-
Notifications
You must be signed in to change notification settings - Fork 1
/
controller_board.py
719 lines (576 loc) · 24.1 KB
/
controller_board.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
import serial
import logging
import time
import re
import os
import random
import string
import threading
from configuration import conf
from PyQt4 import QtCore
from pubsub import pub
class ControllerBoardListener(QtCore.QThread):
line_received = QtCore.pyqtSignal(str)
controller = None
exit_loop = False
def __init__(self, parent=None):
QtCore.QThread.__init__(self, parent)
# super(ControllerBoardListener, self).__init__(parent)
self.logger = logging.getLogger(__name__)
def receive(self):
line = ''
delay = self.controller.statusInterval() / 10
timeout = 0
while timeout < (2000 * delay) and self.exit_loop is False:
try:
if self.controller.port is not None and \
self.controller.port.isOpen() and \
self.controller.port.inWaiting() > 0:
try:
character = self.controller.port.read(1)
# self.logger.debug(
# str(round(time.time() * 1000)) +' Received: ' +
# character + '('+ str(ord(character)) +')')
except:
time.sleep(delay)
continue
if character != chr(13) and character != chr(10):
line += character
timeout = 0
else:
self.logger.debug(
str(round(time.time() * 1000)) +
' Received Line: ' +
line)
if len(line) > 0:
self.logger.debug(' Line has length')
self.line_received.emit(line)
line = ''
else:
# self.logger.debug(
# str(round(time.time() * 1000)) +
# ' Waiting for response')
timeout += delay
time.sleep(delay)
except IOError:
self.logger.debug('IOError')
break
pass
self.logger.debug('Listener Exiting')
self.exit = False
def run(self):
self.receive()
def exit(self):
self.logger.debug('Setting Exit flag')
self.exit_loop = True
from collections import deque
class ControllerBoardSender(QtCore.QThread):
ready = QtCore.pyqtSignal()
block = QtCore.pyqtSignal()
line_sent = QtCore.pyqtSignal(str)
controller = None
def __init__(self, parent=None, queue_name=False):
QtCore.QThread.__init__(self, parent)
self.logger = logging.getLogger(__name__ + ':' + queue_name)
self.ready.connect(self.ready_received_handler)
self.block.connect(self.block_received_handler)
self.commands = deque([])
self.log_command = False
self.paused = False
self.clear_to_send = True
def send_line(self, controller, line):
if self.controller.port is not None and self.controller.port.isOpen():
if self.log_command:
self.logger.debug('Sender sending ' + line)
bytes = self.controller.port.write(line + '\n')
if self.log_command:
self.logger.debug('wrote ' + str(bytes) + ' bytes')
if self.log_command:
self.line_sent.emit(line)
# controller.requestCommandQueueSize()
def send(self, controller):
delay = controller.statusInterval()
while len(self.commands) > 0:
if self.paused or not self.clear_to_send:
self.logger.debug('Sender is blocked/paused')
else:
if self.log_command:
self.logger.debug(
'command queue size: ' + str(len(self.commands)))
if len(self.commands) > 0:
self.logger.debug(
' the first element is ' + self.commands[0])
command = self.commands.popleft()
if self.log_command:
self.logger.debug('Sender thread sending ' + str(command))
self.send_line(controller, command)
# if we don't pause we lock up pyserial
time.sleep(delay)
def append_commands(self, commands):
if self.log_command:
self.logger.debug('appending ' + str(len(commands)) + ' commands')
for command in commands:
if len(command) > 0:
self.commands.append(command)
if self.log_command:
self.logger.debug(
'first command is ' +
self.commands[len(self.commands) - 1])
def prepend_commands(self, commands):
if self.log_command:
self.logger.debug('prepending ' + str(commands))
commands.reverse()
for command in commands:
if len(command) > 0:
self.commands.append(command)
if self.log_command:
self.logger.debug('first command is ' + self.commands[0])
def ready_received_handler(self):
if self.log_command:
self.logger.debug('ready to send')
self.clear_to_send = True
def block_received_handler(self):
if self.log_command:
self.logger.debug('blocking send')
self.clear_to_send = False
def pause(self):
if self.log_command:
self.logger.debug('pauseing sender')
self.paused = True
def resume(self):
if self.log_command:
self.logger.debug('resumeing sender')
self.paused = False
def reset(self):
if self.log_command:
self.logger.debug('resetting sender')
self.pause()
self.commands = deque([])
self.resume()
def run(self):
if self.controller is not None:
self.clear_to_send = True
if self.log_command:
self.logger.debug('Sender thread started')
self.send(self.controller)
else:
if self.log_command:
self.logger.debug('Sender thread started without a controller')
