forked from mi8882255/3dprinteros-client
-
Notifications
You must be signed in to change notification settings - Fork 0
/
makerbot_sender.py
309 lines (276 loc) · 12.4 KB
/
makerbot_sender.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
#Copyright (c) 2015 3D Control Systems LTD
#3DPrinterOS client is free software: you can redistribute it and/or modify
#it under the terms of the GNU Affero General Public License as published by
#the Free Software Foundation, either version 3 of the License, or
#(at your option) any later version.
#3DPrinterOS client is distributed in the hope that it will be useful,
#but WITHOUT ANY WARRANTY; without even the implied warranty of
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#GNU Affero General Public License for more details.
#You should have received a copy of the GNU Affero General Public License
#along with 3DPrinterOS client. If not, see <http://www.gnu.org/licenses/>.
# Author: Vladimir Avdeev <another.vic@yandex.ru>
import re
import time
import logging
import threading
import makerbot_driver
import makerbot_serial as serial
import serial.serialutil
# X = [0][0] | 0.1 = 8
# Y = [0][1] | 0.1 = 8
# Z = [0][2] | 0.1 = 4
# E = [0][3]
import log
from base_sender import BaseSender
import config
class Sender(BaseSender):
PAUSE_STEP_TIME = 0.5
BUFFER_OVERFLOW_WAIT = 0.01
IDLE_WAITING_STEP = 0.1
TEMP_UPDATE_PERIOD = 5
GODES_BETWEEN_READ_STATE = 100
BUFFER_OVERFLOWS_BETWEEN_STATE_UPDATE = 20
MAX_RETRY_BEFORE_ERROR = 100
def __init__(self, profile, usb_info):
BaseSender.__init__(self, profile, usb_info)
self.logger = logging.getLogger('app.' + __name__)
self.logger.info('Makerbot printer created')
self.init_target_temp_regexps()
self.execution_lock = threading.Lock()
self.buffer_lock = threading.Lock()
self.parser = None
try:
self.parser = self.create_parser()
time.sleep(0.1)
self.parser.state.values["build_name"] = '3DPrinterOS'
except Exception as e:
raise RuntimeError("Error connecting to printer %s\n%s" % (str(profile), str(e)))
else:
self.stop_flag = False
self.pause_flag = False
self.printing_flag = False
self.cancel_flag = False
self.sending_thread = threading.Thread(target=self.send_gcodes)
self.sending_thread.start()
def create_parser(self):
factory = makerbot_driver.MachineFactory()
machine = factory.build_from_port(self.usb_info.get('COM'))
assembler = makerbot_driver.GcodeAssembler(machine.profile)
parser = machine.gcodeparser
start, end, variables = assembler.assemble_recipe()
parser.environment.update(variables)
return parser
def init_target_temp_regexps(self):
self.platform_ttemp_regexp = re.compile('\s*M109\s*S(\d+)\s*T(\d+)')
self.extruder_ttemp_regexp = re.compile('\s*M104\s*S(\d+)\s*T(\d+)')
def append_position_and_lift_extruder(self):
position = self.request_position_from_printer()
if position:
with self.buffer_lock:
self.buffer.appendleft('G1 Z' + str(position[2]))
z = min(160, position[2] + 30)
self.execute('G1 Z' + str(z))
# length argument is used for unification with Printrun. DON'T REMOVE IT!
def set_total_gcodes(self, length):
self.execute(lambda: self.parser.s3g.abort_immediately())
self.parser.state.values["build_name"] = '3DPrinterOS'
self.parser.state.percentage = 0
self.current_line_number = 0
self.logger.info('Begin of GCodes')
self.printing_flag = False
self.execute(lambda: self.parser.s3g.set_RGB_LED(255, 255, 255, 0))
def load_gcodes(self, gcodes):
gcodes = self.preprocess_gcodes(gcodes)
self.set_total_gcodes(len(gcodes))
with self.buffer_lock:
for code in gcodes:
self.buffer.append(code)
self.logger.info('Enqueued block: ' + str(len(gcodes)) + ', of total: ' + str(len(self.buffer)))
def cancel(self, go_home=True):
if self.cancel_download():
return
with self.buffer_lock:
self.buffer.clear()
self.pause_flag = False
self.cancel_flag = True
time.sleep(0.1)
self.execute(lambda: self.parser.s3g.abort_immediately())
def pause(self):
if not self.pause_flag and not self.cancel_flag:
self.pause_flag = True
time.sleep(0.1)
self.append_position_and_lift_extruder()
return True
else:
return False
def unpause(self):
if self.pause_flag and not self.cancel_flag:
self.pause_flag = False
return True
else:
return False
def request_position_from_printer(self):
position = self.parser.state.position.ToList()
if position[0] is None or position[1] is None or position[2] is None:
#self.logger.warning("Can't get current tool position to execute extruder lift") #spam
pass
else:
# setting to xyz sequence format, zero is for compatibility
# position[3] - A-gcode value from 'G1 X-12.440 Y-12.948 A5.53429'-like string.
# TODO: check if position[3] is extrusion value. It seems like it is (increases during printing)
self.position = [position[0], position[1], position[2], 0] # XYZE format
return self.position
def get_position(self):
self.request_position_from_printer()
return self.position
def emergency_stop(self):
self.cancel(False)
def immediate_pause(self):
self.execute(self.parser.s3g.pause())
def close(self):
self.logger.info("Makerbot sender is closing...")
