661 lines
19 KiB
Python
661 lines
19 KiB
Python
# coding=utf-8
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__author__ = "Gina Häußge <osd@foosel.net>"
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__license__ = 'GNU Affero General Public License http://www.gnu.org/licenses/agpl.html'
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import time
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import datetime
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import threading
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import copy
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import os
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#import logging, logging.config
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import octoprint.util.comm as comm
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import octoprint.util as util
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from octoprint.settings import settings
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from octoprint.events import eventManager
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def getConnectionOptions():
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"""
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Retrieves the available ports, baudrates, prefered port and baudrate for connecting to the printer.
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"""
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return {
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"ports": comm.serialList(),
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"baudrates": comm.baudrateList(),
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"portPreference": settings().get(["serial", "port"]),
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"baudratePreference": settings().getInt(["serial", "baudrate"]),
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"autoconnect": settings().getBoolean(["serial", "autoconnect"])
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}
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class Printer():
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def __init__(self, gcodeManager):
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from collections import deque
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self._gcodeManager = gcodeManager
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self._gcodeManager.registerCallback(self)
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# state
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self._temp = None
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self._bedTemp = None
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self._targetTemp = None
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self._targetBedTemp = None
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self._temps = {
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"actual": deque([], 300),
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"target": deque([], 300),
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"actualBed": deque([], 300),
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"targetBed": deque([], 300)
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}
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self._tempBacklog = []
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self._latestMessage = None
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self._messages = deque([], 300)
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self._messageBacklog = []
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self._latestLog = None
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self._log = deque([], 300)
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self._logBacklog = []
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self._state = None
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self._currentZ = None
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self._progress = None
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self._printTime = None
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self._printTimeLeft = None
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self._printAfterSelect = False
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# sd handling
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self._sdPrinting = False
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self._sdStreaming = False
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self._sdFilelistAvailable = threading.Event()
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self._selectedFile = None
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# comm
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self._comm = None
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# callbacks
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self._callbacks = []
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self._lastProgressReport = None
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self._stateMonitor = StateMonitor(
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ratelimit=0.5,
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updateCallback=self._sendCurrentDataCallbacks,
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addTemperatureCallback=self._sendAddTemperatureCallbacks,
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addLogCallback=self._sendAddLogCallbacks,
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addMessageCallback=self._sendAddMessageCallbacks
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)
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self._stateMonitor.reset(
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state={"state": None, "stateString": self.getStateString(), "flags": self._getStateFlags()},
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jobData={"filename": None, "filesize": None, "estimatedPrintTime": None, "filament": None},
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progress={"progress": None, "filepos": None, "printTime": None, "printTimeLeft": None},
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currentZ=None
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)
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#~~ callback handling
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def registerCallback(self, callback):
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self._callbacks.append(callback)
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self._sendInitialStateUpdate(callback)
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def unregisterCallback(self, callback):
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if callback in self._callbacks:
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self._callbacks.remove(callback)
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def _sendAddTemperatureCallbacks(self, data):
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for callback in self._callbacks:
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try: callback.addTemperature(data)
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except: pass
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def _sendAddLogCallbacks(self, data):
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for callback in self._callbacks:
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try: callback.addLog(data)
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except: pass
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def _sendAddMessageCallbacks(self, data):
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for callback in self._callbacks:
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try: callback.addMessage(data)
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except: pass
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def _sendCurrentDataCallbacks(self, data):
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for callback in self._callbacks:
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try: callback.sendCurrentData(copy.deepcopy(data))
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except: pass
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def _sendTriggerUpdateCallbacks(self, type):
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for callback in self._callbacks:
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try: callback.sendUpdateTrigger(type)
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except: pass
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def _sendFeedbackCommandOutput(self, name, output):
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for callback in self._callbacks:
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try: callback.sendFeedbackCommandOutput(name, output)
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except: pass
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#~~ callback from gcodemanager
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def sendUpdateTrigger(self, type):
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if type == "gcodeFiles" and self._selectedFile:
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self._setJobData(self._selectedFile["filename"],
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self._selectedFile["filesize"],
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self._selectedFile["sd"])
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#~~ printer commands
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def connect(self, port=None, baudrate=None):
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"""
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Connects to the printer. If port and/or baudrate is provided, uses these settings, otherwise autodetection
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will be attempted.
