def get_backup_dev(): USB_DEVS = [ USB(usb) for usb in set([ x for x in sys("for devlink in /dev/disk/by-id/usb*; do readlink -f ${devlink}; done" ).split('\n') if len(x) > 0 ]) if not '*' in usb and USB(usb).data ] print USB_DEVS if len(USB_DEVS) > 0: log('Usbs found ' + str(USB_DEVS)) for usb in USB_DEVS: for _, _, files in walk(usb.data.target): if 'backup_dev.rip' in files: with open(path.join(usb.data.target, 'backup_dev.rip')) as f: name = f.read().strip('\n ') yield usb, name else: raise AssertionError('No USB devices found.')
def __init__(self): firmware_version = "1.1.8~Raw Deal" logging.info("Redeem initializing " + firmware_version) printer = Printer() self.printer = printer Path.printer = printer printer.firmware_version = firmware_version # check for config files if not os.path.exists("/etc/redeem/default.cfg"): logging.error( "/etc/redeem/default.cfg does not exist, this file is required for operation" ) sys.exit() # maybe use something more graceful? if not os.path.exists("/etc/redeem/local.cfg"): logging.info("/etc/redeem/local.cfg does not exist, Creating one") os.mknod("/etc/redeem/local.cfg") # Parse the config files. printer.config = CascadingConfigParser([ '/etc/redeem/default.cfg', '/etc/redeem/printer.cfg', '/etc/redeem/local.cfg' ]) # Get the revision and loglevel from the Config file level = self.printer.config.getint('System', 'loglevel') if level > 0: logging.getLogger().setLevel(level) # Set up additional logging, if present: if self.printer.config.getboolean('System', 'log_to_file'): logfile = self.printer.config.get('System', 'logfile') formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s' printer.redeem_logging_handler = logging.handlers.RotatingFileHandler( logfile, maxBytes=2 * 1024 * 1024) printer.redeem_logging_handler.setFormatter( logging.Formatter(formatter)) printer.redeem_logging_handler.setLevel(level) logging.getLogger().addHandler(printer.redeem_logging_handler) logging.info("-- Logfile configured --") # Find out which capes are connected self.printer.config.parse_capes() self.revision = self.printer.config.replicape_revision if self.revision: logging.info("Found Replicape rev. " + self.revision) else: logging.warning("Oh no! No Replicape present!") self.revision = "00B3" # We set it to 5 axis by default Path.NUM_AXES = 5 if self.printer.config.reach_revision: logging.info("Found Reach rev. " + self.printer.config.reach_revision) if self.printer.config.reach_revision == "00A0": Path.NUM_AXES = 8 elif self.printer.config.reach_revision == "00B0": Path.NUM_AXES = 7 if self.revision in ["00A4", "0A4A", "00A3"]: PWM.set_frequency(100) elif self.revision in ["00B1", "00B2", "00B3"]: PWM.set_frequency(1000) # Test the alarm framework Alarm.printer = self.printer Alarm.executor = AlarmExecutor() alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational") # Init the Watchdog timer printer.watchdog = Watchdog() # Enable PWM and steppers printer.enable = Enable("P9_41") printer.enable.set_disabled() # Init the Paths Path.axis_config = printer.config.getint('Geometry', 'axis_config') # Init the end stops EndStop.inputdev = self.printer.config.get("Endstops", "inputdev") # Set up key listener Key_pin.listener = Key_pin_listener(EndStop.inputdev) for es in ["Z2", "Y2", "X2", "Z1", "Y1", "X1"]: # Order matches end stop inversion mask in Firmware pin = self.printer.config.get("Endstops", "pin_" + es) keycode = self.printer.config.getint("Endstops", "keycode_" + es) invert = self.printer.config.getboolean("Endstops", "invert_" + es) self.printer.end_stops[es] = EndStop(printer, pin, keycode, es, invert) self.printer.end_stops[es].stops = self.printer.config.get( 'Endstops', 'end_stop_' + es + '_stops') # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) if self.revision == "00A3": printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X") printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y") printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z") printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "E") printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "H") elif self.revision == "00B1": printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X") printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y") printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z") printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E") printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H") elif self.revision == "00B2": printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X") printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y") printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z") printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E") printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H") elif self.revision == "00B3": printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90, 11, 0, "X") printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91, 12, 1, "Y") printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92, 13, 2, "Z") printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93, 14, 3, "E") printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94, 15, 4, "H") elif self.revision in ["00A4", "0A4A"]: printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, 0, "X") printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, 1, "Y") printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z") printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, 3, "E") printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, 4, "H") # Init Reach steppers, if present. if printer.config.reach_revision == "00A0": printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18", "GPIO0_14", 5, 5, "A") printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5", "GPIO0_14", 6, 6, "B") printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19", "GPIO0_14", 7, 7, "C") elif printer.config.reach_revision == "00B0": printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5", "GPIO0_3", 5, 5, "A") printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14", "GPIO0_3", 6, 6, "B") # Enable the steppers and set the current, steps pr mm and # microstepping for name, stepper in self.printer.steppers.iteritems(): stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name) stepper.direction = printer.config.getint('Steppers', 'direction_' + name) stepper.has_endstop = printer.config.getboolean( 'Endstops', 'has_' + name) stepper.set_current_value( printer.config.getfloat('Steppers', 'current_' + name)) stepper.set_steps_pr_mm( printer.config.getfloat('Steppers', 'steps_pr_mm_' + name)) stepper.set_microstepping( printer.config.getint('Steppers', 'microstepping_' + name)) stepper.set_decay( printer.config.getint("Steppers", "slow_decay_" + name)) # Add soft end stops Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat( 'Endstops', 'soft_end_stop_min_' + name) Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat( 'Endstops', 'soft_end_stop_max_' + name) slave = printer.config.get('Steppers', 'slave_' + name) if slave: Path.add_slave(name, slave) logging.debug("Axis " + name + " has slave " + slave) # Commit changes for the Steppers #Stepper.commit() Stepper.printer = printer # Delta printer setup if Path.axis_config == Path.AXIS_CONFIG_DELTA: opts = [ "Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ] for opt in opts: Delta.