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October 10, 2016 18:40
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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.Logger import Logger | |
| from cura.PrinterOutputDevice import PrinterOutputDevice, ConnectionState | |
| from UM.Message import Message | |
| from PyQt5.QtCore import QUrl, pyqtSlot, pyqtSignal, pyqtProperty | |
| from UM.i18n import i18nCatalog | |
| catalog = i18nCatalog("cura") | |
| class USBPrinterOutputDevice(PrinterOutputDevice): | |
| def __init__(self, serial_port): | |
| super().__init__(serial_port) | |
| self.setName(catalog.i18nc("@item:inmenu", "USB printing")) | |
| self.setShortDescription(catalog.i18nc("@action:button", "Print via USB")) | |
| self.setDescription(catalog.i18nc("@info:tooltip", "Print via USB")) | |
| self.setIconName("print") | |
| self.setConnectionText(catalog.i18nc("@info:status", "Connected via USB")) | |
| 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 | |
| self._end_stop_thread = None | |
| self._poll_endstop = 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 = 3 | |
| 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.daemon = True | |
| self.firmwareUpdateComplete.connect(self._onFirmwareUpdateComplete) | |
| 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 | |
| self._is_paused = 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 = [] | |
| # Check if endstops are ever pressed (used for first run) | |
| self._x_min_endstop_pressed = False | |
| self._y_min_endstop_pressed = False | |
| self._z_min_endstop_pressed = False | |
| self._x_max_endstop_pressed = False | |
| self._y_max_endstop_pressed = False | |
| self._z_max_endstop_pressed = False | |
| # 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._current_z = 0 | |
| self._updating_firmware = False | |
| self._firmware_file_name = None | |
| self._firmware_update_finished = False | |
| self._error_message = None | |
| self._error_code = 0 | |
| onError = pyqtSignal() | |
| firmwareUpdateComplete = pyqtSignal() | |
| firmwareUpdateChange = pyqtSignal() | |
| endstopStateChanged = pyqtSignal(str ,bool, arguments = ["key","state"]) | |
| def _setTargetBedTemperature(self, temperature): | |
| Logger.log("d", "Setting bed temperature to %s", temperature) | |
| self._sendCommand("M140 S%s" % temperature) | |
| def _setTargetHotendTemperature(self, index, temperature): | |
| Logger.log("d", "Setting hotend %s temperature to %s", index, temperature) | |
| self._sendCommand("M104 T%s S%s" % (index, temperature)) | |
| def _setHeadPosition(self, x, y , z, speed): | |
| self._sendCommand("G0 X%s Y%s Z%s F%s" % (x, y, z, speed)) | |
| def _setHeadX(self, x, speed): | |
| self._sendCommand("G0 X%s F%s" % (x, speed)) | |
| def _setHeadY(self, y, speed): | |
| self._sendCommand("G0 Y%s F%s" % (y, speed)) | |
| def _setHeadZ(self, z, speed): | |
| self._sendCommand("G0 Y%s F%s" % (z, speed)) | |
| def _homeHead(self): | |
| self._sendCommand("G28") | |
| def _homeBed(self): | |
| self._sendCommand("G28 Z") | |
| def startPrint(self): | |
| self.writeStarted.emit(self) | |
| gcode_list = getattr( Application.getInstance().getController().getScene(), "gcode_list") | |
| self._updateJobState("printing") | |
| self.printGCode(gcode_list) | |
| def _moveHead(self, x, y, z, speed): | |
| self._sendCommand("G91") | |
| self._sendCommand("G0 X%s Y%s Z%s F%s" % (x, y, z, speed)) | |
| self._sendCommand("G90") | |
| ## Start a print based on a g-code. | |
| # \param gcode_list List with gcode (strings). | |
| def printGCode(self, gcode_list): | |
| if self._progress or self._connection_state != ConnectionState.connected: | |
| self._error_message = Message(catalog.i18nc("@info:status", "Unable to start a new job because the printer is busy or not connected.")) | |
| self._error_message.show() | |
| Logger.log("d", "Printer is busy or not connected, aborting print") | |
| self.writeError.emit(self) | |
| return | |
| self._gcode.clear() | |
| for layer in gcode_list: | |
| self._gcode.extend(layer.split("\n")) | |
| # 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() | |
| self.writeFinished.emit(self) | |
