def updateStatus(self, status):
self.printerState = status["state"]
self.pState.set_value( "%8s" % self.stateNames[status["state"]])
self.pState.update()
self.updateTemps(status["t0"], status["t1"], status["targetT1"])
self.swapSize.set_value( "%8s" % str(status["Swap"]))
self.swapSize.update()
self.sdrSize.set_value( "%8s" % str(status["SDReader"]))
self.sdrSize.update()
self.sbSisze.set_value( "%8s" % str(status["StepBuffer"]))
self.sbSisze.update()
self.underrun.set_value( "%8s" % str(status["StepBufUnderRuns"]))
self.underrun.update()
st = status["targetExtrusionSpeed"]
sa = status["actualExtrusionSpeed"]
grip = 100.0
if st:
grip = (sa*100.0) / st
rt = st * MatProfile.getMatArea()
ra = sa * MatProfile.getMatArea()
self.extRate.set_value( "%8.1f / %4.1f" % (ra, rt) )
self.extRate.update()
self.extGrip.set_value( "%4.1f %%" % grip )
self.extGrip.update()
def initParser(args, mode=None, gui=None):
printerProfileName = "UM2" # xxx get from commandline args
# profile = profile.Profile(printerProfileName)
# parser.setProfile(profile)
# Create printer profile singleton instance
PrinterProfile(printerProfileName)
# Create material profile singleton instance
mat = MatProfile(args.mat, args.smat)
# Overwrite settings from profile with command line arguments:
if args.t0:
mat.override("bedTemp", args.t0)
if args.t1:
mat.override("hotendBaseTemp", args.t1)
nozzle = NozzleProfile(args.nozzle)
# Create the Printer singleton instance
printer = Printer(gui)
# Create the planner singleton instance
planner = Planner(args, gui)
# Create parser singleton instance
# parser = gcodeparser.UM2GcodeParser()
parser = gcodeparser.UM2GcodeParser()
return (parser, planner, printer)
def layerChange(self, layer):
self.advance.layerChange(layer)
if layer == 0:
print "layer 0, increasing temp by", Layer0TempIncrease
self.l0TempIncrease = Layer0TempIncrease
else:
self.l0TempIncrease = 0
if layer == 2:
self.partNumber -= 1
if self.partNumber:
return
# Reduce bedtemp
bedTemp = MatProfile.getBedTempReduced()
self.gui.log("Layer2, reducing bedtemp to: ", bedTemp)
self.addSynchronizedCommand(CmdSyncTargetTemp,
p1=packedvalue.uint8_t(HeaterBed),
p2=packedvalue.uint16_t(bedTemp))
def prime(parser):
planner = parser.planner
# printer = planner.printer
parser.execute_line("G0 F%f Y0 Z%f" % (planner.HOMING_FEEDRATE[X_AXIS]*60, ddprintconstants.PRIMING_HEIGHT))
pos = parser.getRealPos()
aFilament = MatProfile.getMatArea()
parser.execute_line("G0 F%f A%f" % (
((ddprintconstants.PRIMING_MM3_PER_SEC / aFilament) * 60),
pos[A_AXIS] + (ddprintconstants.PRIMING_MM3 / aFilament)))
# Set E to 0
current_position = parser.getRealPos()
current_position[A_AXIS] = 0.0
parser.set_position(current_position)
#
# Retract
#
# parser.execute_line("G10")
# Wipe priming material if not ultigcode flavor
if not parser.ultiGcodeFlavor:
# parser.execute_line("G10")
# parser.execute_line("G0 F%f X50 Z0.5" % (planner.HOMING_FEEDRATE[X_AXIS]*60))
parser.execute_line("G0 F9000 X20 Z0.1")
def printTempTable(printer, temp, tempTable):
of = open("/tmp/temptable_printer.txt", "w")
of.write("# xxx mat, nozzle, settings...\n")
of.write("# basetemp: %d, autoTempFactor: %f\n" % (temp, 0))
of.write("# temp rate steprate timer\n")
print "TempTable (basetemp: %d):" % temp
mmpermm3 = 1 / MatProfile.getMatArea()
spm = PrinterProfile.getStepsPerMM(A_AXIS)
for timerValue in tempTable:
steprate = fTimer / timerValue
speed = (steprate / spm) / mmpermm3
print " Temp: %d, max extrusion: %.1f mm³/s, steps/s: %d, timervalue: %d" % (temp, speed, int(steprate), timerValue)
of.write("%d %4.1f %d %d\n" % (temp, speed, int(steprate), timerValue))
temp += 2
of.close()
def doAutoTemp(self, moves):
# Sum up path time and extrusion volume of moves
tsum = 0
vsum = 0
for move in moves:
tsum += move.accelData.getTime()
vsum += move.getExtrusionVolume(MatProfile.get())
avgERate = vsum / tsum
print "Average extrusion rate: ", avgERate, "mm³/s", "layer 0 increase: ", self.planner.l0TempIncrease
# Compute temperature for this segment and add tempcommand into the stream.
newTemp = \
MatProfile.getTempForFlowrate(avgERate * (1.0+AutotempSafetyMargin), PrinterProfile.getHwVersion(), NozzleProfile.getSize()) + \
self.planner.l0TempIncrease
# Don't go below startTemp from material profile
newTemp = max(newTemp, MatProfile.getHotendStartTemp())
# Don't go above max temp from material profile
newTemp = min(newTemp, MatProfile.getHotendMaxTemp())
if newTemp != self.lastTemp: # and self.mode != "pre":
print "Newtemp:", avgERate, newTemp
# Schedule target temp command
self.planner.addSynchronizedCommand(
CmdSyncTargetTemp,
p1=packedvalue.uint8_t(HeaterEx1),
p2=packedvalue.uint16_t(newTemp),
moveNumber=move.moveNumber)
self.lastTemp = int(newTemp)
if debugAutoTemp:
print "AutoTemp: collected moves with %.2f s duration." % tsum
print "AutoTemp: max. extrusion rate: %.2f mm³/s." % avgERate
print "AutoTemp: new temp: %d." % newTemp
def initParser(args, mode=None, gui=None):
printerProfileName = "UM2" # xxx todo: get from commandline args
# Create printer profile singleton instance
printerProfile = PrinterProfile(printerProfileName)
# Create material profile singleton instance
mat = MatProfile(args.mat, args.smat)
# Overwrite settings from printer profile with command line arguments:
if args.retractLength:
printerProfile.override("RetractLength", args.retractLength)
# Overwrite settings from material profile with command line arguments:
if args.t0:
mat.override("bedTemp", args.t0)
if args.t1:
mat.override("hotendStartTemp", args.t1)
nozzle = NozzleProfile(args.nozzle)
# Create the Printer singleton instance
printer = Printer(gui)
# Create the planner singleton instance
planner = Planner(args, gui)
# Create parser singleton instance
parser = gcodeparser.UM2GcodeParser()
return (parser, planner, printer)
def __init__(self):
if UM2GcodeParser.__single:
raise RuntimeError('A UM2GcodeParser already exists')
UM2GcodeParser.__single = self
self.reset()
self.commands = {
# G0 and G1 are the same
"G0": self.g0,
"G1": self.g0,
"G4": self.g4_dwell,
"G10": self.g10_retract,
"G11": self.g11_retract_recover,
"G21": self.g21_metric_values,
"G28": self.g28_home,
"G29": self.g29_autolevel,
"G80": self.g80_bed_leveling,
"G90": self.g90_abs_values,
"G91": self.g91_rel_values,
"G92": self.g92_set_pos,
"M25": self.m25_stop_reading,
"M82": self.m82_extruder_abs_values,
"M83": self.m83_extruder_relative_values,
"M84": self.m84_disable_motors,
"M104": self.m104_extruder_temp,
"M106": self.m106_fan_on,
"M107": self.m107_fan_off,
"M109": self.m109_extruder_temp_wait,
"M117": self.m117_message,
"M140": self.m140_bed_temp,
"M190": self.m190_bed_temp_wait,
"M204": self.m204_set_accel,
"M501": self.m501_reset_params,
"M502": self.m502_reset_params,
"M900": self.m900_set_kAdvance,
"M907": self.m907_motor_current,
"T0": self.t0,
"U": self.unknown, # unknown command for testing purposes
}
# Apply material flow parameter from material profile
self.e_to_filament_length = MatProfile.getFlow() / 100.0
self.steps_per_mm = PrinterProfile.getStepsPerMMVector()
self.mm_per_step = map(lambda dim: 1.0 / self.steps_per_mm[dim],
range(5))
self.maxFeedrateVector = PrinterProfile.getMaxFeedrateVector()
self.planner = Planner.get()
def genTempTable(printer):
baseTemp = MatProfile.getHotendBaseTemp()
area04 = pow(0.4, 2)*math.pi/4
extrusionLow = MatProfile.getBaseExtrusionRate() * (NozzleProfile.getArea() / area04)
f = MatProfile.getAutoTempFactor()
mmpermm3 = 1 / MatProfile.getMatArea()
spm = PrinterProfile.getStepsPerMM(A_AXIS)
of = open("/tmp/temptable0.txt", "w")
of.write("# xxx mat, nozzle, settings...\n")
of.write("# basetemp: %d, autoTempFactor: %f\n" % (baseTemp, f))
of.write("# temp rate steprate timer\n")
print "TempTable (basetemp: %d):" % baseTemp
table = []
for i in range(NExtrusionLimit):
t = baseTemp + i*2
dspeed = i*2 / f
speed = extrusionLow + dspeed
steprate = speed * mmpermm3 * spm
tvs = 1.0/steprate
timerValue = int(fTimer / steprate)
print " Temp: %d, max extrusion: %.1f mm³/s, steps/s: %d, steprate: %d us, timervalue: %d" % (t, speed, int(steprate), int(tvs*1000000), timerValue)
table.append(timerValue)
of.write("%d %4.1f %d %d\n" % (t, speed, int(steprate), timerValue))
of.close()
return (baseTemp, table)
def __init__(self, planner):
self.planner = planner
self.path = []
self.count = -10
# AutoTemp
if UseExtrusionAutoTemp:
self.lastTemp = MatProfile.getHotendStartTemp()
# Some statistics
self.maxExtrusionRate = MaxExtrusionRate()
def preParse(self, fn):
