klipper-dgus/klippy/klippy.py

#!/usr/bin/env python
# Main code for host side printer firmware
#
# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, ConfigParser, logging, time, threading
import gcode, cartesian, util, mcu, fan, heater, reactor

class ConfigWrapper:
    def __init__(self, printer, section):
        self.printer = printer
        self.section = section
    def get(self, option, default=None):
        if not self.printer.fileconfig.has_option(self.section, option):
            return default
        return self.printer.fileconfig.get(self.section, option)
    def getint(self, option, default=None):
        if not self.printer.fileconfig.has_option(self.section, option):
            return default
        return self.printer.fileconfig.getint(self.section, option)
    def getfloat(self, option, default=None):
        if not self.printer.fileconfig.has_option(self.section, option):
            return default
        return self.printer.fileconfig.getfloat(self.section, option)
    def getboolean(self, option, default=None):
        if not self.printer.fileconfig.has_option(self.section, option):
            return default
        return self.printer.fileconfig.getboolean(self.section, option)
    def getsection(self, section):
        return ConfigWrapper(self.printer, section)

class Printer:
    def __init__(self, conffile, debuginput=None):
        self.fileconfig = ConfigParser.RawConfigParser()
        self.fileconfig.read(conffile)
        self.reactor = reactor.Reactor()

        self._pconfig = ConfigWrapper(self, 'printer')
        ptty = self._pconfig.get('pseudo_tty', '/tmp/printer')
        if debuginput is None:
            pseudo_tty = util.create_pty(ptty)
        else:
            pseudo_tty = debuginput.fileno()

        self.gcode = gcode.GCodeParser(
            self, pseudo_tty, inputfile=debuginput is not None)
        self.mcu = None
        self.stat_timer = None

        self.objects = {}
        if self.fileconfig.has_section('fan'):
            self.objects['fan'] = fan.PrinterFan(
                self, ConfigWrapper(self, 'fan'))
        if self.fileconfig.has_section('heater_nozzle'):
            self.objects['heater_nozzle'] = heater.PrinterHeater(
                self, ConfigWrapper(self, 'heater_nozzle'))
        if self.fileconfig.has_section('heater_bed'):
            self.objects['heater_bed'] = heater.PrinterHeater(
                self, ConfigWrapper(self, 'heater_bed'))
        self.objects['kinematics'] = cartesian.CartKinematics(
            self, self._pconfig)

    def stats(self, eventtime):
        out = []
        out.append(self.gcode.stats(eventtime))
        out.append(self.objects['kinematics'].stats(eventtime))
        out.append(self.mcu.stats(eventtime))
        logging.info("Stats %.0f: %s" % (eventtime, ' '.join(out)))
        return eventtime + 1.
    def build_config(self):
        for oname in sorted(self.objects.keys()):
            self.objects[oname].build_config()
        self.gcode.build_config()
        self.mcu.build_config()
    def connect(self):
        self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
        self.mcu.connect()
        self.build_config()
        self.stats_timer = self.reactor.register_timer(
            self.stats, self.reactor.NOW)
    def connect_debug(self, debugoutput):
        self.mcu = mcu.DummyMCU(debugoutput)
        self.mcu.connect()
        self.build_config()
    def connect_file(self, output, dictionary):
        self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
        self.mcu.connect_file(output, dictionary)
        self.build_config()
    def run(self):
        self.gcode.run()
        # If gcode exits, then exit the MCU
        self.stats(time.time())
        self.mcu.disconnect()
        self.stats(time.time())
    def shutdown(self):
        self.gcode.shutdown()


######################################################################
# Startup
######################################################################

def read_dictionary(filename):
    dfile = open(filename, 'rb')
    dictionary = dfile.read()
    dfile.close()
    return dictionary

def store_dictionary(filename, printer):
    f = open(filename, 'wb')
    f.write(printer.mcu.serial.msgparser.raw_identify_data)
    f.close()

def main():
    usage = "%prog [options] <config file>"
    opts = optparse.OptionParser(usage)
    opts.add_option("-o", "--debugoutput", dest="outputfile",
                    help="write output to file instead of to serial port")
    opts.add_option("-i", "--debuginput", dest="inputfile",
                    help="read commands from file instead of from tty port")
    opts.add_option("-l", "--logfile", dest="logfile",
                    help="write log to file instead of stderr")
    opts.add_option("-v", action="store_true", dest="verbose",
                    help="enable debug messages")
    opts.add_option("-d", dest="read_dictionary",
                    help="file to read for mcu protocol dictionary")
    opts.add_option("-D", dest="write_dictionary",
                    help="file to write mcu protocol dictionary")
    options, args = opts.parse_args()
    if len(args) != 1:
        opts.error("Incorrect number of arguments")
    conffile = args[0]

    debuginput = debugoutput = None

    debuglevel = logging.INFO
    if options.verbose:
        debuglevel = logging.DEBUG
    if options.inputfile:
        debuginput = open(options.inputfile, 'rb')
    if options.outputfile:
        debugoutput = open(options.outputfile, 'wb')
    if options.logfile:
        logoutput = open(options.logfile, 'wb')
        logging.basicConfig(stream=logoutput, level=debuglevel)
    else:
        logging.basicConfig(level=debuglevel)
    logging.info("Starting Klippy...")

    # Start firmware
    printer = Printer(conffile, debuginput=debuginput)
    if debugoutput:
        proto_dict = read_dictionary(options.read_dictionary)
        printer.connect_file(debugoutput, proto_dict)
    else:
        printer.connect()
    if options.write_dictionary:
        store_dictionary(options.write_dictionary, printer)
    printer.run()

if __name__ == '__main__':
    main()