| ## 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 function (threaded) that actually uploads the firmware. | |
| def _updateFirmware(self): | |
| self._error_code = 0 | |
| self.setProgress(0, 100) | |
| self._firmware_update_finished = False | |
| if self._connection_state != ConnectionState.closed: | |
| 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") | |
| self._updateFirmwareFailedMissingFirmware() | |
| return | |
| programmer = stk500v2.Stk500v2() | |
| programmer.progress_callback = self.setProgress | |
| try: | |
| programmer.connect(self._serial_port) | |
| except Exception: | |
| pass | |
| # Give programmer some time to connect. Might need more in some cases, but this worked in all tested cases. | |
| time.sleep(1) | |
| if not programmer.isConnected(): | |
| Logger.log("e", "Unable to connect with serial. Could not update firmware") | |
| self._updateFirmwareFailedCommunicationError() | |
| return | |
| self._updating_firmware = True | |
| try: | |
| programmer.programChip(hex_file) | |
| self._updating_firmware = False | |
| except serial.SerialException as e: | |
| Logger.log("e", "SerialException while trying to update firmware: <%s>" %(repr(e))) | |
| self._updateFirmwareFailedIOError() | |
| return | |
| except Exception as e: | |
| Logger.log("e", "Exception while trying to update firmware: <%s>" %(repr(e))) | |
| self._updateFirmwareFailedUnknown() | |
| return | |
| programmer.close() | |
| self._updateFirmwareCompletedSucessfully() | |
| return | |
| ## Private function which makes sure that firmware update process has failed by missing firmware | |
| def _updateFirmwareFailedMissingFirmware(self): | |
| return self._updateFirmwareFailedCommon(4) | |
| ## Private function which makes sure that firmware update process has failed by an IO error | |
| def _updateFirmwareFailedIOError(self): | |
| return self._updateFirmwareFailedCommon(3) | |
| ## Private function which makes sure that firmware update process has failed by a communication problem | |
| def _updateFirmwareFailedCommunicationError(self): | |
| return self._updateFirmwareFailedCommon(2) | |
| ## Private function which makes sure that firmware update process has failed by an unknown error | |
| def _updateFirmwareFailedUnknown(self): | |
| return self._updateFirmwareFailedCommon(1) | |
| ## Private common function which makes sure that firmware update process has completed/ended with a set progress state | |
| def _updateFirmwareFailedCommon(self, code): | |
| if not code: | |
| raise Exception("Error code not set!") | |
| self._error_code = code | |
| self._firmware_update_finished = True | |
| self.resetFirmwareUpdate(update_has_finished = True) | |
| self.progressChanged.emit() | |
| self.firmwareUpdateComplete.emit() | |
| return | |
| ## Private function which makes sure that firmware update process has successfully completed | |
| def _updateFirmwareCompletedSucessfully(self): | |
| self.setProgress(100, 100) | |
| self._firmware_update_finished = True | |
| self.resetFirmwareUpdate(update_has_finished = True) | |
| self.firmwareUpdateComplete.emit() | |
| return | |
| ## Upload new firmware to machine | |
| # \param filename full path of firmware file to be uploaded | |
| def updateFirmware(self, file_name): | |
| Logger.log("i", "Updating firmware of %s using %s", self._serial_port, file_name) | |
| self._firmware_file_name = file_name | |
| self._update_firmware_thread.start() | |
| @property | |
| def firmwareUpdateFinished(self): | |
| return self._firmware_update_finished | |
| def resetFirmwareUpdate(self, update_has_finished = False): | |
| self._firmware_update_finished = update_has_finished | |
| self.firmwareUpdateChange.emit() | |
| @pyqtSlot() | |
| def startPollEndstop(self): | |
| if not self._poll_endstop: | |
| self._poll_endstop = True | |
| if self._end_stop_thread is None: | |
| self._end_stop_thread = threading.Thread(target=self._pollEndStop) | |
| self._end_stop_thread.daemon = True | |
| self._end_stop_thread.start() | |
| @pyqtSlot() | |
| def stopPollEndstop(self): | |
| self._poll_endstop = False | |
| self._end_stop_thread = None | |
