path: root/plugins/USBPrinting/PrinterConnection.py

# Copyright (c) 2015 Ultimaker B.V.
# Cura is released under the terms of the AGPLv3 or higher.

from .avr_isp import stk500v2, ispBase, intelHex
import serial
import threading
import time
import queue
import re
import functools

from UM.Application import Application
from UM.Signal import Signal, SignalEmitter
from UM.Resources import Resources
from UM.Logger import Logger

class PrinterConnection(SignalEmitter):
    def __init__(self, serial_port):
        super().__init__()
        
        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
        
        # Printer is connected
        self._is_connected = False
        
        # Printer is in the process of connecting
        self._is_connecting = 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 = 10
        
        self._progress = 0
        
        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.demon = True
        
        self._heatup_wait_start_time = time.time()
        
        ## 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
        
        ## Set when print is started in order to check running time.
        self._print_start_time = None
        self._print_start_time_100 = 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 = []
        
        # Number of extruders
        self._extruder_count = 1
        
        # Temperatures of all extruders
        self._extruder_temperatures = [0] * self._extruder_count
        
        # Target temperatures of all extruders
        self._target_extruder_temperatures = [0] * self._extruder_count
        
        #Target temperature of the bed
        self._target_bed_temperature = 0 
        
        # Temperature of the bed
        self._bed_temperature = 0
        
        # Current Z stage location 
        self._current_z = 0
        
        # 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._updating_firmware = False
        
        self._firmware_file_name = None
        
    # TODO: Might need to add check that extruders can not be changed when it started printing or loading these settings from settings object    
    def setNumExtuders(self, num):
        self._extruder_count = num
        self._extruder_temperatures = [0] * self._extruder_count
        self._target_extruder_temperatures = [0] * self._extruder_count
    
    ##  Is the printer actively printing
    def isPrinting(self):
        if not self._is_connected or self._serial is None:
            return False
        return self._is_printing

    ##  Start a print based on a g-code.
    #   \param gcode_list List with gcode (strings).
    def printGCode(self, gcode_list):
        if self.isPrinting() or not self._is_connected:
            Logger.log("d", "Printer is busy or not connected, aborting print")
            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._print_start_time_100 = None
        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()
    
    ##  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 fuction (threaded) that actually uploads the firmware.
    def _updateFirmware(self):
        if self._is_connecting or  self._is_connected:
            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")
            return 

        programmer = stk500v2.Stk500v2()
        programmer.progressCallback = self.setProgress 
        programmer.connect(self._serial_port)

        time.sleep(1) # Give programmer some time to connect. Might need more in some cases, but this worked in all tested cases.

        if not programmer.isConnected():
            Logger.log("e", "Unable to connect with serial. Could not update firmware")
            return 

        self._updating_firmware = True

        try:
            programmer.programChip(hex_file)
            self._updating_firmware = False
        except Exception as e:
            Logger.log("e", "Exception while trying to update firmware %s" %e)
            self._updating_firmware = False
            return
        programmer.close()

        self.setProgress(100, 100)

    ##  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()

    ##  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._is_connecting = True
        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:
            Logger.log("i", "Could not establish connection on %s: %s. Device is not arduino based." %(self._serial_port,str(e)))
        except Exception as e:
            Logger.log("i", "Could not establish connection on %s, unknown reasons.  Device is not arduino based." % self._serial_port)

        if not self._serial:
            self._is_connecting = False
            Logger.log("i", "Could not establish connection on %s, unknown reasons.", self._serial_port)
            return
        
        # If the programmer connected, we know its an atmega based version. Not all that usefull, but it does give some debugging information.
        for baud_rate in self._getBaudrateList(): # Cycle all baud rates (auto detect)
            
            if self._serial is None:
                try:
                    self._serial = serial.Serial(str(self._serial_port), baud_rate, timeout=3, writeTimeout=10000)
                except serial.SerialException:
                    Logger.log("i", "Could not open port %s" % self._serial_port)
                    return
            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 sec seems to be the magic number
            sucesfull_responses = 0
            timeout_time = time.time() + 15
            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:
                    self.setIsConnected(False) # Something went wrong with reading, could be that close was called.
                    return
                
                if b"T:" in line:
                    self._serial.timeout = 0.5
                    self._sendCommand("M105")
                    sucesfull_responses += 1
                    if sucesfull_responses >= self._required_responses_auto_baud:
                        self._serial.timeout = 2 #Reset serial timeout
                        self.setIsConnected(True)
                        Logger.log("i", "Established printer connection on port %s" % self._serial_port)
                        return 

        Logger.log("e", "Baud rate detection for %s failed", self._serial_port)
        self.close() # Unable to connect, wrap up.
        self.setIsConnected(False)

    ##  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

    def setIsConnected(self, state):
        self._is_connecting = False
        if self._is_connected != state:
            self._is_connected = state
            self.connectionStateChanged.emit(self._serial_port)
            if self._is_connected: 
                self._listen_thread.start() #Start listening
                #Application.getInstance().addOutputDevice(self._serial_port, {
                    #"id": self._serial_port,
                    #"function": self.printGCode,
                    #"shortDescription": "Print with USB",
                    #"description": "Print with USB {0}".format(self._serial_port),
                    #"icon": "save",
                    #"priority": 1
                #})
                
        else:
            Logger.log("w", "Printer connection state was not changed")
            
    connectionStateChanged = Signal()    
    
