void cleandir(char *dirname)
{
DIR *dir;
struct dirent *d;
struct stat st;
char fn[PATH_MAX];
time_t killtime = getcurrenttime(NULL)-86400;
dir = opendir(dirname);
if (dir == NULL) return;
while ((d = readdir(dir))) {
if (d->d_name[0] != '.') {
sprintf(fn, "%s/%s", dirname, d->d_name);
if ((stat(fn, &st) == 0) && (st.st_mtime < killtime)) {
if (S_ISREG(st.st_mode) || S_ISLNK(st.st_mode)) {
dbgprintf("rm %s\n", fn);
unlink(fn);
}
else if (S_ISDIR(st.st_mode)) {
dbgprintf("Cleaning directory %s\n", fn);
cleandir(fn);
dbgprintf("rmdir %s\n", fn);
rmdir(fn);
}
else { /* Ignore file */ };
}
}
}
}
/*---------------------------------------------------------------------------*/
int
main (int argc, char **argv) {
char *dirname;
char c;
time_t expiry;
int help = 0;
/* Argument processsing */
while ((--argc > 0 ) && ((*++argv)[0] == '-')) {
while ((c = *++argv[0])) {
switch (c) {
case 'v': /* Verbose mode */
verbose ++;
break;
case 't': /* Test only */
noop = 1;
fprintf(stderr, "** Test Mode - no files will be deleted **\n");
break;
case 'h':
help = 1;
break;
default:
printf("cleaner: illegal option %c\n", c);
argc = 0;
break;
}
}
}
if (verbose > 2)
fprintf(stderr, "argc = %d\n", argc) ;
if (argc < 1) {
usage(help);
return -1;
}
dirname = argv[0];
if (argc > 1) {
expiry = (time_t)atoi(argv[1]);
} else {
expiry = (time_t)DEFAULT_EXPIRY;
}
if (expiry < 1) {
printf ("Must have a positive expiry time\n");
return -1;
}
/* Race condition */
/* if (! is_dir(dirname)) {
printf ("%s is not a directory\n", dirname);
return 1;
}
*/
cleandir(dirname, expiry);
return 0;
}
int main() {
state = new LaosStatus();
state->setState(BOOTING);
if (! check_sd()) mbed_reset();
if (SDcheckFirmware()) mbed_reset();
cfg = new GlobalConfig("config.txt");
mot = new LaosMotion();
// wait until cover is closed
state->setState(WAITFORCOVER);
while (! mot->isStart() );
// home
state->setState(HOMING);
mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
// clean sd card?
if (cfg->cleandir) cleandir();
// configure network
eth_speed = 0;
eth = EthConfig();
eth_speed = 1;
// set up TFTP server thread
osThreadCreate(osThread(tftp_thread), NULL);
// set up Queue (planner-filler) thread
osThreadCreate(osThread(queue_thread), NULL);
while (1) {
if (mot->qstate == IDLE) {
mot->filename = getLaosFile();
if (mot->filename) mot->qstate = NEW;
}
if (mot->qstate == DONE) {
removefile(mot->filename);
delete(mot->filename);
}
osDelay(500);
}
}
int main(int argc, char *argv[])
{
char dirid[PATH_MAX];
char outdir[PATH_MAX];
char xymonwebenv[PATH_MAX];
char xymongencmd[PATH_MAX];
char xymongentimeopt[100];
char csvdelimopt[100];
char *xymongen_argv[20];
pid_t childpid;
int childstat;
char htmldelim[100];
char startstr[30], endstr[30];
int cleanupoldreps = 1;
int argi, newargi;
char *envarea = NULL;
char *useragent = NULL;
int usemultipart = 1;
newargi = 0;
xymongen_argv[newargi++] = xymongencmd;
xymongen_argv[newargi++] = xymongentimeopt;
for (argi=1; (argi < argc); argi++) {
if (argnmatch(argv[argi], "--env=")) {
char *p = strchr(argv[argi], '=');
loadenv(p+1, envarea);
}
else if (argnmatch(argv[argi], "--area=")) {
char *p = strchr(argv[argi], '=');
envarea = strdup(p+1);
}
else if (strcmp(argv[1], "--noclean") == 0) {
cleanupoldreps = 0;
}
else {
xymongen_argv[newargi++] = argv[argi];
}
}
redirect_cgilog("report");
cgidata = cgi_request();
if (cgidata == NULL) {
/* Present the query form */
sethostenv("", "", "", colorname(COL_BLUE), NULL);
printf("Content-type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
showform(stdout, "report", "report_form", COL_BLUE, getcurrenttime(NULL)-86400, NULL, NULL);
return 0;
}
useragent = getenv("HTTP_USER_AGENT");
if (useragent && strstr(useragent, "KHTML")) {
/* KHTML (Konqueror, Safari) cannot handle multipart documents. */
usemultipart = 0;
}
envcheck(reqenv);
parse_query();
/*
* We need to set these variables up AFTER we have put them into the xymongen_argv[] array.
* We cannot do it before, because we need the environment that the command-line options
* might provide.