| def _pollEndStop(self): | |
| while self._connection_state == ConnectionState.connected and self._poll_endstop: | |
| self.sendCommand("M119") | |
| time.sleep(0.5) | |
| ## Private connect function run by thread. Can be started by calling connect. | |
| def _connect(self): | |
| Logger.log("d", "Attempting to connect to %s", self._serial_port) | |
| self.setConnectionState(ConnectionState.connecting) | |
| 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 the programmer connected, we know its an atmega based version. | |
| # Not all that useful, but it does give some debugging information. | |
| for baud_rate in self._getBaudrateList(): # Cycle all baud rates (auto detect) | |
| Logger.log("d", "Attempting to connect to printer with serial %s on baud rate %s", self._serial_port, baud_rate) | |
| 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("d", "Could not open port %s" % self._serial_port) | |
| continue | |
| 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 seconds seems to be the magic number | |
| sucesfull_responses = 0 | |
| timeout_time = time.time() + 5 | |
| self._serial.write(b"\n") | |
| time.sleep(0.1) | |
| while self._serial.in_waiting != 0: | |
| nbytes = self._serial.in_waiting | |
| residue = self._serial.read(nbytes) | |
| Logger.log("d", "Read %d unexpected bytes from serial port: %s", nbytes, residue) | |
| time.sleep(0.1) | |
| 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(): | |
| self._serial.timeout = 0.2 # So that the 'wait' repeated once a second, but corrupted so it doesn't include a \n, doesn't stall out readline() | |
| line = self._readline() | |
| if line is None: | |
| Logger.log("d", "No response from serial connection received.") | |
| # Something went wrong with reading, could be that close was called. | |
| self.setConnectionState(ConnectionState.closed) | |
| return | |
| if b"T:" in line: | |
| Logger.log("d", "Correct response for auto-baudrate detection received.") | |
| self._serial.timeout = 0.5 | |
| sucesfull_responses += 1 | |
| if sucesfull_responses >= self._required_responses_auto_baud: | |
| self._serial.timeout = 2 # Reset serial timeout | |
| self.setConnectionState(ConnectionState.connected) | |
| self._listen_thread.start() # Start listening | |
| Logger.log("i", "Established printer connection on port %s" % self._serial_port) | |
| return | |
| if self._serial.in_waiting == 0: | |
| self._sendCommand("M105") # Send M105 as long as we are listening, otherwise we end up in an undefined state | |
| time.sleep(0.2) | |
| Logger.log("e", "Baud rate detection for %s failed", self._serial_port) | |
| self.close() # Unable to connect, wrap up. | |
| self.setConnectionState(ConnectionState.closed) | |
| ## 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 | |
| ## Close the printer connection | |
| def close(self): | |
| Logger.log("d", "Closing the USB printer connection.") | |
| if self._connect_thread.isAlive(): | |
| try: | |
| self._connect_thread.join() | |
| except Exception as e: | |
| Logger.log("d", "PrinterConnection.close: %s (expected)", e) | |
| pass # This should work, but it does fail sometimes for some reason | |
| self._connect_thread = threading.Thread(target = self._connect) | |
| self._connect_thread.daemon = True | |
| self.setConnectionState(ConnectionState.closed) | |
| if self._serial is not None: | |
| try: | |
| self._listen_thread.join() | |
| except: | |
| pass | |
| self._serial.close() | |
| self._listen_thread = threading.Thread(target = self._listen) | |
| self._listen_thread.daemon = True | |
| self._serial = None | |
| ## 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() | |
| 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() | |
| ## Send a command to printer. | |
| # \param cmd string with g-code | |
| def sendCommand(self, cmd): | |
| if self._progress: | |
| self._command_queue.put(cmd) | |
| elif self._connection_state == ConnectionState.connected: | |
| self._sendCommand(cmd) | |
| ## Set the error state with a message. | |
| # \param error String with the error message. | |
| def _setErrorState(self, error): | |
| self._updateJobState("error") | |
