static void send_fragment() { // {{{
if (host_block) {
current_fragment_pos = 0;
return;
}
if (current_fragment_pos <= 0 || stopping || sending_fragment) {
//debug("no send fragment %d %d %d", current_fragment_pos, stopping, sending_fragment);
return;
}
if (num_active_motors == 0) {
if (current_fragment_pos < 1) {
// TODO: find out why this is attempted and avoid it.
debug("not sending short fragment for 0 motors; %d %d", current_fragment, running_fragment);
if (history[current_fragment].cbs) {
if (settings.queue_start == settings.queue_end && !settings.queue_full) {
// Send cbs immediately.
if (!host_block) {
history[(current_fragment + 1) % FRAGMENTS_PER_BUFFER].cbs += history[current_fragment].cbs;
//debug("adding %d cbs in send_fragment", history[current_fragment].cbs);
history[current_fragment].cbs = 0;
}
}
}
current_fragment_pos = 0;
return;
}
else {
//debug("sending fragment for 0 motors at position %d", current_fragment_pos);
}
//abort();
}
//debug("sending %d prevcbs %d", current_fragment, history[(current_fragment + FRAGMENTS_PER_BUFFER - 1) % FRAGMENTS_PER_BUFFER].cbs);
if (aborting || arch_send_fragment()) {
current_fragment = (current_fragment + 1) % FRAGMENTS_PER_BUFFER;
//debug("current_fragment = (current_fragment + 1) %% FRAGMENTS_PER_BUFFER; %d", current_fragment);
//debug("current send -> %x", current_fragment);
store_settings();
if (!aborting && (current_fragment - running_fragment + FRAGMENTS_PER_BUFFER) % FRAGMENTS_PER_BUFFER >= MIN_BUFFER_FILL && !stopping) {
arch_start_move(0);
}
}
} // }}}
void buffer_refill() { // {{{
if (preparing) {
//debug("no refill because prepare");
return;
}
if (moving_to_current == 2)
move_to_current();
if (!computing_move || refilling || stopping || discard_pending || discarding) {
//debug("refill block %d %d %d %d %d", computing_move, refilling, stopping, discard_pending, discarding);
return;
}
refilling = true;
// send_fragment in the previous refill may have failed; try it again.
if (current_fragment_pos > 0)
send_fragment();
//debug("refill start %d %d %d", running_fragment, current_fragment, sending_fragment);
// Keep one free fragment, because we want to be able to rewind and use the buffer before the one currently active.
while (computing_move && !stopping && !discard_pending && !discarding && (running_fragment - 1 - current_fragment + FRAGMENTS_PER_BUFFER) % FRAGMENTS_PER_BUFFER > 4 && !sending_fragment) {
//debug("refill %d %d %f", current_fragment, current_fragment_pos, spaces[0].motor[0]->settings.current_pos);
// fill fragment until full.
apply_tick();
//debug("refill2 %d %f", current_fragment, spaces[0].motor[0]->settings.current_pos);
if (current_fragment_pos >= SAMPLES_PER_FRAGMENT) {
//debug("fragment full %d %d %d", computing_move, current_fragment_pos, BYTES_PER_FRAGMENT);
send_fragment();
}
// Check for commands from host; in case of many short buffers, this loop may not end in a reasonable time.
//serial(0);
}
if (stopping || discard_pending) {
//debug("aborting refill for stopping");
refilling = false;
return;
}
if (!computing_move && current_fragment_pos > 0) {
//debug("finalize");
send_fragment();
}
refilling = false;
arch_start_move(0);
} // }}}
void buffer_refill() { // {{{
// Try to fill the buffer. This is called at any time that the buffer may be refillable.
//debug("refill");
if (aborting || preparing || FRAGMENTS_PER_BUFFER == 0) {
//debug("no refill because prepare or no buffer yet");
return;
}
if (!computing_move || refilling || stopping || discard_pending || discarding) {
//debug("no refill due to block: %d %d %d %d %d", !computing_move, refilling, stopping, discard_pending, discarding);
return;
}
refilling = true;
// send_fragment in the previous refill may have failed; try it again.
/*if (current_fragment_pos > 0) {
debug("sending because data pending frag=%d pos=%d", current_fragment, current_fragment_pos);
send_fragment();
}*/
//debug("refill start %d %d %d", running_fragment, current_fragment, sending_fragment);
// Keep one free fragment, because we want to be able to rewind and use the buffer before the one currently active.
while (computing_move && !aborting && !stopping && !discard_pending && !discarding && (running_fragment - 1 - current_fragment + FRAGMENTS_PER_BUFFER) % FRAGMENTS_PER_BUFFER > (FRAGMENTS_PER_BUFFER > 4 ? 4 : FRAGMENTS_PER_BUFFER - 2) && !sending_fragment) {
//debug("refill %d %d %f", current_fragment, current_fragment_pos, spaces[0].motor[0]->settings.current_pos);
// fill fragment until full.
