a lot of changes
This commit is contained in:
make-ing
parent
0c9ddbfd85
commit
796fbeacdd
1 changed files with 268 additions and 72 deletions
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@ -11,6 +11,7 @@ import glob
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import time
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import serial
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import re
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import Queue
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from yaml import load as yamlload
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from yaml import dump as yamldump
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@ -18,8 +19,8 @@ from subprocess import call as subprocesscall
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import octoprint.plugin
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from octoprint.events import eventManager, Events
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from octoprint.settings import settings, default_settings
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from octoprint.events import eventManager, Events
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from octoprint.filemanager.destinations import FileDestinations
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from octoprint.util import get_exception_string, RepeatedTimer, CountedEvent, sanitize_ascii
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@ -45,6 +46,8 @@ class MachineCom(object):
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if port is None:
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port = settings().get(["serial", "port"])
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elif isinstance(port, list):
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port = port[0]
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if baudrate is None:
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settingsBaudrate = settings().getInt(["serial", "baudrate"])
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if settingsBaudrate is None:
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@ -67,9 +70,13 @@ class MachineCom(object):
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self._currentFile = None
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self._status_timer = None
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self._acc_line_buffer = []
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self._cmd = None
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self._pauseWaitTimeLost = 0.0
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self._send_event = threading.Event()
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self._send_event.clear()
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self._commandQueue = Queue.Queue()
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self._send_event = CountedEvent(max=20)
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# regular expressions
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self._regex_command = re.compile("^\s*\$?([GM]\d+|[TH])")
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self._real_time_commands={'poll_status':False,
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'feed_hold':False,
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@ -81,10 +88,18 @@ class MachineCom(object):
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self._serial_factory_hooks = self._pluginManager.get_hooks("octoprint.comm.transport.serial.factory")
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self._state_parse_dict = {self.STATE_NONE:self._state_none_handle,
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self.STATE_CONNECTING:self._state_connecting_handle,
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self.STATE_LOCKED:self._state_locked_handle,
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self.STATE_HOMING:self._state_homing_handle,
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self.STATE_OPERATIONAL:self._state_operational_handle}
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self.STATE_OPEN_SERIAL:self._state_none_handle,
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self.STATE_DETECT_SERIAL:self._state_none_handle,
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self.STATE_CONNECTING:self._state_connecting_handle,
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self.STATE_OPERATIONAL:self._state_operational_handle,
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self.STATE_PRINTING:self._state_printing_handle,
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self.STATE_PAUSED:self._state_none_handle,
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self.STATE_CLOSED:self._state_none_handle,
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self.STATE_ERROR:self._state_none_handle,
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self.STATE_CLOSED_WITH_ERROR:self._state_none_handle,
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self.STATE_LOCKED:self._state_locked_handle,
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self.STATE_HOMING:self._state_homing_handle,
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self.STATE_FLASHING:self._state_none_handle}
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# monitoring thread
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self._monitoring_active = True
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@ -99,8 +114,6 @@ class MachineCom(object):
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self.sending_thread.start()
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def _monitor_loop(self):
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pause_triggers = convert_pause_triggers(settings().get(["printerParameters", "pauseTriggers"]))
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#Open the serial port.
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if not self._openSerial():
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return
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@ -109,8 +122,6 @@ class MachineCom(object):
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self._changeState(self.STATE_CONNECTING)
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self._timeout = get_new_timeout("communication")
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supportWait = settings().getBoolean(["feature", "supportWait"])
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while self._monitoring_active:
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try:
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line = self._readline()
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@ -119,8 +130,7 @@ class MachineCom(object):
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if line.strip() is not "":
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self._timeout = get_new_timeout("communication")
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# parse line depending on state
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self._state_parse_dict[self._state](self, line)
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return
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self._state_parse_dict[self._state](line)
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except:
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self._logger.exception("Something crashed inside the monitoring loop, please report this to Mr. Beam")
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errorMsg = "See octoprint.log for details"
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@ -138,21 +148,28 @@ class MachineCom(object):
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while self._sending_active:
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try:
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if self._real_time_commands['poll_status']:
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self._sendCommand('?')
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self.sendCommand('?')
