Merge remote-tracking branch 'dc42/dev' into v2-dev-lpc

Author: sdavi

WHATS_NEW.md

@@ -1,18 +1,11 @@
 Summary of important changes in recent versions
 ===============================================
 
-<<<<<<< HEAD
-Version 2.04
+Version 2.05RC1
 ===============
 Compatible files:
 - DuetWiFiServer 1.23
 - DuetWebControl 2.0.4 (recommended) or 1.22.6
-=======
-Version 2.05 (in preparation)
-============
-Compatible files:
-- DuetWiFiServer 1.23
-- DuetWebControl 2.0.4 (recommended) or 1.22.6
 
 Upgrade notes: none
 
@@ -26,6 +19,8 @@ Bug fixes:
 - When using SCARA kinematics the calculation of the minimum achoievable radius was incorrect. Depending on the B parameter of the M667 command, this could result in spurious "Intermediate position unreachable" errors, or non-extruding G1 moves being turned into G0 moves.
 - A badly-formed GCode file that returned the layer height or object height as nan or inf caused DWC to disconnect because of a JSON parse failure
 - M579 scale factors were not applied correctly to G2 and G3 arc moves
+- Spurious newlines were sometimes sent to USB and other output channels when commands such as M106 were deferred to execute in step with movement commands, or when commands were executed in response to triggers
+- Messages sent to USB and Telnet output channels did not always time out when the channel became unavailable for writing
 
 Version 2.04
 ============

src/GCodes/GCodes.cpp

@@ -121,9 +121,9 @@ class GCodes INHERIT_OBJECT_MODEL
 			float acceleration;											// the requested acceleration, for async moves
 		};
 		FilePosition filePos;											// offset in the file being printed at the start of reading this move
-		float proportionLeft;											// what proportion of the entire move remains after this segment
-		AxesBitmap xAxes;												// axes that X is mapped to
-		AxesBitmap yAxes;												// axes that Y is mapped to
+		float proportionDone;											// what proportion of the entire move has been done when this segment is complete
+		float initialUserX, initialUserY;								// if this is a segment of an arc move, the user X and Y coordinates at the start
+		const Tool *tool;												// which tool (if any) is being used
 		EndstopsBitmap endStopsToCheck;									// endstops to check
 #if SUPPORT_LASER || SUPPORT_IOBITS
 		LaserPwmOrIoBits laserPwmOrIoBits;								// the laser PWM or port bit settings required
@@ -482,10 +482,13 @@ class GCodes INHERIT_OBJECT_MODEL
 	unsigned int totalSegments;					// The total number of segments left in the complete move
 
 	unsigned int segmentsLeftToStartAt;
-	float moveFractionToStartAt;				// how much of the next move was printed before the power failure
 	float moveFractionToSkip;
 	float firstSegmentFractionToSkip;
 
+	float restartMoveFractionDone;				// how much of the next move was printed before the pause or power failure (from M26)
+	float restartInitialUserX;					// if the print was paused during an arc move, the user X coordinate at the start of that move (from M26)
+	float restartInitialUserY;					// if the print was paused during an arc move, the user X coordinate at the start of that move (from M26)
+
 	float arcCentre[MaxAxes];
 	float arcRadius;
 	float arcCurrentAngle;

src/GCodes/GCodes.h

@@ -795,7 +795,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 						// We need to copy the absolute/relative and volumetric extrusion flags over
 						fileGCode->OriginalMachineState().CopyStateFrom(gb.MachineState());
 						fileToPrint.Seek(fileOffsetToPrint);
-						moveFractionToSkip = moveFractionToStartAt;
+						moveFractionToSkip = restartMoveFractionDone;
 					}
 					StartPrinting(fromStart);
 				}
@@ -869,10 +869,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		if (gb.Seen('S'))
 		{
 			fileOffsetToPrint = (FilePosition)gb.GetUIValue();
-			if (gb.Seen('P'))
-			{
-				moveFractionToStartAt = constrain<float>(gb.GetFValue(), 0.0, 1.0);
-			}
+			restartMoveFractionDone = (gb.Seen('P')) ? constrain<float>(gb.GetFValue(), 0.0, 1.0) : 0.0;
+			restartInitialUserX = (gb.Seen('X')) ? gb.GetFValue() : 0.0;
+			restartInitialUserY = (gb.Seen('Y')) ? gb.GetFValue() : 0.0;
 		}
 		break;
 

