Support pause propagation.

Closes makerbotgh-35.

v2/src/Extruder/Host.cc

@@ -64,6 +64,11 @@ inline void handleWriteEeprom(const InPacket& from_host, OutPacket& to_host) {
 	}
 }
 
+inline void handlePause(const InPacket& from_host, OutPacket& to_host) {
+	MotorController::getController().pause();
+	to_host.append8(RC_OK);
+}
+
 bool do_host_reset = false;
 
 bool processQueryPacket(const InPacket& from_host, OutPacket& to_host) {
@@ -96,6 +101,9 @@ bool processQueryPacket(const InPacket& from_host, OutPacket& to_host) {
 		case SLAVE_CMD_WRITE_TO_EEPROM:
 			handleWriteEeprom(from_host, to_host);
 			return true;
+		case SLAVE_CMD_PAUSE_UNPAUSE:
+			handlePause(from_host, to_host);
+			return true;
 		case SLAVE_CMD_SET_MOTOR_1_PWM:
 			motor.setSpeed(from_host.read8(2));
 			to_host.append8(RC_OK);
@@ -156,7 +164,6 @@ void runHostSlice() {
 		reset();
 	}
 	if (in.isStarted() && !in.isFinished()) {
-		//ExtruderBoard::getBoard().indicateError(1); cycles = 3000;
 		if (!packet_in_timeout.isActive()) {
 			// initiate timeout
 			packet_in_timeout.start(HOST_PACKET_TIMEOUT_MICROS);
@@ -166,17 +173,14 @@ void runHostSlice() {
 		}
 	}
 	if (in.hasError()) {
-		//ExtruderBoard::getBoard().indicateError(1); cycles = 3000;
 		packet_in_timeout.abort();
 		// REPORTING: report error.
 		// Reset packet quickly and start handling the next packet.
 		in.reset();
 		uart.reset();
 	}
 	if (in.isFinished()) {
-		//ExtruderBoard::getBoard().indicateError(1); cycles = 3000;
 		out.reset();
-		ExtruderBoard::getBoard().indicateError(1);
 		// SPECIAL CASE: we always process debug packets!
 		if (processDebugPacket(in,out)) {
 			// okay, processed

v2/src/Extruder/Main.cc

@@ -41,7 +41,6 @@ void reset() {
 
 int main() {
 	reset();
-	ExtruderBoard::getBoard().indicateError(1);
 	while (1) {
 		// Host interaction thread.
 		runHostSlice();

v2/src/Extruder/MotorController.cc

@@ -27,6 +27,7 @@ MotorController::MotorController() {
 
 void MotorController::reset() {
 	direction = true;
+	paused = false;
 	on = false;
 	speed = 0;
 	backoff_state = BO_INACTIVE;
@@ -74,7 +75,7 @@ void MotorController::update() {
 			}
 		}
 	} else {
-		int new_speed = on?(direction?speed:-speed):0;
+		int new_speed = (!paused&&on)?(direction?speed:-speed):0;
 		board.setMotorSpeed(new_speed);
 	}
 }
@@ -83,6 +84,12 @@ void MotorController::setSpeed(int speed_in) {
 	speed = speed_in;
 }
 
+void MotorController::pause() {
+	paused = !paused;
+	//ExtruderBoard::getBoard().indicateError(paused?1:0);
+
+}
+
 void MotorController::setDir(bool dir_in) {
 	direction = dir_in;
 }

v2/src/Extruder/MotorController.hh

@@ -27,6 +27,7 @@ public:
 	void setSpeed(int speed);
 	void setDir(bool dir);
 	void setOn(bool on);
+	void pause();
 	static MotorController& getController() { return motor_controller; }
 	static void runMotorSlice() { getController().update(); }
 	// Reset to board-on state
@@ -37,6 +38,7 @@ private:
 	bool direction;
 	bool on;
 	int speed;
+	bool paused;
 	// Backoff instrumentation
 	bool backoff_enabled;
 	enum {

v2/src/Extruder/boards/ecv22/UART.cc

@@ -44,13 +44,13 @@ UART UART::uart;
 inline void speak() {
 	TX_ENABLE_PIN.setValue(true);
 	RX_ENABLE_PIN.setValue(true);
-	ExtruderBoard::getBoard().indicateError(0);
+	ExtruderBoard::getBoard().indicateError(1);
 }
 
 inline void listen() {
 	TX_ENABLE_PIN.setValue(false);
 	RX_ENABLE_PIN.setValue(false);
-	//ExtruderBoard::getBoard().indicateError(1);
+	ExtruderBoard::getBoard().indicateError(0);
 }
 