__dict__[opt] = printer.config.getfloat('Delta', opt) Delta.recalculate() # Discover and add all DS18B20 cold ends. import glob paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave") logging.debug("Found cold ends: " + str(paths)) for i, path in enumerate(paths): self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i))) logging.info("Found Cold end " + str(i) + " on " + path) # Make Mosfets, thermistors and extruders heaters = ["E", "H", "HBP"] if self.printer.config.reach_revision: heaters.extend(["A", "B", "C"]) for e in heaters: # Mosfets channel = self.printer.config.getint("Heaters", "mosfet_" + e) self.printer.mosfets[e] = Mosfet(channel) # Thermistors adc = self.printer.config.get("Heaters", "path_adc_" + e) chart = self.printer.config.get("Heaters", "temp_chart_" + e) resistance = self.printer.config.getfloat("Heaters", "resistance_" + e) self.printer.thermistors[e] = Thermistor(adc, "MOSFET " + e, chart, resistance) self.printer.thermistors[e].printer = printer # Extruders onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e) prefix = self.printer.config.get('Heaters', 'prefix_' + e) if e != "HBP": self.printer.heaters[e] = Extruder(self.printer.steppers[e], self.printer.thermistors[e], self.printer.mosfets[e], e, onoff) else: self.printer.heaters[e] = HBP(self.printer.thermistors[e], self.printer.mosfets[e], onoff) self.printer.heaters[e].prefix = prefix self.printer.heaters[e].P = self.printer.config.getfloat( 'Heaters', 'pid_p_' + e) self.printer.heaters[e].I = self.printer.config.getfloat( 'Heaters', 'pid_i_' + e) self.printer.heaters[e].D = self.printer.config.getfloat( 'Heaters', 'pid_d_' + e) # Min/max settings self.printer.heaters[e].min_temp = self.printer.config.getfloat( 'Heaters', 'min_temp_' + e) self.printer.heaters[e].max_temp = self.printer.config.getfloat( 'Heaters', 'max_temp_' + e) self.printer.heaters[ e].max_temp_rise = self.printer.config.getfloat( 'Heaters', 'max_rise_temp_' + e) self.printer.heaters[ e].max_temp_fall = self.printer.config.getfloat( 'Heaters', 'max_fall_temp_' + e) # Init the three fans. Argument is PWM channel number self.printer.fans = [] if self.revision == "00A3": self.printer.fans.append(Fan(0)) self.printer.fans.append(Fan(1)) self.printer.fans.append(Fan(2)) elif self.revision == "0A4A": self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) elif self.revision in ["00B1", "00B2", "00B3"]: self.printer.fans.append(Fan(7)) self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) if printer.config.reach_revision == "00A0": self.printer.fans.append(Fan(14)) self.printer.fans.append(Fan(15)) self.printer.fans.append(Fan(7)) # Disable all fans for f in self.printer.fans: f.set_value(0) # Init the servos printer.servos = [] servo_nr = 0 while (printer.config.has_option("Servos", "servo_" + str(servo_nr) + "_enable")): if printer.config.getboolean("Servos", "servo_" + str(servo_nr) + "_enable"): channel = printer.config.get( "Servos", "servo_" + str(servo_nr) + "_channel") pulse_min = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_pulse_min") pulse_max = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_pulse_max") angle_min = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_min") angle_max = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_max") angle_init = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_init") s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max, angle_init) printer.servos.append(s) logging.info("Added servo " + str(servo_nr)) servo_nr += 1 # Connect thermitors to fans for t, therm in self.printer.heaters.iteritems(): for f, fan in enumerate(self.printer.fans): if not self.printer.config.has_option( 'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)): continue if printer.config.getboolean( 'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)): c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), True) # Use ON/OFF on these. c.ok_range = 4 opt_temp = "therm-{}-fan-{}-target_temp".format(t, f) if printer.config.has_option('Cold-ends', opt_temp): target_temp = printer.config.getfloat( 'Cold-ends', opt_temp) else: target_temp = 60 c.set_target_temperature(target_temp) c.enable() printer.coolers.append(c) logging.info("Cooler connects therm {} with fan {}".format( t, f)) # Connect fans to M106 printer.controlled_fans = [] for i, fan in enumerate(self.printer.fans): if not self.printer.config.has_option( 'Cold-ends', "add-fan-{}-to-M106".format(i)): continue if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)): printer.controlled_fans.append(self.printer.fans[i]) logging.info("Added fan {} to M106/M107".format(i)) # Connect the colds to fans for ce, cold_end in enumerate(self.printer.cold_ends): for f, fan in enumerate(self.printer.fans): option = "connect-ds18b20-{}-fan-{}".format(ce, f) if self.printer.config.has_option('Cold-ends', option): if self.printer.config.getboolean('Cold-ends', option): c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False) c.ok_range = 4 opt_temp = "cooler_{}_target_temp".format(ce) if printer.config.has_option('Cold-ends', opt_temp): target_temp = printer.config.getfloat( 'Cold-ends', opt_temp) else: target_temp = 60 c.set_target_temperature(target_temp) c.enable() printer.coolers.append(c) logging.info( "Cooler connects temp sensor ds18b20 {} with fan {}" .format(ce, f)) # Init roatray encs. printer.filament_sensors = [] # Init rotary encoders printer.rotary_encoders = [] for ex in ["E", "H", "A", "B", "C"]: if not printer.config.has_option('Rotary-encoders', "enable-{}".format(ex)): continue if printer.config.getboolean("Rotary-encoders", "enable-{}".format(ex)): logging.debug("Rotary encoder {} enabled".format(ex)) event = printer.config.get("Rotary-encoders", "event-{}".format(ex)) cpr = printer.config.getint("Rotary-encoders", "cpr-{}".format(ex)) diameter = printer.config.getfloat("Rotary-encoders", "diameter-{}".format(ex)) r = RotaryEncoder(event, cpr, diameter) printer.rotary_encoders.append(r) # Append as Filament Sensor ext_nr = Path.axis_to_index(ex) - 3 sensor = FilamentSensor(ex, r, ext_nr, printer) alarm_level = printer.config.getfloat( "Filament-sensors", "alarm-level-{}".format(ex)) logging.debug("Alarm level" + str(alarm_level)) sensor.alarm_level = alarm_level printer.filament_sensors.append(sensor) # Make a queue of commands self.printer.commands = JoinableQueue(10) # Make a queue of commands that should not be buffered self.printer.sync_commands = JoinableQueue() self.printer.unbuffered_commands = JoinableQueue(10) # Bed compensation matrix Path.matrix_bed_comp = printer.load_bed_compensation_matrix() Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp) logging.debug("Loaded bed compensation matrix: \n" + str(Path.matrix_bed_comp)) for axis in printer.steppers.keys(): i = Path.axis_to_index(axis) Path.max_speeds[i] = printer.config.getfloat( 'Planner', 'max_speed_' + axis.lower()) Path.min_speeds[i] = printer.config.getfloat( 'Planner', 'min_speed_' + axis.lower()) Path.jerks[i] = printer.config.getfloat('Planner', 'max_jerk_' + axis.lower()) Path.home_speed[i] = printer.config.getfloat( 'Homing', 'home_speed_' + axis.lower()) Path.home_backoff_speed[i] = printer.config.getfloat( 'Homing', 'home_backoff_speed_' + axis.lower()) Path.home_backoff_offset[i] = printer.config.getfloat( 'Homing', 'home_backoff_offset_' + axis.lower()) Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter( ) Path.backlash_compensation[i] = printer.config.getfloat( 'Steppers', 'backlash_' + axis.lower()) dirname = os.path.dirname(os.path.realpath(__file__)) # Create the firmware compiler pru_firmware = PruFirmware(dirname + "/firmware/firmware_runtime.p", dirname + "/firmware/firmware_runtime.bin", dirname + "/firmware/firmware_endstops.p", dirname + "/firmware/firmware_endstops.bin", self.printer, "/usr/bin/pasm") printer.move_cache_size = printer.config.getfloat( 'Planner', 'move_cache_size') printer.print_move_buffer_wait = printer.config.getfloat( 'Planner', 'print_move_buffer_wait') printer.min_buffered_move_time = printer.config.getfloat( 'Planner', 'min_buffered_move_time') printer.max_buffered_move_time = printer.config.getfloat( 'Planner', 'max_buffered_move_time') self.printer.processor = GCodeProcessor(self.printer) self.printer.plugins = PluginsController(self.printer) # Path planner travel_default = False center_default = False home_default = False # Setting acceleration before PathPlanner init for axis in printer.steppers.keys(): Path.acceleration[Path.axis_to_index( axis)] = printer.config.getfloat( 'Planner', 'acceleration_' + axis.lower()) self.printer.path_planner = PathPlanner(self.printer, pru_firmware) for axis in printer.steppers.keys(): i = Path.axis_to_index(axis) # Sometimes soft_end_stop aren't defined to be at the exact hardware boundary. # Adding 100mm for searching buffer. if printer.config.has_option('Geometry', 'travel_' + axis.lower()): printer.path_planner.travel_length[ axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower()) else: printer.path_planner.travel_length[axis] = ( Path.soft_max[i] - Path.soft_min[i]) + .1 if axis in ['X', 'Y', 'Z']: travel_default = True if printer.config.has_option('Geometry', 'offset_' + axis.lower()): printer.path_planner.center_offset[ axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower()) else: printer.path_planner.center_offset[axis] = ( Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i]) if axis in ['X', 'Y', 'Z']: center_default = True if printer.config.has_option('Homing', 'home_' + axis.lower()): printer.path_planner.home_pos[axis] = printer.config.getfloat( 