OctoPrint/octoprint/util/comm.py

from __future__ import absolute_import

import os
import glob
import sys
import time
import math
import re
import traceback
import threading
import Queue as queue
import logging

import serial

from octoprint.util.avr_isp import stk500v2
from octoprint.util.avr_isp import ispBase

from octoprint.settings import settings
from octoprint.events import eventManager

try:
	import _winreg
except:
	pass

def isDevVersion():
	gitPath = os.path.abspath(os.path.join(os.path.split(os.path.abspath(__file__))[0], "../../.git"))
	return os.path.exists(gitPath)

def serialList():
	baselist=[]
	if os.name=="nt":
		try:
			key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
			i=0
			while(1):
				baselist+=[_winreg.EnumValue(key,i)[1]]
				i+=1
		except:
			pass
	baselist = baselist + glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*") + glob.glob("/dev/tty.usb*") + glob.glob("/dev/cu.*") + glob.glob("/dev/rfcomm*")
	prev = settings().get(["serial", "port"])
	if prev in baselist:
		baselist.remove(prev)
		baselist.insert(0, prev)
	if isDevVersion():
		baselist.append("VIRTUAL")
	return baselist

def baudrateList():
	ret = [250000, 230400, 115200, 57600, 38400, 19200, 9600]
	prev = settings().getInt(["serial", "baudrate"])
	if prev in ret:
		ret.remove(prev)
		ret.insert(0, prev)
	return ret

gcodeToEvent = {
	"M226": "Waiting",  # pause for user input
	"M0": "Waiting",
	"M1": "Waiting",
	"M245": "Cooling",  # part cooler
	"M240": "Conveyor", # part conveyor
	"M40": "Eject",     # part ejector
	"M300": "Alert",    # user alert
	"G28": "Home",      # home print head
	"M112": "EStop",
	"M80": "PowerOn",
	"M81": "PowerOff",
	"M25": "Paused"     # SD Card pause
}

class VirtualPrinter():
	def __init__(self):
		self.readList = ['start\n', 'Marlin: Virtual Marlin!\n', '\x80\n']
		self.temp = 0.0
		self.targetTemp = 0.0
		self.lastTempAt = time.time()
		self.bedTemp = 1.0
		self.bedTargetTemp = 1.0

	def write(self, data):
		if self.readList is None:
			return
		#print "Send: %s" % (data.rstrip())
		if 'M104' in data or 'M109' in data:
			try:
				self.targetTemp = float(re.search('S([0-9]+)', data).group(1))
			except:
				pass
		if 'M140' in data or 'M190' in data:
			try:
				self.bedTargetTemp = float(re.search('S([0-9]+)', data).group(1))
			except:
				pass
		if 'M105' in data:
			self.readList.append("ok T:%.2f /%.2f B:%.2f /%.2f @:64\n" % (self.temp, self.targetTemp, self.bedTemp, self.bedTargetTemp))
		elif len(data.strip()) > 0:
			self.readList.append("ok\n")

	def readline(self):
		if self.readList is None:
			return ''
		n = 0
		timeDiff = self.lastTempAt - time.time()
		self.lastTempAt = time.time()
		if abs(self.temp - self.targetTemp) > 1:
			self.temp += math.copysign(timeDiff * 10, self.targetTemp - self.temp)
			if self.temp < 0:
				self.temp = 0
		if abs(self.bedTemp - self.bedTargetTemp) > 1:
			self.bedTemp += math.copysign(timeDiff * 10, self.bedTargetTemp - self.bedTemp)
			if self.bedTemp < 0:
				self.bedTemp = 0
		while len(self.readList) < 1:
			time.sleep(0.1)
			n += 1
			if n == 20:
				return ''
			if self.readList is None:
				return ''
		time.sleep(0.001)
		#print "Recv: %s" % (self.readList[0].rstrip())
		return self.readList.pop(0)
	