src/GCodes/GCodes2.cpp

@@ -847,7 +847,10 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply)
 			SavePosition(toolChangeRestorePoint, gb);
 
 			// Prepare another move similar to G1 .. S3
+			moveBuffer.SetDefaults(numVisibleAxes);
 			moveBuffer.moveType = 3;
+			moveBuffer.canPauseAfter = false;
+
 			if (endStopToUse < 0)
 			{
 				moveBuffer.endStopsToCheck = 0;
@@ -864,11 +867,6 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply)
 					moveBuffer.endStopsToCheck |= ActiveLowEndstop;
 				}
 			}
-			moveBuffer.xAxes = DefaultXAxisMapping;
-			moveBuffer.yAxes = DefaultYAxisMapping;
-			moveBuffer.usePressureAdvance = false;
-			moveBuffer.filePos = noFilePosition;
-			moveBuffer.canPauseAfter = false;
 
 			// Decide which way and how far to go
 			if (gb.Seen('R'))

src/GCodes/GCodes3.cpp

@@ -23,6 +23,7 @@ void RestorePoint::Init()
 	virtualExtruderPosition = 0.0;
 	filePos = noFilePosition;
 	proportionDone = 0.0;
+	initialUserX = initialUserY = 0.0;
 #if SUPPORT_LASER || SUPPORT_IOBITS
 	laserPwmOrIoBits.Clear();
 #endif

src/GCodes/RestorePoint.cpp

@@ -21,6 +21,7 @@ struct RestorePoint
 	float virtualExtruderPosition;			// The virtual extruder position at the start of this move
 	float proportionDone;					// How much of this move we have already done (zero unless we interrupted a move)
 	FilePosition filePos;					// The file position that this move was read from
+	float initialUserX, initialUserY;		// If we paused during an arc move and proportionDone is nonzero, the X and Y user coordinates at the start of the move
 	int toolNumber;							// The tool number that was active
 
 #if SUPPORT_LASER || SUPPORT_IOBITS

src/GCodes/RestorePoint.h

@@ -11,6 +11,7 @@
 #include "Move.h"
 #include "StepTimer.h"
 #include "Kinematics/LinearDeltaKinematics.h"		// for DELTA_AXES
+#include "Tools/Tool.h"
 
 #if SUPPORT_CAN_EXPANSION
 # include "CAN/CanInterface.h"
@@ -306,7 +307,7 @@ bool DDA::InitStandardMove(DDARing& ring, GCodes::RawMove &nextMove, bool doMoto
 				{
 					const float positionDelta = endCoordinates[drive] - prev->GetEndCoordinate(drive, false);
 					directionVector[drive] = positionDelta;
-					if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive)))
+					if (positionDelta != 0.0 && (IsBitSet(Tool::GetXAxes(nextMove.tool), drive) || IsBitSet(Tool::GetYAxes(nextMove.tool), drive)))
 					{
 						flags.xyMoving = true;
 					}
@@ -365,13 +366,12 @@ bool DDA::InitStandardMove(DDARing& ring, GCodes::RawMove &nextMove, bool doMoto
 	}
 
