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Sender.py
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#!/usr/bin/python
# -*- coding: ascii -*-
# $Id: bCNC.py,v 1.6 2014/10/15 15:04:48 bnv Exp bnv $
#
# Author: vvlachoudis@gmail.com
# Date: 17-Jun-2015
__author__ = "Vasilis Vlachoudis"
__email__ = "vvlachoudis@gmail.com"
import os
import re
import sys
import rexx
import time
import threading
import webbrowser
from datetime import datetime
try:
import serial
except:
serial = None
try:
from Queue import *
except ImportError:
from queue import *
from CNC import WAIT, MSG, UPDATE, WCS, CNC, GCode
import Utils
import Pendant
WIKI = "https://github.com/vlachoudis/bCNC/wiki"
SERIAL_POLL = 0.125 # s
SERIAL_TIMEOUT = 0.5 # s
G_POLL = 10 # s
RX_BUFFER_SIZE = 128
OV_FEED_100 = chr(0x90) # Extended override commands
OV_FEED_i10 = chr(0x91)
OV_FEED_d10 = chr(0x92)
OV_FEED_i1 = chr(0x93)
OV_FEED_d1 = chr(0x94)
OV_RAPID_100 = chr(0x95)
OV_RAPID_50 = chr(0x96)
OV_RAPID_25 = chr(0x97)
OV_SPINDLE_100 = chr(0x99)
OV_SPINDLE_i10 = chr(0x9A)
OV_SPINDLE_d10 = chr(0x9B)
OV_SPINDLE_i1 = chr(0x9C)
OV_SPINDLE_d1 = chr(0x9D)
OV_SPINDLE_STOP = chr(0x9E)
OV_FLOOD_TOGGLE = chr(0xA0)
OV_MIST_TOGGLE = chr(0xA1)
GPAT = re.compile(r"[A-Za-z]\d+.*")
STATUSPAT = re.compile(r"^<(\w*?),MPos:([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),WPos:([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),?(.*)>$")
POSPAT = re.compile(r"^\[(...):([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*)(,([+\-]?\d*\.\d*))?:?(\d*)\]$")
TLOPAT = re.compile(r"^\[(...):([+\-]?\d*\.\d*)\]$")
DOLLARPAT = re.compile(r"^\[G\d* .*\]$")
FEEDPAT = re.compile(r"^(.*)[fF](\d+\.?\d+)(.*)$")
SPLITPAT = re.compile(r"[:,]")
VARPAT = re.compile(r"^\$(\d+)=(\d*\.?\d*) *\(?.*")
CONNECTED = "Connected"
NOT_CONNECTED = "Not connected"
STATECOLOR = { "Alarm" : "Red",
"Run" : "LightGreen",
"Hold" : "Orange",
"Hold:0" : "Orange",
"Hold:1" : "Orange",
CONNECTED : "Orange",
NOT_CONNECTED : "OrangeRed"
}
STATE_DESC = {
"Hold:0" : "Hold complete",
"Hold:1" : "Hold in-progress",
"Door:0" : "Door closed",
"Door:1" : "Machine stopped",
"Door:2" : "Door opened",
"Door:3" : "Door closed and resuming",
}
STATECOLORDEF = "LightYellow"
# From https://github.com/grbl/grbl/wiki/Interfacing-with-Grbl
ERROR_CODES = {
"Run" : _("bCNC is currently sending a gcode program to Grbl"),
"Idle" : _("Grbl is in idle state and waiting for user commands"),
"Hold" : _("Grbl is on hold state. Click on resume (pause) to continue"),
"Alarm" : _("Alarm is an emergency state. Something has gone terribly wrong when these occur. Typically, they are caused by limit error when the machine has moved or wants to move outside the machine space and crash into something. They also report problems if Grbl is lost and can't guarantee positioning or a probe command has failed. Once in alarm-mode, Grbl will lock out and shut down everything until the user issues a reset. Even after a reset, Grbl will remain in alarm-mode, block all G-code from being executed, but allows the user to override the alarm manually. This is to ensure the user knows and acknowledges the problem and has taken steps to fix or account for it."),
NOT_CONNECTED : _("Grbl is not connected. Please specify the correct port and click Open."),
CONNECTED : _("Connection is established with Grbl"),
"ok" : _("All is good! Everything in the last line was understood by Grbl and was successfully processed and executed."),
"error:1" : _("G-code words consist of a letter and a value. Letter was not found."),
"error:2" : _("Numeric value format is not valid or missing an expected value."),
"error:3" : _("Grbl '$' system command was not recognized or supported."),
"error:4" : _("Negative value received for an expected positive value."),
"error:5" : _("Homing cycle is not enabled via settings."),
