def test_wait_immediately(self):
"""Unblocked wait should immediately return."""
event = CountedEvent(1)
start = time.time()
event.wait(timeout=2)
duration = time.time() - start
self.assertLess(duration, 1)
def test_wait_immediately(self): """Unblocked wait should immediately return.""" event = CountedEvent(1) start = time.time() event.wait(timeout=2) duration = time.time() - start self.assertLess(duration, 1)
def test_wait_timeout(self):
"""Blocked should only wait until timeout."""
event = CountedEvent(0)
start = time.time()
event.wait(timeout=2)
duration = time.time() - start
self.assertGreaterEqual(duration, 2)
self.assertLess(duration, 3)
def test_wait_timeout(self): """Blocked should only wait until timeout.""" event = CountedEvent(0) start = time.time() event.wait(timeout=2) duration = time.time() - start self.assertGreaterEqual(duration, 2) self.assertLess(duration, 3)
def test_wait_blocking(self):
"""Set should immediately have blocked wait return."""
event = CountedEvent(0)
def set_event():
time.sleep(1)
event.set()
thread = threading.Thread(target=set_event)
thread.daemon = True
thread.start()
start = time.time()
event.wait(timeout=2)
duration = time.time() - start
self.assertLess(duration, 2)
def test_wait_blocking(self): """Set should immediately have blocked wait return.""" event = CountedEvent(0) def set_event(): time.sleep(1) event.set() thread = threading.Thread(target=set_event) thread.daemon = True thread.start() start = time.time() event.wait(timeout=2) duration = time.time() - start self.assertLess(duration, 2)
class RepRapProtocol(Protocol):
__protocolinfo__ = ("reprap", "RepRap", False)
## Firmware messages
MESSAGE_OK = staticmethod(lambda line: line.startswith("ok"))
MESSAGE_START = staticmethod(lambda line: line.startswith("start"))
MESSAGE_WAIT = staticmethod(lambda line: line.startswith("wait"))
MESSAGE_RESEND = staticmethod(lambda line: line.lower().startswith("resend") or line.lower().startswith("rs"))
MESSAGE_TEMPERATURE = staticmethod(lambda line: " T:" in line or line.startswith("T:") or " T0:" in line or line.startswith("T0:"))
MESSAGE_SD_INIT_OK = staticmethod(lambda line: line.lower() == "sd card ok")
MESSAGE_SD_INIT_FAIL = staticmethod(lambda line: "sd init fail" in line.lower() or "volume.init failed" in line.lower() or "openroot failed" in line.lower())
MESSAGE_SD_FILE_OPENED = staticmethod(lambda line: line.lower().startswith("file opened"))
MESSAGE_SD_FILE_SELECTED = staticmethod(lambda line: line.lower().startswith("file selected"))
MESSAGE_SD_BEGIN_FILE_LIST = staticmethod(lambda line: line.lower().startswith("begin file list"))
MESSAGE_SD_END_FILE_LIST = staticmethod(lambda line: line.lower().startswith("end file list"))
MESSAGE_SD_PRINTING_BYTE = staticmethod(lambda line: "sd printing byte" in line.lower())
MESSAGE_SD_NOT_PRINTING = staticmethod(lambda line: "not sd printing" in line.lower())
MESSAGE_SD_DONE_PRINTING = staticmethod(lambda line: "done printing file" in line.lower())
MESSAGE_SD_BEGIN_WRITING = staticmethod(lambda line: "writing to file" in line.lower())
MESSAGE_SD_END_WRITING = staticmethod(lambda line: "done saving file" in line.lower())
MESSAGE_ERROR = staticmethod(lambda line: line.startswith("Error:") or line.startswith("!!"))
