Cura/util/machineCom.py

   1 from __future__ import absolute_import
   2 import __init__
   3
   4 import os, glob, sys, time, math, re, traceback, threading
   5 import Queue as queue
   6
   7 from serial import Serial
   8
   9 from avr_isp import stk500v2
  10 from avr_isp import ispBase
  11 from avr_isp import intelHex
  12
  13 from util import profile
  14 from util import version
  15
  16 try:
  17         import _winreg
  18 except:
  19         pass
  20
  21 def serialList():
  22         baselist=[]
  23         if os.name=="nt":
  24                 try:
  25                         key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
  26                         i=0
  27                         while(1):
  28                                 baselist+=[_winreg.EnumValue(key,i)[1]]
  29                                 i+=1
  30                 except:
  31                         pass
  32         baselist = baselist + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob("/dev/tty.usb*") + glob.glob("/dev/cu.*") + glob.glob("/dev/rfcomm*")
  33         prev = profile.getPreference('serial_port_auto')
  34         if prev in baselist:
  35                 baselist.remove(prev)
  36                 baselist.insert(0, prev)
  37         if version.isDevVersion():
  38                 baselist.append('VIRTUAL')
  39         return baselist
  40
  41 def baudrateList():
  42         ret = [250000, 230400, 115200, 57600, 38400, 19200, 9600]
  43         if profile.getPreference('serial_baud_auto') != '':
  44                 prev = int(profile.getPreference('serial_baud_auto'))
  45                 if prev in ret:
  46                         ret.remove(prev)
  47                         ret.insert(0, prev)
  48         return ret
  49
  50 class VirtualPrinter():
  51         def __init__(self):
  52                 self.readList = ['start\n', 'Marlin: Virtual Marlin!\n', '\x80\n']
  53                 self.temp = 0.0
  54                 self.targetTemp = 0.0
  55                 self.lastTempAt = time.time()
  56                 self.bedTemp = 1.0
  57                 self.bedTargetTemp = 1.0
  58
  59         def write(self, data):
  60                 if self.readList == None:
  61                         return
  62                 #print "Send: %s" % (data.rstrip())
  63                 if 'M104' in data or 'M109' in data:
  64                         try:
  65                                 self.targetTemp = float(data[data.find('S')+1:])
  66                         except:
  67                                 pass
  68                 if 'M140' in data or 'M190' in data:
  69                         try:
  70                                 self.bedTargetTemp = float(data[data.find('S')+1:])
  71                         except:
  72                                 pass
  73                 if 'M105' in data:
  74                         self.readList.append("ok T:%.2f /%.2f B:%.2f /%.2f @:64\n" % (self.temp, self.targetTemp, self.bedTemp, self.bedTargetTemp))
  75                 elif len(data.strip()) > 0:
  76                         self.readList.append("ok\n")
  77
  78         def readline(self):
  79                 if self.readList == None:
  80                         return ''
  81                 n = 0
  82                 timeDiff = self.lastTempAt - time.time()
  83                 self.lastTempAt = time.time()
  84                 if abs(self.temp - self.targetTemp) > 1:
  85                         self.temp += math.copysign(timeDiff, self.targetTemp - self.temp)
  86                 if abs(self.bedTemp - self.bedTargetTemp) > 1:
  87                         self.bedTemp += math.copysign(timeDiff, self.bedTargetTemp - self.bedTemp)
  88                 while len(self.readList) < 1:
  89                         time.sleep(0.1)
  90                         n += 1
  91                         if n == 20:
  92                                 return ''
  93                         if self.readList == None:
  94                                 return ''
  95                 time.sleep(0.001)
  96                 #print "Recv: %s" % (self.readList[0].rstrip())
  97                 return self.readList.pop(0)
  98
  99         def close(self):
 100                 self.readList = None
 101
 102 class MachineComPrintCallback(object):
 103         def mcLog(self, message):
 104                 print(message)
 105
 106         def mcTempUpdate(self, temp, bedTemp):
 107                 pass
 108
 109         def mcStateChange(self, state):
 110                 pass
 111
 112         def mcMessage(self, message):
 113                 pass
 114
 115         def mcProgress(self, lineNr):
 116                 pass
 117
 118         def mcZChange(self, newZ):
 119                 pass
 120
 121 class MachineCom(object):
 122         STATE_NONE = 0
 123         STATE_DETECT_BAUDRATE = 1
 124         STATE_CONNECTING = 2
 125         STATE_OPERATIONAL = 3
 126         STATE_PRINTING = 4
 127         STATE_PAUSED = 5
 128         STATE_CLOSED = 6
 129         STATE_ERROR = 7
 130         STATE_CLOSED_WITH_ERROR = 8
 131
 132         def __init__(self, port = None, baudrate = None, callbackObject = None):
 133                 if port == None:
 134                         port = profile.getPreference('serial_port')
 135                 if baudrate == None:
 136                         if profile.getPreference('serial_baud') == 'AUTO':
 137                                 baudrate = 0
 138                         else:
 139                                 baudrate = int(profile.getPreference('serial_baud'))
 140                 if callbackObject == None:
 141                         callbackObject = MachineComPrintCallback()
 142
 143                 self._callback = callbackObject
 144                 self._state = self.STATE_NONE
 145                 self._serial = None
 146                 self._baudrateDetectList = baudrateList()
 147                 self._baudrateDetectRetry = 0
 148                 self._temp = 0
 149                 self._bedTemp = 0
 150                 self._gcodeList = None
 151                 self._gcodePos = 0
