/// <summary>
/// Process a config response
/// </summary>
/// <param name="json">JSON response in UTF-8 format</param>
/// <returns>Asynchronous task</returns>
private static async Task ProcessConfigResponse(ReadOnlyMemory <byte> json)
{
ConfigResponse configResponse = (ConfigResponse)JsonSerializer.Deserialize(json.Span, typeof(ConfigResponse), JsonHelper.DefaultJsonOptions);
if (configResponse.axisMins == null)
{
_logger.Warn("Config response unsupported. Update your firmware!");
return;
}
using (await Provider.AccessReadWriteAsync())
{
// - Axes -
for (int axis = 0; axis < Math.Min(Provider.Get.Move.Axes.Count, configResponse.axisMins.Count); axis++)
{
Provider.Get.Move.Axes[axis].Min = configResponse.axisMins[axis];
Provider.Get.Move.Axes[axis].Max = configResponse.axisMaxes[axis];
}
// - Drives -
int drive;
for (drive = 0; drive < configResponse.accelerations.Count; drive++)
{
Drive driveObj;
if (drive >= Provider.Get.Move.Drives.Count)
{
driveObj = new Drive();
Provider.Get.Move.Drives.Add(driveObj);
}
else
{
driveObj = Provider.Get.Move.Drives[drive];
}
driveObj.Acceleration = configResponse.accelerations[drive];
driveObj.Current = configResponse.currents[drive];
driveObj.MinSpeed = configResponse.minFeedrates[drive];
driveObj.MaxSpeed = configResponse.maxFeedrates[drive];
}
for (drive = Provider.Get.Move.Drives.Count; drive > configResponse.accelerations.Count; drive--)
{
Provider.Get.Move.Drives.RemoveAt(drive - 1);
Provider.Get.Sensors.Endstops.RemoveAt(drive - 1);
}
// - Electronics -
Provider.Get.Electronics.Name = configResponse.firmwareElectronics;
Provider.Get.Electronics.ShortName = configResponse.boardName;
switch (Provider.Get.Electronics.ShortName)
{
case "MBP05":
Provider.Get.Electronics.Revision = "0.5";
break;
case "MB6HC":
Provider.Get.Electronics.Revision = "0.6";
break;
}
Provider.Get.Electronics.Firmware.Name = configResponse.firmwareName;
Provider.Get.Electronics.Firmware.Version = configResponse.firmwareVersion;
Provider.Get.Electronics.Firmware.Date = configResponse.firmwareDate;
// - Move -
Provider.Get.Move.Idle.Factor = configResponse.idleCurrentFactor / 100F;
Provider.Get.Move.Idle.Timeout = configResponse.idleTimeout;
}
// Check if the firmware is supposed to be updated only. When this finishes, DCS is terminated.
if (configResponse.boardName != null && Settings.UpdateOnly && !_updatingFirmware)
{
_updatingFirmware = true;
Console.Write("Updating the firmware... ");
Code updateCode = new Code
{
Type = DuetAPI.Commands.CodeType.MCode,
MajorNumber = 997,
Flags = DuetAPI.Commands.CodeFlags.IsPrioritized
};
_ = Task.Run(async() =>
{
try
{
await updateCode.Execute();
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine("Error: Failed to send update request");
Console.WriteLine(e);
}
});
}
}
/// <summary>
/// Process status updates in the background
/// </summary>
/// <returns></returns>
public static async Task ProcessUpdates()
{
while (await _statusUpdates.OutputAvailableAsync(Program.CancelSource.Token))
{
Tuple <byte, byte[]> statusUpdate = await _statusUpdates.TakeAsync(Program.CancelSource.Token);
