/// <summary> /// Initialize physical transfer and perform initial data transfer. /// This is only called once on initialization /// </summary> /// <returns>Asynchronous task</returns> public static bool Connect() => DataTransfer.PerformFullTransfer(false);
/// <summary>
/// Perform communication with the RepRapFirmware controller
/// </summary>
/// <returns>Asynchronous task</returns>
public static async Task Run()
{
do
{
// Check if an emergency stop has been requested
if (_emergencyStopRequested && DataTransfer.WriteEmergencyStop())
{
_emergencyStopRequested = false;
Console.WriteLine("[info] Emergency stop");
DataTransfer.PerformFullTransfer();
}
// Check if a firmware reset has been requested
if (_resetRequested && DataTransfer.WriteReset())
{
_resetRequested = false;
Console.WriteLine("[info] Resetting controller");
DataTransfer.PerformFullTransfer();
}
// Check if a firmware update is supposed to be performed
if (_iapStream != null && _firmwareStream != null)
{
await Invalidate("Firmware update imminent");
await PerformFirmwareUpdate();
if (Program.UpdateOnly)
{
// Stop after installing the firmware update
break;
}
}
// Invalidate data if a controller reset has been performed
if (DataTransfer.HadReset())
{
_emergencyStopRequested = _resetRequested = false;
await Invalidate("Controller has been reset");
}
// Check for changes of the print status.
// The packet providing file info has be sent first because it includes a time_t value that must reside on a 64-bit boundary!
if (_printStarted)
{
using (Model.Provider.AccessReadOnly())
{
_printStarted = !DataTransfer.WritePrintStarted(Model.Provider.Get.Job.File);
}
}
else if (_printStoppedReason.HasValue && DataTransfer.WritePrintStopped(_printStoppedReason.Value))
{
_printStoppedReason = null;
}
// Deal with heightmap requests
using (await _heightmapLock.LockAsync())
{
// Check if the heightmap is supposed to be set
if (_setHeightmapRequest != null && DataTransfer.WriteHeightMap(_heightmapToSet))
{
_setHeightmapRequest.SetResult(null);
_setHeightmapRequest = null;
}
// Check if the heightmap is requested
if (_getHeightmapRequest != null && !_isHeightmapRequested)
{
_isHeightmapRequested = DataTransfer.WriteGetHeightMap();
}
}
// Process incoming packets
for (int i = 0; i < DataTransfer.PacketsToRead; i++)
{
PacketHeader?packet;
try
{
packet = DataTransfer.ReadPacket();
if (!packet.HasValue)
{
Console.WriteLine("[err] Read invalid packet");
break;
}
await ProcessPacket(packet.Value);
}
catch (ArgumentOutOfRangeException)
{
DataTransfer.DumpMalformedPacket();
throw;
}
}
_bytesReserved = 0;
// Process pending codes, macro files and requests for resource locks/unlocks as well as flush requests
bool dataProcessed;
do
{
dataProcessed = false;
foreach (ChannelInformation channel in _channels)
{
using (channel.Lock())
{
if (!channel.IsBlocked)
{
if (channel.ProcessRequests())
{
// Something could be processed
dataProcessed = true;
}
else
{
// Cannot do any more on this channel
channel.IsBlocked = true;
}
}
}
}
}while (dataProcessed);
// Request object model updates
if (DateTime.Now - _lastQueryTime > TimeSpan.FromMilliseconds(Settings.ModelUpdateInterval))
{
DataTransfer.WriteGetObjectModel(_moduleToQuery);
_lastQueryTime = DateTime.Now;
}
// Update filament assignment per extruder drive
lock (_extruderFilamentUpdates)
{
