# Copyright (c) 2015 Ultimaker B.V. # Cura is released under the terms of the AGPLv3 or higher. from .avr_isp import stk500v2, ispBase, intelHex import serial import threading import time import queue import re import functools import os import os.path from UM.Application import Application from UM.Signal import Signal, SignalEmitter from UM.Resources import Resources from UM.Logger import Logger from UM.OutputDevice.OutputDevice import OutputDevice from UM.OutputDevice import OutputDeviceError from UM.PluginRegistry import PluginRegistry from PyQt5.QtQuick import QQuickView from PyQt5.QtQml import QQmlComponent, QQmlContext from PyQt5.QtCore import QUrl, QObject, pyqtSlot, pyqtProperty, pyqtSignal, Qt from UM.i18n import i18nCatalog catalog = i18nCatalog("cura") class PrinterConnection(OutputDevice, QObject, SignalEmitter): def __init__(self, serial_port, parent = None): QObject.__init__(self, parent) OutputDevice.__init__(self, serial_port) SignalEmitter.__init__(self) #super().__init__(serial_port) self.setName(catalog.i18nc("@item:inmenu", "USB printing")) self.setShortDescription(catalog.i18nc("@action:button", "Print with USB")) self.setDescription(catalog.i18nc("@info:tooltip", "Print with USB")) self.setIconName("print") self._serial = None self._serial_port = serial_port self._error_state = None self._connect_thread = threading.Thread(target = self._connect) self._connect_thread.daemon = True self._end_stop_thread = threading.Thread(target = self._pollEndStop) self._end_stop_thread.deamon = True # Printer is connected self._is_connected = False # Printer is in the process of connecting self._is_connecting = False # The baud checking is done by sending a number of m105 commands to the printer and waiting for a readable # response. If the baudrate is correct, this should make sense, else we get giberish. self._required_responses_auto_baud = 3 self._progress = 0 self._listen_thread = threading.Thread(target=self._listen) self._listen_thread.daemon = True self._update_firmware_thread = threading.Thread(target= self._updateFirmware) self._update_firmware_thread.demon = True self._heatup_wait_start_time = time.time() ## Queue for commands that need to be send. Used when command is sent when a print is active. self._command_queue = queue.Queue() self._is_printing = False ## Set when print is started in order to check running time. self._print_start_time = None self._print_start_time_100 = None ## Keep track where in the provided g-code the print is self._gcode_position = 0 # List of gcode lines to be printed self._gcode = [] # Number of extruders self._extruder_count = 1 # Temperatures of all extruders self._extruder_temperatures = [0] * self._extruder_count # Target temperatures of all extruders self._target_extruder_temperatures = [0] * self._extruder_count #Target temperature of the bed self._target_bed_temperature = 0 # Temperature of the bed self._bed_temperature = 0 # Current Z stage location self._current_z = 0 self._x_min_endstop_pressed = False self._y_min_endstop_pressed = False self._z_min_endstop_pressed = False self._x_max_endstop_pressed = False self._y_max_endstop_pressed = False self._z_max_endstop_pressed = False # In order to keep the connection alive we request the temperature every so often from a different extruder. # This index is the extruder we requested data from the last time. self._temperature_requested_extruder_index = 0 self._updating_firmware = False self._firmware_file_name = None self._control_view = None onError = pyqtSignal() progressChanged = pyqtSignal() extruderTemperatureChanged = pyqtSignal() bedTemperatureChanged = pyqtSignal() endstopStateChanged = pyqtSignal(str,bool, arguments = ["key","state"]) @pyqtProperty(float, notify = progressChanged) def progress(self): return self._progress @pyqtProperty(float, notify = extruderTemperatureChanged) def extruderTemperature(self): return self._extruder_temperatures[0] @pyqtProperty(float, notify = bedTemperatureChanged) def bedTemperature(self): return self._bed_temperature @pyqtProperty(str, notify = onError) def error(self): return self._error_state # TODO: Might need to add check that extruders can not be changed when it started printing or loading these settings from settings object def setNumExtuders(self, num): self._extruder_count = num self._extruder_temperatures = [0] * self._extruder_count self._target_extruder_temperatures = [0] * self._extruder_count ## Is the printer actively printing def isPrinting(self): if not self._is_connected or self._serial is None: return False return self._is_printing @pyqtSlot() def startPrint(self): gcode_list = getattr( Application.getInstance().getController().getScene(), "gcode_list") self.printGCode(gcode_list) ## Start