"error:6" : _("Minimum step pulse time must be greater than 3usec"),
"error:7" : _("EEPROM read failed. Reset and restored to default values."),
"error:8" : _("Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job."),
"error:9" : _("G-code locked out during alarm or jog state"),
"error:10" : _("Soft limits cannot be enabled without homing also enabled."),
"error:11" : _("Max characters per line exceeded. Line was not processed and executed."),
"error:12" : _("(Compile Option) Grbl '$' setting value exceeds the maximum step rate supported."),
"error:13" : _("Safety door detected as opened and door state initiated."),
"error:14" : _("(Grbl-Mega Only) Build info or startup line exceeded EEPROM line length limit."),
"error:15" : _("Jog target exceeds machine travel. Command ignored."),
"error:16" : _("Jog command with no '=' or contains prohibited g-code."),
"error:20" : _("Unsupported or invalid g-code command found in block."),
"error:21" : _("More than one g-code command from same modal group found in block."),
"error:22" : _("Feed rate has not yet been set or is undefined."),
"error:23" : _("G-code command in block requires an integer value."),
"error:24" : _("Two G-code commands that both require the use of the XYZ axis words were detected in the block."),
"error:25" : _("A G-code word was repeated in the block."),
"error:26" : _("A G-code command implicitly or explicitly requires XYZ axis words in the block, but none were detected."),
"error:27" : _("N line number value is not within the valid range of 1 - 9,999,999."),
"error:28" : _("A G-code command was sent, but is missing some required P or L value words in the line."),
"error:29" : _("Grbl supports six work coordinate systems G54-G59. G59.1, G59.2, and G59.3 are not supported."),
"error:30" : _("The G53 G-code command requires either a G0 seek or G1 feed motion mode to be active. A different motion was active."),
"error:31" : _("There are unused axis words in the block and G80 motion mode cancel is active."),
"error:32" : _("A G2 or G3 arc was commanded but there are no XYZ axis words in the selected plane to trace the arc."),
"error:33" : _("The motion command has an invalid target. G2, G3, and G38.2 generates this error, if the arc is impossible to generate or if the probe target is the current position."),
"error:34" : _("A G2 or G3 arc, traced with the radius definition, had a mathematical error when computing the arc geometry. Try either breaking up the arc into semi-circles or quadrants, or redefine them with the arc offset definition."),
"error:35" : _("A G2 or G3 arc, traced with the offset definition, is missing the IJK offset word in the selected plane to trace the arc."),
"error:36" : _("There are unused, leftover G-code words that aren't used by any command in the block."),
"error:37" : _("The G43.1 dynamic tool length offset command cannot apply an offset to an axis other than its configured axis. The Grbl default axis is the Z-axis."),
"error:38" : _("An invalid tool number sent to the parser"),
"ALARM:1" : _("Hard limit triggered. Machine position is likely lost due to sudden and immediate halt. Re-homing is highly recommended."),
"ALARM:2" : _("G-code motion target exceeds machine travel. Machine position safely retained. Alarm may be unlocked."),
"ALARM:3" : _("Reset while in motion. Grbl cannot guarantee position. Lost steps are likely. Re-homing is highly recommended."),
"ALARM:4" : _("Probe fail. The probe is not in the expected initial state before starting probe cycle, where G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered."),
"ALARM:5" : _("Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4."),
"ALARM:6" : _("Homing fail. Reset during active homing cycle."),
"ALARM:7" : _("Homing fail. Safety door was opened during active homing cycle."),
