355 lines
14 KiB
Python
355 lines
14 KiB
Python
#!/usr/bin/env python
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# Main code for host side printer firmware
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#
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# Copyright (C) 2016 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 gcode, toolhead, util, mcu, fan, heater, extruder, reactor, queuelogger
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import msgproto
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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, 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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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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def __init__(self, conffile, input_fd, startup_state
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, is_fileinput=False, version="?", bglogger=None):
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self.conffile = conffile
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self.startup_state = startup_state
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self.software_version = version
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self.bglogger = bglogger
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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, is_fileinput)
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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.need_dump_debug = False
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self.state_message = message_startup
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self.debugoutput = self.dictionary = None
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self.run_result = None
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self.fileconfig = None
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self.mcu = None
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def set_fileoutput(self, debugoutput, dictionary):
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self.debugoutput = debugoutput
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self.dictionary = dictionary
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def stats(self, eventtime, force_output=False):
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if self.need_dump_debug:
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# Call dump_debug here so it is executed in the main thread
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self.gcode.dump_debug()
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self.need_dump_debug = False
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toolhead = self.objects.get('toolhead')
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if toolhead is None or self.mcu is None:
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return
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is_active, thstats = toolhead.stats(eventtime)
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if not is_active and not force_output:
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return
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out = []
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out.append(self.gcode.stats(eventtime))
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out.append(thstats)
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out.append(self.mcu.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 load_config(self):
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self.fileconfig = ConfigParser.RawConfigParser()
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res = self.fileconfig.read(self.conffile)
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if not res:
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raise ConfigParser.Error("Unable to open config file %s" % (
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self.conffile,))
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if self.bglogger is not None:
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ConfigLogger(self.fileconfig, self.bglogger)
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self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
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if self.debugoutput is not None:
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self.mcu.connect_file(self.debugoutput, self.dictionary)
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if self.fileconfig.has_section('extruder'):
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self.objects['extruder'] = extruder.PrinterExtruder(
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self, ConfigWrapper(self, 'extruder'))
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if self.fileconfig.has_section('fan'):
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self.objects['fan'] = fan.PrinterFan(
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self, ConfigWrapper(self, 'fan'))
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if self.fileconfig.has_section('heater_bed'):
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self.objects['heater_bed'] = heater.PrinterHeater(
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self, ConfigWrapper(self, 'heater_bed'))
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self.objects['toolhead'] = toolhead.ToolHead(
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self, ConfigWrapper(self, 'printer'))
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# Validate that there are no undefined parameters in the config file
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valid_sections = dict([(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 ConfigParser.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 ConfigParser.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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try:
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self.load_config()
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if self.debugoutput is None:
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self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
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self.mcu.connect()
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self.gcode.set_printer_ready(True)
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self.state_message = message_ready
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except ConfigParser.Error, 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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self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
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except msgproto.error, 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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self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
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except mcu.error, 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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self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
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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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self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
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self.reactor.unregister_timer(self.connect_timer)
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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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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
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return self.run_result
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def get_state_message(self):
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return self.state_message
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def note_shutdown(self, msg):
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if self.state_message == message_ready:
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self.need_dump_debug = True
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self.state_message = "Firmware shutdown: %s%s" % (
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msg, message_shutdown)
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self.gcode.set_printer_ready(False)
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def note_mcu_error(self, msg):
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self.state_message = "%s%s" % (msg, message_restart)
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self.gcode.set_printer_ready(False)
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self.gcode.motor_heater_off()
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def disconnect(self):
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try:
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if self.mcu is not None:
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self.stats(self.reactor.monotonic(), force_output=True)
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self.mcu.disconnect()
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except:
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logging.exception("Unhandled exception during disconnect")
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def firmware_restart(self):
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try:
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if self.mcu is not None:
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self.stats(self.reactor.monotonic(), force_output=True)
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self.mcu.microcontroller_restart()
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self.mcu.disconnect()
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except:
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logging.exception("Unhandled exception during firmware_restart")
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def get_startup_state(self):
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return self.startup_state
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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 read_dictionary(filename):
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dfile = open(filename, 'rb')
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dictionary = dfile.read()
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dfile.close()
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return dictionary
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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("-o", "--debugoutput", dest="outputfile",
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help="write output to file instead of to serial port")
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opts.add_option("-i", "--debuginput", dest="inputfile",
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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("-d", dest="read_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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conffile = args[0]
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input_fd = debuginput = debugoutput = 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.inputfile:
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debuginput = open(options.inputfile, '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.outputfile:
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debugoutput = open(options.outputfile, 'wb')
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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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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(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 firmware
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res = 'startup'
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while 1:
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is_fileinput = debuginput is not None
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printer = Printer(
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conffile, input_fd, res, is_fileinput, software_version, bglogger)
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if debugoutput:
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proto_dict = read_dictionary(options.read_dictionary)
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printer.set_fileoutput(debugoutput, proto_dict)
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res = printer.run()
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if res == 'restart':
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printer.disconnect()
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time.sleep(1.)
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logging.info("Restarting printer")
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continue
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elif res == 'firmware_restart':
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printer.firmware_restart()
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time.sleep(1.)
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logging.info("Restarting printer")
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continue
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elif res == 'exit_eof':
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printer.disconnect()
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break
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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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