class FileTimer(QtCore.QThread):
last_start_time = None
total = 0
paused = False
timer_tick = QtCore.pyqtSignal(float)
def __init__(self, parent=None):
QtCore.QThread.__init__(self, parent)
self.logger = logging.getLogger(__name__)
def go(self):
self.last_start_time = time.time()
# threading.Timer(0.5, self.report_time).start()
self.report_time()
def report_time(self):
# self.logger.debug('currently paused:' + str(self.paused))
if self.paused is False and self.last_start_time is not None:
self.timer_tick.emit(
self.total + (time.time() - self.last_start_time))
threading.Timer(0.5, self.report_time).start()
def reset(self):
self.last_start_time = None
self.total = 0
def pause(self):
self.logger.debug('pause timer')
self.paused = True
if self.last_start_time is not None:
self.total += (time.time() - self.last_start_time)
def resume(self):
self.last_start_time = time.time()
self.paused = False
def run(self):
self.go()
class ControllerBoard(QtCore.QObject):
possible_axis = ['x', 'y', 'z', 'a']
installed_axis = list()
installed_homes = list()
track_coordinates = False
connected = False
listener_thread = None
sender_thread = None
control_sender_thread = None
timer_thread = None
paused = False
logging = True
movement_gcode = 'G0'
port = None
absolute = None
number_of_commands = 0
commands_executed = 0
queue_size = 0
tracking_progress = False
session_id = None
def statusInterval(self):
return 0.5
def __init__(self, main_window, parent=None):
# QtCore.QThread.__init__(self, parent)
super(ControllerBoard, self).__init__(parent)
self.logger = logging.getLogger(__name__)
self.main_window = main_window
self.connected = False
self.session_id = self.id_generator(20)
# setup event handlers
pub.subscribe(self.reset_received_handler, 'reset-received')
pub.subscribe(self.queue_size_handler, 'queue-size')
pub.subscribe(self.start_of_file_handler, 'start-of-file-received')
pub.subscribe(self.end_of_file_handler, 'end-of-file-received')
def queue_size_handler(self, size):
if self.sender_thread is not None and self.sender_thread.isRunning():
# block only the default sender thread
# the control sender must not be blocked
if size < (self.command_queue_slots - 4):
self.sender_thread.ready.emit()
else:
self.sender_thread.block.emit()
def id_generator(
self,
size=6,
chars=string.ascii_lowercase + string.digits):
return ''.join(random.choice(chars) for _ in range(size))
def listener(self):
self.logger.debug('Listening')
# threading.Thread(target=self.receiveLine)
self.listener_thread = ControllerBoardListener()
self.listener_thread.daemon = True
self.listener_thread.controller = self
self.listener_thread.line_received.connect(self.line_received_handler)
self.listener_thread.start()
def timer(self):
if self.timer_thread is None:
self.logger.debug('Start file timer')
self.timer_thread = FileTimer()
self.timer_thread.daemon = True
self.timer_thread.timer_tick.connect(self.timer_tick_handler)
self.timer_thread.start()
else:
self.timer_thread.reset()
def timer_tick_handler(self, total):
pub.sendMessage('timer-tick', total=total)
def end_of_file_handler(self):
self.logger.debug('End Of File Handler')
pub.sendMessage('end-of-file')
def start_of_file_handler(self):
self.logger.debug('Start Of File Handler')
pub.sendMessage('start-of-file')
def sender(self, commands, prepend=False, control=False):
self.logger.debug('Sender ' + str(type(commands)))
if type(commands) is str:
self.logger.debug('splitting ' + str(type(commands)))
commands = commands.split('\n')
self.logger.debug('split ' + str(len(commands)))
else:
self.logger.debug('not splitting ' + str(type(commands)))
self.logger.debug('commands ' + str(type(commands)))
# filter and count the commands
filtered_commands = []
for command in commands:
if control is True:
filtered_commands.append(command)
else:
self.logger.debug('filtering ' + command)
command = self.filter_request(command.strip())
self.logger.debug(
'filtered ' + command + ' ' + str(len(command)))
if command is not None and len(command) > 0:
match = re.search(r'^(?:M|G|T|S|F)(\d+)', command)
if match is not None:
# groups = match.groups()
# if ['0','1','2','3'].count(groups[0]) >0:
self.number_of_commands += 1
# add three more queue planner slots for archs
match = re.search(r'^G0?[23]', command)
if match is not None:
self.number_of_commands += 3
self.logger.debug(
'command counter now at ' +
str(self.number_of_commands))
filtered_commands.append(command)
# self.logger.debug(
# 'filtered_commands '+ str(filtered_commands))
if control:
self.control_sender(filtered_commands)
else:
self.default_sender(filtered_commands, prepend)
