up

internal/devices/ultrabeam/ultrabeam.go

@@ -103,17 +103,20 @@ func (c *Client) Stop() {
 }
 
 func (c *Client) pollLoop() {
-	ticker := time.NewTicker(500 * time.Millisecond)
+	ticker := time.NewTicker(2 * time.Second) // Increased from 500ms to 2s
 	defer ticker.Stop()
 
 	for {
 		select {
 		case <-ticker.C:
+
 			// Try to connect if not connected
 			c.connMu.Lock()
 			if c.conn == nil {
+				log.Printf("Ultrabeam: Not connected, attempting connection...")
 				conn, err := net.DialTimeout("tcp", fmt.Sprintf("%s:%d", c.host, c.port), 5*time.Second)
 				if err != nil {
+					log.Printf("Ultrabeam: Connection failed: %v", err)
 					c.connMu.Unlock()
 
 					// Mark as disconnected
@@ -151,12 +154,6 @@ func (c *Client) pollLoop() {
 			// Mark as connected
 			status.Connected = true
 
-			// Query element lengths
-			lengths, err := c.queryElementLengths()
-			if err == nil {
-				status.ElementLengths = lengths
-			}
-
 			// Query progress if motors moving
 			if status.MotorsMoving != 0 {
 				progress, err := c.queryProgress()
@@ -312,7 +309,7 @@ func (c *Client) sendCommand(cmd byte, data []byte) ([]byte, error) {
 	}
 
 	// Read reply with timeout
-	c.conn.SetReadDeadline(time.Now().Add(2 * time.Second))
+	c.conn.SetReadDeadline(time.Now().Add(1 * time.Second)) // Reduced from 2s to 1s
 
 	// Read until we get a complete packet
 	var buffer []byte
@@ -341,6 +338,11 @@ func (c *Client) sendCommand(cmd byte, data []byte) ([]byte, error) {
 		return nil, fmt.Errorf("failed to parse reply: %w", err)
 	}
 
+	// Log for debugging unknown codes
+	if replyCmd != UB_OK && replyCmd != UB_BAD && replyCmd != UB_PAR && replyCmd != UB_ERR {
+		log.Printf("Ultrabeam: Unknown reply code %d (0x%02X), raw packet: %v", replyCmd, replyCmd, buffer)
+	}
+
 	// Check for errors
 	switch replyCmd {
 	case UB_BAD:
@@ -352,7 +354,10 @@ func (c *Client) sendCommand(cmd byte, data []byte) ([]byte, error) {
 	case UB_OK:
 		return payload, nil
 	default:
-		return nil, fmt.Errorf("unknown reply code: %d", replyCmd)
+		// Unknown codes might indicate "busy" or "in progress"
+		// Treat as non-fatal, return empty payload
+		log.Printf("Ultrabeam: Unusual reply code %d, treating as busy/in-progress", replyCmd)
+		return []byte{}, nil
 	}
 }
 
@@ -390,17 +395,59 @@ func (c *Client) queryElementLengths() ([]int, error) {
 		return nil, err
 	}
 
+	// Debug: log raw bytes
+	log.Printf("Ultrabeam element lengths raw reply (%d bytes): %v", len(reply), reply)
+
+	// Try to extract 6 words - the protocol says 6 words (12 bytes)
+	// But we're receiving 14 bytes, so there might be padding
+
 	if len(reply) < 12 {
-		return nil, fmt.Errorf("element lengths reply too short")
+		return nil, fmt.Errorf("element lengths reply too short: %d bytes", len(reply))
 	}
 
 	lengths := make([]int, 6)
+
+	// Try different interpretations
+	log.Printf("=== Attempting different parsings ===")
+
+	// Method 1: Standard little-endian from byte 0
+	log.Printf("Method 1 (little-endian from 0):")
+	for i := 0; i < 6 && i*2+1 < len(reply); i++ {
+		lo := int(reply[i*2])
+		hi := int(reply[i*2+1])
+		val := lo | (hi << 8)
+		log.Printf("  Element %d: bytes[%d,%d] = [%d,%d] => %d mm", i, i*2, i*2+1, lo, hi, val)
+	}
+
+	// Method 2: Big-endian from byte 0
+	log.Printf("Method 2 (big-endian from 0):")
+	for i := 0; i < 6 && i*2+1 < len(reply); i++ {
+		hi := int(reply[i*2])
+		lo := int(reply[i*2+1])
+		val := lo | (hi << 8)
+		log.Printf("  Element %d: bytes[%d,%d] = [%d,%d] => %d mm", i, i*2, i*2+1, hi, lo, val)
+	}
+
+	// Method 3: Skip first 2 bytes, then little-endian
+	log.Printf("Method 3 (skip 2 bytes, little-endian):")
+	for i := 0; i < 6 && i*2+3 < len(reply); i++ {
+		lo := int(reply[i*2+2])
+		hi := int(reply[i*2+3])
+		val := lo | (hi << 8)
+		log.Printf("  Element %d: bytes[%d,%d] = [%d,%d] => %d mm", i, i*2+2, i*2+3, lo, hi, val)
+	}
+
+	// For now, use method 1 (original)
 	for i := 0; i < 6; i++ {
+		if i*2+1 >= len(reply) {
+			break
+		}
 		lo := int(reply[i*2])
 		hi := int(reply[i*2+1])
 		lengths[i] = lo | (hi << 8)
 	}
 
+	log.Printf("Final lengths: %v", lengths)
 	return lengths, nil
 }