*/
if (xgetenv("XYMONGEN")) sprintf(xymongencmd, "%s", xgetenv("XYMONGEN"));
else sprintf(xymongencmd, "%s/bin/xymongen", xgetenv("XYMONHOME"));
snprintf(xymongentimeopt, sizeof(xymongentimeopt)-1,"--reportopts=%u:%u:1:%s", (unsigned int)starttime, (unsigned int)endtime, style);
sprintf(dirid, "%u-%u", (unsigned int)getpid(), (unsigned int)getcurrenttime(NULL));
if (!csvoutput) {
sprintf(outdir, "%s/%s", xgetenv("XYMONREPDIR"), dirid);
mkdir(outdir, 0755);
xymongen_argv[newargi++] = outdir;
sprintf(xymonwebenv, "XYMONWEB=%s/%s", xgetenv("XYMONREPURL"), dirid);
putenv(xymonwebenv);
}
else {
sprintf(outdir, "--csv=%s/%s.csv", xgetenv("XYMONREPDIR"), dirid);
xymongen_argv[newargi++] = outdir;
sprintf(csvdelimopt, "--csvdelim=%c", csvdelim);
xymongen_argv[newargi++] = csvdelimopt;
}
xymongen_argv[newargi++] = NULL;
if (usemultipart) {
/* Output the "please wait for report ... " thing */
snprintf(htmldelim, sizeof(htmldelim)-1, "xymonrep-%u-%u", (int)getpid(), (unsigned int)getcurrenttime(NULL));
printf("Content-type: multipart/mixed;boundary=%s\n", htmldelim);
printf("\n");
printf("--%s\n", htmldelim);
printf("Content-type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
/* It's ok with these hardcoded values, as they are not used for this page */
sethostenv("", "", "", colorname(COL_BLUE), NULL);
sethostenv_report(starttime, endtime, 97.0, 99.995);
headfoot(stdout, "repnormal", "", "header", COL_BLUE);
strftime(startstr, sizeof(startstr), "%b %d %Y", localtime(&starttime));
strftime(endstr, sizeof(endstr), "%b %d %Y", localtime(&endtime));
printf("<CENTER><A NAME=begindata> </A>\n");
printf("<BR><BR><BR><BR>\n");
printf("<H3>Generating report for the period: %s", htmlquoted(startstr));
printf(" - %s ", htmlquoted(endstr));
printf("(%s)<BR>\n", htmlquoted(style));
printf("<P><P>\n");
fflush(stdout);
}
/* Go do the report */
childpid = fork();
if (childpid == 0) {
execv(xymongencmd, xymongen_argv);
}
else if (childpid > 0) {
wait(&childstat);
/* Ignore SIGHUP so we dont get killed during cleanup of XYMONREPDIR */
signal(SIGHUP, SIG_IGN);
if (WIFEXITED(childstat) && (WEXITSTATUS(childstat) != 0) ) {
char msg[4096];
if (usemultipart) printf("--%s\n\n", htmldelim);
sprintf(msg, "Could not generate report.<br>\nCheck that the %s/www/rep/ directory has permissions '-rwxrwxr-x' (775)<br>\n and that is is set to group %d", xgetenv("XYMONHOME"), (int)getgid());
errormsg(msg);
}
else {
/* Send the browser off to the report */
if (usemultipart) {
printf("Done...Report is <A HREF=\"%s/%s/%s\">here</a>.</P></BODY></HTML>\n", xgetenv("XYMONREPURL"), dirid, suburl);
fflush(stdout);
printf("--%s\n\n", htmldelim);
}
printf("Content-Type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
printf("<HTML><HEAD>\n");
if (!csvoutput) {
printf("<META HTTP-EQUIV=\"REFRESH\" CONTENT=\"0; URL=%s/%s/%s\"\n",
xgetenv("XYMONREPURL"), dirid, suburl);
printf("</HEAD><BODY>Report is available <a href=\"%s/%s/%s\">here</a></BODY></HTML>\n",
xgetenv("XYMONREPURL"), dirid, suburl);
}
else {
printf("<META HTTP-EQUIV=\"REFRESH\" CONTENT=\"0; URL=%s/%s.csv\"\n",
xgetenv("XYMONREPURL"), dirid);
printf("</HEAD><BODY>Report is available <a href=\"%s/%s.csv\">here</a></BODY></HTML>\n",
xgetenv("XYMONREPURL"), dirid);
}
if (usemultipart) printf("\n--%s\n", htmldelim);
fflush(stdout);
}
if (cleanupoldreps) cleandir(xgetenv("XYMONREPDIR"));
}
else {
if (usemultipart) printf("--%s\n\n", htmldelim);
printf("Content-Type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
errormsg("Fork failed");
}
return 0;
}
int
cleandir(char *dirname, time_t expiry)
{
DIR * directory;
struct stat buf;
struct dirent *entry;
int retcode, num_ents;
char *filename, *cwd;
time_t now;
if (verbose > 1)
fprintf(stderr, "Expiry set to: %d\n", (int)expiry);
num_ents = 0; /* Number of entries left in current directory */
indent_level++;
/* Open target directory */
directory = opendir(dirname);
if (directory == NULL) {
fprintf(stderr, "%s: ", dirname);
perror ("Unable to read directory");
return -1;
}
if ((chdir(dirname) == -1)) {
fprintf(stderr, "%s: ", dirname);
perror("chdir failed");
return -1;
}
/* Process directory contents, deleting all regular files with
* mtimes more than expiry seconds in the past */
now = time(NULL);
while ((entry = readdir(directory))) {
filename = entry->d_name;
/* Ignore '.' and '..' */
if (! strcmp(filename,".") ) { continue; }
if (! strcmp(filename,"..") ) { continue; }
num_ents ++; /* New entry, count it */
retcode = lstat(filename, &buf);
if (retcode == -1) {
if (verbose > 1) {
cwd = getcwd(NULL,0);
if (cwd == NULL)
perror("getcwd failed");
else {
