Merge pull request #1002 from bdring/FixResetCrash

CRITICAL: Fix reset crash

FluidNC/src/I2SOut.cpp

@@ -887,7 +887,7 @@ int i2s_out_init(i2s_out_init_t& init_param) {
                             "I2SOutTask",
                             4096,
                             NULL,
-                            2,
+                            3,
                             nullptr,
                             CONFIG_ARDUINO_RUNNING_CORE  // must run the task on same core
     );

FluidNC/src/InputFile.cpp

@@ -88,6 +88,7 @@ void InputFile::stopJob() {
     //Report print stopped
     _notifyf("File print canceled", "Reset during file job at line: %d", getLineNumber());
     log_info("Reset during file job at line: " << getLineNumber());
+    _progress = "";
     allChannels.kill(this);
 }
 

FluidNC/src/Kinematics/ParallelDelta.cpp

@@ -60,10 +60,10 @@ namespace Kinematics {
     const float tan30  = 1.0 / sqrt3;
 
     // the geometry of the delta
-    float rf;                                           // radius of the fixed side (length of motor cranks)
-    float re;                                           // radius of end effector side (length of linkages)
-    float f;                                            // sized of fixed side triangel
-    float e;                                            // size of end effector side triangle
+    float rf;  // radius of the fixed side (length of motor cranks)
+    float re;  // radius of end effector side (length of linkages)
+    float f;   // sized of fixed side triangel
+    float e;   // size of end effector side triangle
 
     static float last_angle[MAX_N_AXIS]     = { 0.0 };  // A place to save the previous motor angles for distance/feed rate calcs
     static float last_cartesian[MAX_N_AXIS] = { 0.0 };  // A place to save the previous motor angles for distance/feed rate calcs
@@ -196,6 +196,9 @@ namespace Kinematics {
         float segment_dist = dist / ((float)segment_count);  // distance of each segment...will be used for feedrate conversion
 
         for (uint32_t segment = 1; segment <= segment_count; segment++) {
+            if (sys.abort) {
+                return true;
+            }
             //log_debug("Segment:" << segment << " of " << segment_count);
             // determine this segment's target
             seg_target[X_AXIS] = position[X_AXIS] + (dx / float(segment_count) * segment);

FluidNC/src/Kinematics/WallPlotter.cpp

@@ -99,6 +99,9 @@ namespace Kinematics {
 
         // Calculate desired cartesian feedrate distance ratio. Same for each seg.
         for (uint32_t segment = 1; segment <= segment_count; segment++) {
+            if (sys.abort) {
+                return true;
+            }
             // calculate the cartesian end point of the next segment
             for (size_t axis = X_AXIS; axis < n_axis; axis++) {
                 cartesian_segment_end[axis] += cartesian_segment_components[axis];

FluidNC/src/Main.cpp

@@ -138,6 +138,7 @@ void setup() {
 }
 
 void loop() {
+    vTaskPrioritySet(NULL, 2);
     static int tries = 0;
     try {
         // Start the main loop. Processes program inputs and executes them.

FluidNC/src/MotionControl.h

@@ -19,12 +19,6 @@ extern bool probe_succeeded;  // Tracks if last probing cycle was successful.
 // System motion commands must have a line number of zero.
 const int PARKING_MOTION_LINE_NUMBER = 0;
 
-// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
-// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
-// (1 minute)/feed_rate time.
-bool cartesian_to_motors(float* target, plan_line_data_t* pl_data, float* position);
-void motors_to_cartesian(float* cartesian, float* motors, int n_axis);
-
 // Execute a linear motion in cartesian space.
 bool mc_linear(float* target, plan_line_data_t* pl_data, float* position);
 

FluidNC/src/Protocol.cpp

@@ -156,8 +156,9 @@ void send_line(Channel& channel, const std::string& line) {
 
 void output_loop(void* unused) {
     while (true) {
+        // Block until a message is received
         LogMessage message;
-        if (xQueueReceive(message_queue, &message, 0)) {
+        if (xQueueReceive(message_queue, &message, portMAX_DELAY)) {
             if (message.isString) {
                 std::string* s = static_cast<std::string*>(message.line);
                 message.channel->println(s->c_str());
@@ -167,7 +168,6 @@ void output_loop(void* unused) {
                 message.channel->println(cp);
             }
         }
-        vTaskDelay(0);
     }
 }
 
