Merge pull request #352 from fsantini/experimental

Recovery after pause

GCodeAnalyzer.py

+# This file is part of the Printrun suite.
+#
+# Copyright 2013 Francesco Santini francesco.santini@gmail.com
+#
+# Printrun is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Printrun is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Printrun.  If not, see <http://www.gnu.org/licenses/>.
+#
+# This code is imported from RepetierHost - Original copyright and license:
+# Copyright 2011 repetier repetierdev@gmail.com
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import re
+
+class GCodeAnalyzer():
+  def __init__(self):
+    self.x = 0
+    self.y = 0
+    self.z = 0
+    self.e = 0
+    self.emax = 0
+    self.f = 1000
+    self.lastX = 0
+    self.lastY = 0
+    self.lastZ = 0
+    self.lastE = 0
+    self.xOffset = 0
+    self.yOffset = 0
+    self.zOffset = 0
+    self.eOffset = 0
+    self.lastZPrint = 0
+    self.layerZ = 0
+    self.relative = False
+    self.eRelative = False
+    self.homeX = 0
+    self.homeY = 0
+    self.homeZ = 0
+    self.maxX = 150
+    self.maxY = 150
+    self.maxZ = 150
+    self.minX = 0
+    self.minY = 0
+    self.minZ = 0
+    self.hasHomeX = False
+    self.hasHomeY = False
+    self.hasHomeZ = False
+     
+      
+  # find a code in a gstring line   
+  def findCode(self, gcode, codeStr):
+      pattern = re.compile(codeStr + "\\s*(-?[\d.]*)",re.I)
+      m=re.search(pattern, gcode)
+      if m == None:
+        return None
+      else:
+        return m.group(1)
+    
+  def Analyze(self, gcode):
+    gcode = gcode[:gcode.find(";")].lstrip() # remove comments
+    if gcode.startswith("@"): return # code is a host command
+    code_g = self.findCode(gcode, "G")
+    code_m = self.findCode(gcode, "M")
+    # we have a g_code
+    if code_g != None:
+      code_g = int(code_g)
+    
+    #get movement codes
+    if code_g == 0 or code_g == 1 or code_g == 2 or code_g == 3:
+      self.lastX = self.x
+      self.lastY = self.y
+      self.lastZ = self.z
+      self.lastE = self.e
+      eChanged = False;
+      code_f = self.findCode(gcode, "F")
+      if code_f != None:
+        self.f=float(code_f)
+        
+      code_x = self.findCode(gcode, "X")
+      code_y = self.findCode(gcode, "Y")
+      code_z = self.findCode(gcode, "Z")
+      code_e = self.findCode(gcode, "E")
+
+      if self.relative:
+        if code_x != None: self.x += float(code_x)
+        if code_y != None: self.y += float(code_y)
+        if code_z != None: self.z += float(code_z)
+        if code_e != None:
+          e = float(code_e)
+          if e != 0:
+            eChanged = True
+            self.e += e
+      else:     
+        #absolute coordinates
+        if code_x != None: self.x = self.xOffset + float(code_x)
+        if code_y != None: self.y = self.yOffset + float(code_y)
+        if code_z != None: self.z = self.zOffset + float(code_z)
+        if code_e != None:
+          e = float(code_e)
+          if self.eRelative:
+            if e != 0:
+              eChanged = True
+              self.e += e
+          else:
+          # e is absolute. Is it changed?
+            if self.e != self.eOffset + e:
+              eChanged = True
+              self.e = self.eOffset + e
+      #limit checking
+      if self.x < self.minX: self.x = self.minX
+      if self.y < self.minY: self.y = self.minY
+      if self.z < self.minZ: self.z = self.minZ
+      
+      if self.x > self.maxX: self.x = self.maxX
+      if self.y > self.maxY: self.y = self.maxY
+      if self.z > self.maxZ: self.z = self.maxZ
+      #Repetier has a bunch of limit-checking code here and time calculations: we are leaving them for now
+    elif code_g == 28 or code_g == 161:
+      self.lastX = self.x
+      self.lastY = self.y
+      self.lastZ = self.z
+      self.lastE = self.e
+      code_x = self.findCode(gcode, "X")
+      code_y = self.findCode(gcode, "Y")
+      code_z = self.findCode(gcode, "Z")
+      code_e = self.findCode(gcode, "E")
+      homeAll = False
+      if code_x == None and code_y == None and code_z == None: homeAll = True
+      if code_x != None or homeAll:
+	self.hasHomeX = True
+        self.xOffset = 0
+        self.x = self.homeX
+      if code_y != None or homeAll:
+	self.hasHomeY = True
+        self.yOffset = 0
+        self.y = self.homeY
+      if code_z != None or homeAll:
+	self.hasHomeZ = True
+        self.zOffset = 0
+        self.z = self.homeZ
+      if code_e != None:
+        self.eOffset = 0
+        self.e = 0
+    elif code_g == 162:
+      self.lastX = self.x
+      self.lastY = self.y
+      self.lastZ = self.z
+      self.lastE = self.e
+      code_x = self.findCode(gcode, "X")
+      code_y = self.findCode(gcode, "Y")
+      code_z = self.findCode(gcode, "Z")
+      homeAll = False
+      if code_x == None and code_y == None and code_z == None: homeAll = True
+      if code_x != None or homeAll:
+	self.hasHomeX = True
+        self.xOffset = 0
+        self.x = self.maxX
+      if code_y != None or homeAll:
+	self.hasHomeY = True
+        self.yOffset = 0
+        self.y = self.maxY
+      if code_z != None or homeAll:
+	self.hasHomeZ = True
+        self.zOffset = 0
+        self.z = self.maxZ
+    elif code_g == 90: self.relative = False
+    elif code_g == 91: self.relative = True
+    elif code_g == 92:
+      code_x = self.findCode(gcode, "X")
+      code_y = self.findCode(gcode, "Y")
+      code_z = self.findCode(gcode, "Z")
+      code_e = self.findCode(gcode, "E")
+      if code_x != None:
+        self.xOffset = self.x - float(code_x)
+        self.x = self.xOffset
+      if code_y != None:
+        self.yOffset = self.y - float(code_y)
+        self.y = self.yOffset
+      if code_z != None:
+        self.zOffset = self.z - float(code_z)
+        self.z = self.zOffset
+      if code_e != None:
+        self.xOffset = self.e - float(code_e)
+        self.e = self.eOffset
+      #End code_g != None
+      if code_m != None:
+        code_m = int(code_m)
+        if code_m == 82: self.eRelative = False
+        elif code_m == 83: self.eRelative = True
+        
+  def print_status(self):
+    attrs = vars(self)
+    print '\n'.join("%s: %s" % item for item in attrs.items())
+    
\ No newline at end of file

