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Cura/plugins/USBPrinting/PrinterConnection.py
Arjen Hiemstra a429e362ad Merge branch '15.06' 
* 15.06:
  Update changelog
  Correct the bottom offset we add when setting the volume for scale to max
  Display progress information during processing of layer data
  If findObject returns none but object_id != 0 use the selected object
  Offset the displayed rotation angle so it does not overlap the mouse cursor
  Abort attempts to connect if an error is thrown when connecting to the serial port
  Fix recent files on Windows
  Defer opening the webbrowser until the next run of the event loop
  Disable slicing and platform physics when an operation is being performed
  Rework LayerData mesh generation for improved performance
  Performance: Only calculate the platform center once, not for every poly
  Add application icons for all three platforms
2015-06-24 12:06:39 +02:00

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# Copyright (c) 2015 Ultimaker B.V.
# Cura is released under the terms of the AGPLv3 or higher.
from .avr_isp import stk500v2, ispBase, intelHex
import serial
import threading
import time
import queue
import re
import functools
from UM.Application import Application
from UM.Signal import Signal, SignalEmitter
from UM.Resources import Resources
from UM.Logger import Logger
class PrinterConnection(SignalEmitter):
def __init__(self, serial_port):
super().__init__()
self._serial = None
self._serial_port = serial_port
self._error_state = None
self._connect_thread = threading.Thread(target = self._connect)
self._connect_thread.daemon = True
# Printer is connected
self._is_connected = False
# Printer is in the process of connecting
self._is_connecting = False
# The baud checking is done by sending a number of m105 commands to the printer and waiting for a readable
# response. If the baudrate is correct, this should make sense, else we get giberish.
self._required_responses_auto_baud = 10
self._progress = 0
self._listen_thread = threading.Thread(target=self._listen)
self._listen_thread.daemon = True
self._update_firmware_thread = threading.Thread(target= self._updateFirmware)
self._update_firmware_thread.demon = True
self._heatup_wait_start_time = time.time()
## Queue for commands that need to be send. Used when command is sent when a print is active.
self._command_queue = queue.Queue()
self._is_printing = False
## Set when print is started in order to check running time.
self._print_start_time = None
self._print_start_time_100 = None
## Keep track where in the provided g-code the print is
self._gcode_position = 0
# List of gcode lines to be printed
self._gcode = None
# Number of extruders
self._extruder_count = 1
# Temperatures of all extruders
self._extruder_temperatures = [0] * self._extruder_count
# Target temperatures of all extruders
self._target_extruder_temperatures = [0] * self._extruder_count
#Target temperature of the bed
self._target_bed_temperature = 0
# Temperature of the bed
self._bed_temperature = 0
# Current Z stage location
self._current_z = 0
# In order to keep the connection alive we request the temperature every so often from a different extruder.
# This index is the extruder we requested data from the last time.
self._temperature_requested_extruder_index = 0
self._updating_firmware = False
self._firmware_file_name = None
# TODO: Might need to add check that extruders can not be changed when it started printing or loading these settings from settings object
def setNumExtuders(self, num):
self._extruder_count = num
self._extruder_temperatures = [0] * self._extruder_count
self._target_extruder_temperatures = [0] * self._extruder_count
## Is the printer actively printing
def isPrinting(self):
if not self._is_connected or self._serial is None:
return False
return self._is_printing
## Start a print based on a g-code.
# \param gcode_list List with gcode (strings).
def printGCode(self, gcode_list):
if self.isPrinting() or not self._is_connected:
return
self._gcode = gcode_list
#Reset line number. If this is not done, first line is sometimes ignored
self._gcode.insert(0, "M110")
self._gcode_position = 0
self._print_start_time_100 = None
self._is_printing = True
self._print_start_time = time.time()
for i in range(0, 4): #Push first 4 entries before accepting other inputs
self._sendNextGcodeLine()
