Added support for traversing directory structure across file system mounts. Allows access to littlefs mount via ftp.

Fixed inconsistent (random) real-time reporting of cycle start signal by adding a latch to ensure it is reported at least once.

changelog.md

@@ -1,5 +1,26 @@
 ## grblHAL changelog
 
+<a name="20230714"/>20230714
+
+Core:
+
+* Added support for traversing directory structure across file system mounts. Allows access to littlefs mount via ftp.
+* Fixed inconsistent \(random\) real-time reporting of cycle start signal by adding a latch to ensure it is reported at least once.
+
+Drivers:
+
+* ESP32: added WiFi settings for country, AP channel and BSSID. Changed default AP password to make it legal, was too short.
+
+* STM32F7xx: added EStop signal handling. Driver now defaults to this for the reset input.
+
+Plugins:
+
+* Networking: improved telnet transmit handling.
+
+* WebUI: added file seek function for embedded files, may be used later by gcode macros.
+
+---
+
 <a name="20230711"/>20230711
 
 Core:

driver_opts.h

@@ -430,7 +430,7 @@
 #define NETWORK_AP_SSID         "grblHAL_AP"
 #endif
 #ifndef NETWORK_AP_PASSWORD
-#define NETWORK_AP_PASSWORD     "grblHAL"
+#define NETWORK_AP_PASSWORD     "grblHALpwd"
 #endif
 #ifndef NETWORK_AP_HOSTNAME
 #define NETWORK_AP_HOSTNAME     "grblHAL_AP"

gcode.c

@@ -1716,7 +1716,7 @@ status_code_t gc_execute_block (char *block)
         gc_block.values.t = (uint32_t)gc_block.values.q;
         gc_block.words.q = Off;
 #if NGC_EXPRESSIONS_ENABLE
-        if(sys.macro_file) {
+        if(hal.stream.file) {
             gc_state.tool_pending = 0; // force set tool
   #if N_TOOLS
             if(gc_state.g43_pending) {

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230711
+#define GRBL_BUILD 20230714
 
 #define GRBL_URL "https://github.com/grblHAL"
 

ngc_flowctrl.c

@@ -170,7 +170,7 @@ static status_code_t stack_push (uint32_t o_label, ngc_cmd_t operation)
 {
     if(stack_idx < (NGC_STACK_DEPTH - 1)) {
         stack[++stack_idx].o_label = o_label;
-        stack[stack_idx].file = sys.macro_file;
+        stack[stack_idx].file = hal.stream.file;
         stack[stack_idx].operation = operation;
         return Status_OK;
     }
@@ -259,9 +259,9 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_Do:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(!skipping && (status = stack_push(o_label, operation)) == Status_OK) {
-                    stack[stack_idx].file_pos = vfs_tell(sys.macro_file);
+                    stack[stack_idx].file_pos = vfs_tell(hal.stream.file);
                     stack[stack_idx].skip = false;
                 }
             } else
@@ -269,7 +269,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_While:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 char *expr = line + *pos;
                 if(stack[stack_idx].brk) {
                     if(last_op == NGCFlowCtrl_Do && o_label == stack[stack_idx].o_label)
@@ -286,8 +286,8 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
                         if(!(stack[stack_idx].skip = value == 0.0f)) {
                             if((stack[stack_idx].expr = malloc(strlen(expr) + 1))) {
                                 strcpy(stack[stack_idx].expr, expr);
-                                stack[stack_idx].file = sys.macro_file;
-                                stack[stack_idx].file_pos = vfs_tell(sys.macro_file);
+                                stack[stack_idx].file = hal.stream.file;
+                                stack[stack_idx].file_pos = vfs_tell(hal.stream.file);
                             } else
                                 status = Status_FlowControlOutOfMemory;
                         }
@@ -298,7 +298,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_EndWhile:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(last_op == NGCFlowCtrl_While) {
                     if(o_label == stack[stack_idx].o_label) {
                         uint_fast8_t pos = 0;
@@ -316,12 +316,12 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_Repeat:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(!skipping && (status = ngc_eval_expression(line, pos, &value)) == Status_OK) {
                     if((status = stack_push(o_label, operation)) == Status_OK) {
                         if(!(stack[stack_idx].skip = value == 0.0f)) {
-                            stack[stack_idx].file = sys.macro_file;
-                            stack[stack_idx].file_pos = vfs_tell(sys.macro_file);
+                            stack[stack_idx].file = hal.stream.file;
+                            stack[stack_idx].file_pos = vfs_tell(hal.stream.file);
                             stack[stack_idx].repeats = (uint32_t)value;
                         }
                     }
@@ -331,7 +331,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_EndRepeat:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(last_op == NGCFlowCtrl_Repeat) {
                     if(o_label == stack[stack_idx].o_label) {
                         if(stack[stack_idx].repeats && --stack[stack_idx].repeats)
@@ -346,7 +346,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_Break:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(!skipping) {
                     while(o_label != stack[stack_idx].o_label && stack_pull());
                     last_op = stack_idx >= 0 ? stack[stack_idx].operation : NGCFlowCtrl_NoOp;
@@ -363,7 +363,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
             break;
 