 152                 self._commandQueue = queue.Queue()
 153                 self._logQueue = queue.Queue(256)
 154                 self._feedRateModifier = {}
 155                 self._currentZ = -1
 156
 157                 if port == 'AUTO':
 158                         programmer = stk500v2.Stk500v2()
 159                         self._log("Serial port list: %s" % (str(serialList())))
 160                         for p in serialList():
 161                                 try:
 162                                         self._log("Connecting to: %s" % (p))
 163                                         programmer.connect(p)
 164                                         self._serial = programmer.leaveISP()
 165                                         profile.putPreference('serial_port_auto', p)
 166                                         break
 167                                 except ispBase.IspError as (e):
 168                                         self._log("Error while connecting to %s: %s" % (p, str(e)))
 169                                         pass
 170                                 except:
 171                                         self._log("Unexpected error while connecting to serial port: %s %s" % (p, getExceptionString()))
 172                                 programmer.close()
 173                 elif port == 'VIRTUAL':
 174                         self._serial = VirtualPrinter()
 175                 else:
 176                         try:
 177                                 self._log("Connecting to: %s" % (port))
 178                                 if baudrate == 0:
 179                                         self._serial = Serial(port, 115200, timeout=0.1)
 180                                 else:
 181                                         self._serial = Serial(port, baudrate, timeout=2)
 182                         except:
 183                                 self._log("Unexpected error while connecting to serial port: %s %s" % (port, getExceptionString()))
 184                 if self._serial == None:
 185                         self._log("Failed to open serial port (%s)" % (port))
 186                         self._errorValue = 'Failed to autodetect serial port.'
 187                         self._changeState(self.STATE_ERROR)
 188                         return
 189                 self._log("Connected to: %s, starting monitor" % (self._serial))
 190                 if baudrate == 0:
 191                         self._changeState(self.STATE_DETECT_BAUDRATE)
 192                 else:
 193                         self._changeState(self.STATE_CONNECTING)
 194                 self.thread = threading.Thread(target=self._monitor)
 195                 self.thread.daemon = True
 196                 self.thread.start()
 197
 198         def _changeState(self, newState):
 199                 if self._state == newState:
 200                         return
 201                 oldState = self.getStateString()
 202                 self._state = newState
 203                 self._log('Changing monitoring state from \'%s\' to \'%s\'' % (oldState, self.getStateString()))
 204                 self._callback.mcStateChange(newState)
 205
 206         def getState(self):
 207                 return self._state
 208
 209         def getStateString(self):
 210                 if self._state == self.STATE_NONE:
 211                         return "Offline"
 212                 if self._state == self.STATE_DETECT_BAUDRATE:
 213                         return "Detect baudrate"
 214                 if self._state == self.STATE_CONNECTING:
 215                         return "Connecting"
 216                 if self._state == self.STATE_OPERATIONAL:
 217                         return "Operational"
 218                 if self._state == self.STATE_PRINTING:
 219                         return "Printing"
 220                 if self._state == self.STATE_PAUSED:
 221                         return "Paused"
 222                 if self._state == self.STATE_CLOSED:
 223                         return "Closed"
 224                 if self._state == self.STATE_ERROR:
 225                         return "Error: %s" % (self._errorValue)
 226                 if self._state == self.STATE_CLOSED_WITH_ERROR:
 227                         return "Error: %s" % (self._errorValue)
 228                 return "?%d?" % (self._state)
 229
 230         def isClosedOrError(self):
 231                 return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED
 232
 233         def isError(self):
 234                 return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR
 235
 236         def isOperational(self):
 237                 return self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PRINTING or self._state == self.STATE_PAUSED
 238
 239         def isPrinting(self):
 240                 return self._state == self.STATE_PRINTING
 241
 242         def getPrintPos(self):
 243                 return self._gcodePos
 244
 245         def getPrintTime(self):
 246                 return time.time() - self._printStartTime
 247
 248         def isPaused(self):
 249                 return self._state == self.STATE_PAUSED
 250
 251         def getTemp(self):
 252                 return self._temp
 253
 254         def getBedTemp(self):
 255                 return self._bedTemp
 256
 257         def getLog(self):
 258                 ret = []
 259                 while not self._logQueue.empty():
 260                         ret.append(self._logQueue.get())
 261                 for line in ret:
 262                         self._logQueue.put(line, False)
 263                 return ret
 264
 265         def _monitor(self):
 266                 timeout = time.time() + 5
 267                 tempRequestTimeout = timeout
 268                 while True:
 269                         line = self._readline()
 270                         if line == None:
 271                                 break
 272
 273                         #No matter the state, if we see an error, goto the error state and store the error for reference.
