Merge pull request #226 from synthetos/dev-225-flush-and-clear

Work on issue #225 - queue flush and clear handling

g2core/canonical_machine.cpp

@@ -823,6 +823,7 @@ void cm_clear()
 {
     if (cm.machine_state == MACHINE_ALARM) {
         cm.machine_state = MACHINE_PROGRAM_STOP;
+        xio_flush_to_command();
     } else if (cm.machine_state == MACHINE_SHUTDOWN) {
         cm.machine_state = MACHINE_READY;
     }

g2core/controller.cpp

@@ -236,7 +236,7 @@ static void _dispatch_kernel(const devflags_t flags)
 
     // trap single character commands
     if      (*cs.bufp == '!') { cm_request_feedhold(); }
-    else if (*cs.bufp == '%') { cm_request_queue_flush(); }
+    else if (*cs.bufp == '%') { cm_request_queue_flush(); xio_flush_to_command(); }
     else if (*cs.bufp == '~') { cm_request_end_hold(); }
     else if (*cs.bufp == EOT) { cm_alarm(STAT_KILL_JOB, "EOT Received"); }
     else if (*cs.bufp == ENQ) { controller_request_enquiry(); }

g2core/plan_zoid.cpp

@@ -34,21 +34,21 @@
 
 //+++++ DIAGNOSTICS
 
-#if IN_DEBUGGER < 1
+//#if IN_DEBUGGER < 1
 #define LOG_RETURN(msg)  // LOG_RETURN with no action (production)
-#else
-#include "xio.h"
-static char logbuf[128];
-static void _logger(const char *msg, const mpBuf_t *bf)         // LOG_RETURN with full state dump
-{
-    sprintf(logbuf, "[%2d] %s (%d) mt:%5.2f, L:%1.3f [%1.3f, %1.3f, %1.3f] V:[%1.2f, %1.2f, %1.2f]\n",
-                    bf->buffer_number, msg, bf->hint, (bf->block_time * 60000),
-                    bf->length, bf->head_length, bf->body_length, bf->tail_length,
-                    bf->pv->exit_velocity, bf->cruise_velocity, bf->exit_velocity);
-    xio_writeline(logbuf);
-}
-#define LOG_RETURN(msg) { _logger(msg, bf); }
-#endif
+//#else
+//#include "xio.h"
+//static char logbuf[128];
+//static void _logger(const char *msg, const mpBuf_t *bf)         // LOG_RETURN with full state dump
+//{
+//    sprintf(logbuf, "[%2d] %s (%d) mt:%5.2f, L:%1.3f [%1.3f, %1.3f, %1.3f] V:[%1.2f, %1.2f, %1.2f]\n",
+//                    bf->buffer_number, msg, bf->hint, (bf->block_time * 60000),
+//                    bf->length, bf->head_length, bf->body_length, bf->tail_length,
+//                    bf->pv->exit_velocity, bf->cruise_velocity, bf->exit_velocity);
+//    xio_writeline(logbuf);
+//}
+//#define LOG_RETURN(msg) { _logger(msg, bf); }
+//#endif
 
 #if IN_DEBUGGER < 1
 #define TRAP_ZERO(t,m)

g2core/settings/settings_shopbot_sbv300.h

@@ -56,7 +56,7 @@
 
 // Communications and reporting settings
 
-#define USB_SERIAL_PORTS_EXPOSED   2        // Valid options are 1 or 2, only!
+#define USB_SERIAL_PORTS_EXPOSED   1        // Valid options are 1 or 2, only!
 
 #define COMM_MODE JSON_MODE                      // one of: TEXT_MODE, JSON_MODE
 #define XIO_ENABLE_FLOW_CONTROL FLOW_CONTROL_RTS // FLOW_CONTROL_OFF, FLOW_CONTROL_RTS

g2core/stepper.cpp

@@ -76,7 +76,7 @@ extern OutputPin<kDebug3_PinNumber> debug_pin3;
 //extern OutputPin<kDebug4_PinNumber> debug_pin4;
 
 dda_timer_type dda_timer     {kTimerUpToMatch, FREQUENCY_DDA};      // stepper pulse generation
-load_timer_type load_timer;         // triggers load of next stepper segment
+//load_timer_type load_timer;         // triggers load of next stepper segment
 exec_timer_type exec_timer;         // triggers calculation of next+1 stepper segment
 fwd_plan_timer_type fwd_plan_timer; // triggers planning of next block
 
@@ -126,7 +126,7 @@ void stepper_init()
     dda_timer.setInterrupts(kInterruptOnOverflow | kInterruptPriorityHighest);
 
     // setup software interrupt load timer
-    load_timer.setInterrupts(kInterruptOnSoftwareTrigger | kInterruptPriorityHigh);
+//    load_timer.setInterrupts(kInterruptOnSoftwareTrigger | kInterruptPriorityHigh);
 