"ALARM:8" : _("Homing fail. Cycle failed to clear limit switch when pulling off. Try increasing pull-off setting or check wiring."),
"ALARM:9" : _("Homing fail. Could not find limit switch within search distance. Defined as 1.5 * max_travel on search and 5 * pulloff on locate phases."),
"Hold:0" : _("Hold complete. Ready to resume."),
"Hold:1" : _("Hold in-progress. Reset will throw an alarm."),
"Door:0" : _("Door closed. Ready to resume."),
"Door:1" : _("Machine stopped. Door still ajar. Can't resume until closed."),
"Door:2" : _("Door opened. Hold (or parking retract) in-progress. Reset will throw an alarm."),
"Door:3" : _("Door closed and resuming. Restoring from park, if applicable. Reset will throw an alarm."),
}
# Convert Grbl V1.0 codes to Grbl V0.9
for e1,e0 in ( ("error: Expected command letter", "error:1"),
("error: Bad number format", "error:2"),
("error: Invalid statement", "error:3"),
("error: Value < 0", "error:4"),
("error: Setting disabled", "error:5"),
("error: Value < 3 usec", "error:6"),
("error: EEPROM read fail. Using defaults", "error:7"),
("error: Not idle", "error:8"),
("error: G-code lock", "error:9"),
("error: Homing not enabled", "error:10"),
("error: Line overflow", "error:11"),
("error: Step rate > 30kHz*", "error:12"),
("error: Check Door", "error:13"),
("error: Line length exceeded", "error:14"),
("error: Travel exceeded", "error:15"),
("error: Invalid jog command", "error:16"),
("error: Unsupported command", "error:20"),
("error: Modal group violation", "error:21"),
("error: Undefined feed rate", "error:22"),
("error: Invalid gcode ID:23", "error:23"),
("error: Invalid gcode ID:24", "error:24"),
("error: Invalid gcode ID:25", "error:25"),
("error: Invalid gcode ID:26", "error:26"),
("error: Invalid gcode ID:27", "error:27"),
("error: Invalid gcode ID:28", "error:28"),
("error: Invalid gcode ID:29", "error:29"),
("error: Invalid gcode ID:30", "error:30"),
("error: Invalid gcode ID:31", "error:31"),
("error: Invalid gcode ID:32", "error:32"),
("error: Invalid gcode ID:33", "error:33"),
("error: Invalid gcode ID:34", "error:34"),
("error: Invalid gcode ID:35", "error:35"),
("error: Invalid gcode ID:36", "error:36"),
("error: Invalid gcode ID:37", "error:37"),
("ALARM: Hard limit", "ALARM:1"),
("ALARM: Soft limit", "ALARM:2"),
("ALARM: Abort during cycle", "ALARM:3"),
("ALARM: Probe fail", "ALARM:4"),
("ALARM: Probe fail", "ALARM:5"),
("ALARM: Homing fail", "ALARM:6"),
("ALARM: Homing fail", "ALARM:7"),
("ALARM: Homing fail", "ALARM:8"),
("ALARM: Homing fail", "ALARM:9") ):
ERROR_CODES[e1] = ERROR_CODES[e0]
#==============================================================================
# bCNC Sender class
#==============================================================================
class Sender:
# Messages types for log Queue
MSG_BUFFER = 0 # write to buffer one command
MSG_SEND = 1 # send message
MSG_RECEIVE = 2 # receive message from controller
MSG_OK = 3 # ok response from controller, move top most command to terminal
MSG_ERROR = 4 # error message or exception
MSG_RUNEND = 5 # run ended
MSG_CLEAR = 6 # clear buffer
xxx = False
def __init__(self):
# Global variables
self.history = []
self._historyPos = None
CNC.loadConfig(Utils.config)
self.gcode = GCode()
self.cnc = self.gcode.cnc
self.log = Queue() # Log queue returned from GRBL
self.queue = Queue() # Command queue to be send to GRBL
self.pendant = Queue() # Command queue to be executed from Pendant
self.serial = None
self.thread = None
self.controller = Utils.CONTROLLER["Grbl"]
self._posUpdate = False # Update position
self._probeUpdate= False # Update probe
self._gUpdate = False # Update $G
self._update = None # Generic update
self.running = False
self._runLines = 0
self._quit = 0 # Quit counter to exit program
self._stop = False # Raise to stop current run
self._pause = False # machine is on Hold
self._alarm = True # Display alarm message if true
self._msg = None