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self._real_time_commands['poll_status']=False
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elif self._real_time_commands['feed_hold']:
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self._sendCommand('!')
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self.sendCommand('!')
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self._real_time_commands['feed_hold']=False
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elif self._real_time_commands['cycle_start']:
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self._sendCommand('~')
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self.sendCommand('~')
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self._real_time_commands['cycle_start']=False
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elif self._real_time_commands['soft_reset']:
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self._sendCommand(b'\x18')
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self.sendCommand(b'\x18')
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self._real_time_commands['soft_reset']=False
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elif self.isOperational() or self.isPaused():
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pass # TODO send buffered command
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elif self.isPrinting():
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self._sendCommand(self._getNext())
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#else:
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#if not self._commandQueue.empty() and not self.isHoming():
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# self._sendCommand(self._commandQueue.get())
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#elif self.isPrinting():
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# self._sendCommand(self._getNext())
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if self.isPrinting() and self._commandQueue.empty():
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cmd = self._getNext()
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if cmd is not None:
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self.sendCommand(cmd)
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self._sendCommand()
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self._send_event.wait(1)
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self._send_event.clear()
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except:
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@ -163,12 +180,19 @@ class MachineCom(object):
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self._changeState(self.STATE_ERROR)
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eventManager().fire(Events.ERROR, {"error": self.getErrorString()})
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def _sendCommand(self, cmd):
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if sum([len(x) for x in self._acc_line_buffer]) + len(cmd) +1 < self.RX_BUFFER_SIZE:
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self._log("Send: %s" % cmd)
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self._acc_line_buffer.append(cmd)
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def _sendCommand(self):
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if self._cmd is None and self._commandQueue.empty():
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return
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elif self._cmd is None:
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self._cmd = self._commandQueue.get()
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if sum([len(x) for x in self._acc_line_buffer]) + len(self._cmd) +1 < self.RX_BUFFER_SIZE-10:
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self._log("Send: %s" % self._cmd)
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self._acc_line_buffer.append(self._cmd)
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try:
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self._serial.write(cmd + '\n')
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self._serial.write(self._cmd + '\n')
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# trigger "sent" phase and use up one "ok"
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self._process_command_phase("sent", self._cmd)
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self._cmd = None
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except serial.SerialException:
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self._log("Unexpected error while writing serial port: %s" % (get_exception_string()))
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self._errorValue = get_exception_string()
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@ -215,8 +239,8 @@ class MachineCom(object):
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return False
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if serial_obj is not None:
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# first hook to succeed wins, but any can pass on to the next
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self._changeState(self.STATE_OPEN_SERIAL)
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self._log(repr(self._serial))
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self._changeState(self.STATE_OPEN_SERIAL)
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self._serial = serial_obj
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return True
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return False
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@ -227,9 +251,9 @@ class MachineCom(object):
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try:
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ret = self._serial.readline()
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if('ok' in ret or 'error' in ret):
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if(len(self.acc_line_lengths) > 0):
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if(len(self._acc_line_buffer) > 0):
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#print('buffer',sum(self.acc_line_lengths), 'deleting after ok', self.acc_line_lengths[0])
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del self.acc_line_lengths[0] # Delete the commands character count corresponding to the last 'ok'
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del self._acc_line_buffer[0] # Delete the commands character count corresponding to the last 'ok'
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except serial.SerialException:
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self._log("Unexpected error while reading serial port: %s" % (get_exception_string()))
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self._errorValue = get_exception_string()
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@ -266,12 +290,12 @@ class MachineCom(object):
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def _state_connecting_handle(self, line):
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if line.startswith("Grbl"):
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versionMatch = re.search("Grbl (?P<grbl>.+?)(_(?P<git>[0-9a-f]{7})(?P<dirty>-dirty)?)? \[.+\]", line)
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if(versionMatch):
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versionDict = versionMatch.groupdict()