         case NGCFlowCtrl_Continue:
-            if(sys.macro_file) {
+            if(hal.stream.file) {
                 if(!skipping) {
                     while(o_label != stack[stack_idx].o_label && stack_pull());
                     if(stack_idx >= 0 && o_label == stack[stack_idx].o_label) switch(stack[stack_idx].operation) {

report.c

@@ -1205,6 +1205,9 @@ void report_realtime_status (void)
         axes_signals_t lim_pin_state = limit_signals_merge(hal.limits.get_state());
         control_signals_t ctrl_pin_state = hal.control.get_state();
 
+        if(sys.report.cycle_start)
+            ctrl_pin_state.cycle_start = On;
+
         if (lim_pin_state.value | ctrl_pin_state.value | probe_state.triggered | !probe_state.connected | sys.flags.block_delete_enabled) {
 
             char *append = &buf[4];

state_machine.c

@@ -191,8 +191,10 @@ bool state_door_reopened (void)
 
 void state_update (rt_exec_t rt_exec)
 {
-    if ((rt_exec & EXEC_SAFETY_DOOR) && sys_state != STATE_SAFETY_DOOR)
+    if((rt_exec & EXEC_SAFETY_DOOR) && sys_state != STATE_SAFETY_DOOR)
         state_set(STATE_SAFETY_DOOR);
+    else if(rt_exec & EXEC_CYCLE_START)
+        sys.report.cycle_start = settings.status_report.pin_state;
 
     stateHandler(rt_exec);
 }

stream.h

@@ -247,7 +247,7 @@ typedef struct {
     get_stream_buffer_count_ptr get_tx_buffer_count;        //!< Optional handler for getting number of characters in the output buffer(s). Count shall include any unsent characters in any transmit FIFO and/or transmit register. Required for Modbus support.
     flush_stream_buffer_ptr reset_write_buffer;             //!< Optional handler for flushing the output buffer. Any transmit FIFO shall be flushed as well. Required for Modbus support.
     set_baud_rate_ptr set_baud_rate;                        //!< Optional handler for setting the stream baud rate. Required for Modbus support, recommended for Bluetooth support.
-//    vfs_file_t *file;                                       //!< File handle, non-null if streaming from a file.
+    vfs_file_t *file;                                       //!< File handle, non-null if streaming from a file.
 } io_stream_t;
 
 typedef const io_stream_t *(*stream_claim_ptr)(uint32_t baud_rate);

system.h

@@ -186,6 +186,7 @@ typedef enum {
     Report_Encoder = (1 << 14),
     Report_TLOReference = (1 << 15),
     Report_Fan = (1 << 16),
+    Report_CycleStart = (1 << 30),
     Report_All = 0x8001FFFF
 } report_tracking_t;
 