self._sumcline = 0
self._lastFeed = 0
self._newFeed = 0
self._onStart = ""
self._onStop = ""
#----------------------------------------------------------------------
def quit(self, event=None):
self.saveConfig()
Pendant.stop()
#----------------------------------------------------------------------
def loadConfig(self):
self.controller = Utils.CONTROLLER.get(Utils.getStr("Connection", "controller"), Utils.GRBL0)
Pendant.port = Utils.getInt("Connection","pendantport",Pendant.port)
GCode.LOOP_MERGE = Utils.getBool("File","dxfloopmerge")
self.loadHistory()
#----------------------------------------------------------------------
def saveConfig(self):
self.saveHistory()
#----------------------------------------------------------------------
def loadHistory(self):
try:
f = open(Utils.hisFile,"r")
except:
return
self.history = [x.strip() for x in f]
f.close()
#----------------------------------------------------------------------
def saveHistory(self):
try:
f = open(Utils.hisFile,"w")
except:
return
f.write("\n".join(self.history))
f.close()
#----------------------------------------------------------------------
# Evaluate a line for possible expressions
# can return a python exception, needs to be catched
#----------------------------------------------------------------------
def evaluate(self, line):
return self.gcode.evaluate(CNC.compileLine(line,True))
#----------------------------------------------------------------------
# Execute a line as gcode if pattern matches
# @return True on success
# False otherwise
#----------------------------------------------------------------------
def executeGcode(self, line):
if isinstance(line, tuple) or \
line[0] in ("$","!","~","?","(","@") or GPAT.match(line):
self.sendGCode(line)
return True
return False
#----------------------------------------------------------------------
# Execute a single command
#----------------------------------------------------------------------
def executeCommand(self, line):
#print
#print "<<<",line
#try:
# line = self.gcode.evaluate(CNC.compileLine(line,True))
#except:
# return "Evaluation error", sys.exc_info()[1]
#print ">>>",line
if line is None: return
oline = line.strip()
line = oline.replace(","," ").split()
cmd = line[0].upper()
# ABS*OLUTE: Set absolute coordinates
if rexx.abbrev("ABSOLUTE",cmd,3):
self.sendGCode("G90")
# HELP: open browser to display help
elif cmd == "HELP":
self.help()
# HOME: perform a homing cycle
elif cmd == "HOME":
self.home()
# LO*AD [filename]: load filename containing g-code
elif rexx.abbrev("LOAD",cmd,2):
self.load(line[1])
# OPEN: open serial connection to grbl
# CLOSE: close serial connection to grbl
elif cmd in ("OPEN","CLOSE"):
self.openClose()
# QU*IT: quit program
# EX*IT: exit program
elif rexx.abbrev("QUIT",cmd,2) or rexx.abbrev("EXIT",cmd,2):
self.quit()
# PAUSE: pause cycle
elif cmd == "PAUSE":
self.pause()
# RESUME: resume
elif cmd == "RESUME":
self.resume()
# FEEDHOLD: feedhold
elif cmd == "FEEDHOLD":
self.feedHold()
# REL*ATIVE: switch to relative coordinates
elif rexx.abbrev("RELATIVE",cmd,3):
self.sendGCode("G91")
# RESET: perform a soft reset to grbl
elif cmd == "RESET":
self.softReset()
# RUN: run g-code
elif cmd == "RUN":
self.run()
# SAFE [z]: safe z to move
elif cmd=="SAFE":
try: self.cnc.safe = float(line[1])
except: pass
self.statusbar["text"] = "Safe Z= %g"%(self.cnc.safe)
# SA*VE [filename]: save to filename or to default name
elif rexx.abbrev("SAVE",cmd,2):
if len(line)>1:
self.save(line[1])
else:
self.saveAll()
# SENDHEX: send a hex-char in grbl
elif cmd == "SENDHEX":
self.sendHex(line[1])
# SET [x [y [z]]]: set x,y,z coordinates to current workspace
elif cmd == "SET":
try: x = float(line[1])
except: x = None
try: y = float(line[2])
except: y = None
try: z = float(line[3])
except: z = None
self._wcsSet(x,y,z)
elif cmd == "SET0":
self._wcsSet(0.,0.,0.)
