mirror of
https://git.mirrors.martin98.com/https://github.com/luc-github/ESP3D.git
synced 2025-08-11 13:59:05 +08:00
Add TFT Simulator tool to test ESP board with ESP3D without printer o cnc
This commit is contained in:
Luc
parent
78af070bb7
commit
6f6c1842ce
1
.gitignore
vendored
1
.gitignore
vendored
@ -10,3 +10,4 @@ embedded/node_modules
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.vscode/launch.json
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.vscode/arduino.json
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esp3d/myconfig.h
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__pycache__
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31
tools/fw_simulator/esp3d_common.py
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31
tools/fw_simulator/esp3d_common.py
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@ -0,0 +1,31 @@
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#!/usr/bin/python
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#Common ESP3D snippets
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import time
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class bcolors:
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COL_PURPLE = '\033[95m'
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COL_BLUE = '\033[94m'
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COL_CYAN = '\033[96m'
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COL_GREEN = '\033[92m'
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COL_ORANGE = '\033[93m'
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COL_RED = '\033[91m'
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END_COL = '\033[0m'
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BOLD = '\033[1m'
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UNDERLINE = '\033[4m'
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def current_milli_time():
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return round(time.time() * 1000)
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def wait(durationms, ser):
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nowtime = current_milli_time()
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while (current_milli_time() < nowtime + durationms):
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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print(bcolors.COL_BLUE+line+bcolors.END_COL)
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def send_echo(ser, msg):
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ser.write((msg + "\n").encode('utf-8'))
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ser.flush()
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print(bcolors.END_COL + msg + bcolors.END_COL)
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64
tools/fw_simulator/fw_simulator.py
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64
tools/fw_simulator/fw_simulator.py
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@ -0,0 +1,64 @@
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#!/usr/bin/python
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import sys
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import serial
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import serial.tools.list_ports
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import esp3d_common as common
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import marlin
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import grbl
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import repetier
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import smoothieware
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def main():
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if len(sys.argv) < 2:
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print("Please use one of the follwowing FW: marlin, repetier, smoothieware or grbl.")
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return
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fw_name = sys.argv[1].lower()
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if fw_name == "marlin":
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fw = marlin
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elif fw_name == "repetier":
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fw = repetier
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elif fw_name == "smoothieware":
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fw = smoothieware
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elif fw_name == "grbl":
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fw = grbl
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else:
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print("Firmware not supported : {}".format(fw_name))
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return
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ports = serial.tools.list_ports.comports()
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portTFT = ""
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print(common.bcolors.COL_GREEN+"Serial ports detected: "+common.bcolors.END_COL)
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for port, desc, hwid in sorted(ports):
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print(common.bcolors.COL_GREEN+" - {}: {} ".format(port, desc)+common.bcolors.END_COL)
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desc.capitalize()
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if (desc.find("SERIAL") != -1):
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portTFT = port
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print(common.bcolors.COL_GREEN +
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"Found " + portTFT + " for ESP3D"+common.bcolors.END_COL)
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break
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print(common.bcolors.COL_GREEN+"Open port " + str(port)+common.bcolors.END_COL)
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if (portTFT == ""):
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print(common.bcolors.COL_RED+"No serial port found"+common.bcolors.END_COL)
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exit(0)
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ser = serial.Serial(portTFT, 115200)
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print(common.bcolors.COL_GREEN+"Now Simulating: " + fw_name + common.bcolors.END_COL)
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starttime = common.current_milli_time()
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# loop forever, just unplug the port to stop the program or do ctrl-c
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while True:
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try:
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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print(common.bcolors.COL_BLUE+line+common.bcolors.END_COL)
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#ignore log lines from TFT
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if not line.startswith("["):
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response = fw.processLine(line, ser)
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if (response != ""):
