# Copyright (c) 2016 Ultimaker B.V. # Cura is released under the terms of the LGPLv3 or higher. from .avr_isp import stk500v2, ispBase, intelHex import serial # type: ignore import threading import time import queue import re import functools from UM.Application import Application from UM.Logger import Logger from cura.PrinterOutputDevice import PrinterOutputDevice, ConnectionState from UM.Message import Message from UM.Qt.Duration import DurationFormat from PyQt5.QtCore import QUrl, pyqtSlot, pyqtSignal, pyqtProperty from UM.i18n import i18nCatalog catalog = i18nCatalog("cura") class USBPrinterOutputDevice(PrinterOutputDevice): def __init__(self, serial_port): super().__init__(serial_port) self.setName(catalog.i18nc("@item:inmenu", "USB printing")) self.setShortDescription(catalog.i18nc("@action:button Preceded by 'Ready to'.", "Print via USB")) self.setDescription(catalog.i18nc("@info:tooltip", "Print via USB")) self.setIconName("print") self.setConnectionText(catalog.i18nc("@info:status", "Connected via USB")) 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 = None self._poll_endstop = 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._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.daemon = True self.firmwareUpdateComplete.connect(self._onFirmwareUpdateComplete) self._heatup_wait_start_time = time.time() self.jobStateChanged.connect(self._onJobStateChanged) ## 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 self._is_paused = False ## Set when print is started in order to check running time. self._print_start_time = None self._print_estimated_time = 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 = [] # Check if endstops are ever pressed (used for first run) 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._current_z = 0 self._updating_firmware = False self._firmware_file_name = None self._firmware_update_finished = False self._error_message = None self._error_code = 0 onError = pyqtSignal() firmwareUpdateComplete = pyqtSignal() firmwareUpdateChange = pyqtSignal() endstopStateChanged = pyqtSignal(str ,bool, arguments = ["key","state"]) def _setTargetBedTemperature(self, temperature): Logger.log("d", "Setting bed temperature to %s", temperature) self._sendCommand("M140 S%s" % temperature) def _setTargetHotendTemperature(self, index, temperature): Logger.log("d", "Setting hotend %s temperature to %s", index, temperature) self._sendCommand("M104 T%s S%s" % (index, temperature)) def _setHeadPosition(self, x, y , z, speed): self._sendCommand("G0 X%s Y%s Z%s F%s" % (x, y, z, speed)) def _setHeadX(self, x, speed): self._sendCommand("G0 X%s F%s" % (x, speed)) def _setHeadY(self, y, speed): self._sendCommand("G0 Y%s F%s" % (y, speed)) def _setHeadZ(self, z, speed): self._sendCommand("G0 Y%s F%s" % (z, speed)) def _homeHead(self): self._sendCommand("G28 X") self._sendCommand("G28 Y") def _homeBed(self): self._sendCommand("G28 Z") ## Updates the target bed temperature from the printer, and emit a signal if it was changed. # # /param temperature The new target temperature of the bed. # /return boolean, True if the temperature was changed, false if the new temperature has the same value as the already stored temperature def _updateTargetBedTemperature(self, temperature): if self._target_bed_temperature == temperature: return False self._target_bed_temperature = temperature self.targetBedTemperatureChanged.emit() return True ## Updates the target hotend temperature from the printer, and emit a signal if it was changed. # # /param index The index of the hotend. # /param temperature The new target temperature of the hotend. # /return boolean, True if the temperature was changed, false if the new temperature has the same value as the already stored temperature def _updateTargetHotendTemperature(self, index, temperature): if self._target_hotend_temperatures[index] == temperature: return False self._target_hotend_temperatures[index] = temperature self.targetHotendTemperaturesChanged.emit() return True ## A name for the device. @pyqtProperty(str, constant = True) def name(self): return self.getName() ## The address of the device. @pyqtProperty(str, constant = True) def address(self): return self._serial_port def startPrint(self): self.writeStarted.emit(self) active_build_plate_id = Application.getInstance().getBuildPlateModel().activeBuildPlate gcode_dict = getattr(Application.getInstance().getController().getScene(), "gcode_dict") gcode_list = gcode_dict[active_build_plate_id] self._updateJobState("printing") self.printGCode(gcode_list) def _moveHead(self, x, y, z, speed): self._sendCommand("G91") self._sendCommand("G0 X%s Y%s Z%s F%s" % (x, y, z, speed)) self._sendCommand("G90") ## Start a print based on a g-code. # \param gcode_list List with gcode (strings). def printGCode(self, gcode_list): Logger.log("d", "Started printing g-code") if self._progress or self._connection_state != ConnectionState.connected: self._error_message = Message(catalog.i18nc("@info:status", "Unable to start a new job