/// <summary>
/// Invalidate every resource due to a critical event
/// </summary>
/// <param name="codeErrorMessage">Message for cancelled codes</param>
/// <returns>Asynchronous task</returns>
public static async Task InvalidateData(string codeErrorMessage)
{
// Close every open file. This closes the internal macro files as well
await Print.Cancel();
// Resolve pending macros, unbuffered (system) codes and flush requests
foreach (CodeChannel channel in CodeChannels)
{
MacroFile.AbortAllFiles(channel);
using (await Channels[channel].LockAsync())
{
Channels[channel].Invalidate(codeErrorMessage);
}
}
_bytesReserved = _bufferSpace = 0;
// Resolve pending heightmap requests
using (await _heightmapLock.LockAsync())
{
_getHeightmapRequest?.SetException(new OperationCanceledException(codeErrorMessage));
_heightmapRequested = false;
_setHeightmapRequest?.SetException(new OperationCanceledException(codeErrorMessage));
_heightmapToSet = null;
}
}
private static async Task HandleAbortFileRequest()
{
DataTransfer.ReadAbortFile(out CodeChannel channel, out bool abortAll);
Console.WriteLine($"[info] Received file abort request on channel {channel} for {(abortAll ? "all files" : "the last file")}");
if (abortAll)
{
if (channel == CodeChannel.File)
{
await Print.Cancel();
}
MacroFile.AbortAllFiles(channel);
_channels[channel].InvalidateBuffer(false);
}
else
{
MacroFile.AbortLastFile(channel);
_channels[channel].InvalidateBuffer(true);
if (_channels[channel].NestedMacros.TryPop(out MacroFile macroFile))
{
Console.WriteLine($"[info] Aborted last macro file '{macroFile.FileName}'");
macroFile.Dispose();
}
}
}
private static async Task HandleAbortFileRequest()
{
DataTransfer.ReadAbortFile(out CodeChannel channel);
Console.WriteLine($"[info] Received file abort request for channel {channel}");
if (channel == CodeChannel.File)
{
await Print.Cancel();
}
MacroFile.AbortAllFiles(channel);
Channels[channel].InvalidateBuffer();
}
public void ProcessConfig()
{
string filePath = System.IO.Path.Combine(Directory.GetCurrentDirectory(), "File/GCodes/config.g");
MacroFile macro = new MacroFile(filePath, DuetAPI.CodeChannel.Daemon, null);
do
{
Code code = macro.ReadCode();
Console.WriteLine(code);
} while (!macro.IsFinished);
// End
}
private static async Task Diagnostics(CodeResult result)
{
StringBuilder builder = new StringBuilder();
builder.AppendLine("=== Duet Control Server ===");
builder.AppendLine($"Duet Control Server v{Assembly.GetExecutingAssembly().GetName().Version}");
await SPI.Interface.Diagnostics(builder);
SPI.DataTransfer.Diagnostics(builder);
MacroFile.Diagnostics(builder);
await Print.Diagnostics(builder);
result.Add(MessageType.Success, builder.ToString().TrimEnd());
}
/// <summary>
/// Process an M-code that should be interpreted by the control server
/// </summary>
/// <param name="code">Code to process</param>
/// <returns>Result of the code if the code completed, else null</returns>
public static async Task <CodeResult> Process(Commands.Code code)
{
switch (code.MajorNumber)
{
// Cancel print
case 0:
case 1:
if (Print.IsPrinting)
{
await Print.Cancel();
}
break;
// Select a file to print
case 23:
{
string file = await FilePath.ToPhysical(code.GetUnprecedentedString(), "gcodes");
if (File.Exists(file))
{
using (await _fileToPrintLock.LockAsync())
{
_fileToPrint = file;
}
return(new CodeResult(MessageType.Success, $"File {file} selected for printing"));
}
return(new CodeResult(MessageType.Error, $"Could not find file {file}"));
