def ProcessStepSate(self):
# send data to serial port ----------------------------------------------
# check if we are done with gcode
if self.workingProgramCounter >= len(self.gcodeDataLines):
self.swState = gc.gSTATE_IDLE
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_STEP_END, None))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread reach last PC, swState->gc.gSTATE_IDLE"
return
# update PC
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_PC_UPDATE, self.workingProgramCounter))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
# end IDLE state
if self.workingProgramCounter > self.initialProgramCounter:
self.swState = gc.gSTATE_IDLE
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_STEP_END, None))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread finish STEP cmd, swState->gc.gSTATE_IDLE"
return
gcode = self.gcodeDataLines[self.workingProgramCounter]
# don't sent unnecessary data save the bits for speed
for reComments in gReGcodeComments:
gcode = reComments.sub("", gcode)
self.RunStepSendGcode(gcode)
def SerialRead(self):
serialData = ""
if not self.progExecSerialRxInQueue.empty():
# get item from queue
e = self.progExecSerialRxInQueue.get()
if e.event_id == gc.gEV_ABORT:
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
# add data to queue and signal main window to consume
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, e.data))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
elif e.event_id == gc.gEV_SER_RXDATA:
if len(e.data) > 0:
# add data to queue and signal main window to consume
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_DATA_IN, e.data))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
serialData = e.data
# item acknowledge
self.progExecSerialRxInQueue.task_done()
return serialData
def ProcessRunSate(self):
# send data to serial port ----------------------------------------------
# check if we are done with gcode
if self.workingProgramCounter >= len(self.gcodeDataLines):
self.swState = gc.gSTATE_IDLE
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_RUN_END, None))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread reach last PC, swState->gc.gSTATE_IDLE"
return
# update PC
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_PC_UPDATE, self.workingProgramCounter))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
# check for break point hit
if (self.workingProgramCounter in self.breakPointSet) and \
(self.workingProgramCounter != self.initialProgramCounter):
self.swState = gc.gSTATE_BREAK
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_HIT_BRK_PT, None))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread encounter breakpoint PC[%s], swState->gc.gSTATE_BREAK" % \
(self.workingProgramCounter)
return
# get gcode line
gcode = self.gcodeDataLines[self.workingProgramCounter]
# check for msg line
reMsgSearch = gReGcodeMsg.search(gcode)
if (reMsgSearch is not None) and \
(self.workingProgramCounter != self.initialProgramCounter):
self.swState = gc.gSTATE_BREAK
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_HIT_MSG, reMsgSearch.group(1)))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread encounter MSG line PC[%s], swState->gc.gSTATE_BREAK, MSG[%s]" % \
(self.workingProgramCounter, reMsgSearch.group(1))
return
# don't sent unnecessary data save the bits for speed
for reComments in gReGcodeComments:
gcode = reComments.sub("", gcode)
# send g-code command
self.RunStepSendGcode(gcode)
def SerialRead(self):
serialData = ""
if not self.progExecSerialRxInQueue.empty():
# get item from queue
e = self.progExecSerialRxInQueue.get()
if e.event_id == gc.gEV_ABORT:
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
# add data to queue and signal main window to consume
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, e.data))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
elif e.event_id == gc.gEV_SER_RXDATA:
if len(e.data) > 0:
# add data to queue and signal main window to consume
self.progExecOutQueue.put(
gc.threadEvent(gc.gEV_DATA_IN, e.data))
serialData = e.data
self.DecodeStatusData(serialData)
return serialData
def RunStepSendGcode(self, gcodeData):
gcode = gcodeData.strip()
if len(gcode) > 0:
gcode = "%s\n" % (gcode)
# write data
self.SerialWrite(gcode)
# wait for response
#responseData = self.WaitForResponse()
self.WaitForAcknowledge()
self.workingProgramCounter += 1
# if we stop early make sure to update PC to main UI
if self.swState == gc.gSTATE_IDLE:
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_PC_UPDATE, self.workingProgramCounter))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
def SerialWrite(self, serialData):
exFlag = False
exMsg = ""
# sent data to UI
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_DATA_OUT, serialData))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
try:
# send command
self.serPort.write(serialData.encode('ascii'))
if self.cmdLineOptions.vverbose:
print "[%03d] -> ASCII:{%s} HEX:{%s}" % (len(serialData),
serialData.strip(), ':'.join(x.encode('hex') for x in serialData))
elif self.cmdLineOptions.verbose:
print "[%03d] -> %s" % (len(serialData), serialData.strip())
except serial.SerialException, e:
exMsg = "** PySerial exception: %s\n" % e.message
exFlag = True
def run(self):
"""Run Worker Thread."""
# This is the code executing in the new thread.
self.endThread = False
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread start."