MESSAGE_ERROR_MULTILINE = staticmethod(lambda line: RepRapProtocol.REGEX_ERROR_MULTILINE.match(line))
MESSAGE_ERROR_COMMUNICATION = staticmethod(lambda line: 'checksum mismatch' in line.lower()
or 'wrong checksum' in line.lower()
or 'line number is not last line number' in line.lower()
or 'expected line' in line.lower()
or 'no line number with checksum' in line.lower()
or 'no checksum with line number' in line.lower()
or 'missing checksum' in line.lower())
MESSAGE_ERROR_COMMUNICATION_LINENUMBER = staticmethod(lambda line: 'line number is not line number' in line.lower()
or 'expected line' in line.lower())
TRANSFORM_ERROR = staticmethod(lambda line: line[6:] if line.startswith("Error:") else line[2:])
## Commands
COMMAND_GET_TEMP = staticmethod(lambda: GcodeCommand("M105"))
COMMAND_SET_EXTRUDER_TEMP = staticmethod(lambda s, t, w: GcodeCommand("M109", s=s, t=t) if w else GcodeCommand("M104", s=s, t=t))
COMMAND_SET_LINE = staticmethod(lambda n: GcodeCommand("M110 N%d" % n))
COMMAND_SET_BED_TEMP = staticmethod(lambda s, w: GcodeCommand("M190", s=s) if w else GcodeCommand("M140", s=s))
COMMAND_SET_RELATIVE_POSITIONING = staticmethod(lambda: GcodeCommand("G91"))
COMMAND_SET_ABSOLUTE_POSITIONING = staticmethod(lambda: GcodeCommand("G90"))
COMMAND_MOVE_AXIS = staticmethod(lambda axis, amount, speed: GcodeCommand("G1", x=amount if axis=='x' else None, y=amount if axis=='y' else None, z=amount if axis=='z' else None, f=speed))
COMMAND_EXTRUDE = staticmethod(lambda amount, speed: GcodeCommand("G1", e=amount, f=speed))
COMMAND_HOME_AXIS = staticmethod(lambda x, y, z: GcodeCommand("G28", x=0 if x else None, y=0 if y else None, z=0 if z else None))
COMMAND_SET_TOOL = staticmethod(lambda t: GcodeCommand("T%d" % t))
COMMAND_SD_REFRESH = staticmethod(lambda: GcodeCommand("M20"))
COMMAND_SD_INIT = staticmethod(lambda: GcodeCommand("M21"))
COMMAND_SD_RELEASE = staticmethod(lambda: GcodeCommand("M22"))
COMMAND_SD_SELECT_FILE = staticmethod(lambda name: GcodeCommand("M23", param=name))
COMMAND_SD_START = staticmethod(lambda: GcodeCommand("M24"))
COMMAND_SD_PAUSE = staticmethod(lambda: GcodeCommand("M25"))
COMMAND_SD_SET_POS = staticmethod(lambda pos: GcodeCommand("M26", s=pos))
COMMAND_SD_STATUS = staticmethod(lambda: GcodeCommand("M27"))
COMMAND_SD_BEGIN_WRITE = staticmethod(lambda name: GcodeCommand("M28", param=name))
COMMAND_SD_END_WRITE = staticmethod(lambda name: GcodeCommand("M29", param=name))
COMMAND_SD_DELETE = staticmethod(lambda name: GcodeCommand("M30", param=name))
## Command types
COMMAND_TYPE_TEMPERATURE = "temperature"
COMMAND_TYPE_SD_PROGRESS = "sd_progress"
# Regex matching temperature entries in line. Groups will be as follows:
# - 1: whole tool designator incl. optional toolNumber ("T", "Tn", "B")
# - 2: toolNumber, if given ("", "n", "")
# - 3: actual temperature
# - 4: whole target substring, if given (e.g. " / 22.0")
# - 5: target temperature
REGEX_TEMPERATURE = re.compile("(B|T(\d*)):\s*([-+]?\d*\.?\d+)(\s*\/?\s*([-+]?\d*\.?\d+))?")
# Regex matching "File opened" message. Groups will be as follows:
# - 1: name of the file that got opened (e.g. "file.gco")
# - 2: size of the file that got opened, in bytes, parseable to integer (e.g. "2392010")
REGEX_FILE_OPENED = re.compile("File opened:\s*(.*?)\s+Size:\s*([0-9]*)")
# Regex matching printing byte message. Groups will be as follows:
# - 1: current file position
# - 2: file size
REGEX_SD_PRINTING_BYTE = re.compile("([0-9]*)/([0-9]*)")