elif cmd == "SETX":
try: x = float(line[1])
except: x = ""
self._wcsSet(x,None,None)
elif cmd == "SETY":
try: y = float(line[1])
except: y = ""
self._wcsSet(None,y,None)
elif cmd == "SETZ":
try: z = float(line[1])
except: z = ""
self._wcsSet(None,None,z)
# STOP: stop current run
elif cmd == "STOP":
self.stopRun()
# UNL*OCK: unlock grbl
elif rexx.abbrev("UNLOCK",cmd,3):
self.unlock()
# Send commands to SMOOTHIE
elif self.controller == Utils.SMOOTHIE:
if line[0] in ( "help", "version", "mem", "ls",
"cd", "pwd", "cat", "rm", "mv",
"remount", "play", "progress", "abort",
"reset", "dfu", "break", "config-get",
"config-set", "get", "set_temp", "get",
"get", "net", "load", "save", "upload",
"calc_thermistor", "thermistors", "md5sum"):
self.serial.write(oline+"\n")
else:
return _("unknown command"),_("Invalid command %s")%(oline)
#----------------------------------------------------------------------
def help(self, event=None):
webbrowser.open(WIKI,new=2)
#----------------------------------------------------------------------
def loadRecent(self, recent):
filename = Utils.getRecent(recent)
if filename is None: return
self.load(filename)
#----------------------------------------------------------------------
def _loadRecent0(self,event): self.loadRecent(0)
def _loadRecent1(self,event): self.loadRecent(1)
def _loadRecent2(self,event): self.loadRecent(2)
def _loadRecent3(self,event): self.loadRecent(3)
def _loadRecent4(self,event): self.loadRecent(4)
def _loadRecent5(self,event): self.loadRecent(5)
def _loadRecent6(self,event): self.loadRecent(6)
def _loadRecent7(self,event): self.loadRecent(7)
def _loadRecent8(self,event): self.loadRecent(8)
def _loadRecent9(self,event): self.loadRecent(9)
#----------------------------------------------------------------------
def _saveConfigFile(self, filename=None):
if filename is None:
filename = self.gcode.filename
Utils.setUtf("File", "dir", os.path.dirname(os.path.abspath(filename)))
Utils.setUtf("File", "file", os.path.basename(filename))
Utils.setUtf("File", "probe", os.path.basename(self.gcode.probe.filename))
#----------------------------------------------------------------------
# Load a file into editor
#----------------------------------------------------------------------
def load(self, filename):
fn,ext = os.path.splitext(filename)
ext = ext.lower()
if ext==".probe":
if filename is not None:
self.gcode.probe.filename = filename
self._saveConfigFile()
self.gcode.probe.load(filename)
elif ext == ".orient":
# save orientation file
self.gcode.orient.load(filename)
elif ext == ".stl":
# FIXME: implements solid import???
pass
elif ext==".dxf":
self.gcode.init()
self.gcode.importDXF(filename)
self._saveConfigFile(filename)
else:
self.gcode.load(filename)
self._saveConfigFile()
Utils.addRecent(filename)
#----------------------------------------------------------------------
def save(self, filename):
fn,ext = os.path.splitext(filename)
ext = ext.lower()
if ext == ".probe":
# save probe
if filename is not None:
self.gcode.probe.filename = filename
self._saveConfigFile()
if not self.gcode.probe.isEmpty():
self.gcode.probe.save()
elif ext == ".orient":
# save orientation file
self.gcode.orient.save(filename)
elif ext == ".stl":
#save probe as STL
self.gcode.probe.saveAsSTL(filename)
elif ext == ".dxf":
return self.gcode.saveDXF(filename)
elif ext == ".txt":
#save gcode as txt (only enable blocks and no bCNC metadata)
return self.gcode.saveTXT(filename)
else:
if filename is not None:
self.gcode.filename = filename
self._saveConfigFile()
Utils.addRecent(self.gcode.filename)
return self.gcode.save()
#----------------------------------------------------------------------
def saveAll(self, event=None):
if self.gcode.filename:
self.save(self.gcode.filename)
if self.gcode.probe.filename:
self.save(self.gcode.probe.filename)
return "break"
#----------------------------------------------------------------------
# Open serial port
#----------------------------------------------------------------------
def open(self, device, baudrate):
#self.serial = serial.Serial(
self.serial = serial.serial_for_url(
device,
baudrate,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=SERIAL_TIMEOUT,
xonxoff=False,
rtscts=True,
dsrdtr=True)
# Toggle DTR to reset Arduino
try:
self.serial.setDTR(0)
except IOError:
pass
time.sleep(1)
CNC.vars["state"] = CONNECTED
CNC.vars["color"] = STATECOLOR[CNC.vars["state"]]
#self.state.config(text=CNC.vars["state"],
# background=CNC.vars["color"])
# toss any data already received, see
# http://pyserial.sourceforge.net/pyserial_api.html#serial.Serial.flushInput
self.serial.flushInput()
try:
self.serial.setDTR(1)
except IOError:
pass
time.sleep(1)
self.serial.write(b"\n\n")
self._gcount = 0
self._alarm = True
self.thread = threading.Thread(target=self.serialIO)
self.thread.start()
return True
#----------------------------------------------------------------------
# Close serial port
#----------------------------------------------------------------------
def close(self):
if self.serial is None: return
try:
self.stopRun()
except:
pass
self._runLines = 0
self.thread = None
time.sleep(1)
self.serial.close()
self.serial = None
CNC.vars["state"] = NOT_CONNECTED
CNC.vars["color"] = STATECOLOR[CNC.vars["state"]]
