def informed_reconnect(self, port, baud):
"""The arguments for this function should match what is
returned by inform_reconnect. This causes the driver to
disconnect from whatever device it thinks it is connected to,
and attach to whatever ostensibly new device is described."""
if self.serial:
self.serial.close()
self.serial = SerialConnection(port, baud)
self.info = pickle.dumps(self.serial.info) ### hack
self.connect_events(self.__signals)
def auto_detect(self, port):
"""Called by a hardware monitor durring a hardware connect
event. Return True if this driver claims the device.
This function should also set self.uuid."""
try:
self.serial = SerialConnection(port)
self.info = pickle.dumps(self.serial.info) ### HACK
return True
except ConnectionException:
return False
def connect_serial(self, port, baudrate):
"""Connect to board via serial connection"""
self._serial = SerialConnection(port, baudrate)
self._board_characteristics()
if not self.connected:
raise BoardError(
"Failed to establish connection to board at '{}'".format(port))
def informed_reconnect(self, port, baud):
"""The arguments for this function should match what is
returned by inform_reconnect. This causes the driver to
disconnect from whatever device it thinks it is connected to,
and attach to whatever ostensibly new device is described."""
if self.serial:
self.serial.close()
self.serial = SerialConnection(port, baud)
self.info = pickle.dumps(self.serial.info) ### hack
self.connect_events(self.__signals)
def auto_detect(self, port):
"""Called by a hardware monitor durring a hardware connect
event. Return True if this driver claims the device.
This function should also set self.uuid."""
try:
self.serial = SerialConnection(port)
self.info = pickle.dumps(self.serial.info) ### HACK
return True
except ConnectionException:
return False
class Driver(DriverBase):
"""Driver for reprap-style printers running the sprinter
firmware."""
def __init__(self):
self.serial = None
self.monitor = None
self.__signals = None
def get_class_info(self):
"""Returns a PrinterClassInfo object, as defined in
capabilities.py"""
return self.serial.info
def connect_events(self, server):
"""Called when the driver is attached to a print server, so
that the driver may call signals on the server object."""
self.__signals = server
self.monitor = SprinterMonitor(self.serial, server)
def auto_detect(self, port):
"""Called by a hardware monitor durring a hardware connect
event. Return True if this driver claims the device.
This function should also set self.uuid."""
try:
self.serial = SerialConnection(port)
self.info = pickle.dumps(self.serial.info) ### HACK
return True
except ConnectionException:
return False
def inform_reconnect(self):
"""This function is called by a worker subprocess when a
driver is detected, but the corresponding printer object
already exists. In which case, this function should return a
simple argument list which can be pushed to the already
existing service, so that it may call the informed_reconnect
function in it's driver instance."""
return self.serial.connection_info()
def informed_reconnect(self, port, baud):
"""The arguments for this function should match what is
returned by inform_reconnect. This causes the driver to
disconnect from whatever device it thinks it is connected to,
and attach to whatever ostensibly new device is described."""
if self.serial:
self.serial.close()
self.serial = SerialConnection(port, baud)
self.info = pickle.dumps(self.serial.info) ### hack
self.connect_events(self.__signals)
#### printer control functions ###
def home(self, x_axis=False, y_axis=False, z_axis=False):
"""Moves the named axises until they trigger their
endstops."""
cmd = ["G28"]
if x_axis:
cmd.append("X0")
if y_axis:
cmd.append("Y0")
if z_axis:
cmd.append("Z0")
self.monitor.request(" ".join(cmd))
def relative_mode(self):
self.monitor.request("G91")
def absolute_mode(self):
self.monitor.request("G90")
def move(self, x=0, y=0, z=0):
cmd = "G0 X{0} Y{1} Z{2}".format(x, y, z)
self.monitor.request(cmd)
def motors_off(self):
self.monitor.request("M84")
def set_tool_temp(self, tool, target):
"""Requests the given tool to be set to the specified
temperature."""
#FIXME maybe there should be a monitor command for this so
#that it doesn't change the active tool?
self.monitor.request("T{0}\nM104 S{1}".format(tool, target))
def set_bed_temp(self, target):
"""Requests the print bed be set to the specified
temperature."""
self.monitor.request("M140 S{0}".format(target))
def pdq_request_print(self, path):
self.monitor.print_file(path)
vst = pcs.H264VideoStreamer()
if dosomestreaming:
try:
vst.startAndConnect()
except Exception as e:
print('Error starting H264 stream thread:' + e)
### Remote controller server for BotController.py ###
print('Starting up Controller Server on 0.0.0.0, port 30001')
server_address = ('0.0.0.0', 30001)
sock.bind(server_address)
sur = Surrogator(sock)
### Motors and Reels connections ###
connection = SerialConnection()
motors = SerialMotor(connection=connection)
reels = SerialReel(connection=connection)
### Sensors - Telemetry ###
sensors = TelemetryLoader(connection)
### Stop all motors when process is killed ###
def terminate():
print('Stopping ALPIBot')
try:
motors.stop()
reels.stop()
os.remove('running.wt')
finally:
class Driver(DriverBase):
"""Driver for reprap-style printers running the sprinter
firmware."""
def __init__(self):
self.serial = None
self.monitor = None
self.__signals = None
def get_class_info(self):
"""Returns a PrinterClassInfo object, as defined in
capabilities.py"""
return self.serial.info
def connect_events(self, server):
"""Called when the driver is attached to a print server, so
that the driver may call signals on the server object."""
self.__signals = server
self.monitor = SprinterMonitor(self.serial, server)
def auto_detect(self, port):
"""Called by a hardware monitor durring a hardware connect
event. Return True if this driver claims the device.
This function should also set self.uuid."""
try:
self.serial = SerialConnection(port)
self.info = pickle.dumps(self.serial.info) ### HACK
return True
except ConnectionException:
return False
def inform_reconnect(self):
"""This function is called by a worker subprocess when a
driver is detected, but the corresponding printer object
already exists. In which case, this function should return a
simple argument list which can be pushed to the already
existing service, so that it may call the informed_reconnect
function in it's driver instance."""
return self.serial.connection_info()
def informed_reconnect(self, port, baud):
"""The arguments for this function should match what is
returned by inform_reconnect. This causes the driver to
disconnect from whatever device it thinks it is connected to,
and attach to whatever ostensibly new device is described."""
if self.serial:
self.serial.close()
self.serial = SerialConnection(port, baud)
self.info = pickle.dumps(self.serial.info) ### hack
self.connect_events(self.__signals)
#### printer control functions ###
def home(self, x_axis=False, y_axis=False, z_axis=False):
"""Moves the named axises until they trigger their
endstops."""
cmd = ["G28"]
if x_axis:
cmd.append("X0")
if y_axis:
cmd.append("Y0")
if z_axis:
cmd.append("Z0")
self.monitor.request(" ".join(cmd))
def relative_mode(self):
self.monitor.request("G91")
def absolute_mode(self):
self.monitor.request("G90")
def move(self, x=0, y=0, z=0):
cmd = "G0 X{0} Y{1} Z{2}".format(x, y, z)
self.monitor.request(cmd)
def motors_off(self):
self.monitor.request("M84")
def set_tool_temp(self, tool, target):
"""Requests the given tool to be set to the specified
temperature."""
#FIXME maybe there should be a monitor command for this so
#that it doesn't change the active tool?
self.monitor.request("T{0}\nM104 S{1}".format(tool, target))
def set_bed_temp(self, target):
"""Requests the print bed be set to the specified
temperature."""
self.monitor.request("M140 S{0}".format(target))
def pdq_request_print(self, path):
self.monitor.print_file(path)
