Merge pull request #948 from bdring/WebSocketsNoStall

Web sockets no stall

FluidNC/include/Driver/delay_usecs.h

@@ -1,5 +1,7 @@
 #include <cstdint>
 
+extern uint32_t ticks_per_us;
+
 void timing_init();
 void spinUntil(int32_t endTicks);
 void delay_us(int32_t us);

FluidNC/src/Channel.cpp

@@ -75,20 +75,30 @@ uint32_t Channel::setReportInterval(uint32_t ms) {
  _lastTool = 255; // Force GCodeState report
  return actual;
 }
+static bool motionState() {
+ return sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog;
+}
+
 void Channel::autoReportGCodeState() {
+ // When moving, we suppress $G reports in which the only change is the motion mode
+ // (e.g. G0/G1/G2/G3 changes) because rapid-fire motion mode changes are fairly common.
+ // We would rather not issue a $G report after every GCode line.
+ // Similarly, F and S values can change rapidly, especially in laser programs.
+ // F and S values are also reported in ? status reports, so they will show up
+ // at the chosen periodic rate there.
+ if (motionState()) {
+ // Force the compare to succeed if the only change is the motion mode
+ _lastModal.motion = gc_state.modal.motion;
+ }
  if (memcmp(&_lastModal, &gc_state.modal, sizeof(_lastModal)) || _lastTool != gc_state.tool ||
- _lastSpindleSpeed != gc_state.spindle_speed || _lastFeedRate != gc_state.feed_rate) {
+ (!motionState() && (_lastSpindleSpeed != gc_state.spindle_speed || _lastFeedRate != gc_state.feed_rate))) {
  report_gcode_modes(*this);
  memcpy(&_lastModal, &gc_state.modal, sizeof(_lastModal));
  _lastTool = gc_state.tool;
  _lastSpindleSpeed = gc_state.spindle_speed;
  _lastFeedRate = gc_state.feed_rate;
  }
 }
-static bool motionState() {
- return sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog;
-}
-
 void Channel::autoReport() {
  if (_reportInterval) {
  auto limitState = limits_get_state();

FluidNC/src/Channel.h

@@ -63,7 +63,9 @@ class Channel : public Stream {
  // a reception buffer, even if the system is busy. Channels that can handle external
  // input via an interrupt or other background mechanism should override it to return
  // the remaining space that mechanism has available.
- virtual int rx_buffer_available() { return 0; };
+ // The queue can handle more than 256 characters but we don't want it to get too
+ // large, so we report a limited size.
+ virtual int rx_buffer_available() { return std::max(0, 256 - int(_queue.size())); }
 
  // flushRx() discards any characters that have already been received. It is used
  // after a reset, so that anything already sent will not be processed.
@@ -100,10 +102,10 @@ class Channel : public Stream {
 
  int peek() override { return -1; }
  int read() override { return -1; }
- int available() override { return 0; }
+ int available() override { return _queue.size(); }
 
- uint32_t setReportInterval(uint32_t ms);
- uint32_t getReportInterval() { return _reportInterval; }
- void  autoReport();
- void autoReportGCodeState();
+ uint32_t  setReportInterval(uint32_t ms);
+ uint32_t  getReportInterval() { return _reportInterval; }
+ virtual void autoReport();
+ void  autoReportGCodeState();
 };

FluidNC/src/Configuration/Tokenizer.cpp

@@ -77,10 +77,12 @@ namespace Configuration {
 
  // Remove indentation and record the level
  _token._indent = _line.find_first_not_of(' ');
- _line.remove_prefix(_token._indent);
- if (_line.empty()) {
+ if (_token._indent == std::string_view::npos) {
+ // Line containing only spaces
+ _line.remove_prefix(_line.size());
  continue;
  }
+ _line.remove_prefix(_token._indent);
 
  // Disallow inital tabs
  if (_line.front() == '\t') {

FluidNC/src/Error.cpp

@@ -57,6 +57,7 @@ std::map<Error, const char*> ErrorNames = {
  { Error::FsFailedBusy, "Device is busy" },
  { Error::FsFailedDelDir, "Failed to delete directory" },
  { Error::FsFailedDelFile, "Failed to delete file" },
+ { Error::FsFailedRenameFile, "Failed to rename file" },
  { Error::FsFailedCreateFile, "Failed to create file" },
  { Error::FsFailedFormat, "Failed to format filesystem" },
  { Error::NumberRange, "Number out of range for setting" },

