378 lines
15 KiB
Python
378 lines
15 KiB
Python
#!/usr/bin/env python2
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# Main code for host side printer firmware
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#
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# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, os, optparse, logging, time, threading
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import collections, ConfigParser, importlib
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import util, reactor, queuelogger, msgproto
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import gcode, pins, heater, mcu, toolhead
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message_ready = "Printer is ready"
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message_startup = """
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Printer is not ready
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The klippy host software is attempting to connect. Please
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retry in a few moments.
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"""
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message_restart = """
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Once the underlying issue is corrected, use the "RESTART"
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command to reload the config and restart the host software.
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Printer is halted
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"""
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message_protocol_error = """
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This type of error is frequently caused by running an older
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version of the firmware on the micro-controller (fix by
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recompiling and flashing the firmware).
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Once the underlying issue is corrected, use the "RESTART"
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command to reload the config and restart the host software.
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Protocol error connecting to printer
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"""
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message_mcu_connect_error = """
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Once the underlying issue is corrected, use the
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"FIRMWARE_RESTART" command to reset the firmware, reload the
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config, and restart the host software.
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Error configuring printer
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"""
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message_shutdown = """
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Once the underlying issue is corrected, use the
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"FIRMWARE_RESTART" command to reset the firmware, reload the
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config, and restart the host software.
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Printer is shutdown
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"""
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class ConfigWrapper:
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error = ConfigParser.Error
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class sentinel:
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pass
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def __init__(self, printer, fileconfig, access_tracking, section):
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self.printer = printer
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self.fileconfig = fileconfig
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self.access_tracking = access_tracking
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self.section = section
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def get_printer(self):
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return self.printer
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def get_name(self):
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return self.section
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def _get_wrapper(self, parser, option, default,
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minval=None, maxval=None, above=None, below=None):
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if (default is not self.sentinel
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and not self.fileconfig.has_option(self.section, option)):
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return default
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self.access_tracking[(self.section.lower(), option.lower())] = 1
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try:
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v = parser(self.section, option)
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except self.error as e:
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raise
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except:
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raise self.error("Unable to parse option '%s' in section '%s'" % (
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option, self.section))
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if minval is not None and v < minval:
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raise self.error(
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"Option '%s' in section '%s' must have minimum of %s" % (
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option, self.section, minval))
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if maxval is not None and v > maxval:
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raise self.error(
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"Option '%s' in section '%s' must have maximum of %s" % (
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option, self.section, maxval))
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if above is not None and v <= above:
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raise self.error(
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"Option '%s' in section '%s' must be above %s" % (
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option, self.section, above))
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if below is not None and v >= below:
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raise self.error(
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"Option '%s' in section '%s' must be below %s" % (
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option, self.section, below))
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return v
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def get(self, option, default=sentinel):
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return self._get_wrapper(self.fileconfig.get, option, default)
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def getint(self, option, default=sentinel, minval=None, maxval=None):
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return self._get_wrapper(
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self.fileconfig.getint, option, default, minval, maxval)
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def getfloat(self, option, default=sentinel,
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minval=None, maxval=None, above=None, below=None):
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return self._get_wrapper(self.fileconfig.getfloat, option, default,
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minval, maxval, above, below)
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def getboolean(self, option, default=sentinel):
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return self._get_wrapper(self.fileconfig.getboolean, option, default)
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def getchoice(self, option, choices, default=sentinel):
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c = self.get(option, default)
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if c not in choices:
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raise self.error(
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"Choice '%s' for option '%s' in section '%s'"
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" is not a valid choice" % (c, option, self.section))
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return choices[c]
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def getsection(self, section):
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return ConfigWrapper(self.printer, self.fileconfig,
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self.access_tracking, section)
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def has_section(self, section):
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return self.fileconfig.has_section(section)
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def get_prefix_sections(self, prefix):
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return [self.getsection(s) for s in self.fileconfig.sections()
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if s.startswith(prefix)]
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class ConfigLogger():
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def __init__(self, cfg, bglogger):
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self.lines = ["===== Config file ====="]
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cfg.write(self)
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self.lines.append("=======================")
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data = "\n".join(self.lines)
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logging.info(data)
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bglogger.set_rollover_info("config", data)
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def write(self, data):
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self.lines.append(data.strip())