     // setup software interrupt exec timer & initial condition
     exec_timer.setInterrupts(kInterruptOnSoftwareTrigger | kInterruptPriorityMedium);
@@ -417,20 +417,21 @@ void st_request_load_move()
     stepper_debug("l");
     if (st_pre.buffer_state == PREP_BUFFER_OWNED_BY_LOADER) {       // bother interrupting
         stepper_debug("_");
-        load_timer.setInterruptPending();
+//        load_timer.setInterruptPending();
+        _load_move();
     }
 }
 
-namespace Motate {    // Define timer inside Motate namespace
-    template<>
-    void load_timer_type::interrupt()
-    {
-        load_timer.getInterruptCause();                             // read SR to clear interrupt condition
-        stepper_debug("L>");
-        _load_move();
-        stepper_debug("L+\n");
-    }
-} // namespace Motate
+//namespace Motate {    // Define timer inside Motate namespace
+//    template<>
+//    void load_timer_type::interrupt()
+//    {
+//        load_timer.getInterruptCause();                             // read SR to clear interrupt condition
+//        stepper_debug("L>");
+//        _load_move();
+//        stepper_debug("L+\n");
+//    }
+//} // namespace Motate
 
 /****************************************************************************************
  * _load_move() - Dequeue move and load into stepper runtime structure

g2core/xio.h

@@ -49,7 +49,8 @@
 #define XIO_H_ONCE
 
 //#include "g2core.h"                // not required if used in g2core project
-#include "config.h"                 // required for nvObj typedef
+#include "config.h"             // required for nvObj typedef
+#include "canonical_machine.h"  // needed for cm_has_hold()
 
 /**** Defines, Macros, and  Assorted Parameters ****/
 
@@ -97,6 +98,7 @@ enum xioDeviceEnum {                        // reconfigure this enum as you add
     DEV_USB1,                               // must be 1
     DEV_UART1,                              // must be 2
 //  DEV_SPI0,                               // We can't have it here until we actually define it
+    DEV_FLASH_FILE,                         // must be 0
     DEV_MAX
 };
 
@@ -106,7 +108,7 @@ enum xioSPIMode {
 };
 
 
-/**** readline stuff -- TODO *****/
+/**** readline stuff *****/
 
 #define RX_BUFFER_MIN_SIZE       256        // minimum requested buffer size (they are usually larger)
 
@@ -119,6 +121,7 @@ size_t xio_write(const char *buffer, size_t size, bool only_to_muted = false);
 char *xio_readline(devflags_t &flags, uint16_t &size);
 int16_t xio_writeline(const char *buffer, bool only_to_muted = false);
 bool xio_connected();
+void xio_flush_to_command();
 
 stat_t xio_set_spi(nvObj_t *nv);
 
@@ -160,6 +163,71 @@ extern "C" {
 #define CHAR_QUEUE_FLUSH (char)'%'
 //#define CHAR_BOOTLOADER ESC
 
+
+/**** xio_flash_file - object to hold in-flash (compiled-in) "files" to run ****/
+
+struct xio_flash_file {
+    const char * const _data;
+    const int32_t _length;
+
+    int32_t _read_offset = 0;
+
+    xio_flash_file(const char * const data, int32_t length) : _data{data}, _length{length} {};
+
+    void reset() {
+        _read_offset = 0;
+    };
+
+    const char *readline(bool control_only, uint16_t &line_size) {
+        line_size = 0;
+        if (_read_offset == _length) { return nullptr; }
+
+        if (control_only) {
+            char c = _data[_read_offset];
+            if (!
+                ((c == '!')         ||
+                 (c == '~')         ||
+                 (c == ENQ)         ||        // request ENQ/ack
+                 (c == CHAR_RESET)  ||        // ^X - reset (aka cancel, terminate)
+                 (c == CHAR_ALARM)  ||        // ^D - request job kill (end of transmission)
+                 (c == '%' && cm_has_hold())  // flush (only in feedhold or part of control header)
+                ))
+            {
+                return nullptr;
+            }
+        }
+
+        const char *line_start = _data + _read_offset;
+
+        while (_read_offset < _length) {
+            char c = _data[_read_offset++];
+
+            if (c == '\n') {
+                break;
+            }
+
+            line_size++;
+        }
+
+        return line_start;
+    };
+
+    bool isDone() {
+        return _read_offset == _length;
+    }
+};
+
+/**** convenience function to construct a xio_flash_file ****/
+
+template <int32_t length>
+constexpr xio_flash_file make_xio_flash_file(const char (&data)[length]) {
+    return {data, length};
+}
+
+/**** function prototype for file-sending ****/
+
+bool xio_send_file(xio_flash_file &file);
+
 #ifdef __TEXT_MODE
 
     void xio_print_spi(nvObj_t *nv);