def default_sender(self, commands, prepend=False):
# start a new sender or add the new commands to the command queue
if self.sender_thread is None or not self.sender_thread.isRunning():
self.logger.debug('New sender')
self.sender_thread = ControllerBoardSender(None, 'default')
self.sender_thread.daemon = True
self.sender_thread.controller = self
self.sender_thread.log_command = True
self.sender_thread.line_sent.connect(self.line_sent_handler)
if prepend:
self.logger.debug('Prepend to sender queue')
self.sender_thread.prepend_commands(commands)
else:
self.logger.debug('Append to sender queue')
self.sender_thread.append_commands(commands)
self.sender_thread.start()
else:
if prepend:
self.logger.debug('Prepend to existing sender queue')
self.sender_thread.prepend_commands(commands)
else:
self.logger.debug('Append to existing sender queue')
self.sender_thread.append_commands(commands)
def control_sender(self, commands):
# start a new sender or add the new commands to the command queue
if self.control_sender_thread is None or \
not self.control_sender_thread.isRunning():
self.logger.debug('New control sender')
self.control_sender_thread = ControllerBoardSender(None, 'control')
self.control_sender_thread.daemon = True
self.control_sender_thread.controller = self
self.control_sender_thread.log_command = True
self.control_sender_thread.line_sent.connect(
self.line_sent_handler)
self.logger.debug('Append to control sender queue')
self.control_sender_thread.append_commands(commands)
self.control_sender_thread.start()
else:
self.logger.debug('Append to existing control sender queue')
self.control_sender_thread.append_commands(commands)
def idling_handler(self):
self.logger.debug('Not listening')
pub.sendMessage('idling')
def set_spindle(self, state, speed, direction):
command = ''
if state and int(speed) > 0:
speed = str(speed)
self.movement_gcode = 'G1'
if int(direction) == 0:
command += 'M3 S' + speed
else:
command += 'M4 S' + speed
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (spindle on)'
else:
self.movement_gcode = 'G0'
command += 'M5'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (spindle off)'
self.send(command)
def toggle_coolant(self, state):
command = ''
if state:
command += 'M7\nM8'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (coolant on)'
else:
command += 'M9'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (coolant off)'
self.send(command)
def set_distance_mode(self, mode):
self.logger.debug('set_distance_mode ' + str(mode))
command = ''
if mode == 0:
command += 'G90' # absolute
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (absolute)'
elif mode == 1:
command += 'G91' # relative
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (relative)'
self.send(command)
def reset_axis(self, axis, position):
command = 'G92 ' + axis + str(position)
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (set axis coordinate)'
self.send(command)
def set_units(self, metric=True, imperial=False):
command = ''
if metric:
command += 'G21'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (metric)'
elif imperial:
command += 'G20'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (imperial)'
self.send(command)
def line_received_handler(self, line):
self.logger.debug('line_received_handler: ' + line)
line = self.filter_response(str(line).strip())
log = self.parse_response(line)
pub.sendMessage('line-received', line=line, log=log)
def pause_sender(self):
self.logger.debug('pause_sender')
if self.sender_thread is not None:
self.logger.debug('pauseing sender_thread')
self.sender_thread.pause()
def resume_sender(self):
self.logger.debug('resume_sender')
if self.sender_thread is not None:
self.logger.debug('resumeing sender_thread')
self.sender_thread.resume()
def reset_sender(self):
self.logger.debug('reset_sender')
if self.sender_thread is not None:
self.logger.debug('resetting sender_thread')
self.sender_thread.reset()
def pause_timer(self):
self.logger.debug('pause_timer')
if self.timer_thread is not None:
self.logger.debug('pauseing timer_thread')
self.timer_thread.pause()
def reset_timer(self):
if self.timer_thread is not None:
self.timer_thread.reset()
def resume_timer(self):
if self.timer_thread is not None:
self.timer_thread.resume()
def line_sent_handler(self, line):
self.logger.debug('line_sent_handler: ' + line)
line = self.filter_request(str(line).strip())
log = self.parse_request(line)
pub.sendMessage('line-sent', line=line, log=log)
def send(self, command, prepend=False, control=False):
self.logger.debug('Sending:' + command)
if self.listener_thread is None or \
not self.listener_thread.isRunning():
self.listener()
