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
  15 try:
  16         import _winreg
  17 except:
  18         pass
  19
  20 def serialList():
  21         baselist=[]
  22         if os.name=="nt":
  23                 try:
  24                         key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
  25                         i=0
  26                         while(1):
  27                                 baselist+=[_winreg.EnumValue(key,i)[1]]
  28                                 i+=1
  29                 except:
  30                         pass
  31         baselist = baselist + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob("/dev/tty.usb*") + glob.glob("/dev/cu.*") + glob.glob("/dev/rfcomm*")
  32         prev = profile.getPreference('serial_port_auto')
  33         if prev in baselist:
  34                 baselist.remove(prev)
  35                 baselist.insert(0, prev)
  36         return baselist
  37
  38 def baudrateList():
  39         ret = [250000, 230400, 115200, 57600, 38400, 19200, 9600]
  40         if profile.getPreference('serial_baud_auto') != '':
  41                 prev = int(profile.getPreference('serial_baud_auto'))
  42                 if prev in ret:
  43                         ret.remove(prev)
  44                         ret.insert(0, prev)
  45         return ret
  46
  47 class VirtualPrinter():
  48         def __init__(self):
  49                 self.readList = ['start\n', 'Marlin: Virtual Marlin!\n', '\x80\n']
  50                 self.temp = 0.0
  51                 self.targetTemp = 0.0
  52                 self.lastTempAt = time.time()
  53                 self.bedTemp = 1.0
  54                 self.bedTargetTemp = 1.0
  55
  56         def write(self, data):
  57                 if self.readList == None:
  58                         return
  59                 #print "Send: %s" % (data.rstrip())
  60                 if 'M104' in data or 'M109' in data:
  61                         try:
  62                                 self.targetTemp = float(data[data.find('S')+1:])
  63                         except:
  64                                 pass
  65                 if 'M140' in data or 'M190' in data:
  66                         try:
  67                                 self.bedTargetTemp = float(data[data.find('S')+1:])
  68                         except:
  69                                 pass
  70                 if 'M105' in data:
  71                         self.readList.append("ok T:%.2f /%.2f B:%.2f /%.2f @:64\n" % (self.temp, self.targetTemp, self.bedTemp, self.bedTargetTemp))
  72                 elif len(data.strip()) > 0:
  73                         self.readList.append("ok\n")
  74
  75         def readline(self):
  76                 if self.readList == None:
  77                         return ''
  78                 n = 0
  79                 timeDiff = self.lastTempAt - time.time()
  80                 self.lastTempAt = time.time()
  81                 if abs(self.temp - self.targetTemp) > 1:
  82                         self.temp += math.copysign(timeDiff, self.targetTemp - self.temp)
  83                 if abs(self.bedTemp - self.bedTargetTemp) > 1:
  84                         self.bedTemp += math.copysign(timeDiff, self.bedTargetTemp - self.bedTemp)
  85                 while len(self.readList) < 1:
  86                         time.sleep(0.1)
  87                         n += 1
  88                         if n == 20:
  89                                 return ''
  90                         if self.readList == None:
  91                                 return ''
  92                 time.sleep(0.01)
  93                 #print "Recv: %s" % (self.readList[0].rstrip())
  94                 return self.readList.pop(0)
  95
  96         def close(self):
  97                 self.readList = None
  98
  99 class MachineComPrintCallback(object):
 100         def mcLog(self, message):
 101                 print(message)
 102
 103         def mcTempUpdate(self, temp, bedTemp):
 104                 pass
 105
 106         def mcStateChange(self, state):
 107                 pass
 108
 109         def mcMessage(self, message):
 110                 pass
 111
 112         def mcProgress(self, lineNr):
 113                 pass
 114
 115         def mcZChange(self, newZ):
 116                 pass
 117
 118 class MachineCom(object):
 119         STATE_NONE = 0
 120         STATE_DETECT_BAUDRATE = 1
 121         STATE_CONNECTING = 2
 122         STATE_OPERATIONAL = 3
 123         STATE_PRINTING = 4
 124         STATE_PAUSED = 5
 125         STATE_CLOSED = 6
 126         STATE_ERROR = 7
 127         STATE_CLOSED_WITH_ERROR = 8
 128
 129         def __init__(self, port = None, baudrate = None, callbackObject = None):
 130                 if port == None:
 131                         port = profile.getPreference('serial_port')
 132                 if baudrate == None:
 133                         if profile.getPreference('serial_baud') == 'AUTO':
 134                                 baudrate = 0
 135                         else:
 136                                 baudrate = int(profile.getPreference('serial_baud'))
 137                 if callbackObject == None:
 138                         callbackObject = MachineComPrintCallback()
 139
 140                 self._callback = callbackObject
 141                 self._state = self.STATE_NONE
 142                 self._serial = None
 143                 self._baudrateDetectList = baudrateList()
 144                 self._baudrateDetectRetry = 0
 145                 self._temp = 0
 146                 self._bedTemp = 0
 147                 self._gcodeList = None
 148                 self._gcodePos = 0
 149                 self._commandQueue = queue.Queue()
 150                 self._logQueue = queue.Queue(256)