because the printer is busy or not connected."), title = catalog.i18nc("@info:title", "Printer Unavailable")) self._error_message.show() Logger.log("d", "Printer is busy or not connected, aborting print") self.writeError.emit(self) 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._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() self.writeFinished.emit(self) ## 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 function (threaded) that actually uploads the firmware. def _updateFirmware(self): Logger.log("d", "Attempting to update firmware") self._error_code = 0 self.setProgress(0, 100) self._firmware_update_finished = False if self._connection_state != ConnectionState.closed: 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") self._updateFirmwareFailedMissingFirmware() return programmer = stk500v2.Stk500v2() programmer.progress_callback = self.setProgress try: programmer.connect(self._serial_port) except Exception: programmer.close() pass # Give programmer some time to connect. Might need more in some cases, but this worked in all tested cases. time.sleep(1) if not programmer.isConnected(): Logger.log("e", "Unable to connect with serial. Could not update firmware") self._updateFirmwareFailedCommunicationError() return self._updating_firmware = True try: programmer.programChip(hex_file) self._updating_firmware = False except serial.SerialException as e: Logger.log("e", "SerialException while trying to update firmware: <%s>" %(repr(e))) self._updateFirmwareFailedIOError() return except Exception as e: Logger.log("e", "Exception while trying to update firmware: <%s>" %(repr(e))) self._updateFirmwareFailedUnknown() return programmer.close() self._updateFirmwareCompletedSucessfully() return ## Private function which makes sure that firmware update process has failed by missing firmware def _updateFirmwareFailedMissingFirmware(self): return self._updateFirmwareFailedCommon(4) ## Private function which makes sure that firmware update process has failed by an IO error def _updateFirmwareFailedIOError(self): return self._updateFirmwareFailedCommon(3) ## Private function which makes sure that firmware update process has failed by a communication problem def _updateFirmwareFailedCommunicationError(self): return self._updateFirmwareFailedCommon(2) ## Private function which makes sure that firmware update process has failed by an unknown error def _updateFirmwareFailedUnknown(self): return self._updateFirmwareFailedCommon(1) ## Private common function which makes sure that firmware update process has completed/ended with a set progress state def _updateFirmwareFailedCommon(self, code): if not code: raise Exception("Error code not set!") self._error_code = code self._firmware_update_finished = True self.resetFirmwareUpdate(update_has_finished = True) self.progressChanged.emit() self.firmwareUpdateComplete.emit() return ## Private function which makes sure that firmware update process has successfully completed def _updateFirmwareCompletedSucessfully(self): self.setProgress(100, 100) self._firmware_update_finished = True self.resetFirmwareUpdate(update_has_finished = True) self.firmwareUpdateComplete.emit() return ## 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() @property def firmwareUpdateFinished(self): return self._firmware_update_finished def resetFirmwareUpdate(self, update_has_finished = False): self._firmware_update_finished = update_has_finished self.firmwareUpdateChange.emit() @pyqtSlot() def startPollEndstop(self): if not self._poll_endstop: self._poll_endstop = True if self._end_stop_thread is None: self._end_stop_thread = threading.Thread(target=self._pollEndStop) self._end_stop_thread.daemon = True self._end_stop_thread.start() @pyqtSlot() def stopPollEndstop(self): self._poll_endstop = False self._end_stop_thread = None def _pollEndStop(self): while self._connection_state == ConnectionState.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.setConnectionState(ConnectionState.connecting) 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: programmer.close() Logger.log("i", "Could not establish connection on %s: %s. Device is not arduino based." %(self._serial_port,str(e))) except Exception as e: programmer.close() Logger.log("i", "Could not establish connection on %s, unknown reasons. Device is not arduino based." % self._serial_port) # If the programmer connected, we know its an atmega based version. # Not all that useful, but it does give some debugging information. for baud_rate in self._getBaudrateList(): # Cycle all baud rates (auto detect) Logger.log("d", "Attempting to connect to printer with serial %s on baud rate %s", self._serial_port, baud_rate) if self._serial is None: try: self._serial = serial.Serial(str(self._serial_port), baud_rate, timeout = 3, writeTimeout = 10000) time.sleep(10) except serial.SerialException: Logger.log("d", "Could not open port %s" % self._serial_port) continue 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 seconds 