Improvements to logging, including

* Use client_write so data goes to all clients, not just the Uart
* Added unsigned int to SimpleOutputStream so uints can be logged
* Added MSG: prefix on all log messages for Grbl protocol compatibility
* Use log_warn in PWMSpindle to test it

Grbl_Esp32/src/Config.h

@@ -160,45 +160,6 @@ const int DEFAULT_RADIO_MODE = ESP_RADIO_OFF;
 #    endif
 #endif
 
-// Define realtime command special characters. These characters are 'picked-off' directly from the
-// serial read data stream and are not passed to the grbl line execution parser. Select characters
-// that do not and must not exist in the streamed GCode program. ASCII control characters may be
-// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
-// GCode programs, maybe selected for interface programs.
-// NOTE: If changed, manually update help message in report.c.
-
-// NOTE: All override realtime commands must be in the extended ASCII character set, starting
-// at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
-// such as status reports, feed hold, reset, and cycle start, are moved to the extended set
-// space, serial.c's RX ISR will need to be modified to accommodate the change.
-
-enum class Cmd : uint8_t {
-    Reset                 = 0x18,  // Ctrl-X
-    StatusReport          = '?',
-    CycleStart            = '~',
-    FeedHold              = '!',
-    SafetyDoor            = 0x84,
-    JogCancel             = 0x85,
-    DebugReport           = 0x86,  // Only when DEBUG enabled, sends debug report in '{}' braces.
-    FeedOvrReset          = 0x90,  // Restores feed override value to 100%.
-    FeedOvrCoarsePlus     = 0x91,
-    FeedOvrCoarseMinus    = 0x92,
-    FeedOvrFinePlus       = 0x93,
-    FeedOvrFineMinus      = 0x94,
-    RapidOvrReset         = 0x95,  // Restores rapid override value to 100%.
-    RapidOvrMedium        = 0x96,
-    RapidOvrLow           = 0x97,
-    RapidOvrExtraLow      = 0x98,  // *NOT SUPPORTED*
-    SpindleOvrReset       = 0x99,  // Restores spindle override value to 100%.
-    SpindleOvrCoarsePlus  = 0x9A,  // 154
-    SpindleOvrCoarseMinus = 0x9B,
-    SpindleOvrFinePlus    = 0x9C,
-    SpindleOvrFineMinus   = 0x9D,
-    SpindleOvrStop        = 0x9E,
-    CoolantFloodOvrToggle = 0xA0,
-    CoolantMistOvrToggle  = 0xA1,
-};
-
 // If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
 // the user to perform the homing cycle (or override the locks) before doing anything else. This is
 // mainly a safety feature to remind the user to home, since position is unknown to Grbl.

Grbl_Esp32/src/Logging.cpp

@@ -5,7 +5,7 @@
 #    include <iostream>
 
 DebugStream::DebugStream(const char* name) {
-    std::cout << '[' << name << ": ";
+    std::cout << '[MSG:' << name << ": ";
 }
 void DebugStream::add(char c) {
     std::cout << c;
@@ -17,20 +17,24 @@ DebugStream::~DebugStream() {
 
 #else
 
-#    include "Uart.h"
+#    include "Serial.h"
 
 DebugStream::DebugStream(const char* name) {
-    Uart0.print("[");
+    client_write(CLIENT_ALL, "[MSG:");
-    Uart0.print(name);
+    client_write(CLIENT_ALL, name);
-    Uart0.print(": ");
+    client_write(CLIENT_ALL, ": ");
 }
 
 void DebugStream::add(char c) {
-    Uart0.print(c);
+    char txt[2];
+    txt[0] = c;
+    txt[1] = '\0';
+    client_write(CLIENT_ALL, txt);
 }
 
 DebugStream::~DebugStream() {
-    Uart0.println("]");
+    client_write(CLIENT_ALL, "]");
+    client_write(CLIENT_ALL, "\r\n");
 }
 
 #endif

Grbl_Esp32/src/Report.h

@@ -46,14 +46,6 @@ enum class Message : uint8_t {
     SdFileQuit      = 60,  // mc_reset was called during an SD job
 };
 
-#define CLIENT_SERIAL 0
-#define CLIENT_BT 1
-#define CLIENT_WEBUI 2
-#define CLIENT_TELNET 3
-#define CLIENT_INPUT 4
-#define CLIENT_ALL 0xFF
-#define CLIENT_COUNT 5  // total number of client types regardless if they are used
-
 enum class MsgLevel : int8_t {  // Use $Message/Level
     None    = 0,
     Error   = 1,

Grbl_Esp32/src/Serial.h

@@ -22,16 +22,13 @@
 
 #include "stdint.h"
 