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common.send_echo(ser, response)
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except KeyboardInterrupt:
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print(common.bcolors.COL_GREEN+"End of program"+common.bcolors.END_COL)
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exit(0)
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# call main function
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main()
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231
tools/fw_simulator/grbl.py
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231
tools/fw_simulator/grbl.py
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@ -0,0 +1,231 @@
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#!/usr/bin/python
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# Marlin GCODE parser / responder
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import time
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import re
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import random
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import esp3d_common as common
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positions = {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0,
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"A": 0.0,
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"B": 0.0,
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"C": 0.0
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}
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modes = {
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"absolute": True
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}
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report_counter = 0
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def wait(durationms, ser):
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nowtime = common.current_milli_time()
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while (common.current_milli_time() < nowtime + durationms):
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
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def ok(line):
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if (not line.startswith("N")):
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return "ok (" + line + ")"
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N = re.findall(r'N\d*', line)
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if (len(N) > 0):
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return "ok " + N[0][1:]
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# build the response for the busy response,
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# simulating the delay of the busy response
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def send_busy(ser, nb):
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v = nb
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while (v > 0):
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# FIXME: the message is not this one on grbl
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# common.send_echo(ser, "echo:busy: processing")
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wait(1000, ser)
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v = v - 1
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# G0/G1 response
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def G0_G1_response(cmd, line, ser):
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global positions
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X_val = ""
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Y_val = ""
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Z_val = ""
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A_val = ""
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B_val = ""
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C_val = ""
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# extract X
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X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(X) > 0):
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X_val = X[0][1:]
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# extract Y
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Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Y) > 0):
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Y_val = Y[0][1:]
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# extract Z
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Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Z) > 0):
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Z_val = Z[0][1:]
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# extract A
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A = re.findall(r'A[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(A) > 0):
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A_val = A[0][1:]
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# extract B
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B = re.findall(r'B[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(B) > 0):
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B_val = B[0][1:]
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# extract C
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C = re.findall(r'C[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(C) > 0):
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C_val = C[0][1:]
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if (modes["absolute"]):
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if (X_val != ""):
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positions["X"] = float(X_val)
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if (Y_val != ""):
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positions["Y"] = float(Y_val)
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if (Z_val != ""):
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positions["Z"] = float(Z_val)
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if (A_val!= ""):
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positions["A"] = float(A_val)
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if (B_val!= ""):
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positions["B"] = float(B_val)
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if (C_val!= ""):
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positions["C"] = float(C_val)
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return ok(line)
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else:
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if (X_val != ""):
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positions["X"] += float(X_val)
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if (Y_val != ""):
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positions["Y"] += float(Y_val)
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if (Z_val != ""):
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positions["Z"] += float(Z_val)
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if (A_val!= ""):
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positions["A"] += float(A_val)
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if (B_val!= ""):
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positions["B"] += float(B_val)