# Regex matching multi line errors
#
# Marlin reports MAXTEMP issues on extruders in the format
#
# Error:{int}
# Extruder switched off. {MIN|MAX}TEMP triggered !
#
# This regex matches the line initiating those multiline errors. If it is encountered, the next line has
# to be fetched from the transport layer in order to fully handle the error at hand.
REGEX_ERROR_MULTILINE = re.compile("Error:[0-9]\n")
BLOCKING_COMMANDS = (
"M109", "M190", # set and wait for temperature (hotend & bed)
"G28", # home
"G29", "G30", "G31", "G32" # bed probing
)
def __init__(self, transport_factory, protocol_listener=None):
Protocol.__init__(self, transport_factory, protocol_listener)
self._lastTemperatureUpdate = time.time()
self._lastSdProgressUpdate = time.time()
self._startSeen = False
self._receivingSdFileList = False
self._send_queue = CommandQueue()
self._clear_for_send = CountedEvent(max=10)
self._force_checksum = True
self._wait_for_start = False
self._sd_always_available = False
self._rx_cache_size = 0
self._blocking_command_active = False
self._temperature_interval = 5.0
self._sdstatus_interval = 5.0
self._sent_lines = deque([])
self._send_lock = threading.RLock()
self._previous_resend = False
self._last_comm_error = None
self._last_resend_number = None
self._current_resend_count = 0
self._sent_before_resend = 0
self._send_queue_processing = True
self._thread = threading.Thread(target=self._handle_send_queue, name="SendQueueHandler")
self._thread.daemon = True
self._thread.start()
self._fill_queue_semaphore = threading.BoundedSemaphore(10)
self._fill_queue_state_signal = threading.Event()
self._fill_queue_mutex = threading.Lock()
self._fill_queue_processing = True
self._fill_thread = threading.Thread(target=self._fill_send_queue, name="FillQueueHandler")
self._fill_thread.daemon = True
self._fill_thread.start()
self._current_line = 1
self._current_extruder = 0
self._state = State.OFFLINE
self._pluginManager = octoprint.plugin.plugin_manager()
self._gcode_hooks = dict(
queued=self._pluginManager.get_hooks("octoprint.comm.protocol.gcode.queued").values(),
sending=self._pluginManager.get_hooks("octoprint.comm.protocol.gcode.sending").values(),
sent=self._pluginManager.get_hooks("octoprint.comm.protocol.gcode.sent").values(),
acknowledged=self._pluginManager.get_hooks("octoprint.comm.protocol.gcode.acknowledged").values()
)
self._preprocessors = dict()
self._setup_preprocessors()
self._reset()
def _setup_preprocessors(self):
self._preprocessors.clear()
for attr in dir(self):
if attr.startswith("_gcode") and (attr.endswith("_queued") or attr.endswith("_sending") or attr.endswith("_sent") or attr.endswith("_acknowledged")):
split_attr = attr.split("_")
if not len(split_attr) == 4:
continue
prefix, code, postfix = split_attr[1:]
if not postfix in self._preprocessors:
self._preprocessors[postfix] = dict()
self._preprocessors[postfix][code] = getattr(self, attr)
def _reset(self, from_start=False):
with self._send_lock:
self._lastTemperatureUpdate = time.time()
self._lastSdProgressUpdate = time.time()
self._blocking_command_active = False
if self._wait_for_start:
self._startSeen = from_start
else:
self._startSeen = True
if not self._startSeen:
self._clear_for_send.clear(completely=True)
else:
if self._clear_for_send.blocked():
self._clear_for_send.set()
self._receivingSdFileList = False
# clear the the send queue
self._send_queue.clear()
self._sent_lines.clear()
self._current_line = 1
self._current_extruder = 0
self._previous_resend = False
self._last_comm_error = None
self._last_resend_number = None
self._current_resend_count = 0
self._sent_before_resend = 0
def connect(self, protocol_options, transport_options):
self._wait_for_start = protocol_options["waitForStart"] if "waitForStart" in protocol_options else False
self._force_checksum = protocol_options["checksum"] if "checksum" in protocol_options else True
self._sd_always_available = protocol_options["sdAlwaysAvailable"] if "sdAlwaysAvailable" in protocol_options else False
self._rx_cache_size = protocol_options["buffer"] if "buffer" in protocol_options else 0
self._temperature_interval = protocol_options["timeout"]["temperature"] if "timeout" in protocol_options and "temperature" in protocol_options["timeout"] else 5.0
self._sdstatus_interval = protocol_options["timeout"]["sdstatus"] if "timeout" in protocol_options and "sdstatus" in protocol_options["timeout"] else 5.0
self._reset()
# connect
Protocol.connect(self, protocol_options, transport_options)
# we'll send an M110 first to reset line numbers to 0
self._send(self.__class__.COMMAND_SET_LINE(0), high_priority=True)
# enqueue our first temperature query so it gets sent right on establishment of the connection
self._send_temperature_query(with_type=True)
def disconnect(self, on_error=False):
self._clear_for_send.clear(completely=True)
# disconnect
Protocol.disconnect(self, on_error=on_error)
def select_file(self, filename, origin):
if origin == FileDestinations.SDCARD:
if not self._sd_available:
return
self._send(self.__class__.COMMAND_SD_SELECT_FILE(filename), high_priority=True)
else:
self._selectFile(PrintingGcodeFileInformation(filename, self.get_temperature_offsets))
def start_print(self):
wasPaused = self._state == State.PAUSED
Protocol.start_print(self)
if isinstance(self._current_file, PrintingSdFileInformation):
if wasPaused:
self._send(self.__class__.COMMAND_SD_SET_POS(0))
self._current_file.setFilepos(0)
self._send(self.__class__.COMMAND_SD_START())
def cancel_print(self):
if isinstance(self._current_file, PrintingSdFileInformation):
self._send(self.__class__.COMMAND_SD_PAUSE)
self._send(self.__class__.COMMAND_SD_SET_POS(0))
Protocol.cancel_print(self)
def _print_cancelled(self):
with self._fill_queue_mutex:
cleared = self._send_queue.clear(matcher=lambda entry: entry is not None and entry.command is not None and hasattr(entry.command, "progress") and entry.command.progress is not None and (not hasattr(entry, "prepared") or entry.prepared is None))
self._logger.debug("Cleared %d job entries from the send queue: %r" % (len(cleared), cleared))
def init_sd(self):
Protocol.init_sd(self)
self._send(self.__class__.COMMAND_SD_INIT())
if self._sd_always_available:
self._changeSdState(True)
def release_sd(self):
Protocol.release_sd(self)
self._send(self.__class__.COMMAND_SD_RELEASE())
if self._sd_always_available:
self._changeSdState(False)
def refresh_sd_files(self):
if not self._sd_available:
return
Protocol.refresh_sd_files(self)
self._send(self.__class__.COMMAND_SD_REFRESH())
def add_sd_file(self, path, local, remote):
Protocol.add_sd_file(self, path, local, remote)
if not self.is_operational() or self.is_busy():
return
self.send_manually(self.__class__.COMMAND_SD_BEGIN_WRITE(remote))
self._current_file = StreamingGcodeFileInformation(path, local, remote)
self._current_file.start()
eventManager().fire(Events.TRANSFER_STARTED, {"local": local, "remote": remote})
self._startFileTransfer(remote, self._current_file.getFilesize())
self._changeState(State.STREAMING)
def remove_sd_file(self, filename):
Protocol.remove_sd_file(self, filename)
if not self.is_operational() or \
(self.is_busy() and isinstance(self._current_file, PrintingSdFileInformation) and
self._current_file.getFilename() == filename):
return
self.send_manually(self.__class__.COMMAND_SD_DELETE(filename))
self.refresh_sd_files()
def set_temperature(self, type, value):
if type.startswith("tool"):
if settings().getInt(["printerParameters", "numExtruders"]) > 1:
try:
tool_num = int(type[len("tool"):])
self.send_manually(self.__class__.COMMAND_SET_EXTRUDER_TEMP(value, tool_num, False))
except ValueError:
pass
else:
# set temperature without tool number
self.send_manually(self.__class__.COMMAND_SET_EXTRUDER_TEMP(value, None, False))
elif type == "bed":
self.send_manually(self.__class__.COMMAND_SET_BED_TEMP(value, False))
def jog(self, axis, amount, speed):
commands = (
self.__class__.COMMAND_SET_RELATIVE_POSITIONING(),
self.__class__.COMMAND_MOVE_AXIS(axis, amount, speed),
self.__class__.COMMAND_SET_ABSOLUTE_POSITIONING()
)
self.send_manually(commands)
def home(self, axes):
commands = (
self.__class__.COMMAND_SET_RELATIVE_POSITIONING(),
self.__class__.COMMAND_HOME_AXIS('x' in axes, 'y' in axes, 'z' in axes),
self.__class__.COMMAND_SET_ABSOLUTE_POSITIONING()
)
self.send_manually(commands)
def extrude(self, amount, speed):
commands = (
self.__class__.COMMAND_SET_RELATIVE_POSITIONING(),
self.__class__.COMMAND_EXTRUDE(amount, speed),
self.__class__.COMMAND_SET_ABSOLUTE_POSITIONING()
)
self.send_manually(commands)
def change_tool(self, tool):
try:
tool_num = int(tool[len("tool"):])
self.send_manually(self.__class__.COMMAND_SET_TOOL(tool_num))
except ValueError:
pass
def send_manually(self, command, high_priority=False):
if self.is_streaming():
return
if isinstance(command, (tuple, list)):
for c in command:
self._send(c, high_priority=high_priority)
else:
self._send(command, high_priority=high_priority)
def _fileTransferFinished(self, current_file):
if isinstance(current_file, StreamingGcodeFileInformation):
self.send_manually(self.__class__.COMMAND_SD_END_WRITE(current_file.getRemoteFilename()))
eventManager().fire(Events.TRANSFER_DONE, {
"local": current_file.getLocalFilename(),
"remote": current_file.getRemoteFilename(),
"time": self.get_print_time()
})
else:
self._logger.warn("Finished file transfer to printer's SD card, but could not determine remote filename, assuming 'unknown.gco' for end-write-command")
self.send_manually(self.__class__.COMMAND_SD_END_WRITE("unknown.gco"))
self.refresh_sd_files()
##~~ callback methods
def onMessageReceived(self, source, message):
if self._transport != source:
return
message = self._handle_errors(message.strip())
##~~ Control message processing: ok, resend, start, wait
if self.__class__.MESSAGE_OK(message):
if self._state == State.CONNECTED and self._startSeen:
# if we are currently connected, have seen start and just gotten an "ok" we are now operational
self._changeState(State.OPERATIONAL)
if self.is_heating_up():
self._heatupDone()
if not self._previous_resend:
# our most left line from the sent_lines just got acknowledged
self._process_acknowledgement()
else:
self._previous_resend = False
self._clear_for_send.set()
elif self.__class__.MESSAGE_START(message):
# initial handshake with the firmware
if self._state != State.CONNECTED:
# we received a "start" while running, this means the printer has unexpectedly reset
self._changeState(State.CONNECTED)
self._reset(from_start=True)
return
elif self.__class__.MESSAGE_RESEND(message):
self._previous_resend = True
self._handle_resend_request(message)
return
elif self.__class__.MESSAGE_WAIT(message):
#self._clear_for_send.set()