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"""
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if self._comm is not None:
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self._comm.close()
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self._comm = comm.MachineCom(port, baudrate, callbackObject=self)
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def disconnect(self):
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"""
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Closes the connection to the printer.
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"""
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if self._comm is not None:
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self._comm.close()
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self._comm = None
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eventManager().fire("Disconnected")
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def command(self, command):
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"""
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Sends a single gcode command to the printer.
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"""
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self.commands([command])
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def commands(self, commands):
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"""
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Sends multiple gcode commands (provided as a list) to the printer.
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"""
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if self._comm is None:
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return
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for command in commands:
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self._comm.sendCommand(command)
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def setTemperatureOffset(self, extruder, bed):
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if self._comm is None:
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return
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self._comm.setTemperatureOffset(extruder, bed)
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self._stateMonitor.setTempOffsets(extruder, bed)
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def selectFile(self, filename, sd, printAfterSelect=False):
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if self._comm is None or (self._comm.isBusy() or self._comm.isStreaming()):
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return
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self._printAfterSelect = printAfterSelect
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self._comm.selectFile(filename, sd)
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self._setProgressData(0, None, None, None)
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self._setCurrentZ(None)
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def unselectFile(self):
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if self._comm is not None and (self._comm.isBusy() or self._comm.isStreaming()):
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return
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self._comm.unselectFile()
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self._setProgressData(0, None, None, None)
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self._setCurrentZ(None)
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def startPrint(self):
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"""
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Starts the currently loaded print job.
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Only starts if the printer is connected and operational, not currently printing and a printjob is loaded
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"""
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if self._comm is None or not self._comm.isOperational() or self._comm.isPrinting():
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return
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if self._selectedFile is None:
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return
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self._setCurrentZ(None)
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self._comm.startPrint()
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def togglePausePrint(self):
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"""
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Pause the current printjob.
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"""
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if self._comm is None:
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return
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self._comm.setPause(not self._comm.isPaused())
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def cancelPrint(self, disableMotorsAndHeater=True):
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"""
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Cancel the current printjob.
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"""
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if self._comm is None:
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return
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self._comm.cancelPrint()
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if disableMotorsAndHeater:
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self.commands(["M84", "M104 S0", "M140 S0", "M106 S0"]) # disable motors, switch off heaters and fan
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# reset progress, height, print time
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self._setCurrentZ(None)
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self._setProgressData(None, None, None, None)
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# mark print as failure
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if self._selectedFile is not None:
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self._gcodeManager.printFailed(self._selectedFile["filename"])
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eventManager().fire("PrintFailed", self._selectedFile["filename"])
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#~~ state monitoring
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def _setCurrentZ(self, currentZ):
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self._currentZ = currentZ
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formattedCurrentZ = None
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if self._currentZ:
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formattedCurrentZ = "%.2f mm" % (self._currentZ)
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self._stateMonitor.setCurrentZ(formattedCurrentZ)
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def _setState(self, state):
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self._state = state
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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def _addLog(self, log):
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self._log.append(log)
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self._stateMonitor.addLog(log)
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def _addMessage(self, message):
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self._messages.append(message)
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self._stateMonitor.addMessage(message)
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def _setProgressData(self, progress, filepos, printTime, printTimeLeft):
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self._progress = progress
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self._printTime = printTime
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self._printTimeLeft = printTimeLeft
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formattedPrintTime = None
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if (self._printTime):
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formattedPrintTime = util.getFormattedTimeDelta(datetime.timedelta(seconds=self._printTime))
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formattedPrintTimeLeft = None
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if (self._printTimeLeft):
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formattedPrintTimeLeft = util.getFormattedTimeDelta(datetime.timedelta(minutes=self._printTimeLeft))
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formattedFilePos = None
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if (filepos):
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formattedFilePos = util.getFormattedSize(filepos)
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self._stateMonitor.setProgress({"progress": self._progress, "filepos": formattedFilePos, "printTime": formattedPrintTime, "printTimeLeft": formattedPrintTimeLeft})