try
{
if (statusUpdate.Item1 == 2)
{
AdvancedStatusResponse response = (AdvancedStatusResponse)JsonSerializer.Deserialize(statusUpdate.Item2, typeof(AdvancedStatusResponse), JsonHelper.DefaultJsonOptions);
List <Tool> addedTools = new List <Tool>();
using (await Provider.AccessReadWriteAsync())
{
// - Electronics -
Provider.Get.Electronics.McuTemp.Current = response.mcutemp.cur;
Provider.Get.Electronics.McuTemp.Min = response.mcutemp.min;
Provider.Get.Electronics.McuTemp.Max = response.mcutemp.max;
Provider.Get.Electronics.VIn.Current = response.vin.cur;
Provider.Get.Electronics.VIn.Min = response.vin.min;
Provider.Get.Electronics.VIn.Max = response.vin.max;
// - Fans -
for (int fan = 0; fan < [email protected]; fan++)
{
Fan fanObj;
if (fan >= Provider.Get.Fans.Count)
{
fanObj = new Fan();
Provider.Get.Fans.Add(fanObj);
}
else
{
fanObj = Provider.Get.Fans[fan];
}
fanObj.Name = [email protected][fan];
fanObj.Rpm = (response.sensors.fanRPM.Count > fan && response.sensors.fanRPM[fan] > 0) ? (int?)response.sensors.fanRPM[fan] : null;
fanObj.Value = [email protected][fan] / 100F;
fanObj.Thermostatic.Control = (response.controllableFans & (1 << fan)) == 0;
}
for (int fan = Provider.Get.Fans.Count; fan > [email protected]; fan--)
{
Provider.Get.Fans.RemoveAt(fan - 1);
}
// - Move -
Provider.Get.Move.Compensation = response.compensation;
Provider.Get.Move.CurrentMove.RequestedSpeed = response.speeds.requested;
Provider.Get.Move.CurrentMove.TopSpeed = response.speeds.top;
Provider.Get.Move.SpeedFactor = [email protected] / 100;
Provider.Get.Move.BabystepZ = [email protected];
Provider.Get.Move.CurrentWorkplace = response.coords.wpl;
// Update drives and endstops
for (int drive = 0; drive < Provider.Get.Move.Drives.Count; drive++)
{
Drive driveObj = Provider.Get.Move.Drives[drive];
if (drive < response.axes)
{
driveObj.Position = response.coords.xyz[drive];
}
else if (drive < response.axes + response.coords.extr.Count)
{
driveObj.Position = response.coords.extr[drive - response.axes];
}
else
{
driveObj.Position = null;
}
Endstop endstopObj;
if (drive >= Provider.Get.Sensors.Endstops.Count)
{
endstopObj = new Endstop();
Provider.Get.Sensors.Endstops.Add(endstopObj);
}
else
{
endstopObj = Provider.Get.Sensors.Endstops[drive];
}
endstopObj.Triggered = (response.endstops & (1 << drive)) != 0;
}
// Update axes
int axis;
for (axis = 0; axis < response.totalAxes; axis++)
{
Axis axisObj;
if (axis >= Provider.Get.Move.Axes.Count)
{
axisObj = new Axis();
Provider.Get.Move.Axes.Add(axisObj);
}
else
{
axisObj = Provider.Get.Move.Axes[axis];
}
axisObj.Letter = response.axisNames[axis];
if (axis < response.coords.xyz.Count)
{
axisObj.Homed = response.coords.axesHomed[axis] != 0;
axisObj.MachinePosition = response.coords.machine[axis];
axisObj.Visible = true;
}
else
{
axisObj.Homed = true;
axisObj.MachinePosition = null;
axisObj.Visible = false;
}
axisObj.MinEndstop = axis;
axisObj.MaxEndstop = axis;
}
for (axis = Provider.Get.Move.Axes.Count; axis > response.totalAxes; axis--)
{
Provider.Get.Move.Axes.RemoveAt(axis - 1);
}
