342 lines
14 KiB
Python
342 lines
14 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) 2016,2017 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, optparse, ConfigParser, logging, time, threading
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import util, reactor, queuelogger, msgproto, gcode
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import pins, mcu, chipmisc, toolhead, extruder, heater, fan
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message_ready = "Printer is ready"
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message_startup = """
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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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Printer is not ready
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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, section):
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self.printer = printer
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self.section = 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.printer.fileconfig.has_option(self.section, option)):
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return default
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self.printer.all_config_options[
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(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.printer.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.printer.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(
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self.printer.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(
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self.printer.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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"Option '%s' in section '%s' is not a valid choice" % (
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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, section)
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def has_section(self, section):
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return self.printer.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.printer.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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if bglogger is not None:
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bglogger.set_rollover_info("config", None)
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self.reactor = reactor.Reactor()
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self.objects = {}
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self.gcode = gcode.GCodeParser(self, input_fd)
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self.stats_timer = self.reactor.register_timer(self._stats)
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self.connect_timer = self.reactor.register_timer(
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self._connect, self.reactor.NOW)
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self.all_config_options = {}
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self.state_message = message_startup
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self.is_shutdown = False
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self.async_shutdown_msg = ""
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self.run_result = None
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self.fileconfig = None
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self.mcus = []
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def get_start_args(self):
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return self.start_args
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def _stats(self, eventtime, force_output=False):
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toolhead = self.objects.get('toolhead')
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if toolhead is None:
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return eventtime + 1.
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is_active = toolhead.check_active(eventtime)
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if not is_active and not force_output:
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return eventtime + 1.
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out = []
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out.append(self.gcode.stats(eventtime))
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out.append(toolhead.stats(eventtime))
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for m in self.mcus:
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out.append(m.stats(eventtime))
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logging.info("Stats %.1f: %s", eventtime, ' '.join(out))
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return eventtime + 1.
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def add_object(self, name, obj):
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self.objects[name] = obj
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def _load_config(self):
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self.fileconfig = ConfigParser.RawConfigParser()
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config_file = self.start_args['config_file']
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res = self.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(self.fileconfig, self.bglogger)
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# Create printer components
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config = ConfigWrapper(self, 'printer')
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for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
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m.add_printer_objects(self, config)
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self.mcus = mcu.get_printer_mcus(self)
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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 self.all_config_options }
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for section in self.fileconfig.sections():
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section = section.lower()
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if section not in valid_sections:
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raise self.config_error("Unknown config file section '%s'" % (
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section,))
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for option in self.fileconfig.options(section):
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option = option.lower()
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if (section, option) not in self.all_config_options:
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raise self.config_error(
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"Unknown option '%s' in section '%s'" % (
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option, section))
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def _connect(self, eventtime):
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self.reactor.unregister_timer(self.connect_timer)
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try:
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self._load_config()
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for m in self.mcus:
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m.connect()
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self.gcode.connect()
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self.state_message = message_ready
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if self.start_args.get('debugoutput') is None:
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self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
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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.state_message = "%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.state_message = "%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.state_message = "%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.state_message = "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 "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 == 'shutdown':
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self.invoke_shutdown(self.async_shutdown_msg, True)
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continue
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self._stats(self.reactor.monotonic(), force_output=True)
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for m in self.mcus:
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if run_result == 'firmware_restart':
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m.microcontroller_restart()
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m.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 get_state_message(self):
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return self.state_message
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def invoke_shutdown(self, msg, is_mcu_shutdown=False):
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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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if is_mcu_shutdown:
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self.state_message = "%s%s" % (msg, message_shutdown)
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else:
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self.state_message = "%s%s" % (msg, message_restart)
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for m in self.mcus:
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m.do_shutdown()
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self.gcode.do_shutdown()
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toolhead = self.objects.get('toolhead')
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if toolhead is not None:
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toolhead.do_shutdown()
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def invoke_async_shutdown(self, msg):
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self.async_shutdown_msg = msg
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self.request_exit("shutdown")
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def request_exit(self, result="exit"):
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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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lines = ["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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lines = "\n".join(lines)
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logging.info(lines)
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bglogger.set_rollover_info('versions', lines)
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# Start Printer() class
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while 1:
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printer = Printer(input_fd, bglogger, start_args)
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res = printer.run()
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if res == '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 __name__ == '__main__':
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main()
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