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def _addTemperatureData(self, temp, bedTemp, targetTemp, bedTargetTemp):
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currentTimeUtc = int(time.time() * 1000)
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self._temps["actual"].append((currentTimeUtc, temp))
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self._temps["target"].append((currentTimeUtc, targetTemp))
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self._temps["actualBed"].append((currentTimeUtc, bedTemp))
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self._temps["targetBed"].append((currentTimeUtc, bedTargetTemp))
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self._temp = temp
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self._bedTemp = bedTemp
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self._targetTemp = targetTemp
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self._targetBedTemp = bedTargetTemp
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self._stateMonitor.addTemperature({"currentTime": currentTimeUtc, "temp": self._temp, "bedTemp": self._bedTemp, "targetTemp": self._targetTemp, "targetBedTemp": self._targetBedTemp})
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def _setJobData(self, filename, filesize, sd):
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if filename is not None:
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self._selectedFile = {
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"filename": filename,
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"filesize": filesize,
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"sd": sd
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}
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else:
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self._selectedFile = None
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formattedFilename = None
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formattedFilesize = None
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estimatedPrintTime = None
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fileMTime = None
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filament = None
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if filename:
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formattedFilename = os.path.basename(filename)
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# Use a string for mtime because it could be float and the
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# javascript needs to exact match
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if not sd:
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fileMTime = str(os.stat(filename).st_mtime)
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if filesize:
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formattedFilesize = util.getFormattedSize(filesize)
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fileData = self._gcodeManager.getFileData(filename)
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if fileData is not None and "gcodeAnalysis" in fileData.keys():
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if "estimatedPrintTime" in fileData["gcodeAnalysis"].keys():
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estimatedPrintTime = fileData["gcodeAnalysis"]["estimatedPrintTime"]
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if "filament" in fileData["gcodeAnalysis"].keys():
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filament = fileData["gcodeAnalysis"]["filament"]
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self._stateMonitor.setJobData({"filename": formattedFilename, "filesize": formattedFilesize, "estimatedPrintTime": estimatedPrintTime, "filament": filament, "sd": sd, "mtime": fileMTime})
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def _sendInitialStateUpdate(self, callback):
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try:
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data = self._stateMonitor.getCurrentData()
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# convert the dict of deques to a dict of lists
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temps = {k: list(v) for (k,v) in self._temps.iteritems()}
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data.update({
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"temperatureHistory": temps,
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"logHistory": list(self._log),
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"messageHistory": list(self._messages)
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})
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callback.sendHistoryData(data)
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except Exception, err:
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import sys
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sys.stderr.write("ERROR: %s\n" % str(err))
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pass
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def _getStateFlags(self):
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if not settings().getBoolean(["feature", "sdSupport"]) or self._comm is None:
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sdReady = False
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else:
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sdReady = self._comm.isSdReady()
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return {
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"operational": self.isOperational(),
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"printing": self.isPrinting(),
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"closedOrError": self.isClosedOrError(),
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"error": self.isError(),
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"paused": self.isPaused(),
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"ready": self.isReady(),
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"sdReady": sdReady
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}
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def getCurrentData(self):
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return self._stateMonitor.getCurrentData()
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#~~ callbacks triggered from self._comm
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def mcLog(self, message):
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"""
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Callback method for the comm object, called upon log output.
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"""
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self._addLog(message)
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def mcTempUpdate(self, temp, bedTemp, targetTemp, bedTargetTemp):
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self._addTemperatureData(temp, bedTemp, targetTemp, bedTargetTemp)
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def mcStateChange(self, state):
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"""
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Callback method for the comm object, called if the connection state changes.
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"""
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oldState = self._state
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# forward relevant state changes to gcode manager
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if self._comm is not None and oldState == self._comm.STATE_PRINTING:
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if self._selectedFile is not None:
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if state == self._comm.STATE_OPERATIONAL:
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self._gcodeManager.printSucceeded(self._selectedFile["filename"])
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elif state == self._comm.STATE_CLOSED or state == self._comm.STATE_ERROR or state == self._comm.STATE_CLOSED_WITH_ERROR:
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self._gcodeManager.printFailed(self._selectedFile["filename"])
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self._gcodeManager.resumeAnalysis() # printing done, put those cpu cycles to good use
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elif self._comm is not None and state == self._comm.STATE_PRINTING:
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self._gcodeManager.pauseAnalysis() # do not analyse gcode while printing
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self._setState(state)
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def mcMessage(self, message):
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"""
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Callback method for the comm object, called upon message exchanges via serial.