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self._writeGrblVersionToFile(versionDict)
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if self._compareGrblVersion(versionDict) is False:
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self._flashGrbl()
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#versionMatch = re.search("Grbl (?P<grbl>.+?)(_(?P<git>[0-9a-f]{7})(?P<dirty>-dirty)?)? \[.+\]", line)
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#if(versionMatch):
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# versionDict = versionMatch.groupdict()
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# self._writeGrblVersionToFile(versionDict)
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# if self._compareGrblVersion(versionDict) is False:
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# self._flashGrbl()
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self._send_event.set()
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self._onConnected(self.STATE_LOCKED)
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@ -283,7 +307,96 @@ class MachineCom(object):
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self._changeState(self.STATE_OPERATIONAL)
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def _state_operational_handle(self, line):
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pass
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if line.startswith("ok"):
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self._send_event.set()
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elif line.startswith("<"):
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self._update_grbl_pos(line)
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def _state_printing_handle(self, line):
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if line.startswith("ok"):
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self._send_event.set()
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def _update_grbl_pos(self, line):
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# line example:
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# <Idle,MPos:-434.000,-596.000,0.000,WPos:0.000,0.000,0.000,S:0,laser off:0>
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try:
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idx_mx_begin = line.index('MPos:') + 5
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idx_mx_end = line.index('.', idx_mx_begin) + 2
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idx_my_begin = line.index(',', idx_mx_end) + 1
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idx_my_end = line.index('.', idx_my_begin) + 2
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#idx_mz_begin = line.index(',', idx_my_end) + 1
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#idx_mz_end = line.index('.', idx_mz_begin) + 2
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idx_wx_begin = line.index('WPos:') + 5
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idx_wx_end = line.index('.', idx_wx_begin) + 2
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idx_wy_begin = line.index(',', idx_wx_end) + 1
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idx_wy_end = line.index('.', idx_wy_begin) + 2
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#idx_wz_begin = line.index(',', idx_wy_end) + 1
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#idx_wz_end = line.index('.', idx_wz_begin) + 2
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#idx_intensity_begin = line.index('S:', idx_wz_end) + 2
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#idx_intensity_end = line.index(',', idx_intensity_begin)
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#idx_laserstate_begin = line.index('laser ', idx_intensity_end) + 6
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#idx_laserstate_end = line.index(':', idx_laserstate_begin)
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#payload = {
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#"mx": line[idx_mx_begin:idx_mx_end],
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#"my": line[idx_my_begin:idx_my_end],
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#"mz": line[idx_mz_begin:idx_mz_end],
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#"wx": line[idx_wx_begin:idx_wx_end],
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#"wy": line[idx_wy_begin:idx_wy_end],
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#"wz": line[idx_wz_begin:idx_wz_end],
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#"laser": line[idx_laserstate_begin:idx_laserstate_end],
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#"intensity": line[idx_intensity_begin:idx_intensity_end]
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#}
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mx = float(line[idx_mx_begin:idx_mx_end])
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my = float(line[idx_my_begin:idx_my_end])
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wx = float(line[idx_wx_begin:idx_wx_end])
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wy = float(line[idx_wy_begin:idx_wy_end])
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self._callback.on_comm_pos_update([mx, my, 0], [wx, wy, 0])
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#eventManager().fire(Events.RT_STATE, payload)
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except ValueError:
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pass
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def _process_command_phase(self, phase, command, command_type=None, gcode=None):
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if phase not in ("queuing", "queued", "sending", "sent"):
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return command, command_type, gcode
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if gcode is None:
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gcode = self._gcode_command_for_cmd(command)
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# if it's a gcode command send it through the specific handler if it exists
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if gcode is not None:
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gcodeHandler = "_gcode_" + gcode + "_" + phase
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if hasattr(self, gcodeHandler):
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handler_result = getattr(self, gcodeHandler)(command, cmd_type=command_type)
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command, command_type, gcode = self._handle_command_handler_result(command, command_type, gcode, handler_result)
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# finally return whatever we resulted on
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return command, command_type, gcode
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def _gcode_command_for_cmd(self, cmd):
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"""
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Tries to parse the provided ``cmd`` and extract the GCODE command identifier from it (e.g. "G0" for "G0 X10.0").
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Arguments:
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cmd (str): The command to try to parse.
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Returns:
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str or None: The GCODE command identifier if it could be parsed, or None if not.