self.logger.debug('Starting sender')
self.sender(command, prepend, control)
def filter_file(self, contents):
# strip blank lines and comments
contents = re.sub(r' +([MTG])', r'\n\1', contents)
contents = re.sub(
r'^(\(|;)[^\)]*\)\s*$',
'', contents, flags=re.MULTILINE)
contents = re.sub(r'\n\s*\n', '\n', contents, flags=re.MULTILINE)
return contents
def filter_request(self, line):
self.logger.debug('Filtering request ' + line)
if conf.get('common.restrict_file_precision') == 1:
line = line.replace(
r'([XYZIJKRP])\s*([\-\+\d])(\.(\d{0,4})\d*)?', r'\1\2\4')
return line
def parse_distance_mode(self, line):
# monitor requests to switch the absolute mode flag
match = re.search(r'^(G9[01])', line)
if match is not None:
self.logger.debug('Switching distance mode')
groups = match.groups()
self.absolute = (groups[0] == 'G90')
pub.sendMessage(
'dist-mode-received', dist_mode=int(groups[0] != 'G90'))
return True
def parse_feed_rate(self, line):
# monitor requests to change the feed rate
match = re.search(r'F([\d\.]+)', line)
if match is not None:
self.logger.debug('Switching feed rate')
groups = match.groups()
feedrate = re.sub(r'[^\d\.]', '', groups[0])
pub.sendMessage('feed-rate-sent', rate=feedrate)
return False
return True
def parse_request(self, line):
self.logger.debug('Parsing request: ' + line)
log = self.parse_feed_rate(line)
# turn the coolant on
match = re.search(r'^M[78]', line)
if match is not None and \
not self.main_window.ui.checkBoxCoolant.isChecked():
self.main_window.ui.checkBoxCoolant.setChecked(True)
# turn the coolant off
match = re.search(r'^M9', line)
if match is not None and \
self.main_window.ui.checkBoxCoolant.isChecked():
self.main_window.ui.checkBoxCoolant.setChecked(False)
# turn the spindle on and set the direction
match = re.search(r'^M([34])', line)
if match is not None and \
not self.main_window.ui.checkBoxSpindle.isChecked():
groups = match.groups()
self.main_window.ui.checkBoxSpindle.setChecked(True)
if groups[0] == '3' and not \
self.main_window.ui.radioSpindleDirectionCW.isChecked():
self.main_window.ui.radioSpindleDirectionCW.setChecked(True)
elif groups[0] == '4' and not \
self.main_window.ui.radioSpindleDirectionCCW.isChecked():
self.main_window.ui.radioSpindleDirectionCCW.setChecked(True)
# set or add the spindle speed
match = re.search(r'^(?:M[34] )?S(\d+)', line)
if match is not None:
groups = match.groups()
speed_index = self.main_window.ui.comboSpindleSpeed.findText(
groups[0])
if speed_index < 0:
self.main_window.ui.comboSpindleSpeed.addItem(groups[0])
speed_index = self.main_window.ui.comboSpindleSpeed.findText(
groups[0])
self.main_window.ui.comboSpindleSpeed.setCurrentIndex(speed_index)
# turn the spindle off
match = re.search(r'^M5', line)
if match is not None and \
self.main_window.ui.checkBoxSpindle.isChecked():
self.main_window.ui.checkBoxSpindle.setChecked(False)
# scan for Gcodes and figure out reverse command
match = re.search(r'^G(\d+)(.*)', line)
if match is not None:
groups = match.groups()
# if groups[0] == '':
log = self.parse_distance_mode(line) and log
session_re = re.compile('_' + self.session_id + '_')
match = re.search(session_re, line)
if match is not None:
log = False
return log
def zero_axis(self, axis):
command = 'G92 ' + axis + '0'
if conf.get('common.add_gcode_comments_for_system_commands'):
command += ' (zero axis)'
self.send(command)
def progress(self, increment_commands=0):
if self.number_of_commands == 0:
return 0
self.commands_executed += increment_commands
self.logger.debug(
'progress: ' + str(self.commands_executed) +
'/' + str(self.number_of_commands))
return int(round(
float(self.commands_executed) /
float(self.number_of_commands), 2) * 100)
def clear(self):
self.logger.debug('controller stopping and clearing')
self.reset_sender()
def pause(self):
self.pause_sender()
def resume(self):
self.resume_sender()
def send_file(self, file_path):
self.pauseState = False
pub.sendMessage('programme-progress', progress=0)
pub.sendMessage('queue-size', size=0)
content = ''
with open(file_path) as f:
content = f.read()
if bool(conf.get('common.filter_file_commands')):
content = self.filter_file(content)
# self.logger.debug('filtered file:' + content)
if content is not None and content != '':
self.commands_executed = 0
self.queue_size = 0
self.number_of_commands = 0
self.clear_command_queue()
# wait for the sender to become ready
while self.sender_thread is not None and \
self.sender_thread.isRunning():
time.sleep(0.3)
self.tracking_progress = True
self.timer()
self.echo_back('start-of-file')
self.sender(content)
self.echo_back('end-of-file')
def add_tab_to_config(self, ui):
return None