self.stop_flag = True
if threading.current_thread() != self.sending_thread:
self.sending_thread.join(10)
if self.sending_thread.isAlive():
config.create_error_report(301, "Failed to join printing thread in makerbot_printer",
self.usb_info, self.logger, is_blocking=True)
if self.parser:
if self.parser.s3g:
try:
self.parser.s3g.abort_immediately()
except Exception:
pass
time.sleep(0.1)
self.parser.s3g.close()
self.is_running = False
self.logger.info("...done closing makerbot sender.")
def unbuffered_gcodes(self, gcodes):
self.logger.info("Gcodes for unbuffered execution: " + str(gcodes))
if self.printing_flag or self.pause_flag:
self.logger.warning("Can't execute gcodes - wrong mode")
return False
else:
if not self.parser.state.values.get("build_name"):
self.parser.state.values["build_name"] = '3DPrinterOS'
for gcode in self.preprocess_gcodes(gcodes):
result = self.execute(gcode)
if result:
self.request_position_from_printer()
self.logger.info("Printers answer: " + result)
self.logger.info("Gcodes were sent to printer")
return True
def execute(self, command):
buffer_overflow_counter = 0
retry_count = 0
while not self.stop_flag:
if buffer_overflow_counter > self.BUFFER_OVERFLOWS_BETWEEN_STATE_UPDATE:
self.logger.info('Makerbot BufferOverflow on ' + text)
buffer_overflow_counter = 0
self.read_state()
try:
command_is_gcode = isinstance(command, str)
self.execution_lock.acquire()
if command_is_gcode:
if self.cancel_flag:
self.cancel_flag = False
break
text = command
self.printing_flag = True
self.parser.execute_line(command)
self.set_target_temps(command)
#self.logger.debug("Executing: " + command)
result = None
else:
text = command.__name__
result = command()
except (makerbot_driver.BufferOverflowError):
buffer_overflow_counter += 1
time.sleep(self.BUFFER_OVERFLOW_WAIT)
except serial.serialutil.SerialException:
self.logger.warning("Makerbot is retrying %i %s" % (retry_count, text))
retry_count += 1
if retry_count > self.MAX_RETRY_BEFORE_ERROR:
config.create_error_report(302, "Makerbot can't continue because max retry of %s" % text,
self.usb_info, self.logger, is_blocking=True)
self.close()
except Exception as e:
config.create_error_report(303, "Makerbot can't continue because of: %s %s" % (str(e), e.message),
self.usb_info, self.logger, is_blocking=True)
self.close()
else:
return result
finally:
self.execution_lock.release()
def read_state(self):
platform_temp = self.execute(lambda: self.parser.s3g.get_platform_temperature(1))
platform_ttemp = self.execute(lambda: self.parser.s3g.get_platform_target_temperature(1))
head_temp1 = self.execute(lambda: self.parser.s3g.get_toolhead_temperature(0))
head_temp2 = self.execute(lambda: self.parser.s3g.get_toolhead_temperature(1))
head_ttemp1 = self.execute(lambda: self.parser.s3g.get_toolhead_target_temperature(0))
head_ttemp2 = self.execute(lambda: self.parser.s3g.get_toolhead_target_temperature(1))
self.temps = [platform_temp, head_temp1, head_temp2]
self.target_temps = [platform_ttemp, head_ttemp1, head_ttemp2]
# self.mb = self.execute(lambda: self.parser.s3g.get_motherboard_status())
#self.position = self.execute(lambda: self.parser.s3g.get_extended_position())
def reset(self):
self.buffer.clear()
self.execute(lambda: self.parser.s3g.reset())
self.execute(lambda: self.parser.s3g.clear_buffer())
def is_paused(self):
return self.pause_flag
def is_operational(self):
return self.parser and self.parser.s3g.is_open() and self.sending_thread.is_alive()
def set_target_temps(self, command):
result = self.platform_ttemp_regexp.match(command)
if result:
self.target_temps[0] = int(result.group(1))
self.logger.info('Heating platform to ' + str(result.group(1)))
result = self.extruder_ttemp_regexp.match(command)
if result:
extruder_number = int(result.group(2)) + 1
self.target_temps[extruder_number] = int(result.group(1))
self.logger.info('Heating toolhead ' + str(extruder_number) + ' to ' + str(result.group(1)))
@log.log_exception
def send_gcodes(self):
last_time = time.time()
counter = 0
while not self.stop_flag:
counter += 1
current_time = time.time()
if (counter >= self.GODES_BETWEEN_READ_STATE) or (current_time - last_time > self.TEMP_UPDATE_PERIOD):
counter = 0
last_time = current_time
self.read_state()
if self.pause_flag:
self.printing_flag = False
time.sleep(self.PAUSE_STEP_TIME)
continue
try:
if not self.buffer_lock.acquire(False):
raise RuntimeError
command = self.buffer.popleft()
except RuntimeError:
time.sleep(self.IDLE_WAITING_STEP)
except IndexError:
self.buffer_lock.release()
if self.execute(lambda: self.parser.s3g.is_finished()):
if self.printing_flag:
self.printing_flag = False
time.sleep(self.IDLE_WAITING_STEP)
else:
self.buffer_lock.release()
self.execute(command)
self.current_line_number += 1
self.logger.info("Makerbot sender: sender thread ends.")
def is_printing(self):
return self.printing_flag
def get_percent(self):
if self.is_downloading():
percent = self.downloader.get_percent()
else:
percent = self.parser.state.percentage
return percent
def get_current_line_number(self):
return self.current_line_number