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Add printer connection state reporting and update sender UI #15

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121 changes: 115 additions & 6 deletions esp32-firmware/artNC.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
#include <WiFi.h>
#include <ESP32Servo.h> // library: "ESP32Servo"
#include <cstring>
#include <cstdio>

// ----------------------------
// Pins
Expand Down Expand Up @@ -35,7 +37,7 @@ static const int32_t MAX_STEPS_PER_CMD = 250000;
// ----------------------------
// Acceleration (new)
// ----------------------------
static const float START_STEPS_PER_SEC = 120.0f; // start speed
static const float START_STEPS_PER_SEC = 90.0f; // start speed (lower to reduce jerk)
static const float ACCEL_STEPS_PER_SEC2 = 4000.0f; // accel/decel (steps/s^2)

// ----------------------------
Expand Down Expand Up @@ -87,6 +89,72 @@ static bool qPop(Cmd& out) {
return true;
}

static inline void qClear() {
qHead = 0;
qTail = 0;
}

// ----------------------------
// Machine state + status
// ----------------------------
enum class MachineState : uint8_t { READY, BUSY, ERROR };

static MachineState machineState = MachineState::READY;
static char machineDetail[96] = "";

static void sendLineAll(const char* line) {
Serial.print(line);
Serial.print("\n");
if (tcpClient && tcpClient.connected()) {
tcpClient.print(line);
tcpClient.print("\n");
}
}

static void publishState(MachineState newState, const char* detail = nullptr) {
bool sameState = (newState == machineState);
bool sameDetail = false;
if (detail == nullptr || detail[0] == 0) {
sameDetail = (machineDetail[0] == 0);
} else {
sameDetail = (strcmp(machineDetail, detail) == 0);
}

if (sameState && sameDetail) return;

machineState = newState;
if (detail && detail[0]) {
strncpy(machineDetail, detail, sizeof(machineDetail) - 1);
machineDetail[sizeof(machineDetail) - 1] = 0;
} else {
machineDetail[0] = 0;
}

const char* label = (newState == MachineState::READY)
? "READY"
: (newState == MachineState::BUSY ? "BUSY" : "ERROR");

char buf[160];
if (machineDetail[0]) {
snprintf(buf, sizeof(buf), "STATE %s %s", label, machineDetail);
} else {
snprintf(buf, sizeof(buf), "STATE %s", label);
}
sendLineAll(buf);
}

static inline void setReady(const char* detail = nullptr) {
publishState(MachineState::READY, detail);
}

static inline void setBusy(const char* detail) {
publishState(MachineState::BUSY, detail);
}

static inline void setErrorState(const char* detail) {
publishState(MachineState::ERROR, detail);
}

// ----------------------------
// Helpers
// ----------------------------
Expand Down Expand Up @@ -148,6 +216,11 @@ static void replyERR(Src src, const char* msg) {
}
}

static void reportError(Src src, const char* msg) {
setErrorState(msg);
replyERR(src, msg);
}

// Parse: "W L-123 R456 F1200"
static bool parseW(const char* s, int32_t& l, int32_t& r, int32_t& f) {
const char* pL = strchr(s, 'L');
Expand Down Expand Up @@ -269,53 +342,65 @@ static void handleLine(Src src, char* line) {
}

if (n == 0) {
setReady();
replyOK(src);
return;
}

// END
if (strcmp(line, "END") == 0) {
setBusy("END");
setEnable(false);
setReady();
replyOK(src);
return;
}

// H
if (strcmp(line, "H") == 0) {
setBusy("HOME");
posL = 0;
posR = 0;
setReady();
replyOK(src);
return;
}

// E 0 / E 1
if (line[0] == 'E') {
setBusy("ENABLE");
if (strstr(line, "0")) {
setEnable(false);
setReady();
replyOK(src);
return;
}
if (strstr(line, "1")) {
setEnable(true);
setReady();
replyOK(src);
return;
}
replyERR(src, "BAD_E");
reportError(src, "BAD_E");
return;
}

// P U / P D
if (line[0] == 'P') {
setBusy("PEN");
if (strstr(line, "U")) {
penUp();
setReady();
replyOK(src);
return;
}
if (strstr(line, "D")) {
penDown();
setReady();
replyOK(src);
return;
}
setReady();
replyOK(src);
return;
}
Expand All @@ -324,15 +409,17 @@ static void handleLine(Src src, char* line) {
if (line[0] == 'W') {
int32_t l, r, f;
if (!parseW(line, l, r, f)) {
replyERR(src, "BAD_W");
reportError(src, "BAD_W");
return;
}
setBusy("MOVE");
moveWheels(l, r, f);
setReady();
replyOK(src);
return;
}

