def main(argv=None):
comm = RepRapSerialComm(port = COMM_PORT, baudrate = COMM_BAUDRATE)
print "Sleeping for 1 second for the serial port and firmware to settle..."
time.sleep(1)
print "Flushing communicaton channel..."
comm.reset()
print "Querying for Heater 1 temperature (Command 91)..."
p = SimplePacket()
p.add_8(0)
p.add_8(91)
sendPacket(p, print_temperature)
def main(argv=None):
comm = RepRapSerialComm(port=COMM_PORT, baudrate=COMM_BAUDRATE)
print "Sleeping for 1 second for the serial port and firmware to settle..."
time.sleep(1)
print "Flushing communicaton channel..."
comm.reset()
print "Querying for Heater 1 temperature (Command 91)..."
p = SimplePacket()
p.add_8(0)
p.add_8(91)
sendPacket(p, print_temperature)
def main(argv=None):
comm = RepRapSerialComm(port=COMM_PORT, baudrate=COMM_BAUDRATE)
print "Sleeping for 1 second for the serial port and firmware to settle..."
time.sleep(1)
print "Flushing communicaton channel..."
comm.reset()
print "Querying for Heater 1 temperature (Command 91)..."
p = SimplePacket()
p.add_8(0)
p.add_8(91)
comm.send(p)
print "Reading back the response..."
p = comm.readback()
while p == None:
p = comm.readback()
print "Readback result code (1 for success, anything else - failure): " + str(
p.rc)
if p.rc == SimplePacket.RC_OK:
print "The current temperature is: " + str(p.get_16(1))
print str(p.get_8(0))
print str(p.get_8(1))
print str(p.get_8(2))
print str(p.get_8(3))
def main(argv=None):
comm = RepRapSerialComm(port = COMM_PORT, baudrate = COMM_BAUDRATE)
print "Sleeping for 1 second for the serial port and firmware to settle..."
time.sleep(1)
print "Flushing communicaton channel..."
comm.reset()
print "Querying for Heater 1 temperature (Command 91)..."
p = SimplePacket()
p.add_8(0)
p.add_8(91)
comm.send(p)
print "Reading back the response..."
p = comm.readback()
while p == None:
p = comm.readback()
print "Readback result code (1 for success, anything else - failure): " + str(p.rc)
if p.rc == SimplePacket.RC_OK: print "The current temperature is: " + str(p.get_16(1))
print str(p.get_8(0))
print str(p.get_8(1))
print str(p.get_8(2))
print str(p.get_8(3))
def sendPacket(p, CallBack):
RetryCounter = 0
sendFlag = True
comm = RepRapSerialComm(port=COMM_PORT, baudrate=COMM_BAUDRATE)
comm.reset()
while RetryCounter < 10:
# Send the Packet to slave.
if sendFlag:
comm.send(p)
sendFlag = False
# Read answer from slave.
SlaveAnswer_Packet = comm.readback()
if SlaveAnswer_Packet != None:
if not (SlaveAnswer_Packet.rc != SimplePacket.RC_OK) and not (
SlaveAnswer_Packet.get_8(0) !=
1) and not (SlaveAnswer_Packet.id_received !=
SlaveAnswer_Packet.id()):
# Execute the call back if there was no CRC mismatch on slave...
(CallBack)(SlaveAnswer_Packet)
return True
if SlaveAnswer_Packet.rc != SimplePacket.RC_OK:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Slave -> Master communication error: RC: %d" % (
SlaveAnswer_Packet.rc)
print >> sys.stderr, " "
if SlaveAnswer_Packet.get_8(0) != 1:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Master -> Slave communication error: response_code: %d" % (
SlaveAnswer_Packet.get_8(0))
print >> sys.stderr, " "
if SlaveAnswer_Packet.id_received != SlaveAnswer_Packet.id():
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Packet id error. id = %d; id_received = %d" % (
SlaveAnswer_Packet.id(), SlaveAnswer_Packet.id_received)
print >> sys.stderr, " "
sendFlag = True
RetryCounter += 1
# There was to much errors...
# Shut down system
comm.reset()
return None
def sendPacket(p, CallBack):
RetryCounter = 0
sendFlag = True
comm = RepRapSerialComm(port = COMM_PORT, baudrate = COMM_BAUDRATE)
comm.reset()
while RetryCounter < 10:
# Send the Packet to slave.
if sendFlag:
comm.send(p)
sendFlag = False
# Read answer from slave.
SlaveAnswer_Packet = comm.readback()
if SlaveAnswer_Packet != None:
if not(SlaveAnswer_Packet.rc != SimplePacket.RC_OK) and not(SlaveAnswer_Packet.get_8(0) != 1) and not(SlaveAnswer_Packet.id_received != SlaveAnswer_Packet.id()):
# Execute the call back if there was no CRC mismatch on slave...
(CallBack)(SlaveAnswer_Packet)
return True
if SlaveAnswer_Packet.rc != SimplePacket.RC_OK:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Slave -> Master communication error: RC: %d" %(SlaveAnswer_Packet.rc)
print >> sys.stderr, " "
if SlaveAnswer_Packet.get_8(0) != 1:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Master -> Slave communication error: response_code: %d" %(SlaveAnswer_Packet.get_8(0))
print >> sys.stderr, " "
if SlaveAnswer_Packet.id_received != SlaveAnswer_Packet.id():
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Packet id error. id = %d; id_received = %d" % (SlaveAnswer_Packet.id(), SlaveAnswer_Packet.id_received)
print >> sys.stderr, " "
