Merge pull request #88 from bdring/Devt

Devt

FluidNC/src/Machine/Axis.cpp

@@ -71,7 +71,7 @@ namespace Machine {
     }
 
     // Does this axis have 2 motors?
-    bool Axis::hasDualMotor() { return _motors[0] && _motors[1]; }
+    bool Axis::hasDualMotor() { return _motors[0] && _motors[0]->isReal() && _motors[1] && _motors[1]->isReal(); }
 
     // How many motors have switches defined?
     int Axis::motorsWithSwitches() {

FluidNC/src/Machine/Homing.cpp

@@ -180,6 +180,7 @@ namespace Machine {
                 // Normal termination for pulloff cycle
                 remainingMotors = 0;
             }
+            pollClients();
         } while (remainingMotors);
 
         Stepper::reset();       // Immediately force kill steppers and reset step segment buffer.

FluidNC/src/Machine/MachineConfig.cpp

@@ -31,6 +31,7 @@ namespace Machine {
     void MachineConfig::group(Configuration::HandlerBase& handler) {
         handler.item("board", _board);
         handler.item("name", _name);
+        handler.item("meta", _meta);
 
         handler.section("stepping", _stepping);
         handler.section("axes", _axes);
@@ -62,12 +63,10 @@ namespace Machine {
         }
 
         if (_coolant == nullptr) {
-            log_info("Coolant: using defaults");
             _coolant = new CoolantControl();
         }
 
         if (_probe == nullptr) {
-            log_info("Probe: using defaults");
             _probe = new Probe();
         }
 
@@ -91,7 +90,6 @@ namespace Machine {
         // Only if an i2so section is present will config->_i2so be non-null
 
         if (_control == nullptr) {
-            log_info("Control: using defaults");
             _control = new Control();
         }
 
@@ -100,7 +98,6 @@ namespace Machine {
         }
 
         if (_spindles.size() == 0) {
-            log_info("Spindle: using defaults (no spindle)");
             _spindles.push_back(new Spindles::Null());
         }
 
@@ -147,7 +144,6 @@ namespace Machine {
             log_info("config file " << path << " is empty");
             return 0;
         }
-        // log_debug("Configuration file has " << int(filesize) << " bytes");
         buffer = new char[filesize + 1];
 
         size_t pos = 0;
@@ -162,8 +158,6 @@ namespace Machine {
         file.close();
         buffer[filesize] = 0;
 
-        // log_debug("Read config file:\n" << buffer);
-
         if (pos != filesize) {
             delete[] buffer;
 
@@ -176,8 +170,6 @@ namespace Machine {
     char defaultConfig[] = "name: Default (Test Drive)\nboard: None\n";
 
     bool MachineConfig::load(const char* filename) {
-        // log_info("Heap size before load config is " << uint32_t(xPortGetFreeHeapSize()));
-
         // If the system crashes we skip the config file and use the default
         // builtin config.  This helps prevent reset loops on bad config files.
         size_t             filesize = 0;
@@ -193,7 +185,7 @@ namespace Machine {
 
         if (filesize > 0) {
             input = new StringRange(buffer, buffer + filesize);
-            log_info("Configuration file: " << filename);
+            log_info("Configuration file:" << filename);
 
         } else {
             log_info("Using default configuration");
@@ -202,8 +194,6 @@ namespace Machine {
         // Process file:
         bool successful = false;
         try {
-            // log_info("Heap size before parsing is " << uint32_t(xPortGetFreeHeapSize()));
-
             Configuration::Parser        parser(input->begin(), input->end());
             Configuration::ParserHandler handler(parser);
 
@@ -222,8 +212,6 @@ namespace Machine {
 
             log_debug("Running after-parse tasks");
 
-            // log_info("Heap size before after-parse is " << uint32_t(xPortGetFreeHeapSize()));
-
             try {
                 Configuration::AfterParse afterParse;
                 config->afterParse();
@@ -232,8 +220,6 @@ namespace Machine {
 
             log_debug("Checking configuration");
 
