Handle DOOR state on connect in FluidNC

winder · Nov 26, 2024 · a201720 · a201720
1 parent f5a09a4
commit a201720
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Showing 3 changed files with 24 additions and 6 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
@@ -16,8 +16,6 @@
 import com.willwinder.universalgcodesender.model.Position;
 import com.willwinder.universalgcodesender.model.UnitUtils;
 import com.willwinder.universalgcodesender.services.MessageService;
-import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletion;
-import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletionWithRetry;
 import com.willwinder.universalgcodesender.utils.SemanticVersion;
 import org.apache.commons.lang3.StringUtils;
 
@@ -26,6 +24,9 @@
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
 
+import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletion;
+import static com.willwinder.universalgcodesender.utils.ControllerUtils.sendAndWaitForCompletionWithRetry;
+
 public class FluidNCUtils {
     public static final double GRBL_COMPABILITY_VERSION = 1.1d;
     public static final SemanticVersion MINIMUM_VERSION = new SemanticVersion(3, 3, 0);
@@ -175,6 +176,11 @@ 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) {
             try {

diff --git a/.../src/com/willwinder/universalgcodesender/firmware/fluidnc/commands/DetectEchoCommand.java b/.../src/com/willwinder/universalgcodesender/firmware/fluidnc/commands/DetectEchoCommand.java
@@ -18,14 +18,12 @@ This file is part of Universal Gcode Sender (UGS).
  */
 package com.willwinder.universalgcodesender.firmware.fluidnc.commands;
 
-import com.willwinder.universalgcodesender.types.GcodeCommand;
-
 /**
  * A command for detecting if echo mode is activated on the controller
  *
  * @author Joacim Breiler
  */
-public class DetectEchoCommand extends GcodeCommand {
+public class DetectEchoCommand extends SystemCommand {
     public DetectEchoCommand() {
         super("");
     }

diff --git a/ugs-core/test/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtilsTest.java b/ugs-core/test/com/willwinder/universalgcodesender/firmware/fluidnc/FluidNCUtilsTest.java
@@ -139,7 +139,7 @@ public void isControllerResponsiveWhenControllerRespondsAsIdle() throws Exceptio
     }
 
     @Test
-    public void isControllerResponsiveWhenControllerHold() throws Exception {
+    public void isControllerResponsiveWhenControllerInStateHold() throws Exception {
         IController controller = mock(IController.class);
         when(controller.isCommOpen()).thenReturn(true);
         MessageService messageService = mock(MessageService.class);
@@ -161,6 +161,20 @@ public void isControllerResponsiveWhenControllerHold() throws Exception {
         assertTrue(FluidNCUtils.isControllerResponsive(controller, messageService));
     }
 
+    @Test
+    public void isControllerResponsiveWhenControllerInStateDoor() 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("<Door:0>");
+            return null;
+        }).when(controller).sendCommandImmediately(any(GetStatusCommand.class));
+        assertFalse(FluidNCUtils.isControllerResponsive(controller, messageService));
+    }
+
     @Test
     public void isControllerResponsiveWhenControllerInAlarm() throws Exception {
         IController controller = mock(IController.class);