# Copy file to prevet problems with overwritten files
# while reading.
tmpfname = ("/tmp/%d_" % id(fn)) + os.path.basename(fn)
shutil.copyfile(fn, tmpfname)
f = open(fn)
print "Unlinking temp. copy of gcode input: ", tmpfname
os.unlink(tmpfname)
self.numParts = 0
print "pre-parsing ", fn
for line in f:
line = line.strip()
if line.startswith(";"):
upperLine = line.upper()
# Cura: "LAYER:"
if "LAYER:" in upperLine:
layerNum = getCuraLayer(line)
if layerNum == 1:
self.numParts += 1
self.planner.newPart(self.numParts)
# # Simplify3D: "; LAYER "
# elif "; LAYER " in upperLine:
# layerNum = getSimplifyLayer(line)
# if layerNum == 1:
# self.numParts += 1
# self.planner.newPart(self.numParts)
# Simplify3D: "; skirt "
elif upperLine.startswith("; SKIRT"):
self.numParts += 1
self.planner.newPart(self.numParts)
# ;FLAVOR:UltiGCode
elif "FLAVOR:ULTIGCODE" in upperLine:
self.ultiGcodeFlavor = True
# To compute extrude length from volume (see getValues()):
# V = A * h, h = V / A, A = pi/4 * diameter²
# self.e_to_filament_length *= 4 / (math.pi * pow(MatProfile.getMatDiameter(), 2))
aFilament = MatProfile.getMatArea()
self.e_to_filament_length = self.e_to_filament_length / aFilament
print "pre-parsing # parts:", self.numParts
f.seek(0) # rewind
return f
def heatHotend(args, parser):
planner = parser.planner
printer = planner.printer
printer.commandInit(args)
t1 = MatProfile.getHotendBaseTemp()
printer.heatUp(HeaterEx1, t1, wait=t1-5)
raw_input("Press return to stop heating...")
if not args.noCoolDown:
printer.coolDown(HeaterEx1, wait=150)
def m106_fan_on(self, line, values):
# print "m106_fan_on", values
fanSpeed = (values["S"] * MatProfile.getFanPercent()) / 100
# "Blip fan" for Cura (S3D supports blip fan)
if fanSpeed < 50 and self.ultiGcodeFlavor:
# Start fan with full power
self.planner.addSynchronizedCommand(CmdSyncFanSpeed,
p1=packedvalue.uint8_t(255))
# Dwell 0.25s
self.planner.addSynchronizedCommand(CmdDwellMS,
p1=packedvalue.uint16_t(250))
self.planner.addSynchronizedCommand(CmdSyncFanSpeed,
p1=packedvalue.uint8_t(fanSpeed))
def layerChange(self, layer):
if layer == 2:
self.partNumber -= 1
if self.partNumber:
return
# Reduce bedtemp
bedTemp = MatProfile.getBedTempReduced()
self.gui.log("Layer2, reducing bedtemp to: ", bedTemp)
self.addSynchronizedCommand(
CmdSyncTargetTemp,
p1 = packedvalue.uint8_t(HeaterBed),
p2 = packedvalue.uint16_t(bedTemp))
def preParse(self, fn):
# Copy file to prevet problems with overwritten files
# while reading.
tmpfname = ("/tmp/%d_" % id(fn)) + os.path.basename(fn)
shutil.copyfile(fn, tmpfname)
f = open(tmpfname)
print "Unlinking temp. copy of gcode input: ", tmpfname
os.unlink(tmpfname)
self.numParts = 0
print "pre-parsing ", fn, tmpfname
for line in f:
line = line.strip()
if line.startswith(";"):
upperLine = line.upper()
# Cura: "LAYER:"
layerNum = getCuraLayer(line)
if layerNum == 1:
self.numParts += 1
self.planner.newPart(self.numParts)
# layerNum = getSimplifyLayer(line)
# if layerNum == 1:
# self.numParts += 1
# self.planner.newPart(self.numParts)
# Simplify3D: "; skirt "
if upperLine.startswith("; SKIRT"):
self.numParts += 1
self.planner.newPart(self.numParts)
# ;FLAVOR:UltiGCode
elif "FLAVOR:ULTIGCODE" in upperLine:
self.ultiGcodeFlavor = True
# To compute extrude length from volume (see getValues()):
# V = A * h, h = V / A, A = pi/4 * diameter²
aFilament = MatProfile.getMatArea()
self.e_to_filament_length = self.e_to_filament_length / aFilament
print "pre-parsing # parts:", self.numParts
f.seek(0) # rewind
return f
def __init__(self):
if UM2GcodeParser.__single:
raise RuntimeError('A UM2GcodeParser already exists')
UM2GcodeParser.__single = self
self.reset()
self.commands = {
# G0 and G1 are the same
"G0": self.g0,
"G1": self.g0,
"G4": self.g4_dwell,
"G10": self.g10_retract,
"G11": self.g11_retract_recover,
"G21": self.g21_metric_values,
"G28": self.g28_home,
"G29": self.g29_autolevel,
"G90": self.g90_abs_values,
"G92": self.g92_set_pos,
"M25": self.m25_stop_reading,
"M82": self.m82_extruder_abs_values,
"M84": self.m84_disable_motors,
"M104": self.m104_extruder_temp,
"M106": self.m106_fan_on,
"M107": self.m107_fan_off,
"M109": self.m109_extruder_temp_wait,
"M117": self.m117_message,
"M140": self.m140_bed_temp,
"M190": self.m190_bed_temp_wait,
"M907": self.m907_motor_current,
"T0": self.t0,
"U": self.unknown, # unknown command for testing purposes
}
# Apply material flow parameter from material profile
self.e_to_filament_length = MatProfile.getFlow() / 100.0
self.steps_per_mm = PrinterProfile.getStepsPerMMVector()
self.mm_per_step = map(lambda dim: 1.0 / self.steps_per_mm[dim], range(5))
self.maxFeedrateVector = PrinterProfile.getMaxFeedrateVector()
self.planner = Planner.get()
def stat(self, move):
# Do not count very small moves, the computation of the extrusion rate is inaccurate because of the
# discretization in the gcodeparser (map float values to discrete stepper values).
if move.distance3 < 0.1:
return
# Get maximum extrusion rate, take plateau speed into account only
# length of max constant speed:
reachedEExtrusion = move.topSpeed.speed(
).eSpeed * MatProfile.getMatArea()
if reachedEExtrusion > self.maxRate:
# print "New max reachedEExtrusion: ", reachedEExtrusion, "mm³/s"
self.maxRate = reachedEExtrusion
self.move = move
self.max10.append(reachedEExtrusion)
if len(self.max10) > 10:
self.max10 = self.max10[1:]
def stat(self, move):
