reconnect and resume

examples/netz/index.html

@@ -42,7 +42,7 @@
       }
     </style>
     <script src="https://cdn.jsdelivr.net/npm/p5@1.11.3/lib/p5.min.js"></script>
-    <script src="../../lib/WallPlotter.js?v=2.3.0"></script>
+    <script src="../../lib/WallPlotter.js?v=2.3.4"></script>
     <script src="sketch.js"></script>
   </head>
   <body>

examples/zickzack/index.html

@@ -42,7 +42,7 @@
       }
     </style>
     <script src="https://cdn.jsdelivr.net/npm/p5@1.11.3/lib/p5.min.js"></script>
-    <script src="../../lib/WallPlotter.js?v=2.3.0"></script>
+    <script src="../../lib/WallPlotter.js?v=2.3.4"></script>
     <script src="sketch.js"></script>
   </head>
   <body>

lib/WallPlotter.js

@@ -18,7 +18,7 @@ class WallPlotter {
   // Static constants
   // ---------------------------------------------------------------------------
 
-  static VERSION = '2.3.0';
+  static VERSION = '2.3.4';
   static MIN_FEED_MM_MIN = 1;
   static MAX_FEED_MM_MIN = 10000;
   /** Offline overlay size when not connected (mm) — 150×150 cm centred on origin */
@@ -29,6 +29,9 @@ class WallPlotter {
   static OK_WAIT_LOG_MS = 1000;
   /** Repeat “still waiting” while blocked on `ok` */
   static OK_WAIT_PING_MS = 5000;
+  /** If a USB write does not complete, the ACM device is usually gone. */
+  static WRITE_TIMEOUT_MS = 3000;
+  static RESUME_STORAGE_KEY = 'wallplotter.resume.v1';
 
   // ---------------------------------------------------------------------------
   // Construction
@@ -99,6 +102,7 @@ class WallPlotter {
     this._plotTestOnly = false;
     this._pathRunId = 0;
     this._pathLoopActive = false;
+    this._interrupted = null;
     this._plotStartedAt = 0;
     this._plotEstimateMs = 0;
     this._pausedAccumMs = 0;
@@ -132,6 +136,7 @@ class WallPlotter {
     this._testLabel = 'Test';
     this._stopLabel = 'Stop';
     this._lastTestBtnClick = 0;
+    this._lastPlotBtnClick = 0;
 
     // --- Callbacks ---
     const userOnLog = options.onLog ?? (() => {});
@@ -150,6 +155,7 @@ class WallPlotter {
 
     this._unloadBound = false;
     this._installUnloadHandler();
+    this._loadResumeState();
   }
 
   get connected() {
@@ -293,6 +299,7 @@ class WallPlotter {
 
   /** Clear the path buffer. Returns this for chaining. */
   startPath() {
+    this._clearResumeState();
     this._path = [];
     return this;
   }
@@ -351,6 +358,7 @@ class WallPlotter {
 
   /** Abort the current runPath after the in-flight command's `ok`. */
   stopPath() {
+    this._clearResumeState();
     this._abortJob();
   }
 
@@ -417,19 +425,25 @@ class WallPlotter {
       await this._openPort(port);
     }
     this.port = port;
+    this._bindSerialEvents(port);
 
     this.writer = this.port.writable.getWriter();
     this._startReadLoop();
     this._link = 'connected';
-    this.homeSet = false;
-    this._homeWarning = 'Home not set — jog to origin and press H';
     this.onStatusChange('connected');
 
     try {
-      await this.send('M17');
+      await this.send('M17', { allowWithoutHome: true });
       await this.penUp(true);
-      await this.send('M665');
-      await this.send('M114');
+      await this.send('M665', { allowWithoutHome: true });
+      await this._syncPoseFromMachine();
+      if (this._interrupted) {
+        this.onLog(
+          `saved path ${this._interrupted.index}/${this._interrupted.commands.length} — Plot resumes`
+        );
+        this.statusText = 'Connected — Plot to resume';
+        this._updatePlotButtons();
+      }
     } catch (err) {
       if (err.name === 'AbortError') return;
       throw err;
@@ -438,12 +452,16 @@ class WallPlotter {
 
   async _acquirePort() {
     const existing = await navigator.serial.getPorts();
-    if (existing.length === 1) return existing[0];
+    if (existing.length >= 1) return existing[0];
     return navigator.serial.requestPort();
   }
 