sendFlag = True
RetryCounter += 1
# There was to much errors...
# Shut down system
comm.reset()
return None
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self.readback_queue = []
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT,
baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Process any packets
if len(self.readback_queue) > 0:
p = self.comm.readback()
if p != None:
if p.rc != SimplePacket.RC_OK:
print >> sys.stderr, "Extruder communication error: RC: %d" % (
p.rc)
self.c['fault.communication'] = 1
self.c['connection'] = 0
self.c['estop'] = 1
self.c['online'] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.seqid']
self.comm.reset()
self.readback_queue = []
# Turn Off
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
else:
self.c['connection'] = 1
(self.readback_queue[0])(p)
del self.readback_queue[0]
if len(self.readback_queue) > 20:
raise SystemExit(
"The readback queue is too long. Suggesting microcontroller overflow or other bus problem"
)
# Enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(0)
if self.enable_state:
p.add_8(81)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(80)
self.comm.send(p)
self.readback_queue.append(self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(
milliseconds=250)
p = SimplePacket()
p.add_8(0)
p.add_8(91)
self.comm.send(p)
self.readback_queue.append(self._rb_heater1_pvsv)
p = SimplePacket()
p.add_8(0)
p.add_8(93)
self.comm.send(p)
self.readback_queue.append(self._rb_heater2_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(95)
self.comm.send(p)
self.readback_queue.append(self._rb_motor1_pvsv)
except KeyboardInterrupt:
if self.comm != None:
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.comm.readback()
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
class Extruder:
def __init__(self, hal_component):
self.c = hal_component
self._trigger_dict = {
'heater1.set-sv': self._trigger_heater1_sv,
'heater2.set-sv': self._trigger_heater2_sv,
'motor1.rel-pos.trigger': self._trigger_motor1_rel_pos,
'motor1.speed.trigger': self._trigger_motor1_speed,
'motor1.spindle.on': self._trigger_motor1_spindle,
'motor1.mmcube.trigger': self._trigger_motor1_mmcube,
'motor1.pwm.r-fast': self._trigger_motor1_pwm,
'motor1.pwm.r-slow': self._trigger_motor1_pwm,
'motor1.pwm.f-slow': self._trigger_motor1_pwm,
'motor1.pwm.f-fast': self._trigger_motor1_pwm,
'motor1.tuning.trigger': self._trigger_motor1_tuning,
'mapp.seqid': self._trigger_mapp,
'running': self._trigger_running
}
self._trigger_state = {}
self.comm = None
self.readback_queue = []
self.estop_state = 0
self.enable_state = 0
self.extruder_state = 0
self.extruder_ready_check = 0
self.mcode_heater1_sv = 0
self.mcode_motor1_speed = 0
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self.readback_queue = []
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT,
baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Process any packets
if len(self.readback_queue) > 0:
p = self.comm.readback()
if p != None:
if p.rc != SimplePacket.RC_OK:
print >> sys.stderr, "Extruder communication error: RC: %d" % (
p.rc)
self.c['fault.communication'] = 1
self.c['connection'] = 0
self.c['estop'] = 1
self.c['online'] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.seqid']
self.comm.reset()
self.readback_queue = []
# Turn Off
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
else:
self.c['connection'] = 1
(self.readback_queue[0])(p)
del self.readback_queue[0]
if len(self.readback_queue) > 20:
raise SystemExit(
"The readback queue is too long. Suggesting microcontroller overflow or other bus problem"
)
# Enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(0)
if self.enable_state:
p.add_8(81)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(80)
self.comm.send(p)
self.readback_queue.append(self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(
milliseconds=250)
p = SimplePacket()
p.add_8(0)
p.add_8(91)
self.comm.send(p)
self.readback_queue.append(self._rb_heater1_pvsv)
p = SimplePacket()
p.add_8(0)
p.add_8(93)
self.comm.send(p)
self.readback_queue.append(self._rb_heater2_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(95)
self.comm.send(p)
self.readback_queue.append(self._rb_motor1_pvsv)
except KeyboardInterrupt:
if self.comm != None:
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.comm.readback()
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
def _init_trigger_state(self):
"""
Setup the trigger dictionary
"""
for key in self._trigger_dict.keys():
self._trigger_state[key] = 0
def _check_trigger(self):
"""
Look for any pin changes we are interested in and trigger the handlers
"""
for key in self._trigger_dict.keys():
if self._trigger_state[key] != self.c[key]:
self._trigger_state[key] = self.c[key]
self._trigger_dict[key](name=key,
value=self._trigger_state[key])
def __del__(self):
if self.comm != None:
self.comm.close()
self.comm = None
def _extruder_ready_poll(self):
"""
Check if the temperature reached the set value, and signal the motor movement accordingly.