# Do not count very small moves, the computation of the extrusion rate is inaccurate because of the
# discretization in the gcodeparser (map float values to discrete stepper values).
if move.distance3 < 0.1:
return
# Get maximum extrusion rate, take plateau speed into account only
# length of max constant speed:
reachedESpeed = abs( move.getReachedSpeedV()[util.A_AXIS] ) # [mm/s]
reachedEExtrusion = reachedESpeed * MatProfile.getMatArea()
if reachedEExtrusion > self.maxRate:
# print "New max reachedEExtrusion: ", reachedEExtrusion, "mm³/s"
self.maxRate = reachedEExtrusion
self.move = move
self.max10.append(reachedEExtrusion)
if len(self.max10) > 10:
self.max10 = self.max10[1:]
def retract(args, parser, doCooldown = True):
planner = parser.planner
printer = planner.printer
commonInit(args, parser)
t1 = MatProfile.getHotendBaseTemp()
printer.heatUp(HeaterEx1, t1, wait=t1 - 5)
# hack
# parser.retracted = False
parser.execute_line("G10")
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle)
if doCooldown:
printer.coolDown(HeaterEx1,wait=150)
def removeFilament(args, parser):
planner = parser.planner
printer = planner.printer
printer.commandInit(args)
ddhome.home(parser, args.fakeendstop)
printer.sendPrinterInit()
# Move to mid-position
# MAX_POS = (X_MAX_POS, Y_MAX_POS, Z_MAX_POS)
# feedrate = PrinterProfile.getMaxFeedrate(Z_AXIS)
# parser.execute_line("G0 F%d Z%f" % (feedrate*60, MAX_POS[Z_AXIS]))
feedrate = PrinterProfile.getMaxFeedrate(X_AXIS)
parser.execute_line("G0 F%d X%f Y%f" % (feedrate*60, planner.MAX_POS[X_AXIS]/2, planner.MAX_POS[Y_AXIS]/2))
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle)
t1 = MatProfile.getHotendBaseTemp()
printer.heatUp(HeaterEx1, t1, wait=t1)
# Etwas vorwärts um den retract-pfropfen einzuschmelzen
manualMove(parser, A_AXIS, PrinterProfile.getRetractLength() + 5, 5)
manualMove(parser, A_AXIS, -1.3*FILAMENT_REVERSAL_LENGTH)
if not args.noCoolDown:
printer.coolDown(HeaterEx1,wait=150)
def m106_fan_on(self, line, values):
# print "m106_fan_on", values
fanSpeed = (values["S"] * MatProfile.getFanPercent()) / 100
self.planner.addSynchronizedCommand(CmdSyncFanSpeed, p1=packedvalue.uint8_t(fanSpeed))
def main():
argParser = argparse.ArgumentParser(description='%s, Direct Drive USB Print.' % sys.argv[0])
argParser.add_argument("-d", dest="device", action="store", type=str, help="Device to use, default: /dev/ttyACM0.", default="/dev/ttyACM0")
argParser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 115200.", default=115200)
# argParser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 230400.", default=230400)
# argParser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 500000.", default=500000)
# argParser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 1000000.", default=1000000)
argParser.add_argument("-t0", dest="t0", action="store", type=int, help="Temp 0 (heated bed), default comes from mat. profile.")
argParser.add_argument("-t1", dest="t1", action="store", type=int, help="Temp 1 (hotend 1), default comes from mat. profile.")
argParser.add_argument("-mat", dest="mat", action="store", help="Name of generic material profile to use [pla, abs...], default is pla.", default="pla_1.75mm")
argParser.add_argument("-smat", dest="smat", action="store", help="Name of specific material profile to use.")
argParser.add_argument("-noz", dest="nozzle", action="store", help="Name of nozzle profile to use [nozzle40, nozzle80...], default is nozzle40.", default="nozzle40")
argParser.add_argument("-np", dest="noPrime", action="store_const", const=True, help="Debug: don't prime nozzle, to test extrusion-less moves.")
# fake endstops as long we have no real ones
argParser.add_argument("-F", dest="fakeendstop", action="store", type=bool, help="Debug: fake endstops", default=False)
argParser.add_argument("-nc", dest="noCoolDown", action="store", type=bool, help="Debug: don't wait for heater cool down after print.", default=False)
argParser.add_argument("-fr", dest="feedrate", action="store", type=float, help="Feedrate for move commands.", default=0)
subparsers = argParser.add_subparsers(dest="mode", help='Mode: mon(itor)|print|store|reset|pre(process).')
sp = subparsers.add_parser("autoTune", help=u"Autotune hotend PID values.")
sp = subparsers.add_parser("binmon", help=u"Monitor serial printer interface (binary responses).")
sp = subparsers.add_parser("changenozzle", help=u"Heat hotend and change nozzle.")
sp = subparsers.add_parser("mon", help=u"Monitor serial printer interface (asci).")
sp = subparsers.add_parser("print", help=u"Download and print file at once.")
sp.add_argument("gfile", help="Input GCode file.")
# sp = subparsers.add_parser("store", help=u"Store file as USB.G on sd-card.")
# sp.add_argument("gfile", help="Input GCode file.")
sp = subparsers.add_parser("writeEepromFloat", help=u"Store float value into eeprom.")
sp.add_argument("name", help="Valuename.")
sp.add_argument("value", action="store", type=float, help="value (float).")
# sp = subparsers.add_parser("reset", help=u"Try to stop/reset printer.")
sp = subparsers.add_parser("pre", help=u"Preprocess gcode, for debugging purpose.")
sp.add_argument("gfile", help="Input GCode file.")
sp = subparsers.add_parser("dumpeeprom", help=u"dump eeprom settings.")
sp = subparsers.add_parser("factoryReset", help=u"FactoryReset of eeprom settings, new bed leveling needed.")
sp = subparsers.add_parser("test", help=u"Debug: tests for debugging purpose.")
sp = subparsers.add_parser("disableSteppers", help=u"Disable stepper current (this dis-homes the printer).")
sp = subparsers.add_parser("home", help=u"Home the printer.")
sp = subparsers.add_parser("measureTempFlowrateCurve", help=u"Determine temperature/flowrate characteristic.")
sp = subparsers.add_parser("moverel", help=u"Debug: Move axis manually, relative coords.")
sp.add_argument("axis", help="Axis (XYZAB).", type=str)
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("moveabs", help=u"Debug: Move axis manually, absolute coords.")
sp.add_argument("axis", help="Axis (XYZAB).", type=str)
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("insertFilament", help=u"Insert filament (heatup, forward filament).")
sp = subparsers.add_parser("removeFilament", help=u"Remove filament (heatup, retract filament).")
sp = subparsers.add_parser("bedLeveling", help=u"Do bed leveling sequence.")
sp = subparsers.add_parser("bedLevelAdjust", help=u"Adjust bedleveling offset - dangerous.")
sp.add_argument("distance", action="store", help="Adjust-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("heatHotend", help=u"Heat up hotend (to clean it, etc).")
sp = subparsers.add_parser("genTempTable", help=u"Generate extrusion rate limit table.")
sp = subparsers.add_parser("getEndstops", help=u"Get current endstop state.")
sp = subparsers.add_parser("getFilSensor", help=u"Get current filament position.")
sp = subparsers.add_parser("getpos", help=u"Get current printer and virtual position.")
sp = subparsers.add_parser("getTemps", help=u"Get current temperatures (Bed, Extruder1, [Extruder2]).")
sp = subparsers.add_parser("getTempTable", help=u"Output temperature-speed table.")
sp = subparsers.add_parser("getStatus", help=u"Get current printer status.")
sp = subparsers.add_parser("zRepeatability", help=u"Debug: Move Z to 10 random positions to test repeatability.")
sp = subparsers.add_parser("stop", help=u"Stop print, cooldown, home, disable steppers.")
sp = subparsers.add_parser("stepResponse", help=u"Measure and plot stepResponse of hotend PID.")
sp = subparsers.add_parser("retract", help=u"Debug: Do the end-of-print retract manually after heating up.")
sp = subparsers.add_parser("fanspeed", help=u"Set fan speed manually.")
sp.add_argument("speed", help="Fanspeed 0 - 255.", type=int)
sp = subparsers.add_parser("testFilSensor", help=u"Debug: move filament manually, output filament sensor measurement.")
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("calibrateFilSensor", help=u"Debug: helper to determine the ratio of stepper to flowrate sensor.")
# sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
args = argParser.parse_args()
# print "args: ", args
(parser, planner, printer) = initParser(args, mode=args.mode)
steps_per_mm = PrinterProfile.getStepsPerMMVector()
if args.mode == 'autoTune':
util.zieglerNichols(args, parser)
elif args.mode == 'changenozzle':
util.changeNozzle(args, parser)
elif args.mode == "binmon":
printer.initSerial(args.device, args.baud)
while True:
try:
(cmd, payload) = printer.readResponse()
except RxTimeout:
pass
else:
print "Response cmd :", cmd
print "Response payload:", payload.encode("hex")
printer.checkErrorResponse(cmd, payload, False)
elif args.mode == 'print':
util.commonInit(args, parser)
t0 = MatProfile.getBedTemp()
t1 = MatProfile.getHotendBaseTemp()
# Send heat up command
print "\nPre-Heating bed...\n"
printer.heatUp(HeaterBed, t0)
print "\nPre-Heating extruder...\n"
printer.heatUp(HeaterEx1, 150)
# Send printing moves
# f = open(args.gfile)
f = parser.preParse(args.gfile)
# Send priming moves
if not args.noPrime:
util.prime(parser)
lineNr = 0
printStarted = False
for line in f:
parser.execute_line(line)
#
# Send more than one 512 byte block for dlprint
#
if lineNr > 1000 and (lineNr % 250) == 0:
# check temp and start print
if not printStarted:
print "\nHeating bed (t0: %d)...\n" % t0
printer.heatUp(HeaterBed, t0, t0)
print "\nHeating extruder (t1: %d)...\n" % t1
printer.heatUp(HeaterEx1, t1, wait=0.95 * t1)
# Send print command
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printStarted = True
else:
# Stop sending moves on error
status = printer.getStatus()
pprint.pprint(status)
if not printer.stateMoving(status):
break
lineNr += 1
print "Parsed %d gcode lines." % lineNr
#
# Add a move to lift the nozzle from the print if not ultigcode flavor
#
if not parser.ultiGcodeFlavor:
util.endOfPrintLift(parser)
planner.finishMoves()
printer.sendCommand(CmdEOT)
# XXX start print if less than 1000 lines or temp not yet reached:
if not printStarted:
print "\nHeating bed (t0: %d)...\n" % t0
printer.heatUp(HeaterBed, t0, t0)
print "\nHeating extruder (t1: %d)...\n" % t1
printer.heatUp(HeaterEx1, t1, wait=0.95 * t1)
# Send print command
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.waitForState(StateIdle)
printer.coolDown(HeaterEx1)
printer.coolDown(HeaterBed)
ddhome.home(parser, args.fakeendstop)
printer.sendCommand(CmdDisableSteppers)
if not args.noCoolDown:
printer.coolDown(HeaterEx1, wait=150)
printer.coolDown(HeaterBed, wait=55)
printer.readMore()
### Simulator/profiling
### printer.sendCommand(CmdExit)
elif args.mode == "pre":
# Virtuelle position des druckkopfes falls 'gehomed'
homePosMM = util.MyPoint(
X = planner.X_HOME_POS,
Y = planner.Y_HOME_POS,
Z = planner.Z_HOME_POS, # - 20,
)
parser.set_position(homePosMM)
f = parser.preParse(args.gfile)
lineNr = 0
for line in f:
parser.execute_line(line)
lineNr += 1
print "Parsed %d gcode lines." % lineNr
planner.finishMoves()
elif args.mode == "mon":
printer.initSerial(args.device, args.baud)
while True:
printer.readMore()
elif args.mode == 'dumpeeprom':
printer.commandInit(args)
resp = printer.query(CmdGetEepromVersion)
if util.handleGenericResponse(resp):
print "Eepromversion: ", util.getResponseString(resp[1], 1)
settingsDict = printer.getEepromSettings()
print "eepromSettings: ",
pprint.pprint(settingsDict)
elif args.mode == 'factoryReset':
printer.commandInit(args)
printer.sendCommand(CmdEepromFactory)
elif args.mode == 'disableSteppers':
printer.commandInit(args)
printer.sendCommand(CmdDisableSteppers)
elif args.mode == 'measureTempFlowrateCurve':
util.measureTempFlowrateCurve(args, parser)
elif args.mode == 'moverel':
assert(args.axis.upper() in "XYZAB")
printer.commandInit(args)
axis = util.dimIndex[args.axis.upper()]
util.manualMove(parser, axis, args.distance, args.feedrate)
elif args.mode == 'moveabs':
assert(args.axis.upper() in "XYZAB")
printer.commandInit(args)
axis = util.dimIndex[args.axis.upper()]
util.manualMove(parser, axis, args.distance, args.feedrate, True)
elif args.mode == 'insertFilament':
util.insertFilament(args, parser)
elif args.mode == 'removeFilament':
util.removeFilament(args, parser)
elif args.mode == 'bedLeveling':
util.bedLeveling(args, parser)
elif args.mode == 'bedLevelAdjust':
util.bedLevelAdjust(args, parser)
elif args.mode == 'heatHotend':
util.heatHotend(args, parser)
elif args.mode == 'genTempTable':
util.genTempTable(printer)
elif args.mode == 'getEndstops':
printer.commandInit(args)
res = printer.getEndstops()
print "Endstop state: ", res
elif args.mode == 'getFilSensor':
printer.commandInit(args)
print "Filament pos:", printer.getFilSensor()
elif args.mode == 'getpos':
printer.commandInit(args)
res = printer.getPos()
curPosMM = util.MyPoint(
X = res[0] / float(steps_per_mm[0]),
Y = res[1] / float(steps_per_mm[1]),
Z = res[2] / float(steps_per_mm[2]),
A = res[3] / float(steps_per_mm[3]),
# B = res[4] / float(steps_per_mm[4]),
)
(homePosMM, homePosStepped) = planner.getHomePos()
print "Printer pos [steps]:", res
print "Printer pos [mm]:", curPosMM
print "Virtual home pos [mm]: ", homePosMM
elif args.mode == 'getTemps':
printer.commandInit(args)
printer.getTemps()
elif args.mode == 'getTempTable':
printer.commandInit(args)
(baseTemp, tempTable) = printer.getTempTable()
print "tempTable: ", pprint.pprint(tempTable)
util.printTempTable(printer, baseTemp, tempTable)
elif args.mode == 'getStatus':
printer.commandInit(args)
status = printer.getStatus()
print "Status: "
pprint.pprint(status)
elif args.mode == 'home':
printer.commandInit(args)
ddhome.home(parser, args.fakeendstop)
elif args.mode == 'zRepeatability':
util.zRepeatability(parser)
elif args.mode == 'stepResponse':
util.stepResponse(args, parser)
elif args.mode == 'retract':
util.retract(args, parser)
elif args.mode == 'stop':
printer.commandInit(args)
util.stopMove(args, parser)
elif args.mode == 'fanspeed':
printer.commandInit(args)
printer.sendCommandParamV(CmdFanSpeed, [packedvalue.uint8_t(args.speed)])
elif args.mode == 'testFilSensor':
ddtest.testFilSensor(args, parser)
elif args.mode == 'calibrateFilSensor':
ddtest.calibrateFilSensor(args, parser)
elif args.mode == 'test':
printer.commandInit(args)
util.downloadTempTable(printer)
printer.readMore()
elif args.mode == "writeEepromFloat":
util.writeEEpromFloat(args, parser)
else:
print "Unknown command: ", args.mode
assert(0)
def addMove(self, move):
# print "addmove ...", move.comment
if debugMoves:
print "***** Start addMove() *****"
move.moveNumber = self.pathData.incCount()
if not self.pathData.path:
# First move of this path, startspeed is jerkspeed
# jerkSpeed = move.vVector().constrain(self.jerk) or move.vVector()
# move.setNominalStartFr(jerkSpeed)
move.setNominalJerkStartSpeed(self.jerk)
# self.prepareMoveEnd(move)
self.pathData.path.append(move)
if UseExtrusionAutoTemp:
self.pathData.time = 0 # Reset path time
self.pathData.extrusionAmount = 0
self.pathData.lastTemp = MatProfile.getHotendBaseTemp()
#
# Zum end-speed können wir nichts sagen, da der nächste move noch nicht
# bekannt ist.
#
if debugMoves:
print "***** End addMove() *****"
return
lastMove = self.pathData.path[-1]
lastMove.nextMove = move
move.lastMove = lastMove
util.joinSpeed(lastMove, move, self.jerk, self.min_speeds)
self.pathData.path.append(move)
if len(self.pathData.path) < 3:
# Wir brauchen mind. 3 moves um einen 'PathBlock' zu bilden
if debugMoves:
print "***** End addMove() *****"
return
if self.isIsolationMove(lastMove):
l = len(self.pathData.path)
pathBlock = self.pathData.path[:l-2]
if debugMoves:
print "Move #:", lastMove.moveNumber, " is a isolation move."