 274                         if line.startswith('Error: '):
 275                                 #Oh YEAH, consistency.
 276                                 # Marlin reports an MIN/MAX temp error as "Error: x\n: Extruder switched off. MAXTEMP triggered !\n"
 277                                 #       But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!"
 278                                 #       So we can have an extra newline in the most common case. Awesome work people.
 279                                 if re.match('Error: [0-9]\n', line):
 280                                         line = line.rstrip() + self._readline()
 281                                 self._errorValue = line
 282                                 self._changeState(self.STATE_ERROR)
 283                         if ' T:' in line:
 284                                 self._temp = float(re.search("[0-9\.]*", line.split(' T:')[1]).group(0))
 285                                 if ' B:' in line:
 286                                         self._bedTemp = float(re.search("[0-9\.]*", line.split(' B:')[1]).group(0))
 287                                 self._callback.mcTempUpdate(self._temp, self._bedTemp)
 288                         elif line.strip() != 'ok':
 289                                 self._callback.mcMessage(line)
 290
 291                         if self._state == self.STATE_DETECT_BAUDRATE:
 292                                 if line == '' or time.time() > timeout:
 293                                         if len(self._baudrateDetectList) < 1:
 294                                                 self._log("No more baudrates to test, and no suitable baudrate found.")
 295                                                 self.close()
 296                                         elif self._baudrateDetectRetry > 0:
 297                                                 self._baudrateDetectRetry -= 1
 298                                                 self._serial.write('\n')
 299                                                 self._sendCommand("M105")
 300                                         else:
 301                                                 baudrate = self._baudrateDetectList.pop(0)
 302                                                 try:
 303                                                         self._serial.baudrate = baudrate
 304                                                         self._serial.timeout = 0.5
 305                                                         self._log("Trying baudrate: %d" % (baudrate))
 306                                                         self._baudrateDetectRetry = 5
 307                                                         timeout = time.time() + 5
 308                                                         self._serial.write('\n')
 309                                                         self._sendCommand("M105")
 310                                                 except:
 311                                                         self._log("Unexpected error while setting baudrate: %d %s" % (baudrate, getExceptionString()))
 312                                 elif 'ok' in line:
 313                                         self._serial.timeout = 2
 314                                         profile.putPreference('serial_baud_auto', self._serial.baudrate)
 315                                         self._changeState(self.STATE_OPERATIONAL)
 316                         elif self._state == self.STATE_CONNECTING:
 317                                 if line == '':
 318                                         self._sendCommand("M105")
 319                                 elif 'ok' in line:
 320                                         self._changeState(self.STATE_OPERATIONAL)
 321                                 if time.time() > timeout:
 322                                         self.close()
 323                         elif self._state == self.STATE_OPERATIONAL:
 324                                 #Request the temperature on comm timeout (every 2 seconds) when we are not printing.
 325                                 if line == '':
 326                                         self._sendCommand("M105")
 327                                         tempRequestTimeout = time.time() + 5
 328                         elif self._state == self.STATE_PRINTING:
 329                                 if line == '' and time.time() > timeout:
 330                                         self._log("Communication timeout during printing, forcing a line")
 331                                         line = 'ok'
 332                                 #Even when printing request the temperture every 5 seconds.
