int
rr_dev_resend (rr_dev dev, unsigned long lineno, const char *reply, size_t nbytes)
{
int resent = 0;
blocknode *node;
/* sent cache slot 0 is most recent */
while (1) {
if (!(node = rr_dev_pop_from_queue (dev, RR_PRIO_SENTCACHE)))
break;
rr_dev_log (dev, RR_DEBUG_HIGH, "pop sent node line %d '%s' (%d bytes)\n",
(int)node->line, node->block, node->blocksize);
if (node->line >= lineno) {
rr_dev_prepend_to_queue (dev, RR_PRIO_RESEND, node);
resent++;
} else { /* put it back and look elsewhere */
rr_dev_prepend_to_queue (dev, RR_PRIO_SENTCACHE, node);
break;
}
}
if (resent == 0) {
/* Perhaps line is in the resend queue, and we got an:
* rs: 3
* rs: 6
* type sequence so try peel forward the resend queue.
*/
while (1) {
if (!(node = rr_dev_pop_from_queue (dev, RR_PRIO_RESEND)))
break;
rr_dev_log (dev, RR_DEBUG_HIGH,
"pop resend node line %d '%s' (%d bytes)\n",
(int)node->line, node->block, node->blocksize);
if (node->line < lineno) {
rr_dev_prepend_to_queue (dev, RR_PRIO_SENTCACHE, node);
resent++;
} else { /* put it back and give up */
rr_dev_prepend_to_queue (dev, RR_PRIO_RESEND, node);
break;
}
}
if (resent == 0) {
rr_dev_log (dev, RR_DEBUG_ALWAYS,
"re-send request for unknown (too old) line %ld from cache size %d\n",
lineno, dev->sendsize[RR_PRIO_SENTCACHE]);
rr_dev_emit_error (dev, RR_E_UNCACHED_RESEND, reply, nbytes);
}
}
dev->send_next = 1;
dev->wait_wr_cb (dev, 1, dev->wait_wr_cl);
return 0;
}
void
rr_dev_reset (rr_dev dev)
{
empty_buffers (dev);
rr_dev_log (dev, RR_DEBUG_MEDIUM, "reset dev size to zero\n");
rr_dev_reset_lineno (dev);
dev->recvbuf_fill = 0;
}
static void
debug_log_block (rr_dev dev, const char *block, int nbytes)
{
char buffer[4096], *p;
int num = nbytes >= 4096 ? 4095 : nbytes;
strncpy (buffer, block, num);
buffer[num] = '\0';
if ((p = strchr (buffer, '\n')))
*p = '\0';
if ((p = strchr (buffer, '\r')))
*p = '\0';
rr_dev_log (dev, RR_DEBUG_MEDIUM, "API enqueue of '%s' queue size %d\n",
buffer, rr_dev_buffered_lines (dev));
}
int
rr_dev_open (rr_dev dev, const char *port, long speed)
{
char *error = NULL;
dev->fd = serial_open (port, speed, &error);
if (SERIAL_INVALID_CHECK(dev->fd) < 0)
{
rr_dev_log (dev, RR_DEBUG_ALWAYS, "Failed to open device %s", error ? error : "<no error>");
fprintf (stderr, "%s\n", error ? error : "<null>");
return -1;
}
else
return 0;
}
void
rr_dev_handle_ok (rr_dev dev)
{
int buffered = rr_dev_buffered_lines (dev);
/* Send as many commands as we get ok's */
if (dev->init_send_count > 0)
dev->init_send_count--;
dev->send_next = 1;
if (buffered < dev->dev_cmdqueue_size) {
rr_dev_log (dev, RR_DEBUG_MEDIUM,
"request more %d < %d\n", buffered, dev->dev_cmdqueue_size);
dev->more_cb (dev, dev->more_cl);
}
dev->wait_wr_cb (dev, 1, dev->wait_wr_cl);
if (dev->debug_output > RR_DEBUG_ALWAYS)
{ /* Check the sendsize accounts add up */
int i = 0;
for (i = 0; i < RR_PRIO_COUNT; ++i) {
blocknode *p;
int count = 0;
for (p = dev->sendhead[i]; p; p = p->next) {
if (!p->next && dev->sendtail[i] != p)
rr_dev_log (dev, RR_DEBUG_MEDIUM,
"Error: queue (%d) broken tail pointer %p vs %p\n",
i, p, dev->sendtail[i]);
count++;
}
if (count != dev->sendsize[i])
rr_dev_log (dev, RR_DEBUG_MEDIUM,
"Error: queue (%d) size mismatch: %d vs %d\n",
i, count, dev->sendsize[i]);
}
}
}
int
fived_handle_reply (rr_dev dev, const char *reply, size_t nbytes)
{
if (!strncasecmp ("ok", reply, 2)) {
rr_dev_handle_ok (dev);
/* Parse values */
char *i;
for (i = (char*)reply + 2; i < reply + nbytes; ++i) {
if (isspace (*i))
continue;
switch (toupper (*i)) {
case 'T':
