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#!/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()
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