def _exec_plan(self, filename, state, config, cancel):
try:
os.nice(5)
hid = plan_hash(filename, config)
base = 'plans/' + filename + '.' + hid
files = [
base + '.json', base + '.positions.gz', base + '.speeds.gz']
found = True
for path in files:
if not os.path.exists(path): found = False
if not found:
self._clean_plans(filename) # Clean up old plans
path = os.path.abspath('upload/' + filename)
with tempfile.TemporaryDirectory() as tmpdir:
cmd = (
'/usr/bin/env', 'python3',
bbctrl.get_resource('plan.py'),
path, json.dumps(state), json.dumps(config),
'--max-time=%s' % self.max_plan_time,
'--max-loop=%s' % self.max_loop_time
)
log.info('Running: %s', cmd)
with subprocess.Popen(cmd, stdout = subprocess.PIPE,
stderr = subprocess.PIPE,
cwd = tmpdir) as proc:
for line in proc.stdout:
self._progress(filename, float(line))
if cancel.is_set():
proc.terminate()
return
out, errs = proc.communicate()
self._progress(filename, 1)
if cancel.is_set(): return
if proc.returncode:
log.error('Plan failed: ' + errs.decode('utf8'))
return # Failed
os.rename(tmpdir + '/meta.json', files[0])
os.rename(tmpdir + '/positions.gz', files[1])
os.rename(tmpdir + '/speeds.gz', files[2])
with open(files[0], 'r') as f: meta = json.load(f)
with open(files[1], 'rb') as f: positions = f.read()
with open(files[2], 'rb') as f: speeds = f.read()
return meta, positions, speeds
except Exception as e: log.exception(e)
def __init__(self, ctrl):
self.ctrl = ctrl
self.version = pkg_resources.require('bbctrl')[0].version
default_config['version'] = self.version
# Load config template
with open(bbctrl.get_resource('http/config-template.json'), 'r',
encoding = 'utf-8') as f:
self.template = json.load(f)
def __init__(self, ctrl):
self.ctrl = ctrl
handlers = [
(r'/websocket', WSConnection),
(r'/api/log', LogHandler),
(r'/api/bugreport', BugReportHandler),
(r'/api/reboot', RebootHandler),
(r'/api/hostname', HostnameHandler),
(r'/api/wifi', WifiHandler),
(r'/api/remote/username', UsernameHandler),
(r'/api/remote/password', PasswordHandler),
(r'/api/config/load', ConfigLoadHandler),
(r'/api/config/download', ConfigDownloadHandler),
(r'/api/config/save', ConfigSaveHandler),
(r'/api/config/reset', ConfigResetHandler),
(r'/api/firmware/update', FirmwareUpdateHandler),
(r'/api/upgrade', UpgradeHandler),
(r'/api/file(/[^/]+)?', bbctrl.FileHandler),
(r'/api/path/([^/]+)((/positions)|(/speeds))?', PathHandler),
(r'/api/home(/[xyzabcXYZABC]((/set)|(/clear))?)?', HomeHandler),
(r'/api/start', StartHandler),
(r'/api/estop', EStopHandler),
(r'/api/clear', ClearHandler),
(r'/api/stop', StopHandler),
(r'/api/pause', PauseHandler),
(r'/api/unpause', UnpauseHandler),
(r'/api/pause/optional', OptionalPauseHandler),
(r'/api/step', StepHandler),
(r'/api/position/([xyzabcXYZABC])', PositionHandler),
(r'/api/override/feed/([\d.]+)', OverrideFeedHandler),
(r'/api/override/speed/([\d.]+)', OverrideSpeedHandler),
(r'/api/modbus/read', ModbusReadHandler),
(r'/api/modbus/write', ModbusWriteHandler),
(r'/api/jog', JogHandler),
(r'/api/video', bbctrl.VideoHandler),
(r'/(.*)', StaticFileHandler, {
'path': bbctrl.get_resource('http/'),
"default_filename": "index.html"
}),
]
router = sockjs.tornado.SockJSRouter(SockJSConnection, '/sockjs')
router.ctrl = ctrl
tornado.web.Application.__init__(self, router.urls + handlers)
try:
self.listen(ctrl.args.port, address=ctrl.args.addr)
except Exception as e:
log.error('Failed to bind %s:%d: %s', ctrl.args.addr,
ctrl.args.port, e)
sys.exit(1)
log.info('Listening on http://%s:%d/', ctrl.args.addr, ctrl.args.port)
def _exec(self):
self.clean() # Clean up old plans
with tempfile.TemporaryDirectory() as tmpdir:
cmd = (
'/usr/bin/env', 'python3',
bbctrl.get_resource('plan.py'),
os.path.abspath(self.gcode), json.dumps(self.state),
json.dumps(self.config),
'--max-time=%s' % self.preplanner.max_plan_time,
'--max-loop=%s' % self.preplanner.max_loop_time
)
self.preplanner.log.info('Running: %s', cmd)
proc = process.Subprocess(cmd, stdout = process.Subprocess.STREAM,