'Homing', 'home_' + axis.lower()) else: printer.path_planner.home_pos[ axis] = printer.path_planner.center_offset[axis] if axis in ['X', 'Y', 'Z']: home_default = True if Path.axis_config == Path.AXIS_CONFIG_DELTA: if travel_default: logging.warning( "Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta" ) if center_default: logging.warning( "Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta" ) if home_default: logging.warning( "Home position (home_*) set by soft limits or offset_*") logging.info("Home position will be recalculated...") # convert home_pos to effector space Az = printer.path_planner.home_pos['X'] Bz = printer.path_planner.home_pos['Y'] Cz = printer.path_planner.home_pos['Z'] z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position # The default home_pos, provided above, is based on effector space # coordinates for carriage positions. We need to transform these to # get where the effector actually is. xyz[2] += z_offset for i, a in enumerate(['X', 'Y', 'Z']): printer.path_planner.home_pos[a] = xyz[i] logging.info("Home position = %s" % str(printer.path_planner.home_pos)) # Enable Stepper timeout timeout = printer.config.getint('Steppers', 'timeout_seconds') printer.swd = StepperWatchdog(printer, timeout) if printer.config.getboolean('Steppers', 'use_timeout'): printer.swd.start() # Set up communication channels printer.comms["USB"] = USB(self.printer) printer.comms["Eth"] = Ethernet(self.printer) if Pipe.check_tty0tty() or Pipe.check_socat(): printer.comms["octoprint"] = Pipe(printer, "octoprint") printer.comms["toggle"] = Pipe(printer, "toggle") printer.comms["testing"] = Pipe(printer, "testing") printer.comms["testing_noret"] = Pipe(printer, "testing_noret") # Does not send "ok" printer.comms["testing_noret"].send_response = False else: logging.warning( "Neither tty0tty or socat is installed! No virtual tty pipes enabled" )
#!/usr/bin/env python3 import os from USB import USB from USB.Classes.HID.Keyboard import Keyboard here = os.path.dirname(os.path.abspath(__file__)) usb = USB(os.path.join(here, "data.pcap")) # For this, since we don't have a full capture, we're just going to tell the parser that this is a Keyboard. k = Keyboard(usb.pcap) print(k.keystrokes)
def main(usb=None): if not usb is None: try: assert not USB(usb).data.target == '/' and \ not USB(usb).data.target == FILEDIR except: print 'Cannot mount root directory or current file directory' exit() try: assert getegid() == 0 except: print('Needs root privs') exit(6) if not checkInstalled('cryptmount'): print('Installing cryptmount...') system('apt-get install -y cryptmount') # if not path.isdir('/etc/cryptmount/keys'): # print('Making our key directory...') # mkdir('/etc/cryptmount/keys') usbToUse = None print('Attempting to find USB to install into') if usb == None: if len(USB_LIST) > 0: if len(USB_LIST) > 1: data = [x for x in enumerate(USB_LIST)] for i, _usb in data: print(i, _usb.data) devID = raw_input('Input choice: ') try: assert devID.isdigit() devID = int(devID) except AssertionError: raise AssertionError('Input needs to be a Number!') for i, x in data: if i == devID: usbToUse = x break else: raise ValueError('Not a number') else: usbToUse = USB_LIST[0] print('Found only one USB device - Assuming device as ' + usbToUse.data.source) if not raw_input( 'Format ' + usbToUse.data.source + ' and convert to encrypted backup device? [Y/N]: ' ).lower().startswith('y'): exit() else: raise ValueError('No USB Flash drive Devices Found.') else: usbToUse = usb # Ensure we have a usb try: assert not usbToUse == None except AssertionError: AssertionError('Couldn\'t find usb to use') print('Formatting device into ext4...') raw_format(usbToUse.data.source.strip('0987654321'), 'ext4', 'BackupDev', 1000, 1000) system('sync') sleep(5) print('Remounting device') system('mount ' + usbToUse.data.source + ' ' + usbToUse.data.target + ' && sync') print('Creating filesystem...') system('dd if=/dev/zero of="%s" bs=1M count="%d"' % (path.join(usbToUse.data.target, 'crypto.fs'), getDevEstimate(usbToUse.data.source))) name = ''.join(choice(ascii_letters + digits) for _ in range(12)) print('Creating back up of cmtab at ' + path.join(usbToUse.data.target, 'cmtab.bak')) copy_file('/etc/cryptmount/cmtab', path.join(usbToUse.data.target, 'cmtab.bak')) print('Injecting generated cmtab') tmpdir = path.join( '/tmp/', ''.join(choice(ascii_letters + digits) for _ in range(12))) if not path.isdir(tmpdir): mkdir(tmpdir) system('echo "%s" > /etc/cryptmount/cmtab' % cmtab(tmpdir, path.join(usbToUse.data.target, 'crypto.fs'), name, path.join(usbToUse.data.target, name + '.key')).make()) print( 'creating crypto key, use a 12+ character for moderate security, 20+ for state security, but past 32 has no more effect than 1000 charcters' ) sleep(5) while 1: if system('cryptmount --generate-key 32 ' + name) == 0: break print('Prepare dev for cryptmount') assert system('cryptmount --prepare ' + name) == 0 print('Appending to /dev/mapper...') assert system('mke2fs -j "/dev/mapper/"' + name) == 0 print('Releasing handles...') assert system('cryptmount --release ' + name) == 0 system('sync') print('Cloning install files, and tools onto usb') for x in additional_files: copy_file(x, path.join(usbToUse.data.target, x.split('/')[::-1][0])) print('Moving backup to original Location...') move_file(path.join(usbToUse.data.target, 'cmtab.bak'), '/etc/cryptmount/cmtab', True) print('Adding unique identifier') with open(path.join(usbToUse.data.target, 'backup_dev.rip'), 'wb') as f: f.write(name) rmdir(tmpdir) print( 'Installation complete, now run\n' 'python load.py m [directory to mount to](to mount encrypted drive)\n' 'python load.py u (to umount encrypted drive)\n' 'To safely remove device, ensure encrypted filesystem is unmounted, and then run umount on the device' )
from string import ascii_letters, digits from cmtab import cmtab from utils import * from sys import argv FILEDIR = path.dirname(path.abspath(__file__)) USB_DEVS = set([ x for x in sys("for devlink in /dev/disk/by-id/usb*; do readlink -f ${devlink}; done" ).split('\n') if len(x) > 0 ]) USB_LIST = [] for x in USB_DEVS: try: usb = USB(x) if not usb.data == None and not usb.data.target == FILEDIR: USB_LIST.append(usb) except AssertionError: pass additional_files = [ path.abspath(x) for x in [ 'cmtab.py', 'load.py', 'mountutils.py', 'raw_format.py', 'scrub_hands.py', 'USB.py', 'utils.py' ] ] additional_files.append(__file__) def checkInstalled(packageName):
#!/usr/bin/python __author__ = 'nils' import numpy as np import PlotData from USB import USB if __name__ == '__main__': # Initialize the device usbDevice = USB() # Calibrate print "==> Calibrating.." #calibrateData = np.mean(np.array([usbDevice.catch_data() for i in xrange(500)]), axis=0) #print calibrateData print "==> ..ended" #usbDevice.offset_theta, usbDevice.offset_phi = calibrateData[1:3] # Plot analogData = PlotData.AnalogData(100) analogPlot = PlotData.AnalogPlot(analogData) while True: try: analogData.add(usbDevice.catch_data()) analogPlot.update(analogData) except KeyboardInterrupt:
def __init__(self): logging.info("Redeem initializing "+version) self.printer = Printer() # Parse the config self.printer.config = CascadingConfigParser(['/etc/redeem/default.cfg', '/etc/redeem/local.cfg']) # Get the revision from the Config file self.revision = self.printer.config.get('System', 'revision', "A4") logging.info("Replicape revision "+self.revision) # Init the end stops EndStop.callback = self.end_stop_hit EndStop.inputdev = self.printer.config.get("Endstops","inputdev"); if self.revision == "A4": self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop("GPIO0_4" , 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) else: self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) if self.revision == "A3": Stepper.revision = "A3" Stepper.ENABLED = 6 Stepper.SLEEP = 5 Stepper.RESET = 4 Stepper.DECAY = 0 # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0,0) self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1,1) self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2,2) self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None,3,3) self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None,4,4) # Enable the steppers and set the current, steps pr mm and microstepping for name, stepper in self.printer.steppers.iteritems(): stepper.set_current_value(self.printer.config.getfloat('Steppers', 