@@ -222,7 +222,7 @@ void start_polling() {
                                 16000,
                                 // 8192,              // size of task stack
                                 0,                 // parameters
-                                1,                 // priority
+                                2,                 // priority
                                 &outputTask,       // task handle
                                 SUPPORT_TASK_CORE  // core
         );
@@ -239,9 +239,9 @@ static void check_startup_state() {}
 
 const uint32_t heapWarnThreshold = 15000;
 
-uint32_t heapLowWater = UINT_MAX;
-uint32_t heapLowWaterReported = UINT_MAX;
-int32_t heapLowWaterReportTime = 0;
+uint32_t heapLowWater           = UINT_MAX;
+uint32_t heapLowWaterReported   = UINT_MAX;
+int32_t  heapLowWaterReportTime = 0;
 void     protocol_main_loop() {
     start_polling();
 
@@ -259,7 +259,10 @@ void     protocol_main_loop() {
             Error status_code = execute_line(activeLine, *activeChannel, WebUI::AuthenticationLevel::LEVEL_GUEST);
 
             // Tell the channel that the line has been processed.
-            activeChannel->ack(status_code);
+            // If the line was aborted, the channel could be invalid
+            if (!sys.abort) {
+                activeChannel->ack(status_code);
+            }
 
             // Tell the input polling task that the line has been processed,
             // so it can give us another one when available
@@ -270,8 +273,7 @@ void     protocol_main_loop() {
         protocol_auto_cycle_start();
         protocol_execute_realtime();  // Runtime command check point.
         if (sys.abort) {
-            stop_polling();
-            return;  // Bail to main() program loop to reset system.
+            sys.abort = false;
         }
 
         // check to see if we should disable the stepper drivers
@@ -297,14 +299,14 @@ void     protocol_main_loop() {
         if (heapLowWater < heapLowWaterReported && heapLowWater < heapWarnThreshold) {
             // typecast to uint32_t handles roll-over for this case
             uint32_t ticksSinceReported = (getCpuTicks() - heapLowWaterReportTime);
-            uint32_t tickLimit = usToCpuTicks(200000);
-            // Report only if it has been a while since the last report or if the memory has 
+            uint32_t tickLimit          = usToCpuTicks(200000);
+            // Report only if it has been a while since the last report or if the memory has
             // dropped significantly (2k bytes) since the last report.
-            // This prevents a cycle where the reporting itself consumes some heap and triggers another 
+            // This prevents a cycle where the reporting itself consumes some heap and triggers another
             // report, but the true minimum is reported eventually, and large drops are reported immediately.
             if ((heapLowWater < heapLowWaterReported - 2048) || (ticksSinceReported > tickLimit)) {
                 log_warn("Low memory: " << heapLowWater << " bytes");
-                heapLowWaterReported = heapLowWater;
+                heapLowWaterReported   = heapLowWater;
                 heapLowWaterReportTime = getCpuTicks();
             }
         }
@@ -809,6 +811,7 @@ static void protocol_do_late_reset() {
 
     // do we need to stop a running file job?
     allChannels.stopJob();
+    sys.abort = true;
 }
 
 void protocol_exec_rt_system() {

FluidNC/src/Spindles/HuanyangSpindle.cpp

@@ -243,7 +243,7 @@ namespace Spindles {
                     auto huanyang           = static_cast<Huanyang*>(vfd);
                     huanyang->_minFrequency = value;
 
-                    log_info(huanyang->name() << " PD005,PD011 Freq range (" << (huanyang->_minFrequency / 100) << ","
+                    log_info(huanyang->name() << " PD0011, PD005 Freq range (" << (huanyang->_minFrequency / 100) << ","
                                               << (huanyang->_maxFrequency / 100) << ") Hz"
                                               << " (" << (huanyang->_minFrequency / 100 * 60) << "," << (huanyang->_maxFrequency / 100 * 60)
                                               << ") RPM");

FluidNC/src/System.cpp

@@ -21,8 +21,10 @@ int32_t  probe_steps[MAX_N_AXIS];  // Last probe position in steps.
 void system_reset() {
     // Reset system variables.
     State prior_state = sys.state;
+    bool  prior_abort = sys.abort;
     memset(&sys, 0, sizeof(system_t));  // Clear system struct variable.
     sys.state             = prior_state;
+    sys.abort             = prior_abort;
     sys.f_override        = FeedOverride::Default;          // Set to 100%
     sys.r_override        = RapidOverride::Default;         // Set to 100%
     sys.spindle_speed_ovr = SpindleSpeedOverride::Default;  // Set to 100%