def readline(self):
try:
if (self.baudrateError):
if (self._baudrate != self.baudrate):
gpx.write("M105")
return ''
try:
return self.outgoing.get_nowait()
except Queue.Empty:
pass
if gpx.listing_files():
return gpx.readnext()
while True:
timeout = 2 if gpx.waiting else self.timeout
try:
return self.outgoing.get(timeout=timeout)
except Queue.Empty:
self._append(gpx.readnext())
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return '// echo: build cancelled'
def progress(self, percent):
try:
# loop sending for a while if the queue isn't full or if the bot
# isn't listening
for i in range(0, 10):
try:
gpx.write("M73 P%d" % percent)
break
except gpx.BufferOverflow:
time.sleep(0.1)
except gpx.Timeout:
time.sleep(0.1)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def progress(self, percent):
try:
# loop sending for a while if the queue isn't full or if the bot
# isn't listening
for i in range(0, 10):
try:
gpx.write("M73 P%d" % percent)
break
except gpx.BufferOverflow:
time.sleep(0.1)
except gpx.Timeout:
time.sleep(0.1)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def home():
setup_gcode = """
T0; set primary extruder
M73 P0; enable show build progress
M104 S42 T0; set nozzle heater to first layer temperature
G21; set units to mm -- maybe unnecessary
G162 X Y F6000; home XY axes maximum
G161 Z F9000; home Z axis minimum
G92 Z0; set Z to 0
M132 X Y Z A B; Recall stored home offsets -- unknown
G90; set positioning to absolute -- default
G1 X-95 Y-73 Z30 F14000; move to waiting position (front left corner of print bed)
;G130 X0 Y0 A0 B0; set stepper motor vref to lower value while heating
;M6 T0; wait for bed and extruder to heat up
;G130 X127 Y127 A127 B127; set stepper motor vref to defaults
;M108 T0 R3; set extruder speed
;G92 E0; set E to 0
M320; acceleration enabled for all commands that follow -- default? no change without
;G1 Z0.2 F6000.000; move to first layer height
;G1 X100 Y-73 F14000.000; move to front right corner of bed
;G1 X-90 Y-73 ;E24 F2000.000; extrude a line of filament across the front edge of the bed
;G4 P2000; wait for ooze to slow
;G1 Z0 F6000.000; lower nozzle height to 0
;G1 X-95; wipe nozzle
;G1 Z0.2 F6000.000; set nozzle to first layer height
;G1 F12000; ensure fast travel to first print move
;G92 E0; set E to 0 again
;M73 P0; reset build progress to 0
"""
for line in setup_gcode.splitlines():
result = gpx.write(line)
print line, ":", result
def progress(self, percent):
# we don't want the progress event to pre-empt the build start or
# override the build end notification and the M73 causes a build start
# if we aren't already running one
if gpx.build_started():
try:
# loop sending for a while if the queue isn't full or if the bot
# isn't listening
for i in range(0, 10):
try:
gpx.write("M73 P%d" % percent)
break
except gpx.BufferOverflow:
time.sleep(0.01)
except gpx.Timeout:
time.sleep(0.1)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def progress(self, percent):
# we don't want the progress event to pre-empt the build start or
# override the build end notification and the M73 causes a build start
# if we aren't already running one
if gpx.build_started():
try:
# loop sending for a while if the queue isn't full or if the bot
# isn't listening
for i in range(0, 10):
try:
gpx.write("M73 P%d" % percent)
break
except gpx.BufferOverflow:
time.sleep(0.01)
except gpx.Timeout:
time.sleep(0.1)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def write(self, data):
try:
data = data.strip()
if self.baudrate != self._baudrate:
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put("")
return
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
if match is not None:
lineno = int(match.group(1))
if lineno == 1 and not "M112" in data:
self._bot_cancelled = False
currentJob = self._printer.get_current_job()
if (
currentJob is not None
and "file" in currentJob.keys()
and "name" in currentJob["file"]
and currentJob["file"]["name"] is not None
):
build_name = os.path.splitext(os.path.basename(currentJob["file"]["name"]))[0]
gpx.write("(@build %s)" % build_name)
gpx.write("M136 (%s)" % build_name)
else:
gpx.write("M136")
# try to talk to the bot
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