'current_'+name)) if self.printer.config.getboolean('Steppers', 'enabled_'+name): stepper.set_enabled() else: stepper.set_disabled() stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers', 'steps_pr_mm_'+name)) stepper.set_microstepping(self.printer.config.getint('Steppers', 'microstepping_'+name)) stepper.direction = self.printer.config.getint('Steppers', 'direction_'+name) stepper.set_decay(self.printer.config.getboolean("Steppers", "slow_decay_"+name)) # Commit changes for the Steppers Stepper.commit() # Find the path of the thermistors path = "/sys/bus/iio/devices/iio:device0/in_voltage" # init the 3 thermistors therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart")) therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart")) therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart")) path = self.printer.config.get('Cold-ends', 'path', 0) if os.path.exists(path): self.printer.cold_ends.append(ColdEnd(path, "Cold End 1")) logging.info("Found Cold end on "+path) else: logging.info("No cold end present in path: "+path) # Init the 3 heaters. Argument is channel number if self.revision == "A3": mosfet_ext1 = Mosfet(3) mosfet_ext2 = Mosfet(4) mosfet_hbp = Mosfet(5) else: mosfet_ext1 = Mosfet(5) mosfet_ext2 = Mosfet(3) mosfet_hbp = Mosfet(4) # Make extruder 1 self.printer.heaters['E'] = Extruder(self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control')) self.printer.heaters['E'].set_p_value(self.printer.config.getfloat('Heaters', "ext1_pid_p")) self.printer.heaters['E'].set_d_value(self.printer.config.getfloat('Heaters', "ext1_pid_d")) self.printer.heaters['E'].set_i_value(self.printer.config.getfloat('Heaters', "ext1_pid_i")) self.printer.heaters['E'].ok_range = self.printer.config.getfloat('Heaters', "ext1_ok_range") # Make Heated Build platform self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control')) self.printer.heaters['HBP'].set_p_value(self.printer.config.getfloat('Heaters', "hbp_pid_p")) self.printer.heaters['HBP'].set_d_value(self.printer.config.getfloat('Heaters', "hbp_pid_i")) self.printer.heaters['HBP'].set_i_value(self.printer.config.getfloat('Heaters', "hbp_pid_d")) self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat('Heaters', "hbp_ok_range") # Make extruder 2. self.printer.heaters['H'] = Extruder(self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control')) self.printer.heaters['H'].set_p_value(self.printer.config.getfloat('Heaters', "ext2_pid_p")) self.printer.heaters['H'].set_d_value(self.printer.config.getfloat('Heaters', "ext2_pid_i")) self.printer.heaters['H'].set_i_value(self.printer.config.getfloat('Heaters', "ext2_pid_d")) self.printer.heaters['H'].ok_range = self.printer.config.getfloat('Heaters', "ext2_ok_range") # Init the three fans. Argument is PWM channel number self.printer.fans=[] if self.revision == "A3": self.printer.fans.append(Fan(1)) self.printer.fans.append(Fan(2)) self.printer.fans.append(Fan(0)) else: self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) Fan.set_PWM_frequency(100) for f in self.printer.fans: f.set_value(0) # Make a queue of commands self.commands = Queue.Queue(10) # Set up USB, this receives messages and pushes them on the queue self.usb = USB(self.commands) # Virtual TTY self.pipe = Pipe(self.commands) #self.pipe.set_send_reponse(False) self.ethernet = Ethernet(self.commands) # Init the path planner Path.axis_config = int(self.printer.config.get('Geometry', 'axis_config')) Path.max_speed_x = float(self.printer.config.get('Steppers', 'max_speed_x')) Path.max_speed_y = float(self.printer.config.get('Steppers', 'max_speed_y')) Path.max_speed_z = float(self.printer.config.get('Steppers', 'max_speed_z')) Path.max_speed_e = float(self.printer.config.get('Steppers', 'max_speed_e')) Path.max_speed_h = float(self.printer.config.get('Steppers', 'max_speed_h')) Path.home_speed_x = float(self.printer.config.get('Steppers', 'home_speed_x')) Path.home_speed_y = float(self.printer.config.get('Steppers', 'home_speed_y')) Path.home_speed_z = float(self.printer.config.get('Steppers', 'home_speed_z')) Path.home_speed_e = float(self.printer.config.get('Steppers', 'home_speed_e')) Path.home_speed_h = float(self.printer.config.get('Steppers', 'home_speed_h')) dirname = os.path.dirname(os.path.realpath(__file__)) # Create the firmware compiler pru_firmware = PruFirmware(dirname+"/../firmware/firmware_runtime.p",dirname+"/../firmware/firmware_runtime.bin",dirname+"/../firmware/firmware_endstops.p",dirname+"/../firmware/firmware_endstops.bin",self.revision,self.printer.config,"/usr/bin/pasm") self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware) self.printer.path_planner.set_acceleration(float(self.printer.config.get('Steppers', 'acceleration'))) travel={} offset={} for axis in ['X','Y','Z']: travel[axis] = self.printer.config.getfloat('Geometry', 'travel_'+axis.lower()) offset[axis] = self.printer.config.getfloat('Geometry', 'offset_'+axis.lower()) self.printer.path_planner.set_travel_length(travel) self.printer.path_planner.set_center_offset(offset) self.printer.processor = GCodeProcessor(self.printer); # After the firmwares are loaded, the endstop states can be updated. for k, endstop in self.printer.end_stops.iteritems(): logging.debug("Endstop "+endstop.name+" hit? : "+ str(endstop.read_value())) self.running = True # Signal everything ready logging.info("Redeem ready")
def __init__(self): # Init the IO library io.bbio_init() # Make a list of steppers self.steppers = {} # Init the 5 Stepper motors self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A? self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y") self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z") self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1") self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2") # Enable the steppers and set the current, steps pr mm and microstepping self.steppers["X"].setCurrentValue(1.0) # 2A self.steppers["X"].setEnabled() self.steppers["X"].set_steps_pr_mm(6.105) self.steppers["X"].set_microstepping(2) self.steppers["Y"].setCurrentValue(1.0) # 2A self.steppers["Y"].setEnabled() self.steppers["Y"].set_steps_pr_mm(5.95) self.steppers["Y"].set_microstepping(2) self.steppers["Z"].setCurrentValue(1.0) # 2A self.steppers["Z"].setEnabled() self.steppers["Z"].set_steps_pr_mm(155) self.steppers["Z"].set_microstepping(2) self.steppers["E"].setCurrentValue(1.0) # 2A self.steppers["E"].setEnabled() self.steppers["E"].set_steps_pr_mm(5.0) self.steppers["E"].set_microstepping(2) # init the 3 thermistors self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD") self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F") # init the 3 heaters self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1 self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1 self.mosfet_ext2 = Mosfet(io.PWM2A) # # Make extruder 1 self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1) self.ext1.setPvalue(0.5) self.ext1.setDvalue(0.1) self.ext1.setIvalue(0.001) # Make Heated Build platform self.hbp = HBP( self.therm_hbp, self.mosfet_hbp) # Init the three fans self.fan_1 = Fan(1) self.fan_2 = Fan(2) self.fan_3 = Fan(3) self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 } # Make a queue of commands self.commands = Queue.Queue() # Set up USB, this receives messages and pushes them on the queue self.usb = USB(self.commands) # Get all options self.options = Options() # Init the path planner self.movement = "RELATIVE" self.feed_rate = 3000.0 self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0} self.acceleration = 300.0/1000.0 self.path_planner = Path_planner(self.steppers, self.current_pos) self.path_planner.set_acceleration(self.acceleration) logging.debug("Debug prints to console")