   async _openPort(port) {
-    const opened = port.open({ baudRate: this.baudRate });
+    const opened = port.open({
+      baudRate: this.baudRate,
+      bufferSize: 65536,
+      flowControl: 'none',
+    });
     const timedOut = this._delay(3000).then(() => {
       const err = new Error(
         'serial open timeout — port still held after reload. Unplug USB or close other serial tabs.'
@@ -453,19 +471,19 @@ class WallPlotter {
     });
     try {
       await Promise.race([opened, timedOut]);
+      if (typeof port.setSignals === 'function') {
+        try {
+          await port.setSignals({ dataTerminalReady: true, requestToSend: false });
+        } catch (_) {
+          /* some stacks ignore control lines */
+        }
+      }
     } catch (err) {
       try {
         await port.close();
       } catch (_) {
         /* ignore */
       }
-      if (typeof port.forget === 'function') {
-        try {
-          await port.forget();
-        } catch (_) {
-          /* ignore */
-        }
-      }
       throw err;
     }
   }
@@ -513,8 +531,6 @@ class WallPlotter {
     }
 
     this._link = 'disconnected';
-    this.homeSet = false;
-    this._homeWarning = null;
     this.onStatusChange('disconnected');
   }
 
@@ -531,7 +547,6 @@ class WallPlotter {
     this.writer = null;
     this.port = null;
     this._link = 'disconnected';
-    this.homeSet = false;
     try {
       reader?.cancel();
     } catch (_) {
@@ -554,10 +569,114 @@ class WallPlotter {
     }
   }
 
+  _writeLine(command) {
+    if (!this.writer) {
+      return Promise.reject(new Error('Not connected to plotter'));
+    }
+    const bytes = new TextEncoder().encode(command + '\n');
+    return new Promise((resolve, reject) => {
+      let done = false;
+      const timer = setTimeout(() => {
+        if (done) return;
+        done = true;
+        const err = new Error('serial write timeout — USB port likely gone');
+        err.name = 'TimeoutError';
+        reject(err);
+      }, WallPlotter.WRITE_TIMEOUT_MS);
+      this.writer.write(bytes).then(
+        () => {
+          if (done) return;
+          done = true;
+          clearTimeout(timer);
+          this.onLog('→ ' + command);
+          resolve();
+        },
+        (err) => {
+          if (done) return;
+          done = true;
+          clearTimeout(timer);
+          reject(err);
+        }
+      );
+    });
+  }
+
+  _bindSerialEvents(port) {
+    if (this._serialDisconnectBound) {
+      navigator.serial.removeEventListener('disconnect', this._serialDisconnectBound);
+    }
+    this._serialDisconnectBound = (event) => {
+      if (event.target === port || event.target === this.port) {
+        this._onSerialGone('device unplugged or re-enumerated');
+      }
+    };
+    navigator.serial.addEventListener('disconnect', this._serialDisconnectBound);
+    if (port && typeof port.addEventListener === 'function') {
+      port.addEventListener('disconnect', () => {
+        this._onSerialGone('device unplugged or re-enumerated');
+      });
+    }
+  }
+
+  _onSerialGone(reason) {
+    if (this._link === 'disconnected') return;
+    this._stashInterruptedPath();
+    this.onLog('! USB serial lost — ' + reason);
+    this.onLog(
+      `kept pose X ${this.x.toFixed(1)} Y ${this.y.toFixed(1)} — reconnect will ask Marlin (M114)`
+    );
+    this._abortJob();
+    this._releaseSerialNow();
+    this.statusText = this._interrupted
+      ? 'USB disconnected — reconnect, then Plot to resume'
+      : 'USB disconnected — reconnect';
+    this._updatePlotButtons();
+    this._redrawSketch();
+  }
+
+  _stashInterruptedPath() {
+    if (this._job === 'idle' && !this._pathLoopActive) return;
+    const commands = this.previewPath;
+    if (!commands.length) return;
+    if (this.plotProgress >= commands.length) return;
+    this._interrupted = {
+      commands,
+      index: this.plotProgress,
+      testOnly: this._plotTestOnly,
+      startedAt: this._plotStartedAt,
+      pausedAccum: this._pausedAccumMs,
+      estimateMs: this._plotEstimateMs,
+    };
+    this.onLog(
+      `plot paused at ${this.plotProgress}/${commands.length} — Plot resumes this path`
+    );
+    this._persistResumeState();
+  }
+
+  _resumeInterruptedPath() {
+    const hit = this._interrupted;
+    if (!hit) return false;
+    this._interrupted = null;
+    this.onLog(
+      `resuming path at ${hit.index}/${hit.commands.length}`
+    );
+    Promise.resolve(
+      this._executePath(hit.commands, hit.testOnly, hit.index, hit)
+    ).catch((err) => {
+      this.statusText = 'Error: ' + err.message;
+      this.onLog('! ' + err.message);
+    });
+    return true;
+  }
+
   _installUnloadHandler() {
     if (this._unloadBound) return;
     this._unloadBound = true;
-    const release = () => this._releaseSerialNow();
+    const release = () => {
+    this._stashInterruptedPath();
+    this._persistResumeState(true);
+    this._releaseSerialNow();
+    };
     window.addEventListener('pagehide', release);
     window.addEventListener('beforeunload', release);
     window.addEventListener('unload', release);
@@ -566,6 +685,99 @@ class WallPlotter {
     });
   }
 