FluidNC/src/Error.h

@@ -61,6 +61,7 @@ enum class Error : uint8_t {
  FsFailedBusy = 67, // Filesystem is busy
  FsFailedDelDir = 68,
  FsFailedDelFile = 69,
+ FsFailedRenameFile = 70,
  NumberRange = 80, // Setting number range problem
  InvalidValue = 81, // Setting string problem
  FsFailedCreateFile = 82,

FluidNC/src/GCode.cpp

@@ -1366,16 +1366,11 @@ Error gc_execute_line(char* line) {
  if (!blockIsFeedrateMotion) {
  // If the new mode is not a feedrate move (G1/2/3) we want the laser off
  disableLaser = true;
- // If we are changing from a feedrate move to a non-feedrate move,
- // we must sync the planner and then update the laser state
- if (stateIsFeedrateMotion) {
- syncLaser = true;
- }
  }
  // Any motion mode with axis words is allowed to be passed from a spindle speed update.
  // NOTE: G1 and G0 without axis words sets axis_command to none. G28/30 are intentionally omitted.
  // TODO: Check sync conditions for M3 enabled motions that don't enter the planner. (zero length).
- if (blockIsFeedrateMotion && axis_words && (axis_command == AxisCommand::MotionMode)) {
+ if (axis_words && (axis_command == AxisCommand::MotionMode)) {
  laserIsMotion = true;
  } else {
  // M3 constant power laser requires planner syncs to update the laser when changing between
@@ -1410,14 +1405,10 @@ Error gc_execute_line(char* line) {
  pl_data->feed_rate = gc_state.feed_rate; // Record data for planner use.
  // [4. Set spindle speed ]:
  if ((gc_state.spindle_speed != gc_block.values.s) || syncLaser) {
- if (gc_state.modal.spindle != SpindleState::Disable) {
- if (!laserIsMotion) {
- if (sys.state != State::CheckMode) {
- protocol_buffer_synchronize();
- spindle->setState(gc_state.modal.spindle, disableLaser ? 0 : (uint32_t)gc_block.values.s);
- report_ovr_counter = 0; // Set to report change immediately
- }
- }
+ if (gc_state.modal.spindle != SpindleState::Disable && !laserIsMotion && sys.state != State::CheckMode) {
+ protocol_buffer_synchronize();
+ spindle->setState(gc_state.modal.spindle, disableLaser ? 0 : (uint32_t)gc_block.values.s);
+ report_ovr_counter = 0; // Set to report change immediately
  }
  gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state.
  }

FluidNC/src/Main.cpp

@@ -146,9 +146,11 @@ void setup() {
  sys.state = State::ConfigAlarm;
  }
 
- if (!WebUI::wifi_config.begin()) {
- WebUI::bt_config.begin();
+ // Try Bluetooth first so its memory can be released if it is disabled
+ if (!WebUI::bt_config.begin()) {
+ WebUI::wifi_config.begin();
  }
+
  allChannels.deregistration(&startupLog);
 }
 

FluidNC/src/Protocol.cpp

@@ -243,19 +243,12 @@ static void check_startup_state() {
  }
  if (config->_control->startup_check()) {
  rtAlarm = ExecAlarm::ControlPin;
- }
-
- if (sys.state == State::Alarm || sys.state == State::Sleep) {
+ } else if (sys.state == State::Alarm || sys.state == State::Sleep) {
  report_feedback_message(Message::AlarmLock);
  sys.state = State::Alarm; // Ensure alarm state is set.
  } else {
- // Check if the safety door is open.
- sys.state = State::Idle;
- while (config->_control->safety_door_ajar()) {
- request_safety_door();
- protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
- }
  // All systems go!
+ sys.state = State::Idle;
  settings_execute_startup(); // Execute startup script.
  }
  }

FluidNC/src/WebUI/BTConfig.cpp

@@ -10,6 +10,9 @@
 # include "Commands.h" // COMMANDS
 # include "WebSettings.h"
 