if (_extruderFilamentUpdates.TryPeek(out Tuple <int, string> filamentMapping) &&
DataTransfer.WriteAssignFilament(filamentMapping.Item1, filamentMapping.Item2))
{
_extruderFilamentUpdates.Dequeue();
}
}
// Do another full SPI transfer
DataTransfer.PerformFullTransfer();
_channels.ResetBlockedChannels();
// Wait a moment
await Task.Delay(Settings.SpiPollDelay, Program.CancelSource.Token);
}while (!Program.CancelSource.IsCancellationRequested);
}
private static async Task PerformFirmwareUpdate()
{
// Notify clients that we are now installing a firmware update
using (await Model.Provider.AccessReadWriteAsync())
{
Model.Provider.Get.State.Status = MachineStatus.Updating;
}
// Get the CRC16 checksum of the firmware binary
byte[] firmwareBlob = new byte[_firmwareStream.Length];
await _firmwareStream.ReadAsync(firmwareBlob, 0, (int)_firmwareStream.Length);
ushort crc16 = CRC16.Calculate(firmwareBlob);
// Send the IAP binary to the firmware
Console.Write("[info] Flashing IAP binary");
bool dataSent;
do
{
dataSent = DataTransfer.WriteIapSegment(_iapStream);
DataTransfer.PerformFullTransfer();
Console.Write('.');
}while (dataSent);
Console.WriteLine();
_iapStream.Close();
_iapStream = null;
// Start the IAP binary
DataTransfer.StartIap();
// Send the firmware binary to the IAP program
int numRetries = 0;
do
{
if (numRetries != 0)
{
Console.WriteLine("Error");
}
Console.Write("[info] Flashing RepRapFirmware");
_firmwareStream.Seek(0, SeekOrigin.Begin);
while (DataTransfer.FlashFirmwareSegment(_firmwareStream))
{
Console.Write('.');
}
Console.WriteLine();
Console.Write("[info] Verifying checksum... ");
}while (++numRetries < 3 && !DataTransfer.VerifyFirmwareChecksum(_firmwareStream.Length, crc16));
if (numRetries == 3)
{
Console.WriteLine("Error");
// Failed to flash the firmware
await Utility.Logger.LogOutput(MessageType.Error, "Could not flash the firmware binary after 3 attempts. Please install it manually via bossac.");
Program.CancelSource.Cancel();
}
else
{
Console.WriteLine("OK");
// Wait for the IAP binary to restart the controller
DataTransfer.WaitForIapReset();
Console.WriteLine("[info] Firmware update successful!");
}
_firmwareStream.Close();
_firmwareStream = null;
using (_firmwareUpdateLock.Lock())
{
_firmwareUpdateRequest.SetResult(null);
_firmwareUpdateRequest = null;
}
}
/// <summary>
/// Perform communication with the RepRapFirmware controller
/// </summary>
/// <returns>Asynchronous task</returns>
public static async Task Run()
{
do
{
// Check if an emergency stop has been requested
if (_emergencyStopRequested && DataTransfer.WriteEmergencyStop())
{
_emergencyStopRequested = false;
Console.WriteLine("[info] Emergency stop");
DataTransfer.PerformFullTransfer();
}
// Check if a firmware reset has been requested
if (_resetRequested && DataTransfer.WriteReset())
{
_resetRequested = false;
Console.WriteLine("[info] Resetting controller");
DataTransfer.PerformFullTransfer();
}
// Check if a firmware update is supposed to be performed
if (_iapStream != null && _firmwareStream != null)
{
await InvalidateData("Firmware update imminent");
await PerformFirmwareUpdate();
}
// Invalidate data if a controller reset has been performed
if (DataTransfer.HadReset())
{
Console.WriteLine("[info] Controller has been reset");
await InvalidateData("Controller reset");
}
// Check for changes of the print status.