+  _resumeSnapshot() {
+    if (this._interrupted) return this._interrupted;
+    if (this._job === 'idle' || this._plotTestOnly) return null;
+    if (!this.previewPath.length || this.plotProgress >= this.previewPath.length) {
+      return null;
+    }
+    return {
+      commands: this.previewPath,
+      index: this.plotProgress,
+      testOnly: false,
+      startedAt: this._plotStartedAt,
+      pausedAccum: this._pausedAccumMs,
+      estimateMs: this._plotEstimateMs,
+      x: this.x,
+      y: this.y,
+    };
+  }
+
+  _persistResumeState(force = false) {
+    const snap = this._resumeSnapshot();
+    if (!snap || snap.testOnly) {
+      if (force) this._clearResumeState();
+      return;
+    }
+    const now = performance.now();
+    if (!force && now - (this._lastResumePersistAt || 0) < 800) return;
+    this._lastResumePersistAt = now;
+    try {
+      sessionStorage.setItem(
+        WallPlotter.RESUME_STORAGE_KEY,
+        JSON.stringify({
+          index: snap.index,
+          testOnly: false,
+          startedAt: snap.startedAt,
+          pausedAccum: snap.pausedAccum,
+          estimateMs: snap.estimateMs,
+          x: snap.x ?? this.x,
+          y: snap.y ?? this.y,
+          commands: snap.commands,
+        })
+      );
+    } catch (_) {
+      /* quota / private mode */
+    }
+  }
+
+  _loadResumeState() {
+    let raw = null;
+    try {
+      raw = sessionStorage.getItem(WallPlotter.RESUME_STORAGE_KEY);
+    } catch (_) {
+      return;
+    }
+    if (!raw) return;
+    try {
+      const snap = JSON.parse(raw);
+      if (!Array.isArray(snap.commands) || !snap.commands.length) return;
+      const index = Math.max(0, Math.min(snap.index ?? 0, snap.commands.length));
+      if (index >= snap.commands.length) {
+        this._clearResumeState();
+        return;
+      }
+      this.previewPath = snap.commands;
+      this.plotProgress = index;
+      this._plotEstimateMs = snap.estimateMs ?? 0;
+      this._plotStartedAt = snap.startedAt ?? 0;
+      this._pausedAccumMs = snap.pausedAccum ?? 0;
+      if (Number.isFinite(snap.x)) this.x = snap.x;
+      if (Number.isFinite(snap.y)) this.y = snap.y;
+      this._interrupted = {
+        commands: snap.commands,
+        index,
+        testOnly: false,
+        startedAt: this._plotStartedAt,
+        pausedAccum: this._pausedAccumMs,
+        estimateMs: this._plotEstimateMs,
+        x: this.x,
+        y: this.y,
+      };
+    } catch (_) {
+      this._clearResumeState();
+    }
+  }
+
+  _clearResumeState() {
+    this._interrupted = null;
+    try {
+      sessionStorage.removeItem(WallPlotter.RESUME_STORAGE_KEY);
+    } catch (_) {
+      /* ignore */
+    }
+  }
+
   /**
    * Write one G-code line; by default wait for Marlin ok.
    * @param {string} line
@@ -602,9 +814,7 @@ class WallPlotter {
         })
       : null;
     try {
-      const written = this.writer
-        .write(new TextEncoder().encode(command + '\n'))
-        .then(() => this.onLog('→ ' + command));
+      const written = this._writeLine(command);
       if (okPromise) {
         await Promise.all([
           written.catch((err) => {
@@ -618,6 +828,9 @@ class WallPlotter {
       }
     } catch (err) {
       if (err.name === 'AbortError') throw err;
+      if (/USB|serial write timeout|NetworkError/i.test(err.message)) {
+        this._onSerialGone(err.message);
+      }
       const timeoutErr = new Error(err.message);
       timeoutErr.name = 'TimeoutError';
       this.onLog('! ' + err.message);
@@ -712,6 +925,45 @@ class WallPlotter {
     this._syncStatus();
   }
 