"""
if self.extruder_ready_check > 0 and self.c[
'heater1.pv'] >= self.mcode_heater1_sv - 5:
if self.extruder_ready_check != 150:
p = SimplePacket()
p.add_8(0)
p.add_8(97)
if self.extruder_ready_check == 101:
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(-self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
self.extruder_state = self.extruder_ready_check
self.c['mapp.done'] = self.c['mapp.seqid']
self.extruder_ready_check = 0
def _trigger_heater1_sv(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(92)
p.add_16(value)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_heater2_sv(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(94)
p.add_16(value)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_rel_pos(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(96)
p.add_16(self.c['motor1.rel-pos'])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_speed(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(self.c['motor1.speed'])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_spindle(self, name, value):
if not value:
self.mcode_motor1_speed = 0
else:
self.mcode_motor1_speed = int(self.c['motor1.spindle'] *
self.c['steps_per_mm_cube'] * 2**8)
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_mmcube(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(
int(self.c['motor1.mmcube'] * self.c['steps_per_mm_cube'] * 2**8))
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_pwm(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(98)
p.add_8(name.find('f-') >= 0)
if not value:
p.add_8(0)
else:
if name.find('fast') >= 0:
p.add_8(192)
else:
p.add_8(128)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_tuning(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(100)
if self.c['motor1.tuning.p'] > 0:
p.add_16(int(2**abs(self.c['motor1.tuning.p'])))
pass
elif self.c['motor1.tuning.p'] < 0:
p.add_16(-int(2**abs(self.c['motor1.tuning.p'])))
else:
p.add_16(0)
if self.c['motor1.tuning.i'] > 0:
p.add_16(int(2**abs(self.c['motor1.tuning.i'])))
elif self.c['motor1.tuning.i'] < 0:
p.add_16(-int(2**abs(self.c['motor1.tuning.i'])))
else:
p.add_16(0)
if self.c['motor1.tuning.d'] > 0:
p.add_16(int(2**abs(self.c['motor1.tuning.d'])))
elif self.c['motor1.tuning.d'] < 0:
p.add_16(-int(2**abs(self.c['motor1.tuning.d'])))
else:
p.add_16(0)
if self.c['motor1.tuning.iLimit'] > 0:
p.add_16(int(2**abs(self.c['motor1.tuning.iLimit'])))
elif self.c['motor1.tuning.iLimit'] < 0:
p.add_16(-int(2**abs(self.c['motor1.tuning.iLimit'])))
else:
p.add_16(0)
p.add_8(self.c['motor1.tuning.deadband'])
p.add_8(self.c['motor1.tuning.minOutput'])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _mapp_heater1_set_sv(self):
p = SimplePacket()
p.add_8(0)
p.add_8(92)
p.add_16(self.mcode_heater1_sv)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_mapp(self, name, value):
seqid = value
mcode = self.c['mapp.mcode']
if mcode == 101:
# Extruder Heatup + Forward
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 102:
# Extruder Heatup + Reverse
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 103:
# Extruder Heatup + Motor Off
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_8(0)
p.add_8(0)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
self.extruder_state = 0
self.c['mapp.done'] = seqid
elif mcode == 104:
# Set extruder temp
self.mcode_heater1_sv = int(self.c['mapp.p'])
self._mapp_heater1_set_sv()
self.c['mapp.done'] = seqid
# 105: Get temperature: Do nothing
# 106: TODO FAN ON
# 107: TODO FAN OFF
elif mcode == 108:
# Set future extruder speed
# Won't take effect until next M101/M102
self.mcode_motor1_speed = int(self.c['mapp.p'] *
self.c['steps_per_mm_cube'] * 2**8)
self.c['mapp.done'] = seqid
elif mcode == 150:
# Wait for temperature to reach the set value
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
else:
# Release all unknown MCode
self.c['mapp.done'] = seqid
# self.readback_queue.append(lambda p: _rb_mcode(seqid))
def _trigger_running(self, name, value):
if not value:
p = SimplePacket()
p.add_8(0)
p.add_8(
98
) # Use PWM instead of SPEED. PWM=0 frees the motor1. SPEED=0 keeps motor locked at position
p.add_8(0)
p.add_8(0)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
elif self.extruder_state and self.mcode_motor1_speed != 0:
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(0)
p.add_8(97)
if self.extruder_state == 101:
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(-self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _rb_mcode(self, p, seqid):
# Not used yet
self.c['mapp.done'] = seqid
def _rb_dummy(self, p):
pass
def _rb_status(self, p):
new_estop_state = p.get_8(1) & 1
if new_estop_state and not self.estop_state:
self.c['estop'] = 1
else:
self.c['estop'] = 0
self.estop_state = new_estop_state
self.c['online'] = p.get_8(1) & 2
self.c['fault.thermistor-disc'] = p.get_8(2) != 0
self.c['fault.heater-response'] = p.get_8(3) != 0
self.c['fault.motor-jammed'] = p.get_8(4) != 0
self.c['fault.no-plastic'] = p.get_8(5) != 0
self.c['heater1.on'] = (p.get_8(6) & 1) != 0
self.c['heater2.on'] = (p.get_8(6) & 2) != 0
def _rb_enable(self, p):
self.c['fault.communication'] = 0
self.estop_state = 0
def _rb_heater1_pvsv(self, p):
self.c['heater1.pv'] = p.get_16(1)
self.c['heater1.sv'] = p.get_16(3)
self._extruder_ready_poll()
def _rb_heater2_pvsv(self, p):
self.c['heater2.pv'] = p.get_16(1)
self.c['heater2.sv'] = p.get_16(3)
self._extruder_ready_poll()
def _rb_motor1_pvsv(self, p):
self.c['motor1.pv'] = p.get_16(1)
self.c['motor1.sv'] = p.get_16(3)
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT,
baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Enable the system if it should be enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
if self.enable_state:
p.add_8(SLAVE_CMD_TURN_ON)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_STATUS)
self.sendPacket(p, self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_HEATER1_PVSV)
self.sendPacket(p, self._rb_heater1_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_MOTOR1_PVSV)
self.sendPacket(p, self._rb_motor1_pvsv)
except KeyboardInterrupt:
# Disable system if we hit keyboard interrupt
if self.comm != None:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_dummy)
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
class Extruder:
def __init__(self, hal_component):
self.c = hal_component
self._trigger_dict = {
'heater1.set-sv': self._trigger_heater1_sv,
'motor1.speed.trigger': self._trigger_motor1_speed,
'motor1.spindle.on': self._trigger_motor1_spindle,
'mapp.seqid': self._trigger_mapp
}
self._trigger_state = {}
self.comm = None
self.estop_state = 0
self.enable_state = 0
self.extruder_state = 0
self.extruder_ready_check = 0
self.mcode_heater1_sv = 0
self.mcode_motor1_speed = 0
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT,
baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Enable the system if it should be enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
if self.enable_state:
p.add_8(SLAVE_CMD_TURN_ON)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_STATUS)
self.sendPacket(p, self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_HEATER1_PVSV)
self.sendPacket(p, self._rb_heater1_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(
milliseconds=50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_MOTOR1_PVSV)
self.sendPacket(p, self._rb_motor1_pvsv)
except KeyboardInterrupt:
# Disable system if we hit keyboard interrupt
if self.comm != None:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_dummy)
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
def _init_trigger_state(self):
"""
Setup the trigger dictionary
"""
for key in self._trigger_dict.keys():
self._trigger_state[key] = 0
def _check_trigger(self):
"""
Look for any pin changes we are interested in and trigger the handlers
"""
for key in self._trigger_dict.keys():
if self._trigger_state[key] != self.c[key]:
self._trigger_state[key] = self.c[key]
self._trigger_dict[key](name=key,
value=self._trigger_state[key])
def __del__(self):
if self.comm != None:
self.comm.close()
self.comm = None
def _extruder_ready_poll(self):
"""
Check if the temperature reached the set value, and signal the motor movement accordingly.