print "Streaming block of moves, len: %d/%d" % (len(pathBlock), l), ", blocks: ", pathBlock[0].moveNumber, " - ", pathBlock[-1].moveNumber
self.streamMoves(pathBlock)
del self.pathData.path[:l-2]
assert(len(self.pathData.path) == 2)
if debugMoves:
print "***** End addMove() *****"
def streamMoves(self, moves, finish = False):
if debugMoves:
print "Streaming %d moves..." % len(moves)
if debugPlot and not self.plotfile:
self.plottime = 0
self.plotfile=open("/tmp/accel_%d.plt" % moves[0].moveNumber, "w")
self.plotfile.write("set grid\n")
self.plotfile.write("set label 2 at graph 0.01, graph 0.95 'Note: Trapez top not included, e-only moves green.'\n")
self.plotfile.write('plot "-" using 1:2:3 with linespoints lc variable\n')
#################################################################################
# Backwards move planning
self.joinMovesBwd(moves)
#################################################################################
for move in moves:
# move.pprint("sanicheck")
move.sanityCheck(self.jerk)
self.planAcceleration(move)
self.planSteps(move)
#
# Collect some statistics
#
if move.isHeadMove():
self.pathData.maxExtrusionRate.stat(move)
#
# Collect moves if AutoTemp
#
if UseExtrusionAutoTemp:
if move.isExtrudingMove(util.A_AXIS):
# Collect moves and sum up path time
self.pathData.time += move.getTime()
# Sum extrusion volume
self.pathData.extrusionAmount += move.getAdjustedExtrusionVolume(util.A_AXIS, NozzleProfile, MatProfile)
self.pathData.atMoves.append(move)
else:
self.streamMove(move)
move.streamed = True
# Help garbage collection
move.lastMove = errorMove
move.nextMove = errorMove
if UseExtrusionAutoTemp:
if self.pathData.time >= ATInterval or finish:
if self.pathData.time > 0:
# Compute temperature for this segment and add tempcommand into the stream
# Average speed:
avgSpeed = self.pathData.extrusionAmount / self.pathData.time
# UseAutoTemp: Adjust temp between Tbase and HotendMaxTemp, if speed is greater than 20 mm/s
# UseExtrusionAutoTemp: Adjust temp between Tbase and HotendMaxTemp, if speed is greater than 5 mm³/s
newTemp = MatProfile.getHotendBaseTemp() # Extruder 1 temp
# extrusionLow = self.ExtrusionAmountLow * pow(NozzleProfile.getSize(), 2)
if avgSpeed > self.ExtrusionAmountLow:
f = MatProfile.getAutoTempFactor()
# newTemp += min((avgSpeed - self.ExtrusionAmountLow * pow(NozzleProfile.getSize(), 2)) * f, ATMaxTempIncrease)
newTemp += (avgSpeed - self.ExtrusionAmountLow) * f
# newTemp *= 1.15 # xxx sync withtemp-speed-adjust
newTemp = min(newTemp, MatProfile.getHotendMaxTemp())
if debugAutoTemp:
print "AutoTemp: collected %d moves with %.2f s duration." % (len(self.pathData.atMoves), self.pathData.time)
print "AutoTemp: amount: %.2f, avg extrusion rate: %.2f mm³/s." % (self.pathData.extrusionAmount, avgSpeed)
print "AutoTemp: new temp: %.2f." % (newTemp)
self.pathData.maxExtrusionRate.avgStat(avgSpeed)
if newTemp != self.pathData.lastTemp and self.args.mode != "pre":
# Schedule target temp command
self.printer.sendCommandParamV(
CmdSyncTargetTemp,
[packedvalue.uint8_t(HeaterEx1), packedvalue.uint16_t(newTemp)])
self.pathData.lastTemp = newTemp
for move in self.pathData.atMoves:
self.streamMove(move)
self.pathData.atMoves = []
self.pathData.time = self.pathData.extrusionAmount = 0 # Reset path time
def measureTempFlowrateCurve(args, parser):
def writeDataSet(f, dataSet):
for dataStr in dataSet:
f.write(dataStr)
f.write("\n")
f.write("E\n")
fssteps_per_mm = 265.0 # xxx hardcoded, get from profile or printer...
planner = parser.planner
printer = planner.printer
printer.commandInit(args)
ddhome.home(parser, args.fakeendstop)
# Disable flowrate limit
printer.sendCommandParamV(CmdEnableFRLimit, [packedvalue.uint8_t(0)])
# Move to mid-position
printer.sendPrinterInit()
feedrate = PrinterProfile.getMaxFeedrate(X_AXIS)
parser.execute_line("G0 F%d X%f Y%f" % (feedrate*60, planner.MAX_POS[X_AXIS]/2, planner.MAX_POS[Y_AXIS]/2))
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle)
current_position = parser.getRealPos()
apos = current_position[A_AXIS]
t1 = MatProfile.getHotendBaseTemp() # start temperature
area04 = pow(0.4, 2)*math.pi/4
flowrate = MatProfile.getBaseExtrusionRate() * (NozzleProfile.getArea() / area04)
aFilament = MatProfile.getMatArea()
print "t1: ", t1
print "flowrate: ", flowrate
print "aFilament: ", aFilament
print "feedrate: ", flowrate / aFilament
# xxx todo if using small nozzles
assert(flowrate > 2)
f = open("temp-flowrate-curve.gnuplot", "w")
f.write("""
set grid
set yrange [0:35]
# Startwert steigung
a=0.5
# Startwert y-achse
b=5
f(x)=b+a*(x-%d)
fit f(x) "-" using 1:3 noerror via a,b\n""" % t1)
dataSet = []
printer.sendCommandParamV(CmdFanSpeed, [packedvalue.uint8_t(100)])
retracted = False
while t1 <= MatProfile.getHotendMaxTemp():
print "Heating:", t1
printer.heatUp(HeaterEx1, t1, wait=t1)
# time.sleep(10) # temp settle
wait = 5
while wait:
time.sleep(1)
temps = printer.getTemps()
if abs(t1 - int(temps[HeaterEx1])) <= 1:
wait -= 1
else:
wait = 5
print "temp wait: ", wait
flowrate -= 1
ratio = 1.0
while ratio >= 0.9:
feedrate = flowrate / aFilament
# distance = 5 * feedrate # xxx
distance = 50
apos += distance
print "Feedrate for flowrate:", feedrate, flowrate
printer.sendPrinterInit()
if retracted:
parser.execute_line("G11")
parser.execute_line("G0 F%d %s%f" % (feedrate*60, dimNames[A_AXIS], apos))
parser.execute_line("G10")
planner.finishMoves()
printer.sendCommand(CmdEOT)
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.waitForState(StateIdle)
time.sleep(0.25)
fssteps = printer.getFilSensor()
fsdist = fssteps / fssteps_per_mm
ratio = fsdist / distance
actualFlowrate = flowrate * ratio
print "t1, flowrate, fsdist, distance, ratio:", t1, flowrate, fsdist, distance, ratio
flowrate += 1
retracted = True
print "Feeder grip:", t1, flowrate-1, ratio
dataStr = "%f %f %.2f %.3f" % (t1, flowrate - 1, actualFlowrate, ratio)
f.write(dataStr + "\n")
f.flush()
dataSet.append(dataStr)
t1 += 2 # next temp
f.write("E\n")
f.write("""
plot "-" using 1:2 with linespoints title "Target Flowrate", \\
"-" using 1:3 with linespoints title "Actual Flowrate", \\
"-" using 1:3 with linespoints smooth bezier title "Actual Flowrate smooth", \\
f(x) title sprintf("y=B+A*x, A=%.2f, B=%.1f, TempFactor 1/A: %.2f", a, b, 1/a)\n""")
writeDataSet(f, dataSet)
writeDataSet(f, dataSet)
writeDataSet(f, dataSet)
f.close()
printer.coolDown(HeaterEx1)
# Enable flowrate limit
printer.sendCommandParamV(CmdEnableFRLimit, [packedvalue.uint8_t(1)])
def insertFilament(args, parser):
planner = parser.planner
printer = planner.printer
def manualMoveE():
current_position = parser.getRealPos()
aofs = current_position[A_AXIS]
print "cura: ", aofs
kbd = GetChar("Enter (f)orward (b)ackwards (F)orward 10mm (B)ackwards 10mm (q)uit")
ch = " "
while ch not in "q\n":
ch = kbd.getc()
print "ch: ", ch
if ch == "f": # filament forward, 'small' step
aofs += 1
elif ch == "F": # filament forward, 'big' step
aofs += 10
elif ch == "b": # filament backwards, 'small' step
aofs -= 1
elif ch == "B": # filament backwards, 'big' step
aofs -= 10
printer.sendPrinterInit()
# XXX hardcoded feedrate
parser.execute_line("G0 F%d A%f" % (5*60, aofs))
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle, wait=0.1)
commonInit(args, parser)
# Move to mid-position
feedrate = PrinterProfile.getMaxFeedrate(X_AXIS)
parser.execute_line("G0 F%d X%f Y%f" % (feedrate*60, planner.MAX_POS[X_AXIS]/2, planner.MAX_POS[Y_AXIS]/2))
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle)
t1 = MatProfile.getHotendBaseTemp()
printer.heatUp(HeaterEx1, t1, wait=t1 - 5)
print "\nInsert filament.\n"
manualMoveE()
print "\nForwarding filament.\n"
manualMove(parser, A_AXIS, FILAMENT_REVERSAL_LENGTH * 0.85)
print "\nExtrude filament.\n"
manualMoveE()
#
# Retract
#
printer.sendPrinterInit()
parser.execute_line("G10")
planner.finishMoves()
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.sendCommand(CmdEOT)
printer.waitForState(StateIdle)
if not args.noCoolDown:
printer.coolDown(HeaterEx1, wait=150)
def printWorker(self):
parser = argparse.ArgumentParser(description='%s, Direct Drive USB Print.' % sys.argv[0])
parser.add_argument("-d", dest="device", action="store", type=str, help="Device to use, default: /dev/ttyACM0.", default="/dev/ttyACM0")
parser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 115200.", default=115200)
parser.add_argument("-f", dest="file", action="store", type=str, help="Gcode to print")
parser.add_argument("-F", dest="fakeendstop", action="store", type=bool, help="fake endstops", default=False)
parser.add_argument("-nc", dest="noCoolDown", action="store", type=bool, help="Debug: don't wait for heater cool down after print.", default=False)
parser.add_argument("-t0", dest="t0", action="store", type=int, help="Temp 0 (heated bed), default comes from mat. profile.")