a print based on a g-code. # \param gcode_list List with gcode (strings). def printGCode(self, gcode_list): if self.isPrinting() or not self._is_connected: Logger.log("d", "Printer is busy or not connected, aborting print") return self._gcode.clear() for layer in gcode_list: self._gcode.extend(layer.split("\n")) #Reset line number. If this is not done, first line is sometimes ignored self._gcode.insert(0, "M110") self._gcode_position = 0 self._print_start_time_100 = None self._is_printing = True self._print_start_time = time.time() for i in range(0, 4): #Push first 4 entries before accepting other inputs self._sendNextGcodeLine() ## Get the serial port string of this connection. # \return serial port def getSerialPort(self): return self._serial_port ## Try to connect the serial. This simply starts the thread, which runs _connect. def connect(self): if not self._updating_firmware and not self._connect_thread.isAlive(): self._connect_thread.start() ## Private fuction (threaded) that actually uploads the firmware. def _updateFirmware(self): if self._is_connecting or self._is_connected: self.close() hex_file = intelHex.readHex(self._firmware_file_name) if len(hex_file) == 0: Logger.log("e", "Unable to read provided hex file. Could not update firmware") return programmer = stk500v2.Stk500v2() programmer.progressCallback = self.setProgress programmer.connect(self._serial_port) time.sleep(1) # Give programmer some time to connect. Might need more in some cases, but this worked in all tested cases. if not programmer.isConnected(): Logger.log("e", "Unable to connect with serial. Could not update firmware") return self._updating_firmware = True try: programmer.programChip(hex_file) self._updating_firmware = False except Exception as e: Logger.log("e", "Exception while trying to update firmware %s" %e) self._updating_firmware = False return programmer.close() self.setProgress(100, 100) ## Upload new firmware to machine # \param filename full path of firmware file to be uploaded def updateFirmware(self, file_name): Logger.log("i", "Updating firmware of %s using %s", self._serial_port, file_name) self._firmware_file_name = file_name self._update_firmware_thread.start() @pyqtSlot() def startPollEndstop(self): self._poll_endstop = True self._end_stop_thread.start() def _pollEndStop(self): while self._is_connected and self._poll_endstop: self.sendCommand("M119") time.sleep(0.5) ## Private connect function run by thread. Can be started by calling connect. def _connect(self): Logger.log("d", "Attempting to connect to %s", self._serial_port) self._is_connecting = True programmer = stk500v2.Stk500v2() try: programmer.connect(self._serial_port) # Connect with the serial, if this succeeds, it"s an arduino based usb device. self._serial = programmer.leaveISP() except ispBase.IspError as e: Logger.log("i", "Could not establish connection on %s: %s. Device is not arduino based." %(self._serial_port,str(e))) except Exception as e: Logger.log("i", "Could not establish connection on %s, unknown reasons. Device is not arduino based." % self._serial_port) if not self._serial: self._is_connecting = False Logger.log("i", "Could not establish connection on %s, unknown reasons.", self._serial_port) return # If the programmer connected, we know its an atmega based version. Not all that usefull, but it does give some debugging information. for baud_rate in self._getBaudrateList(): # Cycle all baud rates (auto detect) if self._serial is None: try: self._serial = serial.Serial(str(self._serial_port), baud_rate, timeout = 3, writeTimeout = 10000) except serial.SerialException: Logger.log("i", "Could not open port %s" % self._serial_port) return else: if not self.setBaudRate(baud_rate): continue # Could not set the baud rate, go to the next time.sleep(1.5) # Ensure that we are not talking to the bootloader. 1.5 sec seems to be the magic number sucesfull_responses = 0 timeout_time = time.time() + 5 self._serial.write(b"\n") self._sendCommand("M105") # Request temperature, as this should (if baudrate is correct) result in a command with "T:" in it while timeout_time > time.time(): line = self._readline() if line is None: self.setIsConnected(False) # Something went wrong with reading, could be that close was called. return if b"T:" in line: self._serial.timeout = 0.5 self._sendCommand("M105") sucesfull_responses += 1 if sucesfull_responses >= self._required_responses_auto_baud: self._serial.timeout = 2 #Reset serial timeout self.setIsConnected(True) Logger.log("i", "Established printer connection on port %s" % self._serial_port) return Logger.log("e", "Baud rate detection for %s failed", self._serial_port) self.close() # Unable to connect, wrap