## Get the serial port string of this connection.
# \return serial port
def getSerialPort(self):
return self._serial_port
## Try to connect the serial. This simply starts the thread, which runs _connect.
def connect(self):
if not self._updating_firmware and not self._connect_thread.isAlive():
self._connect_thread.start()
## Private fuction (threaded) that actually uploads the firmware.
def _updateFirmware(self):
if self._is_connecting or self._is_connected:
self.close()
hex_file = intelHex.readHex(self._firmware_file_name)
if len(hex_file) == 0:
Logger.log("e", "Unable to read provided hex file. Could not update firmware")
return
programmer = stk500v2.Stk500v2()
programmer.progressCallback = self.setProgress
programmer.connect(self._serial_port)
time.sleep(1) # Give programmer some time to connect. Might need more in some cases, but this worked in all tested cases.
if not programmer.isConnected():
Logger.log("e", "Unable to connect with serial. Could not update firmware")
return
self._updating_firmware = True
try:
programmer.programChip(hex_file)
self._updating_firmware = False
except Exception as e:
Logger.log("e", "Exception while trying to update firmware %s" %e)
self._updating_firmware = False
return
programmer.close()
## Upload new firmware to machine
# \param filename full path of firmware file to be uploaded
def updateFirmware(self, file_name):
self._firmware_file_name = file_name
self._update_firmware_thread.start()
## Private connect function run by thread. Can be started by calling connect.
def _connect(self):
self._is_connecting = True
programmer = stk500v2.Stk500v2()
try:
programmer.connect(self._serial_port) # Connect with the serial, if this succeeds, it"s an arduino based usb device.
self._serial = programmer.leaveISP()
except ispBase.IspError as e:
Logger.log("i", "Could not establish connection on %s: %s. Device is not arduino based." %(self._serial_port,str(e)))
except Exception as e:
Logger.log("i", "Could not establish connection on %s, unknown reasons. Device is not arduino based." % self._serial_port)
if not self._serial or not programmer.serial:
self._is_connecting = False
return
# If the programmer connected, we know its an atmega based version. Not all that usefull, but it does give some debugging information.
for baud_rate in self._getBaudrateList(): # Cycle all baud rates (auto detect)
if self._serial is None:
try:
self._serial = serial.Serial(str(self._serial_port), baud_rate, timeout=3, writeTimeout=10000)
except serial.SerialException:
Logger.log("i", "Could not open port %s" % self._serial_port)
return
else:
if not self.setBaudRate(baud_rate):
continue # Could not set the baud rate, go to the next
time.sleep(1.5) # Ensure that we are not talking to the bootloader. 1.5 sec seems to be the magic number
sucesfull_responses = 0
timeout_time = time.time() + 5
self._serial.write(b"\n")
self._sendCommand("M105") # Request temperature, as this should (if baudrate is correct) result in a command with "T:" in it
while timeout_time > time.time():
line = self._readline()
if line is None:
self.setIsConnected(False) # Something went wrong with reading, could be that close was called.
return
if b"T:" in line:
self._serial.timeout = 0.5
self._serial.write(b"\n")
self._sendCommand("M105")
sucesfull_responses += 1
if sucesfull_responses >= self._required_responses_auto_baud:
self._serial.timeout = 2 #Reset serial timeout
self.setIsConnected(True)
Logger.log("i", "Established printer connection on port %s" % self._serial_port)
return
self.close() # Unable to connect, wrap up.