#----------------------------------------------------------------------
# Send to controller a gcode or command
# WARNING: it has to be a single line!
#----------------------------------------------------------------------
def sendGCode(self, cmd):
if self.serial and not self.running:
if isinstance(cmd,tuple):
self.queue.put(cmd)
else:
self.queue.put(cmd+"\n")
#----------------------------------------------------------------------
def sendHex(self, hexcode):
if self.serial is None: return
self.serial.write(chr(int(hexcode,16)))
self.serial.flush()
#----------------------------------------------------------------------
def hardReset(self):
self.busy()
if self.serial is not None:
if self.controller == Utils.SMOOTHIE:
self.serial.write(b"reset\n")
self.openClose()
if self.controller == Utils.SMOOTHIE:
time.sleep(6)
self.openClose()
self.stopProbe()
self._alarm = False
CNC.vars["_OvChanged"] = True # force a feed change if any
self.notBusy()
#----------------------------------------------------------------------
def softReset(self):
if self.serial:
# if self.controller in (Utils.GRBL, Utils.GRBL1):
self.serial.write(b"\030")
# elif self.controller == Utils.SMOOTHIE:
# self.serial.write(b"reset\n")
self.stopProbe()
self._alarm = False
CNC.vars["_OvChanged"] = True # force a feed change if any
#----------------------------------------------------------------------
def unlock(self):
self._alarm = False
self.sendGCode("$X")
#----------------------------------------------------------------------
def home(self, event=None):
self._alarm = False
self.sendGCode("$H")
#----------------------------------------------------------------------
def viewSettings(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$$")
def viewParameters(self):
self.sendGCode("$#")
def viewState(self):
self.sendGCode("$G")
def viewBuild(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$I")
elif self.controller == Utils.SMOOTHIE:
self.serial.write(b"version\n")
def viewStartup(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$N")
def checkGcode(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$C")
def grblHelp(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$")
elif self.controller == Utils.SMOOTHIE:
self.serial.write(b"help\n")
def grblRestoreSettings(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$RST=$")
def grblRestoreWCS(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$RST=#")
def grblRestoreAll(self):
if self.controller in (Utils.GRBL0, Utils.GRBL1):
self.sendGCode("$RST=#")
#----------------------------------------------------------------------
def goto(self, x=None, y=None, z=None, a=None):
cmd = "G90G0"
if x is not None: cmd += "X%g"%(x)
if y is not None: cmd += "Y%g"%(y)
if z is not None: cmd += "Z%g"%(z)
if a is not None: cmd += "A%g"%(a)
self.sendGCode("%s"%(cmd))
#----------------------------------------------------------------------
# FIXME Duplicate with ControlPage
#----------------------------------------------------------------------
def _wcsSet(self, x, y, z, a):
p = WCS.index(CNC.vars["WCS"])
if p<6:
cmd = "G10L20P%d"%(p+1)
elif p==6:
cmd = "G28.1"
elif p==7:
cmd = "G30.1"
elif p==8:
cmd = "G92"
pos = ""
if x is not None and abs(x)<10000.0: pos += "X"+str(x)
if y is not None and abs(y)<10000.0: pos += "Y"+str(y)
if z is not None and abs(z)<10000.0: pos += "Z"+str(z)
if a is not None: pos += "A"+str(a)
cmd += pos
self.sendGCode(cmd)
self.sendGCode("$#")
self.event_generate("<<Status>>",
data=(_("Set workspace %s to %s")%(WCS[p],pos)))
#data=(_("Set workspace %s to %s")%(WCS[p],pos)).encode("utf8"))
self.event_generate("<<CanvasFocus>>")
#----------------------------------------------------------------------
def feedHold(self, event=None):
if event is not None and not self.acceptKey(True): return
if self.serial is None: return
self.serial.write(b"!")