// Update extruder drives
int extruder;
for (extruder = 0; extruder < response.coords.extr.Count; extruder++)
{
Extruder extruderObj;
if (extruder >= Provider.Get.Move.Extruders.Count)
{
extruderObj = new Extruder();
Provider.Get.Move.Extruders.Add(extruderObj);
}
else
{
extruderObj = Provider.Get.Move.Extruders[extruder];
}
extruderObj.Factor = [email protected][extruder] / 100F;
if (extruderObj.Drives.Count == 1)
{
int drive = response.coords.xyz.Count + extruder;
if (extruderObj.Drives[0] != drive)
{
extruderObj.Drives[0] = drive;
}
}
else
{
extruderObj.Drives.Add(response.coords.xyz.Count + extruder);
}
}
for (extruder = Provider.Get.Move.Extruders.Count; extruder > response.coords.extr.Count; extruder--)
{
Provider.Get.Move.Extruders.RemoveAt(extruder - 1);
}
// - Heat -
Provider.Get.Heat.ColdExtrudeTemperature = response.coldExtrudeTemp;
Provider.Get.Heat.ColdRetractTemperature = response.coldRetractTemp;
// Update heaters
int heater;
for (heater = 0; heater < response.temps.current.Count; heater++)
{
Heater heaterObj;
if (heater >= Provider.Get.Heat.Heaters.Count)
{
heaterObj = new Heater();
Provider.Get.Heat.Heaters.Add(heaterObj);
}
else
{
heaterObj = Provider.Get.Heat.Heaters[heater];
}
heaterObj.Current = response.temps.current[heater];
heaterObj.Max = response.tempLimit;
heaterObj.Name = response.temps.names[heater];
heaterObj.Sensor = heater;
heaterObj.State = (HeaterState)response.temps.state[heater];
}
for (heater = Provider.Get.Heat.Heaters.Count; heater > response.temps.current.Count; heater--)
{
Provider.Get.Heat.Heaters.RemoveAt(heater - 1);
}
// Update beds
if (response.temps.bed != null)
{
BedOrChamber bedObj;
if (Provider.Get.Heat.Beds.Count == 0)
{
bedObj = new BedOrChamber();
Provider.Get.Heat.Beds.Add(bedObj);
}
else
{
bedObj = Provider.Get.Heat.Beds[0];
}
if (bedObj.Heaters.Count == 0)
{
bedObj.Active.Add(response.temps.bed.active);
bedObj.Standby.Add(response.temps.bed.standby);
bedObj.Heaters.Add(response.temps.bed.heater);
}
else
{
if (bedObj.Active[0] != response.temps.bed.active)
{
bedObj.Active[0] = response.temps.bed.active;
}
if (bedObj.Standby[0] != response.temps.bed.standby)
{
bedObj.Standby[0] = response.temps.bed.standby;
}
if (bedObj.Heaters[0] != response.temps.bed.heater)
{
bedObj.Heaters[0] = response.temps.bed.heater;
}
}
}
else if (Provider.Get.Heat.Beds.Count > 0)
{
Provider.Get.Heat.Beds.Clear();
}
// Update chambers
if (response.temps.chamber != null)
{
BedOrChamber chamberObj;
if (Provider.Get.Heat.Chambers.Count == 0)
{
chamberObj = new BedOrChamber();
Provider.Get.Heat.Chambers.Add(chamberObj);
}
else
{
chamberObj = Provider.Get.Heat.Chambers[0];
}
if (chamberObj.Heaters.Count == 0)
{
chamberObj.Active.Add(response.temps.chamber.active);
chamberObj.Standby.Add(response.temps.chamber.standby);
chamberObj.Heaters.Add(response.temps.chamber.heater);
}
else
{
if (chamberObj.Active[0] != response.temps.chamber.active)
{
chamberObj.Active[0] = response.temps.chamber.active;
}
if (chamberObj.Standby[0] != response.temps.chamber.standby)
{
chamberObj.Standby[0] = response.temps.chamber.standby;