"""
if self.extruder_ready_check > 0 and self.c[
'heater1.pv'] >= self.mcode_heater1_sv - 5:
if self.extruder_ready_check != 150:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
if self.extruder_ready_check == 101:
if self.mcode_motor1_speed == 0:
self.mcode_motor1_speed = 1
elif self.mcode_motor1_speed < 0:
self.mcode_motor1_speed = -self.mcode_motor1_speed
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(self.mcode_motor1_speed)
self.sendPacket(p, self._rb_dummy)
self.extruder_state = self.extruder_ready_check
self.c['mapp.done'] = self.c['mapp.seqid']
self.extruder_ready_check = 0
def _trigger_heater1_sv(self, name, value):
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_HEATER1_SV)
p.add_16(value)
self.sendPacket(p, self._rb_dummy)
def _trigger_motor1_speed(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_16(self.c['motor1.speed'])
self.sendPacket(p, self._rb_dummy)
def _trigger_motor1_spindle(self, name, value):
if not value:
self.mcode_motor1_speed = 0
else:
#self.mcode_motor1_speed = int(self.c['motor1.spindle'] * self.c['steps_per_mm_cube'] * 10)
self.mcode_motor1_speed = int(
self.c['motor1.spindle'] * 10000
) # self.mcode_motor1_speed = 10000 equals to 1 rotation per second.
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_16(self.mcode_motor1_speed)
self.sendPacket(p, self._rb_dummy)
def _mapp_heater1_set_sv(self):
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_HEATER1_SV)
p.add_16(self.mcode_heater1_sv)
self.sendPacket(p, self._rb_dummy)
def _trigger_mapp(self, name, value):
seqid = value
mcode = self.c['mapp.mcode']
if mcode == 101:
# Extruder Heatup + Forward
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 102:
# Extruder Heatup + Reverse
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 103:
# Extruder Heatup + Motor Off
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_8(0)
p.add_8(0)
self.sendPacket(p, self._rb_dummy)
self.extruder_state = 0
self.c['mapp.done'] = seqid
elif mcode == 104:
# Set extruder temp
self.mcode_heater1_sv = int(self.c['mapp.p'])
self._mapp_heater1_set_sv()
self.c['mapp.done'] = seqid
elif mcode == 108:
# Set future extruder speed
# Won't take effect until next M101/M102
#self.mcode_motor1_speed = int(self.c['mapp.p'] * self.c['steps_per_mm_cube'] * 10);
self.mcode_motor1_speed = int(self.c['mapp.p'] * 10000)
# self.mcode_motor1_speed = 10000 equals to 1 rotation per second.
self.c['mapp.done'] = seqid
elif mcode == 150:
# Wait for temperature to reach the set value
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
else:
# Release all unknown MCode
self.c['mapp.done'] = seqid
def _rb_mcode(self, p, seqid):
# Not used yet
self.c['mapp.done'] = seqid
def _rb_dummy(self, p):
pass
def _rb_status(self, p):
new_estop_state = p.get_8(1) & 1
if new_estop_state and not self.estop_state:
self.c['estop'] = 1
else:
self.c['estop'] = 0
self.estop_state = new_estop_state
self.c['online'] = p.get_8(1) & 2
self.c['heater1.on'] = (p.get_8(6) & 1) != 0
def _rb_enable(self, p):
self.c['fault.communication'] = 0
self.estop_state = 0
def _rb_heater1_pvsv(self, p):
self.c['heater1.pv'] = p.get_16(1)
self.c['heater1.sv'] = p.get_16(3)
self._extruder_ready_poll()
def _rb_motor1_pvsv(self, p):
self.c['motor1.pv'] = p.get_16(1)
self.c['motor1.sv'] = p.get_16(3)
def sendPacket(self, p, CallBack):
RetryCounter = 0
sendFlag = True
SlaveAnswer = None
while RetryCounter < 10:
# Send the Packet to slave.
if sendFlag:
self.comm.send(p)
sendFlag = False
# Read answer from slave.
SlaveAnswer = self.comm.readback()
if SlaveAnswer != None:
if SlaveAnswer.rc != SimplePacket.RC_OK:
# There was a CRC mismatch on slave and we send again the command, since
# slave do not execute the command if found a CRC mismatch.
sendFlag = True
RetryCounter = RetryCounter + 1
#DEBUG
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Extruder communication error: RC: %d" % (
SlaveAnswer.rc)
print >> sys.stderr, " "
#end DEBUG
else:
# Execute the call back if there was no CRC mismatch on slave...
self.c['connection'] = 1 # Turn on connection.
