Route telemetry up and commands down over the cloud uplink
The proxy did not actually proxy. `fleet` was loaded and connected in main.rs and then never touched again, while the uplink said hello and sent heartbeats into the void - two halves of the program running side by side with nothing between them. Both directions are wired now. Up: every 5s, one vendor-neutral `PrinterTelemetry` snapshot per printer that has reported, batched into a single `Telemetry` message. The snapshot is a translation rather than a forwarded `print.push_status`, because it has to describe a Prusa too, and because Bambu's wire format has traps (0-15 fan gears, ints-or-floats temperatures) that should not reach the rest of the system. Down: a `Command` is looked up by our own printer id, executed, and answered with a `CommandResult`. `PrinterCommand` is deliberately small and deliberately has no "start a print" variant - `start_uploaded_file` has never been run against hardware, and the first thing to exercise it should be a human watching the machine, not a message from the internet. The fleet becomes `Arc<Mutex<Vec<PrinterHandle>>>` so main and the uplink can share it. One lock for the whole Vec is coarse - a slow command to one printer stalls telemetry for all of them - which is fine at a handful of printers and is the shape to revisit (a lock per printer, or an actor task each) before a farm gets large. Two things found by running this against the live P1P and H2C: - A v1 Bambu reached the cloud as a row of nulls with one real bed temperature in it, while the v2 H2C beside it was fully populated. v1 only sends a *complete* status when asked, and `pushall`'s own doc comment said to call it periodically - nothing ever did. Each telemetry tick now collects, then requests the next refresh, so v1 telemetry runs one tick behind instead of staying stuck on fragments. The quirk lives in `PrinterHandle::refresh_status` so the uplink does not have to know it. - The third instance of the silent-swallow parse bug, at the old uplink/mod.rs:63: `if let Ok(server_msg) = serde_json::from_str(..)` with no else. Same shape that hid broken `print.push_status` parsing for weeks, except here it would mean commands vanishing with the cloud never being told. Now a `match` with a loud `Err` arm. Verified end to end against both printers with a throwaway WebSocket server: H2C `RUNNING 88% layer 48/50 13min nozzle 230/230 bed 35/35`, P1P `IDLE 0% nozzle 23.5/0 bed 22.5/0`, both fan commands `ok=true`, zero warnings over 24s. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Claude Opus 5
+16
-14
@@ -21,25 +21,27 @@ async fn main() -> anyhow::Result<()> {
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tracing::info!(gateway_id = %config.gateway_id, farm_id = %config.farm_id, "starting continuum-proxy");
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// Loaded and connected here, once, at startup - nothing yet re-reads
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// printers.toml on a running daemon (adding/removing a printer means
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// a restart), and nothing yet lets the uplink dispatch a command to
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// one of these once connected - see PrinterHandle's own doc comment
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// for what's built and what's still a stub per vendor. Keeping
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// `fleet` alive as a local variable for the rest of `main` (which
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// never returns, below) is what keeps every connection open; it's
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// not otherwise touched yet.
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// printers.toml on a running daemon, so adding or removing a printer
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// still means a restart.
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let mut fleet = fleet::load(std::path::Path::new(&config.printers_path))?;
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connect_fleet(&mut fleet).await;
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// Three things run at once for now: the cloud uplink, the go2rtc
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// camera-restreaming process, and (implicitly, via the connections
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// opened above) every configured printer's live session. More will
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// join them later - printer discovery, the plate changer - as you
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// build past src/printer/'s stubs. `tokio::select!` runs both of the
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// tasks below and stops as soon as either one returns; both loop
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// The fleet is now shared with the uplink rather than just parked here
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// keeping connections alive: the uplink reads each printer's status to
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// send telemetry up, and looks printers up by id to dispatch commands
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// down. `Arc<Mutex<..>>` is how two tasks share one mutable thing -
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// see `uplink::SharedFleet` for why that type and what it costs.
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let fleet: uplink::SharedFleet = std::sync::Arc::new(tokio::sync::Mutex::new(fleet));
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// Two long-running tasks: the cloud uplink and the go2rtc
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// camera-restreaming watchdog. Every printer's MQTT session is a third
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// thing running concurrently, but implicitly - each one has its own
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// background poll task spawned by `connect()`, kept alive by the fleet
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// above. More will join these later (printer discovery, the plate
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// changer). `tokio::select!` stops as soon as either returns; both loop
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// forever, so in practice this runs until the process is killed.