self.setIsConnected(False)
## Set the baud rate of the serial. This can cause exceptions, but we simply want to ignore those.
def setBaudRate(self, baud_rate):
try:
self._serial.baudrate = baud_rate
return True
except Exception as e:
return False
def setIsConnected(self, state):
self._is_connecting = False
if self._is_connected != state:
self._is_connected = state
self.connectionStateChanged.emit(self._serial_port)
if self._is_connected:
self._listen_thread.start() #Start listening
'''Application.getInstance().addOutputDevice(self._serial_port, {
"id": self._serial_port,
"function": self.printGCode,
"description": "Print with USB {0}".format(self._serial_port),
"icon": "print_usb",
"priority": 1
})'''
else:
Logger.log("w", "Printer connection state was not changed")
connectionStateChanged = Signal()
## Close the printer connection
def close(self):
if self._connect_thread.isAlive():
try:
self._connect_thread.join()
except Exception as e:
pass # This should work, but it does fail sometimes for some reason
if self._serial is not None:
self.setIsConnected(False)
try:
self._listen_thread.join()
except:
pass
self._serial.close()
self._serial = None
def isConnected(self):
return self._is_connected
## Directly send the command, withouth checking connection state (eg; printing).
# \param cmd string with g-code
def _sendCommand(self, cmd):
if self._serial is None:
return
if "M109" in cmd or "M190" in cmd:
self._heatup_wait_start_time = time.time()
if "M104" in cmd or "M109" in cmd:
try:
t = 0
if "T" in cmd:
t = int(re.search("T([0-9]+)", cmd).group(1))
self._target_extruder_temperatures[t] = float(re.search("S([0-9]+)", cmd).group(1))
except:
pass
if "M140" in cmd or "M190" in cmd:
try:
self._target_bed_temperature = float(re.search("S([0-9]+)", cmd).group(1))
except:
pass
#Logger.log("i","Sending: %s" % (cmd))
try:
command = (cmd + "\n").encode()
#self._serial.write(b"\n")
self._serial.write(command)
except serial.SerialTimeoutException:
Logger.log("w","Serial timeout while writing to serial port, trying again.")
try:
time.sleep(0.5)
self._serial.write((cmd + "\n").encode())
except Exception as e:
Logger.log("e","Unexpected error while writing serial port %s " % e)
self._setErrorState("Unexpected error while writing serial port %s " % e)
self.close()
except Exception as e:
Logger.log("e","Unexpected error while writing serial port %s" % e)
self._setErrorState("Unexpected error while writing serial port %s " % e)
self.close()
## Ensure that close gets called when object is destroyed
def __del__(self):
self.close()
## Send a command to printer.
# \param cmd string with g-code
def sendCommand(self, cmd):
if self.isPrinting():
self._command_queue.put(cmd)
elif self.isConnected():
self._sendCommand(cmd)
## Set the error state with a message.
# \param error String with the error message.
def _setErrorState(self, error):
self._error_state = error
self.onError.emit(error)
onError = Signal()
## Private function to set the temperature of an extruder
# \param index index of the extruder
# \param temperature recieved temperature
def _setExtruderTemperature(self, index, temperature):
try:
self._extruder_temperatures[index] = temperature
self.onExtruderTemperatureChange.emit(self._serial_port, index, temperature)
except Exception as e:
pass
onExtruderTemperatureChange = Signal()
## Private function to set the temperature of the bed.
# As all printers (as of time of writing) only support a single heated bed,
# these are not indexed as with extruders.
def _setBedTemperature(self, temperature):
self._bed_temperature = temperature
self.onBedTemperatureChange.emit(self._serial_port,temperature)
onBedTemperatureChange = Signal()
## Listen thread function.
def _listen(self):
Logger.log("i", "Printer connection listen thread started for %s" % self._serial_port)
temperature_request_timeout = time.time()
ok_timeout = time.time()
while self._is_connected:
line = self._readline()
if line is None:
break # None is only returned when something went wrong. Stop listening
if line.startswith(b"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(b"Error:[0-9]\n", line):
line = line.rstrip() + self._readline()
# Skip the communication errors, as those get corrected.
if b"Extruder switched off" in line or b"Temperature heated bed switched off" in line or b"Something is wrong, please turn off the printer." in line:
if not self.hasError():
self._setErrorState(line[6:])
elif b" T:" in line or line.startswith(b"T:"): #Temperature message
try:
self._setExtruderTemperature(self._temperature_requested_extruder_index,float(re.search(b"T: *([0-9\.]*)", line).group(1)))
except:
pass
if b"B:" in line: # Check if it"s a bed temperature
try:
self._setBedTemperature(float(re.search(b"B: *([0-9\.]*)", line).group(1)))
except Exception as e:
pass
#TODO: temperature changed callback
if self._is_printing:
if time.time() > temperature_request_timeout: # When printing, request temperature every 5 seconds.