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"""
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if not cmd:
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return None
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if cmd == '!': return 'Hold'
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if cmd == '~': return 'Resume'
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gcode = self._regex_command.search(cmd)
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if not gcode:
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return None
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return gcode.group(1)
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# internal state management
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def _changeState(self, newState):
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@ -339,6 +452,7 @@ class MachineCom(object):
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def _poll_status(self):
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if self.isOperational():
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self._real_time_commands['poll_status']=True
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self._send_event.set()
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def _log(self, message):
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self._callback.on_comm_log(message)
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@ -396,6 +510,47 @@ class MachineCom(object):
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with open(versionFile, 'w') as outfile:
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outfile.write(yamldump(versionDict, default_flow_style=True))
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def _handle_command_handler_result(self, command, command_type, gcode, handler_result):
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original_tuple = (command, command_type, gcode)
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if handler_result is None:
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# handler didn't return anything, we'll just continue
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return original_tuple
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if isinstance(handler_result, basestring):
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# handler did return just a string, we'll turn that into a 1-tuple now
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handler_result = (handler_result,)
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elif not isinstance(handler_result, (tuple, list)):
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# handler didn't return an expected result format, we'll just ignore it and continue
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return original_tuple
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hook_result_length = len(handler_result)
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if hook_result_length == 1:
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# handler returned just the command
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command, = handler_result
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elif hook_result_length == 2:
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# handler returned command and command_type
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command, command_type = handler_result
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else:
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# handler returned a tuple of an unexpected length
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return original_tuple
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gcode = self._gcode_command_for_cmd(command)
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return command, command_type, gcode
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##~~ command handlers
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def _gcode_H_sent(self, cmd, cmd_type=None):
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self._changeState(self.STATE_HOMING)
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return cmd
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def _gcode_Hold_sent(self, cmd, cmd_type=None):
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self._changeState(self.STATE_PAUSED)
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return cmd
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def _gcode_Resume_sent(self, cmd, cmd_type=None):
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self._changeState(self.STATE_PRINTING)
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return cmd
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def sendCommand(self, cmd, cmd_type=None, processed=False):
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cmd = cmd.encode('ascii', 'replace')
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if not processed:
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@ -403,45 +558,42 @@ class MachineCom(object):
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if not cmd:
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return
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# if cmd[0] == "/":
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# specialcmd = cmd[1:].lower()
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# if "togglestatusreport" in specialcmd:
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# if self._temperature_timer is None:
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# self._temperature_timer = RepeatedTimer(1, self._poll_temperature, run_first=True)
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# self._temperature_timer.start()
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# else:
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# self._temperature_timer.cancel()
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# self._temperature_timer = None
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# elif "setstatusfrequency" in specialcmd:
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# data = specialcmd.split(' ')
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# try:
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# frequency = float(data[1])
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# except ValueError:
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# self._log("No frequency setting found! Using 1 sec.")
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# frequency = 1
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# if self._temperature_timer is not None:
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# self._temperature_timer.cancel()
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#
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# self._temperature_timer = RepeatedTimer(frequency, self._poll_temperature, run_first=True)
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# self._temperature_timer.start()
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# elif "disconnect" in specialcmd:
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# self.close()
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# else:
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# self._log("Command not Found! %s" % cmd)
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# self._log("available commands are:")
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# self._log(" /togglestatusreport")
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# self._log(" /setstatusfrequency <Inteval Sec>")
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# self._log(" /disconnect")
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# return
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if cmd[0] == "/":
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specialcmd = cmd[1:].lower()
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if "togglestatusreport" in specialcmd:
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if self._status_timer is None:
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self._status_timer = RepeatedTimer(1, self._poll_status)
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self._status_timer.start()
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else:
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self._status_timer.cancel()
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self._status_timer = None
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elif "setstatusfrequency" in specialcmd:
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data = specialcmd.split(' ')
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try:
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frequency = float(data[1])
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except ValueError:
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self._log("No frequency setting found! Using 1 sec.")