| self._error_state = error | |
| self.onError.emit() | |
| def requestWrite(self, node, file_name = None, filter_by_machine = False): | |
| Application.getInstance().showPrintMonitor.emit(True) | |
| self.startPrint() | |
| def _setEndstopState(self, endstop_key, value): | |
| if endstop_key == b"x_min": | |
| if self._x_min_endstop_pressed != value: | |
| self.endstopStateChanged.emit("x_min", value) | |
| self._x_min_endstop_pressed = value | |
| elif endstop_key == b"y_min": | |
| if self._y_min_endstop_pressed != value: | |
| self.endstopStateChanged.emit("y_min", value) | |
| self._y_min_endstop_pressed = value | |
| elif endstop_key == b"z_min": | |
| if self._z_min_endstop_pressed != value: | |
| self.endstopStateChanged.emit("z_min", value) | |
| self._z_min_endstop_pressed = value | |
| ## 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._connection_state == ConnectionState.connected: | |
| line = self._readline() | |
| if line is None: | |
| break # None is only returned when something went wrong. Stop listening | |
| if time.time() > temperature_request_timeout: | |
| if self._num_extruders > 0: | |
| self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._num_extruders | |
| self.sendCommand("M105 T%d" % (self._temperature_requested_extruder_index)) | |
| else: | |
| self.sendCommand("M105") | |
| temperature_request_timeout = time.time() + 5 | |
| if line.startswith(b"Error:"): | |
| # Oh YEAH, consistency. | |
| # Marlin reports a 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._setHotendTemperature(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 | |
| elif b"_min" in line or b"_max" in line: | |
| tag, value = line.split(b":", 1) | |
| self._setEndstopState(tag,(b"H" in value or b"TRIGGERED" in value)) | |
| if self._is_printing: | |
| if line == b"" and time.time() > ok_timeout: | |
| line = b"ok" # Force a timeout (basically, 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()) | |
| elif self._is_paused: | |
| line = b"" # Force getting temperature as keep alive | |
| 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]) | |
| # Request the temperature on comm timeout (every 2 seconds) when we are not printing.) | |
| if line == b"": | |
| if self._num_extruders > 0: | |
| self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._num_extruders | |
| 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() | |
| ## Set the state of the print. | |
| # Sent from the print monitor | |
| def _setJobState(self, job_state): | |
| if job_state == "pause": | |
| self._is_paused = True | |
| self._updateJobState("paused") | |
| elif job_state == "print": | |
| self._is_paused = False | |
| self._updateJobState("printing") | |
| elif job_state == "abort": | |
| self.cancelPrint() | |
| ## 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 | |
| if self._progress == 100: | |
| # Printing is done, reset progress | |
| self._gcode_position = 0 | |
| self.setProgress(0) | |
| self._is_printing = False | |
| self._is_paused = False | |
| self._updateJobState("ready") | |
| self.progressChanged.emit() | |
| ## Cancel the current print. Printer connection wil continue to listen. | |
| def cancelPrint(self): | |
| self._gcode_position = 0 | |
| self.setProgress(0) | |
| self._gcode = [] | |
| # Turn off temperatures, fan and steppers | |
| self._sendCommand("M140 S0") | |
| self._sendCommand("M104 S0") | |
| self._sendCommand("M107") | |
| self._sendCommand("M84") | |
| self._is_printing = False | |
| self._is_paused = False | |
| self._updateJobState("ready") | |
| Application.getInstance().showPrintMonitor.emit(False) | |
| ## Check if the process did not encounter an error yet. | |
| def hasError(self): | |
| return self._error_state is not 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 = [115200, 230400, 250000, 57600, 38400, 19200, 9600] | |
| return ret | |
| def _onFirmwareUpdateComplete(self): | |
| self._update_firmware_thread.join() | |
| self._update_firmware_thread = threading.Thread(target = self._updateFirmware) | |
| self._update_firmware_thread.daemon = True | |
| self.connect() |
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