# TODO really?
return
# SD file list
if self._receivingSdFileList and not self.__class__.MESSAGE_SD_END_FILE_LIST(message):
fileinfo = message.strip().split(None, 2)
if len(fileinfo) > 1:
filename, size = fileinfo
filename = filename.lower()
try:
size = int(size)
except ValueError:
# whatever that was, it was not an integer, so we'll ignore it and set size to None
size = None
else:
filename = fileinfo[0].lower()
size = None
if valid_file_type(filename, "gcode"):
if filterNonAscii(filename):
self._logger.warn("Got a file from printer's SD that has a non-ascii filename (%s), that shouldn't happen according to the protocol" % filename)
else:
self._addSdFile(filename, size)
return
##~~ regular message processing
# temperature updates
if self.__class__.MESSAGE_TEMPERATURE(message):
self._process_temperatures(message)
if not self.__class__.MESSAGE_OK(message):
self._heatupDetected()
# sd state
elif self.__class__.MESSAGE_SD_INIT_OK(message):
self._changeSdState(True)
elif self.__class__.MESSAGE_SD_INIT_FAIL(message):
self._changeSdState(False)
# sd progress
elif self.__class__.MESSAGE_SD_PRINTING_BYTE(message):
match = self.__class__.REGEX_SD_PRINTING_BYTE.search(message)
if isinstance(self._current_file, PrintingSdFileInformation):
self._current_file.setFilepos(int(match.group(1)))
self._reportProgress()
elif self.__class__.MESSAGE_SD_DONE_PRINTING(message):
if isinstance(self._current_file, PrintingSdFileInformation):
self._current_file.setFilepos(0)
self._changeState(State.OPERATIONAL)
self._finishPrintjob()
# sd file list
elif self.__class__.MESSAGE_SD_BEGIN_FILE_LIST(message):
self._resetSdFiles()
self._receivingSdFileList = True
elif self.__class__.MESSAGE_SD_END_FILE_LIST(message):
self._receivingSdFileList = False
self._sendSdFiles()
# sd file selection
elif self.__class__.MESSAGE_SD_FILE_OPENED(message):
match = self.__class__.REGEX_FILE_OPENED.search(message)
self._selectFile(PrintingSdFileInformation(match.group(1), int(match.group(2))))
# sd file streaming
elif self.__class__.MESSAGE_SD_BEGIN_WRITING(message):
self._changeState(State.STREAMING)
elif self.__class__.MESSAGE_SD_END_WRITING(message):
self.refresh_sd_files()
# firmware specific messages
if not self._evaluate_firmware_specific_messages(source, message):
return
if not self.is_streaming():
if time.time() > self._lastTemperatureUpdate + self._temperature_interval:
self._send_temperature_query(with_type=True)
elif self.is_sd_printing() and time.time() > self._lastSdProgressUpdate + self._sdstatus_interval:
self._send_sd_progress_query(with_type=True)
def onTimeoutReceived(self, source):
if self._transport != source:
return
# allow sending to restart communication
if self._state != State.OFFLINE:
if self._clear_for_send.blocked():
self._clear_for_send.set()
def _stateChanged(self, newState):
if ((self._state == State.PRINTING and not isinstance(self._current_file, PrintingSdFileInformation))
or self._state == State.STREAMING):
self._fill_queue_state_signal.set()
else:
self._fill_queue_state_signal.clear()
##~~ private
def _process_acknowledgement(self):
with self._send_lock:
if len(self._sent_lines) > 0:
entry = self._sent_lines.popleft()
# process command as acknowledged
self._process_command(entry.command, "acknowledged", with_line_number=entry.line_number)
if entry.command is not None:
if entry.command.progress is not None:
# if we got a progress, report it
self._reportProgress(**entry.command.progress)
if entry.command.callback is not None:
# if we got a callback, call it
entry.command.callback(entry.command)
if len(self._sent_lines) > 0:
# let's take a look at the next item in the nack queue, it might be a special entry demanding some action
# from us now
following_entry = self._sent_lines[0]
if isinstance(following_entry, SpecialCommandQueueEntry):
if following_entry.type == SpecialCommandQueueEntry.TYPE_JOBDONE:
# we got a special queue item that marks that we just acknowledged the last command of
# an ongoing print job, so let's signal that now
if self.is_streaming():
self._finishFileTransfer()
else:
self._finishPrintjob()