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frequency = 1
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if self._status_timer is not None:
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self._status_timer.cancel()
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self._status_timer = RepeatedTimer(frequency, self._poll_status)
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self._status_timer.start()
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elif "disconnect" in specialcmd:
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self.close()
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else:
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self._log("Command not Found! %s" % cmd)
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self._log("available commands are:")
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self._log(" /togglestatusreport")
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self._log(" /setstatusfrequency <Inteval Sec>")
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self._log(" /disconnect")
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return
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eepromCmd = re.search("^\$[0-9]+=.+$", cmd)
|
||||
if(eepromCmd and self.isPrinting()):
|
||||
self._log("Warning: Configuration changes during print are not allowed!")
|
||||
|
||||
if self.isPrinting():
|
||||
self._commandQueue.put((cmd, cmd_type))
|
||||
elif self.isOperational() or self.isLocked() or self.isHoming():
|
||||
self._sendCommand(cmd, cmd_type=cmd_type)
|
||||
self._commandQueue.put(cmd)
|
||||
self._send_event.set()
|
||||
|
||||
def selectFile(self, filename, sd):
|
||||
if self.isBusy():
|
||||
|
|
@ -455,6 +607,34 @@ class MachineCom(object):
|
|||
})
|
||||
self._callback.on_comm_file_selected(filename, self._currentFile.getFilesize(), False)
|
||||
|
||||
def startPrint(self):
|
||||
if not self.isOperational() or self.isPrinting():
|
||||
return
|
||||
|
||||
if self._currentFile is None:
|
||||
raise ValueError("No file selected for printing")
|
||||
|
||||
try:
|
||||
# ensure fan is on whatever gcode follows.
|
||||
self.sendCommand("M08")
|
||||
|
||||
self._currentFile.start()
|
||||
|
||||
payload = {
|
||||
"file": self._currentFile.getFilename(),
|
||||
"filename": os.path.basename(self._currentFile.getFilename()),
|
||||
"origin": self._currentFile.getFileLocation()
|
||||
}
|
||||
eventManager().fire(Events.PRINT_STARTED, payload)
|
||||
#self.sendGcodeScript("beforePrintStarted", replacements=dict(event=payload))
|
||||
|
||||
self._changeState(self.STATE_PRINTING)
|
||||
except:
|
||||
self._logger.exception("Error while trying to start printing")
|
||||
self._errorValue = get_exception_string()
|
||||
self._changeState(self.STATE_ERROR)
|
||||
eventManager().fire(Events.ERROR, {"error": self.getErrorString()})
|
||||
|
||||
def getStateString(self):
|
||||
if self._state == self.STATE_NONE:
|
||||
return "Offline"
|
||||
|
|
@ -502,9 +682,24 @@ class MachineCom(object):
|
|||
def isHoming(self):
|
||||
return self._state == self.STATE_HOMING
|
||||
|
||||
def isFlashing(self):
|
||||
return self._state == self.STATE_FLASHING
|
||||
|
||||
def isBusy(self):
|
||||
return self.isPrinting() or self.isPaused()
|
||||
|
||||
def isError(self):
|
||||
return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR
|
||||
|
||||
def isClosedOrError(self):
|
||||
return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED
|
||||
|
||||
def isSdReady(self):
|
||||
return False
|
||||
|
||||
def isStreaming(self):
|
||||
return False
|
||||
|
||||
def getErrorString(self):
|
||||
return self._errorValue
|
||||
|
||||
|
|
@ -744,7 +939,8 @@ def convert_pause_triggers(configured_triggers):
|
|||
|
||||
def process_gcode_line(line):
|
||||
line = strip_comment(line).strip()
|
||||
if len(line):
|
||||
line = line.replace(" ", "")
|
||||
if not len(line):
|
||||
return None
|
||||
return line
|
||||
|
||||
|
|
@ -770,7 +966,7 @@ def get_interval(t):
|
|||
if t not in default_settings["serial"]["timeout"]:
|
||||
return 0
|
||||
else:
|
||||
return settings().getFloat(["serial", "timeout", type])
|
||||
return settings().getFloat(["serial", "timeout", t])
|
||||
|
||||
def serialList():
|
||||
baselist = [glob.glob("/dev/ttyUSB*"),
|
||||
|
|
|
|||
Loading…
Reference in a new issue