fprintf(stderr, "CWD = %s: ", cwd);
free (cwd);
}
}
fprintf(stderr, "%s: ", filename);
perror("stat failed");
continue;
}
if (S_ISREG(buf.st_mode) || S_ISLNK(buf.st_mode)) {
/* File or symlink- check last modification time */
if ((now - expiry) > buf.st_mtime) {
if (verbose) {
indent(); printf ("Deleting %s\n", filename);
}
if (! noop)
unlink (filename);
num_ents --;
}
}
else if (S_ISDIR(buf.st_mode)) {
/* Directory */
if (verbose) {
indent(); printf ("Recursing into %s\n", filename);
}
if (cleandir(filename, expiry) == 0) {
/* No entries left in a child directory, delete it */
if (verbose) {
indent (); printf ("rmdir'ing %s\n", filename);
}
if (! noop)
rmdir(filename);
num_ents --;
}
}
}
closedir(directory);
indent_level--;
if (verbose) {
indent(); printf("Leaving %s\n", dirname);
}
if (verbose > 2) {
disp_cwd();
fprintf(stderr, "going up... ");
}
chdir("..");
if (verbose > 2) {
disp_cwd();
fprintf(stderr, "\n");
}
return num_ents;
}
int main(int argc, char *argv[])
{
char dirid[PATH_MAX];
char outdir[PATH_MAX];
char xymongencmd[PATH_MAX];
char xymonwebenv[PATH_MAX];
char xymongentimeopt[100];
char *xymongen_argv[20];
pid_t childpid;
int childstat;
char htmldelim[100];
char startstr[20];
int argi, newargi;
char *envarea = NULL;
char *useragent;
int usemultipart = 1;
newargi = 0;
xymongen_argv[newargi++] = xymongencmd;
xymongen_argv[newargi++] = xymongentimeopt;
for (argi=1; (argi < argc); argi++) {
if (argnmatch(argv[argi], "--env=")) {
char *p = strchr(argv[argi], '=');
loadenv(p+1, envarea);
}
else if (argnmatch(argv[argi], "--area=")) {
char *p = strchr(argv[argi], '=');
envarea = strdup(p+1);
}
else {
xymongen_argv[newargi++] = argv[argi];
}
}
xymongen_argv[newargi++] = outdir;
xymongen_argv[newargi++] = NULL;
redirect_cgilog("snapshot");
cgidata = cgi_request();
if (cgidata == NULL) {
/* Present the query form */
sethostenv("", "", "", colorname(COL_BLUE), NULL);
printf("Content-type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
showform(stdout, "snapshot", "snapshot_form", COL_BLUE, getcurrenttime(NULL), NULL, NULL);
return 0;
}
parse_query();
useragent = getenv("HTTP_USER_AGENT");
if (useragent && strstr(useragent, "KHTML")) {
/* KHTML (Konqueror, Safari) cannot handle multipart documents. */
usemultipart = 0;
}
/*
* Need to set these up AFTER putting them into xymongen_argv, since we
* need to have option parsing done first.
*/
if (xgetenv("XYMONGEN")) sprintf(xymongencmd, "%s", xgetenv("XYMONGEN"));
else sprintf(xymongencmd, "%s/bin/xymongen", xgetenv("XYMONHOME"));
snprintf(xymongentimeopt, sizeof(xymongentimeopt), "--snapshot=%u", (unsigned int)starttime);
sprintf(dirid, "%lu-%u", (unsigned long)getpid(), (unsigned int)getcurrenttime(NULL));
sprintf(outdir, "%s/%s", xgetenv("XYMONSNAPDIR"), dirid);
if (mkdir(outdir, 0755) == -1) errormsg("Cannot create output directory");
sprintf(xymonwebenv, "XYMONWEB=%s/%s", xgetenv("XYMONSNAPURL"), dirid);
putenv(xymonwebenv);
if (usemultipart) {
/* Output the "please wait for report ... " thing */
snprintf(htmldelim, sizeof(htmldelim)-1, "xymonrep-%lu-%u", (unsigned long)getpid(), (unsigned int)getcurrenttime(NULL));
printf("Content-type: multipart/mixed;boundary=%s\n", htmldelim);
printf("\n");
printf("%s\n", htmldelim);
printf("Content-type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
/* It's ok with these hardcoded values, as they are not used for this page */
sethostenv("", "", "", colorname(COL_BLUE), NULL);
sethostenv_report(starttime, starttime, 97.0, 99.995);
headfoot(stdout, "snapshot", "", "header", COL_BLUE);
strftime(startstr, sizeof(startstr), "%b %d %Y", localtime(&starttime));
printf("<CENTER><A NAME=begindata> </A>\n");
printf("<BR><BR><BR><BR>\n");
printf("<H3>Generating snapshot: %s<BR>\n", htmlquoted(startstr));
printf("<P><P>\n");
fflush(stdout);
}
/* Go do the report */
childpid = fork();
if (childpid == 0) {
execv(xymongencmd, xymongen_argv);
}
else if (childpid > 0) {
wait(&childstat);
/* Ignore SIGHUP so we don't get killed during cleanup of XYMONSNAPDIR */
signal(SIGHUP, SIG_IGN);
if (WIFEXITED(childstat) && (WEXITSTATUS(childstat) != 0) ) {
if (usemultipart) printf("%s\n\n", htmldelim);
printf("Content-Type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
errormsg("Could not generate report");
}
else {
/* Send the browser off to the report */
if (usemultipart) {
printf("Done...<P></BODY></HTML>\n");
fflush(stdout);
printf("%s\n\n", htmldelim);
}
printf("Content-Type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
printf("<HTML><HEAD>\n");
printf("<META HTTP-EQUIV=\"REFRESH\" CONTENT=\"0; URL=%s/%s/\"\n",
xgetenv("XYMONSNAPURL"), dirid);