    ##  Close the printer connection    
    def close(self):
        if self._connect_thread.isAlive():
            try:
                self._connect_thread.join()
            except:
                pass
        if self._serial is not None:
            self.setIsConnected(False)
            try:
                self._listen_thread.join()
            except:
                pass
            self._serial.close()
            
        self._serial = None
    
    def isConnected(self):
        return self._is_connected 
    
    ##  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()
        if "M104" in cmd or "M109" in cmd:
            try:
                t = 0
                if "T" in cmd:
                    t = int(re.search("T([0-9]+)", cmd).group(1))
                self._target_extruder_temperatures[t] = float(re.search("S([0-9]+)", cmd).group(1))
            except:
                pass
        if "M140" in cmd or "M190" in cmd:
            try:
                self._target_bed_temperature = float(re.search("S([0-9]+)", cmd).group(1))
            except:
                pass
        #Logger.log("i","Sending: %s" % (cmd))
        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()
    
    ##  Ensure that close gets called when object is destroyed
    def __del__(self):
        self.close()
    
    ##  Send a command to printer. 
    #   \param cmd string with g-code
    def sendCommand(self, cmd):
        if self.isPrinting():
            self._command_queue.put(cmd)
        elif self.isConnected():
            self._sendCommand(cmd)
    
    ##  Set the error state with a message.
    #   \param error String with the error message.
    def _setErrorState(self, error):
        self._error_state = error
        self.onError.emit(error)
    
    onError = Signal()
    
    ##  Private function to set the temperature of an extruder
    #   \param index index of the extruder
    #   \param temperature recieved temperature
    def _setExtruderTemperature(self, index, temperature):
        try: 
            self._extruder_temperatures[index] = temperature
            self.onExtruderTemperatureChange.emit(self._serial_port, index, temperature)
        except Exception as e:
            pass
    
    onExtruderTemperatureChange = Signal()
    
    ##  Private function to set the temperature of the bed.
    #   As all printers (as of time of writing) only support a single heated bed,
    #   these are not indexed as with extruders.
    def _setBedTemperature(self, temperature):
        self._bed_temperature = temperature
        self.onBedTemperatureChange.emit(self._serial_port,temperature)
        
    onBedTemperatureChange = Signal()
        
    
    ##  Listen thread function. 
    def _listen(self):
        Logger.log("i", "Printer connection listen thread started for %s" % self._serial_port)
        temperature_request_timeout = time.time()
        ok_timeout = time.time()
        while self._is_connected:
            line = self._readline()
            
            if line is None: 
                break # None is only returned when something went wrong. Stop listening
            
            if line.startswith(b"Error:"):
                # Oh YEAH, consistency.
                # Marlin reports an 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
                try: 
                    self._setExtruderTemperature(self._temperature_requested_extruder_index,float(re.search(b"T: *([0-9\.]*)", line).group(1)))
                except:
                    pass
                if b"B:" in line: # Check if it"s a bed temperature
                    try:
                        self._setBedTemperature(float(re.search(b"B: *([0-9\.]*)", line).group(1)))
                    except Exception as e:
                        pass
                #TODO: temperature changed callback

            if self._is_printing:
                if time.time() > temperature_request_timeout: # When printing, request temperature every 5 seconds.
                    if self._extruder_count > 0:
                        self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count
                        self.sendCommand("M105 T%d" % (self._temperature_requested_extruder_index))
                    else:
                        self.sendCommand("M105")
                    temperature_request_timeout = time.time() + 5
                
                if line == b"" and time.time() > ok_timeout:
                    line = b"ok" # Force a timeout (basicly, 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())
                    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:
                        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])

            else: # Request the temperature on comm timeout (every 2 seconds) when we are not printing.)
                if line == b"":
                    if self._extruder_count > 0:
                        self._temperature_requested_extruder_index = (self._temperature_requested_extruder_index + 1) % self._extruder_count
                        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
        if self._gcode_position == 100:
            self._print_start_time_100 = time.time()
        line = self._gcode[self._gcode_position]

        if ";" in line:
            line = line[:line.find(";")]
        line = line.strip()
        try:
            if line == "M0" or line == "M1":
                line = "M105"   #Don"t send the M0 or M1 to the machine, as M0 and M1 are handled as an LCD menu pause.
            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: %s" % e)
            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))
        self._gcode_position += 1 
        self.setProgress(( self._gcode_position / len(self._gcode)) * 100)
        self.progressChanged.emit(self._progress, self._serial_port)
        
    progressChanged = Signal()
    
    ##  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
        self.progressChanged.emit(self._progress, self._serial_port)
    
    ##  Cancel the current print. Printer connection wil continue to listen.
    def cancelPrint(self):
        self._gcode_position = 0
        self.setProgress(0)
        self._gcode = []
        
        # Turn of temperatures
        self._sendCommand("M140 S0")
        self._sendCommand("M104 S0")
        self._is_printing = False

    ##  Check if the process did not encounter an error yet.
    def hasError(self):
        return self._error_state != 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 = [250000, 230400, 115200, 57600, 38400, 19200, 9600]
        return ret