stderr = process.Subprocess.STREAM,
cwd = tmpdir)
errs = ''
self.pid = proc.proc.pid
try:
try:
while True:
line = yield proc.stdout.read_until(b'\n')
self.progress = float(line.strip())
if self.cancel: return
except iostream.StreamClosedError: pass
self.progress = 1
ret = yield proc.wait_for_exit(False)
if ret:
errs = yield proc.stderr.read_until_close()
raise Exception('Plan failed: ' + errs.decode('utf8'))
finally:
proc.stderr.close()
proc.stdout.close()
if not self.cancel:
os.rename(tmpdir + '/meta.json', self.files[0])
os.rename(tmpdir + '/positions.gz', self.files[1])
os.rename(tmpdir + '/speeds.gz', self.files[2])
os.sync()
def load_files(self):
self.files = []
upload = self.ctrl.get_upload()
if not os.path.exists(upload):
os.mkdir(upload)
from shutil import copy
copy(bbctrl.get_resource('http/buildbotics.nc'), upload)
for path in os.listdir(upload):
if os.path.isfile(upload + '/' + path):
self.files.append(path)
self.files.sort()
self.set('files', self.files)
if len(self.files): self.select_file(self.files[0])
else: self.select_file('')
def __init__(self, ctrl):
self.ctrl = ctrl
self.config_vars = {}
try:
self.version = pkg_resources.require('bbctrl')[0].version
default_config['version'] = self.version
# Load config template
with open(bbctrl.get_resource('http/config-template.json'), 'r',
encoding = 'utf-8') as f:
self.template = json.load(f)
# Add all sections from template to default config
for section in self.template:
if not section in default_config:
default_config[section] = {}
except Exception as e: log.exception(e)
def __init__(self, args, ioloop):
self.args = args
self.ioloop = ioloop
self.ctrls = {}
# Init camera
if not args.disable_camera:
if self.args.demo: log = bbctrl.log.Log(args, ioloop, 'camera.log')
else: log = self.get_ctrl().log
self.camera = bbctrl.Camera(ioloop, args, log)
else:
self.camera = None
# Init controller
if not self.args.demo:
self.get_ctrl()
self.monitor = bbctrl.MonitorTemp(self)
handlers = [
(r'/websocket', WSConnection),
(r'/api/log', LogHandler),
(r'/api/bugreport', BugReportHandler),
(r'/api/reboot', RebootHandler),
(r'/api/hostname', HostnameHandler),
(r'/api/wifi', WifiHandler),
(r'/api/remote/username', UsernameHandler),
(r'/api/remote/password', PasswordHandler),
(r'/api/config/load', ConfigLoadHandler),
(r'/api/config/download', ConfigDownloadHandler),
(r'/api/config/save', ConfigSaveHandler),
(r'/api/config/reset', ConfigResetHandler),
(r'/api/firmware/update', FirmwareUpdateHandler),
(r'/api/upgrade', UpgradeHandler),
(r'/api/file(/[^/]+)?', bbctrl.FileHandler),
(r'/api/path/([^/]+)((/positions)|(/speeds))?', PathHandler),
(r'/api/home(/[xyzabcXYZABC]((/set)|(/clear))?)?', HomeHandler),
(r'/api/start', StartHandler),
(r'/api/estop', EStopHandler),
(r'/api/clear', ClearHandler),
(r'/api/stop', StopHandler),
(r'/api/pause', PauseHandler),
(r'/api/unpause', UnpauseHandler),
(r'/api/pause/optional', OptionalPauseHandler),
(r'/api/step', StepHandler),
(r'/api/position/([xyzabcXYZABC])', PositionHandler),
(r'/api/override/feed/([\d.]+)', OverrideFeedHandler),
(r'/api/override/speed/([\d.]+)', OverrideSpeedHandler),
(r'/api/modbus/read', ModbusReadHandler),
(r'/api/modbus/write', ModbusWriteHandler),
(r'/api/jog', JogHandler),
(r'/api/video', bbctrl.VideoHandler),
(r'/(.*)', StaticFileHandler, {
'path': bbctrl.get_resource('http/'),
'default_filename': 'index.html'
}),
]
router = sockjs.tornado.SockJSRouter(SockJSConnection, '/sockjs')
router.app = self
tornado.web.Application.__init__(self, router.urls + handlers)
try:
self.listen(args.port, address=args.addr)
except Exception as e:
raise Exception('Failed to bind %s:%d: %s' %
(args.addr, args.port, e))
print('Listening on http://%s:%d/' % (args.addr, args.port))
def _get_image_resource(self, path):
path = bbctrl.get_resource(path)
with open(path, 'rb') as f:
return self._format_frame(f.read())
def get_image_resource(self, name):
return bbctrl.get_resource('http/images/%s.jpg' % name)
