Merge pull request #948 from bdring/WebSocketsNoStall

Web sockets no stall
bdring · Jul 12, 2023 · 4704b8c · 4704b8c
2 parents 6121cc7 + 6fb359a
commit 4704b8c
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Showing 20 changed files with 187 additions and 124 deletions.
diff --git a/FluidNC/data/index.html.gz b/FluidNC/data/index.html.gz
diff --git a/FluidNC/include/Driver/delay_usecs.h b/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);

diff --git a/FluidNC/src/Channel.cpp b/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();

diff --git a/FluidNC/src/Channel.h b/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();
 };
diff --git a/FluidNC/src/Configuration/Tokenizer.cpp b/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') {

diff --git a/FluidNC/src/Error.cpp b/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" },

diff --git a/FluidNC/src/Error.h b/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,

diff --git a/FluidNC/src/GCode.cpp b/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.
     }

diff --git a/FluidNC/src/Main.cpp b/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);
 }
 

diff --git a/FluidNC/src/Protocol.cpp b/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.
         }
     }

diff --git a/FluidNC/src/WebUI/BTConfig.cpp b/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;
     }
 

diff --git a/FluidNC/src/WebUI/BTConfig.h b/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();
     };

diff --git a/FluidNC/src/WebUI/JSONEncoder.cpp b/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();
             }
         }
     }

diff --git a/FluidNC/src/WebUI/JSONEncoder.h b/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;