)
 		{
@@ -278,6 +297,9 @@ bool GCodes::DoCannedCycleMove(float moveToDo[], bool action[], bool ce)
 	return false;
 }
 
+// Home one or more of the axes.  Which ones are decided by the
+// booleans homeX, homeY and homeZ.
+
 bool GCodes::DoHome()
 {
 	// Treat more or less like any other move
@@ -405,6 +427,10 @@ bool GCodes::DoSingleZProbe()
 	}
 }
 
+// This probes multiple points on the bed (usually three in a
+// triangle), then sets the bed transformation to compensate
+// for the bed not quite being the plane Z = 0.
+
 bool GCodes::DoMultipleZProbe()
 {
 	if(DoSingleZProbe())
@@ -420,6 +446,10 @@ bool GCodes::DoMultipleZProbe()
 	return false;
 }
 
+// This returns the (X, Y) points to probe the bed at probe point count.  When probing,
+// it returns false.  If called after probing has ended it returns true, and the Z coordinate
+// probed is also returned.
+
 bool GCodes::GetProbeCoordinates(int count, float& x, float& y, float& z)
 {
 	switch(count)
@@ -444,6 +474,10 @@ bool GCodes::GetProbeCoordinates(int count, float& x, float& y, float& z)
 	return zProbesSet;
 }
 
+// Return the current coordinates as a printable string.  Coordinates
+// are updated at the end of each movement, so this won't tell you
+// where you are mid-movement.
+
 // FIXME - needs to deal with multiple extruders
 
 char* GCodes::GetCurrentCoordinates()
@@ -455,6 +489,7 @@ char* GCodes::GetCurrentCoordinates()
 	return scratchString;
 }
 
+// Set up a file to print, but don't print it yet.
 
 void GCodes::QueueFileToPrint(char* fileName)
 {
@@ -463,6 +498,9 @@ void GCodes::QueueFileToPrint(char* fileName)
 	  platform->Message(HOST_MESSAGE, "GCode file not found\n");
 }
 
+// Run the configuration G Code file to set up the machine.  Usually just called once
+// on re-boot.
+
 void GCodes::RunConfigurationGCodes()
 {
 	  fileToPrint = platform->GetFileStore(platform->GetSysDir(), platform->GetConfigFile(), false);
@@ -477,11 +515,11 @@ void GCodes::RunConfigurationGCodes()
 
 
 // Function to handle dwell delays.  Return true for
-// Dwell finished, false otherwise.
+// dwell finished, false otherwise.
 
 bool GCodes::DoDwell(GCodeBuffer *gb)
 {
-  unsigned long dwell;
+  float dwell;
   
   if(gb->Seen('P'))
     dwell = 0.001*(float)gb->GetLValue(); // P values are in milliseconds; we need seconds
@@ -493,7 +531,7 @@ bool GCodes::DoDwell(GCodeBuffer *gb)
   if(!reprap.GetMove()->AllMovesAreFinished())
     return false;
       
-  // Are we already in a dwell?
+  // Are we already in the dwell?
       
   if(dwellWaiting)
   {
@@ -513,6 +551,9 @@ bool GCodes::DoDwell(GCodeBuffer *gb)
   return false;
 }
 
+// Set distance offsets and working and standby temperatures for
+// an extruder.  I.e. handle a G10.
+
 bool GCodes::SetOffsets(GCodeBuffer *gb)
 {
   int8_t head;
@@ -572,6 +613,8 @@ void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb)
 	moveBuffer[DRIVES] = gFeedRate;  // We always set it, as Move may have modified the last one.
 }
 
+// This sets positions.  I.e. it handles G92.
+
 bool GCodes::SetPositions(GCodeBuffer *gb)
 {
 	if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
@@ -584,16 +627,26 @@ bool GCodes::SetPositions(GCodeBuffer *gb)
 	return true;
 }
 
-void GCodes::DisableDrives()
+// Does what it says.
+
+bool GCodes::DisableDrives()
 {
+	if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+	   return false;
 	for(int8_t drive = 0; drive < DRIVES; drive++)
 		platform->Disable(drive);
+	return true;
 }
 
-void GCodes::StandbyHeaters()
+// Does what it says.
+
+bool GCodes::StandbyHeaters()
 {
+	if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+		return false;
 	for(int8_t heater = 0; heater < DRIVES; heater++)
 		reprap.GetHeat()->Standby(heater);
+	return true;
 }
 