	def close(self):
		self.readList = None

class MachineComPrintCallback(object):
	def mcLog(self, message):
		pass
	
	def mcTempUpdate(self, temp, bedTemp, targetTemp, bedTargetTemp):
		pass
	
	def mcStateChange(self, state):
		pass
	
	def mcMessage(self, message):
		pass
	
	def mcProgress(self, lineNr):
		pass
	
	def mcZChange(self, newZ):
		pass

class MachineCom(object):
	STATE_NONE = 0
	STATE_OPEN_SERIAL = 1
	STATE_DETECT_SERIAL = 2
	STATE_DETECT_BAUDRATE = 3
	STATE_CONNECTING = 4
	STATE_OPERATIONAL = 5
	STATE_PRINTING = 6
	STATE_PAUSED = 7
	STATE_CLOSED = 8
	STATE_ERROR = 9
	STATE_CLOSED_WITH_ERROR = 10
	
	def __init__(self, port = None, baudrate = None, callbackObject = None):
		self._logger = logging.getLogger(__name__)
		self._serialLogger = logging.getLogger("SERIAL")

		if port == None:
			port = settings().get(["serial", "port"])
		if baudrate == None:
			settingsBaudrate = settings().getInt(["serial", "baudrate"])
			if settingsBaudrate is None:
				baudrate = 0
			else:
				baudrate = settingsBaudrate
		if callbackObject == None:
			callbackObject = MachineComPrintCallback()

		self._port = port
		self._baudrate = baudrate
		self._callback = callbackObject
		self._state = self.STATE_NONE
		self._serial = None
		self._baudrateDetectList = baudrateList()
		self._baudrateDetectRetry = 0
		self._temp = 0
		self._bedTemp = 0
		self._targetTemp = 0
		self._bedTargetTemp = 0
		self._gcodeList = None
		self._gcodePos = 0
		self._commandQueue = queue.Queue()
		self._logQueue = queue.Queue(256)
		self._feedRateModifier = {}
		self._currentZ = -1
		self._heatupWaitStartTime = 0
		self._heatupWaitTimeLost = 0.0
		self._printStartTime100 = None

		self.thread = threading.Thread(target=self._monitor)
		self.thread.daemon = True
		self.thread.start()
	
	def _changeState(self, newState):
		if self._state == newState:
			return
		oldState = self.getStateString()
		self._state = newState
		self._log('Changing monitoring state from \'%s\' to \'%s\'' % (oldState, self.getStateString()))
		self._callback.mcStateChange(newState)
	
	def getState(self):
		return self._state
	
	def getStateString(self):
		if self._state == self.STATE_NONE:
			return "Offline"
		if self._state == self.STATE_OPEN_SERIAL:
			return "Opening serial port"
		if self._state == self.STATE_DETECT_SERIAL:
			return "Detecting serial port"
		if self._state == self.STATE_DETECT_BAUDRATE:
			return "Detecting baudrate"
		if self._state == self.STATE_CONNECTING:
			return "Connecting"
		if self._state == self.STATE_OPERATIONAL:
			return "Operational"
		if self._state == self.STATE_PRINTING:
			return "Printing"
		if self._state == self.STATE_PAUSED:
			return "Paused"
		if self._state == self.STATE_CLOSED:
			return "Closed"
		if self._state == self.STATE_ERROR:
			return "Error: %s" % (self.getShortErrorString())
		if self._state == self.STATE_CLOSED_WITH_ERROR:
			return "Error: %s" % (self.getShortErrorString())
		return "?%d?" % (self._state)
	
	def getShortErrorString(self):
		if len(self._errorValue) < 20:
			return self._errorValue
		return self._errorValue[:20] + "..."

	def getErrorString(self):
		return self._errorValue
	
	def isClosedOrError(self):
		return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED

	def isError(self):
		return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR
	
	def isOperational(self):
		return self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PRINTING or self._state == self.STATE_PAUSED
	
	def isPrinting(self):
		return self._state == self.STATE_PRINTING
	
	def isPaused(self):
		return self._state == self.STATE_PAUSED

	def getPrintPos(self):
		return self._gcodePos
	
	def getPrintTime(self):
		if self._printStartTime100 == None:
			return 0
		else:
			return time.time() - self._printStartTime100

	def getPrintTimeRemainingEstimate(self):
		if self._printStartTime100 == None or self.getPrintPos() < 200:
			return None
		printTime = (time.time() - self._printStartTime100) / 60
		printTimeTotal = printTime * (len(self._gcodeList) - 100) / (self.getPrintPos() - 100)
		printTimeLeft = printTimeTotal - printTime
		return printTimeLeft
	