parser.add_argument("-t1", dest="t1", action="store", type=int, help="Temp 1 (hotend 1), default comes from mat. profile.")
parser.add_argument("-mat", dest="mat", action="store", help="Name of material profile to use [pla, abs...], default is pla.", default="pla_1.75mm")
parser.add_argument("-smat", dest="smat", action="store", help="Name of specific material profile to use.")
parser.add_argument("-noz", dest="nozzle", action="store", help="Name of nozzle profile to use [nozzle40, nozzle80...], default is nozzle40.", default="nozzle40")
self.args = parser.parse_args()
self.args.mode = "dlprint"
# print "args: ", self.args
(self.parser, self.planner, self.printer) = ddprint.initParser(self.args, gui=self)
# util.commonInit(self.args, self.parser)
try:
self.printer.commandInit(self.args)
except SerialException:
msg = "Can't open serial device '%s' (baudrate: %d)!\n\nPress OK to exit." % (self.args.device, self.args.baud)
self.guiQueue.put(SyncCall(self.quit, msg))
return
self.mat_t0 = MatProfile.getBedTemp()
self.mat_t1 = MatProfile.getHotendBaseTemp()
# self.fn.set_value(self.args.file)
self.guiQueue.put(SyncCall(self.fn.set_value, self.args.file))
while True:
try:
while True:
# self.guiQueue.put("hi")
# self.guiQueue.put(SyncCall(self.appLog.buffer, ["juhu"]))
workDone = False
while not self.cmdQueue.empty():
obj = self.cmdQueue.get()
obj.call()
workDone = True
if time.time() - self.lastUpdate > 2.5:
# status = self.printer.getStatus()
# self.guiQueue.put(SyncCall(self.updateStatus, status))
self.printer.getStatus()
workDone = True
self.lastUpdate = time.time()
if not workDone:
time.sleep(0.1)
except stoppableThread.StopThread:
self.printThread.incStopCount()
self.log("caught StopThread, continue....")
def main():
argParser = argparse.ArgumentParser(description='%s, Direct Drive USB Print.' % sys.argv[0])
argParser.add_argument("-d", dest="device", action="store", type=str, help="Device to use, default: /dev/ttyACM0.", default="/dev/ttyACM0")
argParser.add_argument("-b", dest="baud", action="store", type=int, help="Baudrate, default 500000.", default=500000)
argParser.add_argument("-t0", dest="t0", action="store", type=int, help="Temp 0 (heated bed), default comes from mat. profile.")
argParser.add_argument("-t1", dest="t1", action="store", type=int, help="Temp 1 (hotend 1), default comes from mat. profile.")
argParser.add_argument("-kAdvance", dest="kAdvance", action="store", type=float, help="K-Advance factor, default comes from mat. profile.")
argParser.add_argument("-startAdvance", dest="startAdvance", action="store", type=float, help="Gradual advance: advance startvalue.")
argParser.add_argument("-advIncrease", dest="advIncrease", action="store", type=float, help="Gradual advance: increase kAdvance by advIncrease after each step.")
argParser.add_argument("-advStepHeight", dest="advStepHeight", action="store", type=int, help="Gradual advance: height of each step (number of layers).")
argParser.add_argument("-mat", dest="mat", action="store", help="Name of generic material profile to use [pla, abs...], default is pla.", default="pla_1.75mm")
argParser.add_argument("-smat", dest="smat", action="store", help="Name of specific material profile to use.")
argParser.add_argument("-noz", dest="nozzle", action="store", help="Name of nozzle profile to use [nozzle40, nozzle80...], default is nozzle40.", default="nozzle40")
argParser.add_argument("-np", dest="noPrime", action="store_const", const=True, help="Debug: don't prime nozzle, to test extrusion-less moves.")
# fake endstops as long we have no real ones
argParser.add_argument("-F", dest="fakeendstop", action="store", type=bool, help="Debug: fake endstops", default=False)
argParser.add_argument("-nc", dest="noCoolDown", action="store", type=bool, help="Debug: don't wait for heater cool down after print.", default=False)
argParser.add_argument("-fr", dest="feedrate", action="store", type=float, help="Feedrate for move commands.", default=0)
argParser.add_argument("-rl", dest="retractLength", action="store", type=float, help="Retraction length, default comes from printer profile.", default=0)
subparsers = argParser.add_subparsers(dest="mode", help='Mode: mon(itor)|print|store|reset|pre(process).')
sp = subparsers.add_parser("autoTune", help=u"Autotune hotend PID values.")
sp = subparsers.add_parser("binmon", help=u"Monitor serial printer interface (binary responses).")
sp = subparsers.add_parser("changenozzle", help=u"Heat hotend and change nozzle.")
sp = subparsers.add_parser("mon", help=u"Monitor serial printer interface (asci).")
sp = subparsers.add_parser("print", help=u"Download and print file at once.")
sp.add_argument("gfile", help="Input GCode file.")
sp = subparsers.add_parser("writeEepromFloat", help=u"Store float value into eeprom.")
sp.add_argument("name", help="Valuename.")
sp.add_argument("value", action="store", type=float, help="value (float).")
# sp = subparsers.add_parser("reset", help=u"Try to stop/reset printer.")
sp = subparsers.add_parser("pre", help=u"Preprocess gcode, for debugging purpose.")
sp.add_argument("gfile", help="Input GCode file.")
sp = subparsers.add_parser("dumpeeprom", help=u"dump eeprom settings.")
sp = subparsers.add_parser("factoryReset", help=u"FactoryReset of eeprom settings, new bed leveling needed.")
sp = subparsers.add_parser("test", help=u"Debug: tests for debugging purpose.")
sp = subparsers.add_parser("disableSteppers", help=u"Disable stepper current (this dis-homes the printer).")
sp = subparsers.add_parser("home", help=u"Home the printer.")
sp = subparsers.add_parser("measureTempFlowrateCurve", help=u"Determine temperature/flowrate properties of filament.")
sp.add_argument("tstart", action="store", type=int, help="Start temperature.")
sp.add_argument("tend", action="store", type=int, help="End temperature.")
sp.add_argument("-tstep", action="store", type=int, help="Temperature step width.", default=2)
sp = subparsers.add_parser("moverel", help=u"Debug: Move axis manually, relative coords.")
sp.add_argument("axis", help="Axis (XYZAB).", type=str)
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("moveabs", help=u"Debug: Move axis manually, absolute coords.")
sp.add_argument("axis", help="Axis (XYZAB).", type=str)
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("insertFilament", help=u"Insert filament (heatup, forward filament).")
sp = subparsers.add_parser("removeFilament", help=u"Remove filament (heatup, retract filament).")
sp = subparsers.add_parser("bedLeveling", help=u"Do bed leveling sequence.")
sp = subparsers.add_parser("bedLevelAdjust", help=u"Adjust bedleveling offset - dangerous.")
sp.add_argument("distance", action="store", help="Adjust-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("heatHotend", help=u"Heat up hotend (to clean it, etc).")
sp = subparsers.add_parser("genTempTable", help=u"Generate extrusion rate limit table.")
sp = subparsers.add_parser("getEndstops", help=u"Get current endstop state.")
sp = subparsers.add_parser("getFilSensor", help=u"Get current filament position.")
sp = subparsers.add_parser("getpos", help=u"Get current printer and virtual position.")
sp = subparsers.add_parser("getTemps", help=u"Get current temperatures (Bed, Extruder1, [Extruder2]).")
sp = subparsers.add_parser("getTempTable", help=u"Get temperature-speed table from printer, print it to stdout and to /tmp/temptable_printer.txt.")
sp = subparsers.add_parser("getStatus", help=u"Get current printer status.")
sp = subparsers.add_parser("zRepeatability", help=u"Debug: Move Z to 10 random positions to test repeatability.")
sp = subparsers.add_parser("stop", help=u"Stop print, cooldown, home, disable steppers.")
sp = subparsers.add_parser("stepResponse", help=u"Measure and plot stepResponse of hotend PID.")
sp = subparsers.add_parser("retract", help=u"Debug: Do the end-of-print retract manually after heating up.")
sp = subparsers.add_parser("fanspeed", help=u"Set fan speed manually.")
