/// <summary>
/// Update the firmware internally
/// </summary>
/// <returns>Asynchronous task</returns>
private static async Task UpdateFirmware()
{
Console.Write("Updating firmware... ");
try
{
Commands.Code updateCode = new Commands.Code
{
Type = CodeType.MCode,
MajorNumber = 997
};
await updateCode.Execute();
Console.WriteLine("Done!");
}
catch (Exception e)
{
Console.WriteLine("Error: {0}", e.Message);
_logger.Debug(e);
}
}
/// <summary>
/// Process pending requests on this channel
/// </summary>
/// <returns>If anything more can be done on this channel</returns>
public bool ProcessRequests()
{
// 1. Lock/Unlock requests
if (PendingLockRequests.TryPeek(out QueuedLockRequest lockRequest))
{
if (lockRequest.IsLockRequest)
{
if (!lockRequest.IsLockRequested)
{
lockRequest.IsLockRequested = DataTransfer.WriteLockMovementAndWaitForStandstill(Channel);
}
}
else if (DataTransfer.WriteUnlock(Channel))
{
lockRequest.Resolve(true);
PendingLockRequests.Dequeue();
}
return(false);
}
// 2. Suspended codes being resumed (may include priority and macro codes)
if (_resumingBuffer)
{
ResumeBuffer();
return(false);
}
// 3. Priority codes
if (PriorityCodes.TryPeek(out QueuedCode queuedCode))
{
if (BufferCode(queuedCode))
{
PriorityCodes.Dequeue();
return(true);
}
return(false);
}
// 4. Macros
if (NestedMacros.TryPeek(out MacroFile macroFile))
{
// Fill up the macro code buffer
Commands.Code code = null;
if (macroFile.PendingCodes.Count < Settings.BufferedMacroCodes)
{
try
{
code = macroFile.ReadCode();
}
catch (Exception e)
{
_logger.Error(e, "Failed to read code from macro file {0}", Path.GetFileName(macroFile.FileName));
}
}
if (code != null)
{
// Start the next code in the background. An interceptor may also generate extra codes
queuedCode = new QueuedCode(code);
macroFile.PendingCodes.Enqueue(queuedCode);
_ = code.Execute().ContinueWith(async task =>
{
try
{
CodeResult result = await task;
if (!queuedCode.IsReadyToSend)
{
// Macro codes need special treatment because they may complete before they are actually
// sent to RepRapFirmware. Remove them from the NestedMacroCodes again in this case
queuedCode.HandleReply(result);
}
if (macroFile.StartCode == null)
{
await Utility.Logger.LogOutput(result);
}
}
catch (OperationCanceledException)
{
// Something has gone wrong and the SPI connector has invalidated everything - don't deal with this (yet?)
}
catch (Exception e)
{
if (e is AggregateException ae)
{
e = ae.InnerException;
}
await Utility.Logger.LogOutput(MessageType.Error, $"Failed to execute {code.ToShortString()}: [{e.GetType().Name}] {e.Message}");
}
});
return(true);
}
if (macroFile.PendingCodes.TryPeek(out queuedCode))
{
// Check if another code has finished
if (queuedCode.IsFinished || (queuedCode.IsReadyToSend && BufferCode(queuedCode)))
{
macroFile.PendingCodes.Dequeue();
return(true);
}
// Take care of macro flush requests
if (queuedCode.Code.WaitingForFlush && macroFile.PendingFlushRequests.TryDequeue(out TaskCompletionSource <bool> macroFlushRequest))
{
queuedCode.Code.WaitingForFlush = false;
macroFlushRequest.TrySetResult(true);
return(false);
}
}
else if (macroFile.IsFinished && BufferedCodes.Count == 0)
{
// Take care of remaining macro flush requests
if (macroFile.PendingFlushRequests.TryDequeue(out TaskCompletionSource <bool> macroFlushRequest))
{
macroFlushRequest.TrySetResult(true);
return(false);
}
// When the last code from the macro has been processed, notify RRF about the completed file
if (((macroFile.StartCode != null && macroFile.StartCode.DoingNestedMacro) || (macroFile.StartCode == null && !SystemMacroHasFinished)) &&
MacroCompleted(macroFile.StartCode, macroFile.IsAborted))
{
if (macroFile.StartCode == null)
{
SystemMacroHasFinished = true;
}
if (macroFile.IsAborted)
{
_logger.Info("Aborted macro file {0}", Path.GetFileName(macroFile.FileName));
}
else
{
_logger.Debug("Finished macro file {0}", Path.GetFileName(macroFile.FileName));
}
}
}
// Don't execute regular requests until the last macro file has finished
return(false);
}
// 5. Regular codes
if (PendingCodes.TryPeek(out queuedCode))
{
if (BufferCode(queuedCode))
{
PendingCodes.Dequeue();
return(true);
}
return(false);
}
// 6. Flush requests
if (BufferedCodes.Count == 0 && PendingFlushRequests.TryDequeue(out TaskCompletionSource <bool> flushRequest))
{
flushRequest.SetResult(true);
return(false);
}
// End
return(false);
}
/// <summary>
/// Process pending requests on this channel
/// </summary>
/// <returns>If anything more can be done on this channel</returns>
public bool ProcessRequests()
{
// 1. Priority codes
if (PriorityCodes.TryPeek(out QueuedCode queuedCode))
{
if (queuedCode.IsFinished || (queuedCode.IsReadyToSend && BufferCode(queuedCode)))
{
PriorityCodes.Dequeue();
return(true);
}
// Block this channel until every priority code is gone
IsBlocked = true;
}
// 2. Suspended codes being resumed (may include suspended codes from nested macros)
if (_resumingBuffer)
{
ResumeBuffer();
return(_resumingBuffer);
}
// FIXME This doesn't work yet for non-M292 codes. Needs more refactoring
if (WaitingForMessageAcknowledgement)
{
// Still waiting for M292...