up. self.setIsConnected(False) ## Set the baud rate of the serial. This can cause exceptions, but we simply want to ignore those. def setBaudRate(self, baud_rate): try: self._serial.baudrate = baud_rate return True except Exception as e: return False def setIsConnected(self, state): self._is_connecting = False if self._is_connected != state: self._is_connected = state self.connectionStateChanged.emit(self._serial_port) if self._is_connected: self._listen_thread.start() #Start listening else: Logger.log("w", "Printer connection state was not changed") connectionStateChanged = Signal() ## Close the printer connection def close(self): if self._connect_thread.isAlive(): try: self._connect_thread.join() except Exception as e: pass # This should work, but it does fail sometimes for some reason if self._serial is not None: self.setIsConnected(False) try: self._listen_thread.join() except: pass self._serial.close() self._serial = None def isConnected(self): return self._is_connected ## Directly send the command, withouth checking connection state (eg; printing). # \param cmd string with g-code def _sendCommand(self, cmd): if self._serial is None: return if "M109" in cmd or "M190" in cmd: self._heatup_wait_start_time = time.time() if "M104" in cmd or "M109" in cmd: try: t = 0 if "T" in cmd: t = int(re.search("T([0-9]+)", cmd).group(1)) self._target_extruder_temperatures[t] = float(re.search("S([0-9]+)", cmd).group(1)) except: pass if "M140" in cmd or "M190" in cmd: try: self._target_bed_temperature = float(re.search("S([0-9]+)", cmd).group(1)) except: pass try: command = (cmd + "\n").encode() self._serial.write(b"\n") self._serial.write(command) except serial.SerialTimeoutException: Logger.log("w","Serial timeout while writing to serial port, trying again.") try: time.sleep(0.5) self._serial.write((cmd + "\n").encode()) except Exception as e: Logger.log("e","Unexpected error while writing serial port %s " % e) self._setErrorState("Unexpected error while writing serial port %s " % e) self.close() except Exception as e: Logger.log("e","Unexpected error while writing serial port %s" % e) self._setErrorState("Unexpected error while writing serial port %s " % e) self.close() ## Ensure that close gets called when object is destroyed def __del__(self): self.close() def createControlInterface(self): if self._control_view is None: path = QUrl.fromLocalFile(os.path.join(PluginRegistry.getInstance().getPluginPath("USBPrinting"), "ControlWindow.qml")) component = QQmlComponent(Application.getInstance()._engine, path) self._control_context = QQmlContext(Application.getInstance()._engine.rootContext()) self._control_context.setContextProperty("manager", self) self._control_view = component.create(self._control_context) ## Show control interface. # This will create the view if its not already created. def showControlInterface(self): if self._control_view is None: self.createControlInterface() self._control_view.show() ## Send a command to printer. # \param cmd string with g-code def sendCommand(self, cmd): if self.isPrinting(): self._command_queue.put(cmd) elif self.isConnected(): self._sendCommand(cmd) ## Set the error state with a message. # \param error String with the error message. def _setErrorState(self, error): self._error_state = error self.onError.emit() ## Private function to set the temperature of an extruder # \param index index of the extruder # \param temperature recieved temperature def _setExtruderTemperature(self, index, temperature): try: self._extruder_temperatures[index] = temperature self.extruderTemperatureChanged.emit() except Exception as e: pass ## Private function to set the temperature of the bed. # As all printers (as of time of writing) only support a single heated bed, # these are not indexed as with extruders. def _setBedTemperature(self, temperature): self._bed_temperature = temperature self.bedTemperatureChanged.emit() def requestWrite(self, node): self.showControlInterface() def _setEndstopState(self, endstop_key, value): if endstop_key == b'x_min': if self._x_min_endstop_pressed != value: self.endstopStateChanged.emit('x_min', value) self._x_min_endstop_pressed = value elif endstop_key == b'y_min': if self._y_min_endstop_pressed != value: self.endstopStateChanged.emit('y_min', value) self._y_min_endstop_pressed = value elif endstop_key == b'z_min': if self._z_min_endstop_pressed != value: self.endstopStateChanged.emit('z_min', value) self._z_min_endstop_pressed = value ## Listen thread function. def _listen(self): Logger.log("i", "Printer connection listen thread started for %s" % self._serial_port) temperature_request_timeout = time.time() ok_timeout = time.time() while self._is_connected: line = self._readline() if line is None: break # None is only returned when something went wrong. Stop listening if line.startswith(b"Error:"): # Oh YEAH, consistency. # Marlin reports an MIN/MAX temp error as "Error:x\n: Extruder switched off. MAXTEMP triggered !