}
if (chamberObj.Heaters[0] != response.temps.chamber.heater)
{
chamberObj.Heaters[0] = response.temps.chamber.heater;
}
}
}
else if (Provider.Get.Heat.Chambers.Count > 0)
{
Provider.Get.Heat.Chambers.Clear();
}
// Update extra heaters
int extra;
for (extra = 0; extra < response.temps.extra.Count; extra++)
{
ExtraHeater extraObj;
if (extra >= Provider.Get.Heat.Extra.Count)
{
extraObj = new ExtraHeater();
Provider.Get.Heat.Extra.Add(extraObj);
}
else
{
extraObj = Provider.Get.Heat.Extra[extra];
}
extraObj.Current = response.temps.extra[extra].temp;
extraObj.Name = response.temps.extra[extra].name;
}
for (extra = Provider.Get.Heat.Extra.Count; extra > response.temps.extra.Count; extra--)
{
Provider.Get.Heat.Extra.RemoveAt(extra - 1);
}
// - Sensors -
if (response.probe.type != 0)
{
Probe probeObj;
if (Provider.Get.Sensors.Probes.Count == 0)
{
probeObj = new Probe();
Provider.Get.Sensors.Probes.Add(probeObj);
}
else
{
probeObj = Provider.Get.Sensors.Probes[0];
}
probeObj.Type = (ProbeType)response.probe.type;
probeObj.Value = response.sensors.probeValue;
probeObj.Threshold = response.probe.threshold;
probeObj.TriggerHeight = response.probe.height;
if (response.sensors.probeSecondary != null)
{
ListHelpers.SetList(probeObj.SecondaryValues, response.sensors.probeSecondary);
}
}
else if (Provider.Get.Sensors.Probes.Count != 0)
{
Provider.Get.Sensors.Probes.Clear();
}
// - Output -
int beepDuration = 0, beepFrequency = 0;
MessageBoxMode?messageBoxMode = null;
string displayMessage = string.Empty;
if (response.output != null)
{
if (response.output.beepFrequency != 0 && response.output.beepDuration != 0)
{
beepDuration = response.output.beepFrequency;
beepFrequency = response.output.beepDuration;
}
displayMessage = response.output.message;
if (response.output.msgBox != null)
{
messageBoxMode = (MessageBoxMode)response.output.msgBox.mode;
Provider.Get.MessageBox.Title = response.output.msgBox.title;
Provider.Get.MessageBox.Message = response.output.msgBox.msg;
for (int i = 0; i < 9; i++)
{
if ((response.output.msgBox.controls & (1 << i)) != 0)
{
if (!Provider.Get.MessageBox.AxisControls.Contains(i))
{
Provider.Get.MessageBox.AxisControls.Add(i);
}
}
else if (Provider.Get.MessageBox.AxisControls.Contains(i))
{
Provider.Get.MessageBox.AxisControls.Remove(i);
}
}
Provider.Get.MessageBox.Seq = response.output.msgBox.seq;
}
}
Provider.Get.State.Beep.Duration = beepDuration;
Provider.Get.State.Beep.Frequency = beepFrequency;
Provider.Get.State.DisplayMessage = displayMessage;
Provider.Get.MessageBox.Mode = messageBoxMode;
// - State -
Provider.Get.State.AtxPower = ([email protected] == -1) ? null : (bool?)([email protected] != 0);
Provider.Get.State.CurrentTool = response.currentTool;
Provider.Get.State.Status = GetStatus(response.status);
Provider.Get.State.Mode = (MachineMode)Enum.Parse(typeof(MachineMode), response.mode, true);
Provider.Get.Network.Name = response.name;
// - Tools -
int tool;
for (tool = 0; tool < response.tools.Count; tool++)
{
Tool toolObj;
if (tool >= Provider.Get.Tools.Count)
{
toolObj = new Tool();