self.serial.flush()
self._pause = True
#----------------------------------------------------------------------
def resume(self, event=None):
if event is not None and not self.acceptKey(True): return
if self.serial is None: return
self.serial.write(b"~")
self.serial.flush()
self._msg = None
self._alarm = False
self._pause = False
#----------------------------------------------------------------------
def pause(self, event=None):
if self.serial is None: return
if self._pause:
self.resume()
else:
self.feedHold()
#----------------------------------------------------------------------
# FIXME ????
#----------------------------------------------------------------------
def g28Command(self):
self.sendGCode("G28.1")
#----------------------------------------------------------------------
# FIXME ????
#----------------------------------------------------------------------
def g30Command(self):
self.sendGCode("G30.1")
#----------------------------------------------------------------------
def emptyQueue(self):
while self.queue.qsize()>0:
try:
self.queue.get_nowait()
except Empty:
break
#----------------------------------------------------------------------
def stopProbe(self):
if self.gcode.probe.start:
self.gcode.probe.clear()
#----------------------------------------------------------------------
def getBufferFill(self):
return self._sumcline * 100. / RX_BUFFER_SIZE
#----------------------------------------------------------------------
def initRun(self):
self._quit = 0
self._pause = False
self._paths = None
self.running = True
self.disable()
self.emptyQueue()
time.sleep(1)
#----------------------------------------------------------------------
# Called when run is finished
#----------------------------------------------------------------------
def runEnded(self):
if self.running:
self.log.put((Sender.MSG_RUNEND,_("Run ended")))
self.log.put((Sender.MSG_RUNEND, str(datetime.now())))
self.log.put((Sender.MSG_RUNEND, str(CNC.vars["msg"])))
if self._onStop:
try:
os.system(self._onStop)
except:
pass
self._runLines = 0
self._quit = 0
self._msg = None
self._pause = False
self.running = False
CNC.vars["running"] = False
#----------------------------------------------------------------------
# Purge the buffer of the controller. Unfortunately we have to perform
# a reset to clear the buffer of the controller
#---------------------------------------------------------------------
def purgeController(self):
time.sleep(1)
# remember and send all G commands
G = " ".join([x for x in CNC.vars["G"] if x[0]=="G"]) # remember $G
TLO = CNC.vars["TLO"]
self.softReset() # reset controller
if self.controller in (Utils.GRBL0, Utils.GRBL1):
time.sleep(1)
self.unlock()
self.runEnded()
self.stopProbe()
if G: self.sendGCode(G) # restore $G
self.sendGCode("G43.1Z%s"%(TLO)) # restore TLO
self.sendGCode("$G")
#----------------------------------------------------------------------
# Stop the current run
#----------------------------------------------------------------------
def stopRun(self, event=None):
self.feedHold()
self._stop = True
# if we are in the process of submitting do not do anything
if self._runLines != sys.maxint:
self.purgeController()
#----------------------------------------------------------------------
# thread performing I/O on serial line
#----------------------------------------------------------------------
def serialIO(self):
cline = [] # length of pipeline commands
sline = [] # pipeline commands
wait = False # wait for commands to complete (status change to Idle)
tosend = None # next string to send
status = False # waiting for status <...> report
tr = tg = time.time() # last time a ? or $G was send to grbl
while self.thread:
t = time.time()
# refresh machine position?
if t-tr > SERIAL_POLL:
self.serial.write(b"?")