(CallBack)(SlaveAnswer)
return True
# There was to much CRC errors and/or timeouts...
# Shut down system
self.c['fault.communication'] = 1
self.c['connection'] = 0
self.c['estop'] = 1
self.c['online'] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.seqid']
self.comm.reset()
#DEBUG
print >> sys.stderr, datetime.now()
print >> sys.stderr, "To much extruder communication errors... do EMC2 estop"
print >> sys.stderr, " "
#end DEBUG
# Turn Off
#p = SimplePacket()
#p.add_8(0)
#p.add_8(82)
#self.sendPacket(p, self._rb_dummy)
return None
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self.readback_queue = []
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT, baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Process any packets
if len(self.readback_queue) > 0:
p = self.comm.readback()
if p != None:
if p.rc != SimplePacket.RC_OK:
print >>sys.stderr, "Extruder communication error: RC: %d" % (p.rc)
self.c["fault.communication"] = 1
self.c["connection"] = 0
self.c["estop"] = 1
self.c["online"] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c["mapp.done"] = self.c["mapp.seqid"]
self.comm.reset()
self.readback_queue = []
# Turn Off
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
else:
self.c["connection"] = 1
(self.readback_queue[0])(p)
del self.readback_queue[0]
if len(self.readback_queue) > 20:
raise SystemExit(
"The readback queue is too long. Suggesting microcontroller overflow or other bus problem"
)
# Enable
if self.enable_state != self.c["enable"]:
self.enable_state = self.c["enable"]
p = SimplePacket()
p.add_8(0)
if self.enable_state:
p.add_8(81)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c["mapp.done"] = self.c["mapp.mcode"]
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(80)
self.comm.send(p)
self.readback_queue.append(self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(milliseconds=250)
p = SimplePacket()
p.add_8(0)
p.add_8(91)
self.comm.send(p)
self.readback_queue.append(self._rb_heater1_pvsv)
p = SimplePacket()
p.add_8(0)
p.add_8(93)
self.comm.send(p)
self.readback_queue.append(self._rb_heater2_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(95)
self.comm.send(p)
self.readback_queue.append(self._rb_motor1_pvsv)
except KeyboardInterrupt:
if self.comm != None:
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.comm.readback()
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
class Extruder:
def __init__(self, hal_component):
self.c = hal_component
self._trigger_dict = {
"heater1.set-sv": self._trigger_heater1_sv,
"heater2.set-sv": self._trigger_heater2_sv,
"motor1.rel-pos.trigger": self._trigger_motor1_rel_pos,
"motor1.speed.trigger": self._trigger_motor1_speed,
"motor1.spindle.on": self._trigger_motor1_spindle,
"motor1.mmcube.trigger": self._trigger_motor1_mmcube,
"motor1.pwm.r-fast": self._trigger_motor1_pwm,
"motor1.pwm.r-slow": self._trigger_motor1_pwm,
"motor1.pwm.f-slow": self._trigger_motor1_pwm,
"motor1.pwm.f-fast": self._trigger_motor1_pwm,
"motor1.tuning.trigger": self._trigger_motor1_tuning,
"mapp.seqid": self._trigger_mapp,
"running": self._trigger_running,
}
self._trigger_state = {}
self.comm = None
self.readback_queue = []
self.estop_state = 0
self.enable_state = 0
self.extruder_state = 0
self.extruder_ready_check = 0
self.mcode_heater1_sv = 0
self.mcode_motor1_speed = 0
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now()
next_temp_read = datetime.now()
next_motor_read = datetime.now()
self.readback_queue = []
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port=COMM_PORT, baudrate=COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Process any packets
if len(self.readback_queue) > 0:
p = self.comm.readback()
if p != None:
if p.rc != SimplePacket.RC_OK:
print >>sys.stderr, "Extruder communication error: RC: %d" % (p.rc)
self.c["fault.communication"] = 1
self.c["connection"] = 0
self.c["estop"] = 1
self.c["online"] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c["mapp.done"] = self.c["mapp.seqid"]
self.comm.reset()
self.readback_queue = []
# Turn Off
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
else:
self.c["connection"] = 1
(self.readback_queue[0])(p)
del self.readback_queue[0]
if len(self.readback_queue) > 20:
raise SystemExit(
"The readback queue is too long. Suggesting microcontroller overflow or other bus problem"
)
# Enable
if self.enable_state != self.c["enable"]:
self.enable_state = self.c["enable"]
p = SimplePacket()
p.add_8(0)
if self.enable_state:
p.add_8(81)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c["mapp.done"] = self.c["mapp.mcode"]
p.add_8(82)
self.comm.send(p)
self.readback_queue.append(self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(80)
self.comm.send(p)
self.readback_queue.append(self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(milliseconds=250)
p = SimplePacket()
p.add_8(0)
p.add_8(91)
self.comm.send(p)
self.readback_queue.append(self._rb_heater1_pvsv)
p = SimplePacket()
p.add_8(0)
p.add_8(93)
self.comm.send(p)
self.readback_queue.append(self._rb_heater2_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(milliseconds=50)
p = SimplePacket()
p.add_8(0)
p.add_8(95)
self.comm.send(p)
self.readback_queue.append(self._rb_motor1_pvsv)
except KeyboardInterrupt:
if self.comm != None:
p = SimplePacket()
p.add_8(0)
p.add_8(82)
self.comm.send(p)
self.comm.readback()
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
def _init_trigger_state(self):
"""
Setup the trigger dictionary
"""
for key in self._trigger_dict.keys():
self._trigger_state[key] = 0
def _check_trigger(self):
"""
Look for any pin changes we are interested in and trigger the handlers
"""
for key in self._trigger_dict.keys():
if self._trigger_state[key] != self.c[key]:
self._trigger_state[key] = self.c[key]
self._trigger_dict[key](name=key, value=self._trigger_state[key])
def __del__(self):
if self.comm != None:
self.comm.close()
self.comm = None
def _extruder_ready_poll(self):
"""
Check if the temperature reached the set value, and signal the motor movement accordingly.