# let's remove the special command, we should have processed it now...
self._sent_lines.popleft()
else:
self._logger.warn("Ooops, got an ok but had no unacknowledged command O.o")
# since we just got an acknowledgement, no more resends are pending
self._last_resend_number = None
self._current_resend_count = 0
self._sent_before_resend = 0
def _evaluate_firmware_specific_messages(self, source, message):
return True
def _send(self, command, high_priority=False, command_type=None, with_progress=None):
if command is None:
return
if isinstance(command, CommandQueueEntry):
entry = command
if entry.command is not None:
entry.command.progress = with_progress
else:
if not isinstance(command, GcodeCommand):
command = GcodeCommand.from_line(command)
command.progress = with_progress
command, with_line_number = self._process_command(command, "queued")
if command is None:
return
entry = CommandQueueEntry(
CommandQueueEntry.PRIORITY_HIGH if high_priority else CommandQueueEntry.PRIORITY_NORMAL,
command,
line_number=with_line_number,
command_type=command_type
)
try:
self._send_queue.put(entry)
except TypeAlreadyInQueue:
pass
# Called only from worker thread, not thread safe
def _send_next(self):
try:
command = self._current_file.getNext()
except ValueError:
# TODO _current_file might already be closed since the print ended asynchronously between our callee and here, causing a ValueError => find some nicer way to handle this
return None
if command is None:
command = SpecialCommandQueueEntry(SpecialCommandQueueEntry.TYPE_JOBDONE)
self._send(command, with_progress=dict(completion=self._getPrintCompletion(), filepos=self._getPrintFilepos()))
def _send_temperature_query(self, with_high_priority=False, with_type=False):
self._send(self.__class__.COMMAND_GET_TEMP(), high_priority=with_high_priority, command_type=self.__class__.COMMAND_TYPE_TEMPERATURE if with_type else None)
self._lastTemperatureUpdate = time.time()
def _send_sd_progress_query(self, with_high_priority=False, with_type=False):
self._send(self.__class__.COMMAND_SD_STATUS(), high_priority=with_high_priority, command_type=self.__class__.COMMAND_TYPE_SD_PROGRESS if with_type else None)
self._lastSdProgressUpdate = time.time()
def _handle_errors(self, line):
if self.__class__.MESSAGE_ERROR(line):
if self.__class__.MESSAGE_ERROR_MULTILINE(line):
error = self._transport.receive()
else:
error = self.__class__.TRANSFORM_ERROR(line)
# skip the communication errors as those get corrected via resend requests
if self.__class__.MESSAGE_ERROR_COMMUNICATION(error):
self._last_comm_error = error
pass
# handle the error
elif not self._state == State.ERROR:
self.onError(error)
return line
def _parse_temperatures(self, line):
result = {}
maxToolNum = 0
for match in re.finditer(self.__class__.REGEX_TEMPERATURE, line):
tool = match.group(1)
toolNumber = int(match.group(2)) if match.group(2) and len(match.group(2)) > 0 else None
if toolNumber > maxToolNum:
maxToolNum = toolNumber
try:
actual = float(match.group(3))
target = None
if match.group(4) and match.group(5):
target = float(match.group(5))
result[tool] = (toolNumber, actual, target)
except ValueError:
# catch conversion issues, we'll rather just not get the temperature update instead of killing the connection
pass
if "T0" in result.keys() and "T" in result.keys():
del result["T"]
return maxToolNum, result
def _process_temperatures(self, line):
maxToolNum, parsedTemps = self._parse_temperatures(line)
import copy
result = copy.deepcopy(self._current_temperature)
# extruder temperatures
if not "T0" in parsedTemps.keys() and not "T1" in parsedTemps.keys() and "T" in parsedTemps.keys():
# no T1 so only single reporting, "T" is our one and only extruder temperature
toolNum, actual, target = parsedTemps["T"]
if target is not None:
result["tool0"] = (actual, target)
elif "tool0" in result and result["tool0"] is not None and isinstance(result["tool0"], tuple):
(oldActual, oldTarget) = result["tool0"]
result["tool0"] = (actual, oldTarget)
else:
result["tool0"] = (actual, None)
elif not "T0" in parsedTemps.keys() and "T" in parsedTemps.keys():
# Smoothieware sends multi extruder temperature data this way: "T:<first extruder> T1:<second extruder> ..." and therefore needs some special treatment...