Provider.Get.Tools.Add(toolObj);
addedTools.Add(toolObj);
}
else
{
toolObj = Provider.Get.Tools[tool];
}
// FIXME: The filament drive is not part of the status response / OM yet
toolObj.FilamentExtruder = (response.tools[tool].drives.Count > 0) ? response.tools[tool].drives[0] : -1;
toolObj.Filament = string.IsNullOrEmpty(response.tools[tool].filament) ? null : response.tools[tool].filament;
toolObj.Name = string.IsNullOrEmpty(response.tools[tool].name) ? null : response.tools[tool].name;
toolObj.Number = response.tools[tool].number;
ListHelpers.SetList(toolObj.Heaters, response.tools[tool].heaters);
ListHelpers.SetList(toolObj.Extruders, response.tools[tool].drives);
ListHelpers.SetList(toolObj.Active, response.temps.tools.active[tool]);
ListHelpers.SetList(toolObj.Standby, response.temps.tools.standby[tool]);
List <int> fanIndices = new List <int>();
for (int i = 0; i < [email protected]; i++)
{
if ((response.tools[tool].fans & (1 << i)) != 0)
{
fanIndices.Add(i);
}
}
ListHelpers.SetList(toolObj.Fans, fanIndices);
ListHelpers.SetList(toolObj.Offsets, response.tools[tool].offsets);
}
for (tool = Provider.Get.Tools.Count; tool > response.tools.Count; tool--)
{
Utility.FilamentManager.ToolRemoved(Provider.Get.Tools[tool - 1]);
Provider.Get.Tools.RemoveAt(tool - 1);
}
}
// Notify FilamentManager about added tools. Deal with them here to avoid deadlocks
foreach (Tool toolObj in addedTools)
{
await Utility.FilamentManager.ToolAdded(toolObj);
}
}
else if (statusUpdate.Item1 == 3)
{
// Deserialize print status response
PrintStatusResponse printResponse = (PrintStatusResponse)JsonSerializer.Deserialize(statusUpdate.Item2, typeof(PrintStatusResponse), JsonHelper.DefaultJsonOptions);
using (await Provider.AccessReadWriteAsync())
{
if (printResponse.currentLayer > Provider.Get.Job.Layers.Count + 1)
{
// Layer complete
Layer lastLayer = (Provider.Get.Job.Layers.Count > 0)
? Provider.Get.Job.Layers[Provider.Get.Job.Layers.Count - 1]
: new Layer()
{
Filament = new List <float>(printResponse.extrRaw.Count)
};
float lastHeight = 0F, lastDuration = 0F, lastProgress = 0F;
float[] lastFilamentUsage = new float[printResponse.extrRaw.Count];
foreach (Layer l in Provider.Get.Job.Layers)
{
lastHeight += l.Height;
lastDuration += l.Duration;
lastProgress += l.FractionPrinted;
for (int i = 0; i < Math.Min(lastFilamentUsage.Length, l.Filament.Count); i++)
{
lastFilamentUsage[i] += l.Filament[i];
}
}
float[] filamentUsage = new float[printResponse.extrRaw.Count];
for (int i = 0; i < filamentUsage.Length; i++)
{
filamentUsage[i] = printResponse.extrRaw[i] - lastFilamentUsage[i];
}
float printDuration = printResponse.printDuration - printResponse.warmUpDuration;
Layer layer = new Layer
{
Duration = printDuration - lastDuration,
Filament = new List <float>(filamentUsage),
FractionPrinted = (printResponse.fractionPrinted / 100F) - lastProgress,
Height = (printResponse.currentLayer > 2) ? _currentHeight - lastHeight : printResponse.firstLayerHeight
};
Provider.Get.Job.Layers.Add(layer);
// FIXME: In case Z isn't mapped to the 3rd axis...