class Replicape: ''' Init ''' def __init__(self): # Init the IO library io.bbio_init() # Make a list of steppers self.steppers = {} # Init the 5 Stepper motors self.steppers["X"] = SMD(io.GPIO1_12, io.GPIO1_13, io.GPIO2_4, 5, "X") # Fault_x should be PWM2A? self.steppers["Y"] = SMD(io.GPIO1_31, io.GPIO1_30, io.GPIO1_15, 1, "Y") self.steppers["Z"] = SMD(io.GPIO1_1, io.GPIO1_2, io.GPIO0_27, 2, "Z") self.steppers["E2"] = SMD(io.GPIO3_21, io.GPIO1_7, io.GPIO2_1, 3, "Ext1") self.steppers["E"] = SMD(io.GPIO1_14, io.GPIO1_6, io.GPIO2_3, 4, "Ext2") # Enable the steppers and set the current, steps pr mm and microstepping self.steppers["X"].setCurrentValue(1.0) # 2A self.steppers["X"].setEnabled() self.steppers["X"].set_steps_pr_mm(6.105) self.steppers["X"].set_microstepping(2) self.steppers["Y"].setCurrentValue(1.0) # 2A self.steppers["Y"].setEnabled() self.steppers["Y"].set_steps_pr_mm(5.95) self.steppers["Y"].set_microstepping(2) self.steppers["Z"].setCurrentValue(1.0) # 2A self.steppers["Z"].setEnabled() self.steppers["Z"].set_steps_pr_mm(155) self.steppers["Z"].set_microstepping(2) self.steppers["E"].setCurrentValue(1.0) # 2A self.steppers["E"].setEnabled() self.steppers["E"].set_steps_pr_mm(5.0) self.steppers["E"].set_microstepping(2) # init the 3 thermistors self.therm_ext1 = Thermistor(io.AIN4, "Ext_1", chart_name="QU-BD") self.therm_hbp = Thermistor(io.AIN6, "HBP", chart_name="B57560G104F") # init the 3 heaters self.mosfet_ext1 = Mosfet(io.PWM2B) # PWM2B on rev1 self.mosfet_hbp = Mosfet(io.PWM0C) # PWM0C on rev1 self.mosfet_ext2 = Mosfet(io.PWM2A) # # Make extruder 1 self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1) self.ext1.setPvalue(0.5) self.ext1.setDvalue(0.1) self.ext1.setIvalue(0.001) # Make Heated Build platform self.hbp = HBP( self.therm_hbp, self.mosfet_hbp) # Init the three fans self.fan_1 = Fan(1) self.fan_2 = Fan(2) self.fan_3 = Fan(3) self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 } # Make a queue of commands self.commands = Queue.Queue() # Set up USB, this receives messages and pushes them on the queue self.usb = USB(self.commands) # Get all options self.options = Options() # Init the path planner self.movement = "RELATIVE" self.feed_rate = 3000.0 self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0} self.acceleration = 300.0/1000.0 self.path_planner = Path_planner(self.steppers, self.current_pos) self.path_planner.set_acceleration(self.acceleration) logging.debug("Debug prints to console") ''' When a new gcode comes in, excute it ''' def loop(self): try: while True: gcode = Gcode(self.commands.get(), self) self._execute(gcode) self.usb.send_message(gcode.getAnswer()) self.commands.task_done() except KeyboardInterrupt: print "Caught signal, exiting" return finally: self.ext1.disable() self.hbp.disable() self.usb.close() self.path_planner.exit() logging.debug("Done") ''' Execute a G-code ''' def _execute(self, g): if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000) if g.hasLetter("F"): # Get the feed rate feed_rate = float(g.getValueByLetter("F")) g.removeTokenByLetter("F") else: # If no feed rate is set in the command, use the default. feed_rate = self.feed_rate smds = {} # All steppers for i in range(g.numTokens()): # Run through all tokens axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector path = Path(smds, feed_rate, self.movement) # Make a path segment from the axes self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity elif g.code() == "G21": # Set units to mm self.factor = 1.0 elif g.code() == "G28": # Home the steppers if g.numTokens() == 0: # If no token is given, home all g.setTokens(["X0", "Y0", "Z0"]) smds = {} # All steppers for i in range(g.numTokens()): # Run through all tokens axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector path = Path(smds, self.feed_rate, "ABSOLUTE") # Make a path segment from the axes self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity elif g.code() == "G29": print self.current_pos elif g.code() == "G90": # Absolute positioning self.movement = "ABSOLUTE" elif g.code() == "G91": # Relative positioning self.movement = "RELATIVE" elif g.code() == "G92": # Set the current position of the following steppers if g.numTokens() == 0: g.setTokens(["X0", "Y0", "Z0", "E0"]) # If no token is present, do this for all for i in range(g.numTokens()): axis = g.tokenLetter(i) val = float(g.tokenValue(i)) self.path_planner.set_pos(axis, val) elif g.code() == "M17": # Enable all steppers for name, stepper in self.steppers.iteritems(): stepper.setEnabled() elif g.code() == "M30": # Set microstepping (Propietary to Replicape) for i in range(g.numTokens()): self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i))) elif g.code() == "M84": # Disable all steppers self.path_planner.wait_until_done() for name, stepper in self.steppers.iteritems(): stepper.setDisabled() elif g.code() == "M101": # Deprecated pass elif g.code() == "M103": # Deprecated pass elif g.code() == "M104": # Set extruder temperature self.ext1.setTargetTemperature(float(g.tokenValue(0))) elif g.code() == "M105": # Get Temperature answer = "ok T:"+str(self.ext1.getTemperature()) answer += " B:"+str(int(self.hbp.getTemperature())) g.setAnswer(answer) elif g.code() == "M106": # Fan on if g.hasLetter("P"): fan = self.fans[int(g.getValueByLetter("P"))] fan.setPWMFrequency(100) fan.setValue(float(g.getValueByLetter("S"))) else: self.fan_1.setPWMFrequency(100) self.fan_1.setValue(float(g.tokenValue(0))) elif g.code() == "M108": # Deprecated pass elif g.code() == "M110": # Reset the line number counter Gcode.line_number = 0 elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0) pass #if int(self.tokens[0][1]) == 0: # self.ext1.setPvalue(float(self.tokens[1][1::])) elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0) pass #if int(self.tokens[0][1]) == 0: # self.p.ext1.setPvalue(float(self.tokens[1][1::])) elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0) pass #if int(self.tokens[0][1]) == 0: # self.p.ext1.setPvalue(float(self.tokens[1][1::])) elif g.code() == "M140": # Set bed temperature self.hbp.setTargetTemperature(float(g.tokenValue(0))) else: print "Unknown command: "+g.message
def __init__(self): """ Init """ logging.info("Redeem initializing " + version) self.printer = Printer() # Parse the config files. self.printer.config = CascadingConfigParser([ '/etc/redeem/default.cfg', '/etc/redeem/printer.cfg', '/etc/redeem/local.cfg' ]) # Get the revision and loglevel from the Config file self.revision = self.printer.config.get('System', 'revision', "A4") level = self.printer.config.getint('System', 'loglevel') if level > 0: logging.getLogger().setLevel(level) logging.info("Replicape revision " + self.revision) # Init the end stops EndStop.callback = self.end_stop_hit EndStop.inputdev = self.printer.config.get("Endstops", "inputdev") if self.revision == "A4" or self.revision == "A4A": self.printer.end_stops["X1"] = EndStop( "GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop( "GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop( "GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop( "GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop( "GPIO0_31", 123, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop( "GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) else: self.printer.end_stops["X1"] = EndStop( "GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop( "GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop( "GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop( "GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop( "GPIO0_30", 123, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop( "GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) if self.revision == "A3": Stepper.revision = "A3" Stepper.ENABLED = 6 Stepper.SLEEP = 5 Stepper.RESET = 4 Stepper.DECAY = 0 # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0, 0) self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1, 1) self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2, 2) self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "E", None, 3, 3) self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "H", None, 4, 4) # Enable the steppers and set the current, steps pr mm and # microstepping for name, stepper in self.printer.steppers.iteritems(): stepper.set_current_value( self.printer.config.getfloat('Steppers', 'current_' + name)) stepper.in_use = self.printer.config.getboolean( 'Steppers', 'in_use_' + name) stepper.set_steps_pr_mm( self.printer.config.getfloat('Steppers', 'steps_pr_mm_' + name)) stepper.set_microstepping( self.printer.config.getint('Steppers', 'microstepping_' + name)) stepper.direction = self.printer.config.getint( 'Steppers', 'direction_' + name) stepper.set_decay( self.printer.config.getboolean("Steppers", "slow_decay_" + name)) stepper.has_endstop = self.printer.config.getboolean( 'Endstops', 'has_' + name) # Commit changes for the Steppers Stepper.commit() # Find the path of the thermistors path = "/sys/bus/iio/devices/iio:device0/in_voltage" # init the 3 thermistors therm_ext1 = Thermistor( path + "4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart")) therm_hbp = Thermistor( path + "6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart")) therm_ext2 = Thermistor( path + "5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart")) path = self.printer.config.get('Cold-ends', 'path', 0) if os.path.exists(path): self.printer.cold_ends.append(ColdEnd(path, "Cold End 0")) logging.info("Found Cold end on " + path) else: logging.info("No cold end present in path: " + path) # Init the 3 heaters. Argument is channel number if self.revision == "A3": mosfet_ext1 = Mosfet(3) mosfet_ext2 = Mosfet(5) mosfet_hbp = Mosfet(4) else: mosfet_ext1 = Mosfet(5) mosfet_ext2 = Mosfet(3) mosfet_hbp = Mosfet(4) # Make extruder 1 self.printer.heaters['E'] = Extruder( self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control')) self.printer.heaters['E'].P = self.printer.config.getfloat( 'Heaters', "ext1_pid_p") self.printer.heaters['E'].I = self.printer.config.getfloat( 'Heaters', "ext1_pid_i") self.printer.heaters['E'].D = self.printer.config.getfloat( 'Heaters', "ext1_pid_d") self.printer.heaters['E'].ok_range = self.printer.config.getfloat( 'Heaters', "ext1_ok_range") # Make Heated Build platform self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control')) self.printer.heaters['HBP'].P = self.printer.config.getfloat( 'Heaters', "hbp_pid_p") self.printer.heaters['HBP'].I = self.printer.config.getfloat( 'Heaters', "hbp_pid_i") self.printer.heaters['HBP'].D = self.printer.config.getfloat( 'Heaters', "hbp_pid_d") self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat( 'Heaters', "hbp_ok_range") # Make extruder 2. self.printer.heaters['H'] = Extruder( self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control')) self.printer.heaters['H'].P = self.printer.config.getfloat( 'Heaters', "ext2_pid_p") self.printer.heaters['H'].I = self.printer.config.getfloat( 'Heaters', "ext2_pid_i") self.printer.heaters['H'].D = self.printer.config.getfloat( 'Heaters', "ext2_pid_d") self.printer.heaters['H'].ok_range = self.printer.config.getfloat( 'Heaters', "ext2_ok_range") # Init the three fans. Argument is PWM channel number self.printer.fans = [] if self.revision == "A3": self.printer.fans.append(Fan(0)) self.printer.fans.append(Fan(1)) self.printer.fans.append(Fan(2)) else: self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) Fan.set_PWM_frequency(100) for f in self.printer.fans: f.set_value(0) # Connect the cold end 0 to fan 2 # This is very "Thing" specific, should be configurable somehow. if len(self.printer.cold_ends): self.printer.coolers.append( Cooler(self.printer.cold_ends[0], self.printer.fans[2], "Cooler0", False)) self.printer.coolers[0].ok_range = 4 self.printer.coolers[0].set_target_temperature(60) self.printer.coolers[0].enable() # Make a queue of commands self.printer.commands = JoinableQueue(10) # Make a queue of commands that should not be buffered self.printer.unbuffered_commands = JoinableQueue(10) # Init the path planner Path.axis_config = int( self.printer.config.get('Geometry', 'axis_config')) Path.max_speeds[0] = float( self.printer.config.get('Steppers', 'max_speed_x')) Path.max_speeds[1] = float( self.printer.config.get('Steppers', 'max_speed_y')) Path.max_speeds[2] = float( self.printer.config.get('Steppers', 'max_speed_z')) Path.max_speeds[3] = float( self.printer.config.get('Steppers', 'max_speed_e')) Path.max_speeds[4] = float( self.printer.config.get('Steppers', 'max_speed_h')) Path.home_speed[0] = float( self.printer.config.get('Steppers', 'home_speed_x')) Path.home_speed[1] = float( self.printer.config.get('Steppers', 'home_speed_y')) Path.home_speed[2] = float( self.printer.config.get('Steppers', 'home_speed_z')) Path.home_speed[3] = float( self.printer.config.get('Steppers', 'home_speed_e')) Path.home_speed[4] = float( self.printer.config.get('Steppers', 'home_speed_h')) Path.steps_pr_meter[0] = self.printer.steppers["X"].get_steps_pr_meter( ) Path.steps_pr_meter[1] = self.printer.steppers["Y"].get_steps_pr_meter( ) Path.steps_pr_meter[2] = self.printer.steppers["Z"].get_steps_pr_meter( ) Path.steps_pr_meter[3] = self.printer.steppers["E"].get_steps_pr_meter( ) Path.steps_pr_meter[4] = self.printer.steppers["H"].get_steps_pr_meter( ) dirname = os.path.dirname(os.path.realpath(__file__)) # Create the firmware compiler pru_firmware = PruFirmware( dirname + "/../firmware/firmware_runtime.p", dirname + "/../firmware/firmware_runtime.bin", dirname + "/../firmware/firmware_endstops.p", dirname + "/../firmware/firmware_endstops.bin", self.revision, self.printer.config, "/usr/bin/pasm") self.printer.maxJerkXY = float( self.printer.config.get('Steppers', 'maxJerk_xy')) self.printer.maxJerkZ = float( self.printer.config.get('Steppers', 'maxJerk_z')) self.printer.maxJerkEH = float( self.printer.config.get('Steppers', 'maxJerk_eh')) self.printer.path_planner = PathPlanner(self.printer, pru_firmware) travel = {} offset = {} i = 0 for axis in ['X', 'Y', 'Z', 'E', 'H']: travel[axis] = self.printer.config.getfloat( 'Geometry', 'travel_' + axis.lower()) offset[axis] = self.printer.config.getfloat( 'Geometry', 'offset_' + axis.lower()) self.printer.acceleration[i] = self.printer.config.getfloat( 'Steppers', 'acceleration_' + axis.lower()) i += 1 self.printer.path_planner.travel_length = travel self.printer.path_planner.center_offset = offset self.printer.processor = GCodeProcessor(self.printer) # Set up communication channels self.printer.comms["USB"] = USB(self.printer) self.printer.comms["Eth"] = Ethernet(self.printer) self.printer.comms["octoprint"] = Pipe( self.printer, "octoprint") # Pipe for Octoprint self.printer.comms["toggle"] = Pipe(self.printer, "toggle") # Pipe for Toggle self.printer.comms["testing"] = Pipe(self.printer, "testing") # Pipe for testing self.printer.comms["testing_noret"] = Pipe( self.printer, "testing_noret") # Pipe for testing self.printer.comms["testing_noret"].send_response = False self.running = True # Start the two processes p0 = Thread(target=self.loop, args=(self.printer.commands, "buffered")) p1 = Thread(target=self.loop, args=(self.printer.unbuffered_commands, "unbuffered")) p0.daemon = True p1.daemon = True p0.start() p1.start() # Signal everything ready logging.info("Redeem ready") # Wait for exit signal p0.join() p1.join()
#!/usr/bin/python from os import system, path from string import digits from USB import USB from sys import argv MOUNTED_AT = path.dirname(path.abspath(__file__)) DEV = USB(MOUNTED_AT) def zero_out(dev_path): system('dd if=/dev/zero of='+dev_path.strip(digits)) if __name__ == '__main__': if len(argv) > 1: if argv[1] == '-y': print('Scrub scrub...') zero_out(DEV.data.source) print('Done.') print('This will zero out every byte on the drive; All data will NOT BE RECOVERABLE') if raw_input('Please response with [Y/N]: ').lower().startswith('y'): print('Scrub scrub...') zero_out(DEV.data.source) print('Done.')
def setUp(self): from USB import USB testUSB = USB()
def __init__(self): logging.info("Redeem initializing " + version) self.printer = Printer() # Parse the config self.printer.config = CascadingConfigParser( ['/etc/redeem/default.cfg', '/etc/redeem/local.cfg']) # Get the revision from the Config file self.revision = self.printer.config.get('System', 'revision', "A4") logging.info("Replicape revision " + self.revision) # Init the end stops EndStop.callback = self.end_stop_hit EndStop.inputdev = self.printer.config.get("Endstops", "inputdev") if self.revision == "A4": self.printer.end_stops["X1"] = EndStop( "GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop( "GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop( "GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop( "GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop( "GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop( "GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) else: self.printer.end_stops["X1"] = EndStop( "GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1")) self.printer.end_stops["X2"] = EndStop( "GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2")) self.printer.end_stops["Y1"] = EndStop( "GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1")) self.printer.end_stops["Y2"] = EndStop( "GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2")) self.printer.end_stops["Z1"] = EndStop( "GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1")) self.printer.end_stops["Z2"] = EndStop( "GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2")) if self.revision == "A3": Stepper.revision = "A3" Stepper.ENABLED = 6 Stepper.SLEEP = 5 Stepper.RESET = 4 Stepper.DECAY = 0 # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0, 0) self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1, 1) self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2, 2) self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None, 3, 3) self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None, 4, 4) # Enable the steppers and set the current, steps pr mm and microstepping for name, stepper in self.printer.steppers.iteritems(): stepper.set_current_value( self.printer.config.getfloat('Steppers', 'current_' + name)) if self.printer.config.getboolean('Steppers', 'enabled_' + name): stepper.set_enabled() else: stepper.set_disabled() stepper.set_steps_pr_mm( self.printer.config.getfloat('Steppers', 'steps_pr_mm_' + name)) stepper.set_microstepping( self.printer.config.getint('Steppers', 'microstepping_' + name)) stepper.direction = self.printer.config.getint( 'Steppers', 'direction_' + name) stepper.set_decay( self.printer.config.getboolean("Steppers", "slow_decay_" + name)) # Commit changes for the Steppers Stepper.commit() # Find the path of the thermistors path = "/sys/bus/iio/devices/iio:device0/in_voltage" # init the 3 thermistors therm_ext1 = Thermistor( path + "4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart")) therm_hbp = Thermistor( path + "6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart")) therm_ext2 = Thermistor( path + "5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart")) path = self.printer.config.get('Cold-ends', 'path', 0) if os.path.exists(path): self.printer.cold_ends.append(ColdEnd(path, "Cold End 1")) logging.info("Found Cold end on " + path) else: logging.info("No cold end present in path: " + path) # Init the 3 heaters. Argument is channel number if self.revision == "A3": mosfet_ext1 = Mosfet(3) mosfet_ext2 = Mosfet(4) mosfet_hbp = Mosfet(5) else: mosfet_ext1 = Mosfet(5) mosfet_ext2 = Mosfet(3) mosfet_hbp = Mosfet(4) # Make extruder 1 self.printer.heaters['E'] = Extruder( self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control')) self.printer.heaters['E'].set_p_value( self.printer.config.getfloat('Heaters', "ext1_pid_p")) self.printer.heaters['E'].set_d_value( self.printer.config.getfloat('Heaters', "ext1_pid_d")) self.printer.heaters['E'].set_i_value( self.printer.config.getfloat('Heaters', "ext1_pid_i")) self.printer.heaters['E'].ok_range = self.printer.config.getfloat( 'Heaters', "ext1_ok_range") # Make Heated Build platform self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control')) self.printer.heaters['HBP'].set_p_value( self.printer.config.getfloat('Heaters', "hbp_pid_p")) self.printer.heaters['HBP'].set_d_value( self.printer.config.getfloat('Heaters', "hbp_pid_i")) self.printer.heaters['HBP'].set_i_value( self.printer.config.getfloat('Heaters', "hbp_pid_d")) self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat( 'Heaters', "hbp_ok_range") # Make extruder 2. self.printer.heaters['H'] = Extruder( self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control')) self.printer.heaters['H'].set_p_value( self.printer.config.getfloat('Heaters', "ext2_pid_p")) self.printer.heaters['H'].set_d_value( self.printer.config.getfloat('Heaters', "ext2_pid_i")) self.printer.heaters['H'].set_i_value( self.printer.config.getfloat('Heaters', "ext2_pid_d")) self.printer.heaters['H'].ok_range = self.printer.config.getfloat( 'Heaters', "ext2_ok_range") # Init the three fans. Argument is PWM channel number self.printer.fans = [] if self.revision == "A3": self.printer.fans.append(Fan(1)) self.printer.fans.append(Fan(2)) self.printer.fans.append(Fan(0)) else: self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) Fan.set_PWM_frequency(100) for f in self.printer.fans: f.set_value(0) # Make a queue of commands self.commands = Queue.Queue(10) # Set up USB, this receives messages and pushes them on the queue self.usb = USB(self.commands) # Virtual TTY self.pipe = Pipe(self.commands) #self.pipe.set_send_reponse(False) self.ethernet = Ethernet(self.commands) # Init the path planner Path.axis_config = int( self.printer.config.get('Geometry', 'axis_config')) Path.max_speed_x = float( self.printer.config.get('Steppers', 'max_speed_x')) Path.max_speed_y = float( self.printer.config.get('Steppers', 'max_speed_y')) Path.max_speed_z = float( self.printer.config.get('Steppers', 'max_speed_z')) Path.max_speed_e = float( self.printer.config.get('Steppers', 'max_speed_e')) Path.max_speed_h = float( self.printer.config.get('Steppers', 'max_speed_h')) Path.home_speed_x = float( self.printer.config.get('Steppers', 'home_speed_x')) Path.home_speed_y = float( self.printer.config.get('Steppers', 'home_speed_y')) Path.home_speed_z = float( self.printer.config.get('Steppers', 'home_speed_z')) Path.home_speed_e = float( self.printer.config.get('Steppers', 'home_speed_e')) Path.home_speed_h = float( self.printer.config.get('Steppers', 'home_speed_h')) dirname = os.path.dirname(os.path.realpath(__file__)) # Create the firmware compiler pru_firmware = PruFirmware( dirname + "/../firmware/firmware_runtime.p", dirname + "/../firmware/firmware_runtime.bin", dirname + "/../firmware/firmware_endstops.p", dirname + "/../firmware/firmware_endstops.bin", self.revision, self.printer.config, "/usr/bin/pasm") self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware) self.printer.path_planner.set_acceleration( float(self.printer.config.get('Steppers', 'acceleration'))) travel = {} offset = {} for axis in ['X', 'Y', 'Z']: travel[axis] = self.printer.config.getfloat( 'Geometry', 'travel_' + axis.lower()) offset[axis] = self.printer.config.getfloat( 'Geometry', 'offset_' + axis.lower()) self.printer.path_planner.set_travel_length(travel) self.printer.path_planner.set_center_offset(offset) self.printer.processor = GCodeProcessor(self.printer) # After the firmwares are loaded, the endstop states can be updated. for k, endstop in self.printer.end_stops.iteritems(): logging.debug("Endstop " + endstop.name + " hit? : " + str(endstop.read_value())) self.running = True # Signal everything ready logging.info("Redeem ready")
def main(): log('Starting backup') try: DEVS = list(get_backup_dev()) except AssertionError: log('No devices found') notify('Make sure your Backup device is mounted.') exit() notify('Backup started.') for dev, name in DEVS: # Get all of our back up devices try: try: enc_dev = USB('/dev/mapper/' + name) # get attributes of the encrypted drive except AssertionError: notify('Encrypted FS on ' + dev.data.source + ' is not mounted. Failed to backup') raise OSError('Could not mount Encryped FS on ' + dev.data.source + ' located at ' + dev.data.target) if enc_dev.data: # Encrypted FS mounted try: assert not enc_dev.data.source in ['', '/'] and\ not enc_dev.data.target in ['', '/'] except: break backupTo = enc_dev.data.target else: # Encrypted FS not mounted raise Exception('Encrypted FS not mounted on ' + dev.data.source) if not path.isfile(path.join( backupTo, 'dirs.lst')): # mounted but not configured if userInteraction: # hey you there? system( 'echo "# This file is a configuration of which directories you\'d like to backup.\n' '# This specific configuration is specific for (as for the moment of this install) \n' '# %s " > %s' % (dev.data.source, path.join(backupTo, 'dirs.lst'))) system('nano %s' % path.join(backupTo, 'dirs.lst')) else: # senpai notice me raise OSError( enc_dev.data.target + ' from ' + dev.data.source + ' can be auto sync\'ed, but "dirs.lst" wasn\'t found') # Hey we're configured! with open(path.join(backupTo, 'dirs.lst')) as f: # Mwahaha. for directory in f: if not '#' in directory.strip() and len(directory.strip( )) > 0 and not backupTo in directory.strip(): print directory if directory.strip( )[::-1][0] == '/': # Don't give me any bs directory = directory.strip()[::-1][1:][::-1] log('copying ' + directory.strip() + ' to ' + backupTo.strip()) # our very own diary assert system('rsync -azh %s %s' % (directory.strip(), backupTo)) == 0 # Work or else. log('Completed ' + name + ' at /dev/mapper/' + name + '\non USB Device: ' + dev.data.source + '\nbacked-up to ' + backupTo) except Exception as e: # Errr... Something happened. type_, value_, traceback_ = exc_info() traceback = format_tb(traceback_) log('ERROR: ' + e.message) # We'll tell you more about it for t in traceback: log(t) notify('Error, Check logs at ' + LOG_FILE) # We'll even try to get your attention log('Completed.') notify('Backup completed.')
