jogger.py

jogger.py

import collections
import curses, curses.wrapper
import time
import serial


DEVICE = '/dev/ttyUSB0'


def cmd(s, c):
    s.write(c.strip() + '\n')
    done = False
    while True:
        resp = s.readline().strip()
        if resp == 'ok' or resp.startswith('error:'):
            return


class job(object):
    def __init__(self, s, f, output):
        self.s = s
        self.f = f
        self.output = output
        self.paused = False
        self.errored = False
        self.completed = False

    def filebytes(self):
        for line in self.f:
            self.output("> " + line.strip())
            line = line.strip() + '\n'
            unacked.append(len(line))
            for c in line:
                yield c
            while self.paused:
                time.sleep(0.5)

    def run(self):
        outstanding = 0
        unacked = collections.deque()
        for byte in self.filebytes():
            if sum(unacked) < 128:
                self.s.write(byte)
                outstanding += 1
            else:
                resp = self.s.readline().strip()
                self.output("< " + resp)
                if resp == 'ok':
                    outstanding -= unacked.popleft()
                elif resp.startswith('error:'):
                    self.errored = True
                    return
        self.completed = True

    def pause(self):
        self.paused = True

    def resume(self):
        self.paused = False


def main(stdscr):
    stdscr.clear()
    stdscr.refresh()

    j = None
    s = serial.Serial(DEVICE, 115200)
    s.write("\r\n\r\n")
    time.sleep(2)
    s.flushInput()
    cmd(s, 'G21 G90 G94 G54')

    stdscr.addstr(0, 0, "    w")
    stdscr.addstr(1, 0, "    |       [")
    stdscr.addstr(2, 0, "    |       |")
    stdscr.addstr(3, 0, "a---+---d   |")
    stdscr.addstr(4, 0, "    |       |")
    stdscr.addstr(5, 0, "    |       ]")
    stdscr.addstr(6, 0, "    s")
    stdscr.addstr(8, 0, "z = zero work coords       q = quit")
    stdscr.hline(9, 0, '-', stdscr.getmaxyx()[1])
    stdscr.setscrreg(10, 20)
    scrreg = stdscr.subwin(10, 0)
    scrreg.move(0, 0)
    scrreg.refresh()
    stdscr.timeout(100)

    def output(line):
        scrreg.insstr(0, 0, line)
        scrreg.insertln()
        scrreg.refresh()

    k = stdscr.getch()
    while (k != ord('q')):
        if k == ord('S'):
            cmd(s, '$J=G91 F100 G21 Y-1.0')
            output("JOG Y -1.0")
        elif k == ord('W'):
            cmd(s, '$J=G91 F100 G21 Y1.0')
            output("JOG Y +1.0")
        elif k == ord('D'):
            cmd(s, '$J=G91 F100 G21 X1.0')
            output("JOG X +1.0")
        elif k == ord('A'):
            cmd(s, '$J=G91 F100 G21 X-1.0')
            output("JOG X -1.0")
        elif k == ord('s'):
            cmd(s, '$J=G91 F300 G21 Y-10.0')
            output("JOG Y -10.0")
        elif k == ord('w'):
            cmd(s, '$J=G91 F300 G21 Y10.0')
            output("JOG Y +10.0")
        elif k == ord('d'):
            cmd(s, '$J=G91 F300 G21 X10.0')
            output("JOG X +10.0")
        elif k == ord('a'):
            cmd(s, '$J=G91 F300 G21 X-10.0')
            output("JOG X -10.0")
        elif k == ord('['):
            cmd(s, '$J=G91 F300 G21 Z10.0')
            output("JOG Z +10.0")
        elif k == ord(']'):
            cmd(s, '$J=G91 F300 G21 Z-10.0')
            output("JOG Z -10.0")
        elif k == ord('{'):
            cmd(s, '$J=G91 F100 G21 Z1.0')
            output("JOG Z +1.0")
        elif k == ord('}'):
            cmd(s, '$J=G91 F100 G21 Z-1.0')
            output("JOG Z -1.0")
        elif k == ord('z'):
            cmd(s, 'G92 X0 Y0 Z0')
            output("Zeroed coords")
        elif k == "P":
            if j is None:
                output("No job to pause.")
            else:
                j.pause()
                output("Pausing job...")
        elif k == "R":
            if j is None:
                cmd(s, 'G92 X0 Y0 Z0')
                output("Zeroed coords")
                output("Starting job...")
                j = job(s, f, output)
                threading.Thread(j.run).start()
            else:
                j.pause()
                output("Resuming job...")
        elif j and j.errored:
            output("JOB ERROR")
            j = None
        elif j and j.completed:
            output("JOB COMPLETED")
            j = None
        scrreg.refresh()
        k = stdscr.getch()

curses.wrapper(main)