# inti serial RX thread
self.serialRxThread = gsatSerialPortThread(self, self.serPort, self.progExecSerialRxOutQueue,
self.progExecSerialRxInQueue, self.cmdLineOptions)
# init communication with device (helps to force tinyG into txt mode
if self.deviceID == gc.gDEV_TINYG2 or self.deviceID == gc.gDEV_TINYG:
self.SerialWrite(gc.gTINYG_CMD_GET_STATUS)
elif self.deviceID == gc.gDEV_GRBL:
self.SerialWrite(gc.gGRBL_CMD_GET_STATUS)
self.SerialWrite(gc.gGRBL_CMD_GET_STATUS)
while(self.endThread != True):
# process input queue for new commands or actions
self.ProcessQueue()
# process write queue from UI cmds
self.ProcessSerialWriteQueue()
# check if we need to exit now
if self.endThread:
break
if self.serPort.isOpen():
if self.swState == gc.gSTATE_RUN:
self.ProcessRunSate()
elif self.swState == gc.gSTATE_STEP:
self.ProcessStepSate()
elif self.swState == gc.gSTATE_IDLE:
self.ProcessIdleSate()
elif self.swState == gc.gSTATE_BREAK:
self.ProcessIdleSate()
elif self.swState == gc.gSTATE_ABORT:
# do nothing, wait to be terminated
pass
else:
if self.cmdLineOptions.verbose:
print "** gsatProgramExecuteThread unexpected state [%d], moving back to IDLE." \
", swState->gc.gSTATE_IDLE " % (self.swState)
self.ProcessIdleSate()
self.swState = gc.gSTATE_IDLE
else:
message ="** Serial Port is close, gsatProgramExecuteThread terminating.\n"
if self.cmdLineOptions.verbose:
print message.strip()
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
# add data to queue and signal main window to consume
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, ""))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
wx.LogMessage(message)
break
time.sleep(0.02)
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread exit."
def ProcessQueue(self):
# check output queue and notify UI if is not empty
if not self.progExecOutQueue.empty():
if self.okToPostEvents:
self.okToPostEvents = False
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
# process events from queue ---------------------------------------------
if not self.progExecInQueue.empty():
# get item from queue
e = self.progExecInQueue.get()
self.lastEventID = e.event_id
if e.event_id == gc.gEV_CMD_EXIT:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_EXIT."
self.endThread = True
self.swState = gc.gSTATE_IDLE
if self.serialRxThread is not None:
self.progExecSerialRxOutQueue.put(gc.threadEvent(gc.gEV_CMD_EXIT, None))
elif e.event_id == gc.gEV_CMD_RUN:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_RUN, swState->gc.gSTATE_RUN"
self.gcodeDataLines = e.data[0]
self.initialProgramCounter = e.data[1]
self.workingProgramCounter = self.initialProgramCounter
self.breakPointSet = e.data[2]
self.swState = gc.gSTATE_RUN
elif e.event_id == gc.gEV_CMD_STEP:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_STEP, swState->gc.gSTATE_STEP"
self.gcodeDataLines = e.data[0]
self.initialProgramCounter = e.data[1]
self.workingProgramCounter = self.initialProgramCounter
self.breakPointSet = e.data[2]
self.swState = gc.gSTATE_STEP
elif e.event_id == gc.gEV_CMD_STOP:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_STOP, swState->gc.gSTATE_IDLE"
self.swState = gc.gSTATE_IDLE
elif e.event_id == gc.gEV_CMD_SEND:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_SEND."
self.serialWriteQueue.append((e.data, False))
elif e.event_id == gc.gEV_CMD_SEND_W_ACK:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_SEND_W_ACK."
self.serialWriteQueue.append((e.data, True))
elif e.event_id == gc.gEV_CMD_AUTO_STATUS:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_AUTO_STATUS."
self.machineAutoStatus = e.data
elif e.event_id == gc.gEV_CMD_OK_TO_POST:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_OK_TO_POST."
self.okToPostEvents = True
else:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got unknown event!! [%s]." % str(e.event_id)
exFlag = True
except IOError, e:
exMsg = "** IOError exception: %s\n" % str(e)
exFlag = True
if exFlag:
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
if self.cmdLineOptions.verbose:
print exMsg.strip()
# add data to queue and signal main window
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, exMsg))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
def DecodeStatusData (self, serialData):
# -----------------------------------------------------------------
# Grbl
if self.deviceID == gc.gDEV_GRBL:
# GRBL status data
rematch = gReGRBLMachineStatus.match(serialData)
# data is expected to be an array of strings as follows
# statusData[0] : Machine state
# statusData[1] : Machine X
# statusData[2] : Machine Y
# statusData[3] : Machine Z
def run(self):
"""Run Worker Thread."""
# This is the code executing in the new thread.
self.endThread = False
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread start."
