#!/usr/bin/env python
# This file is part of the Printrun suite.
#
# Printrun is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Printrun is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Printrun. If not, see .
from serial import Serial, SerialException
from threading import Thread
from select import error as SelectError
import time, getopt, sys
class printcore():
def __init__(self,port=None,baud=None):
"""Initializes a printcore instance. Pass the port and baud rate to connect immediately
"""
self.baud=None
self.port=None
self.printer=None #Serial instance connected to the printer, None when disconnected
self.clear=0 #clear to send, enabled after responses
self.online=False #The printer has responded to the initial command and is active
self.printing=False #is a print currently running, true if printing, false if paused
self.mainqueue=[]
self.priqueue=[]
self.queueindex=0
self.lineno=0
self.resendfrom=-1
self.paused=False
self.sentlines={}
self.log=[]
self.sent=[]
self.tempcb=None#impl (wholeline)
self.recvcb=None#impl (wholeline)
self.sendcb=None#impl (wholeline)
self.errorcb=None#impl (wholeline)
self.startcb=None#impl ()
self.endcb=None#impl ()
self.onlinecb=None#impl ()
self.loud=False#emit sent and received lines to terminal
self.greetings=['start','Grbl ']
if port is not None and baud is not None:
#print port, baud
self.connect(port, baud)
#print "connected\n"
def disconnect(self):
"""Disconnects from printer and pauses the print
"""
if(self.printer):
self.printer.close()
self.printer=None
self.online=False
self.printing=False
def connect(self,port=None,baud=None):
"""Set port and baudrate if given, then connect to printer
"""
if(self.printer):
self.disconnect()
if port is not None:
self.port=port
if baud is not None:
self.baud=baud
if self.port is not None and self.baud is not None:
self.printer=Serial(self.port,self.baud,timeout=5)
Thread(target=self._listen).start()
def reset(self):
"""Reset the printer
"""
if(self.printer):
self.printer.setDTR(1)
self.printer.setDTR(0)
def _listen(self):
"""This function acts on messages from the firmware
"""
self.clear=True
time.sleep(1.0)
self.send_now("M105")
while(True):
if(not self.printer or not self.printer.isOpen):
break
try:
line=self.printer.readline()
except SelectError, e:
if 'Bad file descriptor' in e.args[1]:
print "Can't read from printer (disconnected?)."
break
else:
raise
except SerialException, e:
print "Can't read from printer (disconnected?)."
break
except OSError, e:
print "Can't read from printer (disconnected?)."
break
if(len(line)>1):
self.log+=[line]
if self.recvcb is not None:
try:
self.recvcb(line)
except:
pass
if self.loud:
print "RECV: ",line.rstrip()
if(line.startswith('DEBUG_')):
continue
if(line.startswith(tuple(self.greetings)) or line.startswith('ok')):
self.clear=True
if(line.startswith(tuple(self.greetings)) or line.startswith('ok') or "T:" in line):
if (not self.online or line.startswith(tuple(self.greetings))) and self.onlinecb is not None:
try:
self.onlinecb()
except:
pass
self.online=True
if(line.startswith('ok')):
#self.resendfrom=-1
#put temp handling here
if "T:" in line and self.tempcb is not None:
try:
self.tempcb(line)
except:
pass
#callback for temp, status, whatever
elif(line.startswith('Error')):
if self.errorcb is not None:
try:
self.errorcb(line)
except:
pass
#callback for errors
pass
if line.lower().startswith("resend") or line.startswith("rs"):
try:
toresend=int(line.replace("N:"," ").replace("N"," ").replace(":"," ").split()[-1])
except:
if line.startswith("rs"):
toresend=int(line.split()[1])
self.resendfrom=toresend
self.clear=True
self.clear=True
#callback for disconnect
def _checksum(self,command):
return reduce(lambda x,y:x^y, map(ord,command))
def startprint(self,data):
"""Start a print, data is an array of gcode commands.
returns True on success, False if already printing.
The print queue will be replaced with the contents of the data array, the next line will be set to 0 and the firmware notified.
Printing will then start in a parallel thread.
