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361 lines
12 KiB
Python
361 lines
12 KiB
Python
#!/usr/bin/python
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# Marlin GCODE parser / responder
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import time
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import re
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import random
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import esp3d_common as common
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positions = {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0
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}
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temperatures = {
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"E0": {
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"value": 0.0,
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"target": 0.0,
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"lastTime": -1,
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"heatspeed": 0.6,
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"coolspeed": 0.8,
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"variation": 0.5
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},
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"B": {
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"value": 0.0,
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"target": 0.0,
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"lastTime": -1,
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"heatspeed": 0.2,
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"coolspeed": 0.8,
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"variation": 0.5
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}
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}
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modes = {
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"absolute": True
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}
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stop_heating = False
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def wait(durationms, ser):
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global stop_heating
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nowtime = common.current_milli_time()
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while (common.current_milli_time() < nowtime + durationms):
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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if line=="M108":
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stop_heating = True
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print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
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def ok(line):
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if (not line.startswith("N")):
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return "ok (" + line + ")"
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N = re.findall(r'N\d*', line)
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if (len(N) > 0):
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return "ok " + N[0][1:]
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# Update the temperatures according context
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def updateTemperatures(entry, timestp):
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global temperatures
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roomtemp = 20.0
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v = random.random()*5
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target = temperatures[entry]["target"]
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if target == 0:
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target = roomtemp
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if (temperatures[entry]["value"] == 0):
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temperatures[entry]["value"] = roomtemp + v / 2
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if (temperatures[entry]["lastTime"] == -1):
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temperatures[entry]["lastTime"] = timestp
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if temperatures[entry]["value"] + 5 < target:
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temperatures[entry]["value"] = temperatures[entry]["value"] + \
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(temperatures[entry]["heatspeed"] *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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elif temperatures[entry]["value"] - 5 > target:
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temperatures[entry]["value"] = temperatures[entry]["value"] - \
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(temperatures[entry]["coolspeed"] *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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elif target - 2 < temperatures[entry]["value"] and temperatures[entry]["value"] < target + 2:
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temperatures[entry]["value"] = target + \
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temperatures[entry]["variation"] * (random.random() - 0.5)
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elif temperatures[entry]["value"] < target:
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temperatures[entry]["value"] = temperatures[entry]["value"] + \
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((temperatures[entry]["heatspeed"]/3) *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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else:
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temperatures[entry]["value"] = temperatures[entry]["value"] - \
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((temperatures[entry]["coolspeed"]/3) *
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(timestp - temperatures[entry]["lastTime"])) / 1000
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temperatures[entry]["lastTime"] = timestp
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# build the response for the temperature
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def generateTemperatureResponse(withok):
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global temperatures
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response = " "
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if (withok):
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response = "ok "
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response += "T:" + "{:.2f}".format(temperatures["E0"]["value"]) + " /" + "{:.2f}".format(temperatures["E0"]["target"]) + " B:" + "{:.2f}".format(
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temperatures["B"]["value"]) + " /" + "{:.2f}".format(temperatures["B"]["target"]) + " @:127 B@:0"
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return response
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# build the response for the busy response,
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# simulating the delay of the busy response
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def send_busy(ser, nb):
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v = nb
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while (v > 0):
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common.send_echo(ser, "echo:busy: processing")
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wait(1000, ser)
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v = v - 1
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# G0/G1 response
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def G0_G1_response(cmd,line,ser):
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global positions
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X_val = ""
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Y_val = ""
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Z_val = ""
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# extract X
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X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(X) > 0):
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X_val = X[0][1:]
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# extract Y
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Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Y) > 0):
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Y_val = Y[0][1:]
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# extract Z
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Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Z) > 0):
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Z_val = Z[0][1:]
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if (modes["absolute"]):
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if (X_val != ""):
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positions["X"] = float(X_val)
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if (Y_val != ""):
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positions["Y"] = float(Y_val)
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if (Z_val != ""):
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positions["Z"] = float(Z_val)
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return ok(line)
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else:
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if (X_val != ""):
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positions["X"] += float(X_val)
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if (Y_val != ""):
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positions["Y"] += float(Y_val)
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if (Z_val != ""):
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positions["Z"] += float(Z_val)
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return ok(line)
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# G28 response
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def G28_response(cmd,line,ser):
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global positions