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if (C_val!= ""):
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positions["C"] += float(C_val)
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return ok(line)
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# $H response
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def Home_response(cmd, line, ser):
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global positions
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send_busy(ser, 3)
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if (cmd.find("X") != -1):
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positions["X"] = 0.00
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if (cmd.find("Y") != -1):
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positions["Y"] = 0.00
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if (cmd.find("Z") != -1):
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positions["Z"] = 0.00
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if (cmd.find("A")!= -1):
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positions["A"] = 0.00
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if (cmd.find("B")!= -1):
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positions["B"] = 0.00
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if (cmd.find("C")!= -1):
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positions["C"] = 0.00
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if (cmd == "G28"):
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positions["X"] = 0.00
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positions["Y"] = 0.00
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positions["Z"] = 0.00
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positions["A"] = 0.00
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positiones["B"] = 0.00
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positions["C"] = 0.00
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return ok(line)
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# Absolute mode
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def G90_response(cmd, line, ser):
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global modes
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modes["absolute"] = True
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return ok(line)
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# Relative mode
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def G91_response(cmd, line, ser):
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global modes
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modes["absolute"] = False
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return ok(line)
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def Jog_response(cmd, line, ser):
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if (cmd.find("G91")!= -1):
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G91_response(cmd, line, ser)
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elif (cmd.find("G90")!= -1):
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G90_response(cmd, line, ser)
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cmd = cmd.replace("G90", "")
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cmd = cmd.replace("G91", "")
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cmd = cmd.replace("G21", "")
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cmd = cmd.strip()
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return G0_G1_response(cmd, line, ser)
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# status response
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|WCO:0.000,0.000,0.000,1.000,1.000>\n"
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|A:S|Pn:P>\n"
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|Ov:100,100,100|Pn:XYZ>\n"
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def status_response(cmd, line, ser):
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global positions
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global report_counter
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wpco = ""
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ov = ""
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fs = "|FS:0,0"
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astate = ""
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pn = ""
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status = "Idle"
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report_counter += 1
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if report_counter == 11:
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report_counter = 1
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if report_counter == 1:
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wpco = "|WCO:0.000,0.000,0.000,1.000,1.000,1.000"
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if report_counter == 2:
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#FIXME: use variable to report the override values
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ov = "|Ov:100,100,100"
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pn = "|Pn:XYZ"
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if report_counter >= 3:
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astate = "|A:S"
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pn = "|Pn:P"
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position = "|MPos:" + "{:.3f}".format(positions["X"]) + "," + "{:.3f}".format(
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positions["Y"]) + "," + "{:.3f}".format(positions["Z"]) + "," + "{:.3f}".format(positions["A"]) + "," + "{:.3f}".format(positions["B"]) + "," + "{:.3f}".format(positions["C"])
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return "<" + status + position + fs + wpco + ov + astate + pn + ">\n"
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# List of supported methods
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methods = [
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{"str": "G0", "fn": G0_G1_response},
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{"str": "G1", "fn": G0_G1_response},
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{"str": "$H", "fn": Home_response},
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{"str": "$J=", "fn": Jog_response},
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{"str": "G90", "fn": G90_response},
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{"str": "G91", "fn": G91_response},
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{"str": "?", "fn": status_response},
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]
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# Process a line of GCODE
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def processLine(line, ser):
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time.sleep(0.01)
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cmd = line
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if (line.startswith("N")):
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p = line.find(' ')
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cmd = line[p+1:]
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p = cmd.rfind('*')