}
// Resume a file print
case 24:
if (!Print.IsPaused)
{
string file;
using (await _fileToPrintLock.LockAsync())
{
file = string.Copy(_fileToPrint);
}
if (string.IsNullOrEmpty(file))
{
return(new CodeResult(MessageType.Error, "Cannot print, because no file is selected!"));
}
// FIXME Emulate Marlin via "File opened\nFile selected". IMHO this should happen via a CodeChannel property
return(await Print.Start(file, code.Channel));
}
break;
// Pause print
case 25:
case 226:
if (Print.IsPrinting && !Print.IsPaused)
{
// Stop sending file instructions to the firmware
await Print.Pause();
}
break;
// Set SD position
case 26:
{
CodeParameter sParam = code.Parameter('S');
if (sParam != null)
{
Print.Position = sParam;
}
// P is not supported yet
return(new CodeResult());
}
// Report SD print status
case 27:
if (Print.IsPrinting)
{
return(new CodeResult(MessageType.Success, $"SD printing byte {Print.Position}/{Print.Length}"));
}
return(new CodeResult(MessageType.Success, "Not SD printing."));
// Delete a file on the SD card
case 30:
{
string file = code.GetUnprecedentedString();
try
{
File.Delete(await FilePath.ToPhysical(file));
return(new CodeResult());
}
catch (Exception e)
{
return(new CodeResult(MessageType.Error, $"Failed to delete file {file}: {e.Message}"));
}
}
// Start a file print
case 32:
{
string file = await FilePath.ToPhysical(code.GetUnprecedentedString(), "gcodes");
using (await _fileToPrintLock.LockAsync())
{
_fileToPrint = file;
}
return(await Print.Start(file, code.Channel));
}
// Return file information
case 36:
if (code.Parameters.Count > 0)
{
try
{
string file = await FilePath.ToPhysical(code.GetUnprecedentedString());
ParsedFileInfo info = await FileInfoParser.Parse(file);
string json = JsonConvert.SerializeObject(info, JsonHelper.DefaultSettings);
return(new CodeResult(MessageType.Success, "{\"err\":0," + json.Substring(1)));
}
catch
{
return(new CodeResult(MessageType.Success, "{\"err\":1}"));
}
}
break;
// Simulate file
case 37:
// TODO: Check if file exists
// TODO: Execute and await pseudo-M37 with IsPreProcessed = true so the firmware enters the right simulation state
// TODO: Start file print
return(new CodeResult(MessageType.Warning, "M37 is not supported yet"));
// Compute SHA1 hash of target file
case 38:
{
string file = await FilePath.ToPhysical(code.GetUnprecedentedString());
try
{
using (FileStream stream = new FileStream(file, FileMode.Open, FileAccess.Read))
{
var sha1 = System.Security.Cryptography.SHA1.Create();
byte[] hash = await Task.Run(() => sha1.ComputeHash(stream), Program.CancelSource.Token);
return(new CodeResult(MessageType.Success, BitConverter.ToString(hash).Replace("-", "")));
}
}
catch (AggregateException ae)
{
return(new CodeResult(MessageType.Error, $"Could not compute SHA1 checksum for file {file}: {ae.InnerException.Message}"));
}
}
// Report SD card information
case 39:
using (await Model.Provider.AccessReadOnlyAsync())
{
int index = code.Parameter('P', 0);
if (code.Parameter('S', 0) == 2)
{
if (index < 0 || index >= Model.Provider.Get.Storages.Count)
{
return(new CodeResult(MessageType.Success, $"{{\"SDinfo\":{{\"slot\":{index},present:0}}}}"));
}
Storage storage = Model.Provider.Get.Storages[index];
var output = new
{
SDinfo = new
{
slot = index,
present = 1,
capacity = storage.Capacity,
free = storage.Free,
speed = storage.Speed
}
};
return(new CodeResult(MessageType.Success, JsonConvert.SerializeObject(output)));
}
else
{