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tokio::select! {
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_ = uplink::run(config.clone()) => {}
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_ = uplink::run(config.clone(), fleet.clone()) => {}
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_ = go2rtc::watchdog(config.go2rtc_bin.clone(), config.go2rtc_config.clone()) => {}
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}
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@@ -129,6 +129,52 @@ pub enum PrinterHandle {
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Klipper(KlipperPrinter),
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}
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impl PrinterHandle {
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/// The latest status this process has for the printer, if it has one.
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///
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/// An inherent method rather than a `GenericPrinter` trait method,
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/// because right now only Bambu has a real status path - the other three
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/// return `None` not because they have nothing to say but because their
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/// protocol clients are still stubs. Putting it on the trait would make
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/// every vendor claim to implement something three of them don't. Move it
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/// onto the trait once a second vendor can genuinely answer.
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pub async fn print_status(&self) -> Option<PrintReport> {
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match self {
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PrinterHandle::Bambu(p) => p.print_status().await,
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PrinterHandle::PrusaLink(_) | PrinterHandle::PrusaSerial(_) | PrinterHandle::Klipper(_) => None,
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}
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}
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/// Asks the printer to report its full state, for the printers that only
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/// report when asked.
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///
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/// This exists because of one specific vendor quirk that should not leak
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/// any further than this: a Bambu on protocol v1 pushes only *partial*
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/// `print.push_status` objects unprompted - often a single temperature -
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/// and sends a complete one only in response to `pushing.pushall`. Without
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/// a periodic call here, `print_status()` on a v1 printer stays stuck on
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/// whatever fragments it happened to volunteer. Found exactly that way: a
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/// live P1P reached the cloud as a row of nulls with one real bed
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/// temperature in it, while a v2 H2C beside it was fully populated.
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///
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/// Nothing arrives by the time this returns - the refreshed status comes
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/// back over MQTT as an ordinary push some time later, so a caller that
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/// refreshes and immediately reads gets the *previous* refresh's data. On
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/// a timer that is simply a one-tick lag, which is why this is
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/// fire-and-forget rather than something to await a result from.
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///
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/// A no-op for everyone else: `BambuPrinter::pushall` already no-ops on
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/// v2 (which pushes complete objects unprompted), and the other three
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/// vendors are still stubs. Same reasoning as `print_status` for why this
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/// is inherent rather than a `GenericPrinter` method.
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pub async fn refresh_status(&self) -> Result<(), PrinterError> {
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match self {
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PrinterHandle::Bambu(p) => p.pushall().await,
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PrinterHandle::PrusaLink(_) | PrinterHandle::PrusaSerial(_) | PrinterHandle::Klipper(_) => Ok(()),
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}
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}
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}
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// Hand-written delegation: each trait method just matches on the variant
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// and forwards to that variant's own implementation. This one block is the
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// only "boilerplate tax" for not having inheritance - everything else reads
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+159
-12
@@ -1,33 +1,68 @@
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//! The cloud connection: a WebSocket to `continuum-backend`'s `/ws/edge/v1`.
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//!
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//! This is intentionally the simplest version of "a client that reconnects
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//! when it drops": no backoff curve, no channels routing messages in from
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//! other parts of the program yet - just connect, say hello, send a
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//! heartbeat on a timer, and print whatever comes back. Once you're
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//! comfortable with this, growing it (real backoff, forwarding printer
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//! telemetry, dispatching cloud-issued commands) is additive, not a rewrite.
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//! This is where the proxy earns its name. Until now it connected, said
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//! hello, and sent heartbeats into the void while the printer fleet lived in
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//! a completely separate part of the program with nothing routing between
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//! them. Both directions are wired up now:
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//!
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//! - **Up:** every `TELEMETRY_INTERVAL`, one snapshot per printer, batched
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//! into a single `Telemetry` message.
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//! - **Down:** a `Command` from the cloud is looked up by printer id,
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//! executed, and answered with a `CommandResult`.
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//!
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//! Still deliberately the simplest version of a reconnecting client: a fixed
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//! retry delay rather than a backoff curve, and no local buffering, so
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//! telemetry produced while the uplink is down is simply lost (re-adding the
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//! SQLite buffer cut in the simplification pass is the fix, and it is a
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//! separate piece of work - see PLAN.md).