printf("</HEAD><BODY BGCOLOR=\"000000\"></BODY></HTML>\n");
if (usemultipart) printf("\n%s\n", htmldelim);
fflush(stdout);
}
cleandir(xgetenv("XYMONSNAPDIR"));
}
else {
if (usemultipart) printf("%s\n\n", htmldelim);
printf("Content-Type: %s\n\n", xgetenv("HTMLCONTENTTYPE"));
errormsg("Fork failed");
}
return 0;
}
/**
*** Main function
**/
int main()
{
systime.start();
//float x, y, z;
eth_speed = 1;
dsp = new LaosDisplay();
printf( VERSION_STRING "...\nBOOT...\n" );
mnu = new LaosMenu(dsp);
eth_speed=0;
printf("TEST SD...\n");
char testfile[] = "test.txt";
FILE *fp = sd.openfile(testfile, "wb");
if ( fp == NULL )
{
mnu->SetScreen("SD NOT READY!");
wait(2.0);
mbed_reset();
}
else
{
printf("SD: READY...\n");
fclose(fp);
removefile(testfile);
}
// See if there's a .bin file on the SD
// if so, put it on the MBED and reboot
if (SDcheckFirmware()) mbed_reset();
mnu->SetScreen(VERSION_STRING);
printf("START...\n");
cfg = new GlobalConfig("config.txt");
mnu->SetScreen("CONFIG OK....");
printf("CONFIG OK...\n");
if (!cfg->nodisplay)
dsp->testI2C();
printf("MOTION...\n");
mot = new LaosMotion();
eth = EthConfig();
eth_speed=1;
printf("SERVER...\n");
srv = new TFTPServer(cfg->port);
mnu->SetScreen("SERVER OK....");
wait(0.5);
mnu->SetScreen(10); // IP
wait(1.0);
printf("RUN...\n");
// Wait for key, and then home
if ( cfg->autohome )
{
printf("WAIT FOR COVER...\n");
wait(1);
// Start homing
mnu->SetScreen("WAIT FOR COVER....");
//if ( cfg->waitforstart )
while ( !mot->isStart() );
mnu->SetScreen("HOME....");
printf("HOME...\n");
mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
// if ( !mot->isHome ) exit(1);
printf("HOME DONE. (%d,%d, %d)\n",cfg->xhome,cfg->yhome,cfg->zhome);
}
else
printf("Homing skipped: %d\n", cfg->autohome);
// clean sd card?
if (cfg->cleandir) cleandir();
mnu->SetScreen("");
if (cfg->nodisplay) {
printf("No display set\n\r");
main_nodisplay();
} else {
printf("Entering display\n\r");
main_menu();
}
}
/**
*** Handle menu system
*** Read keys, and plan next action on the screen, output screen if
*** something changed
**/
void LaosMenu::Handle() {
int xt, yt, zt, cnt=0, nodisplay = 0;
extern LaosFileSystem sd;
extern LaosMotion *mot;
static int count=0;
int c = dsp->read();
if ( count++ > 10) count = 0; // screen refresh counter (refresh once every 10 cycles(
if ( c ) timeout = 10; // keypress timeout counter
else if ( timeout ) timeout--;
if ( screen != prevscreen ) waitup = 1; // after a screen change: wait for a key release, mask current keypress
if ( waitup && timeout) // if we have to wait for key-up,
c = 0; // cancel the keypress
if ( waitup && !timeout ) waitup=0;
if ( !timeout ) // increase speed if we keep button pressed longer
speed = 5;
else {
speed *= 1.5;
if ( speed >= 100 ) speed = 100;
}
if ( c || screen != prevscreen || count >9 ) {
switch ( screen ) {
case STARTUP:
if ( sarg == NULL ) sarg = (char*) VERSION_STRING;
break;
case MAIN:
switch ( c ) {
case K_RIGHT: menu+=1; waitup=1; break;
case K_LEFT: menu-=1; waitup=1; break;
case K_UP: lastscreen=MAIN; screen=MOVE; menu=MAIN; break;
case K_DOWN: lastscreen=MAIN; screen=MOVE; menu=MAIN; break;
case K_OK: screen=menu; waitup=1; lastscreen=MAIN; break;
case K_CANCEL: menu=MAIN; break;
case K_FUP: lastscreen=MAIN; screen=FOCUS; menu=MAIN; break;
case K_FDOWN: lastscreen=MAIN; screen=FOCUS; menu=MAIN; break;
case K_ORIGIN: lastscreen=MAIN; screen=ORIGIN; waitup=1; break;
}
if (menu==0) menu = (sizeof(menus) / sizeof(menus[0])) -1;
if (menu==(sizeof(menus) / sizeof(menus[0]))) menu = 1;
sarg = (char*)menus[menu];
args[0] = menu;
break;
case RUN: // START JOB select job to run
if (strlen(jobname) == 0) getprevjob(jobname);
switch ( c ) {
case K_OK: screen=RUNNING; break;
case K_UP: case K_FUP: getprevjob(jobname); waitup = 1; break; // next job
case K_RIGHT: screen=DELETE; waitup=1; break;
case K_DOWN: case K_FDOWN: getnextjob(jobname); waitup = 1; break;// prev job
case K_CANCEL: screen=1; waitup = 1; break;
}
sarg = (char *)&jobname;
break;
case DELETE: // DELETE JOB select job to run
switch ( c ) {
case K_OK: removefile(jobname); screen=lastscreen; waitup = 1;
break; // INSERT: delete current job
case K_UP: case K_FUP: getprevjob(jobname); waitup = 1; break; // next job
case K_DOWN: case K_FDOWN: getnextjob(jobname); waitup = 1; break;// prev job
case K_LEFT: screen=RUN; waitup=1; break;
case K_CANCEL: screen=lastscreen; waitup = 1; break;
}
sarg = (char *)&jobname;
break;
case MOVE: // pos xy
mot->getPosition(&x, &y, &z);
xt = x; yt= y;
switch ( c ) {
case K_DOWN: y+=1000*speed; break;
case K_UP: y-=1000*speed; break;
case K_LEFT: x-=1000*speed; break;