if (index < 0 || index >= Model.Provider.Get.Storages.Count)
{
return(new CodeResult(MessageType.Error, $"Bad SD slot number: {index}"));
}
Storage storage = Model.Provider.Get.Storages[index];
return(new CodeResult(MessageType.Success, $"SD card in slot {index}: capacity {storage.Capacity / (1000 * 1000 * 1000):F2}Gb, free space {storage.Free / (1000 * 1000 * 1000):F2}Gb, speed {storage.Speed / (1000*1000):F2}MBytes/sec"));
}
}
// Return from macro
case 99:
if (!MacroFile.AbortLastFile(code.Channel))
{
return(new CodeResult(MessageType.Error, "Not executing a macro file"));
}
return(new CodeResult());
// Emergency Stop
case 112:
await SPI.Interface.RequestEmergencyStop();
using (await Model.Provider.AccessReadWriteAsync())
{
Model.Provider.Get.State.Status = MachineStatus.Halted;
}
return(new CodeResult());
// Immediate DSF diagnostics
case 122:
if (code.GetUnprecedentedString() == "DSF")
{
CodeResult result = new CodeResult();
await Diagnostics(result);
return(result);
}
break;
// Save heightmap
case 374:
{
string file = code.Parameter('P', "heightmap.csv");
try
{
Heightmap map = await SPI.Interface.GetHeightmap();
await map.Save(await FilePath.ToPhysical(file, "sys"));
return(new CodeResult(MessageType.Success, $"Height map saved to file {file}"));
}
catch (AggregateException ae)
{
return(new CodeResult(MessageType.Error, $"Failed to save height map to file {file}: {ae.InnerException.Message}"));
}
}
// Load heightmap
case 375:
{
string file = await FilePath.ToPhysical(code.Parameter('P', "heightmap.csv"), "sys");
try
{
Heightmap map = new Heightmap();
await map.Load(file);
await SPI.Interface.SetHeightmap(map);
return(new CodeResult());
}
catch (AggregateException ae)
{
return(new CodeResult(MessageType.Error, $"Failed to load height map from file {file}: {ae.InnerException.Message}"));
}
}
// Create Directory on SD-Card
case 470:
{
string path = code.Parameter('P', "");
try
{
Directory.CreateDirectory(await FilePath.ToPhysical(path));
return(new CodeResult());
}
catch (Exception e)
{
return(new CodeResult(MessageType.Error, $"Failed to create directory {path}: {e.Message}"));
}
}
// Rename File/Directory on SD-Card
case 471:
{
string from = code.Parameter('S');
string to = code.Parameter('T');
try
{
string source = await FilePath.ToPhysical(from);
string destination = await FilePath.ToPhysical(to);
if (File.Exists(source))
{
if (File.Exists(destination) && code.Parameter('D', false))
{
File.Delete(destination);
}
File.Move(source, destination);
}
else if (Directory.Exists(source))
{
if (Directory.Exists(destination) && code.Parameter('D', false))
{
// This could be recursive but at the moment we mimic RRF's behaviour
Directory.Delete(destination);
}
Directory.Move(source, destination);
}
throw new FileNotFoundException();
}
catch (Exception e)
{
return(new CodeResult(MessageType.Error, $"Failed to rename file or directory {from} to {to}: {e.Message}"));
}
}
// Store parameters
case 500:
await Utility.ConfigOverride.Save(code);
break;
// Print settings
case 503:
{
string configFile = await FilePath.ToPhysical(MacroFile.ConfigFile, "sys");
if (File.Exists(configFile))
{
string content = await File.ReadAllTextAsync(configFile);
return(new CodeResult(MessageType.Success, content));
}
return(new CodeResult(MessageType.Error, "Configuration file not found"));
}
// Reset controller
case 999:
if (code.Parameters.Count == 0)
{
await SPI.Interface.RequestReset();
return(new CodeResult());
}
break;
}
return(null);
}