replyERR(src, "UNKNOWN");
reportError(src, "UNKNOWN");
}

// ----------------------------
Expand All @@ -344,6 +431,13 @@ static int usbLen = 0;
static char netBuf[160];
static int netLen = 0;

static inline void resetInputBuffers() {
usbLen = 0;
usbBuf[0] = 0;
netLen = 0;
netBuf[0] = 0;
}

static void pumpUSB() {
while (Serial.available()) {
char c = (char)Serial.read();
Expand All @@ -366,12 +460,26 @@ static void pumpUSB() {
}

static void pumpNET() {
if (tcpClient && !tcpClient.connected()) {
tcpClient.stop();
resetInputBuffers();
qClear();
setEnable(false);
setReady("TCP_LOST");
}

if (!tcpClient || !tcpClient.connected()) {
WiFiClient nc = server.available();
if (nc) {
if (tcpClient) {
tcpClient.stop();
}
tcpClient = nc;
tcpClient.setNoDelay(true);
netLen = 0;
resetInputBuffers();
qClear();
setEnable(false);
setReady("TCP_CONNECTED");
}
return;
}
Expand Down Expand Up @@ -425,6 +533,7 @@ void setup() {
server.begin();
server.setNoDelay(true);

publishState(MachineState::READY, "BOOT");
Serial.print("OK\n");
}

Expand All @@ -438,4 +547,4 @@ void loop() {
}

delay(1);
}
}
41 changes: 37 additions & 4 deletions print.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ def read_acode(path: str) -> List[str]:
def connect_tcp(host: str, port: int, connect_timeout: float) -> socket.socket:
s = socket.create_connection((host, port), timeout=connect_timeout)
s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
recv_line_poll._buf = bytearray()
return s

def recv_line_poll(sock: socket.socket, slice_timeout: float) -> str | None:
Expand All @@ -54,6 +55,11 @@ def recv_line_poll(sock: socket.socket, slice_timeout: float) -> str | None:
recv_line_poll._buf = buf
return None


def print_status_line(label: str, value: str) -> None:
sys.stdout.write(f"[{label}] {value}\n")
sys.stdout.flush()

def estimate_motion_seconds(
line: str,
feed_to_sps: float,
Expand Down Expand Up @@ -122,12 +128,30 @@ def estimate_motion_seconds(

return (2.0 * t_ramp) + t_cruise + 0.30


def handle_sideband(resp: str) -> bool:
if resp.startswith("STATE"):
print_status_line("STATE", resp[6:].strip())
return True
return False


def drain_sideband(sock: socket.socket, max_wait_s: float, poll_slice_s: float) -> None:
deadline = time.time() + max_wait_s
while time.time() < deadline:
resp = recv_line_poll(sock, poll_slice_s)
if resp is None:
break
if not handle_sideband(resp):
break

def wait_ok(
sock: socket.socket,
line: str,
expected_s: float,
hard_cap_s: float,
poll_slice_s: float,
sideband_cb=None,
) -> None:
# Deadline with safe margin
wait_s = max(4.0, expected_s * 3.0 + 2.0)
Expand All @@ -142,6 +166,9 @@ def wait_ok(
if resp is None:
continue

if sideband_cb and sideband_cb(resp):
continue

if resp == "OK":
return
if resp.startswith("ERR"):
Expand All @@ -167,8 +194,8 @@ def main() -> int:
ap.add_argument("--servo-settle-ms", type=int, default=180)

# accel model (match ESP32 defaults)
ap.add_argument("--start-sps", type=float, default=120.0)
ap.add_argument("--accel-sps2", type=float, default=8000.0)
ap.add_argument("--start-sps", type=float, default=90.0)
ap.add_argument("--accel-sps2", type=float, default=4000.0)

ap.add_argument("--start", type=int, default=1)
ap.add_argument("--delay-ms", type=int, default=0)
Expand All @@ -189,7 +216,8 @@ def main() -> int:
sock = connect_tcp(args.host, args.port, args.connect_timeout)

try:
print(f"Connected to {args.host}:{args.port}")
print_status_line("WIFI", f"Connected to {args.host}:{args.port}")
drain_sideband(sock, max_wait_s=1.0, poll_slice_s=args.poll_slice)
for i in range(idx0, n):
line = lines[i]

Expand All @@ -212,6 +240,7 @@ def main() -> int:
expected_s=expected,
hard_cap_s=args.hard_cap,
poll_slice_s=args.poll_slice,
sideband_cb=handle_sideband,
)

print_line_status(i + 1, n, line, "OK")
Expand All @@ -238,11 +267,15 @@ def main() -> int:
print("DONE")
return 0

except (ConnectionError, TimeoutError, RuntimeError) as exc:
print_status_line("ERROR", str(exc))
return 3

finally:
try:
sock.close()
except Exception:
pass

if __name__ == "__main__":
raise SystemExit(main())
raise SystemExit(main())
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