return(false);
}
// 3. Macro codes
if (NestedMacroCodes.TryPeek(out queuedCode) && (queuedCode.IsFinished || (queuedCode.IsReadyToSend && BufferCode(queuedCode))))
{
NestedMacroCodes.Dequeue();
return(true);
}
// 4. New codes from macro files
if (NestedMacros.TryPeek(out MacroFile macroFile))
{
// Try to read the next real code from the system macro being executed
Commands.Code code = null;
if (!macroFile.IsFinished && NestedMacroCodes.Count < Settings.BufferedMacroCodes)
{
code = macroFile.ReadCode();
}
// If there is any, start executing it in the background. An interceptor may also generate extra codes
if (code != null)
{
// Note that the following code is executed asynchronously to avoid potential
// deadlocks which would occur when SPI data is awaited (e.g. heightmap queries)
queuedCode = new QueuedCode(code);
NestedMacroCodes.Enqueue(queuedCode);
_ = Task.Run(async() =>
{
try
{
CodeResult result = await code.Execute();
if (!queuedCode.IsReadyToSend)
{
// Macro codes need special treatment because they may complete before they are actually sent to RepRapFirmware
queuedCode.HandleReply(result);
}
if (!macroFile.IsAborted)
{
await Utility.Logger.LogOutput(result);
}
}
catch (OperationCanceledException)
{
// Something has gone wrong and the SPI connector has invalidated everything - don't deal with this (yet?)
}
catch (AggregateException ae)
{
// FIXME: Should this terminate the macro being executed?
Console.WriteLine($"[err] {code} -> {ae.InnerException.Message}");
}
});
return(true);
}
// Macro file is complete if no more codes can be read from the file and the buffered codes are completely gone
if (macroFile.IsFinished && !NestedMacroCodes.TryPeek(out _) && BufferedCodes.Count == 0 &&
((macroFile.StartCode != null && macroFile.StartCode.DoingNestedMacro) || (macroFile.StartCode == null && !SystemMacroHasFinished)) &&
MacroCompleted(macroFile.StartCode, macroFile.IsAborted))
{
if (macroFile.StartCode == null)
{
SystemMacroHasFinished = true;
}
Console.WriteLine($"[info] {(macroFile.IsAborted ? "Aborted" : "Finished")} macro file '{Path.GetFileName(macroFile.FileName)}'");
return(false);
}
}
// 5. Regular codes - only applicable if no macro is being executed
else if (PendingCodes.TryPeek(out queuedCode) && BufferCode(queuedCode))
{
PendingCodes.Dequeue();
return(true);
}
// 6. Lock/Unlock requests
if (BufferedCodes.Count == 0 && PendingLockRequests.TryPeek(out QueuedLockRequest lockRequest))
{
if (lockRequest.IsLockRequest)
{
if (!lockRequest.IsLockRequested)
{
lockRequest.IsLockRequested = DataTransfer.WriteLockMovementAndWaitForStandstill(Channel);
}
}
else if (DataTransfer.WriteUnlock(Channel))
{
lockRequest.Resolve(true);
PendingLockRequests.Dequeue();
}
return(false);
}
// 7. Flush requests
if (BufferedCodes.Count == 0 && PendingFlushRequests.TryDequeue(out TaskCompletionSource <bool> source))
{
source.SetResult(true);
return(false);
}
return(false);
}