 333                                 if time.time() > tempRequestTimeout:
 334                                         self._commandQueue.put("M105")
 335                                         tempRequestTimeout = time.time() + 5
 336                                 if 'ok' in line:
 337                                         timeout = time.time() + 5
 338                                         if not self._commandQueue.empty():
 339                                                 self._sendCommand(self._commandQueue.get())
 340                                         else:
 341                                                 self._sendNext()
 342                                 elif "resend" in line.lower() or "rs" in line:
 343                                         try:
 344                                                 self._gcodePos = int(line.replace("N:"," ").replace("N"," ").replace(":"," ").split()[-1])
 345                                         except:
 346                                                 if "rs" in line:
 347                                                         self._gcodePos = int(line.split()[1])
 348                 self._log("Connection closed, closing down monitor")
 349
 350         def _log(self, message):
 351                 self._callback.mcLog(message)
 352                 try:
 353                         self._logQueue.put(message, False)
 354                 except:
 355                         #If the log queue is full, remove the first message and append the new message again
 356                         self._logQueue.get()
 357                         self._logQueue.put(message, False)
 358
 359         def _readline(self):
 360                 if self._serial == None:
 361                         return None
 362                 try:
 363                         ret = self._serial.readline()
 364                 except:
 365                         self._log("Unexpected error while reading serial port: %s" % (getExceptionString()))
 366                         self._errorValue = getExceptionString()
 367                         self.close(True)
 368                         return None
 369                 if ret == '':
 370                         #self._log("Recv: TIMEOUT")
 371                         return ''
 372                 self._log("Recv: %s" % (unicode(ret, 'ascii', 'replace').encode('ascii', 'replace').rstrip()))
 373                 return ret
 374
 375         def close(self, isError = False):
 376                 if self._serial != None:
 377                         self._serial.close()
 378                         if isError:
 379                                 self._changeState(self.STATE_CLOSED_WITH_ERROR)
 380                         else:
 381                                 self._changeState(self.STATE_CLOSED)
 382                 self._serial = None
 383
 384         def __del__(self):
 385                 self.close()
 386
 387         def _sendCommand(self, cmd):
 388                 if self._serial == None:
 389                         return
 390                 self._log('Send: %s' % (cmd))
 391                 try:
 392                         #TODO: This can throw a write timeout exception, but we do not want timeout on writes. Find a fix for this.
 393                         #       Oddly enough, the write timeout is not even set and thus we should not get a write timeout.
 394                         self._serial.write(cmd + '\n')
 395                 except:
 396                         self._log("Unexpected error while writing serial port: %s" % (getExceptionString()))
 397                         self._errorValue = getExceptionString()
 398                         self.close(True)
 399
 400         def _sendNext(self):
 401                 if self._gcodePos >= len(self._gcodeList):
 402                         self._changeState(self.STATE_OPERATIONAL)
 403                         return
 404                 line = self._gcodeList[self._gcodePos]
 405                 if type(line) is tuple:
 406                         self._printSection = line[1]
 407                         line = line[0]
 408                 try:
 409                         if line == 'M0' or line == 'M1':
 410                                 self.setPause(True)
 411                                 line = 'M105'   #Don't send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
 412                         if self._printSection in self._feedRateModifier:
 413                                 line = re.sub('F([0-9]*)', lambda m: 'F' + str(int(int(m.group(1)) * self._feedRateModifier[self._printSection])), line)
 414                         if ('G0' in line or 'G1' in line) and 'Z' in line:
 415                                 z = float(re.search('Z([0-9\.]*)', line).group(1))
 416                                 if self._currentZ != z:
 417                                         self._currentZ = z
 418                                         self._callback.mcZChange(z)
 419                 except:
 420                         self._log("Unexpected error: %s" % (getExceptionString()))
 421                 checksum = reduce(lambda x,y:x^y, map(ord, "N%d%s" % (self._gcodePos, line)))
 422                 self._sendCommand("N%d%s*%d" % (self._gcodePos, line, checksum))
 423                 self._gcodePos += 1
 424                 self._callback.mcProgress(self._gcodePos)
 425
 426         def sendCommand(self, cmd):
 427                 cmd = cmd.encode('ascii', 'replace')
 428                 if self.isPrinting():
 429                         self._commandQueue.put(cmd)
 430                 elif self.isOperational():
 431                         self._sendCommand(cmd)
 432
 433         def printGCode(self, gcodeList):
 434                 if not self.isOperational() or self.isPrinting():
 435                         return
 436                 self._gcodeList = gcodeList
 437                 self._gcodePos = 0
 438                 self._printSection = 'CUSTOM'
 439                 self._changeState(self.STATE_PRINTING)
 440                 self._printStartTime = time.time()
 441                 for i in xrange(0, 6):
 442                         self._sendNext()
 443
 444         def cancelPrint(self):
 445                 if self.isOperational():
 446                         self._changeState(self.STATE_OPERATIONAL)
 447
 448         def setPause(self, pause):
 449                 if not pause and self.isPaused():
 450                         self._changeState(self.STATE_PRINTING)
 451                         for i in xrange(0, 6):
 452                                 self._sendNext()
 453                 if pause and self.isPrinting():
 454                         self._changeState(self.STATE_PAUSED)
 455
 456         def setFeedrateModifier(self, type, value):
 457                 self._feedRateModifier[type] = value
 458
 459 def getExceptionString():
 460         locationInfo = traceback.extract_tb(sys.exc_info()[2])[0]
 461         return "%s: '%s' @ %s:%s:%d" % (str(sys.exc_info()[0].__name__), str(sys.exc_info()[1]), os.path.basename(locationInfo[0]), locationInfo[2], locationInfo[1])
 462