diff options
Diffstat (limited to 'klippy/klippy.py')
| -rw-r--r-- | klippy/klippy.py | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/klippy/klippy.py b/klippy/klippy.py new file mode 100644 index 000000000..143dd7624 --- /dev/null +++ b/klippy/klippy.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python +# Main code for host side printer firmware +# +# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import sys, optparse, ConfigParser, logging, time, threading +import gcode, cartesian, util, mcu, fan, heater, reactor + +class ConfigWrapper: + def __init__(self, printer, section): + self.printer = printer + self.section = section + def get(self, option, default=None): + if not self.printer.fileconfig.has_option(self.section, option): + return default + return self.printer.fileconfig.get(self.section, option) + def getint(self, option, default=None): + if not self.printer.fileconfig.has_option(self.section, option): + return default + return self.printer.fileconfig.getint(self.section, option) + def getfloat(self, option, default=None): + if not self.printer.fileconfig.has_option(self.section, option): + return default + return self.printer.fileconfig.getfloat(self.section, option) + def getboolean(self, option, default=None): + if not self.printer.fileconfig.has_option(self.section, option): + return default + return self.printer.fileconfig.getboolean(self.section, option) + def getsection(self, section): + return ConfigWrapper(self.printer, section) + +class Printer: + def __init__(self, conffile, debuginput=None): + self.fileconfig = ConfigParser.RawConfigParser() + self.fileconfig.read(conffile) + self.reactor = reactor.Reactor() + + self._pconfig = ConfigWrapper(self, 'printer') + ptty = self._pconfig.get('pseudo_tty', '/tmp/printer') + if debuginput is None: + pseudo_tty = util.create_pty(ptty) + else: + pseudo_tty = debuginput.fileno() + + self.gcode = gcode.GCodeParser( + self, pseudo_tty, inputfile=debuginput is not None) + self.mcu = None + self.stat_timer = None + + self.objects = {} + if self.fileconfig.has_section('fan'): + self.objects['fan'] = fan.PrinterFan( + self, ConfigWrapper(self, 'fan')) + if self.fileconfig.has_section('heater_nozzle'): + self.objects['heater_nozzle'] = heater.PrinterHeater( + self, ConfigWrapper(self, 'heater_nozzle')) + if self.fileconfig.has_section('heater_bed'): + self.objects['heater_bed'] = heater.PrinterHeater( + self, ConfigWrapper(self, 'heater_bed')) + self.objects['kinematics'] = cartesian.CartKinematics( + self, self._pconfig) + + def stats(self, eventtime): + out = [] + out.append(self.gcode.stats(eventtime)) + out.append(self.objects['kinematics'].stats(eventtime)) + out.append(self.mcu.stats(eventtime)) + logging.info("Stats %.0f: %s" % (eventtime, ' '.join(out))) + return eventtime + 1. + def build_config(self): + for oname in sorted(self.objects.keys()): + self.objects[oname].build_config() + self.gcode.build_config() + self.mcu.build_config() + def connect(self): + self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu')) + self.mcu.connect() + self.build_config() + self.stats_timer = self.reactor.register_timer( + self.stats, self.reactor.NOW) + def connect_debug(self, debugoutput): + self.mcu = mcu.DummyMCU(debugoutput) + self.mcu.connect() + self.build_config() + def connect_file(self, output, dictionary): + self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu')) + self.mcu.connect_file(output, dictionary) + self.build_config() + def run(self): + self.gcode.run() + # If gcode exits, then exit the MCU + self.stats(time.time()) + self.mcu.disconnect() + self.stats(time.time()) + def shutdown(self): + self.gcode.shutdown() + + +###################################################################### +# Startup +###################################################################### + +def read_dictionary(filename): + dfile = open(filename, 'rb') + dictionary = dfile.read() + dfile.close() + return dictionary + +def store_dictionary(filename, printer): + f = open(filename, 'wb') + f.write(printer.mcu.serial.msgparser.raw_identify_data) + f.close() + +def main(): + usage = "%prog [options] <config file>" + opts = optparse.OptionParser(usage) + opts.add_option("-o", "--debugoutput", dest="outputfile", + help="write output to file instead of to serial port") + opts.add_option("-i", "--debuginput", dest="inputfile", + help="read commands from file instead of from tty port") + opts.add_option("-l", "--logfile", dest="logfile", + help="write log to file instead of stderr") + opts.add_option("-v", action="store_true", dest="verbose", + help="enable debug messages") + opts.add_option("-d", dest="read_dictionary", + help="file to read for mcu protocol dictionary") + opts.add_option("-D", dest="write_dictionary", + help="file to write mcu protocol dictionary") + options, args = opts.parse_args() + if len(args) != 1: + opts.error("Incorrect number of arguments") + conffile = args[0] + + debuginput = debugoutput = None + + debuglevel = logging.INFO + if options.verbose: + debuglevel = logging.DEBUG + if options.inputfile: + debuginput = open(options.inputfile, 'rb') + if options.outputfile: + debugoutput = open(options.outputfile, 'wb') + if options.logfile: + logoutput = open(options.logfile, 'wb') + logging.basicConfig(stream=logoutput, level=debuglevel) + else: + logging.basicConfig(level=debuglevel) + logging.info("Starting Klippy...") + + # Start firmware + printer = Printer(conffile, debuginput=debuginput) + if debugoutput: + proto_dict = read_dictionary(options.read_dictionary) + printer.connect_file(debugoutput, proto_dict) + else: + printer.connect() + if options.write_dictionary: + store_dictionary(options.write_dictionary, printer) + printer.run() + +if __name__ == '__main__': + main() |