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mod protocol;
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pub use protocol::{ClientMessage, ServerMessage};
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pub use protocol::{ClientMessage, PrinterCommand, PrinterTelemetry, ServerMessage};
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use std::sync::Arc;
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use std::time::Duration;
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use futures_util::{SinkExt, StreamExt};
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use tokio::sync::Mutex;
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use tokio_tungstenite::tungstenite::Message;
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use tracing::{info, warn};
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use crate::config::Config;
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use crate::printer::{GenericPrinter, PrinterHandle};
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const RETRY_DELAY: Duration = Duration::from_secs(5);
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const HEARTBEAT_INTERVAL: Duration = Duration::from_secs(15);
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/// Faster than the heartbeat, slower than the printers push. A Bambu on v2
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/// emits a full status roughly every second; forwarding at that rate would be
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/// a lot of traffic to describe a machine whose state changes on the scale of
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/// a layer, so this samples the cached report instead of chasing every push.
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const TELEMETRY_INTERVAL: Duration = Duration::from_secs(5);
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/// The printer fleet, shared between `main` (which owns it and keeps every
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/// connection alive) and this module (which reads status and dispatches
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/// commands).
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///
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/// `Arc` is shared ownership - several places hold the same value and the
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/// last one to let go drops it, roughly how every TS object reference
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/// already behaves. `Mutex` is what makes mutation across tasks safe: Rust
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/// will not let two tasks hold `&mut` to the same data, so a lock is how you
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/// take turns. `tokio::sync::Mutex` rather than `std::sync::Mutex`
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/// specifically because the code below holds the lock across an `.await`,
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/// which the std one is not designed for.
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///
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/// One lock for the whole `Vec` is coarse: a slow command to one printer
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/// stalls telemetry for all of them. Fine at the handful-of-printers scale
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/// this runs at now, and the shape to revisit (a lock per printer, or an
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/// actor task per printer owning its own handle) before a farm gets large.
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pub type SharedFleet = Arc<Mutex<Vec<PrinterHandle>>>;
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/// Runs forever: connect, serve the connection until it drops, wait, retry.
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pub async fn run(config: Config) {
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pub async fn run(config: Config, fleet: SharedFleet) {
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loop {
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info!(url = %config.uplink_url, "connecting to cloud uplink");
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if let Err(err) = connect_and_serve(&config).await {
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if let Err(err) = connect_and_serve(&config, &fleet).await {
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warn!(?err, "uplink connection failed, retrying in {RETRY_DELAY:?}");
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}
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@@ -35,7 +70,7 @@ pub async fn run(config: Config) {
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}
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}
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async fn connect_and_serve(config: &Config) -> anyhow::Result<()> {
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async fn connect_and_serve(config: &Config, fleet: &SharedFleet) -> anyhow::Result<()> {
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let (ws_stream, _response) = tokio_tungstenite::connect_async(&config.uplink_url).await?;
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let (mut write, mut read) = ws_stream.split();
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@@ -47,6 +82,7 @@ async fn connect_and_serve(config: &Config) -> anyhow::Result<()> {
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write.send(Message::Text(serde_json::to_string(&hello)?)).await?;
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let mut heartbeat = tokio::time::interval(HEARTBEAT_INTERVAL);
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let mut telemetry = tokio::time::interval(TELEMETRY_INTERVAL);
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let mut seq: u64 = 0;
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loop {
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@@ -57,11 +93,50 @@ async fn connect_and_serve(config: &Config) -> anyhow::Result<()> {
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write.send(Message::Text(serde_json::to_string(&msg)?)).await?;
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}
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_ = telemetry.tick() => {
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// Read first, then ask for the next one. A v1 Bambu answers
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// `refresh_status` over MQTT some time after this returns, so
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// collecting first means every tick reports the previous
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// tick's refresh - one interval of lag, rather than a
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// guaranteed miss from reading before the answer could
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// possibly have arrived.
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let printers = collect_telemetry(fleet).await;
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refresh_fleet(fleet).await;
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// Nothing to say is not worth a frame. Happens whenever no
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// printer has reported yet - every vendor but Bambu is still
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// a stub, so a Prusa-only fleet is silent here by design.