printcore.py

@@ -20,6 +20,7 @@ from threading import Thread
 from select import error as SelectError
 import time, getopt, sys
 import platform, os
+from GCodeAnalyzer import GCodeAnalyzer
 
 def control_ttyhup(port, disable_hup):
     """Controls the HUPCL"""
@@ -69,7 +70,11 @@ class printcore():
         self.print_thread = None
         if port is not None and baud is not None:
             self.connect(port, baud)
-
+        self.analyzer = GCodeAnalyzer()
+        self.xy_feedrate = None
+        self.z_feedrate = None
+        self.pronterface = None
+        
     def disconnect(self):
         """Disconnects from printer and pauses the print
         """
@@ -219,19 +224,69 @@ class printcore():
         self.print_thread.start()
         return True
 
+    # run a simple script if it exists, no multithreading    
+    def runSmallScript(self, filename):
+        if filename == None: return
+        f = None
+        try:
+          f = open(filename)
+        except:
+          pass
+
+        if f != None:
+          for i in f:
+            l = i.replace("\n", "")
+            l = l[:l.find(";")] #remove comment
+            self.send_now(l)
+          f.close()
+        
     def pause(self):
         """Pauses the print, saving the current position.
         """
         if not self.printing: return False
         self.paused = True
         self.printing = False
-        self.print_thread.join()
+        
+        # try joining the print thread: enclose it in try/except because we might be calling it from the thread itself
+        
+        try:
+          self.print_thread.join()
+        except:
+          pass
+        
         self.print_thread = None
+        
+        # saves the status
+        self.pauseX = self.analyzer.x-self.analyzer.xOffset;
+        self.pauseY = self.analyzer.y-self.analyzer.yOffset;
+        self.pauseZ = self.analyzer.z-self.analyzer.zOffset;
+        self.pauseE = self.analyzer.e-self.analyzer.eOffset;
+        self.pauseF = self.analyzer.f;
+        self.pauseRelative = self.analyzer.relative;
+        
+        
 