apply_tick();
//debug("refill2 %d %f", current_fragment, spaces[0].motor[0]->settings.current_pos);
if (current_fragment_pos >= SAMPLES_PER_FRAGMENT) {
//debug("sending because fragment full (weird) %d %d %d", computing_move, current_fragment_pos, BYTES_PER_FRAGMENT);
send_fragment();
}
}
if (aborting || stopping || discard_pending) {
//debug("aborting refill for stopping");
refilling = false;
return;
}
if (!computing_move && current_fragment_pos > 0) {
//debug("sending because move ended");
send_fragment();
}
refilling = false;
arch_start_move(0);
} // }}}
void run_file_fill_queue() {
static bool lock = false;
if (lock)
return;
lock = true;
rundebug("run queue, wait = %d tempwait = %d q = %d %d %d finish = %d", run_file_wait, run_file_wait_temp, settings.queue_end, settings.queue_start, settings.queue_full, run_file_finishing);
if (run_file_audio >= 0) {
while (true) {
if (!run_file_map || run_file_wait || run_file_finishing)
break;
if (settings.run_file_current >= run_file_num_records) {
run_file_finishing = true;
//debug("done running audio");
break;
}
int16_t next = (current_fragment + 1) % FRAGMENTS_PER_BUFFER;
if (next == running_fragment)
break;
settings.run_file_current = arch_send_audio(&reinterpret_cast <uint8_t *>(run_file_map)[sizeof(double)], settings.run_file_current, run_file_num_records, run_file_audio);
current_fragment = next;
store_settings();
if ((current_fragment - running_fragment + FRAGMENTS_PER_BUFFER) % FRAGMENTS_PER_BUFFER >= MIN_BUFFER_FILL && !stopping)
arch_start_move(0);
}
lock = false;
return;
}
while (run_file_map // There is a file to run.
&& (settings.queue_end - settings.queue_start + QUEUE_LENGTH) % QUEUE_LENGTH < 4 // There is space in the queue.
&& !settings.queue_full // Really, there is space in the queue.
&& settings.run_file_current < run_file_num_records // There are records to send.
&& !run_file_wait_temp // We are not waiting for a temp alarm.
&& !run_file_wait // We are not waiting for something else (pause or confirm).
&& !run_file_finishing) { // We are not waiting for underflow (should be impossible anyway, if there are commands in the queue).
int t = run_file_map[settings.run_file_current].type;
if (t != RUN_LINE && t != RUN_PRE_LINE && t != RUN_PRE_ARC && t != RUN_ARC && (arch_running() || settings.queue_end != settings.queue_start || computing_move))
break;
Run_Record &r = run_file_map[settings.run_file_current];
rundebug("running %d: %d %d", settings.run_file_current, r.type, r.tool);
switch (r.type) {
case RUN_SYSTEM:
{
char const *cmd = strndupa(&reinterpret_cast<char const *>(run_file_map)[run_file_first_string + strings[r.tool].start], strings[r.tool].len);
debug("Running system command: %ld %d %s", strings[r.tool].start, strings[r.tool].len, cmd);
int ret = system(cmd);
debug("Done running system command, return = %d", ret);
break;
}
case RUN_PRE_ARC:
{
double x = r.X * run_file_cosa - r.Y * run_file_sina + run_file_refx;
double y = r.Y * run_file_cosa + r.X * run_file_sina + run_file_refy;
double z = r.Z;
//debug("line %f %f %f", x, y, z);
queue[settings.queue_end].center[0] = x;
queue[settings.queue_end].center[1] = y;
queue[settings.queue_end].center[2] = handle_probe(x, y, z);
queue[settings.queue_end].normal[0] = r.E;
queue[settings.queue_end].normal[1] = r.f;
queue[settings.queue_end].normal[2] = r.F;
break;
}
case RUN_PRE_LINE:
{
run_preline.X = r.X;
run_preline.Y = r.Y;
run_preline.Z = r.Z;
run_preline.E = r.E;
run_preline.tool = r.tool;
break;
}
case RUN_LINE:
case RUN_ARC:
{
queue[settings.queue_end].single = false;
queue[settings.queue_end].probe = false;
queue[settings.queue_end].arc = r.type == RUN_ARC;
queue[settings.queue_end].f[0] = r.f;
queue[settings.queue_end].f[1] = r.F;
double x = r.X * run_file_cosa - r.Y * run_file_sina + run_file_refx;