case K_RIGHT: x+=1000*speed; break;
case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
case K_FUP: screen=FOCUS; break;
case K_FDOWN: screen=FOCUS; break;
case K_ORIGIN: screen=ORIGIN; break;
}
if ((mot->ready()) && ( (x!=xt) || (y != yt) )) {
mot->moveTo(x, y, z, speed);
} else {
// if (! mot->ready())
// printf("Buffer vol\n");
}
args[0]=x-xoff;
args[1]=y-yoff;
break;
case FOCUS: // focus
mot->getPosition(&x, &y, &z);
switch ( c ) {
case K_FUP: z+=speed; if (z>cfg->zmax) z=cfg->zmax; break;
case K_FDOWN: z-=speed; if (z<0) z=0; break;
case K_LEFT: screen=MOVE; break;
case K_RIGHT: screen=MOVE; break;
case K_UP: screen=MOVE; break;
case K_DOWN: screen=MOVE; break;
case K_ORIGIN: screen=ORIGIN; break;
case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
case 0: break;
default: screen=MAIN; waitup=1; break;
}
if ( mot->ready() && (z!=zt) )
mot->moveTo(x, y, z, speed);
args[0]=z-zoff;
break;
case HOME:// home
switch ( c ) {
case K_OK: screen=HOMING; break;
case K_CANCEL: screen=MAIN; menu=MAIN; waitup=1; break;
}
break;
case ORIGIN: // origin
switch ( c ) {
case K_CANCEL: screen=MAIN; menu=MAIN; waitup=1; break;
case K_OK:
case K_ORIGIN:
xoff = x;
yoff = y;
zoff = z;
mot->setOrigin(x,y,z);
screen = lastscreen;
waitup = 1;
break;
}
break;
case DELETE_ALL: // Delete all files
switch ( c ) {
case K_OK: // delete current job
cleandir();
screen=MAIN;
waitup = 1;
strcpy(jobname, "");
break;
case K_CANCEL: screen=MAIN; waitup = 1; break;
}
break;
case IP: // IP
switch ( c ) {
case K_RIGHT: ipfield++; waitup=1; break;
case K_LEFT: ipfield--; waitup=1; break;
case K_OK: screen=MAIN; menu=MAIN; break;
case K_CANCEL: screen=MAIN; menu=MAIN; break;
}
ipfield %= 4;
sarg = (char*)ipfields[ipfield];
switch (ipfield) {
case 0: memcpy(args, cfg->ip, 4*sizeof(int) ); break;
case 1: memcpy(args, cfg->nm, 4*sizeof(int) ); break;
case 2: memcpy(args, cfg->gw, 4*sizeof(int) ); break;
case 3: memcpy(args, cfg->dns, 4*sizeof(int) ); break;
default: memset(args,0,4*sizeof(int)); break;
}
break;
case REBOOT: // RESET MACHINE
mbed_reset();
break;
/*
case IO: // IO
switch ( c ) {
case K_RIGHT: iofield++; waitup=1; break;
case K_LEFT: iofield--; waitup=1; break;
case K_OK: screen=lastscreen; break;
case K_CANCEL: screen=lastscreen; break;
}
iofield %= sizeof(iofields)/sizeof(char*);
sarg = (char*)iofields[iofield];
args[0] = ipfield;
args[1] = ipfield;
break;
case POWER: // POWER
switch ( c ) {
case K_RIGHT: powerfield++; waitup=1; break;
case K_LEFT: powerfield--; waitup=1; break;
case K_UP: power[powerfield % 4] += speed; break;
case K_DOWN: power[powerfield % 4] -= speed; break;
case K_OK: screen=lastscreen; break;
case K_CANCEL: screen=lastscreen; break;
}
powerfield %= 4;
args[1] = powerfield;
sarg = (char*)powerfields[powerfield];
args[0] = power[powerfield];
break;
*/
case HOMING: // Homing screen
x = cfg->xhome;
y = cfg->yhome;
while ( !mot->isStart() );
mot->home(cfg->xhome,cfg->yhome,cfg->zhome);
screen=lastscreen;
break;
case RUNNING: // Screen while running
switch ( c ) {
/* case K_CANCEL:
while (mot->queue());
mot->reset();
if (runfile != NULL) fclose(runfile);
runfile=NULL; screen=MAIN; menu=MAIN;
break; */
default:
if (runfile == NULL) {
runfile = sd.openfile(jobname, "rb");
if (! runfile)
screen=MAIN;
else
mot->reset();
} else {
while ((!feof(runfile)) && mot->ready())
mot->write(readint(runfile));
if (feof(runfile) && mot->ready()) {
fclose(runfile);
runfile = NULL;
mot->moveTo(cfg->xrest, cfg->yrest, cfg->zrest);
screen=MAIN;
} else {
nodisplay = 1;
}
}
}
break;
default:
screen = MAIN;
break;
}
if (nodisplay == 0) {
dsp->ShowScreen(screens[screen], args, sarg);
}
prevscreen = screen;
}
}
/**
*** Handle menu system
*** Read keys, and plan next action on the screen, output screen if
*** something changed
**/
void LaosMenu::Handle() {
// int xt, yt, zt,
int nodisplay = 0;
extern LaosFileSystem sd;
extern LaosMotion *mot;
extern GlobalConfig *cfg;
static int count=0;
int c = dsp->read();
if ( count++ > 10) count = 0; // screen refresh counter (refresh once every 10 cycles(
if ( c ) timeout = 10; // keypress timeout counter
else if ( timeout ) timeout--;
if ( screen != prevscreen ) waitup = 1; // after a screen change: wait for a key release, mask current keypress
if ( waitup && timeout) // if we have to wait for key-up,
c = 0; // cancel the keypress
if ( waitup && !timeout ) waitup=0;
if ( !timeout )
{
// keyboard timeout (i.e. all keys are released):
// reset jog/focus speed:
speed = 3;
}
if( (c != 0) || (timeout == 0))
{
if(m_PrevKey != c)
{
// and when starting a new move, wait till the previous movements are completely finished.
