Initial commit, basic functionality (send gcode to printer, pause, resume, send intermediate command)
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This is the beginning of a python-based host software for reprap printers.
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Currently contains printcore.py, which requires pyserial to be installed.
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Using printcore:
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p=printcore('/dev/ttyUSB0',115200)
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p.startprint(data) # data is an array of gcode lines
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p.send_now("M105") # sends M105 as soon as possible
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p.pause()
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p.resume()
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p.disconnect()
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from serial import Serial
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from threading import Thread
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import time
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class printcore():
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def __init__(self,port=None,baud=None):
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self.baud=None
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self.port=None
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self.printer=None
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self.clear=0
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self.mainqueue=[]
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self.priqueue=[]
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if port is not None and baud is not None:
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print port, baud
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self.connect(port, baud)
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print "connected\n"
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self.readthread=None
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self.queueindex=0
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self.lineno=0
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self.resendfrom=-1
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self.online=False
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self.printing=False
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self.sentlines={}
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def disconnect(self):
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if(self.printer):
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self.printer.close()
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self.printer=None
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self.online=False
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self.printing=False
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def connect(self,port=None,baud=None):
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if(self.printer):
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self.disconnect()
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if port is not None:
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self.port=port
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if baud is not None:
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self.baud=baud
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if self.port is not None and self.baud is not None:
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self.printer=Serial(self.port,self.baud,timeout=5)
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Thread(target=self._listen).start()
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def _listen(self):
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"""This function acts on messages from the firmware
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"""
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time.sleep(1)
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print "listening:"
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while(True):
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if(not self.printer or not self.printer.isOpen):
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print "port not open"
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break
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line=self.printer.readline()
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print "RECV:",line
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if(line.startswith('start')):
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self.clear=True
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self.online=True
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elif(line.startswith('ok')):
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self.clear=True
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self.resendfrom=-1
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#put temp handling here
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elif(line.startswith('Error')):
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pass
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if "Resend" in line or "rs" in line:
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toresend=int(line.split(':')[1])
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self.resendfrom=toresend
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self.clear=True
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print "done listening"
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def checksum(self,command):
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return reduce(lambda x,y:x^y, map(ord,command))
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def startprint(self,data):
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if(self.printing):
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return False
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self.printing=True
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self.mainqueue=[]+data
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self._send("M110",-1, True)
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Thread(target=self._print).start()
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return True
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def pause(self):
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self.printing=False
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def resume(self):
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self.printing=True
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threading.Thread(target=self._print).start()
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def send_now(self,command):
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if(self.printing):
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self.priqueue+=[command]
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else:
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self._send(command)
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def _print(self):
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while(self.printing and self.printer):
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self.sendnext()
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def sendnext(self):
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if(not self.printer):
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return
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if(self.resendfrom>-1):
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while(self.resendfrom<self.lineno):
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while not self.clear:
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time.sleep(0.001)
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self.clear=False
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self._send(self.sentlines[self.resendfrom],self.resendfrom,False)
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self.resendfrom+=1
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self.resendfrom=-1
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for i in self.priqueue[:]:
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while not self.clear:
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time.sleep(0.001)
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self.clear=False
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self._send(i)
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del(self.preque[0])
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if(self.printing and self.queueindex<len(self.mainqueue)):
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tline=self.mainqueue[self.queueindex]
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if(not tline.startswith(';') and len(tline)>0):
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while not self.clear:
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time.sleep(0.001)
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self.clear=False
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self._send(tline,self.lineno,True)
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self.lineno+=1
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self.queueindex+=1
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else:
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self.printing=False
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self.queueindex=0
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self.lineno=0
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self._send("M110",-1, True)
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def _send(self, command, lineno=0, calcchecksum=False):
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if(calcchecksum):
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prefix="N"+str(lineno)+" "+command
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command=prefix+"*"+str(self.checksum(prefix))
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self.sentlines[lineno]=command
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if(self.printer):
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print "sending: "+command+"\n"
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self.printer.write(command+"\n")
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if __name__ == '__main__':
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p=printcore('/dev/ttyUSB0',115200)
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time.sleep(5)
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testdata="""G28
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G1 X0 Y0
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G1 X10 Y10
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G1 X0 Y0
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;
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"""
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p.startprint(testdata.split('\n'))
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time.sleep(10)
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p.disconnect()
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