-#ifndef RX_BUFFER_SIZE
+#define CLIENT_SERIAL 0
-#    define RX_BUFFER_SIZE 256
+#define CLIENT_BT 1
-#endif
+#define CLIENT_WEBUI 2
-#ifndef TX_BUFFER_SIZE
+#define CLIENT_TELNET 3
-#    ifdef USE_LINE_NUMBERS
+#define CLIENT_INPUT 4
-#        define TX_BUFFER_SIZE 112
+#define CLIENT_ALL 0xFF
-#    else
+#define CLIENT_COUNT 5  // total number of client types regardless if they are used
-#        define TX_BUFFER_SIZE 104
-#    endif
-#endif
 
 // a task to read for incoming data from serial port
 void clientCheckTask(void* pvParameters);
@@ -50,5 +47,44 @@ void client_reset_read_buffer(uint8_t client);
 // Returns the number of bytes available in the RX serial buffer.
 uint8_t client_get_rx_buffer_available(uint8_t client);
 
+// Define realtime command special characters. These characters are 'picked-off' directly from the
+// serial read data stream and are not passed to the grbl line execution parser. Select characters
+// that do not and must not exist in the streamed GCode program. ASCII control characters may be
+// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
+// GCode programs, maybe selected for interface programs.
+// NOTE: If changed, manually update help message in report.c.
+
+// NOTE: All override realtime commands must be in the extended ASCII character set, starting
+// at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
+// such as status reports, feed hold, reset, and cycle start, are moved to the extended set
+// space, serial.c's RX ISR will need to be modified to accommodate the change.
+
+enum class Cmd : uint8_t {
+    Reset                 = 0x18,  // Ctrl-X
+    StatusReport          = '?',
+    CycleStart            = '~',
+    FeedHold              = '!',
+    SafetyDoor            = 0x84,
+    JogCancel             = 0x85,
+    DebugReport           = 0x86,  // Only when DEBUG enabled, sends debug report in '{}' braces.
+    FeedOvrReset          = 0x90,  // Restores feed override value to 100%.
+    FeedOvrCoarsePlus     = 0x91,
+    FeedOvrCoarseMinus    = 0x92,
+    FeedOvrFinePlus       = 0x93,
+    FeedOvrFineMinus      = 0x94,
+    RapidOvrReset         = 0x95,  // Restores rapid override value to 100%.
+    RapidOvrMedium        = 0x96,
+    RapidOvrLow           = 0x97,
+    RapidOvrExtraLow      = 0x98,  // *NOT SUPPORTED*
+    SpindleOvrReset       = 0x99,  // Restores spindle override value to 100%.
+    SpindleOvrCoarsePlus  = 0x9A,  // 154
+    SpindleOvrCoarseMinus = 0x9B,
+    SpindleOvrFinePlus    = 0x9C,
+    SpindleOvrFineMinus   = 0x9D,
+    SpindleOvrStop        = 0x9E,
+    CoolantFloodOvrToggle = 0xA0,
+    CoolantMistOvrToggle  = 0xA1,
+};
+
 void execute_realtime_command(Cmd command, uint8_t client);
 bool is_realtime_command(uint8_t data);

Grbl_Esp32/src/SimpleOutputStream.cpp

@@ -2,54 +2,69 @@
 
 #include <cstring>
 
-char* SimpleOutputStream::intToBuf(int value, char* dst)
+char* SimpleOutputStream::intToBuf(int value, char* dst) {
-{
 #ifdef ESP32
     return itoa(value, dst, 10);
-#else 
+#else
     _itoa_s(value, dst, 10, 10);
     return dst + strlen(dst);
 #endif
 }
 
 void SimpleOutputStream::add(const char* s) {
-    for (; *s; ++s) { add(*s); }
+    for (; *s; ++s) {
+        add(*s);
+    }
 }
 
 void SimpleOutputStream::add(int value) {
-    char buf[10];
+    char buf[12];  // Up to 10 digits, possibly a -, plus a null
     intToBuf(value, buf);
     add(buf);
 }
 
-void SimpleOutputStream::add(double value, int numberDigits, int precision)
+void SimpleOutputStream::add(unsigned int value) {
-{
+    if (value == 0) {
+        add('0');
+        return;
+    }
+    char  reverse[11];  // Up to 10 digits plus a null
+    char* p = reverse;
+    while (value) {
+        *p++ = value % 10 + '0';
+        value /= 10;
+    }
+    while (p > reverse) {
+        add(*--p);
+    }
+}
+
+void SimpleOutputStream::add(double value, int numberDigits, int precision) {
     if (isnan(value)) {
         add("NaN");
-    }
+    } else if (isinf(value)) {
-    else if (isinf(value)) {
         add("Inf");
     }
 
-    char buf[30]; // that's already quite big
+    char buf[30];  // that's already quite big
     char fmt[10];
     fmt[0] = '%';
     fmt[1] = '0';
 
     char* next = intToBuf(numberDigits, fmt + 2);
-    *next++ = '.';
+    *next++    = '.';
     intToBuf(precision, next);
 
     snprintf(buf, sizeof(buf) - 1, fmt, value);
     add(buf);
 }
 
-void SimpleOutputStream::add(StringRange range)
+void SimpleOutputStream::add(StringRange range) {
-{
+    for (auto ch : range) {
-    for (auto ch : range) { add(ch); }
+        add(ch);
+    }
 }
 