if self._extruder_count > 0:
self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count
self.sendCommand("M105 T%d" % (self._temperature_requested_extruder_index))
else:
self.sendCommand("M105")
temperature_request_timeout = time.time() + 5
if line == b"" and time.time() > ok_timeout:
line = b"ok" # Force a timeout (basicly, send next command)
if b"ok" in line:
ok_timeout = time.time() + 5
if not self._command_queue.empty():
self._sendCommand(self._command_queue.get())
else:
self._sendNextGcodeLine()
elif b"resend" in line.lower() or b"rs" in line: # Because a resend can be asked with "resend" and "rs"
try:
self._gcode_position = int(line.replace(b"N:",b" ").replace(b"N",b" ").replace(b":",b" ").split()[-1])
except:
if b"rs" in line:
self._gcode_position = int(line.split()[1])
else: # Request the temperature on comm timeout (every 2 seconds) when we are not printing.)
if line == b"":
if self._extruder_count > 0:
self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count
self.sendCommand("M105 T%d" % self._temperature_requested_extruder_index)
else:
self.sendCommand("M105")
Logger.log("i", "Printer connection listen thread stopped for %s" % self._serial_port)
## Send next Gcode in the gcode list
def _sendNextGcodeLine(self):
if self._gcode_position >= len(self._gcode):
return
if self._gcode_position == 100:
self._print_start_time_100 = time.time()
line = self._gcode[self._gcode_position]
if ";" in line:
line = line[:line.find(";")]
line = line.strip()
try:
if line == "M0" or line == "M1":
line = "M105" #Don"t send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
if ("G0" in line or "G1" in line) and "Z" in line:
z = float(re.search("Z([0-9\.]*)", line).group(1))
if self._current_z != z:
self._current_z = z
except Exception as e:
Logger.log("e", "Unexpected error with printer connection: %s" % e)
self._setErrorState("Unexpected error: %s" %e)
checksum = functools.reduce(lambda x,y: x^y, map(ord, "N%d%s" % (self._gcode_position, line)))
self._sendCommand("N%d%s*%d" % (self._gcode_position, line, checksum))
self._gcode_position += 1
self.setProgress(( self._gcode_position / len(self._gcode)) * 100)
self.progressChanged.emit(self._progress, self._serial_port)
progressChanged = Signal()
## Set the progress of the print.
# It will be normalized (based on max_progress) to range 0 - 100
def setProgress(self, progress, max_progress = 100):
self._progress = progress / max_progress * 100 #Convert to scale of 0-100
self.progressChanged.emit(self._progress, self._serial_port)
## Cancel the current print. Printer connection wil continue to listen.
def cancelPrint(self):
self._gcode_position = 0
self.setProgress(0)
self._gcode = []
# Turn of temperatures
self._sendCommand("M140 S0")
self._sendCommand("M109 S0")
self._is_printing = False
## Check if the process did not encounter an error yet.
def hasError(self):
return self._error_state != None
## private read line used by printer connection to listen for data on serial port.
def _readline(self):
if self._serial is None:
return None
try:
ret = self._serial.readline()
except Exception as e:
Logger.log("e","Unexpected error while reading serial port. %s" %e)
self._setErrorState("Printer has been disconnected")
self.close()
return None
return ret
## Create a list of baud rates at which we can communicate.
# \return list of int
def _getBaudrateList(self):
ret = [250000, 230400, 115200, 57600, 38400, 19200, 9600]
return ret
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