	def getTemp(self):
		return self._temp
	
	def getBedTemp(self):
		return self._bedTemp
	
	def getLog(self):
		ret = []
		while not self._logQueue.empty():
			ret.append(self._logQueue.get())
		for line in ret:
			self._logQueue.put(line, False)
		return ret
	
	def _monitor(self):
		#Open the serial port.
		if self._port == 'AUTO':
			self._changeState(self.STATE_DETECT_SERIAL)
			programmer = stk500v2.Stk500v2()
			self._log("Serial port list: %s" % (str(serialList())))
			for p in serialList():
				try:
					self._log("Connecting to: %s" % (p))
					programmer.connect(p)
					self._serial = programmer.leaveISP()
					break
				except ispBase.IspError as (e):
					self._log("Error while connecting to %s: %s" % (p, str(e)))
					pass
				except:
					self._log("Unexpected error while connecting to serial port: %s %s" % (p, getExceptionString()))
				programmer.close()
		elif self._port == 'VIRTUAL':
			self._changeState(self.STATE_OPEN_SERIAL)
			self._serial = VirtualPrinter()
		else:
			self._changeState(self.STATE_OPEN_SERIAL)
			try:
				self._log("Connecting to: %s" % (self._port))
				if self._baudrate == 0:
					self._serial = serial.Serial(str(self._port), 115200, timeout=0.1, writeTimeout=10000)
				else:
					self._serial = serial.Serial(str(self._port), self._baudrate, timeout=2, writeTimeout=10000)
			except:
				self._log("Unexpected error while connecting to serial port: %s %s" % (self._port, getExceptionString()))
		if self._serial == None:
			self._log("Failed to open serial port (%s)" % (self._port))
			self._errorValue = 'Failed to autodetect serial port.'
			self._changeState(self.STATE_ERROR)
			eventManager().fire("Error", self.getErrorString())
			return
		self._log("Connected to: %s, starting monitor" % (self._serial))
		if self._baudrate == 0:
			self._changeState(self.STATE_DETECT_BAUDRATE)
		else:
			self._changeState(self.STATE_CONNECTING)

		#Start monitoring the serial port.
		timeout = time.time() + 5
		tempRequestTimeout = timeout
		startSeen = not settings().getBoolean(["feature", "waitForStartOnConnect"])
		while True:
			line = self._readline()
			if line == None:
				break
			
			#No matter the state, if we see an error, goto the error state and store the error for reference.
			if line.startswith('Error:'):
				#Oh YEAH, consistency.
				# Marlin reports an MIN/MAX temp error as "Error:x\n: Extruder switched off. MAXTEMP triggered !\n"
				#   But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!"
				#   So we can have an extra newline in the most common case. Awesome work people.
				if re.match('Error:[0-9]\n', line):
					line = line.rstrip() + self._readline()
				#Skip the communication errors, as those get corrected.
				if 'checksum mismatch' in line or 'Line Number is not Last Line Number' in line or 'No Line Number with checksum' in line or 'No Checksum with line number' in line:
					pass
				elif not self.isError():
					if self.isPrinting():
						eventManager().fire("PrintFailed")

					self._errorValue = line[6:]
					self._changeState(self.STATE_ERROR)
					eventManager().fire("Error", self.getErrorString())
			if ' T:' in line or line.startswith('T:'):
				self._temp = float(re.search("-?[0-9\.]*", line.split('T:')[1]).group(0))
				if ' B:' in line:
					self._bedTemp = float(re.search("-?[0-9\.]*", line.split(' B:')[1]).group(0))
				self._callback.mcTempUpdate(self._temp, self._bedTemp, self._targetTemp, self._bedTargetTemp)
				#If we are waiting for an M109 or M190 then measure the time we lost during heatup, so we can remove that time from our printing time estimate.
				if not 'ok' in line and self._heatupWaitStartTime != 0:
					t = time.time()
					self._heatupWaitTimeLost = t - self._heatupWaitStartTime
					self._heatupWaitStartTime = t
			elif line.strip() != '' and line.strip() != 'ok' and not line.startswith('Resend:') and line != 'echo:Unknown command:""\n' and self.isOperational():
				self._callback.mcMessage(line)