"""
if self.extruder_ready_check > 0 and self.c["heater1.pv"] >= self.mcode_heater1_sv - 5:
if self.extruder_ready_check != 150:
p = SimplePacket()
p.add_8(0)
p.add_8(97)
if self.extruder_ready_check == 101:
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(-self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
self.extruder_state = self.extruder_ready_check
self.c["mapp.done"] = self.c["mapp.seqid"]
self.extruder_ready_check = 0
def _trigger_heater1_sv(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(92)
p.add_16(value)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_heater2_sv(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(94)
p.add_16(value)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_rel_pos(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(96)
p.add_16(self.c["motor1.rel-pos"])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_speed(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(self.c["motor1.speed"])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_spindle(self, name, value):
if not value:
self.mcode_motor1_speed = 0
else:
self.mcode_motor1_speed = int(self.c["motor1.spindle"] * self.c["steps_per_mm_cube"] * 2 ** 8)
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_mmcube(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_16(int(self.c["motor1.mmcube"] * self.c["steps_per_mm_cube"] * 2 ** 8))
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_pwm(self, name, value):
p = SimplePacket()
p.add_8(0)
p.add_8(98)
p.add_8(name.find("f-") >= 0)
if not value:
p.add_8(0)
else:
if name.find("fast") >= 0:
p.add_8(192)
else:
p.add_8(128)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_motor1_tuning(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(0)
p.add_8(100)
if self.c["motor1.tuning.p"] > 0:
p.add_16(int(2 ** abs(self.c["motor1.tuning.p"])))
pass
elif self.c["motor1.tuning.p"] < 0:
p.add_16(-int(2 ** abs(self.c["motor1.tuning.p"])))
else:
p.add_16(0)
if self.c["motor1.tuning.i"] > 0:
p.add_16(int(2 ** abs(self.c["motor1.tuning.i"])))
elif self.c["motor1.tuning.i"] < 0:
p.add_16(-int(2 ** abs(self.c["motor1.tuning.i"])))
else:
p.add_16(0)
if self.c["motor1.tuning.d"] > 0:
p.add_16(int(2 ** abs(self.c["motor1.tuning.d"])))
elif self.c["motor1.tuning.d"] < 0:
p.add_16(-int(2 ** abs(self.c["motor1.tuning.d"])))
else:
p.add_16(0)
if self.c["motor1.tuning.iLimit"] > 0:
p.add_16(int(2 ** abs(self.c["motor1.tuning.iLimit"])))
elif self.c["motor1.tuning.iLimit"] < 0:
p.add_16(-int(2 ** abs(self.c["motor1.tuning.iLimit"])))
else:
p.add_16(0)
p.add_8(self.c["motor1.tuning.deadband"])
p.add_8(self.c["motor1.tuning.minOutput"])
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _mapp_heater1_set_sv(self):
p = SimplePacket()
p.add_8(0)
p.add_8(92)
p.add_16(self.mcode_heater1_sv)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _trigger_mapp(self, name, value):
seqid = value
mcode = self.c["mapp.mcode"]
if mcode == 101:
# Extruder Heatup + Forward
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 102:
# Extruder Heatup + Reverse
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 103:
# Extruder Heatup + Motor Off
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(0)
p.add_8(97)
p.add_8(0)
p.add_8(0)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
self.extruder_state = 0
self.c["mapp.done"] = seqid
elif mcode == 104:
# Set extruder temp
self.mcode_heater1_sv = int(self.c["mapp.p"])
self._mapp_heater1_set_sv()
self.c["mapp.done"] = seqid
# 105: Get temperature: Do nothing
# 106: TODO FAN ON
# 107: TODO FAN OFF
elif mcode == 108:
# Set future extruder speed
# Won't take effect until next M101/M102
self.mcode_motor1_speed = int(self.c["mapp.p"] * self.c["steps_per_mm_cube"] * 2 ** 8)
self.c["mapp.done"] = seqid
elif mcode == 150:
# Wait for temperature to reach the set value
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
else:
# Release all unknown MCode
self.c["mapp.done"] = seqid
# self.readback_queue.append(lambda p: _rb_mcode(seqid))
def _trigger_running(self, name, value):
if not value:
p = SimplePacket()
p.add_8(0)
p.add_8(98) # Use PWM instead of SPEED. PWM=0 frees the motor1. SPEED=0 keeps motor locked at position
p.add_8(0)
p.add_8(0)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
elif self.extruder_state and self.mcode_motor1_speed != 0:
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(0)
p.add_8(97)
if self.extruder_state == 101:
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(-self.mcode_motor1_speed)
self.comm.send(p)
self.readback_queue.append(self._rb_dummy)
def _rb_mcode(self, p, seqid):
# Not used yet
self.c["mapp.done"] = seqid
def _rb_dummy(self, p):
pass
def _rb_status(self, p):
new_estop_state = p.get_8(1) & 1
if new_estop_state and not self.estop_state:
self.c["estop"] = 1
else:
self.c["estop"] = 0
self.estop_state = new_estop_state
self.c["online"] = p.get_8(1) & 2
self.c["fault.thermistor-disc"] = p.get_8(2) != 0
self.c["fault.heater-response"] = p.get_8(3) != 0
self.c["fault.motor-jammed"] = p.get_8(4) != 0
self.c["fault.no-plastic"] = p.get_8(5) != 0
self.c["heater1.on"] = (p.get_8(6) & 1) != 0
self.c["heater2.on"] = (p.get_8(6) & 2) != 0
def _rb_enable(self, p):
self.c["fault.communication"] = 0
self.estop_state = 0
def _rb_heater1_pvsv(self, p):