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class Printer:
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config_error = ConfigParser.Error
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def __init__(self, input_fd, bglogger, start_args):
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self.bglogger = bglogger
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self.start_args = start_args
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self.reactor = reactor.Reactor()
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gc = gcode.GCodeParser(self, input_fd)
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self.objects = collections.OrderedDict({'gcode': gc})
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self.reactor.register_callback(self._connect)
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self.state_message = message_startup
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self.is_shutdown = False
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self.run_result = None
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self.state_cb = []
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def get_start_args(self):
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return self.start_args
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def get_reactor(self):
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return self.reactor
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def get_state_message(self):
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return self.state_message
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def _set_state(self, msg):
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self.state_message = msg
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if (msg != message_ready
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and self.start_args.get('debuginput') is not None):
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self.request_exit('error_exit')
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def add_object(self, name, obj):
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if obj in self.objects:
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raise self.config_error(
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"Printer object '%s' already created" % (name,))
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self.objects[name] = obj
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def lookup_object(self, name, default=ConfigWrapper.sentinel):
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if name in self.objects:
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return self.objects[name]
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if default is ConfigWrapper.sentinel:
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raise self.config_error("Unknown config object '%s'" % (name,))
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return default
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def lookup_objects(self, module=None):
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if module is None:
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return list(self.objects.items())
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prefix = module + ' '
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objs = [(n, self.objects[n])
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for n in self.objects if n.startswith(prefix)]
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if module in self.objects:
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return [(module, self.objects[module])] + objs
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return objs
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def set_rollover_info(self, name, info):
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logging.info(info)
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if self.bglogger is not None:
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self.bglogger.set_rollover_info(name, info)
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def try_load_module(self, config, section):
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if section in self.objects:
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return self.objects[section]
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module_parts = section.split()
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module_name = module_parts[0]
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py_name = os.path.join(os.path.dirname(__file__),
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'extras', module_name + '.py')
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py_dirname = os.path.join(os.path.dirname(__file__),
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'extras', module_name, '__init__.py')
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if not os.path.exists(py_name) and not os.path.exists(py_dirname):
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return None
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mod = importlib.import_module('extras.' + module_name)
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init_func = 'load_config'
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if len(module_parts) > 1:
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init_func = 'load_config_prefix'
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init_func = getattr(mod, init_func, None)
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if init_func is not None:
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self.objects[section] = init_func(config.getsection(section))
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return self.objects[section]
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def _read_config(self):
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fileconfig = ConfigParser.RawConfigParser()
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config_file = self.start_args['config_file']
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res = fileconfig.read(config_file)
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if not res:
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raise self.config_error("Unable to open config file %s" % (
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config_file,))
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if self.bglogger is not None:
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ConfigLogger(fileconfig, self.bglogger)
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# Create printer components
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access_tracking = {}
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config = ConfigWrapper(self, fileconfig, access_tracking, 'printer')
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for m in [pins, heater, mcu]:
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m.add_printer_objects(config)
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for section in fileconfig.sections():
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self.try_load_module(config, section)
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for m in [toolhead]:
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m.add_printer_objects(config)
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# Validate that there are no undefined parameters in the config file
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valid_sections = { s: 1 for s, o in access_tracking }
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for section_name in fileconfig.sections():
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section = section_name.lower()
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if section not in valid_sections and section not in self.objects:
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raise self.config_error(
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"Section '%s' is not a valid config section" % (section,))
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for option in fileconfig.options(section_name):
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option = option.lower()
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if (section, option) not in access_tracking:
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raise self.config_error(
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"Option '%s' is not valid in section '%s'" % (
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option, section))
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# Determine which printer objects have state callbacks
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self.state_cb = [o.printer_state for o in self.objects.values()
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if hasattr(o, 'printer_state')]
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def _connect(self, eventtime):
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try:
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self._read_config()
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for cb in self.state_cb:
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if self.state_message is not message_startup:
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return self.reactor.NEVER
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cb('connect')
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self._set_state(message_ready)
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for cb in self.state_cb:
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if self.state_message is not message_ready:
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return self.reactor.NEVER
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cb('ready')
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except (self.config_error, pins.error) as e:
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logging.exception("Config error")
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self._set_state("%s%s" % (str(e), message_restart))
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except msgproto.error as e:
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logging.exception("Protocol error")
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self._set_state("%s%s" % (str(e), message_protocol_error))