double y = r.Y * run_file_cosa + r.X * run_file_sina + run_file_refy;
double z = r.Z;
//debug("line/arc %f %f %f", x, y, z);
int num0 = spaces[0].num_axes;
if (num0 > 0) {
queue[settings.queue_end].data[0] = x;
if (num0 > 1) {
queue[settings.queue_end].data[1] = y;
if (num0 > 2) {
queue[settings.queue_end].data[2] = handle_probe(x, y, z);
if (num0 > 3) {
queue[settings.queue_end].data[3] = run_preline.X;
if (num0 > 4) {
queue[settings.queue_end].data[4] = run_preline.Y;
if (num0 > 5) {
queue[settings.queue_end].data[5] = run_preline.Z;
}
}
run_preline.X = NAN;
run_preline.Y = NAN;
run_preline.Z = NAN;
}
}
}
}
for (int i = 6; i < num0; ++i)
queue[settings.queue_end].data[i] = NAN;
for (int i = 0; i < spaces[1].num_axes; ++i) {
queue[settings.queue_end].data[num0 + i] = (i == r.tool ? r.E : i == run_preline.tool ? run_preline.E : NAN);
//debug("queue %d + %d = %f", num0, i, queue[settings.queue_end].data[num0 + i]);
}
run_preline.E = NAN;
num0 += spaces[1].num_axes;
for (int s = 2; s < NUM_SPACES; ++s) {
for (int i = 0; i < spaces[s].num_axes; ++i)
queue[settings.queue_end].data[num0 + i] = NAN;
num0 += spaces[s].num_axes;
}
queue[settings.queue_end].time = r.time;
queue[settings.queue_end].dist = r.dist;
queue[settings.queue_end].cb = false;
settings.queue_end = (settings.queue_end + 1) % QUEUE_LENGTH;
if (!computing_move)
next_move();
else
rundebug("no");
buffer_refill();
break;
}
case RUN_GPIO:
{
int tool = r.tool;
if (tool == -2)
tool = fan_id;
else if (tool == -3)
tool = spindle_id;
if (tool < 0 || tool >= num_gpios) {
if (tool != -1)
debug("cannot set invalid gpio %d", tool);
break;
}
if (r.X) {
gpios[tool].state = 1;
SET(gpios[tool].pin);
}
else {
gpios[tool].state = 0;
RESET(gpios[tool].pin);
}
send_host(CMD_UPDATE_PIN, tool, gpios[tool].state);
break;
}
case RUN_SETTEMP:
{
int tool = r.tool;
if (tool == -1)
tool = bed_id;
rundebug("settemp %d %f", tool, r.X);
settemp(tool, r.X);
send_host(CMD_UPDATE_TEMP, tool, 0, r.X);
break;
}
case RUN_WAITTEMP:
{
int tool = r.tool;
if (tool == -2)
tool = bed_id;
if (tool == -3) {
for (int i = 0; i < num_temps; ++i) {
if (temps[i].min_alarm >= 0 || temps[i].max_alarm < MAXINT) {
run_file_wait_temp += 1;
waittemp(i, temps[i].min_alarm, temps[i].max_alarm);
}
}
break;
}
if (tool < 0 || tool >= num_temps) {
if (tool != -1)
debug("cannot wait for invalid temp %d", tool);
break;
}
else
rundebug("waittemp %d", tool);
if (temps[tool].adctarget[0] >= 0 && temps[tool].adctarget[0] < MAXINT) {
rundebug("waiting");
run_file_wait_temp += 1;
waittemp(tool, temps[tool].target[0], temps[tool].max_alarm);
}
else
rundebug("not waiting");
break;
}
case RUN_SETPOS:
if (r.tool >= spaces[1].num_axes) {
debug("Not setting position of invalid extruder %d", r.tool);
break;
}
setpos(1, r.tool, r.X);
break;
case RUN_WAIT:
if (r.X > 0) {
run_file_timer.it_value.tv_sec = r.X;
run_file_timer.it_value.tv_nsec = (r.X - run_file_timer.it_value.tv_sec) * 1e9;
run_file_wait += 1;
timerfd_settime(pollfds[0].fd, 0, &run_file_timer, NULL);
}
break;
case RUN_CONFIRM:
{
int len = min(strings[r.tool].len, 250);
memcpy(datastore, &reinterpret_cast<char const *>(run_file_map)[run_file_first_string + strings[r.tool].start], len);
run_file_wait += 1;
send_host(CMD_CONFIRM, r.X ? 1 : 0, 0, 0, 0, len);
break;
}
case RUN_PARK:
run_file_wait += 1;
send_host(CMD_PARKWAIT);
break;
default:
debug("Invalid record type %d in %s", r.type, run_file_name);
break;
}
settings.run_file_current += 1;
}
rundebug("run queue done");
if (run_file_map && settings.run_file_current >= run_file_num_records && !run_file_wait_temp && !run_file_wait && !run_file_finishing) {
// Done.
//debug("done running file");
if (!computing_move && !sending_fragment && !arch_running()) {
send_host(CMD_FILE_DONE);
abort_run_file();
}
else
run_file_finishing = true;
}
lock = false;
return;
}