self.c["heater1.pv"] = p.get_16(1)
self.c["heater1.sv"] = p.get_16(3)
self._extruder_ready_poll()
def _rb_heater2_pvsv(self, p):
self.c["heater2.pv"] = p.get_16(1)
self.c["heater2.sv"] = p.get_16(3)
self._extruder_ready_poll()
def _rb_motor1_pvsv(self, p):
self.c["motor1.pv"] = p.get_16(1)
self.c["motor1.sv"] = p.get_16(3)
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now();
next_temp_read = datetime.now();
next_motor_read = datetime.now();
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port = COMM_PORT, baudrate = COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Enable the system if it should be enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
if self.enable_state:
p.add_8(SLAVE_CMD_TURN_ON)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_STATUS)
self.sendPacket(p, self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_HEATER1_PVSV)
self.sendPacket(p, self._rb_heater1_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_MOTOR1_PVSV)
self.sendPacket(p, self._rb_motor1_pvsv)
except KeyboardInterrupt:
# Disable system if we hit keyboard interrupt
if self.comm != None:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_dummy)
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
class Extruder:
def __init__(self, hal_component):
self.c = hal_component
self._trigger_dict = {
'heater1.set-sv': self._trigger_heater1_sv,
'motor1.speed.trigger': self._trigger_motor1_speed,
'motor1.spindle.on': self._trigger_motor1_spindle,
'mapp.seqid': self._trigger_mapp
}
self._trigger_state = {}
self.comm = None
self.estop_state = 0
self.enable_state = 0
self.extruder_state = 0;
self.extruder_ready_check = 0;
self.mcode_heater1_sv = 0;
self.mcode_motor1_speed = 0;
def execute(self):
"""
Start the main process loop.
This will return only when error (Communication, Exception, etc) is encountered.
"""
next_status_read = datetime.now();
next_temp_read = datetime.now();
next_motor_read = datetime.now();
self._init_trigger_state()
self.comm = None
try:
self.comm = RepRapSerialComm(port = COMM_PORT, baudrate = COMM_BAUDRATE)
self.comm.reset()
p = self.comm.readback()
while True:
time.sleep(0.005)
# Enable the system if it should be enable
if self.enable_state != self.c['enable']:
self.enable_state = self.c['enable']
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
if self.enable_state:
p.add_8(SLAVE_CMD_TURN_ON)
else:
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.mcode']
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_enable)
# Check button trigger
self._check_trigger()
# Read Status
if datetime.now() > next_status_read:
next_status_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_STATUS)
self.sendPacket(p, self._rb_status)
# Read Heater PV/SV
if datetime.now() > next_temp_read:
next_temp_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_HEATER1_PVSV)
self.sendPacket(p, self._rb_heater1_pvsv)
# Read Motor PV/SV
if datetime.now() > next_motor_read:
next_motor_read = datetime.now() + timedelta(milliseconds = 50)
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_GET_MOTOR1_PVSV)
self.sendPacket(p, self._rb_motor1_pvsv)
except KeyboardInterrupt:
# Disable system if we hit keyboard interrupt
if self.comm != None:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_TURN_OFF)
self.sendPacket(p, self._rb_dummy)
raise SystemExit
finally:
if self.comm != None:
self.comm.close()
self.comm = None
def _init_trigger_state(self):
"""
Setup the trigger dictionary
"""
for key in self._trigger_dict.keys():
self._trigger_state[key] = 0
def _check_trigger(self):
"""
Look for any pin changes we are interested in and trigger the handlers
"""
for key in self._trigger_dict.keys():
if self._trigger_state[key] != self.c[key]:
self._trigger_state[key] = self.c[key]
self._trigger_dict[key](name = key, value = self._trigger_state[key])
def __del__(self):
if self.comm != None:
self.comm.close()
self.comm = None
def _extruder_ready_poll(self):
"""
Check if the temperature reached the set value, and signal the motor movement accordingly.
"""
if self.extruder_ready_check > 0 and self.c['heater1.pv'] >= self.mcode_heater1_sv - 5:
if self.extruder_ready_check != 150:
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
if self.extruder_ready_check == 101:
if self.mcode_motor1_speed == 0:
self.mcode_motor1_speed = 1
elif self.mcode_motor1_speed < 0:
self.mcode_motor1_speed = -self.mcode_motor1_speed
p.add_16(self.mcode_motor1_speed)
else:
p.add_16(self.mcode_motor1_speed)
self.sendPacket(p, self._rb_dummy)
self.extruder_state = self.extruder_ready_check
self.c['mapp.done'] = self.c['mapp.seqid']
self.extruder_ready_check = 0
def _trigger_heater1_sv(self, name, value):
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_HEATER1_SV)
p.add_16(value)
self.sendPacket(p, self._rb_dummy)
def _trigger_motor1_speed(self, name, value):
if not value:
return
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_16(self.c['motor1.speed'])
self.sendPacket(p, self._rb_dummy)
def _trigger_motor1_spindle(self, name, value):
if not value:
self.mcode_motor1_speed = 0
else:
#self.mcode_motor1_speed = int(self.c['motor1.spindle'] * self.c['steps_per_mm_cube'] * 10)
self.mcode_motor1_speed = int(self.c['motor1.spindle']) # self.mcode_motor1_speed = 10000 equals to 1 rotation per second.