-void SimpleOutputStream::add(const Pin& pin)
+void SimpleOutputStream::add(const Pin& pin) {
-{
     add(pin.name());
 }

Grbl_Esp32/src/SimpleOutputStream.h

@@ -5,15 +5,15 @@
 #include "StringRange.h"
 #include "Pin.h"
 
-class SimpleOutputStream
+class SimpleOutputStream {
-{
     static char* intToBuf(int value, char* dst);
+    static char* uintToBuf(unsigned int value, char* dst);
 
 public:
     SimpleOutputStream() = default;
 
     SimpleOutputStream(const SimpleOutputStream& o) = delete;
-    SimpleOutputStream(SimpleOutputStream&& o) = delete;
+    SimpleOutputStream(SimpleOutputStream&& o)      = delete;
 
     SimpleOutputStream& operator=(const SimpleOutputStream& o) = delete;
     SimpleOutputStream& operator=(SimpleOutputStream&& o) = delete;
@@ -23,12 +23,12 @@ public:
 
     void add(const char* s);
     void add(int value);
+    void add(unsigned int value);
     void add(double value, int numberDigits, int precision);
     void add(StringRange range);
     void add(const Pin& pin);
 
-    virtual ~SimpleOutputStream() {
+    virtual ~SimpleOutputStream() {}
-    }
 };
 
 inline SimpleOutputStream& operator<<(SimpleOutputStream& lhs, char c) {
@@ -46,6 +46,11 @@ inline SimpleOutputStream& operator<<(SimpleOutputStream& lhs, int v) {
     return lhs;
 }
 
+inline SimpleOutputStream& operator<<(SimpleOutputStream& lhs, unsigned int v) {
+    lhs.add(v);
+    return lhs;
+}
+
 inline SimpleOutputStream& operator<<(SimpleOutputStream& lhs, double v) {
     lhs.add(v, 4, 3);
     return lhs;

Grbl_Esp32/src/Spindles/PWMSpindle.cpp

@@ -21,6 +21,7 @@
 */
 #include "PWMSpindle.h"
 #include "soc/ledc_struct.h"
+#include "../Logging.h"
 
 // ======================= PWM ==============================
 /*
@@ -35,12 +36,12 @@ namespace Spindles {
         get_pins_and_settings();
 
         if (_output_pin.undefined()) {
-            grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Warning: Spindle output pin not defined");
+            log_warn("Spindle output pin not defined");
             return;  // We cannot continue without the output pin
         }
 
         if (!_output_pin.capabilities().has(Pin::Capabilities::PWM)) {
-            grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Warning: Spindle output pin %s cannot do PWM", _output_pin.name().c_str());
+            log_warn("Spindle output pin %s cannot do PWM" << _output_pin.name().c_str());
             return;
         }
 
@@ -67,11 +68,11 @@ namespace Spindles {
 
         is_reversable = _direction_pin.defined();
 
-        _pwm_precision = calc_pwm_precision(_pwm_freq);  // detewrmine the best precision
+        _pwm_precision = calc_pwm_precision(_pwm_freq);  // determine the best precision
         _pwm_period    = (1 << _pwm_precision);
 
         if (_pwm_min_value > _pwm_max_value) {
-            grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Warning: Spindle min pwm is greater than max. Check $35 and $36");
+            log_warn("Spindle min pwm is greater than max.");
         }
 
         // pre-calculate some PWM count values
@@ -96,8 +97,6 @@ namespace Spindles {
             return rpm;
         }
 
-        //grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "set_rpm(%d)", rpm);
-
         // apply override
         rpm = rpm * sys.spindle_speed_ovr / 100;  // Scale by spindle speed override value (uint8_t percent)
 
@@ -113,7 +112,7 @@ namespace Spindles {
         if (_piecewise_linear) {
             //pwm_value = piecewise_linear_fit(rpm); TODO
             pwm_value = 0;
-            grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Warning: Linear fit not implemented yet.");
+            log_warn("Linear fit not implemented yet.");
 
         } else {
             if (rpm == 0) {
@@ -172,14 +171,10 @@ namespace Spindles {
 
     // prints the startup message of the spindle config
     void PWM::config_message() {
-        grbl_msg_sendf(CLIENT_ALL,
+        log_info("PWM spindle Output:" << _output_pin.name().c_str() << ", Enbl:" << _enable_pin.name().c_str() << ", Dir:"
-                       MsgLevel::Info,
+                                       << _direction_pin.name().c_str() << ", Freq:" << _pwm_freq << "Hz, Res:" << _pwm_precision << "bits"
-                       "PWM spindle Output:%s, Enbl:%s, Dir:%s, Freq:%dHz, Res:%dbits",
+
-                       _output_pin.name().c_str(),
+        );
-                       _enable_pin.name().c_str(),
-                       _direction_pin.name().c_str(),
-                       _pwm_freq,
-                       _pwm_precision);
     }
 
     void PWM::set_output(uint32_t duty) {