 UART::UART() : enabled(false) {

v2/src/Motherboard/Host.cc

@@ -203,10 +203,37 @@ inline void handleNextFilename(const InPacket& from_host, OutPacket& to_host) {
 	to_host.append8(0);
 }
 
-inline void handlePause(const InPacket& from_host, OutPacket& to_host) {
-	command::pause(!command::isPaused());
-	tool::pause();
-	to_host.append8(RC_OK);
+void doToolPause(OutPacket& to_host) {
+	Timeout acquire_lock_timeout;
+	acquire_lock_timeout.start(HOST_TOOL_RESPONSE_TIMEOUT_MS);
+	while (!tool::getLock()) {
+		if (acquire_lock_timeout.hasElapsed()) {
+			to_host.append8(RC_DOWNSTREAM_TIMEOUT);
+			Motherboard::getBoard().indicateError(ERR_SLAVE_LOCK_TIMEOUT);
+			return;
+		}
+	}
+	OutPacket& out = tool::getOutPacket();
+	InPacket& in = tool::getInPacket();
+	out.reset();
+	out.append8(0); // TODO: current tool
+	out.append8(SLAVE_CMD_PAUSE_UNPAUSE);
+	// Timeouts are handled inside the toolslice code; there's no need
+	// to check for timeouts on this loop.
+	tool::startTransaction();
+	tool::releaseLock();
+	// WHILE: bounded by tool timeout in runToolSlice
+	while (!tool::isTransactionDone()) {
+		tool::runToolSlice();
+	}
+	if (in.getErrorCode() == PacketError::PACKET_TIMEOUT) {
+		to_host.append8(RC_DOWNSTREAM_TIMEOUT);
+	} else {
+		// Copy payload back. Start from 0-- we need the response code.
+		for (int i = 0; i < in.getLength(); i++) {
+			to_host.append8(in.read8(i));
+		}
+	}
 }
 
 inline void handleToolQuery(const InPacket& from_host, OutPacket& to_host) {
@@ -250,6 +277,12 @@ inline void handleToolQuery(const InPacket& from_host, OutPacket& to_host) {
 	}
 }
 
+inline void handlePause(const InPacket& from_host, OutPacket& to_host) {
+	command::pause(!command::isPaused());
+	doToolPause(to_host);
+	to_host.append8(RC_OK);
+}
+
 inline void handleIsFinished(const InPacket& from_host, OutPacket& to_host) {
 	to_host.append8(RC_OK);
 	ATOMIC_BLOCK(ATOMIC_FORCEON) {

v2/src/Motherboard/Tool.cc

@@ -57,37 +57,14 @@ bool reset() {
 	out.append8(0); // TODO: tool index
 	out.append8(SLAVE_CMD_INIT);
 	startTransaction();
-	releaseLock();
-	// WHILE: bounded by tool timeout
-	while (!isTransactionDone()) {
-		runToolSlice();
-	}
-	return Motherboard::getBoard().getSlaveUART().in.isFinished();
-}
-
-void pause() {
-	// This code is very lightly modified from handleToolQuery in Host.cc.
-	// We don't give up if we fail to get a lock; we force it instead.
-	Timeout acquire_lock_timeout;
-	acquire_lock_timeout.start(TOOL_PACKET_TIMEOUT_MICROS*2);
-	while (!tool::getLock()) {
-		if (acquire_lock_timeout.hasElapsed()) {
-			return;
-		}
-	}
-	OutPacket& out = getOutPacket();
-	InPacket& in = getInPacket();
-	out.reset();
-	out.append8(0); // TODO: tool index
-	out.append8(SLAVE_CMD_PAUSE_UNPAUSE);
-	startTransaction();
 	// override standard timeout
 	timeout.start(TOOL_PACKET_TIMEOUT_MICROS*2);
 	releaseLock();
 	// WHILE: bounded by tool timeout
 	while (!isTransactionDone()) {
 		runToolSlice();
 	}
+	return Motherboard::getBoard().getSlaveUART().in.isFinished();
 }
 
 /// The tool is considered locked if a transaction is in progress or

v2/src/Motherboard/Tool.hh

@@ -78,12 +78,6 @@ InPacket& getInPacket();
  */
 bool reset();
 
-/**
- * Pause or unpause the tool.  Practically speaking,
- * this means stop or restart the extrusion.
- */
-void pause();
-
 }
 
 #endif // TOOL_HH_