-            // log_info("Heap size before validation is " << uint32_t(xPortGetFreeHeapSize()));
-
             try {
                 Configuration::Validator validator;
                 config->validate();
@@ -244,7 +230,9 @@ namespace Machine {
 
             successful = (sys.state != State::ConfigAlarm);
 
-            log_info("Configuration is " << (successful ? "valid" : "invalid"));
+            if (!successful) {
+                log_info("Configuration is invalid");
+            }
 
         } catch (const Configuration::ParseException& ex) {
             sys.state      = State::ConfigAlarm;

FluidNC/src/Machine/MachineConfig.h

@@ -82,7 +82,7 @@ namespace Machine {
 
         String _board = "None";
         String _name  = "None";
-
+        String _meta  = "";
 #if 1
         static MachineConfig*& instance() {
             static MachineConfig* instance = nullptr;

FluidNC/src/Machine/Motor.cpp

@@ -55,5 +55,7 @@ namespace Machine {
         _allLimitPin->makeDualMask();
     }
 
+    bool Motor::isReal() { return _driver->isReal(); }
+
     Motor::~Motor() { delete _driver; }
 }

FluidNC/src/Machine/Motor.h

@@ -39,6 +39,7 @@ namespace Machine {
         void group(Configuration::HandlerBase& handler) override;
         void afterParse() override;
         bool hasSwitches();
+        bool isReal();
         void makeDualSwitches();
         void init();
         void config_motor();

FluidNC/src/Motors/MotorDriver.h

@@ -95,6 +95,9 @@ namespace MotorDrivers {
         // Name is required for the configuration factory to work.
         virtual const char* name() const = 0;
 
+        // Test for a real motor as opposed to a NullMotor placeholder
+        virtual bool isReal() { return true; }
+
         // Virtual base classes require a virtual destructor.
         virtual ~MotorDriver() {}
 

FluidNC/src/Motors/NullMotor.h

@@ -9,6 +9,8 @@ namespace MotorDrivers {
 
         bool set_homing_mode(bool isHoming) { return false; }
 
+        bool isReal() override { return false; }
+
         // Configuration handlers:
         void group(Configuration::HandlerBase& handler) override {}
 

FluidNC/src/Pin.h

@@ -103,7 +103,7 @@ class Pin {
     // External libraries normally use digitalWrite, digitalRead and setMode. Since we cannot handle that behavior, we
     // just give back the pinnum_t for getNative.
     inline pinnum_t getNative(Capabilities expectedBehavior) const {
-        Assert(_detail->capabilities().has(expectedBehavior), "Requested pin does not have the expected behavior.");
+        Assert(_detail->capabilities().has(expectedBehavior), "Requested pin %s does not have the expected behavior.",name().c_str());
         return _detail->_index;
     }
 