     def resume(self):
         """Resumes a paused print.
         """
         if not self.paused: return False
+        if self.paused:
+          #restores the status
+          self.send_now("G90") # go to absolute coordinates
+        
+          xyFeedString = ""
+          zFeedString = ""
+          if self.xy_feedrate != None: xyFeedString = " F" + str(self.xy_feedrate)
+          if self.z_feedrate != None: zFeedString = " F" + str(self.z_feedrate)
+        
+          self.send_now("G1 X" + str(self.pauseX) + " Y" + str(self.pauseY) + xyFeedString)
+          self.send_now("G1 Z" + str(self.pauseZ) + zFeedString)
+          self.send_now("G92 E" + str(self.pauseE))
+        
+          if self.pauseRelative: self.send_now("G91") # go back to relative if needed
+          #reset old feed rate
+          self.send_now("G1 F" + str(self.pauseF))
+        
         self.paused = False
         self.printing = True
         self.print_thread = Thread(target = self._print)
@@ -289,13 +344,24 @@ class printcore():
         self.sentlines = {}
         self.log = []
         self.sent = []
-        self.print_thread.join()
+        try:
+          self.print_thread.join()
+        except: pass
         self.print_thread = None
         if self.endcb:
             #callback for printing done
             try: self.endcb()
             except: pass
 
+    #now only "pause" is implemented as host command
+    def processHostCommand(self, command):
+        command = command.lstrip()
+        if command.startswith(";@pause"):
+          if self.pronterface != None:
+            self.pronterface.pause(None)
+          else:
+            self.pause()
+            
     def _sendnext(self):
         if not self.printer:
             return
@@ -316,6 +382,13 @@ class printcore():
             return
         if self.printing and self.queueindex < len(self.mainqueue):
             tline = self.mainqueue[self.queueindex]
+            #check for host command
+            if tline.lstrip().startswith(";@"):
+              #it is a host command: pop it from the list
+              self.mainqueue.pop(self.queueindex)
+              self.processHostCommand(tline)
+              return
+      
             tline = tline.split(";")[0]
             if len(tline) > 0:
                 self._send(tline, self.lineno, True)
@@ -339,6 +412,7 @@ class printcore():
                 self.sentlines[lineno] = command
         if self.printer:
             self.sent.append(command)
+            self.analyzer.Analyze(command) # run the command through the analyzer
             if self.loud:
                 print "SENT: ", command
             if self.sendcb:

pronterface.py

@@ -85,7 +85,7 @@ class Tee(object):
 class PronterWindow(MainWindow, pronsole.pronsole):
     def __init__(self, filename = None, size = winsize):
         pronsole.pronsole.__init__(self)
-        self.settings.build_dimensions = '200x200x100+0+0+0' #default build dimensions are 200x200x100 with 0, 0, 0 in the corner of the bed
+        self.settings.build_dimensions = '200x200x100+0+0+0+0+0+0' #default build dimensions are 200x200x100 with 0, 0, 0 in the corner of the bed
         self.settings.last_bed_temperature = 0.0
         self.settings.last_file_path = ""
         self.settings.last_temperature = 0.0
@@ -93,7 +93,11 @@ class PronterWindow(MainWindow, pronsole.pronsole):
         self.settings.preview_grid_step1 = 10.
         self.settings.preview_grid_step2 = 50.
         self.settings.bgcolor = "#FFFFFF"
-        self.helpdict["build_dimensions"] = _("Dimensions of Build Platform\n & optional offset of origin\n\nExamples:\n   XXXxYYY\n   XXX,YYY,ZZZ\n   XXXxYYYxZZZ+OffX+OffY+OffZ")
+        
+        self.pauseScript = "pause.gcode"
+        self.endScript = "end.gcode"
+        
+        self.helpdict["build_dimensions"] = _("Dimensions of Build Platform\n & optional offset of origin\n & optional switch position\n\nExamples:\n   XXXxYYY\n   XXX,YYY,ZZZ\n   XXXxYYYxZZZ+OffX+OffY+OffZ\nXXXxYYYxZZZ+OffX+OffY+OffZ+HomeX+HomeY+HomeZ")
         self.helpdict["last_bed_temperature"] = _("Last Set Temperature for the Heated Print Bed")
         self.helpdict["last_file_path"] = _("Folder of last opened file")
         self.helpdict["last_temperature"] = _("Last Temperature of the Hot End")
@@ -128,6 +132,30 @@ class PronterWindow(MainWindow, pronsole.pronsole):
         self.btndict = {}
         self.parse_cmdline(sys.argv[1:])
         self.build_dimensions_list = self.get_build_dimensions(self.settings.build_dimensions)
+        
+        #initialize the code analyzer with the correct sizes. There must be a more general way to do so
+
+        # minimum = offset
+        self.p.analyzer.minX = self.build_dimensions_list[3]
+        self.p.analyzer.minY = self.build_dimensions_list[4]
+        self.p.analyzer.minZ = self.build_dimensions_list[5]
+        
+        #max = offset + bedsize
+        self.p.analyzer.maxX = self.build_dimensions_list[3] + self.build_dimensions_list[0]
+        self.p.analyzer.maxY = self.build_dimensions_list[4] + self.build_dimensions_list[1]
+        self.p.analyzer.maxZ = self.build_dimensions_list[5] + self.build_dimensions_list[2]
+        
+        self.p.analyzer.homeX = self.build_dimensions_list[6]
+        self.p.analyzer.homeY = self.build_dimensions_list[7]
+        self.p.analyzer.homeZ = self.build_dimensions_list[8]
+                
+        #set feedrates in printcore for pause/resume
+        self.p.xy_feedrate = self.settings.xy_feedrate
+        self.p.z_feedrate = self.settings.z_feedrate
+        
+        #make printcore aware of me
+        self.p.pronterface = self
+        
         self.panel.SetBackgroundColour(self.settings.bgcolor)
         customdict = {}
         try:
@@ -198,6 +226,8 @@ class PronterWindow(MainWindow, pronsole.pronsole):
             wx.CallAfter(self.pausebtn.Disable)
             wx.CallAfter(self.printbtn.SetLabel, _("Print"))
 
+            self.p.runSmallScript(self.endScript)
+            
             param = self.settings.final_command
             if not param:
                 return
@@ -1388,7 +1418,9 @@ class PronterWindow(MainWindow, pronsole.pronsole):
                     #print "Not printing, cannot pause."
                     return
                 self.p.pause()
+                self.p.runSmallScript(self.pauseScript)
             self.paused = True
+            #self.p.runSmallScript(self.pauseScript)
             self.extra_print_time += int(time.time() - self.starttime)
             wx.CallAfter(self.pausebtn.SetLabel, _("Resume"))
         else:
@@ -1527,9 +1559,12 @@ class PronterWindow(MainWindow, pronsole.pronsole):
         "[^\d+-]*(\d+)?" + # Z build size
         "[^\d+-]*([+-]\d+)?" + # X corner coordinate
         "[^\d+-]*([+-]\d+)?" + # Y corner coordinate
-        "[^\d+-]*([+-]\d+)?"   # Z corner coordinate
+        "[^\d+-]*([+-]\d+)?" + # Z corner coordinate
+        "[^\d+-]*([+-]\d+)?" + # X endstop
+        "[^\d+-]*([+-]\d+)?" + # Y endstop
+        "[^\d+-]*([+-]\d+)?"  # Z endstop
         ,bdim).groups()
-        defaults = [200, 200, 100, 0, 0, 0]
+        defaults = [200, 200, 100, 0, 0, 0, 0, 0, 0]
         bdl_float = [float(value) if value else defaults[i] for i, value in enumerate(bdl)]
         return bdl_float