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: Logger.log("d", "No response from serial connection received.") # Something went wrong with reading, could be that close was called. self.setConnectionState(ConnectionState.closed) return if b"T:" in line: Logger.log("d", "Correct response for auto-baudrate detection received.") self._serial.timeout = 0.5 sucesfull_responses += 1 if sucesfull_responses >= self._required_responses_auto_baud: self._serial.timeout = 2 # Reset serial timeout self.setConnectionState(ConnectionState.connected) self._listen_thread.start() # Start listening Logger.log("i", "Established printer connection on port %s" % self._serial_port) return self._sendCommand("M105") # Send M105 as long as we are listening, otherwise we end up in an undefined state Logger.log("e", "Baud rate detection for %s failed", self._serial_port) self.close() # Unable to connect, wrap up. self.setConnectionState(ConnectionState.closed) ## 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 ## Close the printer connection def close(self): Logger.log("d", "Closing the USB printer connection.") if self._connect_thread.isAlive(): try: self._connect_thread.join() except Exception as e: Logger.log("d", "PrinterConnection.close: %s (expected)", e) pass # This should work, but it does fail sometimes for some reason self._connect_thread = threading.Thread(target = self._connect) self._connect_thread.daemon = True self.setConnectionState(ConnectionState.closed) if self._serial is not None: try: self._listen_thread.join() except: pass if self._serial is not None: # Avoid a race condition when a thread can change the value of self._serial to None self._serial.close() self._listen_thread = threading.Thread(target = self._listen) self._listen_thread.daemon = True self._serial = None ## 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() 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() ## Send a command to printer. # \param cmd string with g-code def sendCommand(self, cmd): if self._progress: self._command_queue.put(cmd) elif self._connection_state == ConnectionState.connected: self._sendCommand(cmd) ## Set the error state with a message. # \param error String with the error message. def _setErrorState(self, error): self._updateJobState("error") self._error_state = error self.onError.emit() ## Request the current scene to be sent to a USB-connected printer. # # \param nodes A collection of scene nodes to send. This is ignored. # \param file_name \type{string} A suggestion for a file name to write. # \param filter_by_machine Whether to filter MIME types by machine. This # is ignored. # \param kwargs Keyword arguments. def requestWrite(self, nodes, file_name = None, filter_by_machine = False, file_handler = None, **kwargs): container_stack = Application.getInstance().getGlobalContainerStack() if container_stack.getProperty("machine_gcode_flavor", "value") == "UltiGCode": self._error_message = Message(catalog.i18nc("@info:status", "This printer does not support USB printing because it uses UltiGCode flavor."), title = catalog.i18nc("@info:title", "USB Printing")) self._error_message.show() return elif not container_stack.getMetaDataEntry("supports_usb_connection"): self._error_message = Message(catalog.i18nc("@info:status", "Unable to start a new job because the printer does not support usb printing."), title = catalog.i18nc("@info:title", "Warning")) self._error_message.show() return self.setJobName(file_name) self._print_estimated_time = int(Application.getInstance().getPrintInformation().currentPrintTime.getDisplayString(DurationFormat.Format.Seconds)) Application.getInstance().getController().setActiveStage("MonitorStage") self.startPrint() 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) container_stack = Application.getInstance().getGlobalContainerStack() temperature_request_timeout = time.time() ok_timeout = time.time() while self._connection_state == ConnectionState.connected: line = self._readline() if line is None: break # None is only returned when something went wrong. Stop listening if time.time() > temperature_request_timeout: if self._num_extruders > 1: self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._num_extruders self.sendCommand("M105 T%d" % (self._temperature_requested_extruder_index)) else: self.sendCommand("M105") temperature_request_timeout = time.time() + 5 if line.startswith(b"Error:"): # Oh YEAH, consistency. # Marlin reports a 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 temperature_matches = re.findall(b"T(\d*): ?([\d\.]+) ?\/?([\d\.]