# inti serial RX thread
self.serialRxThread = gsatSerialPortThread(
self, self.serPort, self.progExecSerialRxOutQueue,
self.progExecSerialRxInQueue, self.cmdLineOptions)
# init communication with device (helps to force tinyG into txt mode
if self.deviceID == gc.gDEV_TINYG2 or self.deviceID == gc.gDEV_TINYG:
self.SerialWrite(gc.gTINYG_CMD_GET_STATUS)
elif self.deviceID == gc.gDEV_GRBL:
self.SerialWrite(gc.gGRBL_CMD_GET_STATUS)
self.SerialWrite(gc.gGRBL_CMD_GET_STATUS)
while (self.endThread != True):
# process input queue for new commands or actions
self.ProcessQueue()
# process write queue from UI cmds
self.ProcessSerialWriteQueue()
# check if we need to exit now
if self.endThread:
break
if self.serPort.isOpen():
if self.swState == gc.gSTATE_RUN:
self.ProcessRunSate()
elif self.swState == gc.gSTATE_STEP:
self.ProcessStepSate()
elif self.swState == gc.gSTATE_IDLE:
self.ProcessIdleSate()
elif self.swState == gc.gSTATE_BREAK:
self.ProcessIdleSate()
elif self.swState == gc.gSTATE_ABORT:
# do nothing, wait to be terminated
pass
else:
if self.cmdLineOptions.verbose:
print "** gsatProgramExecuteThread unexpected state [%d], moving back to IDLE." \
", swState->gc.gSTATE_IDLE " % (self.swState)
self.ProcessIdleSate()
self.swState = gc.gSTATE_IDLE
else:
message = "** Serial Port is close, gsatProgramExecuteThread terminating.\n"
if self.cmdLineOptions.verbose:
print message.strip()
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
# add data to queue and signal main window to consume
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, ""))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
wx.LogMessage(message)
break
time.sleep(0.02)
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread exit."
def ProcessQueue(self):
# check output queue and notify UI if is not empty
if not self.progExecOutQueue.empty():
if self.okToPostEvents:
self.okToPostEvents = False
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
# process events from queue ---------------------------------------------
if not self.progExecInQueue.empty():
# get item from queue
e = self.progExecInQueue.get()
self.lastEventID = e.event_id
if e.event_id == gc.gEV_CMD_EXIT:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_EXIT."
self.endThread = True
self.swState = gc.gSTATE_IDLE
if self.serialRxThread is not None:
self.progExecSerialRxOutQueue.put(
gc.threadEvent(gc.gEV_CMD_EXIT, None))
elif e.event_id == gc.gEV_CMD_RUN:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_RUN, swState->gc.gSTATE_RUN"
self.gcodeDataLines = e.data[0]
self.initialProgramCounter = e.data[1]
self.workingProgramCounter = self.initialProgramCounter
self.breakPointSet = e.data[2]
self.swState = gc.gSTATE_RUN
elif e.event_id == gc.gEV_CMD_STEP:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_STEP, swState->gc.gSTATE_STEP"
self.gcodeDataLines = e.data[0]
self.initialProgramCounter = e.data[1]
self.workingProgramCounter = self.initialProgramCounter
self.breakPointSet = e.data[2]
self.swState = gc.gSTATE_STEP
elif e.event_id == gc.gEV_CMD_STOP:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_STOP, swState->gc.gSTATE_IDLE"
self.swState = gc.gSTATE_IDLE
elif e.event_id == gc.gEV_CMD_SEND:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_SEND."
self.serialWriteQueue.append((e.data, False))
elif e.event_id == gc.gEV_CMD_SEND_W_ACK:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_SEND_W_ACK."
self.serialWriteQueue.append((e.data, True))
elif e.event_id == gc.gEV_CMD_AUTO_STATUS:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_AUTO_STATUS."
self.machineAutoStatus = e.data
elif e.event_id == gc.gEV_CMD_OK_TO_POST:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got event gc.gEV_CMD_OK_TO_POST."
self.okToPostEvents = True
else:
if self.cmdLineOptions.vverbose:
print "** gsatProgramExecuteThread got unknown event!! [%s]." % str(
e.event_id)
exFlag = True
except IOError, e:
exMsg = "** IOError exception: %s\n" % str(e)
exFlag = True
if exFlag:
# make sure we stop processing any states...
self.swState = gc.gSTATE_ABORT
if self.cmdLineOptions.verbose:
print exMsg.strip()
# add data to queue and signal main window
self.progExecOutQueue.put(gc.threadEvent(gc.gEV_ABORT, exMsg))
wx.PostEvent(self.notifyWindow, gc.threadQueueEvent(None))
def DecodeStatusData(self, serialData):
# -----------------------------------------------------------------
# Grbl
if self.deviceID == gc.gDEV_GRBL:
# GRBL status data
rematch = gReGRBLMachineStatus.match(serialData)
# data is expected to be an array of strings as follows
# statusData[0] : Machine state
# statusData[1] : Machine X
# statusData[2] : Machine Y
# statusData[3] : Machine Z
# statusData[4] : Work X