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cmd = cmd[:p]
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global methods
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for method in methods:
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if cmd.startswith(method["str"]):
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return method["fn"](cmd, line, ser)
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if line.startswith("M") or line.startswith("G") or line.startswith("N") or line.startswith("$"):
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return ok(line)
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if line.find("[esp") != -1 or line.find("[0;") != -1 or line.find("[1;") != -1:
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return ""
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if line.startswith("ESP-ROM") or line.startswith("Build:") or line.startswith("SPIWP:") or line.startswith("mode:")or line.startswith("load:") or line.startswith("entry "):
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return ""
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#FIXME: this is not grbl response if the command is not recognized
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return "echo:Unknown command: \"" + line + "\"\nok"
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360
tools/fw_simulator/marlin.py
Normal file
360
tools/fw_simulator/marlin.py
Normal file
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#!/usr/bin/python
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# Marlin GCODE parser / responder
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import time
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import re
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import random
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import esp3d_common as common
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positions = {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0
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}
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temperatures = {
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"E0": {
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"value": 0.0,
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"target": 0.0,
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"lastTime": -1,
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"heatspeed": 0.6,
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"coolspeed": 0.8,
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"variation": 0.5
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},
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"B": {
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"value": 0.0,
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"target": 0.0,
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"lastTime": -1,
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"heatspeed": 0.2,
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"coolspeed": 0.8,
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"variation": 0.5
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}
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}
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modes = {
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"absolute": True
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}
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stop_heating = False
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def wait(durationms, ser):
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global stop_heating
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nowtime = common.current_milli_time()
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while (common.current_milli_time() < nowtime + durationms):
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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if line=="M108":
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stop_heating = True
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print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
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def ok(line):
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if (not line.startswith("N")):
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return "ok (" + line + ")"
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N = re.findall(r'N\d*', line)
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if (len(N) > 0):
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return "ok " + N[0][1:]
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# Update the temperatures according context
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def updateTemperatures(entry, timestp):
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global temperatures
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roomtemp = 20.0
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v = random.random()*5
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target = temperatures[entry]["target"]
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if target == 0:
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target = roomtemp
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if (temperatures[entry]["value"] == 0):
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temperatures[entry]["value"] = roomtemp + v / 2
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if (temperatures[entry]["lastTime"] == -1):
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temperatures[entry]["lastTime"] = timestp
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if temperatures[entry]["value"] + 5 < target:
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temperatures[entry]["value"] = temperatures[entry]["value"] + \
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(temperatures[entry]["heatspeed"] *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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elif temperatures[entry]["value"] - 5 > target:
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temperatures[entry]["value"] = temperatures[entry]["value"] - \
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(temperatures[entry]["coolspeed"] *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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elif target - 2 < temperatures[entry]["value"] and temperatures[entry]["value"] < target + 2:
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temperatures[entry]["value"] = target + \
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temperatures[entry]["variation"] * (random.random() - 0.5)
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elif temperatures[entry]["value"] < target:
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temperatures[entry]["value"] = temperatures[entry]["value"] + \
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((temperatures[entry]["heatspeed"]/3) *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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else:
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temperatures[entry]["value"] = temperatures[entry]["value"] - \