FluidNC/src/ProcessSettings.cpp

@@ -274,34 +274,36 @@ static Error home_b(const char* value, WebUI::AuthenticationLevel auth_level, Pr
 static Error home_c(const char* value, WebUI::AuthenticationLevel auth_level, Print& out) {
     return home(bitnum_to_mask(C_AXIS));
 }
-static void write_limit_set(uint32_t mask) {
+static void write_limit_set(uint32_t mask, Print& out) {
     const char* motor0AxisName = "xyzabc";
     for (int i = 0; i < MAX_N_AXIS; i++) {
-        Uart0.write(bitnum_is_true(mask, i) ? char(motor0AxisName[i]) : ' ');
+        out.write(bitnum_is_true(mask, i) ? char(motor0AxisName[i]) : ' ');
     }
     const char* motor1AxisName = "XYZABC";
     for (int i = 0; i < MAX_N_AXIS; i++) {
-        Uart0.write(bitnum_is_true(mask, i + 16) ? char(motor1AxisName[i]) : ' ');
+        out.write(bitnum_is_true(mask, i + 16) ? char(motor1AxisName[i]) : ' ');
     }
 }
 static Error show_limits(const char* value, WebUI::AuthenticationLevel auth_level, Print& out) {
-    Uart0.print("Send ! to exit\n");
-    Uart0.print("Homing Axes: ");
-    write_limit_set(Machine::Axes::homingMask);
-    Uart0.write('\n');
-    Uart0.print("Limit  Axes: ");
-    write_limit_set(Machine::Axes::limitMask);
-    Uart0.write('\n');
-    Uart0.print("PosLimitPins NegLimitPins\n");
+    out.print("Send ! to exit\n");
+    out.print("Homing Axes: ");
+    write_limit_set(Machine::Axes::homingMask, out);
+    out.write('\n');
+    out.print("Limit  Axes: ");
+    write_limit_set(Machine::Axes::limitMask, out);
+    out.write('\n');
+    out.print("  PosLimitPins NegLimitPins\n");
     do {
-        write_limit_set(Machine::Axes::posLimitMask);
-        Uart0.write(' ');
-        write_limit_set(Machine::Axes::negLimitMask);
-        Uart0.write('\n');
-        vTaskDelay(500);
+        out.write(": ");  // Prevents WebUI from suppressing an empty line
+        write_limit_set(Machine::Axes::posLimitMask, out);
+        out.write(' ');
+        write_limit_set(Machine::Axes::negLimitMask, out);
+        out.print("\r\n");
+        vTaskDelay(500);  // Delay for a reasonable repeat rate
+        pollClients();
     } while (!rtFeedHold);
     rtFeedHold = false;
-    Uart0.write('\n');
+    out.write('\n');
     return Error::Ok;
 }
 static Error go_to_sleep(const char* value, WebUI::AuthenticationLevel auth_level, Print& out) {

FluidNC/src/Protocol.cpp

@@ -252,12 +252,12 @@ static void protocol_do_alarm() {
             report_feedback_message(Message::CriticalEvent);
             rtReset = false;  // Disable any existing reset
             do {
-                // Block everything, except reset and status reports, until user issues reset or power
+                // Block everything except reset and status reports until user issues reset or power
                 // cycles. Hard limits typically occur while unattended or not paying attention. Gives
                 // the user and a GUI time to do what is needed before resetting, like killing the
                 // incoming stream. The same could be said about soft limits. While the position is not
                 // lost, continued streaming could cause a serious crash if by chance it gets executed.
-                vTaskDelay(1);  // give serial task some time
+                pollClients();  // Handle ^X realtime RESET command
             } while (!rtReset);
             break;
         default:
@@ -445,6 +445,11 @@ static void protocol_do_sleep() {
     sys.state = State::Sleep;
 }
 
+void protocol_cancel_disable_steppers() {
+    // Cancel any pending stepper disable.
+    idleEndTime = 0;
+}
+
 static void protocol_do_initiate_cycle() {
     // Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
     sys.step_control = {};  // Restore step control to normal operation
@@ -457,6 +462,9 @@ static void protocol_do_initiate_cycle() {
         sys.suspend.value = 0;  // Break suspend state.
         sys.state         = State::Idle;
     }
+
+    // Make sure the steppers can't be scheduled for a shutdown while this cycle is running.
+    protocol_cancel_disable_steppers();
 }
 
 // The handlers for rtFeedHold, rtMotionCancel, and rtsDafetyDoor clear rtCycleStart to
@@ -952,6 +960,7 @@ static void protocol_exec_rt_suspend() {
                 }
             }
         }
+        pollClients();  // Handle realtime commands like status report, cycle start and reset
         protocol_exec_rt_system();
     }
 }