 // If the GCode to act on is completed, this returns true,
@@ -649,7 +702,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
       result = DoHome();
       break;
 
-    case 31:
+    case 31: // Return the probe value, or set probe variables
     	if(gb->Seen(gCodeLetters[Z_AXIS]))
     	{
     		platform->SetZProbeStopHeight(gb->GetFValue());
@@ -674,8 +727,8 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
       break;
       
     case 91: // Relative coordinates
-      drivesRelative = true;
+      drivesRelative = true; // Non-axis movements (i.e. extruders)
-      axesRelative = true;
+      axesRelative = true;   // Axis movements (i.e. X, Y and Z)
       break;
       
     case 92: // Set position
@@ -697,16 +750,19 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     {
     case 0: // Stop
     case 1: // Sleep
-      if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+      if(fileBeingPrinted != NULL)
+      {
+    	  fileToPrint = fileBeingPrinted;
+    	  fileBeingPrinted = NULL;
+      }
+      if(!DisableDrives())
     	  return false;
-      DisableDrives();
+      if(!StandbyHeaters())
-      StandbyHeaters();
+    	  return false; // Should never happen
       break;
     
     case 18: // Motors off
-      if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+      result = DisableDrives();
-    	   return false;
-      DisableDrives();
       break;
       
     case 20:  // Deprecated...
@@ -744,6 +800,9 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
 
     	break;
 
+    case 85: // Set inactive time
+    	break;
+
     case 92: // Set steps/mm for each axis
     	if(reprap.debug())
     		platform->GetLine()->Write("Steps/mm: ");
@@ -787,11 +846,8 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
       platform->Message(HOST_MESSAGE, "Fan off received\n");
       break;
       
-    case 116: // Wait for everything
+    case 112: // Emergency stop
-      if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+    	break;
-    	    return false;
-      result = reprap.GetHeat()->AllHeatersAtSetTemperatures();
-      break;
 
     case 111: // Debug level
     	if(gb->Seen('S'))
@@ -808,6 +864,12 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     		result = false;
     	break;
 
+    case 116: // Wait for everything, especially set temperatures
+       if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
+     	    return false;
+       result = reprap.GetHeat()->AllHeatersAtSetTemperatures();
+       break;
+
     case 120:
     	result = Push();
     	break;
@@ -828,6 +890,9 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
       platform->Message(HOST_MESSAGE, "M127 - valves not yet implemented\n");
       break;
       
+    case 135: // Set PID sample interval
+    	break;
+
     case 140: // Set bed temperature
       if(gb->Seen('S'))
       {
@@ -851,11 +916,11 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     		}else{
     			value = -1;
     		}
-    		float accel = platform->Acceleration(i, value);
+    		platform->SetAcceleration(i, value);
     		if(reprap.debug())
     		{
     			platform->GetLine()->Write(gCodeLetters[i]);
-    			platform->GetLine()->Write(ftoa(NULL,accel,1));
+    			platform->GetLine()->Write(ftoa(NULL,platform->Acceleration(i),1));
     			platform->GetLine()->Write(" ");
     		}
     	}
@@ -863,12 +928,42 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
 			platform->GetLine()->Write("\n");
     	break;
 
-    case 906: // Motor currents
+    case 203: // Set maximum feedrates
+    	break;
+
+    case 205:  //M205 advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+    	break;
+
+    case 208: // Set maximum axis lengths
+    	break;
+
+    case 210: // Set homing feedrates
+    	break;
+
+    case 301: // Set PID values
+    	break;
+
+    case 302: // Allow cold extrudes
+    	break;
+
+    case 304: // Set thermistor parameters
+    	break;
+
+    case 500: // Set password
+    	break;
+
+    case 501: // Set machine name
+    	break;
+
+    case 502: // Set IP address
+    	break;
+
+    case 906: // Set Motor currents
     	for(uint8_t i = 0; i < DRIVES; i++)
     	{
     		if(gb->Seen(gCodeLetters[i]))
     		{
-    			value = gb->GetFValue();
+    			value = gb->GetFValue(); // mA
     			platform->SetMotorCurrent(i, value);
     		}
     	}
@@ -892,7 +987,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     for(int8_t i = AXES; i < DRIVES; i++)
     {
       if(selectedHead == i - AXES)
-        reprap.GetHeat()->Standby(selectedHead + 1); // 0 is the Bed
+        reprap.GetHeat()->Standby(selectedHead + 1); // + 1 because 0 is the Bed
     }
     for(int8_t i = AXES; i < DRIVES; i++)
     {    
@@ -923,6 +1018,8 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
 