// The packet providing file info has be sent first because it includes a time_t value that must reside on a 64-bit boundary!
if (_printStarted)
{
using (Model.Provider.AccessReadOnly())
{
_printStarted = !DataTransfer.WritePrintStarted(Model.Provider.Get.Job.File);
}
}
else if (_printStoppedReason.HasValue && DataTransfer.WritePrintStopped(_printStoppedReason.Value))
{
_printStoppedReason = null;
}
// Deal with heightmap requests
using (_heightmapLock.Lock())
{
// Check if the heightmap is supposed to be set
if (_heightmapToSet != null && DataTransfer.WriteHeightMap(_heightmapToSet))
{
_heightmapToSet = null;
_setHeightmapRequest.SetResult(null);
_setHeightmapRequest = null;
}
// Check if the heightmap is requested
if (_getHeightmapRequest != null && !_heightmapRequested)
{
_heightmapRequested = DataTransfer.WriteGetHeightMap();
}
}
// Process incoming packets
DateTime startTime = DateTime.Now;
for (int i = 0; i < DataTransfer.PacketsToRead; i++)
{
Communication.PacketHeader?packet;
try
{
packet = DataTransfer.ReadPacket();
if (!packet.HasValue)
{
Console.WriteLine("[err] Read invalid packet");
break;
}
}
catch (ArgumentOutOfRangeException)
{
DataTransfer.DumpMalformedPacket();
throw;
}
await ProcessPacket(packet.Value);
if (DateTime.Now - startTime > TimeSpan.FromMilliseconds(250))
{
Console.WriteLine($"WARN: Packet with request {packet?.Request} took longer than 250ms!");
}
startTime = DateTime.Now;
}
_bytesReserved = 0;
// Process pending codes, macro files and requests for resource locks/unlocks as well as flush requests
bool dataProcessed;
List <CodeChannel> blockedChannels = new List <CodeChannel>();
do
{
dataProcessed = false;
foreach (CodeChannel channel in CodeChannels)
{
if (!blockedChannels.Contains(channel))
{
using (Channels[channel].Lock())
{
if (Channels[channel].ProcessRequests())
{
// Something could be done on this channel
dataProcessed = true;
}
else
{
// Don't call Process() again for this channel if it returned false before
blockedChannels.Add(channel);
}
}
}
}
} while (dataProcessed);
if (DateTime.Now - startTime > TimeSpan.FromMilliseconds(250))
{
Console.WriteLine("WARN: Channel processing took longer than 250ms!");
}
startTime = DateTime.Now;
// Request object model updates
if (IsIdle || DateTime.Now - _lastQueryTime > TimeSpan.FromMilliseconds(Settings.MaxUpdateDelay))
{
DataTransfer.WriteGetObjectModel(_moduleToQuery);
_lastQueryTime = DateTime.Now;
}
if (DateTime.Now - startTime > TimeSpan.FromMilliseconds(250))
{
Console.WriteLine("WARN: Object model processing took longer than 250ms!");
}
startTime = DateTime.Now;
// Do another full SPI transfer
DataTransfer.PerformFullTransfer();
if (DateTime.Now - startTime > TimeSpan.FromMilliseconds(250))
{
Console.WriteLine("WARN: SPI transfer took longer than 250ms!");
}
// Wait a moment
if (IsIdle)
{
await Task.Delay(Settings.SpiPollDelay, Program.CancelSource.Token);
}
} while (!Program.CancelSource.IsCancellationRequested);
}
/// <summary>
/// Perform communication with the RepRapFirmware controller
/// </summary>
/// <returns>Asynchronous task</returns>
public static async Task Run()
{
if (Settings.NoSpiTask)
{
await Task.Delay(-1, Program.CancellationToken);
return;
}
do
{
using (await _firmwareActionLock.LockAsync(Program.CancellationToken))
{
// Check if an emergency stop has been requested
if (_firmwareHaltRequest != null && DataTransfer.WriteEmergencyStop())
{
_logger.Warn("Emergency stop");
DataTransfer.PerformFullTransfer();
_firmwareHaltRequest.SetResult(null);
_firmwareHaltRequest = null;
}
// Check if a firmware reset has been requested
if (_firmwareResetRequest != null && DataTransfer.WriteReset())
{
_logger.Warn("Resetting controller");
DataTransfer.PerformFullTransfer();
_firmwareResetRequest.SetResult(null);
_firmwareResetRequest = null;
if (!Settings.NoTerminateOnReset)
{
// Wait for the program to terminate and don't perform any extra transfers
await Task.Delay(-1, Program.CancellationToken);
}
}
}
// Check if a firmware update is supposed to be performed
using (await _firmwareUpdateLock.LockAsync(Program.CancellationToken))
{
if (_iapStream != null && _firmwareStream != null)
{
await Invalidate("Firmware update imminent");
try
{
await PerformFirmwareUpdate();
_firmwareUpdateRequest?.SetResult(null);
_firmwareUpdateRequest = null;
}
catch (Exception e)
{
_firmwareUpdateRequest?.SetException(e);
_firmwareUpdateRequest = null;
if (e is OperationCanceledException)
{
_logger.Debug(e, "Firmware update cancelled");
}
else
{
throw;
}
}
_iapStream = _firmwareStream = null;
}
}
// Invalidate data if a controller reset has been performed
if (DataTransfer.HadReset())
{
await Invalidate("Controller has been reset");
}
// Check for changes of the print status.