// This is needed, otherwise back-and-forth moves could result in a far move being
// done at a low speed, which would take a long time to finish:
m_MoveWaitTillQueueEmpty = true;
}
m_PrevKey = c;
}
if ( c || screen != prevscreen || count >9 ) {
switch ( screen ) {
case STARTUP:
if ( sarg == NULL ) sarg = (char*) VERSION_STRING;
break;
case MAIN:
switch ( c ) {
case K_RIGHT: menu+=1; waitup=1; break;
case K_LEFT: menu-=1; waitup=1; break;
case K_UP: lastscreen=MAIN; screen=MOVE; menu=MAIN; break;
case K_DOWN: lastscreen=MAIN; screen=MOVE; menu=MAIN; break;
case K_OK: screen=menu; waitup=1; lastscreen=MAIN; break;
case K_CANCEL: menu=MAIN; break;
case K_FUP: lastscreen=MAIN; screen=FOCUS; menu=MAIN; break;
case K_FDOWN: lastscreen=MAIN; screen=FOCUS; menu=MAIN; break;
case K_ORIGIN: lastscreen=MAIN; screen=ORIGIN; waitup=1; break;
}
if (menu==0) menu = (sizeof(menus) / sizeof(menus[0])) -1;
if (menu==(sizeof(menus) / sizeof(menus[0]))) menu = 1;
sarg = (char*)menus[menu];
args[0] = menu;
break;
case RUN: // START JOB select job to run
if (strlen(jobname) == 0) getprevjob(jobname);
switch ( c ) {
case K_OK: screen = ANALYZING; m_StageAfterAnalyzing = RUNNING; break;
case K_UP: case K_FUP: getprevjob(jobname); waitup = 1; break; // next job
case K_RIGHT: screen=BOUNDARIES; waitup=1; break;
case K_DOWN: case K_FDOWN: getnextjob(jobname); waitup = 1; break;// prev job
case K_CANCEL: screen=1; waitup = 1; break;
}
sarg = (char *)&jobname;
break;
case DELETE: // DELETE JOB select job to run
switch ( c ) {
case K_OK: removefile(jobname); screen=lastscreen; waitup = 1;
break; // INSERT: delete current job
case K_UP: case K_FUP: getprevjob(jobname); waitup = 1; break; // next job
case K_DOWN: case K_FDOWN: getnextjob(jobname); waitup = 1; break;// prev job
case K_LEFT: screen=BOUNDARIES; waitup=1; break;
case K_CANCEL: screen=lastscreen; waitup = 1; break;
}
sarg = (char *)&jobname;
break;
case MOVE: // pos xy
{
int x,y,z;
int numinqueue=mot->queue();
mot->getCurrentPositionRelativeToOrigin(&x, &y, &z);
int xt = x;
int yt= y;
switch ( c ) {
case K_DOWN: y-=100*speed; break;
case K_UP: y+=100*speed; break;
case K_LEFT: x-=100*speed; break;
case K_RIGHT: x+=100*speed; break;
case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
// case K_FUP: screen=FOCUS; break;
case K_FUP:
// use the Focus Up button to display debugging data for the stepper interrupt:
st_debug();
screen=FOCUS;
break;
case K_FDOWN: screen=FOCUS; break;
case K_ORIGIN: screen=ORIGIN; break;
}
printf("Move: c: %d, numinqueue: %d, xt: %d, yt: %d, waitempty: %d\n",
c, numinqueue, xt, yt, m_MoveWaitTillQueueEmpty? 1:0);
int maxinqueue=m_MoveWaitTillQueueEmpty? 1:5;
/*
Currently (Jan 2015) an old version of grbl is used in Laos. This version is buggy
in the sense that there is no proper synchronization between the stepper interrupt and the
main thread. When adding a new move to the queue through plan_buffer_line(), planner_recalculate()
is called. This updates the acceleration profile of existing moves in the queue,
potentially including the move which is currently being executed by the stepper interrupt.
Due to the lack of synchronization this will lead to problems, including potential crashes or
hanging. This problem in particular manifests itself during jogging, because the queue is nearly
emtpy and there's a big chance the frontmost item in the stepper queue will be updated.
During regular laser cutting the problem is less likely to occur since the queue will continuously
be kept nearly full. Recalculation will only affect some of the last moves in the queue.
The real fix for this bug would be to update grbl to the latest version, this seems to include
proper synchronization. For now we work around the problem by wating for the queue to empty
before adding new jog moves. This results in sloppy jogging (continuous stops & moves) but at
least it doesn't crash the machine.