\n" # But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!" # So we can have an extra newline in the most common case. Awesome work people. if re.match(b"Error:[0-9]\n", line): line = line.rstrip() + self._readline() # Skip the communication errors, as those get corrected. if b"Extruder switched off" in line or b"Temperature heated bed switched off" in line or b"Something is wrong, please turn off the printer." in line: if not self.hasError(): self._setErrorState(line[6:]) elif b" T:" in line or line.startswith(b"T:"): #Temperature message try: self._setExtruderTemperature(self._temperature_requested_extruder_index,float(re.search(b"T: *([0-9\.]*)", line).group(1))) except: pass if b"B:" in line: # Check if it"s a bed temperature try: self._setBedTemperature(float(re.search(b"B: *([0-9\.]*)", line).group(1))) except Exception as e: pass #TODO: temperature changed callback elif b"_min" in line or b"_max" in line: tag, value = line.split(b':', 1) self._setEndstopState(tag,(b'H' in value or b'TRIGGERED' in value)) if self._is_printing: if time.time() > temperature_request_timeout: # When printing, request temperature every 5 seconds. if self._extruder_count > 0: self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count self.sendCommand("M105 T%d" % (self._temperature_requested_extruder_index)) else: self.sendCommand("M105") temperature_request_timeout = time.time() + 5 if line == b"" and time.time() > ok_timeout: line = b"ok" # Force a timeout (basicly, send next command) if b"ok" in line: ok_timeout = time.time() + 5 if not self._command_queue.empty(): self._sendCommand(self._command_queue.get()) else: self._sendNextGcodeLine() elif b"resend" in line.lower() or b"rs" in line: # Because a resend can be asked with "resend" and "rs" try: self._gcode_position = int(line.replace(b"N:",b" ").replace(b"N",b" ").replace(b":",b" ").split()[-1]) except: if b"rs" in line: self._gcode_position = int(line.split()[1]) else: # Request the temperature on comm timeout (every 2 seconds) when we are not printing.) if line == b"": if self._extruder_count > 0: self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count self.sendCommand("M105 T%d" % self._temperature_requested_extruder_index) else: self.sendCommand("M105") Logger.log("i", "Printer connection listen thread stopped for %s" % self._serial_port) ## Send next Gcode in the gcode list def _sendNextGcodeLine(self): if self._gcode_position >= len(self._gcode): return if self._gcode_position == 100: self._print_start_time_100 = time.time() line = self._gcode[self._gcode_position] if ";" in line: line = line[:line.find(";")] line = line.strip() try: if line == "M0" or line == "M1": line = "M105" #Don"t send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause. if ("G0" in line or "G1" in line) and "Z" in line: z = float(re.search("Z([0-9\.]*)", line).group(1)) if self._current_z != z: self._current_z = z except Exception as e: Logger.log("e", "Unexpected error with printer connection: %s" % e) self._setErrorState("Unexpected error: %s" %e) checksum = functools.reduce(lambda x,y: x^y, map(ord, "N%d%s" % (self._gcode_position, line))) self._sendCommand("N%d%s*%d" % (self._gcode_position, line, checksum)) self._gcode_position += 1 self.setProgress(( self._gcode_position / len(self._gcode)) * 100) self.progressChanged.emit() ## Set the progress of the print. # It will be normalized (based on max_progress) to range 0 - 100 def setProgress(self, progress, max_progress = 100): self._progress = (progress / max_progress) * 100 #Convert to scale of 0-100 self.progressChanged.emit() ## Cancel the current print. Printer connection wil continue to listen. @pyqtSlot() def cancelPrint(self): self._gcode_position = 0 self.setProgress(0) self._gcode = [] # Turn of temperatures self._sendCommand("M140 S0") self._sendCommand("M104 S0") self._is_printing = False ## Check if the process did not encounter an error yet. def hasError(self): return self._error_state != None ## private read line used by printer connection to listen for data on serial port. def _readline(self): if self._serial is None: return None try: ret = self._serial.readline() except Exception as e: Logger.log("e","Unexpected error while reading serial port. %s" %e) self._setErrorState("Printer has been disconnected") self.close() return None return ret ## Create a list of baud rates at which we can communicate. # \return list of int def _getBaudrateList(self): ret = [250000, 230400, 115200, 57600, 38400, 19200, 9600] return ret