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 isOperational(self):
 231                 return self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PRINTING or self._state == self.STATE_PAUSED
 232
 233         def isPrinting(self):
 234                 return self._state == self.STATE_PRINTING
 235
 236         def getPrintPos(self):
 237                 return self._gcodePos
 238
 239         def isPaused(self):
 240                 return self._state == self.STATE_PAUSED
 241
 242         def getTemp(self):
 243                 return self._temp
 244
 245         def getBedTemp(self):
 246                 return self._bedTemp
 247
 248         def _monitor(self):
 249                 timeout = time.time() + 5
 250                 while True:
 251                         line = self._readline()
 252                         if line == None:
 253                                 break
 254
 255                         #No matter the state, if we see an error, goto the error state and store the error for reference.
 256                         if line.startswith('Error: '):
 257                                 #Oh YEAH, consistency.
 258                                 # Marlin reports an MIN/MAX temp error as "Error: x\n: Extruder switched off. MAXTEMP triggered !\n"
 259                                 #       But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!"
 260                                 #       So we can have an extra newline in the most common case. Awesome work people.
 261                                 if re.match('Error: [0-9]\n', line):
 262                                         line = line.rstrip() + self._readline()
 263                                 self._errorValue = line
 264                                 self._changeState(self.STATE_ERROR)
 265                         if 'T:' in line:
 266                                 self._temp = float(re.search("[0-9\.]*", line.split('T:')[1]).group(0))
 267                                 if 'B:' in line:
 268                                         self._bedTemp = float(re.search("[0-9\.]*", line.split('B:')[1]).group(0))
 269                                 self._callback.mcTempUpdate(self._temp, self._bedTemp)
 270                         elif line.strip() != 'ok':
 271                                 self._callback.mcMessage(line)
 272
 273                         if self._state == self.STATE_DETECT_BAUDRATE:
 274                                 if line == '' or time.time() > timeout:
 275                                         if len(self._baudrateDetectList) < 1:
 276                                                 self._log("No more baudrates to test, and no suitable baudrate found.")
 277                                                 self.close()
 278                                         elif self._baudrateDetectRetry > 0:
 279                                                 self._baudrateDetectRetry -= 1
 280                                                 self._serial.write('\n')
 281                                                 self._sendCommand("M105")
 282                                         else:
 283                                                 baudrate = self._baudrateDetectList.pop(0)
 284                                                 try:
 285                                                         self._serial.baudrate = baudrate
 286                                                         self._serial.timeout = 0.5
 287                                                         self._log("Trying baudrate: %d" % (baudrate))
 288                                                         self._baudrateDetectRetry = 5
 289                                                         timeout = time.time() + 5
 290                                                         self._serial.write('\n')
 291                                                         self._sendCommand("M105")
 292                                                 except:
 293                                                         self._log("Unexpected error while setting baudrate: %d %s" % (baudrate, getExceptionString()))
 294                                 elif 'ok' in line:
 295                                         self._serial.timeout = 2
 296                                         profile.putPreference('serial_baud_auto', self._serial.baudrate)
 297                                         self._changeState(self.STATE_OPERATIONAL)
 298                         elif self._state == self.STATE_CONNECTING:
 299                                 if line == '':
 300                                         self._sendCommand("M105")
 301                                 elif 'ok' in line:
 302                                         self._changeState(self.STATE_OPERATIONAL)
 303                                 if time.time() > timeout:
 304                                         self.close()
 305                         elif self._state == self.STATE_OPERATIONAL:
 306                                 #Request the temperature on comm timeout (every 2 seconds) when we are not printing.
 307                                 if line == '':
 308                                         self._sendCommand("M105")
 309                                         tempRequestTimeout = time.time() + 5
 310                         elif self._state == self.STATE_PRINTING:
 311                                 if line == '' and time.time() > timeout:
 312                                         self._log("Communication timeout during printing, forcing a line")
 313                                         line = 'ok'
 314                                 #Even when printing request the temperture every 5 seconds.