# loop sending until the queue isn't full
retries = 0
while True:
try:
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
time.sleep(0.1)
except gpx.Timeout:
time.sleep(1)
retries += 1
if retries >= 5:
raise
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def write(self, data):
data = data.strip()
# strip checksum
if "*" in data:
data = data[:data.rfind("*")]
if (self.baudrate != self._baudrate):
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put('')
pass
return
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
if match is not None:
lineno = int(match.group(1))
if lineno == 1:
currentJob = self._printer.get_current_job()
if currentJob is not None and "file" in currentJob.keys() and "name" in currentJob["file"]:
gpx.write("M136 %s" % os.path.basename(currentJob["file"]["name"]))
else:
gpx.write("M136")
# try to talk to the bot
while True:
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
self._append("buffer overflow")
time.sleep(1)
pass
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
def write(self, data):
try:
rval = len(data)
data = data.strip()
if (self.baudrate != self._baudrate):
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put('')
return 0
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
# try to talk to the bot
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
# loop sending until the queue isn't full
timeout_retries = 0
bo_retries = 0
while True:
try:
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
bo_retries += 1
try:
if gpx.build_paused():
if bo_retries == 1:
self._append(
"// echo: print paused at bot")
time.sleep(1) # 1 sec
except IOError:
pass
time.sleep(0.1) # 100 ms
except gpx.Timeout:
time.sleep(1)
timeout_retries += 1
if (timeout_retries >= 5):
raise
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return rval
def write(self, data):
try:
data = data.strip()
if (self.baudrate != self._baudrate):
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put('')
return
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
if match is not None:
lineno = int(match.group(1))
if lineno == 1 and not "M112" in data:
self._bot_cancelled = False
currentJob = self._printer.get_current_job()
if currentJob is not None and "file" in currentJob.keys(
) and "name" in currentJob["file"] and currentJob["file"][
"name"] is not None:
build_name = os.path.splitext(
os.path.basename(currentJob["file"]["name"]))[0]
gpx.write("(@build %s)" % build_name)
gpx.write("M136 (%s)" % build_name)
else:
gpx.write("M136")
# try to talk to the bot
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
# loop sending until the queue isn't full
retries = 0
while True:
try:
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
time.sleep(0.1)
except gpx.Timeout:
time.sleep(1)
retries += 1
if (retries >= 5):
raise
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
def readline(self):
try:
while (self.baudrateError):
if (self._baudrate != self.baudrate):
gpx.write("M105")
return ''
try:
s = self.outgoing.get_nowait()
self._logger.debug("readline: %s" % s)
return s
except Queue.Empty:
pass
s = gpx.readnext()
timeout = self.timeout
append_later = None
if gpx.waiting():
append_later = s
timeout = 2
else:
self._append(s)
while True:
try:
s = self.outgoing.get(timeout=timeout)
if append_later is not None:
self._append(s)
s = append_later
self._logger.debug("readline: %s" % s)
return s
except Queue.Empty:
self._logger.debug("timeout")
if append_later is None:
return ''
self._append(append_later)
append_later = None
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return '// echo: build cancelled'
def readline(self):
try:
while self.baudrateError:
if self._baudrate != self.baudrate:
gpx.write("M105")
return ""
try:
s = self.outgoing.get_nowait()
self._logger.debug("readline: %s" % s)
return s
except Queue.Empty:
pass
s = gpx.readnext()
timeout = self.timeout
append_later = None
if gpx.waiting():
append_later = s
timeout = 2
else:
self._append(s)
while True:
try:
s = self.outgoing.get(timeout=timeout)
if append_later is not None:
self._append(s)
s = append_later
self._logger.debug("readline: %s" % s)
return s
except Queue.Empty:
self._logger.debug("timeout")
if append_later is None:
return ""
self._append(append_later)
append_later = None
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return "// echo: build cancelled"
def readline(self):
try:
if (self.baudrateError):
if (self._baudrate != self.baudrate):
gpx.write("M105")
return ''
try:
return self.outgoing.get_nowait()
except Queue.Empty:
pass
if gpx.listing_files():
return gpx.readnext()
timeout = 2 if gpx.waiting else self.timeout
try:
return self.outgoing.get(timeout=timeout)
except Queue.Empty:
return gpx.readnext()
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return '// echo: build cancelled'
def write(self, data):
try:
rval = len(data)
data = data.strip()
if (self.baudrate != self._baudrate):
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put('')
return 0
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
if match is not None:
lineno = int(match.group(1))
if lineno == 1 and not "M112" in data:
self._bot_cancelled = False
currentJob = self._printer.get_current_job()
try:
build_name = currentJob["file"]["name"]
build_name = os.path.splitext(os.path.basename(build_name))[0]
except KeyError:
build_name = "OctoPrint"
gpx.write('(@build "%s")' % build_name)
gpx.write("M136 (%s)" % build_name)
# try to talk to the bot
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
# loop sending until the queue isn't full
timeout_retries = 0
bo_retries = 0
while True:
try:
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
bo_retries += 1
try:
if gpx.build_paused():
if bo_retries == 1:
self._append("// echo: print paused at bot")
time.sleep(1) # 1 sec
except IOError:
pass
time.sleep(0.1) # 100 ms
except gpx.Timeout:
time.sleep(1)
timeout_retries += 1
if (timeout_retries >= 5):
raise
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return rval
dB = pos[axis]-cornerB[axis]
if fabs(dA) < fabs(dist):
dist = dA
closest = axis
if fabs(dB) < fabs(dist):
dist = dB
closest = axis
outside = outside - 1
if closest > -1 and outside == 0:
force[closest] = -stiffness*dist;
print_pos = [(a) * 200 for a in avg_pos]
print_pos = (print_pos[0]) * 2, (-print_pos[2] + 30) * 2, -print_pos[1]
if not gpx.waiting():
gcode = 'G1 X{:3.3f} Y{:3.3f} Z{:3.3f} F9999999'.format(*print_pos)
print gcode
gpx.write(gcode)
import time
time.sleep(0.03)
force = [0, 0, 0]
force_fv.x = force[0]
force_fv.y = force[1]
force_fv.z = force[2]
fdd.setForces(force_fv)
import gpx
gpx.connect("/dev/ttyACM0", 0, "/home/pi/gpx.ini")
gpx.write("M72 P1")
gpx.disconnect()
def write(self, data):
try:
rval = len(data)
data = data.strip()
if (self.baudrate != self._baudrate):
try:
self._baudrate = self.baudrate
self._logger.info("new baudrate = %d" % self.baudrate)
gpx.set_baudrate(self.baudrate)
self.baudrateError = False
except ValueError:
self.baudrateError = True
self.outgoing.put('')
return 0
# look for a line number
# line number means OctoPrint is streaming gcode at us (gpx.ini flavor)
# no line number means OctoPrint is generating the gcode (reprap flavor)
match = self._regex_linenumber.match(data)
if match is not None:
lineno = int(match.group(1))
if lineno == 1 and not "M112" in data:
self._bot_cancelled = False
currentJob = self._printer.get_current_job()
try:
build_name = currentJob["file"]["name"]
build_name = os.path.splitext(
os.path.basename(build_name))[0]
except KeyError:
build_name = "OctoPrint"
gpx.write('(@build "%s")' % build_name)
gpx.write("M136 (%s)" % build_name)
# try to talk to the bot
try:
if match is None:
reprapSave = gpx.reprap_flavor(True)
# loop sending until the queue isn't full
timeout_retries = 0
bo_retries = 0
while True:
try:
self._append(gpx.write("%s" % data))
break
except gpx.BufferOverflow:
bo_retries += 1
try:
if gpx.build_paused():
if bo_retries == 1:
self._append(
"// echo: print paused at bot")
time.sleep(1) # 1 sec
except IOError:
pass
time.sleep(0.1) # 100 ms
except gpx.Timeout:
time.sleep(1)
timeout_retries += 1
if (timeout_retries >= 5):
raise
finally:
if match is None:
gpx.reprap_flavor(reprapSave)
except gpx.CancelBuild:
self._bot_reports_build_cancelled()
return rval
import gpx
gpx.connect("/dev/ttyACM0", 0, "/home/pi/gpx.ini")
print gpx.write("M105")
print gpx.write("M114")
print gpx.write("G91")
gpx.disconnect()