-joostn
*/
// always wait till queue is emptied:
// just remove this line if grbl ever gets updated:
maxinqueue=1;
if ((numinqueue < maxinqueue) && ( (x!=xt) || (y != yt) )) {
m_MoveWaitTillQueueEmpty=false;
mot->moveToRelativeToOrigin(x, y, z, speed);
printf("Move: %d %d %d %d\n", x,y,z, speed);
speed=speed*3;
if(speed > 100) speed=100;
} else {
// if (! mot->ready())
// printf("Buffer vol\n");
}
args[0]=x;
args[1]=y;
}
break;
case FOCUS: // focus
{
int x,y,z;
mot->getCurrentPositionRelativeToOrigin(&x, &y, &z);
int zt = z;
switch ( c ) {
case K_FUP: z+=cfg->zspeed*speed; if (z>cfg->zmax) z=cfg->zmax; break;
case K_FDOWN: z-=cfg->zspeed*speed; if (z<0) z=0; break;
case K_LEFT: break;
case K_RIGHT: break;
case K_UP: z+=cfg->zspeed*speed; if (z>cfg->zmax) z=cfg->zmax; break;
case K_DOWN: z-=cfg->zspeed*speed; if (z<0) z=0; break;
case K_ORIGIN: screen=ORIGIN; break;
case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
case 0: break;
default: screen=MAIN; waitup=1; break;
}
int numinqueue=mot->queue();
if ( mot->ready() && (z!=zt) && (numinqueue == 0) )
{
mot->moveToRelativeToOrigin(x, y, z, speed);
printf("Focus: %d %d %d %d\n", x,y,z, speed);
speed=speed*3;
if(speed > 100) speed=100;
}
args[0]=z;
}
break;
case HOME:// home
switch ( c ) {
case K_OK: screen=HOMING; break;
case K_CANCEL: screen=MAIN; menu=MAIN; waitup=1; break;
}
break;
case ERROR:
switch ( c ) {
case K_OK:
case K_CANCEL:
screen=MAIN;
waitup=1;
break;
}
break;
case ORIGIN: // origin
switch ( c ) {
case K_CANCEL: screen=MAIN; menu=MAIN; waitup=1; break;
case K_OK:
case K_ORIGIN:
if(cfg->BedHeight() == 0)
{
screen=ERROR;
sarg=(char*)"bedheight unknwn";
}
else
{
mot->MakeCurrentPositionOrigin();
screen = lastscreen;
}
waitup = 1;
break;
}
break;
case DELETE_ALL: // Delete all files
switch ( c ) {
case K_OK: // delete current job
cleandir();
screen=MAIN;
waitup = 1;
strcpy(jobname, "");
break;
case K_CANCEL: screen=MAIN; waitup = 1; break;
}
break;
case IP: // IP
int myip[4], mynm[4], mygw[4], mydns[4];
IpParse(cfg->ip, myip);
IpParse(cfg->nm, mynm);
IpParse(cfg->gw, mygw);
IpParse(cfg->dns, mydns);
switch ( c ) {
case K_RIGHT: ipfield++; waitup=1; break;
case K_LEFT: ipfield--; waitup=1; break;
case K_OK: screen=MAIN; menu=MAIN; break;
case K_CANCEL: screen=MAIN; menu=MAIN; break;
}
ipfield %= 4;
sarg = (char*)ipfields[ipfield];
switch (ipfield) {
case 0: memcpy(args, myip, 4*sizeof(int) ); break;
case 1: memcpy(args, mynm, 4*sizeof(int) ); break;
case 2: memcpy(args, mygw, 4*sizeof(int) ); break;
case 3: memcpy(args, mydns, 4*sizeof(int) ); break;
default: memset(args, 0, 4*sizeof(int)); break;
}
break;
case REBOOT: // RESET MACHINE
mbed_reset();
break;
/*
case IO: // IO
switch ( c ) {
case K_RIGHT: iofield++; waitup=1; break;
case K_LEFT: iofield--; waitup=1; break;
case K_OK: screen=lastscreen; break;
case K_CANCEL: screen=lastscreen; break;
}
iofield %= sizeof(iofields)/sizeof(char*);
sarg = (char*)iofields[iofield];
args[0] = ipfield;
args[1] = ipfield;
break;
case POWER: // POWER
switch ( c ) {
case K_RIGHT: powerfield++; waitup=1; break;
case K_LEFT: powerfield--; waitup=1; break;
case K_UP: power[powerfield % 4] += speed; break;
case K_DOWN: power[powerfield % 4] -= speed; break;
case K_OK: screen=lastscreen; break;
case K_CANCEL: screen=lastscreen; break;
}
powerfield %= 4;
args[1] = powerfield;
sarg = (char*)powerfields[powerfield];
args[0] = power[powerfield];
break;
*/
case HOMING: // Homing screen
while ( !mot->isStart() );
mot->home(cfg->xhome,cfg->yhome,cfg->zhome);
screen=lastscreen;
break;
case RUNNING: // Screen while running
switch ( c ) {
/* case K_CANCEL:
while (mot->queue());
mot->reset();
if (runfile != NULL) fclose(runfile);
runfile=NULL; screen=MAIN; menu=MAIN;
break; */
default:
if (runfile == NULL) {
runfile = sd.openfile(jobname, "rb");
if (! runfile)
screen=MAIN;
else
mot->reset();
} else {
#ifdef READ_FILE_DEBUG
printf("Parsing file: \n");
#endif
while ((!feof(runfile)) && mot->ready()) {
mot->write(readint(runfile));