 	// 3. Store some values
-	xAxes = nextMove.xAxes;
-	yAxes = nextMove.yAxes;
+	tool = nextMove.tool;
 	flags.usesEndstops = (nextMove.endStopsToCheck != 0);
 	endStopsToCheck = nextMove.endStopsToCheck;					//TODO move this to DDARing
 	filePos = nextMove.filePos;
 	virtualExtruderPosition = nextMove.virtualExtruderPosition;
-	proportionLeft = nextMove.proportionLeft;
+	proportionDone = nextMove.proportionDone;
 
 	flags.canPauseAfter = nextMove.canPauseAfter;
 	flags.usingStandardFeedrate = nextMove.usingStandardFeedrate;
@@ -535,8 +535,7 @@ bool DDA::InitLeadscrewMove(DDARing& ring, float feedrate, const float adjustmen
 	flags.continuousRotationShortcut = false;
 	endStopsToCheck = 0;
 	virtualExtruderPosition = prev->virtualExtruderPosition;
-	xAxes = prev->xAxes;
-	yAxes = prev->yAxes;
+	tool = nullptr;
 	filePos = prev->filePos;
 	flags.endCoordinatesValid = prev->flags.endCoordinatesValid;
 	acceleration = deceleration = reprap.GetPlatform().Accelerations()[Z_AXIS];
@@ -1491,6 +1490,8 @@ float DDA::NormaliseXYZ()
 	// First calculate the magnitude of the vector. If there is more than one X or Y axis, take an average of their movements (they should be equal).
 	float xMagSquared = 0.0, yMagSquared = 0.0;
 	unsigned int numXaxes = 0, numYaxes = 0;
+	const AxesBitmap xAxes = Tool::GetXAxes(tool);
+	const AxesBitmap yAxes = Tool::GetYAxes(tool);
 	for (size_t d = 0; d < MaxAxes; ++d)
 	{
 		if (IsBitSet(xAxes, d))
@@ -1881,14 +1882,13 @@ void DDA::MoveAborted()
 float DDA::GetProportionDone(bool moveWasAborted) const
 {
 	// Get the proportion of extrusion already done at the start of this segment
-	float proportionDone = (filePos != noFilePosition && filePos == prev->filePos)
-									? 1.0 - prev->proportionLeft
+	float proportionDoneSoFar = (filePos != noFilePosition && filePos == prev->filePos)
+									? prev->proportionDone
 										: 0.0;
 	if (moveWasAborted)
 	{
 		// The move was aborted, so subtract how much was done
-		const float proportionDoneAtEnd = 1.0 - proportionLeft;
-		if (proportionDoneAtEnd > proportionDone)
+		if (proportionDone > proportionDoneSoFar)
 		{
 			int32_t taken = 0, left = 0;
 			for (size_t drive = reprap.GetGCodes().GetTotalAxes(); drive < NumDirectDrivers; ++drive)
@@ -1903,11 +1903,11 @@ float DDA::GetProportionDone(bool moveWasAborted) const
 			const int32_t total = taken + left;
 			if (total > 0)										// if the move has net extrusion
 			{
-				proportionDone += (((proportionDoneAtEnd - proportionDone) * taken) + (total/2)) / total;
+				proportionDoneSoFar += (((proportionDone - proportionDoneSoFar) * taken) + (total/2)) / total;
 			}
 		}
 	}
-	return proportionDone;
+	return proportionDoneSoFar;
 }
 
 // Reduce the speed of this move to the indicated speed.

src/Movement/DDA.cpp

@@ -75,15 +75,16 @@ class DDA
     float GetVirtualExtruderPosition() const { return virtualExtruderPosition; }
 	float AdvanceBabyStepping(DDARing& ring, size_t axis, float amount);					// Try to push babystepping earlier in the move queue
 	bool IsHomingAxes() const { return (endStopsToCheck & HomeAxes) != 0; }
-	uint32_t GetXAxes() const { return xAxes; }
-	uint32_t GetYAxes() const { return yAxes; }
+	const Tool *GetTool() const { return tool; }
 	float GetTotalDistance() const { return totalDistance; }
 	void LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration);	// Limit the speed an acceleration of this move
 