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((temperatures[entry]["coolspeed"]/3) *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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temperatures[entry]["lastTime"] = timestp
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# build the response for the temperature
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def generateTemperatureResponse(withok):
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global temperatures
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response = " "
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if (withok):
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response = "ok "
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response += "T:" + "{:.2f}".format(temperatures["E0"]["value"]) + " /" + "{:.2f}".format(temperatures["E0"]["target"]) + " B:" + "{:.2f}".format(
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temperatures["B"]["value"]) + " /" + "{:.2f}".format(temperatures["B"]["target"]) + " @:127 B@:0"
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return response
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# build the response for the busy response,
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# simulating the delay of the busy response
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def send_busy(ser, nb):
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v = nb
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while (v > 0):
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common.send_echo(ser, "echo:busy: processing")
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wait(1000, ser)
|
||||
v = v - 1
|
||||
|
||||
# G0/G1 response
|
||||
def G0_G1_response(cmd,line,ser):
|
||||
global positions
|
||||
X_val = ""
|
||||
Y_val = ""
|
||||
Z_val = ""
|
||||
# extract X
|
||||
X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(X) > 0):
|
||||
X_val = X[0][1:]
|
||||
# extract Y
|
||||
Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Y) > 0):
|
||||
Y_val = Y[0][1:]
|
||||
# extract Z
|
||||
Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Z) > 0):
|
||||
Z_val = Z[0][1:]
|
||||
if (modes["absolute"]):
|
||||
if (X_val != ""):
|
||||
positions["X"] = float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] = float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] = float(Z_val)
|
||||
return ok(line)
|
||||
else:
|
||||
if (X_val != ""):
|
||||
positions["X"] += float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] += float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] += float(Z_val)
|
||||
return ok(line)
|
||||
|
||||
# G28 response
|
||||
def G28_response(cmd,line,ser):
|
||||
global positions
|
||||
send_busy(ser, 3)
|
||||
if (cmd.find("X") != -1):
|
||||
positions["X"] = 0.00
|
||||
if (cmd.find("Y") != -1):
|
||||
positions["Y"] = 0.00
|
||||
if (cmd.find("Z") != -1):
|
||||
positions["Z"] = 0.00
|
||||
if (cmd == "G28"):
|
||||
positions["X"] = 0.00
|
||||
positions["Y"] = 0.00
|
||||
positions["Z"] = 0.00
|
||||
return ok(line)
|
||||
|
||||
# G29 V4 response
|
||||
def G29_V4_response(cmd,line,ser):
|
||||
common.send_echo(ser, " G29 Auto Bed Leveling")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 50.000 Z: 0.000")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 50.000 Z: 0.016")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 50.000 Z: -0.013")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 50.000 Z: -0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 133.000 Z: -0.005")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 133.000 Z: -0.041")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 133.000 Z: -0.031")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 133.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 216.000 Z: -0.050")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 216.000 Z: 0.055")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 216.000 Z: 0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 216.000 Z: 0.026")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 299.000 Z: -0.018")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 299.000 Z: -0.064")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 299.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 299.000 Z: -0.046")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bilinear Leveling Grid:")
|
||||
common.send_echo(ser, " 0 1 2 3")
|
||||
common.send_echo(ser, " 0 +0.0000 +0.0162 -0.0125 -0.0512")
|
||||
common.send_echo(ser, " 1 -0.0363 -0.0313 -0.0412 -0.0050")
|
||||
common.send_echo(ser, " 2 -0.0500 +0.0550 +0.0512 +0.0262")
|
||||
common.send_echo(ser, " 3 -0.0463 -0.0363 -0.0638 -0.0175")
|
||||
return ok(line)
|
||||
|
||||
# Absolute mode
|
||||
def G90_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = True
|
||||
return ok(line)
|
||||
|
||||
# Relative mode
|
||||
def G91_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = False
|
||||
return ok(line)
|
||||
|
||||
# M104 extruder control not waiting
|
||||
def M104_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M105 temperatures query
|
||||
def M105_response(cmd,line,ser):
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(True)
|
||||
return val
|
||||
|
||||
# M106 fan control
|
||||
def M106_response(cmd,line,ser):
|
||||
return line+"\nok"
|
||||
|
||||
# M107 fan stop
|
||||
def M107_response(cmd,line,ser):
|
||||
if (len(val) > 0):
|
||||
return "M106 P" + val[0][1:] + " S0\nok"
|
||||
else:
|
||||
return "M106 P0 S0\nok"
|
||||
|
||||
# M109 extruder control waiting
|
||||
def M109_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["E0"]["target"] != 0):
|
||||
target = temperatures["E0"]["target"]
|
||||
while ( temperatures["E0"]["value"] < target-2 or temperatures["E0"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M114 Positions query
|
||||
def M114_response(cmd,line,ser):
|
||||
global positions
|
||||
val = "X:" + "{:.2f}".format(positions["X"]) + " Y:" + "{:.2f}".format(
|
||||
positions["Y"]) + " Z:" + "{:.2f}".format(positions["Z"])+" E:0.00 Count X:0 Y:0 Z:0\nok"
|
||||
return val
|
||||
|
||||
# M140 bed control not waiting
|
||||
def M140_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M190 bed control waiting
|
||||
def M190_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["B"]["target"] != 0):
|
||||
target = temperatures["B"]["target"]
|
||||
stop_heating = False
|
||||
while (temperatures["B"]["value"] < target-2 or temperatures["B"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["B"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M220 response
|
||||
def M220_response(cmd,line,ser):
|
||||
val = re.findall(r'S\d+', cmd)
|
||||
if (len(val) > 0):
|
||||
F_R = val[0][1:]
|
||||
return "FR:"+F_R+"%\nok"
|
||||
return ok(line)
|
||||
|
||||
# List of supported methods
|
||||
methods = [
|
||||
{"str": "G0", "fn": G0_G1_response},
|
||||
{"str": "G1", "fn": G0_G1_response},
|
||||
{"str": "G28", "fn": G28_response},
|
||||
{"str": "G29 V4", "fn": G29_V4_response},
|
||||
{"str": "G90", "fn": G90_response},
|
||||
{"str": "G91", "fn": G91_response},
|
||||
{"str": "M104", "fn": M104_response},
|
||||
{"str": "M105", "fn": M105_response},
|
||||
{"str": "M106", "fn": M106_response},
|
||||
{"str": "M107", "fn": M107_response},
|
||||
{"str": "M109", "fn": M109_response},
|
||||
{"str": "M114", "fn": M114_response},
|
||||