float_reply (dev, &i, RR_NOZZLE_TEMP);
break;
case 'B':
float_reply (dev, &i, RR_BED_TEMP);
break;
case 'C':
break;
case 'X':
float_reply (dev, &i, RR_X_POS);
break;
case 'Y':
float_reply (dev, &i, RR_Y_POS);
break;
case 'Z':
float_reply (dev, &i, RR_Z_POS);
break;
case 'E':
float_reply (dev, &i, RR_E_POS);
break;
default:
break;
//return rr_dev_emit_error (dev, RR_E_UNKNOWN_REPLY, reply, nbytes);
}
}
return 0;
} else if (!strncasecmp ("rs", reply, 2) ||
!strncasecmp ("resend", reply, 6)) {
/* check where the line number starts */
size_t n_start = strcspn (reply, "123456789");
if (n_start) {
long long lineno = strtoll (reply + n_start, NULL, 10);
if (dev->sendsize[RR_PRIO_SENTCACHE] +
dev->sendsize[RR_PRIO_RESEND] <= 1) {
/*
* oh dear - most likely we re-connected to a device that
* had problems mid-flow, now we need to re-send the
* line-number reset as if it was this line-no it is asking
* for a re-send of, or there will be no peace
*/
rr_dev_log (dev, RR_DEBUG_ALWAYS,
"resetting confused firmware with synthetic resend of line %d\n",
lineno);
rr_dev_enqueue_internal (dev, RR_PRIO_HIGH, "M110", 4, lineno);
/* re-start the print */
rr_dev_resend (dev, 0, "synthetic restart", 16);
return rr_dev_emit_error (dev, RR_E_UNSENT_RESEND, reply, nbytes);
}
return rr_dev_resend (dev, lineno, reply, nbytes);
} else
return rr_dev_emit_error (dev, RR_E_MALFORMED_RESEND_REQUEST, reply, nbytes);
} else if (!strncmp("!!", reply, 2)) {
return rr_dev_emit_error (dev, RR_E_HARDWARE_FAULT, reply, nbytes);
} else if (!strncasecmp ("start", reply, 5)) {
return rr_dev_handle_start (dev);
} else
return rr_dev_emit_error (dev, RR_E_UNKNOWN_REPLY, reply, nbytes);
}
int
rr_dev_handle_writable (rr_dev dev)
{
ssize_t result;
if (dev->sendbuf_fill == 0) {
if (dev->init_send_count <= 0 && !dev->send_next) {
rr_dev_log (dev, RR_DEBUG_MEDIUM,
"writeable - init count is %d, no send_next queue %d resend %d\n",
dev->init_send_count, dev->dev_cmdqueue_size,
dev->sendsize[RR_PRIO_RESEND]);
/* wait until there is space in the device buffer and/or an ok */
dev->wait_wr_cb (dev, 0, dev->wait_wr_cl);
return 0;
}
/* Last block is gone; prepare to send a new block */
int prio;
blocknode *node = NULL;
for (prio = RR_PRIO_COUNT - 1; prio >= 0; --prio) {
if (dev->paused[prio])
continue;
node = dev->sendhead[prio];
if (node) {
/* We have a block to send! Get it ready. */
dev->bytes_sent = 0;
result = fmtblock (dev, node);
if (result < 0) {
/* FIXME: This will confuse code expecting errno to be set */
return result;
}
if (result == 0)
rr_dev_log (dev, RR_DEBUG_ALWAYS,
"unusual error - nothing in block to write\n");
dev->send_next = 0;
dev->sendbuf_fill = result;
dev->sending_prio = prio;
break;
}
}
if (!node) {
/* No data to write */
dev->wait_wr_cb (dev, 0, dev->wait_wr_cl);
return 0;
}
}
/* Perform write */
do {
result = write (dev->fd, dev->sendbuf + dev->bytes_sent, dev->sendbuf_fill - dev->bytes_sent);
} while (result < 0 && errno == EINTR);
if (result < 0)
return result;
if (dev->opt_log_cb)
dev->opt_log_cb (dev, RR_LOG_SEND, dev->sendbuf + dev->bytes_sent,
dev->sendbuf_fill - dev->bytes_sent,
dev->opt_log_cl);
dev->bytes_sent += result;
if (dev->bytes_sent == dev->sendbuf_fill) {
/* We've sent the complete block. */
blocknode *node = rr_dev_pop_from_queue (dev, dev->sending_prio);
if (node->line < 0) {
node->line = dev->lineno;
++(dev->lineno);
}
/* Update sent cache */
assert (node->block != NULL);
rr_dev_prepend_to_queue (dev, RR_PRIO_SENTCACHE, node);
if (dev->sendsize[RR_PRIO_SENTCACHE] > (dev->sentcachesize * 3 / 2))