# TODO: Move to Smoothieware sub class?
_, actual, target = parsedTemps["T"]
del parsedTemps["T"]
parsedTemps["T0"] = (0, actual, target)
if "T0" in parsedTemps.keys():
for n in range(maxToolNum + 1):
tool = "T%d" % n
if not tool in parsedTemps.keys():
continue
toolNum, actual, target = parsedTemps[tool]
key = "tool%d" % toolNum
if target is not None:
result[key] = (actual, target)
elif key in result and result[key] is not None and isinstance(result[key], tuple):
(oldActual, oldTarget) = result[key]
result[key] = (actual, oldTarget)
else:
result[key] = (actual, None)
# bed temperature
if "B" in parsedTemps.keys():
toolNum, actual, target = parsedTemps["B"]
if target is not None:
result["bed"] = (actual, target)
elif "bed" in result and result["bed"] is not None and isinstance(result["bed"], tuple):
(oldActual, oldTarget) = result["bed"]
result["bed"] = (actual, oldTarget)
else:
result["bed"] = (actual, None)
self._updateTemperature(result)
def _handle_resend_request(self, message):
line_to_resend = None
try:
line_to_resend = int(message.replace("N:", " ").replace("N", " ").replace(":", " ").split()[-1])
except:
if "rs" in message:
line_to_resend = int(message.split()[1])
last_comm_error = self._last_comm_error
self._last_comm_error = None
if line_to_resend is not None:
with self._send_lock:
if len(self._sent_lines) > 0:
nack_entry = self._sent_lines[0]
if last_comm_error is not None and \
self.__class__.MESSAGE_ERROR_COMMUNICATION_LINENUMBER(last_comm_error) \
and line_to_resend == self._last_resend_number \
and self._current_resend_count < self._sent_before_resend:
# this resend is a complaint about the wrong line_number, we already resent the requested
# one and didn't see more resend requests for those yet than we had additional lines in the sent
# buffer back then, so this is probably caused by leftovers in the printer's receive buffer
# (that got sent after the firmware cleared the receive buffer but before we'd fully processed
# the old resend request), we'll therefore just increment our counter and ignore this
self._current_resend_count += 1
return
else:
# this is either a resend request for a new line_number, or a resend request not caused by a
# line number mismatch, or we now saw more consecutive requests for that line number than there
# were additional lines in the nack buffer when we saw the first one, so we'll have to handle it
self._last_resend_number = line_to_resend
self._current_resend_count = 0
self._sent_before_resend = len(self._sent_lines) - 1
if nack_entry.line_number is not None and nack_entry.line_number == line_to_resend:
try:
while True:
entry = self._sent_lines.popleft()
entry.priority = CommandQueueEntry.PRIORITY_RESEND
try:
self._send_queue.put(entry)
except TypeAlreadyInQueue:
pass
except IndexError:
# that's ok, the nack lines are just empty
pass
return
elif line_to_resend < nack_entry.line_number:
# we'll ignore that resend request since that line was already acknowledged in the past
return
# if we've reached this point, we could not resend the requested line
error = "Printer requested line %d but no sufficient history is available, can't resend" % line_to_resend
self._logger.warn(error)
if self.is_printing():
# abort the print, there's nothing we can do to rescue it now
self.onError(error)
# reset line number local and remote
self._current_line = 1
self._sent_lines.clear()
self._send(self.__class__.COMMAND_SET_LINE(0))
##~~ handle queue filling in this thread when printing or streaming
def _fill_send_queue(self):
while self._fill_queue_processing:
with self._fill_queue_mutex:
self._fill_queue_state_signal.wait(0.1)
if not ((self._state == State.PRINTING and not isinstance(self._current_file, PrintingSdFileInformation))
or self._state == State.STREAMING):
continue
if self._fill_queue_semaphore.acquire(0.5):
self._send_next()
##~~ the actual send queue handling starts here
def _handle_send_queue(self):
while self._send_queue_processing:
if self._send_queue.qsize() == 0:
# queue is empty, wait a bit before checking again
if ((self._state == State.PRINTING and not isinstance(self._current_file, PrintingSdFileInformation))
or self._state == State.STREAMING):
self._logger.warn("Buffer under run while printing!")
time.sleep(0.1)
continue
if self._blocking_command_active:
# blocking command is active, no use to send anything to the printer right now
time.sleep(0.1)
continue
try:
with self._send_lock:
with self._send_queue.clearlock:
sent = self._send_from_queue()
except SendTimeout:
# we just got a send timeout, so we'll just try again on the next loop iteration
continue
if not sent or self._rx_cache_size <= 0:
# decrease the clear_for_send counter
self._clear_for_send.clear()
self._clear_for_send.wait()
def _send_from_queue(self):
item, entry = self._send_queue.peek()
if item is None:
if ((self._state == State.PRINTING and not isinstance(self._current_file, PrintingSdFileInformation))
or self._state == State.STREAMING):
self._logger.warn("Buffer under run while printing!")