{"str": "M140", "fn": M140_response},
|
||||
{"str": "M190", "fn": M190_response},
|
||||
{"str": "M220", "fn": M220_response},
|
||||
]
|
||||
|
||||
|
||||
# Process a line of GCODE
|
||||
def processLine(line,ser):
|
||||
time.sleep(0.01)
|
||||
cmd = line
|
||||
if (line.startswith("N")):
|
||||
p = line.find(' ')
|
||||
cmd = line[p+1:]
|
||||
p = cmd.rfind('*')
|
||||
cmd = cmd[:p]
|
||||
global methods
|
||||
for method in methods:
|
||||
if cmd.startswith(method["str"]):
|
||||
return method["fn"](cmd,line,ser)
|
||||
if line.startswith("M") or line.startswith("G") or line.startswith("N"):
|
||||
return ok(line)
|
||||
if line.find("[esp")!=-1 or line.find("[0;")!=-1 or line.find("[1;")!=-1:
|
||||
return ""
|
||||
return "echo:Unknown command: \"" + line + "\"\nok"
|
||||
360
tools/fw_simulator/repetier.py
Normal file
360
tools/fw_simulator/repetier.py
Normal file
@ -0,0 +1,360 @@
|
||||
#!/usr/bin/python
|
||||
# Marlin GCODE parser / responder
|
||||
|
||||
import time
|
||||
import re
|
||||
import random
|
||||
import esp3d_common as common
|
||||
positions = {
|
||||
"X": 0.0,
|
||||
"Y": 0.0,
|
||||
"Z": 0.0
|
||||
}
|
||||
temperatures = {
|
||||
"E0": {
|
||||
"value": 0.0,
|
||||
"target": 0.0,
|
||||
"lastTime": -1,
|
||||
"heatspeed": 0.6,
|
||||
"coolspeed": 0.8,
|
||||
"variation": 0.5
|
||||
},
|
||||
"B": {
|
||||
"value": 0.0,
|
||||
"target": 0.0,
|
||||
"lastTime": -1,
|
||||
"heatspeed": 0.2,
|
||||
"coolspeed": 0.8,
|
||||
"variation": 0.5
|
||||
}
|
||||
}
|
||||
modes = {
|
||||
"absolute": True
|
||||
}
|
||||
|
||||
stop_heating = False
|
||||
|
||||
|
||||
def wait(durationms, ser):
|
||||
global stop_heating
|
||||
nowtime = common.current_milli_time()
|
||||
while (common.current_milli_time() < nowtime + durationms):
|
||||
if ser.in_waiting:
|
||||
line = ser.readline().decode('utf-8').strip()
|
||||
if line=="M108":
|
||||
stop_heating = True
|
||||
print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
|
||||
|
||||
|
||||
def ok(line):
|
||||
if (not line.startswith("N")):
|
||||
return "ok (" + line + ")"
|
||||
N = re.findall(r'N\d*', line)
|
||||
if (len(N) > 0):
|
||||
return "ok " + N[0][1:]
|
||||
|
||||
# Update the temperatures according context
|
||||
def updateTemperatures(entry, timestp):
|
||||
global temperatures
|
||||
roomtemp = 20.0
|
||||
v = random.random()*5
|
||||
target = temperatures[entry]["target"]
|
||||
if target == 0:
|
||||
target = roomtemp
|
||||
if (temperatures[entry]["value"] == 0):
|
||||
temperatures[entry]["value"] = roomtemp + v / 2
|
||||
if (temperatures[entry]["lastTime"] == -1):
|
||||
temperatures[entry]["lastTime"] = timestp
|
||||
if temperatures[entry]["value"] + 5 < target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] + \
|
||||
(temperatures[entry]["heatspeed"] *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
elif temperatures[entry]["value"] - 5 > target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] - \
|
||||
(temperatures[entry]["coolspeed"] *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
elif target - 2 < temperatures[entry]["value"] and temperatures[entry]["value"] < target + 2:
|
||||
temperatures[entry]["value"] = target + \
|
||||
temperatures[entry]["variation"] * (random.random() - 0.5)
|
||||
elif temperatures[entry]["value"] < target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] + \
|
||||
((temperatures[entry]["heatspeed"]/3) *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
else:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] - \
|
||||
((temperatures[entry]["coolspeed"]/3) *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
|
||||
temperatures[entry]["lastTime"] = timestp
|
||||
|
||||
# build the response for the temperature
|
||||
def generateTemperatureResponse(withok):
|
||||
global temperatures
|
||||
response = " "
|
||||
if (withok):
|
||||
response = "ok "
|
||||
response += "T:" + "{:.2f}".format(temperatures["E0"]["value"]) + " /" + "{:.2f}".format(temperatures["E0"]["target"]) + " B:" + "{:.2f}".format(
|
||||
temperatures["B"]["value"]) + " /" + "{:.2f}".format(temperatures["B"]["target"]) + " @:127 B@:0"
|
||||
return response
|
||||
|
||||
# build the response for the busy response,
|
||||
# simulating the delay of the busy response
|
||||
def send_busy(ser, nb):
|
||||
v = nb
|
||||
while (v > 0):
|
||||
common.send_echo(ser, "echo:busy: processing")
|
||||
wait(1000, ser)
|
||||
v = v - 1
|
||||
|
||||
# G0/G1 response
|
||||
def G0_G1_response(cmd,line,ser):
|
||||
global positions
|
||||
X_val = ""
|
||||
Y_val = ""
|
||||
Z_val = ""
|
||||
# extract X
|
||||
X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(X) > 0):
|
||||
X_val = X[0][1:]
|
||||
# extract Y
|
||||
Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Y) > 0):
|
||||
Y_val = Y[0][1:]
|
||||
# extract Z
|
||||
Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Z) > 0):
|
||||
Z_val = Z[0][1:]
|
||||
if (modes["absolute"]):
|
||||
if (X_val != ""):
|
||||
positions["X"] = float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] = float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] = float(Z_val)
|
||||
return ok(line)
|
||||
else:
|
||||
if (X_val != ""):
|
||||
positions["X"] += float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] += float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] += float(Z_val)
|
||||
return ok(line)
|
||||
|
||||
# G28 response
|
||||
def G28_response(cmd,line,ser):
|
||||
global positions
|
||||
send_busy(ser, 3)
|
||||
if (cmd.find("X") != -1):
|
||||
positions["X"] = 0.00
|
||||
if (cmd.find("Y") != -1):
|
||||
positions["Y"] = 0.00
|
||||
if (cmd.find("Z") != -1):
|
||||
positions["Z"] = 0.00
|
||||
if (cmd == "G28"):
|
||||
positions["X"] = 0.00
|
||||
positions["Y"] = 0.00
|
||||
positions["Z"] = 0.00
|
||||
return ok(line)
|
||||
|
||||
# G29 V4 response
|
||||
def G29_V4_response(cmd,line,ser):
|
||||
common.send_echo(ser, " G29 Auto Bed Leveling")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 50.000 Z: 0.000")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 50.000 Z: 0.016")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 50.000 Z: -0.013")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 50.000 Z: -0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 133.000 Z: -0.005")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 133.000 Z: -0.041")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 133.000 Z: -0.031")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 133.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 216.000 Z: -0.050")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 216.000 Z: 0.055")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 216.000 Z: 0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 216.000 Z: 0.026")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 299.000 Z: -0.018")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 299.000 Z: -0.064")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 299.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 299.000 Z: -0.046")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bilinear Leveling Grid:")
|
||||
common.send_echo(ser, " 0 1 2 3")
|
||||
common.send_echo(ser, " 0 +0.0000 +0.0162 -0.0125 -0.0512")
|
||||
common.send_echo(ser, " 1 -0.0363 -0.0313 -0.0412 -0.0050")
|
||||