sp.add_argument("speed", help="Fanspeed 0 - 255.", type=int)
sp = subparsers.add_parser("testFilSensor", help=u"Debug: move filament manually, output filament sensor measurement.")
sp.add_argument("distance", action="store", help="Move-distance (+/-) in mm.", type=float)
sp = subparsers.add_parser("calibrateFilSensor", help=u"Debug: helper to determine the ratio of stepper to flowrate sensor.")
args = argParser.parse_args()
(parser, planner, printer) = initParser(args, mode=args.mode)
steps_per_mm = PrinterProfile.getStepsPerMMVector()
if args.mode == 'autoTune':
util.measureHotendStepResponse(args, parser)
elif args.mode == 'changenozzle':
util.changeNozzle(args, parser)
elif args.mode == "binmon":
printer.initSerial(args.device, args.baud)
while True:
try:
(cmd, payload) = printer.readResponse()
except RxTimeout:
pass
else:
print "Response cmd :", cmd
print "Response payload:", payload.encode("hex")
printer.checkErrorResponse(cmd, payload, False)
elif args.mode == 'print':
util.commonInit(args, parser)
t0 = MatProfile.getBedTemp()
t1 = MatProfile.getHotendStartTemp() + planner.l0TempIncrease
# Send heat up command
print "\nPre-Heating bed...\n"
printer.heatUp(HeaterBed, t0)
print "\nPre-Heating extruder...\n"
printer.heatUp(HeaterEx1, t1/2)
f = parser.preParse(args.gfile)
if not args.noPrime:
util.prime(parser)
lineNr = 0
printStarted = False
for line in f:
parser.execute_line(line)
#
# Send more than one 512 byte block for dlprint
#
if lineNr > 1000 and (lineNr % 250) == 0:
# check temp and start print
if not printStarted:
print "\nHeating bed (t0: %d)...\n" % t0
printer.heatUp(HeaterBed, t0, t0)
print "\nHeating extruder (t1: %d)...\n" % t1
printer.heatUp(HeaterEx1, t1, t1-1)
# Send print command
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printStarted = True
else:
# Stop sending moves on error
status = printer.getStatus()
pprint.pprint(status)
if not printer.stateMoving(status):
break
lineNr += 1
print "Parsed %d gcode lines." % lineNr
#
# Add a move to lift the nozzle end of print
#
util.endOfPrintLift(parser)
planner.finishMoves()
printer.sendCommand(CmdEOT)
# Start print if less than 1000 lines or temp not yet reached:
if not printStarted:
print "\nHeating bed (t0: %d)...\n" % t0
printer.heatUp(HeaterBed, t0, t0)
print "\nHeating extruder (t1: %d)...\n" % t1
printer.heatUp(HeaterEx1, t1, t1-1)
# Send print command
printer.sendCommandParamV(CmdMove, [MoveTypeNormal])
printer.waitForState(StateIdle)
printer.coolDown(HeaterEx1)
printer.coolDown(HeaterBed)
ddhome.home(parser, args.fakeendstop)
printer.sendCommand(CmdDisableSteppers)
if not args.noCoolDown:
printer.coolDown(HeaterEx1, wait=150)
printer.coolDown(HeaterBed, wait=55)
printer.readMore()
# Exit simulator for profiling
# printer.sendCommand(CmdExit)
elif args.mode == "pre":
# Virtuelle position des druckkopfes falls 'gehomed'
homePosMM = util.MyPoint(
X = planner.X_HOME_POS,
Y = planner.Y_HOME_POS,
Z = planner.Z_HOME_POS, # - 20,
)
parser.setPos(homePosMM)
f = parser.preParse(args.gfile)
lineNr = 0
for line in f:
parser.execute_line(line)
lineNr += 1
print "Parsed %d gcode lines." % lineNr
planner.finishMoves()
elif args.mode == "mon":
printer.initSerial(args.device, args.baud)
while True:
printer.readMore()
elif args.mode == 'dumpeeprom':
printer.commandInit(args)
resp = printer.query(CmdGetEepromVersion)
if util.handleGenericResponse(resp):
print "Eepromversion: ", util.getResponseString(resp[1], 1)
settingsDict = printer.getEepromSettings()
print "eepromSettings: ",
pprint.pprint(settingsDict)
elif args.mode == 'factoryReset':
printer.commandInit(args)
printer.sendCommand(CmdEepromFactory)
elif args.mode == 'disableSteppers':
printer.commandInit(args)
printer.sendCommand(CmdDisableSteppers)
elif args.mode == 'measureTempFlowrateCurve':
util.measureTempFlowrateCurve(args, parser)
elif args.mode == 'moverel':
assert(args.axis.upper() in "XYZAB")
printer.commandInit(args)
axis = util.dimIndex[args.axis.upper()]
util.manualMove(parser, axis, args.distance, args.feedrate)
elif args.mode == 'moveabs':
assert(args.axis.upper() in "XYZAB")
printer.commandInit(args)
axis = util.dimIndex[args.axis.upper()]
util.manualMove(parser, axis, args.distance, args.feedrate, True)
elif args.mode == 'insertFilament':
util.insertFilament(args, parser, args.feedrate)
elif args.mode == 'removeFilament':
util.removeFilament(args, parser, args.feedrate)
elif args.mode == 'bedLeveling':
util.bedLeveling(args, parser)
elif args.mode == 'bedLevelAdjust':
util.bedLevelAdjust(args, parser)
elif args.mode == 'heatHotend':
util.heatHotend(args, parser)
elif args.mode == 'genTempTable':
util.genTempTable(planner)
elif args.mode == 'getEndstops':
printer.commandInit(args)
res = printer.getEndstops()
print "Endstop state: ", res
elif args.mode == 'getFilSensor':
printer.commandInit(args)
print "Filament pos:", printer.getFilSensor()
elif args.mode == 'getpos':
printer.commandInit(args)
res = printer.getPos()
curPosMM = util.MyPoint(
X = res[0] / float(steps_per_mm[0]),
Y = res[1] / float(steps_per_mm[1]),
Z = res[2] / float(steps_per_mm[2]),
A = res[3] / float(steps_per_mm[3]),
# B = res[4] / float(steps_per_mm[4]),
)
(homePosMM, homePosStepped) = planner.getHomePos()
print "Printer pos [steps]:", res
print "Printer pos [mm]:", curPosMM
print "Virtual home pos [mm]: ", homePosMM
elif args.mode == 'getTemps':
printer.commandInit(args)
printer.getTemps()
elif args.mode == 'getTempTable':
printer.commandInit(args)
(baseTemp, tempTable) = printer.getTempTable()
print "tempTable: ", pprint.pprint(tempTable)
util.printTempTable(baseTemp, tempTable)
elif args.mode == 'getStatus':
printer.commandInit(args)
status = printer.getStatus()
print "Status: "
pprint.pprint(status)
elif args.mode == 'home':
printer.commandInit(args)
ddhome.home(parser, args.fakeendstop)
elif args.mode == 'zRepeatability':
util.zRepeatability(parser)
elif args.mode == 'stepResponse':
util.stepResponse(args, parser)
elif args.mode == 'retract':
util.retract(args, parser)
elif args.mode == 'stop':
printer.commandInit(args)
util.stopMove(args, parser)
elif args.mode == 'fanspeed':
printer.commandInit(args)
printer.sendCommandParamV(CmdFanSpeed, [packedvalue.uint8_t(args.speed)])
elif args.mode == 'testFilSensor':
ddtest.testFilSensor(args, parser)
elif args.mode == 'calibrateFilSensor':
ddtest.calibrateFilSensor(args, parser)
elif args.mode == 'test':
printer.commandInit(args)
"""
dirbits = printer.getDirBits()
print "dirbits:", dirbits
# printer.readMore()
import time
while True:
temp = printer.getTemp(doLog=False)[1]
print "T1:", temp
time.sleep(0.1)
"""
if args.feedrate == 0:
printer.sendCommandParamV(CmdContinuousE, [packedvalue.uint16_t(0)])
else:
import time
printer.sendCommandParamV(CmdContinuousE, [packedvalue.uint16_t(util.eTimerValue(planner, 0.5))])
for s in range(int(args.feedrate)):
time.sleep(1)
printer.sendCommandParamV(CmdSetContTimer, [packedvalue.uint16_t(util.eTimerValue(planner, 1+s))])
elif args.mode == "writeEepromFloat":
util.writeEEpromFloat(args, parser)
else:
print "Unknown command: ", args.mode
assert(0)
def __init__(self,
comment,
# stepped_point,
displacement_vector,
displacement_vector_steps,
feedrate, # mm/s
):
self.comment=comment
self.displacement_vector3=displacement_vector[:3]
self.displacement_vector_steps3=displacement_vector_steps[:3]
self.extrusion_displacement_raw = displacement_vector[3:]
self.extrusion_displacement_steps_raw = displacement_vector_steps[3:]
#
# Move distance in XYZAB plane
#
self.distance = displacement_vector.len5()
#
# Move distance in XYZ plane
#
self.distance3 = displacement_vector.len3()
