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