 315                                 if time.time() > tempRequestTimeout:
 316                                         self._commandQueue.put("M105")
 317                                         tempRequestTimeout = time.time() + 5
 318                                 if 'ok' in line:
 319                                         timeout = time.time() + 5
 320                                         if not self._commandQueue.empty():
 321                                                 self._sendCommand(self._commandQueue.get())
 322                                         else:
 323                                                 self._sendNext()
 324                                 elif "resend" in line.lower() or "rs" in line:
 325                                         try:
 326                                                 self._gcodePos = int(line.replace("N:"," ").replace("N"," ").replace(":"," ").split()[-1])
 327                                         except:
 328                                                 if "rs" in line:
 329                                                         self._gcodePos = int(line.split()[1])
 330                 self._log("Connection closed, closing down monitor")
 331
 332         def _log(self, message):
 333                 self._callback.mcLog(message)
 334                 try:
 335                         self._logQueue.put(message, False)
 336                 except:
 337                         #If the log queue is full, remove the first message and append the new message again
 338                         self._logQueue.get()
 339                         self._logQueue.put(message, False)
 340
 341         def _readline(self):
 342                 if self._serial == None:
 343                         return None
 344                 try:
 345                         ret = self._serial.readline()
 346                 except:
 347                         self._log("Unexpected error while reading serial port: %s" % (getExceptionString()))
 348                         self._errorValue = getExceptionString()
 349                         self.close(True)
 350                         return None
 351                 if ret == '':
 352                         #self._log("Recv: TIMEOUT")
 353                         return ''
 354                 self._log("Recv: %s" % (unicode(ret, 'ascii', 'replace').encode('ascii', 'replace').rstrip()))
 355                 return ret
 356
 357         def close(self, isError = False):
 358                 if self._serial != None:
 359                         self._serial.close()
 360                         if isError:
 361                                 self._changeState(self.STATE_CLOSED_WITH_ERROR)
 362                         else:
 363                                 self._changeState(self.STATE_CLOSED)
 364                 self._serial = None
 365
 366         def __del__(self):
 367                 self.close()
 368
 369         def _sendCommand(self, cmd):
 370                 if self._serial == None:
 371                         return
 372                 self._log('Send: %s' % (cmd))
 373                 try:
 374                         #TODO: This can throw a write timeout exception, but we do not want timeout on writes. Find a fix for this.
 375                         #       Oddly enough, the write timeout is not even set and thus we should not get a write timeout.
 376                         self._serial.write(cmd + '\n')
 377                 except:
 378                         self._log("Unexpected error while writing serial port: %s" % (getExceptionString()))
 379                         self._errorValue = getExceptionString()
 380                         self.close(True)
 381
 382         def _sendNext(self):
 383                 if self._gcodePos >= len(self._gcodeList):
 384                         self._changeState(self.STATE_OPERATIONAL)
 385                         return
 386                 line = self._gcodeList[self._gcodePos]
 387                 if type(line) is tuple:
 388                         self._printSection = line[1]
 389                         line = line[0]
 390                 try:
 391                         if line == 'M0' or line == 'M1':
 392                                 self.setPause(True)
 393                                 line = 'M105'   #Don't send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
 394                         if self._printSection in self._feedRateModifier:
 395                                 line = re.sub('F([0-9]*)', lambda m: 'F' + str(int(int(m.group(1)) * self._feedRateModifier[self._printSection])), line)
 396                         if ('G0' in line or 'G1' in line) and 'Z' in line:
 397                                 z = float(re.search('Z([0-9\.]*)', line).group(1))
 398                                 if self._currentZ != z:
 399                                         self._currentZ = z
 400                                         self._callback.mcZChange(z)
 401                 except:
 402                         self._log("Unexpected error: %s" % (getExceptionString()))
 403                 checksum = reduce(lambda x,y:x^y, map(ord, "N%d%s" % (self._gcodePos, line)))
 404                 self._sendCommand("N%d%s*%d" % (self._gcodePos, line, checksum))
 405                 self._gcodePos += 1
 406                 self._callback.mcProgress(self._gcodePos)
 407
 408         def sendCommand(self, cmd):
 409                 cmd = cmd.encode('ascii', 'replace')
 410                 if self.isPrinting():
 411                         self._commandQueue.put(cmd)
 412                 elif self.isOperational():
 413                         self._sendCommand(cmd)
 414
 415         def printGCode(self, gcodeList):
 416                 if not self.isOperational() or self.isPrinting():
 417                         return
 418                 self._gcodeList = gcodeList
 419                 self._gcodePos = 0
 420                 self._printSection = 'CUSTOM'
 421                 self._changeState(self.STATE_PRINTING)
 422                 for i in xrange(0, 6):
 423                         self._sendNext()
 424
 425         def cancelPrint(self):
 426                 if self.isOperational():
 427                         self._changeState(self.STATE_OPERATIONAL)
 428
 429         def setPause(self, pause):
 430                 if not pause and self.isPaused():
 431                         self._changeState(self.STATE_PRINTING)
 432                         for i in xrange(0, 6):
 433                                 self._sendNext()
 434                 if pause and self.isPrinting():
 435                         self._changeState(self.STATE_PAUSED)
 436
 437         def setFeedrateModifier(self, type, value):
 438                 self._feedRateModifier[type] = value
 439
 440 def getExceptionString():
 441         locationInfo = traceback.extract_tb(sys.exc_info()[2])[0]
 442         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])
 443