_currentHeight = printResponse.coords.xyz[2];
}
else if (printResponse.currentLayer < Provider.Get.Job.Layers.Count && GetStatus(printResponse.status) == MachineStatus.Processing)
{
// Starting a new print job
Provider.Get.Job.Layers.Clear();
_currentHeight = 0F;
}
Provider.Get.Job.Layer = printResponse.currentLayer;
Provider.Get.Job.LayerTime = (printResponse.currentLayer == 1) ? printResponse.firstLayerDuration : printResponse.currentLayerTime;
Provider.Get.Job.FilePosition = printResponse.filePosition;
ListHelpers.SetList(Provider.Get.Job.ExtrudedRaw, printResponse.extrRaw);
Provider.Get.Job.Duration = printResponse.printDuration;
Provider.Get.Job.WarmUpDuration = printResponse.warmUpDuration;
Provider.Get.Job.TimesLeft.File = (printResponse.timesLeft.file > 0F) ? (float?)printResponse.timesLeft.file : null;
Provider.Get.Job.TimesLeft.Filament = (printResponse.timesLeft.filament > 0F) ? (float?)printResponse.timesLeft.filament : null;
Provider.Get.Job.TimesLeft.Layer = (printResponse.timesLeft.layer > 0F) ? (float?)printResponse.timesLeft.layer : null;
}
// Notify waiting threads about the model update
_updateEvent.Set();
_updateEvent.Reset();
}
else if (statusUpdate.Item1 == 5)
{
// Deserialize config response
ConfigResponse configResponse = (ConfigResponse)JsonSerializer.Deserialize(statusUpdate.Item2, typeof(ConfigResponse), JsonHelper.DefaultJsonOptions);
if (configResponse.axisMins == null)
{
Console.WriteLine("[warn] Config response unsupported. Update your firmware!");
return;
}
using (await Provider.AccessReadWriteAsync())
{
// - Axes -
for (int axis = 0; axis < Math.Min(Provider.Get.Move.Axes.Count, configResponse.axisMins.Count); axis++)
{
Provider.Get.Move.Axes[axis].Min = configResponse.axisMins[axis];
Provider.Get.Move.Axes[axis].Max = configResponse.axisMaxes[axis];
}
// - Drives -
int drive;
for (drive = 0; drive < configResponse.accelerations.Count; drive++)
{
Drive driveObj;
if (drive >= Provider.Get.Move.Drives.Count)
{
driveObj = new Drive();
Provider.Get.Move.Drives.Add(driveObj);
}
else
{
driveObj = Provider.Get.Move.Drives[drive];
}
driveObj.Acceleration = configResponse.accelerations[drive];
driveObj.Current = configResponse.currents[drive];
driveObj.MinSpeed = configResponse.minFeedrates[drive];
driveObj.MaxSpeed = configResponse.maxFeedrates[drive];
}
for (drive = Provider.Get.Move.Drives.Count; drive > configResponse.accelerations.Count; drive--)
{
Provider.Get.Move.Drives.RemoveAt(drive - 1);
Provider.Get.Sensors.Endstops.RemoveAt(drive - 1);
}
// - Electronics -
Provider.Get.Electronics.Name = configResponse.firmwareElectronics;
Provider.Get.Electronics.ShortName = configResponse.boardName;
switch (Provider.Get.Electronics.ShortName)
{
case "MBP05":
Provider.Get.Electronics.Revision = "0.5";
break;
case "MB6HC":
Provider.Get.Electronics.Revision = "0.6";
break;
}
Provider.Get.Electronics.Firmware.Name = configResponse.firmwareName;
Provider.Get.Electronics.Firmware.Version = configResponse.firmwareVersion;
Provider.Get.Electronics.Firmware.Date = configResponse.firmwareDate;
// - Move -
Provider.Get.Move.Idle.Factor = configResponse.idleCurrentFactor / 100F;
Provider.Get.Move.Idle.Timeout = configResponse.idleTimeout;
}
// Check if the firmware is supposed to be updated only. When this finishes, DCS is terminated.
if (configResponse.boardName != null && Program.UpdateOnly && !_updatingFirmware)
{
_updatingFirmware = true;
Code updateCode = new Code
{
Type = DuetAPI.Commands.CodeType.MCode,
MajorNumber = 997,
Flags = DuetAPI.Commands.CodeFlags.IsPrioritized
};
_ = updateCode.Execute();
}
}
}
catch (JsonException e)
{
Console.WriteLine($"[err] Failed to merge JSON: {e}");
}
}
}