 	// Filament monitor support
 	int32_t GetStepsTaken(size_t drive) const;
 
 	float GetProportionDone(bool moveWasAborted) const;						// Return the proportion of extrusion for the complete multi-segment move already done
+	float GetInitialUserX() const { return initialUserX; }
+	float GetInitialUserY() const { return initialUserY; }
 
 	void MoveAborted();
 
@@ -207,8 +208,7 @@ class DDA
 #endif
 
 	EndstopsBitmap endStopsToCheck;			// Which endstops we are checking on this move
-    AxesBitmap xAxes;						// Which axes are behaving as X axes
-    AxesBitmap yAxes;						// Which axes are behaving as Y axes
+	const Tool *tool;								// which tool (if any) is active
 
     FilePosition filePos;					// The position in the SD card file after this move was read, or zero if not read from SD card
 
@@ -226,7 +226,8 @@ class DDA
 	float endSpeed;
 	float topSpeed;
 
-	float proportionLeft;					// what proportion of the extrusion in the G1 or G0 move of which this is a part remains to be done after this segment is complete
+	float proportionDone;							// what proportion of the extrusion in the G1 or G0 move of which this is a part has been done after this segment is complete
+	float initialUserX, initialUserY;				// if this is a segment of an arc move, the user X and Y coordinates at the start
 	uint32_t clocksNeeded;
 
 	union

src/Movement/DDA.h

@@ -535,7 +535,7 @@ bool DDARing::PauseMoves(RestorePoint& rp)
 		rp.moveCoords[axis] = prevDda->GetEndCoordinate(axis, false);
 	}
 
-	reprap.GetMove().InverseAxisAndBedTransform(rp.moveCoords, prevDda->GetXAxes(), prevDda->GetYAxes());	// we assume that xAxes hasn't changed between the moves
+	reprap.GetMove().InverseAxisAndBedTransform(rp.moveCoords, prevDda->GetTool());
 
 #if SUPPORT_LASER || SUPPORT_IOBITS
 	rp.laserPwmOrIoBits = dda->GetLaserPwmOrIoBits();
@@ -548,6 +548,8 @@ bool DDARing::PauseMoves(RestorePoint& rp)
 
 	dda = addPointer;
 	rp.proportionDone = dda->GetProportionDone(false);	// get the proportion of the current multi-segment move that has been completed
+	rp.initialUserX = dda->GetInitialUserX();
+	rp.initialUserY = dda->GetInitialUserY();
 	if (dda->UsingStandardFeedrate())
 	{
 		rp.feedRate = dda->GetRequestedSpeed();
@@ -623,6 +625,8 @@ bool DDARing::LowPowerOrStallPause(RestorePoint& rp)
 	rp.virtualExtruderPosition = dda->GetVirtualExtruderPosition();
 	rp.filePos = dda->GetFilePosition();
 	rp.proportionDone = dda->GetProportionDone(abortedMove);	// store how much of the complete multi-segment move's extrusion has been done
+	rp.initialUserX = dda->GetInitialUserX();
+	rp.initialUserY = dda->GetInitialUserY();
 
 #if SUPPORT_LASER || SUPPORT_IOBITS
 	rp.laserPwmOrIoBits = dda->GetLaserPwmOrIoBits();
@@ -638,7 +642,7 @@ bool DDARing::LowPowerOrStallPause(RestorePoint& rp)
 		rp.moveCoords[axis] = prevDda->GetEndCoordinate(axis, false);
 	}
 
-	reprap.GetMove().InverseAxisAndBedTransform(rp.moveCoords, prevDda->GetXAxes(), prevDda->GetYAxes());	// we assume that xAxes and yAxes have't changed between the moves
+	reprap.GetMove().InverseAxisAndBedTransform(rp.moveCoords, prevDda->GetTool());
 
 	// Free the DDAs for the moves we are going to skip
 	for (dda = addPointer; dda != savedDdaRingAddPointer; dda = dda->GetNext())