common.send_echo(ser, " 2 -0.0500 +0.0550 +0.0512 +0.0262")
|
||||
common.send_echo(ser, " 3 -0.0463 -0.0363 -0.0638 -0.0175")
|
||||
return ok(line)
|
||||
|
||||
# Absolute mode
|
||||
def G90_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = True
|
||||
return ok(line)
|
||||
|
||||
# Relative mode
|
||||
def G91_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = False
|
||||
return ok(line)
|
||||
|
||||
# M104 extruder control not waiting
|
||||
def M104_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M105 temperatures query
|
||||
def M105_response(cmd,line,ser):
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(True)
|
||||
return val
|
||||
|
||||
# M106 fan control
|
||||
def M106_response(cmd,line,ser):
|
||||
return line+"\nok"
|
||||
|
||||
# M107 fan stop
|
||||
def M107_response(cmd,line,ser):
|
||||
if (len(val) > 0):
|
||||
return "M106 P" + val[0][1:] + " S0\nok"
|
||||
else:
|
||||
return "M106 P0 S0\nok"
|
||||
|
||||
# M109 extruder control waiting
|
||||
def M109_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["E0"]["target"] != 0):
|
||||
target = temperatures["E0"]["target"]
|
||||
while ( temperatures["E0"]["value"] < target-2 or temperatures["E0"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M114 Positions query
|
||||
def M114_response(cmd,line,ser):
|
||||
global positions
|
||||
val = "X:" + "{:.2f}".format(positions["X"]) + " Y:" + "{:.2f}".format(
|
||||
positions["Y"]) + " Z:" + "{:.2f}".format(positions["Z"])+" E:0.00 Count X:0 Y:0 Z:0\nok"
|
||||
return val
|
||||
|
||||
# M140 bed control not waiting
|
||||
def M140_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M190 bed control waiting
|
||||
def M190_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["B"]["target"] != 0):
|
||||
target = temperatures["B"]["target"]
|
||||
stop_heating = False
|
||||
while (temperatures["B"]["value"] < target-2 or temperatures["B"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["B"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M220 response
|
||||
def M220_response(cmd,line,ser):
|
||||
val = re.findall(r'S\d+', cmd)
|
||||
if (len(val) > 0):
|
||||
F_R = val[0][1:]
|
||||
return "FR:"+F_R+"%\nok"
|
||||
return ok(line)
|
||||
|
||||
# List of supported methods
|
||||
methods = [
|
||||
{"str": "G0", "fn": G0_G1_response},
|
||||
{"str": "G1", "fn": G0_G1_response},
|
||||
{"str": "G28", "fn": G28_response},
|
||||
{"str": "G29 V4", "fn": G29_V4_response},
|
||||
{"str": "G90", "fn": G90_response},
|
||||
{"str": "G91", "fn": G91_response},
|
||||
{"str": "M104", "fn": M104_response},
|
||||
{"str": "M105", "fn": M105_response},
|
||||
{"str": "M106", "fn": M106_response},
|
||||
{"str": "M107", "fn": M107_response},
|
||||
{"str": "M109", "fn": M109_response},
|
||||
{"str": "M114", "fn": M114_response},
|
||||
{"str": "M140", "fn": M140_response},
|
||||
{"str": "M190", "fn": M190_response},
|
||||
{"str": "M220", "fn": M220_response},
|
||||
]
|
||||
|
||||
|
||||
# Process a line of GCODE
|
||||
def processLine(line,ser):
|
||||
time.sleep(0.01)
|
||||
cmd = line
|
||||
if (line.startswith("N")):
|
||||
p = line.find(' ')
|
||||
cmd = line[p+1:]
|
||||
p = cmd.rfind('*')
|
||||
cmd = cmd[:p]
|
||||
global methods
|
||||
for method in methods:
|
||||
if cmd.startswith(method["str"]):
|
||||
return method["fn"](cmd,line,ser)
|
||||
if line.startswith("M") or line.startswith("G") or line.startswith("N"):
|
||||
return ok(line)
|
||||
if line.find("[esp")!=-1 or line.find("[0;")!=-1 or line.find("[1;")!=-1:
|
||||
return ""
|
||||
return "echo:Unknown command: \"" + line + "\"\nok"
|
||||
360
tools/fw_simulator/smoothieware.py
Normal file
360
tools/fw_simulator/smoothieware.py
Normal file
@ -0,0 +1,360 @@
|
||||
#!/usr/bin/python
|
||||
# Marlin GCODE parser / responder
|
||||
|
||||
import time
|
||||
import re
|
||||
import random
|
||||
import esp3d_common as common
|
||||
positions = {
|
||||
"X": 0.0,
|
||||
"Y": 0.0,
|
||||
"Z": 0.0
|
||||
}
|
||||
temperatures = {
|
||||
"E0": {
|
||||
"value": 0.0,
|
||||
"target": 0.0,
|
||||
"lastTime": -1,
|
||||
"heatspeed": 0.6,
|
||||
"coolspeed": 0.8,
|
||||
"variation": 0.5
|
||||
},
|
||||
"B": {
|
||||
"value": 0.0,
|
||||
"target": 0.0,
|
||||
"lastTime": -1,
|
||||
"heatspeed": 0.2,
|
||||
"coolspeed": 0.8,
|
||||
"variation": 0.5
|
||||
}
|
||||
}
|
||||
modes = {
|
||||
"absolute": True
|
||||
}
|
||||
|
||||
stop_heating = False
|
||||
|
||||
|
||||
def wait(durationms, ser):
|
||||
global stop_heating
|
||||
nowtime = common.current_milli_time()
|
||||
while (common.current_milli_time() < nowtime + durationms):
|
||||
if ser.in_waiting:
|
||||
line = ser.readline().decode('utf-8').strip()
|
||||
if line=="M108":
|
||||
stop_heating = True
|
||||
print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
|
||||
|
||||
|
||||
def ok(line):
|
||||
if (not line.startswith("N")):
|
||||
return "ok (" + line + ")"
|
||||
N = re.findall(r'N\d*', line)
|
||||
if (len(N) > 0):
|
||||
return "ok " + N[0][1:]
|
||||
|
||||
# Update the temperatures according context
|
||||
def updateTemperatures(entry, timestp):
|
||||
global temperatures
|
||||
roomtemp = 20.0
|
||||
v = random.random()*5
|
||||
target = temperatures[entry]["target"]
|
||||
if target == 0:
|
||||
target = roomtemp
|
||||
if (temperatures[entry]["value"] == 0):
|
||||
temperatures[entry]["value"] = roomtemp + v / 2
|
||||
if (temperatures[entry]["lastTime"] == -1):
|
||||
temperatures[entry]["lastTime"] = timestp
|
||||
if temperatures[entry]["value"] + 5 < target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] + \
|
||||
(temperatures[entry]["heatspeed"] *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
elif temperatures[entry]["value"] - 5 > target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] - \
|
||||
(temperatures[entry]["coolspeed"] *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
elif target - 2 < temperatures[entry]["value"] and temperatures[entry]["value"] < target + 2:
|
||||
temperatures[entry]["value"] = target + \
|
||||
temperatures[entry]["variation"] * (random.random() - 0.5)
|
||||
elif temperatures[entry]["value"] < target:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] + \
|
||||
((temperatures[entry]["heatspeed"]/3) *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
else:
|
||||
temperatures[entry]["value"] = temperatures[entry]["value"] - \
|
||||
((temperatures[entry]["coolspeed"]/3) *
|
||||
(timestp - temperatures[entry]["lastTime"])) / 1000
|
||||
|
||||
temperatures[entry]["lastTime"] = timestp
|
||||
|
||||
# build the response for the temperature
|
||||
def generateTemperatureResponse(withok):
|
||||
global temperatures
|
||||
response = " "
|
||||
if (withok):
|
||||
response = "ok "
|
||||
response += "T:" + "{:.2f}".format(temperatures["E0"]["value"]) + " /" + "{:.2f}".format(temperatures["E0"]["target"]) + " B:" + "{:.2f}".format(
|
||||
temperatures["B"]["value"]) + " /" + "{:.2f}".format(temperatures["B"]["target"]) + " @:127 B@:0"
|
||||
return response
|
||||
|
||||
# build the response for the busy response,
|
||||
# simulating the delay of the busy response
|
||||
def send_busy(ser, nb):
|
||||
v = nb
|
||||
while (v > 0):
|
||||
common.send_echo(ser, "echo:busy: processing")
|
||||
wait(1000, ser)
|
||||
v = v - 1
|
||||
|
||||
# G0/G1 response
|
||||
def G0_G1_response(cmd,line,ser):
|
||||