def setUp(self): testUSB = USB()
def __init__(self): """ Init """ logging.info("Redeem initializing " + version) printer = Printer() self.printer = printer # check for config files if not os.path.exists("/etc/redeem/default.cfg"): logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation") sys.exit() # maybe use something more graceful? # Parse the config files. printer.config = CascadingConfigParser( ['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg', '/etc/redeem/local.cfg']) # Find out which capes are connected self.printer.config.parse_capes() self.revision = self.printer.config.replicape_revision if self.revision: logging.info("Found Replicape rev. " + self.revision) Path.set_axes(5) else: logging.warning("Oh no! No Replicape present!") self.revision = "0A4A" # We set it to 5 axis by default Path.set_axes(5) if self.printer.config.reach_revision: Path.set_axes(8) logging.info("Found Reach rev. "+self.printer.config.reach_revision) # Get the revision and loglevel from the Config file level = self.printer.config.getint('System', 'loglevel') if level > 0: logging.getLogger().setLevel(level) if self.revision in ["00A4", "0A4A", "00A3"]: PWM.set_frequency(100) elif self.revision in ["00B1", "00B2"]: PWM.set_frequency(1000) # Init the Paths Path.axis_config = printer.config.getint('Geometry', 'axis_config') # Init the end stops EndStop.callback = self.end_stop_hit EndStop.inputdev = self.printer.config.get("Endstops", "inputdev") for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]: pin = self.printer.config.get("Endstops", "pin_"+es) keycode = self.printer.config.getint("Endstops", "keycode_"+es) invert = self.printer.config.getboolean("Endstops", "invert_"+es) self.printer.end_stops[es] = EndStop(pin, keycode, es, invert) # Backwards compatibility with A3 if self.revision == "00A3": # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0) printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1) printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2) printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3) printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4) elif self.revision == "00B1": # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0) printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1) printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2) printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3) printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4) elif self.revision == "00B2": # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0) printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1) printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2) printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3) printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4) else: # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0) printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1) printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2) printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3) printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4) if printer.config.reach_revision: printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5) printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6) printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7) # Enable the steppers and set the current, steps pr mm and # microstepping for name, stepper in self.printer.steppers.iteritems(): stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name) stepper.direction = printer.config.getint('Steppers', 'direction_' + name) stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name) stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name)) stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name)) stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name)) stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name)) # Add soft end stops Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name) Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name) # Commit changes for the Steppers #Stepper.commit() Stepper.printer = printer # Delta printer setup if Path.axis_config == Path.AXIS_CONFIG_DELTA: opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ] for opt in opts: Delta.__dict__[opt] = printer.config.getfloat('Delta', opt) Delta.recalculate() # Discover and add all DS18B20 cold ends. import glob paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave") logging.debug("Found cold ends: "+str(paths)) for i, path in enumerate(paths): self.printer.cold_ends.append(ColdEnd(path, "ds18b20-"+str(i))) logging.info("Found Cold end "+str(i)+" on " + path) # Make Mosfets, thermistors and extruders heaters = ["E", "H", "HBP"] if self.printer.config.reach_revision: heaters.extend(["A", "B", "C"]) for e in heaters: # Mosfets channel = self.printer.config.getint("Heaters", "mosfet_"+e) self.printer.mosfets[e] = Mosfet(channel) # Thermistors adc = self.printer.config.get("Heaters", "path_adc_"+e) chart = self.printer.config.get("Heaters", "temp_chart_"+e) resistance = self.printer.config.getfloat("Heaters", "resistance_"+e) self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart, resistance) self.printer.thermistors[e].printer = printer # Extruders onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e) prefix = self.printer.config.get('Heaters', 'prefix_'+e) if e != "HBP": self.printer.heaters[e] = Extruder( self.printer.steppers[e], self.printer.thermistors[e], self.printer.mosfets[e], e, onoff) else: self.printer.heaters[e] = HBP( self.printer.thermistors[e], self.printer.mosfets[e], onoff) self.printer.heaters[e].prefix = prefix self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e) self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e) self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e) # Init the three fans. Argument is PWM channel number self.printer.fans = [] if self.revision == "00A3": self.printer.fans.append(Fan(0)) self.printer.fans.append(Fan(1)) self.printer.fans.append(Fan(2)) elif self.revision == "0A4A": self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) elif self.revision in ["00B1", "00B2"]: self.printer.fans.append(Fan(7)) self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) # Disable all fans for f in self.printer.fans: f.set_value(0) # Init the servos printer.servos = [] servo_nr = 0 while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")): if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"): channel = printer.config.get("Servos", "servo_"+str(servo_nr)+"_channel") angle_init = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_init") s = Servo(channel, 0.1, 0.2, angle_init) printer.servos.append(s) logging.info("Added servo "+str(servo_nr)) servo_nr += 1 # Connect thermitors to fans for t, therm in self.printer.heaters.iteritems(): for f, fan in enumerate(self.printer.fans): if self.printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)): c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), False) c.ok_range = 4 c.set_target_temperature(60) c.enable() self.printer.coolers.append(c) logging.info("Cooler connects therm {} with fan {}".format(t, f)) # Connect fans to M106 printer.controlled_fans = [] for i, fan in enumerate(self.printer.fans): if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)): printer.controlled_fans.append(self.printer.fans[i]) logging.info("Added fan {} to M106/M107".format(i)) # Connect the colds to fans for ce, cold_end in enumerate(self.printer.cold_ends): for f, fan in enumerate(self.printer.fans): option = "connect-ds18b20-{}-fan-{}".format(ce, f) if self.printer.config.has_option('Cold-ends', option): if self.printer.config.getboolean('Cold-ends', option): c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False) c.ok_range = 4 c.set_target_temperature(60) c.enable() self.printer.coolers.append(c) logging.info("Cooler connects temp sensor ds18b20 {} with fan {}".format(ce, f)) # Make a queue of commands self.printer.commands = JoinableQueue(10) # Make a queue of commands that should not be buffered self.printer.sync_commands = JoinableQueue() self.printer.unbuffered_commands = JoinableQueue(10) # Bed compensation matrix Path.matrix_bed_comp = printer.load_bed_compensation_matrix() Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp) logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp)) for axis in printer.steppers.keys(): i = Path.axis_to_index(axis) Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower()) Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower()) Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower()) Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower()) Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter() Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower()) dirname = os.path.dirname(os.path.realpath(__file__)) # Create the firmware compiler pru_firmware = PruFirmware( dirname + "/firmware/firmware_runtime.p", dirname + "/firmware/firmware_runtime.bin", dirname + "/firmware/firmware_endstops.p", dirname + "/firmware/firmware_endstops.bin", self.revision, self.printer.config, "/usr/bin/pasm") printer.maxJerkXY = printer.config.getfloat('Planner', 'maxJerk_xy') printer.maxJerkZ = printer.config.getfloat('Planner', 'maxJerk_z') printer.maxJerkEH = printer.config.getfloat('Planner', 'maxJerk_eh') printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size') printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait') printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time') printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time') self.printer.processor = GCodeProcessor(self.printer) self.printer.plugins = PluginsController(self.printer) # Path planner travel_default = False center_default = False home_default = False # Setting acceleration before PathPlanner init for axis in printer.steppers.keys(): printer.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat( 'Planner', 'acceleration_' + axis.lower()) self.printer.path_planner = PathPlanner(self.printer, pru_firmware) for axis in printer.steppers.keys(): i = Path.axis_to_index(axis) # Sometimes soft_end_stop aren't defined to be at the exact hardware boundary. # Adding 100mm for searching buffer. if printer.config.has_option('Geometry', 'travel_' + axis.lower()): printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower()) else: printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1 if axis in ['X','Y','Z']: travel_default = True if printer.config.has_option('Geometry', 'offset_' + axis.lower()): printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower()) else: printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i]) if axis in ['X','Y','Z']: center_default = True if printer.config.has_option('Homing', 'home_' + axis.lower()): printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower()) else: printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis] if axis in ['X','Y','Z']: home_default = True if Path.axis_config == Path.AXIS_CONFIG_DELTA: if travel_default: logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta") if center_default: logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta") if home_default: logging.warning("Home position (home_*) set by soft limits or offset_*") logging.info("Home position will be recalculated...") # convert home_pos to effector space Az = printer.path_planner.home_pos['X'] Bz = printer.path_planner.home_pos['Y'] Cz = printer.path_planner.home_pos['Z'] z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position # The default home_pos, provided above, is based on effector space # coordinates for carriage positions. We need to transform these to # get where the effector actually is. xyz[2] += z_offset for i, a in enumerate(['X','Y','Z']): printer.path_planner.home_pos[a] = xyz[i] logging.info("Home position = %s"%str(printer.path_planner.home_pos)) if Path.axis_config == Path.AXIS_CONFIG_SCARA: if travel_default: logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a scara") if center_default: logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a scara") if home_default: logging.warning("Home position (home_*) set by soft limits or offset_*") logging.info("Home position will be recalculated...") # convert home_pos to effector space #A = printer.path_planner.home_pos['X'] #B = printer.path_planner.home_pos['Y'] #C = printer.path_planner.home_pos['Z'] #z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset #xyz = Scara.forward_kinematics(A, B, C) # effector position # don't cpnvert home_pos to effector spac # home offset is defined in cartesian space xyz = np.array([printer.path_planner.home_pos['X'],printer.path_planner.home_pos['Y'],printer.path_planner.home_pos['Z']]) # The default home_pos, provided above, is based on effector space # coordinates for carriage positions. We need to transform these to # get where the effector actually is. #xyz[2] += z_offset for i, a in enumerate(['X','Y','Z']): printer.path_planner.home_pos[a] = xyz[i] logging.info("Home position = %s"%str(printer.path_planner.home_pos)) # Enable PWM and steppers printer.enable = Enable("P9_41") printer.enable.set_enabled() # Set up communication channels printer.comms["USB"] = USB(self.printer) printer.comms["Eth"] = Ethernet(self.printer) if Pipe.check_tty0tty() or Pipe.check_socat(): printer.comms["octoprint"] = Pipe(printer, "octoprint") printer.comms["toggle"] = Pipe(printer, "toggle") printer.comms["testing"] = Pipe(printer, "testing") printer.comms["testing_noret"] = Pipe(printer, "testing_noret") # Does not send "ok" printer.comms["testing_noret"].send_response = False else: logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")