status = True
tr = t
#If Override change, attach feed
if CNC.vars["_OvChanged"] and self.controller == Utils.GRBL1:
CNC.vars["_OvChanged"] = False # Temporary
# Check feed
diff = CNC.vars["_OvFeed"] - CNC.vars["OvFeed"]
if diff==0:
pass
elif CNC.vars["_OvFeed"] == 100:
self.serial.write(OV_FEED_100)
elif diff >= 10:
self.serial.write(OV_FEED_i10)
CNC.vars["_OvChanged"] = diff>10
elif diff <= -10:
self.serial.write(OV_FEED_d10)
CNC.vars["_OvChanged"] = diff<-10
elif diff >= 1:
self.serial.write(OV_FEED_i1)
CNC.vars["_OvChanged"] = diff>1
elif diff <= -1:
self.serial.write(OV_FEED_d1)
CNC.vars["_OvChanged"] = diff<-1
# Check rapid
target = CNC.vars["_OvRapid"]
current = CNC.vars["OvRapid"]
if target == current:
pass
elif target == 100:
self.serial.write(OV_RAPID_100)
elif target == 75:
self.serial.write(OV_RAPID_50) # FIXME
elif target == 50:
self.serial.write(OV_RAPID_50)
elif target == 25:
self.serial.write(OV_RAPID_25)
# Check Spindle
diff = CNC.vars["_OvSpindle"] - CNC.vars["OvSpindle"]
if diff==0:
pass
elif CNC.vars["_OvSpindle"] == 100:
self.serial.write(OV_SPINDLE_100)
elif diff >= 10:
self.serial.write(OV_SPINDLE_i10)
CNC.vars["_OvChanged"] = diff>10
elif diff <= -10:
self.serial.write(OV_SPINDLE_d10)
CNC.vars["_OvChanged"] = diff<-10
elif diff >= 1:
self.serial.write(OV_SPINDLE_i1)
CNC.vars["_OvChanged"] = diff>1
elif diff <= -1:
self.serial.write(OV_SPINDLE_d1)
CNC.vars["_OvChanged"] = diff<-1
# Fetch new command to send if...
if tosend is None and not wait and not self._pause and self.queue.qsize()>0:
try:
tosend = self.queue.get_nowait()
#print "+++",repr(tosend)
if isinstance(tosend, tuple):
#print "gcount tuple=",self._gcount
# wait to empty the grbl buffer and status is Idle
if tosend[0] == WAIT:
# Don't count WAIT until we are idle!
wait = True
#print "+++ WAIT ON"
#print "gcount=",self._gcount, self._runLines
elif tosend[0] == MSG:
# Count executed commands as well
self._gcount += 1
if tosend[1] is not None:
# show our message on machine status
self._msg = tosend[1]
elif tosend[0] == UPDATE:
# Count executed commands as well
self._gcount += 1
self._update = tosend[1]
else:
# Count executed commands as well
self._gcount += 1
tosend = None
elif not isinstance(tosend,str) and not isinstance(tosend,unicode):
try:
tosend = self.gcode.evaluate(tosend)
# if isinstance(tosend, list):
# cline.append(len(tosend[0]))
# sline.append(tosend[0])
if isinstance(tosend,str) or isinstance(tosend,unicode):
tosend += "\n"
else:
# Count executed commands as well
self._gcount += 1
#print "gcount str=",self._gcount
#print "+++ eval=",repr(tosend),type(tosend)
except:
for s in str(sys.exc_info()[1]).splitlines():
self.log.put((Sender.MSG_ERROR,s))
self._gcount += 1
tosend = None
except Empty:
break
if tosend is not None:
# All modification in tosend should be
# done before adding it to cline
if isinstance(tosend, unicode):
tosend = tosend.encode("ascii","replace")
# Keep track of last feed
pat = FEEDPAT.match(tosend)
if pat is not None:
self._lastFeed = pat.group(2)
if self.controller in (Utils.GRBL0, Utils.SMOOTHIE):
if CNC.vars["_OvChanged"]:
CNC.vars["_OvChanged"] = False
self._newFeed = float(self._lastFeed)*CNC.vars["_OvFeed"]/100.0
if pat is None and self._newFeed!=0 \
and not tosend.startswith("$"):
tosend = "f%g%s" % (self._newFeed, tosend)
# Apply override Feed
if CNC.vars["_OvFeed"] != 100 and self._newFeed != 0:
pat = FEEDPAT.match(tosend)
if pat is not None:
try:
tosend = "%sf%g%s\n" % \
(pat.group(1),
self._newFeed,
pat.group(3))
except:
pass
# Bookkeeping of the buffers
sline.append(tosend)
cline.append(len(tosend))
# Anything to receive?
if self.serial.inWaiting() or tosend is None:
line = str(self.serial.readline()).strip()
#print "<R<",repr(line)
#print "*-* stack=",sline,"sum=",sum(cline),"wait=",wait,"pause=",self._pause
if not line:
pass