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if !printers.is_empty() {
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let msg = ClientMessage::Telemetry { printers };
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write.send(Message::Text(serde_json::to_string(&msg)?)).await?;
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}
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}
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frame = read.next() => {
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match frame {
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Some(Ok(Message::Text(text))) => {
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if let Ok(server_msg) = serde_json::from_str::<ServerMessage>(&text) {
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info!(?server_msg, "received from cloud");
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match serde_json::from_str::<ServerMessage>(&text) {
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Ok(ServerMessage::Command { command_id, printer_id, command }) => {
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let result = dispatch(fleet, &printer_id, command).await;
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let msg = match result {
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Ok(()) => ClientMessage::CommandResult {
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command_id, ok: true, error: None,
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},
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Err(err) => {
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warn!(%printer_id, %err, "command failed");
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ClientMessage::CommandResult {
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command_id, ok: false, error: Some(err),
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}
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}
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};
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write.send(Message::Text(serde_json::to_string(&msg)?)).await?;
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}
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Ok(other) => info!(?other, "received from cloud"),
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// Loudly. This used to be an `if let Ok(..)` with
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// no else, which is the same silent-drop bug that
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// hid a real `print.push_status` failure for
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// weeks - and here it would mean commands
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// vanishing with the cloud never being told.
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Err(err) => warn!(%err, payload = %text, "unparseable message from cloud, ignoring"),
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}
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}
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Some(Ok(Message::Close(_))) | None => return Ok(()),
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@@ -72,3 +147,75 @@ async fn connect_and_serve(config: &Config) -> anyhow::Result<()> {
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}
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}
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}
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/// Asks every printer to report in full, for the next tick to pick up. Failure
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/// is logged and otherwise ignored: a printer that cannot be asked right now
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/// is a printer whose telemetry goes stale, not a reason to tear down the
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/// cloud connection for the whole farm.
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async fn refresh_fleet(fleet: &SharedFleet) {
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let fleet = fleet.lock().await;
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for printer in fleet.iter() {
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if let Err(err) = printer.refresh_status().await {
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warn!(printer = %printer.base().id, %err, "failed to request a status refresh");
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}
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}
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}
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/// One snapshot per printer that has something to report. Translates Bambu's
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/// `print.push_status` into the vendor-neutral shape the cloud consumes - see
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/// `PrinterTelemetry` for why this isn't just forwarded raw.
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async fn collect_telemetry(fleet: &SharedFleet) -> Vec<PrinterTelemetry> {
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let fleet = fleet.lock().await;
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let mut out = Vec::new();
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for printer in fleet.iter() {
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let base = printer.base();
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let Some(report) = printer.print_status().await else {
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continue;
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};
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out.push(PrinterTelemetry {
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printer_id: base.id.clone(),
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name: base.name.clone(),
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state: report.gcode_state.clone(),
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percent: report.mc_percent,
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layer: report.layer_num,
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total_layers: report.total_layer_num,
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remaining_minutes: report.mc_remaining_time,
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// An idle printer reports `""` rather than omitting the field;
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// empty-string-as-absent is worth normalising here so the cloud
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// doesn't have to know that.
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job_name: report.subtask_name.clone().filter(|s| !s.is_empty()),
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nozzle_temp: report.nozzle_temper,
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nozzle_target: report.nozzle_target_temper,
|
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bed_temp: report.bed_temper,
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bed_target: report.bed_target_temper,
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print_error: report.print_error,
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active_alerts: report.hms.as_ref().map(|h| h.len()),
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||||
});
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||||
}
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||||
|
||||
out
|
||||
}
|
||||
|
||||
/// Finds the printer by our own id and runs the command. The error is a
|
||||
/// `String` rather than a typed error because its only destination is a
|
||||
/// `CommandResult` going back to the cloud as text.
|
||||
async fn dispatch(fleet: &SharedFleet, printer_id: &str, command: PrinterCommand) -> Result<(), String> {
|
||||
let mut fleet = fleet.lock().await;
|
||||
let printer = fleet
|
||||
.iter_mut()
|
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.find(|p| p.base().id == printer_id)
|
||||
.ok_or_else(|| format!("no printer with id '{printer_id}' in this gateway's fleet"))?;
|
||||
|
||||
info!(%printer_id, ?command, "dispatching cloud command");
|
||||
|
||||
match command {
|
||||
PrinterCommand::SetFanSpeed { percent } => {
|
||||
printer.set_fan_speed(percent).await.map_err(|err| err.to_string())
|
||||
}
|
||||
PrinterCommand::SendGcodeLine { line } => {
|
||||
printer.send_gcode_line(line).await.map_err(|err| err.to_string())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -6,6 +6,56 @@ use serde::{Deserialize, Serialize};
|
||||
pub enum ClientMessage {
|
||||
Hello { gateway_id: String, farm_id: String, token: String },
|
||||
Heartbeat { seq: u64 },
|
||||
/// One snapshot per printer, on a timer. Sent as a batch rather than a
|
||||
/// message per printer: a farm has one uplink and many printers, and the
|
||||
/// cloud wants a coherent picture of the farm at an instant more than it
|
||||
/// wants the lowest possible latency per machine.