			if self._state == self.STATE_DETECT_BAUDRATE:
				if line == '' or time.time() > timeout:
					if len(self._baudrateDetectList) < 1:
						self.close()
						self._errorValue = "No more baudrates to test, and no suitable baudrate found."
						self._changeState(self.STATE_ERROR)
						eventManager().fire("Error", self.getErrorString())
					elif self._baudrateDetectRetry > 0:
						self._baudrateDetectRetry -= 1
						self._serial.write('\n')
						self._log("Baudrate test retry: %d" % (self._baudrateDetectRetry))
						self._sendCommand("M105")
						self._testingBaudrate = True
					else:
						baudrate = self._baudrateDetectList.pop(0)
						try:
							self._serial.baudrate = baudrate
							self._serial.timeout = 0.5
							self._log("Trying baudrate: %d" % (baudrate))
							self._baudrateDetectRetry = 5
							self._baudrateDetectTestOk = 0
							timeout = time.time() + 5
							self._serial.write('\n')
							self._sendCommand("M105")
							self._testingBaudrate = True
						except:
							self._log("Unexpected error while setting baudrate: %d %s" % (baudrate, getExceptionString()))
				elif 'ok' in line and 'T:' in line:
					self._baudrateDetectTestOk += 1
					if self._baudrateDetectTestOk < 10:
						self._log("Baudrate test ok: %d" % (self._baudrateDetectTestOk))
						self._sendCommand("M105")
					else:
						self._sendCommand("M999")
						self._serial.timeout = 2
						self._changeState(self.STATE_OPERATIONAL)
						eventManager().fire("Connected", "%s at %s baud" % (self._port, self._baudrate))
				else:
					self._testingBaudrate = False
			elif self._state == self.STATE_CONNECTING:
				if line == '' and startSeen:
					self._sendCommand("M105")
				elif 'start' in line:
					startSeen = True
				elif 'ok' in line and startSeen:
					self._changeState(self.STATE_OPERATIONAL)
					eventManager().fire("Connected", "%s at %s baud" % (self._port, self._baudrate))
				elif time.time() > timeout:
					self.close()
			elif self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PAUSED:
				#Request the temperature on comm timeout (every 5 seconds) when we are not printing.
				if line == '':
					self._sendCommand("M105")
					tempRequestTimeout = time.time() + 5
			elif self._state == self.STATE_PRINTING:
				if line == '' and time.time() > timeout:
					self._log("Communication timeout during printing, forcing a line")
					line = 'ok'
				#Even when printing request the temperture every 5 seconds.
				if time.time() > tempRequestTimeout:
					self._commandQueue.put("M105")
					tempRequestTimeout = time.time() + 5
				if 'ok' in line:
					timeout = time.time() + 5
					if not self._commandQueue.empty():
						self._sendCommand(self._commandQueue.get())
					else:
						self._sendNext()
				elif "resend" in line.lower() or "rs" in line:
					try:
						self._gcodePos = int(line.replace("N:"," ").replace("N"," ").replace(":"," ").split()[-1])
					except:
						if "rs" in line:
							self._gcodePos = int(line.split()[1])
		self._log("Connection closed, closing down monitor")
	
	def _log(self, message):
		self._callback.mcLog(message)
		self._serialLogger.debug(message)
		try:
			self._logQueue.put(message, False)
		except:
			#If the log queue is full, remove the first message and append the new message again
			self._logQueue.get()
			try:
				self._logQueue.put(message, False)
			except:
				pass

	def _readline(self):
		if self._serial == None:
			return None
		try:
			ret = self._serial.readline()
		except:
			self._log("Unexpected error while reading serial port: %s" % (getExceptionString()))
			self._errorValue = getExceptionString()
			self.close(True)
			return None
		if ret == '':
			#self._log("Recv: TIMEOUT")
			return ''
		self._log("Recv: %s" % (unicode(ret, 'ascii', 'replace').encode('ascii', 'replace').rstrip()))
		return ret
	
	def close(self, isError = False):
		printing = self.isPrinting() or self.isPaused()
		if self._serial != None:
			self._serial.close()
			if isError:
				self._changeState(self.STATE_CLOSED_WITH_ERROR)
			else:
				self._changeState(self.STATE_CLOSED)
		self._serial = None