+# include "esp_bt.h"
+# include "esp_bt_main.h"
+
 # include <cstdint>
 
 // SerialBT sends the data over Bluetooth
@@ -148,6 +151,13 @@ namespace WebUI {
  return Channel::pollLine(line);
  }
 
+ void BTConfig::releaseMem() {
+ log_debug("Releasing Bluetooth memory");
+ esp_bt_mem_release(ESP_BT_MODE_CLASSIC_BT);
+ esp_bt_mem_release(ESP_BT_MODE_BLE);
+ log_debug("Heap: " << xPortGetFreeHeapSize());
+ }
+
  /**
  * begin WiFi setup
  */
@@ -158,25 +168,23 @@ namespace WebUI {
  //stop active services
  end();
 
- if (!bt_enable->get()) {
- log_info("Bluetooth not enabled");
- return false;
- }
-
+ log_debug("Heap: " << xPortGetFreeHeapSize());
  _btname = bt_name->getStringValue();
-
- if (_btname.length()) {
+ if (bt_enable->get() && _btname.length()) {
+ esp_bt_mem_release(ESP_BT_MODE_BLE);
+ log_debug("Heap: " << xPortGetFreeHeapSize());
  if (!SerialBT.begin(_btname.c_str())) {
  log_error("Bluetooth failed to start");
  return false;
  }
+
  SerialBT.register_callback(&my_spp_cb);
  log_info("BT Started with " << _btname);
  allChannels.registration(&btChannel);
  return true;
  }
+ releaseMem();
  log_info("BT is not enabled");
- end();
  return false;
  }
 

FluidNC/src/WebUI/BTConfig.h

@@ -13,6 +13,7 @@ namespace WebUI {
  static bool begin() { return false; };
  static void end() {};
  static void handle() {}
+ static void releaseMem() {}
  static bool isOn() { return false; }
  };
  extern BTConfig bt_config;
@@ -85,6 +86,7 @@ namespace WebUI {
  void handle();
  void reset_settings();
  bool isOn() const;
+ void releaseMem();
 
  ~BTConfig();
  };

FluidNC/src/WebUI/JSONEncoder.cpp

@@ -7,19 +7,13 @@
 namespace WebUI {
  // Constructor. If _pretty is true, newlines are
  // inserted into the JSON string for easy reading.
- JSONencoder::JSONencoder(bool pretty, Channel* channel) : pretty(pretty), level(0), _channel(channel), category("nvs") {
+ JSONencoder::JSONencoder(bool pretty, Channel* channel) : pretty(pretty), level(0), _str(&linebuf), _channel(channel), category("nvs") {
  count[level] = 0;
  }
 
  JSONencoder::JSONencoder(bool pretty, std::string* str) : pretty(pretty), level(0), _str(str), category("nvs") { count[level] = 0; }
 
- void JSONencoder::add(char c) {
- if (_str) {
- (*_str) += c;
- } else {
- linebuf += c;
- }
- }
+ void JSONencoder::add(char c) { (*_str) += c; }
 
  // Private function to add commas between
  // elements as needed, omitting the comma
@@ -100,23 +94,25 @@ namespace WebUI {
  // Private function to increment the nesting level.
  void JSONencoder::dec_level() { --level; }
 
+ void JSONencoder::indent() {
+ for (int i = 0; i < 2 * level; i++) {
+ add(' ');
+ }
+ }
+
  // Private function to implement pretty-printing
  void JSONencoder::line() {
- if (_str) {
- if (pretty) {
- add('\n');
- linebuf = "";
- for (int i = 0; i < 2 * level; i++) {
- add(' ');
- }
- }
- } else {
+ if (_channel) {
  // Always pretty print to a channel, because channels
  // cannot necessary handle really long lines.
- log_to(*_channel, linebuf);
- linebuf = "";
- for (int i = 0; i < 2 * level; i++) {
- add(' ');
+ add('\n');
+ log_to(*_channel, *_str);
+ *_str = "";
+ indent();
+ } else {
+ if (pretty) {
+ add('\n');
+ indent();
  }
  }
  }

FluidNC/src/WebUI/JSONEncoder.h

@@ -19,6 +19,7 @@ namespace WebUI {
  void quoted(const char* s);
  void inc_level();
  void dec_level();
+ void indent();
  void line();
 
  std::string linebuf;