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Stores the message in the message buffer, truncates buffer to the last 300 lines.
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"""
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self._addMessage(message)
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def mcProgress(self):
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"""
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Callback method for the comm object, called upon any change in progress of the printjob.
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Triggers storage of new values for printTime, printTimeLeft and the current progress.
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"""
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self._setProgressData(self._comm.getPrintProgress(), self._comm.getPrintFilepos(), self._comm.getPrintTime(), self._comm.getPrintTimeRemainingEstimate())
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def mcZChange(self, newZ):
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"""
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Callback method for the comm object, called upon change of the z-layer.
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"""
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oldZ = self._currentZ
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if newZ != oldZ:
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# we have to react to all z-changes, even those that might "go backward" due to a slicer's retraction or
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# anti-backlash-routines. Event subscribes should individually take care to filter out "wrong" z-changes
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eventManager().fire("ZChange", newZ)
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self._setCurrentZ(newZ)
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def mcSdStateChange(self, sdReady):
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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def mcSdFiles(self, files):
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self._sendTriggerUpdateCallbacks("gcodeFiles")
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self._sdFilelistAvailable.set()
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def mcFileSelected(self, filename, filesize, sd):
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self._setJobData(filename, filesize, sd)
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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if self._printAfterSelect:
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self.startPrint()
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def mcPrintjobDone(self):
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self._setProgressData(1.0, self._selectedFile["filesize"], self._comm.getPrintTime(), 0)
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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def mcFileTransferStarted(self, filename, filesize):
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self._sdStreaming = True
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self._setJobData(filename, filesize, True)
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self._setProgressData(0.0, 0, 0, None)
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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def mcFileTransferDone(self):
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self._sdStreaming = False
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self._setCurrentZ(None)
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self._setJobData(None, None, None)
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self._setProgressData(None, None, None, None)
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self._stateMonitor.setState({"state": self._state, "stateString": self.getStateString(), "flags": self._getStateFlags()})
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def mcReceivedRegisteredMessage(self, command, output):
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self._sendFeedbackCommandOutput(command, output)
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#~~ sd file handling
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def getSdFiles(self):
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if self._comm is None or not self._comm.isSdReady():
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return []
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return self._comm.getSdFiles()
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def addSdFile(self, filename, path):
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if not self._comm or self._comm.isBusy() or not self._comm.isSdReady():
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return
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self.refreshSdFiles(blocking=True)
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existingSdFiles = self._comm.getSdFiles()
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sdFilename = util.getDosFilename(filename, existingSdFiles)
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self._comm.startFileTransfer(path, sdFilename)
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def deleteSdFile(self, filename):
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if not self._comm or not self._comm.isSdReady():
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return
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self._comm.deleteSdFile(filename)
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def initSdCard(self):
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if not self._comm or self._comm.isSdReady():
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return
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self._comm.initSdCard()
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def releaseSdCard(self):
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if not self._comm or not self._comm.isSdReady():
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return
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self._comm.releaseSdCard()
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def refreshSdFiles(self, blocking=False):
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"""
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Refreshs the list of file stored on the SD card attached to printer (if available and printer communication
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available). Optional blocking parameter allows making the method block (max 10s) until the file list has been
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received (and can be accessed via self._comm.getSdFiles()). Defaults to a asynchronous operation.
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"""
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if not self._comm or not self._comm.isSdReady():
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return
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self._sdFilelistAvailable.clear()
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self._comm.refreshSdFiles()
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if blocking:
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self._sdFilelistAvailable.wait(10000)
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#~~ state reports
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def getStateString(self):
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"""
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Returns a human readable string corresponding to the current communication state.