 //*************************************************************************************
 
+// This class stores a single G Code and provides functions to allow it to be parsed
+
 GCodeBuffer::GCodeBuffer(Platform* p, char* id)
 { 
   platform = p;
@@ -936,6 +1033,9 @@ void GCodeBuffer::Init()
   inComment = false;   
 }
 
+// Add a byte to the code being assembled.  If false is returned, the code is
+// not yet complete.  If true, it is complete and ready to be acted upon.
+
 bool GCodeBuffer::Put(char c)
 {
   bool result = false;
@@ -987,7 +1087,7 @@ bool GCodeBuffer::Seen(char c)
   return false;
 }
 
-// Get a float after a G Code letter
+// Get a float after a G Code letter found by a call to Seen()
 
 float GCodeBuffer::GetFValue()
 {
@@ -1007,6 +1107,10 @@ float GCodeBuffer::GetFValue()
 // be -1.  It absorbs "M/Gnnn " (including the space) from the
 // start and returns a pointer to the next location.
 
+// It would be nice if the string was preceded by (say) 'S', but
+// for legacy compatibility (M code to queue a file) that can't
+// be done.
+
 char* GCodeBuffer::GetString()
 {
   readPointer = 0;

GCodes.h

@@ -26,7 +26,7 @@ Licence: GPL
 
 #define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode
 
-// Small class to hold an individual GCode
+// Small class to hold an individual GCode and provide functions to allow it to be parsed
 
 class GCodeBuffer
 {
@@ -67,7 +67,6 @@ class GCodes
     void Exit();
     void RunConfigurationGCodes();
     bool ReadMove(float* m, bool& ce);
-    bool ReadHeat(float* h);
     void QueueFileToPrint(char* fileName);
     bool GetProbeCoordinates(int count, float& x, float& y, float& z);
     char* GetCurrentCoordinates();
@@ -90,8 +89,8 @@ class GCodes
     bool NoHome();
     bool Push();
     bool Pop();
-    void DisableDrives();
+    bool DisableDrives();
-    void StandbyHeaters();
+    bool StandbyHeaters();
 
     int8_t Heater(int8_t head);
     Platform* platform;

Move.cpp

@@ -45,7 +45,7 @@ Move::Move(Platform* p, GCodes* g)
     lookAheadRingGetPointer = new LookAhead(this, platform, lookAheadRingGetPointer);
   lookAheadRingAddPointer->next = lookAheadRingGetPointer;
   
-  // Set the lookahead backwards pointers
+  // Set the lookahead backwards pointers (some oxymoron, surely?)
   
   lookAheadRingGetPointer = lookAheadRingAddPointer; 
   for(i = 0; i <= LOOK_AHEAD_RING_LENGTH; i++)

Platform.cpp

@@ -64,7 +64,7 @@ void Platform::Init()
 
   line->Init();
 
-  network->Init();
+  //network->Init();
 
   massStorage->Init();
 
@@ -93,15 +93,10 @@ void Platform::Init()
   potWipes = POT_WIPES;
   senseResistor = SENSE_RESISTOR;
   maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
-//  zProbeGradient = Z_PROBE_GRADIENT;
-//  zProbeConstant = Z_PROBE_CONSTANT;
   zProbePin = Z_PROBE_PIN;
   zProbeCount = 0;
   zProbeSum = 0;
   zProbeValue = 0;
-//  zProbeStarting = false;
-//  zProbeHigh = Z_PROBE_HIGH;
-//  zProbeLow = Z_PROBE_LOW;
   zProbeADValue = Z_PROBE_AD_VALUE;
   zProbeStopHeight = Z_PROBE_STOP_HEIGHT;
 
@@ -197,6 +192,11 @@ void Platform::Init()
   active = true;
 }
 
+void Platform::StartNetwork()
+{
+	network->Init();
+}
+
 
 //int zcount; // NASTY - FIX ME
 

Platform.h

@@ -151,24 +151,6 @@ Licence: GPL
 
 // Networking
 
-// Enter a MAC address and IP address for your controller below.
-// The IP address will be dependent on your local network:
-//#define MAC { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
-//#define MAC_BYTES 6
-//
-//#define IP0 192
-//#define IP1 168
-//#define IP2 1
-//#define IP3 14
-//
-//#define IP_BYTES 4
-
-//#define ETH_B_PIN 10
-
-// port 80 is default for HTTP
-  
-//#define HTTP_PORT 80
-
 // Seconds to wait after serving a page
  