shrink_sentcache (dev);
/* Indicate that we're ready for the next. */
dev->sendbuf_fill = 0;
}
return result;
}
int
rr_dev_handle_readable (rr_dev dev)
{
int i;
/* Grow receive buffer if it's full */
if (dev->recvbuf_fill >= dev->recvbufsize) {
dev->recvbufsize *= 2;
dev->recvbuf = realloc (dev->recvbuf, dev->recvbufsize + 1);
}
ssize_t result;
do {
result = read (dev->fd, dev->recvbuf + dev->recvbuf_fill, dev->recvbufsize - dev->recvbuf_fill);
} while (result < 0 && errno == EINTR);
if (result < 0)
return result;
dev->recvbuf_fill += result;
/* string terminate */
dev->recvbuf[dev->recvbuf_fill] = '\0';
/* validate the stream is ascii and of the correct length */
for (i = 0; i < dev->recvbuf_fill; i++) {
if (dev->recvbuf[i] == '\0' || !isascii (dev->recvbuf[i])) {
rr_dev_log (dev, RR_DEBUG_ALWAYS,
"invalid char in recvbuf at char %d (0x%2x) full "
"msg: '%s', truncating here", i, dev->recvbuf[i],
dev->recvbuf);
dev->recvbuf_fill = i;
dev->recvbuf[dev->recvbuf_fill] = '\0';
break;
}
}
/* spot control characters */
if (dev->recvbuf[0] == 1) {
rr_dev_log (dev, RR_DEBUG_ALWAYS,
"unusual - control character 0x%2x 0x%2x\n",
dev->recvbuf[0], dev->recvbuf[1]);
memmove (dev->recvbuf, dev->recvbuf + 2, dev->recvbuf_fill - 2);
dev->recvbuf_fill -= 2;
}
/* Scan the buffer and shift it down if we detect a full command */
size_t reply_span, term_span;
while (1) {
/* How many non terminator chars and how many terminator chars after them */
reply_span = strcspn (dev->recvbuf, REPLY_TERMINATOR);
term_span = strspn (dev->recvbuf + reply_span, REPLY_TERMINATOR);
if (term_span > 0) {
if (reply_span > 0)
handle_reply (dev, dev->recvbuf, reply_span, term_span);
/* else - perhaps a prepended \n having sent in reaction to \r previously */
size_t len = reply_span + term_span;
assert (dev->recvbuf_fill >= len);
dev->recvbuf_fill -= len;
memmove (dev->recvbuf, dev->recvbuf + len, dev->recvbuf_fill + 1);
continue;
}
break;
}
return 0;
}
rr_dev
rr_dev_create (rr_proto proto,
/* how many commands can we push */
size_t dev_cmdqueue_size,
/* callbacks cf. above */
rr_reply_fn reply_cb, void *reply_cl,
rr_more_fn more_cb, void *more_cl,
rr_error_fn error_cb, void *error_cl,
/* notify when socket is writeable */
rr_wait_wr_fn wait_wr_cb, void *wait_wr_cl,
/* optional (or NULL, NULL) */
rr_log_fn opt_log_cb, void *opt_log_cl)
{
unsigned int i;
rr_dev dev;
/* Required callbacks */
if (!reply_cb || !more_cb || !error_cb || !wait_wr_cb)
return NULL;
dev = malloc (sizeof(struct rr_dev_t));
if (!dev)
return NULL;
dev->proto = proto;
dev->dev_cmdqueue_size = dev_cmdqueue_size;
dev->reply_cb = reply_cb;
dev->reply_cl = reply_cl;
dev->more_cb = more_cb;
dev->more_cl = more_cl;
dev->error_cb = error_cb;
dev->error_cl = error_cl;
dev->wait_wr_cb = wait_wr_cb;
dev->wait_wr_cl = wait_wr_cl;
dev->opt_log_cb = opt_log_cb;
dev->opt_log_cl = opt_log_cl;
dev->lineno = 0;
dev->fd = SERIAL_INVALID_INIT;
dev->send_next = 0;
dev->init_send_count = dev->dev_cmdqueue_size;
dev->debug_output = 0;
if (getenv("RR_DEBUG"))
dev->debug_output = atoi (getenv("RR_DEBUG"));
dev->sentcachesize = dev_cmdqueue_size * 4 + 64;
for (i = 0; i < RR_PRIO_ALL_QUEUES; ++i) {
dev->sendsize[i] = 0;
dev->sendhead[i] = NULL;
dev->sendtail[i] = NULL;
dev->paused[i] = 0;
}
dev->sendbuf_fill = 0;
dev->bytes_sent = 0;
dev->recvbufsize = INITIAL_RECVBUFSIZE;
dev->recvbuf = calloc (dev->recvbufsize + 1, sizeof (char));
dev->recvbuf_fill = 0;
rr_dev_log (dev, RR_DEBUG_ALWAYS, "Connecting with libreprap\n");
return dev;
}