return False
if not self._startSeen:
return False
if isinstance(item, SpecialCommandQueueEntry):
self._sent_lines.append(item)
else:
if item.prepared is None:
prepared, line_number = self._prepare_for_sending(item.command, with_line_number=item.line_number)
item.prepared = prepared
item.line_number = line_number
if item.prepared is not None:
# only actually send the command if it wasn't filtered out by preprocessing
current_size = sum(self._sent_lines)
new_size = current_size + item.size
if new_size > self._rx_cache_size > 0 and not (current_size == 0):
# Do not send if the left over space in the buffer is too small for this line. Exception: the buffer is empty
# and the line still doesn't fit
return False
# send the command - we might get a SendTimeout here which is supposed to bubble up since it's caught in the
# actual send loop
self._transport.send(item.prepared)
# add the queue item into the deque of commands not yet acknowledged
self._sent_lines.append(item)
self._process_command(item.command, "sent", with_line_number=item.line_number)
else:
self._logger.debug("Dropping command which was disabled through preprocessing: %s" % item.command)
# remove from send queue
try:
self._fill_queue_semaphore.release()
except ValueError:
# that's ok, the bounded semaphore complains that we just released more often than we acquired, but
# we do this explicitly an just use the bounded semaphore to guarantee an upper bound on the
# items added to the send queue by the fill thread
pass
self._send_queue.remove(entry)
return True
##~~ preprocessing of command in the three phases "queued", "sent" and "acknowledged"
def _process_command(self, command, phase, with_line_number=None):
if command is None:
return None, None, None
if not phase in ("queued", "sending", "sent", "acknowledged"):
return None
#handle our hooks, if any
for hook in self._gcode_hooks[phase]:
command, with_line_number = hook(self, command, with_line_number)
if phase in self._preprocessors and command is not None and command.command in self._preprocessors[phase]:
command, with_line_number = self._preprocessors[phase][command.command](command, with_line_number)
# blocking command?
if command is not None and command.command in self.__class__.BLOCKING_COMMANDS:
if phase == "sent":
self._logger.info("Waiting for a blocking command to finish: %s" % command.command)
self._blocking_command_active = True
elif phase == "acknowledged":
self._logger.info("Blocking command finished: %s" % command.command)
self._blocking_command_active = False
return command, with_line_number
def _prepare_for_sending(self, command, with_line_number=None):
command, with_line_number = self._process_command(command, "sending", with_line_number=with_line_number)
if command is None or command.unknown:
return None, None
if self._force_checksum:
if with_line_number is not None:
line_number = with_line_number
else:
line_number = self._current_line
command_to_send = "N%d %s" % (line_number, str(command))
checksum = reduce(lambda x, y: x ^ y, map(ord, command_to_send))
if with_line_number is None:
self._current_line += 1
return "%s*%d" % (command_to_send, checksum), line_number
else:
return str(command), None
##~~ specific command actions
def _gcode_T_acknowledged(self, command, with_line_number):
self._current_extruder = command.tool
return command, with_line_number
def _gcode_G0_acknowledged(self, command, with_line_number):
if command.z is not None:
z = command.z
self._reportZChange(z)
return command, with_line_number
_gcode_G1_acknowledged = _gcode_G0_acknowledged
def _gcode_M0_queued(self, command, with_line_number):
self.pause_print()
# Don't send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
return None, with_line_number
_gcode_M1_queued = _gcode_M0_queued
def _gcode_M104_sent(self, command, with_line_number):
key = "tool%d" % command.t if command.t is not None else self._current_extruder
self._handle_temperature_code(command, key)
return command, with_line_number
_gcode_M109_sent = _gcode_M104_sent
def _gcode_M140_sent(self, command, with_line_number):
key = "bed"
self._handle_temperature_code(command, key)
return command, with_line_number
_gcode_M190_sent = _gcode_M140_sent
def _handle_temperature_code(self, command, key):
if command.s is not None:
target = command.s
if key in self._current_temperature and self._current_temperature[key] is not None and isinstance(self._current_temperature[key], tuple):
actual, old_target = self._current_temperature[key]
self._current_temperature[key] = (actual, target)
else:
self._current_temperature[key] = (None, target)
def _gcode_M110_sending(self, command, with_line_number):
if command.n is not None:
new_line_number = command.n
else:
new_line_number = 0
self._current_line = new_line_number + 1
# send M110 command with new line number
return command, new_line_number
def _gcode_M112_queued(self, command, with_line_number): # It's an emergency what todo? Canceling the print should be the minimum
self.cancel_print()
return command, with_line_number