// The packet providing file info has be sent first because it includes a time_t value that must reside on a 64-bit boundary!
if (_printStarted)
{
using (await Model.Provider.AccessReadOnlyAsync())
{
_printStarted = !DataTransfer.WritePrintStarted(Model.Provider.Get.Job.File);
}
}
else
{
using (await _printStopppedReasonLock.LockAsync(Program.CancellationToken))
{
if (_printStoppedReason != null && DataTransfer.WritePrintStopped(_printStoppedReason.Value))
{
_printStoppedReason = null;
}
}
}
// Deal with heightmap requests
using (await _heightmapLock.LockAsync(Program.CancellationToken))
{
// Check if the heightmap is supposed to be set
if (_setHeightmapRequest != null && DataTransfer.WriteHeightMap(_heightmapToSet))
{
_setHeightmapRequest.SetResult(null);
_setHeightmapRequest = null;
}
// Check if the heightmap is requested
if (_getHeightmapRequest != null && !_isHeightmapRequested)
{
_isHeightmapRequested = DataTransfer.WriteGetHeightMap();
}
}
// Process incoming packets
for (int i = 0; i < DataTransfer.PacketsToRead; i++)
{
PacketHeader?packet;
try
{
packet = DataTransfer.ReadPacket();
if (packet == null)
{
_logger.Error("Read invalid packet");
break;
}
await ProcessPacket(packet.Value);
}
catch (ArgumentOutOfRangeException)
{
DataTransfer.DumpMalformedPacket();
throw;
}
}
_bytesReserved = 0;
// Process pending codes, macro files and requests for resource locks/unlocks as well as flush requests
await _channels.Run();
// Request object model updates
if (DateTime.Now - _lastQueryTime > TimeSpan.FromMilliseconds(Settings.ModelUpdateInterval))
{
if (DataTransfer.ProtocolVersion == 1)
{
using (await Model.Provider.AccessReadOnlyAsync())
{
if (Model.Provider.Get.Boards.Count == 0 && DataTransfer.WriteGetLegacyConfigResponse())
{
// We no longer support regular status responses except to obtain the board name for updating the firmware
_lastQueryTime = DateTime.Now;
}
}
}
else
{
bool objectModelQueried = false;
lock (_pendingModelQueries)
{
// Query specific object model values on demand
if (_pendingModelQueries.TryPeek(out Tuple <string, string> modelQuery) &&
DataTransfer.WriteGetObjectModel(modelQuery.Item1, modelQuery.Item2))
{
objectModelQueried = true;
_pendingModelQueries.Dequeue();
}
}
if (!objectModelQueried && DataTransfer.WriteGetObjectModel(string.Empty, "d99fn"))
{
// Query live values in regular intervals
_lastQueryTime = DateTime.Now;
}
}
}
// Ask for expressions to be evaluated
lock (_evaluateExpressionRequests)
{
int numEvaluationsSent = 0;
foreach (EvaluateExpressionRequest request in _evaluateExpressionRequests)
{
if (!request.Written)
{
if (DataTransfer.WriteEvaluateExpression(request.Channel, request.Expression))
{
request.Written = true;
numEvaluationsSent++;
if (numEvaluationsSent >= Consts.MaxEvaluationRequestsPerTransfer)
{
break;
}
}
}
}
}
// Send pending messages
lock (_messagesToSend)
{
while (_messagesToSend.TryPeek(out Tuple <MessageTypeFlags, string> message))
{
if (DataTransfer.WriteMessage(message.Item1, message.Item2))
{
_messagesToSend.Dequeue();
}
else
{
break;
}
}
}
