Handle locked alarm state on connect in FluidNC

winder · Nov 26, 2024 · 0d31d15 · 0d31d15
1 parent a201720
commit 0d31d15
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Showing 2 changed files with 35 additions and 11 deletions.
diff --git a/ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtils.java b/ugs-core/src/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtils.java
@@ -176,16 +176,13 @@ public static boolean isControllerResponsive(IController controller, MessageServ
             throw new IllegalStateException("Could not query the device status");
         }
 
-        // The controller is in a locked DOOR state and needs to be reset
-        if (statusCommand.getControllerStatus().getState() == ControllerState.DOOR) {
-            return false;
-        }
-
         // The controller is not up and running properly
-        if (statusCommand.getControllerStatus().getState() == ControllerState.HOLD || statusCommand.getControllerStatus().getState() == ControllerState.ALARM) {
+        if (statusCommand.getControllerStatus().getState() == ControllerState.HOLD || statusCommand.getControllerStatus().getState() == ControllerState.DOOR || statusCommand.getControllerStatus().getState() == ControllerState.ALARM) {
             try {
                 // Figure out if it is still responsive even if it is in HOLD or ALARM state
-                sendAndWaitForCompletion(controller, new SystemCommand(""));
+                // We can do this
+                SystemCommand systemCommand = sendAndWaitForCompletion(controller, new SystemCommand("$I"));
+                return systemCommand.isOk();
             } catch (Exception e) {
                 return false;
             }

diff --git a/ugs-core/test/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtilsTest.java b/ugs-core/test/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtilsTest.java
@@ -151,12 +151,11 @@ public void isControllerResponsiveWhenControllerInStateHold() throws Exception {
             return null;
         }).when(controller).sendCommandImmediately(any(GetStatusCommand.class));
 
-        // Responds with ok on empty system command
         doAnswer(answer -> {
             GcodeCommand command = answer.getArgument(0, GcodeCommand.class);
             command.appendResponse("ok");
             return null;
-        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("")));
+        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("$I")));
 
         assertTrue(FluidNCUtils.isControllerResponsive(controller, messageService));
     }
@@ -172,6 +171,13 @@ public void isControllerResponsiveWhenControllerInStateDoor() throws Exception {
             command.appendResponse("<Door:0>");
             return null;
         }).when(controller).sendCommandImmediately(any(GetStatusCommand.class));
+
+        doAnswer(answer -> {
+            GcodeCommand command = answer.getArgument(0, GcodeCommand.class);
+            command.appendResponse("error:8");
+            return null;
+        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("$I")));
+
         assertFalse(FluidNCUtils.isControllerResponsive(controller, messageService));
     }
 
@@ -188,16 +194,37 @@ public void isControllerResponsiveWhenControllerInAlarm() throws Exception {
             return null;
         }).when(controller).sendCommandImmediately(any(GetStatusCommand.class));
 
-        // Responds with ok on empty system command
         doAnswer(answer -> {
             GcodeCommand command = answer.getArgument(0, GcodeCommand.class);
             command.appendResponse("ok");
             return null;
-        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("")));
+        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("$I")));
 
         assertTrue(FluidNCUtils.isControllerResponsive(controller, messageService));
     }
 
+    @Test
+    public void isControllerResponsiveWhenControllerInLockedAlarm() throws Exception {
+        IController controller = mock(IController.class);
+        when(controller.isCommOpen()).thenReturn(true);
+        MessageService messageService = mock(MessageService.class);
+
+        // Respond with status hold
+        doAnswer(answer -> {
+            GcodeCommand command = answer.getArgument(0, GcodeCommand.class);
+            command.appendResponse("<Alarm>");
+            return null;
+        }).when(controller).sendCommandImmediately(any(GetStatusCommand.class));
+
+        doAnswer(answer -> {
+            GcodeCommand command = answer.getArgument(0, GcodeCommand.class);
+            command.appendResponse("error:8");
+            return null;
+        }).when(controller).sendCommandImmediately(ArgumentMatchers.argThat(command -> command.getCommandString().equals("$I")));
+
+        assertFalse(FluidNCUtils.isControllerResponsive(controller, messageService));
+    }
+
     @Test
     public void isControllerResponsiveWhenControllerInAlarmAndNotResponsive() throws Exception {
         IController controller = mock(IController.class);