+  /**
+   * Ask Marlin where it thinks it is. USB re-enum often keeps G92;
+   * only the polargraph boot pose (belts at max length, Y ≈ -2600) means unhomed.
+   */
+  async _syncPoseFromMachine() {
+    const beforeX = this.x;
+    const beforeY = this.y;
+    try {
+      await this.send('M114', { timeoutMs: 3000, allowWithoutHome: true });
+    } catch (_) {
+      /* keep last browser pose */
+    }
+
+    if (this._isUnhomedBootPose(this.x, this.y)) {
+      this.homeSet = false;
+      this._homeWarning = 'Home not set — jog to origin and press H';
+      this.onLog(
+        `Marlin at boot pose X ${this.x.toFixed(1)} Y ${this.y.toFixed(1)} — press H`
+      );
+      return;
+    }
+
+    this.homeSet = true;
+    this._homeWarning = null;
+    this.onLog(
+      `restored Marlin pose X ${this.x.toFixed(1)} Y ${this.y.toFixed(1)} (was ${beforeX.toFixed(1)}, ${beforeY.toFixed(1)})`
+    );
+    this._syncStatus();
+  }
+
+  /** Polargraph default after reset: equal max belts → X≈0, Y≈-2600. */
+  _isUnhomedBootPose(x, y) {
+    const span = (this.machineXMax - this.machineXMin) / 2;
+    const maxBelt = 3500;
+    const expectedY =
+      this.machineYMax - Math.sqrt(Math.max(0, maxBelt * maxBelt - span * span));
+    return Math.abs(x) < 20 && Math.abs(y - expectedY) < 80;
+  }
+
   // ===========================================================================
   // Internals — feed helpers
   // ===========================================================================
@@ -729,7 +981,7 @@ class WallPlotter {
   // Internals — path execution & timing
   // ===========================================================================
 
-  async _executePath(commands, testOnly = false) {
+  async _executePath(commands, testOnly = false, fromIndex = 0, timing = null) {
     if (!testOnly && !this._requireHome()) return;
 
     const runId = ++this._pathRunId;
@@ -740,25 +992,40 @@ class WallPlotter {
     }
     if (runId !== this._pathRunId) return;
 
+    this._interrupted = null;
     this._pathLoopActive = true;
     this._plotTestOnly = testOnly;
     this.previewPath = commands;
-    this.plotProgress = 0;
-    this._plotStartedAt = performance.now();
-    this._plotEstimateMs = this._estimatePathDurationMs(commands, this.x, this.y);
-    this._pausedAccumMs = 0;
+    const startAt = Math.max(0, Math.min(fromIndex, commands.length));
+    this.plotProgress = startAt;
+    if (timing) {
+      this._plotStartedAt = timing.startedAt ?? performance.now();
+      this._pausedAccumMs = timing.pausedAccum ?? 0;
+      this._plotEstimateMs = timing.estimateMs ?? this._estimatePathDurationMs(commands, this.x, this.y);
+    } else {
+      this._plotStartedAt = performance.now();
+      this._plotEstimateMs = this._estimatePathDurationMs(commands, this.x, this.y);
+      this._pausedAccumMs = 0;
+    }
     this._lastSegmentMs = 0;
     this._setJob('running');
 
     const savedFeedTravel = this.feedRateTravel;
     const savedFeedDraw = this.feedRateDraw;
+    for (let i = 0; i < startAt; i++) {
+      const cmd = commands[i];
+      if (cmd.type === 'speed') {
+        if (cmd.travel != null) this.feedRateTravel = cmd.travel;
+        if (cmd.draw != null) this.feedRateDraw = cmd.draw;
+      }
+    }
     let px = this.x;
     let py = this.y;
 
     const stopped = () => this._job === 'aborting' || runId !== this._pathRunId;
 