"""
if(self.printing or not self.online or not self.printer):
return False
self.printing=True
self.mainqueue=[]+data
self.lineno=0
self.queueindex=0
self.resendfrom=-1
self._send("M110",-1, True)
if len(data)==0:
return True
self.clear=False
Thread(target=self._print).start()
return True
def pause(self):
"""Pauses the print, saving the current position.
"""
self.paused=True
self.printing=False
time.sleep(1)
def resume(self):
"""Resumes a paused print.
"""
self.paused=False
self.printing=True
Thread(target=self._print).start()
def send(self,command):
"""Adds a command to the checksummed main command queue if printing, or sends the command immediately if not printing
"""
if(self.printing):
self.mainqueue+=[command]
else:
while not self.clear:
time.sleep(0.001)
self._send(command,self.lineno,True)
self.lineno+=1
def send_now(self,command):
"""Sends a command to the printer ahead of the command queue, without a checksum
"""
if(self.printing):
self.priqueue+=[command]
else:
while not self.clear:
time.sleep(0.001)
self._send(command)
#callback for command sent
def _print(self):
#callback for printing started
if self.startcb is not None:
try:
self.startcb()
except:
pass
while(self.printing and self.printer and self.online):
self._sendnext()
self.sentlines={}
self.log=[]
self.sent=[]
if self.endcb is not None:
try:
self.endcb()
except:
pass
#callback for printing done
def _sendnext(self):
if(not self.printer):
return
while not self.clear:
time.sleep(0.001)
self.clear=False
if not (self.printing and self.printer and self.online):
self.clear=True
return
if(self.resendfrom-1):
self._send(self.sentlines[self.resendfrom],self.resendfrom,False)
self.resendfrom+=1
return
self.resendfrom=-1
for i in self.priqueue[:]:
self._send(i)
del(self.priqueue[0])
return
if(self.printing and self.queueindex0):
self._send(tline,self.lineno,True)
self.lineno+=1
else:
self.clear=True
self.queueindex+=1
else:
self.printing=False
self.clear=True
if(not self.paused):
self.queueindex=0
self.lineno=0
self._send("M110",-1, True)
def _send(self, command, lineno=0, calcchecksum=False):
if(calcchecksum):
prefix="N"+str(lineno)+" "+command
command=prefix+"*"+str(self._checksum(prefix))
if("M110" not in command):
self.sentlines[lineno]=command
if(self.printer):
self.sent+=[command]
if self.loud:
print "SENT: ",command
if self.sendcb is not None:
try:
self.sendcb(command)
except:
pass
try:
self.printer.write(str(command+"\n"))
except SerialException, e:
print "Can't write to printer (disconnected?)."
if __name__ == '__main__':
baud = 115200
loud = False
statusreport=False
try:
opts, args=getopt.getopt(sys.argv[1:], "h,b:,v,s",["help","baud","verbose","statusreport"])
except getopt.GetoptError,err:
print str(err)
print help
sys.exit(2)
for o,a in opts:
if o in ('-h', '--help'):
# FIXME: Fix help
print "Opts are: --help , -b --baud = baudrate, -v --verbose, -s --statusreport"
sys.exit(1)
if o in ('-b', '--baud'):
baud = int(a)
if o in ('-v','--verbose'):
loud=True
elif o in ('-s','--statusreport'):
statusreport=True
if len(args)>1:
port=args[-2]
filename=args[-1]
print "Printing: "+filename + " on "+port + " with baudrate "+str(baud)
else:
print "Usage: python [-h|-b|-v|-s] printcore.py /dev/tty[USB|ACM]x filename.gcode"
sys.exit(2)
p=printcore(port,baud)
p.loud = loud
time.sleep(2)
gcode=[i.replace("\n","") for i in open(filename)]
p.startprint(gcode)
try:
if statusreport:
p.loud=False
sys.stdout.write("Progress: 00.0%")
sys.stdout.flush()
while(p.printing):
time.sleep(1)
if statusreport:
sys.stdout.write("\b\b\b\b%02.1f%%" % (100*float(p.queueindex)/len(p.mainqueue),) )
sys.stdout.flush()
p.disconnect()
sys.exit(0)
except:
p.disconnect()