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_16(self.mcode_motor1_speed)
self.sendPacket(p, self._rb_dummy)
def _mapp_heater1_set_sv(self):
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_HEATER1_SV)
p.add_16(self.mcode_heater1_sv)
self.sendPacket(p, self._rb_dummy)
def _trigger_mapp(self, name, value):
seqid = value
mcode = self.c['mapp.mcode']
if mcode == 101:
# Extruder Heatup + Forward
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 102:
# Extruder Heatup + Reverse
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
elif mcode == 103:
# Extruder Heatup + Motor Off
self._mapp_heater1_set_sv()
p = SimplePacket()
p.add_8(SLAVE_ADDRESS)
p.add_8(SLAVE_CMD_SET_MOTOR1_SPEED)
p.add_8(0)
p.add_8(0)
self.sendPacket(p, self._rb_dummy)
self.extruder_state = 0
self.c['mapp.done'] = seqid
elif mcode == 104:
# Set extruder temp
self.mcode_heater1_sv = int(self.c['mapp.p'])
self._mapp_heater1_set_sv()
self.c['mapp.done'] = seqid
elif mcode == 108:
# Set future extruder speed
# Won't take effect until next M101/M102
#self.mcode_motor1_speed = int(self.c['mapp.p'] * self.c['steps_per_mm_cube'] * 10);
self.mcode_motor1_speed = int(self.c['mapp.p'] * 10000); # self.mcode_motor1_speed = 10000 equals to 1 rotation per second.
self.c['mapp.done'] = seqid
elif mcode == 150:
# Wait for temperature to reach the set value
self._mapp_heater1_set_sv()
self.extruder_ready_check = mcode
self._extruder_ready_poll()
else:
# Release all unknown MCode
self.c['mapp.done'] = seqid
def _rb_mcode(self, p, seqid):
# Not used yet
self.c['mapp.done'] = seqid
def _rb_dummy(self, p):
pass
def _rb_status(self, p):
new_estop_state = p.get_8(1) & 1
if new_estop_state and not self.estop_state:
self.c['estop'] = 1
else:
self.c['estop'] = 0
self.estop_state = new_estop_state
self.c['online'] = p.get_8(1) & 2
self.c['heater1.on'] = (p.get_8(6) & 1) != 0
def _rb_enable(self, p):
self.c['fault.communication'] = 0
self.estop_state = 0
def _rb_heater1_pvsv(self, p):
self.c['heater1.pv'] = p.get_16(1)
self.c['heater1.sv'] = p.get_16(3)
self._extruder_ready_poll()
def _rb_motor1_pvsv(self, p):
self.c['motor1.pv'] = p.get_16(1)
self.c['motor1.sv'] = p.get_16(3)
def sendPacket(self, p, CallBack):
RetryCounter = 0
sendFlag = True
SlaveAnswer = None
while RetryCounter < 10:
# Send the Packet to slave.
if sendFlag:
self.comm.send(p)
sendFlag = False
# Read answer from slave.
SlaveAnswer_Packet = self.comm.readback()
if SlaveAnswer_Packet != None:
if not(SlaveAnswer_Packet.rc != SimplePacket.RC_OK) and not(SlaveAnswer_Packet.get_8(0) != 1) and not(SlaveAnswer_Packet.id_received != SlaveAnswer_Packet.id()):
# Execute the call back if there was no CRC mismatch on slave...
self.c['connection'] = 1 # Turn on connection.
(CallBack)(SlaveAnswer_Packet)
return True
if SlaveAnswer_Packet.rc != SimplePacket.RC_OK:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Slave -> Master communication error: RC: %d" %(SlaveAnswer_Packet.rc)
print >> sys.stderr, " "
if SlaveAnswer_Packet.get_8(0) != 1:
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Master -> Slave communication error: response_code: %d" %(SlaveAnswer_Packet.get_8(0))
print >> sys.stderr, " "
if SlaveAnswer_Packet.id_received != SlaveAnswer_Packet.id():
print >> sys.stderr, datetime.now()
print >> sys.stderr, "Packet id error. id = %d; id_received = %d" % (SlaveAnswer_Packet.id(), SlaveAnswer_Packet.id_received)
print >> sys.stderr, " "
sendFlag = True
RetryCounter += 1
# There was to much CRC errors and/or timeouts...
# Shut down system
self.c['fault.communication'] = 1
self.c['connection'] = 0
self.c['estop'] = 1
self.c['online'] = 0
self.extruder_ready_check = 0
self.extruder_state = 0
self.c['mapp.done'] = self.c['mapp.seqid']
self.comm.reset()
#DEBUG
print >> sys.stderr, datetime.now()
print >> sys.stderr, "To much extruder communication errors... do EMC2 estop"
print >> sys.stderr, " "
#end DEBUG
# Turn Off
#p = SimplePacket()
#p.add_8(0)
#p.add_8(82)
#self.sendPacket(p, self._rb_dummy)
return None