if(cfg->disablecancelcheck == false)
{
if(dsp->read_nb() == K_CANCEL) {
while (mot->queue());
mot->reset();
fseek(runfile, 0, SEEK_END);
}
}
}
#ifdef READ_FILE_DEBUG
printf("File parsed \n");
#endif
if (feof(runfile) && mot->ready()) {
fclose(runfile);
runfile = NULL;
mot->moveToAbsolute(cfg->xrest, cfg->yrest, cfg->zrest);
screen=MAIN;
} else {
nodisplay = 1;
}
}
}
break;
case BOUNDARIES:
if (strlen(jobname) == 0) getprevjob(jobname);
switch ( c ) {
case K_OK:
screen = ANALYZING; m_StageAfterAnalyzing = CALCULATEDBOUNDARIES; break;
case K_UP: case K_FUP: getprevjob(jobname); waitup = 1; break; // next job
case K_DOWN: case K_FDOWN: getnextjob(jobname); waitup = 1; break;// prev job
case K_LEFT: screen=RUN; waitup=1; break;
case K_RIGHT: screen=DELETE; waitup=1; break;
case K_CANCEL: screen=lastscreen; waitup = 1; break;
}
sarg = (char *)&jobname;
break;
case ANALYZING: // determine the boundaries of the file. This is done prior to running, and when executing the BOUNDAIES function
// m_StageAfterAnalyzing is set to the menu stage that will be executed after this (RUNNING or CALCULATEDBOUNDARIES)
runfile = sd.openfile(jobname, "rb");
if (! runfile)
{
screen=MAIN;
}
else
{
// when running we need the bounds including all moves
// when executing BOUNDARIES we only need the actual lasered area
bool boundsOnlyWithLaserOn = (m_StageAfterAnalyzing == CALCULATEDBOUNDARIES);
m_Extent.Reset(boundsOnlyWithLaserOn);
while (!feof(runfile))
{
m_Extent.Write(readint(runfile));
}
fclose(runfile);
runfile = NULL;
int fileMinx, fileMiny, fileMaxx, fileMaxy;
LaosExtent::TError err=m_Extent.GetBoundary(fileMinx, fileMiny, fileMaxx, fileMaxy);
bool outOfBounds=false;
if(!err)
{
int minx, miny, minz, maxx, maxy, maxz;
mot->getLimitsRelative(&minx, &miny, &minz, &maxx, &maxy, &maxz);
if( (fileMinx < minx) || (fileMiny < miny) ||
(fileMaxx > maxx) || (fileMaxy > maxy) )
{
outOfBounds = true;
}
}
if(outOfBounds)
{
screen=ERROR;
sarg=(char*)"Limit overrun";
waitup=1;
}
else
{
if(m_StageAfterAnalyzing == CALCULATEDBOUNDARIES)
{
args[0]=(fileMinx+500)/1000;
args[1]=(fileMiny+500)/1000;
args[2]=((fileMaxx-fileMinx)+500)/1000;
args[3]=((fileMaxy-fileMiny)+500)/1000;
screen=CALCULATEDBOUNDARIES;
m_SubStage=0;
}
else if(m_StageAfterAnalyzing == RUNNING)
{
screen=RUNNING;
}
else
{
screen = MAIN;
}
waitup=1;
}
}
break;
case CALCULATEDBOUNDARIES: // Screen after calculating the boundaries of a file
if(m_SubStage == 0)
{
m_Extent.ShowBoundaries(mot);
m_SubStage++;
}
else
{
switch ( c ) {
case K_OK:
case K_CANCEL:
screen=MAIN;
break;
}
break;
}
break;
case LASERTEST:
enable = !cfg->enable;
switch ( c ) {
case K_OK:
waitup = 1;
if(m_LaserTestTime > 0)
{
double p = (double)(cfg->pwmmin/100.0 + ((m_LaserTestPower/100.0)*((cfg->pwmmax - cfg->pwmmin)/100.0)));
pwm = p;
*laser = LASERON;
wait_ms(m_LaserTestTime);
*laser = LASEROFF;
pwm = cfg->pwmmax / 100.0; // set pwm to max;
}
break;
case K_UP: case K_FUP:
if(m_LaserTestPower <= 3)
{
m_LaserTestPower++;
}
else
{
m_LaserTestPower += (m_LaserTestPower>>1);
if(m_LaserTestPower > 100) m_LaserTestPower=100;
}
break;
case K_DOWN: case K_FDOWN:
if(m_LaserTestPower <= 4)
{
m_LaserTestPower--;
if(m_LaserTestPower < 0) m_LaserTestPower=0;
}
else
{
m_LaserTestPower -= (m_LaserTestPower>>2);
}
break;
case K_RIGHT:
if(m_LaserTestTime <= 3)
{
m_LaserTestTime++;
}
else
{
m_LaserTestTime += (m_LaserTestTime>>1);
if(m_LaserTestTime > 250) m_LaserTestTime=250;
}
break;
case K_LEFT:
if(m_LaserTestTime <= 4)
{
m_LaserTestTime--;
if(m_LaserTestTime < 0) m_LaserTestTime=0;
}
else
{
m_LaserTestTime -= (m_LaserTestTime>>2);
}
break;
case K_CANCEL:
{
enable = cfg->enable;
// home the machine:
while ( !mot->isStart() );
mot->home(cfg->xhome,cfg->yhome,cfg->zhome);
screen=MAIN;
m_LaserTestPower=0;
m_LaserTestTime=0;
waitup = 1;
}
break;
}
args[0]=m_LaserTestTime;
args[1]=m_LaserTestPower;
break;
default:
screen = MAIN;
break;
}
if (nodisplay == 0) {
dsp->ShowScreen(screens[screen], args, sarg);
}
prevscreen = screen;
}
}