@@ -207,17 +208,18 @@ typedef union {
                  pwm           :1, //!< Add PWM information (optional: to be added by driver).
                  motor         :1, //!< Add motor information (optional: to be added by driver).
                  encoder       :1, //!< Add encoder information (optional: to be added by driver).
-                 tlo_reference :1, //!< Tool length offset reference changed
-                 fan           :1, //!< Fan on/off changed
-                 unassigned   :14, //
-                 all           :1; //!< Set when CMD_STATUS_REPORT_ALL is requested, may be used by user code
+                 tlo_reference :1, //!< Tool length offset reference changed.
+                 fan           :1, //!< Fan on/off changed.
+                 unassigned   :13, //
+                 cycle_start   :1, //!< Cycle start signal triggered. __NOTE:__ do __NOT__ add to Report_All enum above!
+                 all           :1; //!< Set when CMD_STATUS_REPORT_ALL is requested, may be used by user code.
     };
 } report_tracking_flags_t;
 
 typedef struct {
     override_t feed_rate;           //!< Feed rate override value in percent
     override_t rapid_rate;          //!< Rapids override value in percent
-    override_t spindle_rpm;         //!< __NOTE:_ Not used by the core, it maintain per spindle override in \ref spindle_param_t
+    override_t spindle_rpm;         //!< __NOTE:__ Not used by the core, it maintain per spindle override in \ref spindle_param_t
     spindle_stop_t spindle_stop;    //!< Tracks spindle stop override states
     gc_override_flags_t control;    //!< Tracks override control states.
 } overrides_t;
@@ -286,9 +288,6 @@ typedef struct system {
     volatile rt_exec_t rt_exec_state;       //!< Realtime executor bitflag variable for state management. See EXEC bitmasks.
     volatile uint_fast16_t rt_exec_alarm;   //!< Realtime executor bitflag variable for setting various alarms.
     int32_t var5399;                        //!< Last result from M66 - wait on input.
-#if NGC_EXPRESSIONS_ENABLE
-    vfs_file_t *macro_file;                 //!< File handle of current G65 macro executing.
-#endif
 #ifdef PID_LOG
     pid_data_t pid_log;
 #endif

vfs.c

@@ -191,7 +191,7 @@ static const char *get_filename (vfs_mount_t *mount, const char *filename)
 {
     if(*filename == '/') {
         size_t len = strlen(mount->path);
-        return filename + (len == 1 ? 0 : len);
+        return filename + (len == 1 ? 0 : len - 1);
     } else
         return filename;
 }
@@ -306,8 +306,18 @@ int vfs_chdir (const char *path)
                 *s = '\0';
         }
     } else {
+
         strcpy(cwd, path);
-        cwdmount = get_mount(cwd);
+
+        if((cwdmount = get_mount(path)) && strchr(path + 1, '/') == NULL && cwdmount != &root) {
+
+            strcpy(cwd, cwdmount->path);
+            char *s;
+            if((s = strrchr(cwd, '/')))
+                *s = '\0';
+
+            return 0;
+        }
     }
 
     if((ret = cwdmount ? cwdmount->vfs->fchdir(path) : -1) != 0) { // + strlen(mount->path));))
@@ -322,10 +332,30 @@ int vfs_chdir (const char *path)
 vfs_dir_t *vfs_opendir (const char *path)
 {
     vfs_dir_t *dir = NULL;
-    vfs_mount_t *mount = get_mount(path);
+    vfs_mount_t *mount = get_mount(path), *add_mount;
+    vfs_mount_ll_entry_t *ml = NULL, *mln;
+
+    if(mount && (dir = mount->vfs->fopendir(get_filename(mount, path)))) {
 
-    if(mount && (dir = mount->vfs->fopendir(get_filename(mount, path))))
         dir->fs = mount->vfs;
+        dir->mounts = NULL;
+        add_mount = root.next;
+
+        do {
+            if(add_mount != mount && !strncmp(add_mount->path, path, strlen(path))) {
+                if(!add_mount->vfs->mode.hidden && (mln = malloc(sizeof(vfs_mount_ll_entry_t)))) {
+                    mln->mount = add_mount;
+                    mln->next = NULL;
+                    if(dir->mounts == NULL)
+                        dir->mounts = ml = mln;
+                    else {
+                        ml->next = mln;
+                        ml = mln;
+                    }
+                }
+            }
+        } while((add_mount = add_mount->next));
+    }
 
     return dir;
 }
@@ -338,6 +368,21 @@ vfs_dirent_t *vfs_readdir (vfs_dir_t *dir)
 