 151                 self._feedRateModifier = {}
 152                 self._currentZ = -1
 153
 154                 if port == 'AUTO':
 155                         programmer = stk500v2.Stk500v2()
 156                         self._log("Serial port list: %s" % (str(serialList())))
 157                         for p in serialList():
 158                                 try:
 159                                         self._log("Connecting to: %s" % (p))
 160                                         programmer.connect(p)
 161                                         self._serial = programmer.leaveISP()
 162                                         profile.putPreference('serial_port_auto', p)
 163                                         break
 164                                 except ispBase.IspError as (e):
 165                                         self._log("Error while connecting to %s: %s" % (p, str(e)))
 166                                         pass
 167                                 except:
 168                                         self._log("Unexpected error while connecting to serial port: %s %s" % (p, getExceptionString()))
 169                                 programmer.close()
 170                 elif port == 'VIRTUAL':
 171                         self._serial = VirtualPrinter()
 172                 else:
 173                         try:
 174                                 self._log("Connecting to: %s" % (port))
 175                                 if baudrate == 0:
 176                                         self._serial = Serial(port, 115200, timeout=0.1)
 177                                 else:
 178                                         self._serial = Serial(port, baudrate, timeout=2)
 179                         except:
 180                                 self._log("Unexpected error while connecting to serial port: %s %s" % (port, getExceptionString()))
 181                 if self._serial == None:
 182                         self._log("Failed to open serial port (%s)" % (port))
 183                         self._errorValue = 'Failed to autodetect serial port.'
 184                         self._changeState(self.STATE_ERROR)
 185                         return
 186                 self._log("Connected to: %s, starting monitor" % (self._serial))
 187                 if baudrate == 0:
 188                         self._changeState(self.STATE_DETECT_BAUDRATE)
 189                 else:
 190                         self._changeState(self.STATE_CONNECTING)
 191                 self.thread = threading.Thread(target=self._monitor)
 192                 self.thread.daemon = True
 193                 self.thread.start()
 194
 195         def _changeState(self, newState):
 196                 if self._state == newState:
 197                         return
 198                 oldState = self.getStateString()
 199                 self._state = newState
 200                 self._log('Changing monitoring state from \'%s\' to \'%s\'' % (oldState, self.getStateString()))
 201                 self._callback.mcStateChange(newState)
 202
 203         def getState(self):
 204                 return self._state
 205
 206         def getStateString(self):
 207                 if self._state == self.STATE_NONE:
 208                         return "Offline"
 209                 if self._state == self.STATE_DETECT_BAUDRATE:
 210                         return "Detect baudrate"
 211                 if self._state == self.STATE_CONNECTING:
 212                         return "Connecting"
 213                 if self._state == self.STATE_OPERATIONAL:
 214                         return "Operational"
 215                 if self._state == self.STATE_PRINTING:
 216                         return "Printing"
 217                 if self._state == self.STATE_PAUSED:
 218                         return "Paused"
 219                 if self._state == self.STATE_CLOSED:
 220                         return "Closed"
 221                 if self._state == self.STATE_ERROR:
 222                         return "Error: %s" % (self._errorValue)
 223                 if self._state == self.STATE_CLOSED_WITH_ERROR:
 224                         return "Error: %s" % (self._errorValue)
 225                 return "?%d?" % (self._state)
 226
 227         def isClosedOrError(self):
 228                 return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED
 229
 230         def isError(self):
 231                 return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR
 232
 233         def isOperational(self):
 234                 return self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PRINTING or self._state == self.STATE_PAUSED
 235
 236         def isPrinting(self):
 237                 return self._state == self.STATE_PRINTING
 238
 239         def getPrintPos(self):
 240                 return self._gcodePos
 241
 242         def isPaused(self):
 243                 return self._state == self.STATE_PAUSED
 244
 245         def getTemp(self):
 246                 return self._temp
 247
 248         def getBedTemp(self):
 249                 return self._bedTemp
 250
 251         def getLog(self):
 252                 ret = []
 253                 while not self._logQueue.empty():
 254                         ret.append(self._logQueue.get())
 255                 for line in ret:
 256                         self._logQueue.put(line, False)
 257                 return ret
 258
 259         def _monitor(self):
 260                 timeout = time.time() + 5
 261                 while True:
 262                         line = self._readline()
 263                         if line == None:
 264                                 break
 265
 266                         #No matter the state, if we see an error, goto the error state and store the error for reference.