+)?", line) temperature_set = False try: for match in temperature_matches: if match[0]: extruder_nr = int(match[0]) if extruder_nr >= container_stack.getProperty("machine_extruder_count", "value"): continue if match[1]: self._setHotendTemperature(extruder_nr, float(match[1])) temperature_set = True if match[2]: self._updateTargetHotendTemperature(extruder_nr, float(match[2])) else: requested_temperatures = match if not temperature_set and requested_temperatures: if requested_temperatures[1]: self._setHotendTemperature(self._temperature_requested_extruder_index, float(requested_temperatures[1])) if requested_temperatures[2]: self._updateTargetHotendTemperature(self._temperature_requested_extruder_index, float(requested_temperatures[2])) except: Logger.log("w", "Could not parse hotend temperatures from response: %s", line) # Check if there's also a bed temperature temperature_matches = re.findall(b"B: ?([\d\.]+) ?\/?([\d\.]+)?", line) if container_stack.getProperty("machine_heated_bed", "value") and len(temperature_matches) > 0: match = temperature_matches[0] try: if match[0]: self._setBedTemperature(float(match[0])) if match[1]: self._updateTargetBedTemperature(float(match[1])) except: Logger.log("w", "Could not parse bed temperature from response: %s", line) 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 line == b"" and time.time() > ok_timeout: line = b"ok" # Force a timeout (basically, 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()) elif self._is_paused: line = b"" # Force getting temperature as keep alive 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: Logger.log("d", "Got a resend response") 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]) # Request the temperature on comm timeout (every 2 seconds) when we are not printing.) if line == b"": if self._num_extruders > 1: self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._num_extruders 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 line = self._gcode[self._gcode_position] if ";" in line: line = line[:line.find(";")] line = line.strip() # Don't send empty lines. But we do have to send something, so send # m105 instead. # Don't send the M0 or M1 to the machine, as M0 and M1 are handled as # an LCD menu pause. if line == "" or line == "M0" or line == "M1": line = "M105" try: 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, could not parse current Z: %s: %s" % (e, line)) 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)) progress = (self._gcode_position / len(self._gcode)) elapsed_time = int(time.time() - self._print_start_time) self.setTimeElapsed(elapsed_time) estimated_time = self._print_estimated_time if progress > .1: estimated_time = self._print_estimated_time * (1-progress) + elapsed_time self.setTimeTotal(estimated_time) self._gcode_position += 1 self.setProgress(progress * 100) self.progressChanged.emit() ## Set the state of the print. # Sent from the print monitor def _setJobState(self, job_state): if job_state == "pause": self._is_paused = True self._updateJobState("paused") elif job_state == "print": self._is_paused = False self._updateJobState("printing") elif job_state == "abort": self.cancelPrint() def _onJobStateChanged(self): # clear the job name & times when printing is done or aborted if self._job_state == "ready": self.setJobName("") self.setTimeElapsed(0) self.setTimeTotal(0) ## 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 if self._progress == 100: # Printing is done, reset progress self._gcode_position = 0 self.setProgress(0) self._is_printing = False self._is_paused = False self._updateJobState("ready") self.progressChanged.emit() ## Cancel the current print. Printer connection wil continue to listen. def cancelPrint(self): self._gcode_position = 0 self.setProgress(0) self._gcode = [] # Turn off temperatures, fan and steppers self._sendCommand("M140 S0") self._sendCommand("M104 S0") self._sendCommand("M107") # Home XY to prevent nozzle resting on aborted print # Don't home bed because it may crash the printhead into the print on printers that home on the bottom self.homeHead() self._sendCommand("M84") self._is_printing = False self._is_paused = False self._updateJobState("ready") Application.getInstance().getController().setActiveStage("PrepareStage") ## Check if the process did not encounter an error yet. def hasError(self): return self._error_state is not 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 = [115200, 250000, 230400, 57600, 38400, 19200, 9600] return ret def _onFirmwareUpdateComplete(self): self._update_firmware_thread.join() self._update_firmware_thread = threading.Thread(target = self._updateFirmware) self._update_firmware_thread.daemon = True self.connect() ## Pre-heats the heated bed of the printer, if it has one. # # \param temperature The temperature to heat the bed to, in degrees # Celsius. # \param duration How long the bed should stay warm, in seconds. This is # ignored because there is no g-code to set this. @pyqtSlot(float, float) def preheatBed(self, temperature, duration): Logger.log("i", "Pre-heating the bed to %i degrees.", temperature) self._setTargetBedTemperature(temperature) self.preheatBedRemainingTimeChanged.emit() ## Cancels pre-heating the heated bed of the printer. # # If the bed is not pre-heated, nothing happens. @pyqtSlot() def cancelPreheatBed(self): Logger.log("i", "Cancelling pre-heating of the bed.") self._setTargetBedTemperature(0) self.preheatBedRemainingTimeChanged.emit()