     ((vfs_t *)dir->fs)->readdir(dir, &dirent);
 
+    if(*dirent.name == '\0' && dir->mounts) {
+
+        char *s;
+        vfs_mount_ll_entry_t *ml = dir->mounts;
+
+        strcpy(dirent.name, ml->mount->path + 1);
+        if((s = strrchr(dirent.name, '/')))
+            *s = '\0';
+
+        dirent.st_mode = ml->mount->vfs->mode;
+        dirent.st_mode.directory = true;
+        dir->mounts = dir->mounts->next;
+        free(ml);
+    }
+
     return *dirent.name == '\0' ? NULL : &dirent;
 }
 
@@ -345,29 +390,56 @@ void vfs_closedir (vfs_dir_t *dir)
 {
     vfs_errno = 0;
 
+    while(dir->mounts) {
+        vfs_mount_ll_entry_t *ml = dir->mounts;
+        dir->mounts = dir->mounts->next;
+        free(ml);
+    }
+
     ((vfs_t *)dir->fs)->fclosedir(dir);
 }
 
 char *vfs_getcwd (char *buf, size_t len)
 {
-    char *cwd = root.vfs->fgetcwd(NULL, len);
+    char *cwds = cwdmount->vfs->fgetcwd ? cwdmount->vfs->fgetcwd(NULL, len) : cwd;
 
     vfs_errno = 0;
 
     if(buf == NULL)
-        buf = (char *)malloc(strlen(cwd) + 1);
+        buf = (char *)malloc(strlen(cwds) + 1);
 
     if(buf)
-        strcpy(buf, cwd);
+        strcpy(buf, cwds);
 
-    return buf ? buf : cwd;
+    return buf ? buf : cwds;
 }
 
 int vfs_stat (const char *filename, vfs_stat_t *st)
 {
     vfs_mount_t *mount = get_mount(filename);
 
-    return mount ? mount->vfs->fstat(get_filename(mount, filename), st) : -1;
+    int ret = mount ? mount->vfs->fstat(get_filename(mount, filename), st) : -1;
+
+    if(ret == -1 && strchr(filename, '/') == NULL && !strcmp("/", cwd)) {
+
+        strcat(cwd, filename);
+        mount = get_mount(cwd);
+        cwd[1] = '\0';
+
+        if(mount) {
+            st->st_size = 0;
+            st->st_mode.mode = 0;
+            st->st_mode.directory = true;
+#if defined(ESP_PLATFORM)
+            st->st_mtim = (time_t)0;
+#else
+            st->st_mtime = (time_t)0;
+#endif
+            ret = 0;
+        }
+    }
+
+    return ret;
 }
 
 int vfs_utime (const char *filename, struct tm *modified)

vfs.h

@@ -80,10 +80,8 @@ typedef struct {
     uint8_t handle; // first byte of file handle structure
 } vfs_file_t;
 
-typedef struct {
-    const void *fs;
-    uint8_t handle;
-} vfs_dir_t;
+struct vfs_dir;
+typedef struct vfs_dir vfs_dir_t;
 
 typedef struct {
     char name[255];
@@ -159,6 +157,12 @@ typedef struct vfs_mount
     struct vfs_mount *next;
 } vfs_mount_t;
 
+typedef struct vfs_mount_ll_entry
+{
+    vfs_mount_t *mount;
+    struct vfs_mount_ll_entry *next;
+} vfs_mount_ll_entry_t;
+
 typedef struct {
     vfs_mount_t *mount;
 } vfs_drives_t;
@@ -171,6 +175,12 @@ typedef struct {
     const void *fs;
 } vfs_drive_t;
 
+struct vfs_dir {
+    const void *fs;
+    vfs_mount_ll_entry_t *mounts;
+    uint8_t handle; // must be last!
+};
+
 extern int vfs_errno;
 
 char *vfs_fixpath (char *path);