 267                         if line.startswith('Error: '):
 268                                 #Oh YEAH, consistency.
 269                                 # Marlin reports an MIN/MAX temp error as "Error: x\n: Extruder switched off. MAXTEMP triggered !\n"
 270                                 #       But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!"
 271                                 #       So we can have an extra newline in the most common case. Awesome work people.
 272                                 if re.match('Error: [0-9]\n', line):
 273                                         line = line.rstrip() + self._readline()
 274                                 self._errorValue = line
 275                                 self._changeState(self.STATE_ERROR)
 276                         if 'T:' in line:
 277                                 self._temp = float(re.search("[0-9\.]*", line.split('T:')[1]).group(0))
 278                                 if 'B:' in line:
 279                                         self._bedTemp = float(re.search("[0-9\.]*", line.split('B:')[1]).group(0))
 280                                 self._callback.mcTempUpdate(self._temp, self._bedTemp)
 281                         elif line.strip() != 'ok':
 282                                 self._callback.mcMessage(line)
 283
 284                         if self._state == self.STATE_DETECT_BAUDRATE:
 285                                 if line == '' or time.time() > timeout:
 286                                         if len(self._baudrateDetectList) < 1:
 287                                                 self._log("No more baudrates to test, and no suitable baudrate found.")
 288                                                 self.close()
 289                                         elif self._baudrateDetectRetry > 0:
 290                                                 self._baudrateDetectRetry -= 1
 291                                                 self._serial.write('\n')
 292                                                 self._sendCommand("M105")
 293                                         else:
 294                                                 baudrate = self._baudrateDetectList.pop(0)
 295                                                 try:
 296                                                         self._serial.baudrate = baudrate
 297                                                         self._serial.timeout = 0.5
 298                                                         self._log("Trying baudrate: %d" % (baudrate))
 299                                                         self._baudrateDetectRetry = 5
 300                                                         timeout = time.time() + 5
 301                                                         self._serial.write('\n')
 302                                                         self._sendCommand("M105")
 303                                                 except:
 304                                                         self._log("Unexpected error while setting baudrate: %d %s" % (baudrate, getExceptionString()))
 305                                 elif 'ok' in line:
 306                                         self._serial.timeout = 2
 307                                         profile.putPreference('serial_baud_auto', self._serial.baudrate)
 308                                         self._changeState(self.STATE_OPERATIONAL)
 309                         elif self._state == self.STATE_CONNECTING:
 310                                 if line == '':
 311                                         self._sendCommand("M105")
 312                                 elif 'ok' in line:
 313                                         self._changeState(self.STATE_OPERATIONAL)
 314                                 if time.time() > timeout:
 315                                         self.close()
 316                         elif self._state == self.STATE_OPERATIONAL:
 317                                 #Request the temperature on comm timeout (every 2 seconds) when we are not printing.
 318                                 if line == '':
 319                                         self._sendCommand("M105")
 320                                         tempRequestTimeout = time.time() + 5
 321                         elif self._state == self.STATE_PRINTING:
 322                                 if line == '' and time.time() > timeout:
 323                                         self._log("Communication timeout during printing, forcing a line")
 324                                         line = 'ok'
 325                                 #Even when printing request the temperture every 5 seconds.