|
||||
Telemetry { printers: Vec<PrinterTelemetry> },
|
||||
/// The reply to a `ServerMessage::Command`. Correlated by `command_id`,
|
||||
/// which the *cloud* generates - unlike Bambu's `sequence_id`, we're
|
||||
/// both ends of this protocol, so the side that needs the correlation
|
||||
/// gets to choose it.
|
||||
CommandResult { command_id: String, ok: bool, error: Option<String> },
|
||||
}
|
||||
|
||||
/// A flattened snapshot of one printer, in the terms an operator console
|
||||
/// actually displays - deliberately not Bambu's `print.push_status` shape.
|
||||
///
|
||||
/// Two reasons for the translation rather than forwarding the raw report:
|
||||
/// this has to describe a Prusa or a Klipper printer too, and Bambu's wire
|
||||
/// format has traps that should not reach the rest of the system (fan
|
||||
/// speeds are 0-15 gears, temperatures arrive as either integers or floats,
|
||||
/// and v2 reuses one `sequence_id` forever - see `PrintReport`).
|
||||
///
|
||||
/// Every field is optional because an unreachable or just-connected printer
|
||||
/// genuinely has nothing to report, and "no data yet" is different from
|
||||
/// "zero".
|
||||
#[derive(Debug, Clone, Serialize)]
|
||||
pub struct PrinterTelemetry {
|
||||
/// Our own id from printers.toml, not the vendor serial - this is what
|
||||
/// the cloud's `printers` table keys on.
|
||||
pub printer_id: String,
|
||||
pub name: String,
|
||||
/// `"IDLE"`, `"RUNNING"`, `"PAUSE"`, `"FINISH"`, `"FAILED"` - passed
|
||||
/// through as the printer's own string rather than narrowed to an enum,
|
||||
/// so an unrecognised state reaches the cloud as itself instead of being
|
||||
/// dropped on the floor here.
|
||||
pub state: Option<String>,
|
||||
pub percent: Option<i32>,
|
||||
pub layer: Option<i32>,
|
||||
pub total_layers: Option<i32>,
|
||||
pub remaining_minutes: Option<i32>,
|
||||
pub job_name: Option<String>,
|
||||
pub nozzle_temp: Option<f32>,
|
||||
pub nozzle_target: Option<f32>,
|
||||
pub bed_temp: Option<f32>,
|
||||
pub bed_target: Option<f32>,
|
||||
/// Non-zero means the printer is reporting a fault.
|
||||
pub print_error: Option<i32>,
|
||||
/// How many Health-Management-System entries the printer currently has
|
||||
/// active. Just the count for now - decoding the `{attr, code}` pairs
|
||||
/// into messages needs Bambu's HMS tables, which we don't have yet.
|
||||
pub active_alerts: Option<usize>,
|
||||
}
|
||||
|
||||
/// What `continuum-backend` sends back over the same connection.
|
||||
@@ -14,4 +64,25 @@ pub enum ClientMessage {
|
||||
pub enum ServerMessage {
|
||||
HelloAck { session_id: String },
|
||||
HeartbeatAck { seq: u64 },
|
||||
/// Do something to one printer. `printer_id` is our own id from
|
||||
/// printers.toml.
|
||||
Command { command_id: String, printer_id: String, command: PrinterCommand },
|
||||
}
|
||||
|
||||
/// The closed set of things the cloud is allowed to ask a printer to do.
|
||||
///
|
||||
/// Deliberately small, and deliberately missing the obvious one: there is no
|
||||
/// "start a print" variant. `BambuPrinter::start_uploaded_file` exists but
|
||||
/// has never been run against real hardware, and the first thing to exercise
|
||||
/// it should be a human watching the machine - not a message arriving from
|
||||
/// the internet. Add it here once it's been confirmed by hand.
|
||||
#[derive(Debug, Clone, Deserialize)]
|
||||
#[serde(tag = "action", rename_all = "snake_case")]
|
||||
pub enum PrinterCommand {
|
||||
/// 0-100. Each vendor converts to whatever its own mechanism wants (for
|
||||
/// Bambu, an `M106` PWM value over MQTT).
|
||||
SetFanSpeed { percent: u8 },
|
||||
/// A single raw gcode line. The most powerful variant by far, and the
|
||||
/// one to be most careful about ever exposing to a UI.
|
||||
SendGcodeLine { line: String },
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user