     try {
-      for (let i = 0; i < commands.length; i++) {
+      for (let i = startAt; i < commands.length; i++) {
         if (stopped()) break;
         await this._waitIfPaused();
         if (stopped()) break;
@@ -768,6 +1035,7 @@ class WallPlotter {
           if (cmd.travel != null) this.feedRateTravel = cmd.travel;
           if (cmd.draw != null) this.feedRateDraw = cmd.draw;
           this.plotProgress = i + 1;
+          this._persistResumeState();
           this._redrawSketch();
           continue;
         }
@@ -805,6 +1073,7 @@ class WallPlotter {
             await this._waitIfPaused();
             if (stopped()) break;
             this.plotProgress = i + 1;
+            this._persistResumeState();
             continue;
           }
           throw err;
@@ -817,6 +1086,7 @@ class WallPlotter {
           py = cmd.y;
         }
         this.plotProgress = i + 1;
+        this._persistResumeState();
       }
     } catch (err) {
       if (err.name !== 'AbortError' && err.name !== 'TimeoutError') {
@@ -837,6 +1107,7 @@ class WallPlotter {
       this._plotTestOnly = false;
       this._setJob('idle');
       this._pathLoopActive = false;
+      if (this.plotProgress >= commands.length) this._clearResumeState();
     }
   }
 
@@ -1078,13 +1349,18 @@ class WallPlotter {
         try {
           while (plotter.readLoopActive) {
             const { value, done } = await plotter.reader.read();
-            if (done) break;
+            if (done) {
+              if (plotter.readLoopActive) {
+                plotter._onSerialGone('serial stream closed');
+              }
+              break;
+            }
             plotter._rxBuf += new TextDecoder().decode(value);
             plotter._drainRxBuffer();
           }
         } catch (err) {
           if (plotter.readLoopActive) {
-            plotter.onLog('serial read error: ' + err.message);
+            plotter._onSerialGone(err.message || 'serial read error');
           }
         } finally {
           try {
@@ -1316,6 +1592,19 @@ class WallPlotter {
       return;
     }
     if (this._job !== 'idle' || !this.connected) return;
+    const now = typeof millis === 'function' ? millis() : Date.now();
+    if (this._interrupted && !this._interrupted.testOnly) {
+      if (now - this._lastPlotBtnClick < 450) {
+        this._lastPlotBtnClick = now;
+        this._clearResumeState();
+        this._triggerSketchFn('plot');
+        return;
+      }
+      this._lastPlotBtnClick = now;
+      this._resumeInterruptedPath();
+      return;
+    }
+    this._lastPlotBtnClick = now;
     this._triggerSketchFn('plot');
   }
 
@@ -1332,6 +1621,7 @@ class WallPlotter {
   }
 
   _restartPath(mode) {
+    this._clearResumeState();
     if (this._pathLoopActive) this._abortJob();
     this._triggerSketchFn(mode);
   }
@@ -1345,6 +1635,7 @@ class WallPlotter {
     if (this._plotBtn) {
       let label = this._plotLabel;
       if (this._job === 'paused') label = this._resumeLabel;
+      else if (this._interrupted && this._job === 'idle') label = this._resumeLabel;
       else if (this._job === 'running' || this._job === 'aborting') {
         label = this._pauseLabel;
       }
@@ -1529,7 +1820,8 @@ class WallPlotter {
       const cmd = this.previewPath[i];
       if (cmd.type !== 'move' && cmd.type !== 'draw') continue;
       const p = this._worldToScreen(cmd.x, cmd.y, layout);
-      const isFuture = this.isPlotting && i >= this.plotProgress;
+      const isFuture =
+        (this.isPlotting || !!this._interrupted) && i >= this.plotProgress;
 
       if (px !== null && py !== null) {
         if (cmd.type === 'draw') {
@@ -1601,10 +1893,17 @@ class WallPlotter {
       text(`preview  ${cm} × ${cm} cm  (connect for machine bounds)`, 16, 132);
     }
 
-    if (this.isPlotting) {
+    if (this.isPlotting || this._interrupted) {
       fill(180, 220, 255);
+      const label = this._interrupted && this._job === 'idle'
+        ? 'interrupted'
+        : this._job === 'paused'
+          ? 'paused'
+          : this._job === 'aborting'
+            ? 'stopped'
+            : 'plotting';
       text(
-        `${this._job === 'paused' ? 'paused' : this._job === 'aborting' ? 'stopped' : 'plotting'}  ${this.plotProgress}/${this.previewPath.length}`,
+        `${label}  ${this.plotProgress}/${this.previewPath.length}`,
         16,
         152
       );