global positions
|
||||
X_val = ""
|
||||
Y_val = ""
|
||||
Z_val = ""
|
||||
# extract X
|
||||
X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(X) > 0):
|
||||
X_val = X[0][1:]
|
||||
# extract Y
|
||||
Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Y) > 0):
|
||||
Y_val = Y[0][1:]
|
||||
# extract Z
|
||||
Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
|
||||
if (len(Z) > 0):
|
||||
Z_val = Z[0][1:]
|
||||
if (modes["absolute"]):
|
||||
if (X_val != ""):
|
||||
positions["X"] = float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] = float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] = float(Z_val)
|
||||
return ok(line)
|
||||
else:
|
||||
if (X_val != ""):
|
||||
positions["X"] += float(X_val)
|
||||
if (Y_val != ""):
|
||||
positions["Y"] += float(Y_val)
|
||||
if (Z_val != ""):
|
||||
positions["Z"] += float(Z_val)
|
||||
return ok(line)
|
||||
|
||||
# G28 response
|
||||
def G28_response(cmd,line,ser):
|
||||
global positions
|
||||
send_busy(ser, 3)
|
||||
if (cmd.find("X") != -1):
|
||||
positions["X"] = 0.00
|
||||
if (cmd.find("Y") != -1):
|
||||
positions["Y"] = 0.00
|
||||
if (cmd.find("Z") != -1):
|
||||
positions["Z"] = 0.00
|
||||
if (cmd == "G28"):
|
||||
positions["X"] = 0.00
|
||||
positions["Y"] = 0.00
|
||||
positions["Z"] = 0.00
|
||||
return ok(line)
|
||||
|
||||
# G29 V4 response
|
||||
def G29_V4_response(cmd,line,ser):
|
||||
common.send_echo(ser, " G29 Auto Bed Leveling")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 50.000 Z: 0.000")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 50.000 Z: 0.016")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 50.000 Z: -0.013")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 50.000 Z: -0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 133.000 Z: -0.005")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 133.000 Z: -0.041")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 133.000 Z: -0.031")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 133.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 216.000 Z: -0.050")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 216.000 Z: 0.055")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 216.000 Z: 0.051")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 216.000 Z: 0.026")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 299.000 Y: 299.000 Z: -0.018")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 216.000 Y: 299.000 Z: -0.064")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 133.000 Y: 299.000 Z: -0.036")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bed X: 50.000 Y: 299.000 Z: -0.046")
|
||||
send_busy(ser, 3)
|
||||
common.send_echo(ser, "Bilinear Leveling Grid:")
|
||||
common.send_echo(ser, " 0 1 2 3")
|
||||
common.send_echo(ser, " 0 +0.0000 +0.0162 -0.0125 -0.0512")
|
||||
common.send_echo(ser, " 1 -0.0363 -0.0313 -0.0412 -0.0050")
|
||||
common.send_echo(ser, " 2 -0.0500 +0.0550 +0.0512 +0.0262")
|
||||
common.send_echo(ser, " 3 -0.0463 -0.0363 -0.0638 -0.0175")
|
||||
return ok(line)
|
||||
|
||||
# Absolute mode
|
||||
def G90_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = True
|
||||
return ok(line)
|
||||
|
||||
# Relative mode
|
||||
def G91_response(cmd,line,ser):
|
||||
global modes
|
||||
modes["absolute"] = False
|
||||
return ok(line)
|
||||
|
||||
# M104 extruder control not waiting
|
||||
def M104_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M105 temperatures query
|
||||
def M105_response(cmd,line,ser):
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(True)
|
||||
return val
|
||||
|
||||
# M106 fan control
|
||||
def M106_response(cmd,line,ser):
|
||||
return line+"\nok"
|
||||
|
||||
# M107 fan stop
|
||||
def M107_response(cmd,line,ser):
|
||||
if (len(val) > 0):
|
||||
return "M106 P" + val[0][1:] + " S0\nok"
|
||||
else:
|
||||
return "M106 P0 S0\nok"
|
||||
|
||||
# M109 extruder control waiting
|
||||
def M109_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["E0"]["target"] != 0):
|
||||
target = temperatures["E0"]["target"]
|
||||
while ( temperatures["E0"]["value"] < target-2 or temperatures["E0"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["E0"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M114 Positions query
|
||||
def M114_response(cmd,line,ser):
|
||||
global positions
|
||||
val = "X:" + "{:.2f}".format(positions["X"]) + " Y:" + "{:.2f}".format(
|
||||
positions["Y"]) + " Z:" + "{:.2f}".format(positions["Z"])+" E:0.00 Count X:0 Y:0 Z:0\nok"
|
||||
return val
|
||||
|
||||
# M140 bed control not waiting
|
||||
def M140_response(cmd,line,ser):
|
||||
global temperatures
|
||||
targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
return ok(line)
|
||||
|
||||
# M190 bed control waiting
|
||||
def M190_response(cmd,line,ser):
|
||||
global temperatures
|
||||
global stop_heating
|
||||
targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
|
||||
if (len(targettemp) > 0):
|
||||
temperatures["B"]["target"] = float(targettemp[0][1:])
|
||||
target = 20.0
|
||||
if (temperatures["B"]["target"] != 0):
|
||||
target = temperatures["B"]["target"]
|
||||
stop_heating = False
|
||||
while (temperatures["B"]["value"] < target-2 or temperatures["B"]["value"] > target+2):
|
||||
send_busy(ser, 1)
|
||||
if stop_heating:
|
||||
stop_heating = False
|
||||
temperatures["B"]["target"] = 0.0
|
||||
return ok(line) + "\nok"
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
ser.flush()
|
||||
wait(1000, ser)
|
||||
updateTemperatures("E0", common.current_milli_time())
|
||||
updateTemperatures("B", common.current_milli_time())
|
||||
val = generateTemperatureResponse(False)
|
||||
common.send_echo(ser, val)
|
||||
return ok(line)
|
||||
|
||||
# M220 response
|
||||
def M220_response(cmd,line,ser):
|
||||
val = re.findall(r'S\d+', cmd)
|
||||
if (len(val) > 0):
|
||||
F_R = val[0][1:]
|
||||
return "FR:"+F_R+"%\nok"
|
||||
return ok(line)
|
||||
|
||||
# List of supported methods
|
||||
methods = [
|
||||
{"str": "G0", "fn": G0_G1_response},
|
||||
{"str": "G1", "fn": G0_G1_response},
|
||||
{"str": "G28", "fn": G28_response},
|
||||
{"str": "G29 V4", "fn": G29_V4_response},
|
||||
{"str": "G90", "fn": G90_response},
|
||||
{"str": "G91", "fn": G91_response},
|
||||
{"str": "M104", "fn": M104_response},
|
||||
{"str": "M105", "fn": M105_response},
|
||||
{"str": "M106", "fn": M106_response},
|
||||
{"str": "M107", "fn": M107_response},
|
||||
{"str": "M109", "fn": M109_response},
|
||||
{"str": "M114", "fn": M114_response},
|
||||
{"str": "M140", "fn": M140_response},
|
||||
{"str": "M190", "fn": M190_response},
|
||||
{"str": "M220", "fn": M220_response},
|
||||
]
|
||||
|
||||
|
||||
# Process a line of GCODE
|
||||
def processLine(line,ser):
|
||||
time.sleep(0.01)
|
||||
cmd = line
|
||||
if (line.startswith("N")):
|
||||
p = line.find(' ')
|
||||
cmd = line[p+1:]
|
||||
p = cmd.rfind('*')
|
||||
cmd = cmd[:p]
|
||||
global methods
|
||||
for method in methods:
|
||||
if cmd.startswith(method["str"]):
|
||||
return method["fn"](cmd,line,ser)
|
||||
if line.startswith("M") or line.startswith("G") or line.startswith("N"):
|
||||
return ok(line)
|
||||
if line.find("[esp")!=-1 or line.find("[0;")!=-1 or line.find("[1;")!=-1:
|
||||
return ""
|
||||
return "echo:Unknown command: \"" + line + "\"\nok"
|
||||
Loading…
x
Reference in New Issue
Block a user