 #define CLIENT_CLOSE_DELAY 0.002
@@ -425,6 +407,7 @@ class Platform
   
   MassStorage* GetMassStorage();
   FileStore* GetFileStore(char* directory, char* fileName, bool write);
+  void StartNetwork();
   char* GetWebDir(); // Where the htm etc files are
   char* GetGCodeDir(); // Where the gcodes are
   char* GetSysDir();  // Where the system files are
@@ -442,7 +425,8 @@ class Platform
   void SetMotorCurrent(byte drive, float current);
   float DriveStepsPerUnit(int8_t drive);
   void SetDriveStepsPerUnit(int8_t drive, float value);
-  float Acceleration(int8_t drive, float value);
+  float Acceleration(int8_t drive);
+  void SetAcceleration(int8_t drive, float value);
   float MaxFeedrate(int8_t drive);
   float InstantDv(int8_t drive);
   float HomeFeedRate(int8_t drive);
@@ -458,10 +442,6 @@ class Platform
   
   float GetTemperature(int8_t heater); // Result is in degrees celsius
   void SetHeater(int8_t heater, const float& power); // power is a fraction in [0,1]
-  //void SetStandbyTemperature(int8_t heater, const float& t);
-  //void SetActiveTemperature(int8_t heater, const float& t);
-  //float StandbyTemperature(int8_t heater);
-  //float ActiveTemperature(int8_t heater);  
   float PidKp(int8_t heater);
   float PidKi(int8_t heater);
   float PidKd(int8_t heater);
@@ -631,11 +611,14 @@ inline void Platform::SetDriveStepsPerUnit(int8_t drive, float value)
   driveStepsPerUnit[drive] = value;
 }
 
-inline float Platform::Acceleration(int8_t drive, float value = -1)
+inline float Platform::Acceleration(int8_t drive)
 {
-  if(drive >= 0 && drive < DRIVES && value > 0)
+	return accelerations[drive];
-	  accelerations[drive] = value;
+}
-  return accelerations[drive]; 
+
+inline void Platform::SetAcceleration(int8_t drive, float value)
+{
+	accelerations[drive] = value;
 }
 
 inline float Platform::InstantDv(int8_t drive)

RepRapFirmware.cpp

@@ -177,6 +177,7 @@ void RepRap::Init()
   heat->Init();
   active = true;
   gCodes->RunConfigurationGCodes();
+  platform->StartNetwork(); // Need to do this hare, as the configuration GCodes may set IP address etc.
   platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n");
 //  platform->Message(HOST_MESSAGE, "Free memory: ");
 //  sprintf(scratchString,"%d\n",platform->GetFreeMemory());

SD-image/www/reprap.htm

@@ -288,10 +288,36 @@ Click a file to <span data-bind="text: fileAction"></span><br>
 
 <hr>
 
+<form action="reprap.htm?upload=myFile"
+enctype="multipart/form-data" method="post">
+<p>
+Upload a G Code file: <br>
+<input type="file" name="datafile" size="40">
+</p>
+<div>
+<input type="submit" value="Upload">
+</div>
+</form>
+
+<!--
+<form onSubmit="return checkFileName(this)" action="upload.htm"
+enctype="multipart/form-data" method="post">
+<p>
+Upload a G Code file :<br>
+<input type="file" name="datafile" size="40">
+</p>
+<div>
+<input type="submit" value="Upload">
+</div>
+</form>
+-->
+<!-- 
 <form data-bind="submit: function(data, event) { uploadGCode(data, event) }">
 Upload a G Code file :
 <input type="file" name="datafile" size="30"><button type="submit">Upload</button>
 </form>
+-->
+
 <br>
 <button data-bind="text: deleteButton, click: function(data, event) { deleteFile(data, event) }"></button>
 </div>

Webserver.cpp

@@ -327,6 +327,9 @@ void Webserver::GetJsonResponse(char* request)
     	strcat(jsonResponse, ftoa(0, liveCoordinates[drive], 2));
     	strcat(jsonResponse, "\",");
     }
+
+    // FIXME: should loop through all Es
+
     strcat(jsonResponse, "\"");
     strcat(jsonResponse, ftoa(0, liveCoordinates[AXES], 4));
     strcat(jsonResponse, "\"");