		if printing:
			eventManager().fire("PrintFailed")
		eventManager().fire("Disconnected")

	def __del__(self):
		self.close()
	
	def _sendCommand(self, cmd):
		if self._serial is None:
			return

		for gcode in gcodeToEvent.keys():
			if gcode in cmd:
				eventManager().fire(gcodeToEvent[gcode])

		if 'M109' in cmd or 'M190' in cmd:
			self._heatupWaitStartTime = time.time()
		if 'M104' in cmd or 'M109' in cmd:
			try:
				self._targetTemp = float(re.search('S([0-9]+)', cmd).group(1))
			except:
				pass
		if 'M140' in cmd or 'M190' in cmd:
			try:
				self._bedTargetTemp = float(re.search('S([0-9]+)', cmd).group(1))
			except:
				pass
		self._log('Send: %s' % (cmd))
		try:
			self._serial.write(cmd + '\n')
		except serial.SerialTimeoutException:
			self._log("Serial timeout while writing to serial port, trying again.")
			try:
				self._serial.write(cmd + '\n')
			except:
				self._log("Unexpected error while writing serial port: %s" % (getExceptionString()))
				self._errorValue = getExceptionString()
				self.close(True)
		except:
			self._log("Unexpected error while writing serial port: %s" % (getExceptionString()))
			self._errorValue = getExceptionString()
			self.close(True)
	
	def _sendNext(self):
		if self._gcodePos >= len(self._gcodeList):
			self._changeState(self.STATE_OPERATIONAL)
			eventManager().fire('PrintDone')
			return

		if self._gcodePos == 100:
			self._printStartTime100 = time.time()
		line = self._gcodeList[self._gcodePos]
		if type(line) is tuple:
			self._printSection = line[1]
			line = line[0]
		try:
			if line == 'M0' or line == 'M1':
				self.setPause(True)
				line = 'M105'   #Don't send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
			if self._printSection in self._feedRateModifier:
				line = re.sub('F([0-9]*)', lambda m: 'F' + str(int(int(m.group(1)) * self._feedRateModifier[self._printSection])), line)
			if ('G0' in line or 'G1' in line) and 'Z' in line:
				z = float(re.search('Z([0-9\.]*)', line).group(1))
				if self._currentZ != z:
					self._currentZ = z
					self._callback.mcZChange(z)
		except:
			self._log("Unexpected error: %s" % (getExceptionString()))
		checksum = reduce(lambda x,y:x^y, map(ord, "N%d %s " % (self._gcodePos, line)))
		self._sendCommand("N%d %s *%d" % (self._gcodePos, line, checksum))          # added spaces between line # and command and checksum, because some firmware needs it and it's more readable in the terminal window
		self._gcodePos += 1
		self._callback.mcProgress(self._gcodePos)
	
	def sendCommand(self, cmd):
		cmd = cmd.encode('ascii', 'replace')
		if self.isPrinting():
			self._commandQueue.put(cmd)
		elif self.isOperational():
			self._sendCommand(cmd)
	
	def printGCode(self, gcodeList):
		if not self.isOperational() or self.isPrinting():
			return
		self._gcodeList = gcodeList
		self._gcodePos = 0
		self._printStartTime100 = None
		self._printSection = 'CUSTOM'
		self._changeState(self.STATE_PRINTING)
		self._printStartTime = time.time()
		for i in xrange(0, 6):
			self._sendNext()
		eventManager().fire("PrintStarted")
	
	def cancelPrint(self):
		if self.isOperational():
			self._changeState(self.STATE_OPERATIONAL)
		eventManager().fire("PrintCancelled")

	def setPause(self, pause):
		if not pause and self.isPaused():
			self._changeState(self.STATE_PRINTING)
			for i in xrange(0, 6):
				self._sendNext()
		if pause and self.isPrinting():
			self._changeState(self.STATE_PAUSED)
			eventManager().fire("Paused")
	
	def setFeedrateModifier(self, type, value):
		self._feedRateModifier[type] = value

	def getFeedrateModifiers(self):
		result = {}
		result.update(self._feedRateModifier)
		return result

def getExceptionString():
	locationInfo = traceback.extract_tb(sys.exc_info()[2])[0]
	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])