FluidNC/src/Report.cpp

@@ -661,7 +661,7 @@ void report_realtime_status(Print& client) {
         client << "|SD:" << config->_sdCard->percent_complete() << "," << config->_sdCard->filename();
     }
 #ifdef DEBUG_STEPPER_ISR
-    client << "|ISRs:" << Stepper::isr_count;
+    client << "|ISRs:" << config->_stepping->isr_count;
 #endif
 #ifdef DEBUG_REPORT_HEAP
     client << "|Heap:" << esp.getHeapSize();

FluidNC/src/Serial.cpp

@@ -205,8 +205,9 @@ void client_init() {
     register_client(&Uart0);               // USB Serial
     register_client(&WebUI::inputBuffer);  // Macros
 }
-
 InputClient* pollClients() {
+    auto sdcard = config->_sdCard;
+
     for (auto client : clientq) {
         auto source = client->_in;
         int  c      = source->read();
@@ -244,7 +245,7 @@ InputClient* pollClients() {
             }
             if (ch == '\n') {
                 client->_line_num++;
-                if (config->_sdCard->get_state() < SDCard::State::Busy) {
+                if (sdcard->get_state() < SDCard::State::Busy) {
                     client->_line[client->_linelen] = '\0';
                     client->_line_returned          = true;
                     display("GCODE", client->_line);
@@ -267,7 +268,6 @@ InputClient* pollClients() {
     WebUI::wifi_services.handle();  // OTA, web_server, telnet_server polling
 #endif
 
-    auto sdcard = config->_sdCard;
     // _readyNext indicates that input is coming from a file and
     // the GCode system is ready for another line.
     if (sdcard && sdcard->_readyNext) {

FluidNC/src/Spindles/NullSpindle.cpp

@@ -27,7 +27,7 @@ namespace Spindles {
         _current_state    = state;
         sys.spindle_speed = speed;
     }
-    void Null::config_message() { log_info("No spindle"); }
+    void Null::config_message() { /*log_info("No spindle");*/ }
 
     // Configuration registration
     namespace {

FluidNC/src/WebUI/JSONEncoder.cpp

@@ -6,7 +6,7 @@
 namespace WebUI {
     // Constructor.  If _pretty is true, newlines are
     // inserted into the JSON string for easy reading.
-    JSONencoder::JSONencoder(bool pretty, Print* s) : pretty(pretty), level(0), str(""), stream(s) { count[level] = 0; }
+    JSONencoder::JSONencoder(bool pretty, Print* s) : pretty(pretty), level(0), str(""), stream(s), category("nvs") { count[level] = 0; }
 
     // Constructor.  If _pretty is true, newlines are
     // inserted into the JSON string for easy reading.
@@ -150,7 +150,7 @@ namespace WebUI {
     // a value passed in as a C-style string.
     void JSONencoder::begin_webui(const char* name, const char* help, const char* type, const char* val) {
         begin_object();
-        member("F", "network");
+        member("F", category);
         // P is the name that WebUI uses to set a new value.
         // H is the legend that WebUI displays in the UI.
         // The distinction used to be important because, prior to the introuction

FluidNC/src/WebUI/JSONEncoder.h

@@ -23,6 +23,8 @@ namespace WebUI {
         void   line();
         Print* stream;
 
+        String category;
+
     public:
         // If you don't set _pretty it defaults to false
         JSONencoder();
@@ -36,6 +38,8 @@ namespace WebUI {
         // begin() starts the encoding process.
         void begin();
 
+        void setCategory(const char* cat) { category = cat; }
+
         // end() returns the encoded string
         String end();
 

FluidNC/src/WebUI/WebSettings.cpp

@@ -637,11 +637,13 @@ namespace WebUI {
         j.begin_array("EEPROM");
 
         // NVS settings
+        j.setCategory("nvs");
         for (Setting* js = Setting::List; js; js = js->next()) {
             js->addWebui(&j);
         }
 
         // Configuration tree
+        j.setCategory("tree");
         Configuration::JsonGenerator gen(j);
         config->group(gen);