 326                                 if time.time() > tempRequestTimeout:
 327                                         self._commandQueue.put("M105")
 328                                         tempRequestTimeout = time.time() + 5
 329                                 if 'ok' in line:
 330                                         timeout = time.time() + 5
 331                                         if not self._commandQueue.empty():
 332                                                 self._sendCommand(self._commandQueue.get())
 333                                         else:
 334                                                 self._sendNext()
 335                                 elif "resend" in line.lower() or "rs" in line:
 336                                         try:
 337                                                 self._gcodePos = int(line.replace("N:"," ").replace("N"," ").replace(":"," ").split()[-1])
 338                                         except:
 339                                                 if "rs" in line:
 340                                                         self._gcodePos = int(line.split()[1])
 341                 self._log("Connection closed, closing down monitor")
 342
 343         def _log(self, message):
 344                 self._callback.mcLog(message)
 345                 try:
 346                         self._logQueue.put(message, False)
 347                 except:
 348                         #If the log queue is full, remove the first message and append the new message again
 349                         self._logQueue.get()
 350                         self._logQueue.put(message, False)
 351
 352         def _readline(self):
 353                 if self._serial == None:
 354                         return None
 355                 try:
 356                         ret = self._serial.readline()
 357                 except:
 358                         self._log("Unexpected error while reading serial port: %s" % (getExceptionString()))
 359                         self._errorValue = getExceptionString()
 360                         self.close(True)
 361                         return None
 362                 if ret == '':
 363                         #self._log("Recv: TIMEOUT")
 364                         return ''
 365                 self._log("Recv: %s" % (unicode(ret, 'ascii', 'replace').encode('ascii', 'replace').rstrip()))
 366                 return ret
 367
 368         def close(self, isError = False):
 369                 if self._serial != None:
 370                         self._serial.close()
 371                         if isError:
 372                                 self._changeState(self.STATE_CLOSED_WITH_ERROR)
 373                         else:
 374                                 self._changeState(self.STATE_CLOSED)
 375                 self._serial = None
 376
 377         def __del__(self):
 378                 self.close()
 379
 380         def _sendCommand(self, cmd):
 381                 if self._serial == None:
 382                         return
 383                 self._log('Send: %s' % (cmd))
 384                 try:
 385                         #TODO: This can throw a write timeout exception, but we do not want timeout on writes. Find a fix for this.
 386                         #       Oddly enough, the write timeout is not even set and thus we should not get a write timeout.
 387                         self._serial.write(cmd + '\n')
 388                 except:
 389                         self._log("Unexpected error while writing serial port: %s" % (getExceptionString()))
 390                         self._errorValue = getExceptionString()
 391                         self.close(True)
 392
 393         def _sendNext(self):
 394                 if self._gcodePos >= len(self._gcodeList):
 395                         self._changeState(self.STATE_OPERATIONAL)
 396                         return
 397                 line = self._gcodeList[self._gcodePos]
 398                 if type(line) is tuple:
 399                         self._printSection = line[1]
 400                         line = line[0]
 401                 try:
 402                         if line == 'M0' or line == 'M1':
 403                                 self.setPause(True)
 404                                 line = 'M105'   #Don't send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
 405                         if self._printSection in self._feedRateModifier:
 406                                 line = re.sub('F([0-9]*)', lambda m: 'F' + str(int(int(m.group(1)) * self._feedRateModifier[self._printSection])), line)
 407                         if ('G0' in line or 'G1' in line) and 'Z' in line:
 408                                 z = float(re.search('Z([0-9\.]*)', line).group(1))
 409                                 if self._currentZ != z:
 410                                         self._currentZ = z
 411                                         self._callback.mcZChange(z)
 412                 except:
 413                         self._log("Unexpected error: %s" % (getExceptionString()))
 414                 checksum = reduce(lambda x,y:x^y, map(ord, "N%d%s" % (self._gcodePos, line)))
 415                 self._sendCommand("N%d%s*%d" % (self._gcodePos, line, checksum))
 416                 self._gcodePos += 1
 417                 self._callback.mcProgress(self._gcodePos)
 418
 419         def sendCommand(self, cmd):
 420                 cmd = cmd.encode('ascii', 'replace')
 421                 if self.isPrinting():
 422                         self._commandQueue.put(cmd)
 423                 elif self.isOperational():
 424                         self._sendCommand(cmd)
 425
 426         def printGCode(self, gcodeList):
 427                 if not self.isOperational() or self.isPrinting():
 428                         return
 429                 self._gcodeList = gcodeList
 430                 self._gcodePos = 0
 431                 self._printSection = 'CUSTOM'
 432                 self._changeState(self.STATE_PRINTING)
 433                 for i in xrange(0, 6):
 434                         self._sendNext()
 435
 436         def cancelPrint(self):
 437                 if self.isOperational():
 438                         self._changeState(self.STATE_OPERATIONAL)
 439
 440         def setPause(self, pause):
 441                 if not pause and self.isPaused():
 442                         self._changeState(self.STATE_PRINTING)
 443                         for i in xrange(0, 6):
 444                                 self._sendNext()
 445                 if pause and self.isPrinting():
 446                         self._changeState(self.STATE_PAUSED)
 447
 448         def setFeedrateModifier(self, type, value):
 449                 self._feedRateModifier[type] = value
 450
 451 def getExceptionString():
 452         locationInfo = traceback.extract_tb(sys.exc_info()[2])[0]
 453         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])
 454