// Update filament assignment per extruder drive. This must happen when config.g has finished or M701 is requested
if (!Macro.RunningConfig || _assignFilaments)
{
lock (_extruderFilamentUpdates)
{
while (_extruderFilamentUpdates.TryPeek(out Tuple <int, string> filamentMapping))
{
if (DataTransfer.WriteAssignFilament(filamentMapping.Item1, filamentMapping.Item2))
{
_extruderFilamentUpdates.Dequeue();
}
else
{
break;
}
}
}
_assignFilaments = false;
}
// Do another full SPI transfe
DataTransfer.PerformFullTransfer();
_channels.ResetBlockedChannels();
// Wait a moment unless instructions are being sent rapidly to RRF
bool skipDelay;
using (await Model.Provider.AccessReadOnlyAsync())
{
skipDelay = Model.Provider.Get.State.Status == MachineStatus.Updating;
}
if (!skipDelay)
{
await Task.Delay(Settings.SpiPollDelay, Program.CancellationToken);
}
}while (true);
}
/// <summary>
/// Perform the firmware update internally
/// </summary>
/// <returns>Asynchronous task</returns>
private static async Task PerformFirmwareUpdate()
{
using (await Model.Provider.AccessReadWriteAsync())
{
Model.Provider.Get.State.Status = MachineStatus.Updating;
}
DataTransfer.Updating = true;
try
{
// Get the CRC16 checksum of the firmware binary
byte[] firmwareBlob = new byte[_firmwareStream.Length];
await _firmwareStream.ReadAsync(firmwareBlob, 0, (int)_firmwareStream.Length);
ushort crc16 = CRC16.Calculate(firmwareBlob);
// Send the IAP binary to the firmware
_logger.Info("Flashing IAP binary");
bool dataSent;
do
{
dataSent = DataTransfer.WriteIapSegment(_iapStream);
DataTransfer.PerformFullTransfer();
if (_logger.IsDebugEnabled)
{
Console.Write('.');
}
}while (dataSent);
if (_logger.IsDebugEnabled)
{
Console.WriteLine();
}
// Start the IAP binary
DataTransfer.StartIap();
// Send the firmware binary to the IAP program
int numRetries = 0;
do
{
if (numRetries != 0)
{
_logger.Error("Firmware checksum verification failed");
}
_logger.Info("Flashing RepRapFirmware");
_firmwareStream.Seek(0, SeekOrigin.Begin);
while (DataTransfer.FlashFirmwareSegment(_firmwareStream))
{
if (_logger.IsDebugEnabled)
{
Console.Write('.');
}
}
if (_logger.IsDebugEnabled)
{
Console.WriteLine();
}
_logger.Info("Verifying checksum");
}while (++numRetries < 3 && !DataTransfer.VerifyFirmwareChecksum(_firmwareStream.Length, crc16));
if (numRetries == 3)
{
// Failed to flash the firmware
await Logger.LogOutput(MessageType.Error, "Could not flash the firmware binary after 3 attempts. Please install it manually via bossac.");
Program.CancelSource.Cancel();
}
else
{
// Wait for the IAP binary to restart the controller
await DataTransfer.WaitForIapReset();
_logger.Info("Firmware update successful");
}
}
finally
{
DataTransfer.Updating = false;
// Machine state is reset when the next status response is processed
}
}
/// <summary> /// Initialize physical transfer and perform initial data transfer. /// This is only called once on initialization /// </summary> /// <returns>Asynchronous task</returns> public static Task <bool> Connect() => DataTransfer.PerformFullTransfer(false);