# self.eOnly = self.displacement_vector3 == 3*[0]
self.eOnly = self.distance3 == 0
#
# Limit feedrate by maximum extrusion rate
#
self.feedrateS = feedrate # mm/s
# Do not count very small moves, the computation of the extrusion rate is inaccurate because of the
# discretization in the gcodeparser (map float values to discrete stepper values).
if self.distance3 >= 0.1 and self.isExtrudingMove(A_AXIS) or self.isExtrudingMove(B_AXIS):
matArea = MatProfile.getMatArea()
assert(not self.eOnly)
t = self.distance3 / feedrate
extrusionVolume = displacement_vector[A_AXIS] * matArea
extrusionRate = extrusionVolume / t
# print "extrusionRate:", displacement_vector[A_AXIS], t, extrusionRate
if extrusionRate > NozzleProfile.getNetMaxExtrusionRate():
print "Warning, extrusion rate to high: %.1f mm³/s, Move: '%s', len: %.3f., extrusionVolume: %.5f" % (extrusionRate, comment, self.distance3, extrusionVolume)
# xxx feedrate adjust disabled
### print "Warning, extrusion rate to high: %.1f mm³/s, reducing to %.1f mm³/s, Move: '%s', len: %.3f., extrusionVolume: %.5f" % (extrusionRate, NozzleProfile.getNetMaxExtrusionRate(), comment, self.distance3, extrusionVolume)
### self.feedrateS = feedrate * (NozzleProfile.getNetMaxExtrusionRate() / extrusionRate)
# print "Adjusted feedrate: ", feedrate, self.feedrateS
self.trueStartSpeed = self.nominalStartSpeed = None
self.trueEndSpeed = self.nominalEndSpeed = None
self.accelData = AccelData()
self.stepData = StepData()
self.lastMove = None
self.nextMove = None
self.moveNumber = 0
# debug
self.state = 0 # 1: joined, 2: accel planned, 3: steps planned
self.streamed = False
# Time for the three phases of this move
self.accelTime = 0
self.linearTime = 0
self.deccelTime = 0
def printWorker(self):
parser = argparse.ArgumentParser(
description='%s, Direct Drive USB Print.' % sys.argv[0])
parser.add_argument("-d",
dest="device",
action="store",
type=str,
help="Device to use, default: /dev/ttyACM0.",
default="/dev/ttyACM0")
parser.add_argument("-b",
dest="baud",
action="store",
type=int,
help="Baudrate, default 500000.",
default=500000)
parser.add_argument("-f",
dest="file",
action="store",
type=str,
help="Gcode to print")
parser.add_argument("-F",
dest="fakeendstop",
action="store",
type=bool,
help="fake endstops",
default=False)
parser.add_argument(
"-nc",
dest="noCoolDown",
action="store",
type=bool,
help="Debug: don't wait for heater cool down after print.",
default=False)
parser.add_argument(
"-t0",
dest="t0",
action="store",
type=int,
help="Temp 0 (heated bed), default comes from mat. profile.")
parser.add_argument(
"-t1",
dest="t1",
action="store",
type=int,
help="Temp 1 (hotend 1), default comes from mat. profile.")
parser.add_argument(
"-kAdvance",
dest="kAdvance",
action="store",
type=float,
help="K-Advance factor, default comes from mat. profile.")
parser.add_argument(
"-mat",
dest="mat",
action="store",
help=
"Name of material profile to use [pla, abs...], default is pla.",
default="pla_1.75mm")
parser.add_argument(
"-rl",
dest="retractLength",
action="store",
type=float,
help="Retraction length, default comes from printer profile.",
default=0)
parser.add_argument("-smat",
dest="smat",
action="store",
help="Name of specific material profile to use.")
parser.add_argument(
"-noz",
dest="nozzle",
action="store",
help=
"Name of nozzle profile to use [nozzle40, nozzle80...], default is nozzle40.",
default="nozzle40")
self.args = parser.parse_args()
self.args.mode = "dlprint"
# print "args: ", self.args
(self.parser, self.planner,
self.printer) = ddprint.initParser(self.args, gui=self)
# util.commonInit(self.args, self.parser)
try:
self.printer.commandInit(self.args)
except SerialException:
msg = "Can't open serial device '%s' (baudrate: %d)!\n\nPress OK to exit." % (
self.args.device, self.args.baud)
self.guiQueue.put(SyncCall(self.quit, msg))
return
self.mat_t0 = MatProfile.getBedTemp()
self.mat_t0_reduced = MatProfile.getBedTempReduced()
self.mat_t1 = MatProfile.getHotendStartTemp(
) + self.planner.l0TempIncrease
# self.fn.set_value(self.args.file)
self.guiQueue.put(SyncCall(self.fn.set_value, self.args.file))
while True:
try:
while True:
# self.guiQueue.put("hi")
# self.guiQueue.put(SyncCall(self.appLog.buffer, ["juhu"]))
workDone = False
while not self.cmdQueue.empty():
obj = self.cmdQueue.get()
obj.call()
workDone = True
if time.time() - self.lastUpdate > 2.5:
# status = self.printer.getStatus()
# self.guiQueue.put(SyncCall(self.updateStatus, status))
self.printer.getStatus()
workDone = True
self.lastUpdate = time.time()
if not workDone:
time.sleep(0.1)
except stoppableThread.StopThread:
self.printThread.incStopCount()
self.log("caught StopThread, continue....")
def __init__(self, args, gui=None):
if Planner.__single:
raise RuntimeError('A Planner already exists')
Planner.__single = self
if gui:
self.gui = gui
else:
self.gui = dddumbui.DumbGui()
self.args = args
self.printer = Printer.get()
# self.parser = UM2GcodeParser.get()
jerk = []
for dim in dimNames:
jerk.append(PrinterProfile.getValues()['axes'][dim]['jerk'])
self.jerk = VVector(jerk)
self.gui.log("Jerk vector: ", self.jerk)
self.zeroPos = util.MyPoint()
# Lowest allowed speed in mm/s for every dimension
self.min_speeds = 5 * [0]
for dim in range(5):
# vmin = (fTimer / maxTimerValue) / steps_per_mm
if PrinterProfile.getStepsPerMM(dim):
self.min_speeds[dim] = float(fTimer) / (maxTimerValue24 * PrinterProfile.getStepsPerMM(dim))
self.gui.log( "min speeds: ", self.min_speeds)
#
# Constants, xxx todo: query from printer and/or profile
#
self.HOMING_FEEDRATE = [100, 100, 40] # set the homing speeds (mm/s)
self.HOME_RETRACT_MM = 7 # [mm]
# ENDSTOP SETTINGS:
# Sets direction of endstops when homing; 1=MAX, -1=MIN
self.X_HOME_DIR = -1
self.Y_HOME_DIR = 1
self.Z_HOME_DIR = 1
self.HOME_DIR = (self.X_HOME_DIR, self.Y_HOME_DIR, self.Z_HOME_DIR)
# XXX defined in profile !!!
# Travel limits after homing
self.X_MIN_POS = 0
self.X_MAX_POS = 225.0 # 230.0
# X_MIN_POS = 0
self.Y_MAX_POS = 225.0 # 230.0
# Y_MIN_POS = 0
# self.Z_MAX_POS = 229.0 # 230.0 // Dauerdruckplatte hat 5mm im vergleich zur glassplatte 4mm
self.Z_MAX_POS = 212.25 # solex nozzle
# Z_MIN_POS = 0
self.MAX_POS = (self.X_MAX_POS, self.Y_MAX_POS, self.Z_MAX_POS)
# Bed leveling constants
self.LEVELING_OFFSET = 0.1 # Assumed thickness of feeler gauge/paper used in leveling (mm)
# self.HEAD_HEIGHT = 35.0 # Let enough room for the head, XXX UM2 specific !!!
self.HEAD_HEIGHT = 15.0 # Let enough room for the head, XXX UM2 specific !!!
# Homing
self.X_HOME_POS = self.X_MIN_POS
self.Y_HOME_POS = self.Y_MAX_POS
self.Z_HOME_POS = self.Z_MAX_POS # XXX + add_homeing_z
#
# End Constants
#
self.plotfile = None
# Headspeed/extrusionspeed where autotemp increase starts
self.ExtrusionAmountLow = 30 # [mm/s] for a 1mm nozzle
if UseExtrusionAutoTemp:
# self.ExtrusionAmountLow = 7.5 # [mm³/s] for a 1mm nozzle
area04 = pow(0.4, 2)*math.pi/4
self.ExtrusionAmountLow = MatProfile.getBaseExtrusionRate() * (NozzleProfile.getArea() / area04)
self.reset()