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except mcu.error as e:
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logging.exception("MCU error during connect")
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self._set_state("%s%s" % (str(e), message_mcu_connect_error))
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except:
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logging.exception("Unhandled exception during connect")
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self._set_state("Internal error during connect.%s" % (
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message_restart,))
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return self.reactor.NEVER
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def run(self):
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systime = time.time()
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monotime = self.reactor.monotonic()
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logging.info("Start printer at %s (%.1f %.1f)",
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time.asctime(time.localtime(systime)), systime, monotime)
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while 1:
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# Enter main reactor loop
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try:
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self.reactor.run()
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except:
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logging.exception("Unhandled exception during run")
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return "error_exit"
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# Check restart flags
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run_result = self.run_result
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try:
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if run_result == 'firmware_restart':
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for n, m in self.lookup_objects(module='mcu'):
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m.microcontroller_restart()
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for cb in self.state_cb:
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cb('disconnect')
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except:
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logging.exception("Unhandled exception during post run")
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return run_result
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def invoke_shutdown(self, msg):
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if self.is_shutdown:
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return
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self.is_shutdown = True
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self._set_state("%s%s" % (msg, message_shutdown))
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for cb in self.state_cb:
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cb('shutdown')
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def invoke_async_shutdown(self, msg):
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self.reactor.register_async_callback(
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(lambda e: self.invoke_shutdown(msg)))
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def request_exit(self, result):
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self.run_result = result
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self.reactor.end()
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######################################################################
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# Startup
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######################################################################
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def arg_dictionary(option, opt_str, value, parser):
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key, fname = "dictionary", value
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if '=' in value:
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mcu_name, fname = value.split('=', 1)
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key = "dictionary_" + mcu_name
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if parser.values.dictionary is None:
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parser.values.dictionary = {}
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parser.values.dictionary[key] = fname
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def main():
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usage = "%prog [options] <config file>"
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opts = optparse.OptionParser(usage)
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opts.add_option("-i", "--debuginput", dest="debuginput",
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help="read commands from file instead of from tty port")
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opts.add_option("-I", "--input-tty", dest="inputtty", default='/tmp/printer',
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help="input tty name (default is /tmp/printer)")
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opts.add_option("-l", "--logfile", dest="logfile",
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help="write log to file instead of stderr")
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opts.add_option("-v", action="store_true", dest="verbose",
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help="enable debug messages")
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opts.add_option("-o", "--debugoutput", dest="debugoutput",
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help="write output to file instead of to serial port")
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opts.add_option("-d", "--dictionary", dest="dictionary", type="string",
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action="callback", callback=arg_dictionary,
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help="file to read for mcu protocol dictionary")
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options, args = opts.parse_args()
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if len(args) != 1:
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opts.error("Incorrect number of arguments")
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start_args = {'config_file': args[0], 'start_reason': 'startup'}
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input_fd = bglogger = None
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debuglevel = logging.INFO
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if options.verbose:
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debuglevel = logging.DEBUG
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if options.debuginput:
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start_args['debuginput'] = options.debuginput
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debuginput = open(options.debuginput, 'rb')
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input_fd = debuginput.fileno()
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else:
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input_fd = util.create_pty(options.inputtty)
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if options.debugoutput:
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start_args['debugoutput'] = options.debugoutput
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start_args.update(options.dictionary)
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if options.logfile:
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bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
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else:
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logging.basicConfig(level=debuglevel)
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logging.info("Starting Klippy...")
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start_args['software_version'] = util.get_git_version()
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if bglogger is not None:
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versions = "\n".join([
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"Args: %s" % (sys.argv,),
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"Git version: %s" % (repr(start_args['software_version']),),
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"CPU: %s" % (util.get_cpu_info(),),
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"Python: %s" % (repr(sys.version),)])
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logging.info(versions)
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# Start Printer() class
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while 1:
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if bglogger is not None:
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bglogger.clear_rollover_info()
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bglogger.set_rollover_info('versions', versions)
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printer = Printer(input_fd, bglogger, start_args)
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res = printer.run()
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if res in ['exit', 'error_exit']:
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break
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time.sleep(1.)
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logging.info("Restarting printer")
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start_args['start_reason'] = res
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if bglogger is not None:
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bglogger.stop()
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if res == 'error_exit':
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sys.exit(-1)
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if __name__ == '__main__':
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main()
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