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"""
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if self._comm is None:
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return "Offline"
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else:
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return self._comm.getStateString()
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def getCurrentData(self):
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return self._stateMonitor.getCurrentData()
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def getCurrentJob(self):
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currentData = self._stateMonitor.getCurrentData()
|
|
return currentData["job"]
|
|
|
|
def getCurrentTemperatures(self):
|
|
if self._comm is not None:
|
|
(tempOffset, bedTempOffset) = self._comm.getOffsets()
|
|
else:
|
|
tempOffset = 0
|
|
bedTempOffset = 0
|
|
|
|
return {
|
|
"extruder": {
|
|
"current": self._temp,
|
|
"target": self._targetTemp,
|
|
"offset": tempOffset
|
|
},
|
|
"bed": {
|
|
"current": self._bedTemp,
|
|
"target": self._targetBedTemp,
|
|
"offset": bedTempOffset
|
|
}
|
|
}
|
|
|
|
def isClosedOrError(self):
|
|
return self._comm is None or self._comm.isClosedOrError()
|
|
|
|
def isOperational(self):
|
|
return self._comm is not None and self._comm.isOperational()
|
|
|
|
def isPrinting(self):
|
|
return self._comm is not None and self._comm.isPrinting()
|
|
|
|
def isPaused(self):
|
|
return self._comm is not None and self._comm.isPaused()
|
|
|
|
def isError(self):
|
|
return self._comm is not None and self._comm.isError()
|
|
|
|
def isReady(self):
|
|
return self.isOperational() and not self._comm.isStreaming()
|
|
|
|
def isLoading(self):
|
|
return self._gcodeLoader is not None
|
|
|
|
class StateMonitor(object):
|
|
def __init__(self, ratelimit, updateCallback, addTemperatureCallback, addLogCallback, addMessageCallback):
|
|
self._ratelimit = ratelimit
|
|
self._updateCallback = updateCallback
|
|
self._addTemperatureCallback = addTemperatureCallback
|
|
self._addLogCallback = addLogCallback
|
|
self._addMessageCallback = addMessageCallback
|
|
|
|
self._state = None
|
|
self._jobData = None
|
|
self._gcodeData = None
|
|
self._sdUploadData = None
|
|
self._currentZ = None
|
|
self._progress = None
|
|
|
|
self._tempOffset = 0
|
|
self._bedTempOffset = 0
|
|
|
|
self._changeEvent = threading.Event()
|
|
|
|
self._lastUpdate = time.time()
|
|
self._worker = threading.Thread(target=self._work)
|
|
self._worker.daemon = True
|
|
self._worker.start()
|
|
|
|
def reset(self, state=None, jobData=None, progress=None, currentZ=None):
|
|
self.setState(state)
|
|
self.setJobData(jobData)
|
|
self.setProgress(progress)
|
|
self.setCurrentZ(currentZ)
|
|
|
|
def addTemperature(self, temperature):
|
|
self._addTemperatureCallback(temperature)
|
|
self._changeEvent.set()
|
|
|
|
def addLog(self, log):
|
|
self._addLogCallback(log)
|
|
self._changeEvent.set()
|
|
|
|
def addMessage(self, message):
|
|
self._addMessageCallback(message)
|
|
self._changeEvent.set()
|
|
|
|
def setCurrentZ(self, currentZ):
|
|
self._currentZ = currentZ
|
|
self._changeEvent.set()
|
|
|
|
def setState(self, state):
|
|
self._state = state
|
|
self._changeEvent.set()
|
|
|
|
def setJobData(self, jobData):
|
|
self._jobData = jobData
|
|
self._changeEvent.set()
|
|
|
|
def setProgress(self, progress):
|
|
self._progress = progress
|
|
self._changeEvent.set()
|
|
|
|
def setTempOffsets(self, tempOffset, bedTempOffset):
|
|
if tempOffset is not None:
|
|
self._tempOffset = tempOffset
|
|
if bedTempOffset is not None:
|
|
self._bedTempOffset = bedTempOffset
|
|
self._changeEvent.set()
|
|
|
|
def _work(self):
|
|
while True:
|
|
self._changeEvent.wait()
|
|
|
|
now = time.time()
|
|
delta = now - self._lastUpdate
|
|
additionalWaitTime = self._ratelimit - delta
|
|
if additionalWaitTime > 0:
|
|
time.sleep(additionalWaitTime)
|
|
|
|
data = self.getCurrentData()
|
|
self._updateCallback(data)
|
|
self._lastUpdate = time.time()
|
|
self._changeEvent.clear()
|
|
|
|
def getCurrentData(self):
|
|
return {
|
|
"state": self._state,
|
|
"job": self._jobData,
|
|
"currentZ": self._currentZ,
|
|
"progress": self._progress,
|
|
"offsets": (self._tempOffset, self._bedTempOffset)
|
|
}
|
|
|