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send_busy(ser, 3)
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if (cmd.find("X") != -1):
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positions["X"] = 0.00
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if (cmd.find("Y") != -1):
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positions["Y"] = 0.00
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if (cmd.find("Z") != -1):
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positions["Z"] = 0.00
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if (cmd == "G28"):
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positions["X"] = 0.00
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positions["Y"] = 0.00
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positions["Z"] = 0.00
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return ok(line)
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# G29 V4 response
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def G29_V4_response(cmd,line,ser):
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common.send_echo(ser, " G29 Auto Bed Leveling")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 50.000 Y: 50.000 Z: 0.000")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 133.000 Y: 50.000 Z: 0.016")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 216.000 Y: 50.000 Z: -0.013")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 299.000 Y: 50.000 Z: -0.051")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 299.000 Y: 133.000 Z: -0.005")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 216.000 Y: 133.000 Z: -0.041")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 133.000 Y: 133.000 Z: -0.031")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 50.000 Y: 133.000 Z: -0.036")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 50.000 Y: 216.000 Z: -0.050")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 133.000 Y: 216.000 Z: 0.055")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 216.000 Y: 216.000 Z: 0.051")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 299.000 Y: 216.000 Z: 0.026")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 299.000 Y: 299.000 Z: -0.018")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 216.000 Y: 299.000 Z: -0.064")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 133.000 Y: 299.000 Z: -0.036")
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send_busy(ser, 3)
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common.send_echo(ser, "Bed X: 50.000 Y: 299.000 Z: -0.046")
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send_busy(ser, 3)
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common.send_echo(ser, "Bilinear Leveling Grid:")
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common.send_echo(ser, " 0 1 2 3")
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common.send_echo(ser, " 0 +0.0000 +0.0162 -0.0125 -0.0512")
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common.send_echo(ser, " 1 -0.0363 -0.0313 -0.0412 -0.0050")
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common.send_echo(ser, " 2 -0.0500 +0.0550 +0.0512 +0.0262")
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common.send_echo(ser, " 3 -0.0463 -0.0363 -0.0638 -0.0175")
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return ok(line)
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# Absolute mode
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def G90_response(cmd,line,ser):
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global modes
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modes["absolute"] = True
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return ok(line)
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# Relative mode
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def G91_response(cmd,line,ser):
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global modes
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modes["absolute"] = False
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return ok(line)
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# M104 extruder control not waiting
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def M104_response(cmd,line,ser):
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global temperatures
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targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
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if (len(targettemp) > 0):
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temperatures["E0"]["target"] = float(targettemp[0][1:])
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return ok(line)
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# M105 temperatures query
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def M105_response(cmd,line,ser):
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updateTemperatures("E0", common.current_milli_time())
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updateTemperatures("B", common.current_milli_time())
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val = generateTemperatureResponse(True)
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return val
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# M106 fan control
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def M106_response(cmd,line,ser):
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return line+"\nok"
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# M107 fan stop
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def M107_response(cmd,line,ser):
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if (len(val) > 0):
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return "M106 P" + val[0][1:] + " S0\nok"
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else:
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return "M106 P0 S0\nok"
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# M109 extruder control waiting
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def M109_response(cmd,line,ser):
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global temperatures
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global stop_heating
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targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
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if (len(targettemp) > 0):
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stop_heating = False
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temperatures["E0"]["target"] = float(targettemp[0][1:])
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target = 20.0
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if (temperatures["E0"]["target"] != 0):
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target = temperatures["E0"]["target"]
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while ( temperatures["E0"]["value"] < target-2 or temperatures["E0"]["value"] > target+2):
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send_busy(ser, 1)
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if stop_heating:
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stop_heating = False
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temperatures["E0"]["target"] = 0.0
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return ok(line) + "\nok"
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updateTemperatures("E0", common.current_milli_time())
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updateTemperatures("B", common.current_milli_time())
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val = generateTemperatureResponse(False)
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common.send_echo(ser, val)
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ser.flush()
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wait(1000, ser)
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updateTemperatures("E0", common.current_milli_time())
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updateTemperatures("B", common.current_milli_time())
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val = generateTemperatureResponse(False)
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common.send_echo(ser, val)
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return ok(line)
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# M114 Positions query
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def M114_response(cmd,line,ser):
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global positions
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val = "X:" + "{:.2f}".format(positions["X"]) + " Y:" + "{:.2f}".format(
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positions["Y"]) + " Z:" + "{:.2f}".format(positions["Z"])+" E:0.00 Count X:0 Y:0 Z:0\nok"
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return val
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# M140 bed control not waiting
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def M140_response(cmd,line,ser):
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global temperatures
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targettemp = re.findall(r'S\d+[\.]*\d*', cmd)
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if (len(targettemp) > 0):
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temperatures["B"]["target"] = float(targettemp[0][1:])
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return ok(line)
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# M190 bed control waiting
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def M190_response(cmd,line,ser):
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global temperatures
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global stop_heating
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targettemp = re.findall(r'[SR]\d+[\.]*\d*', cmd)
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if (len(targettemp) > 0):
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temperatures["B"]["target"] = float(targettemp[0][1:])
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target = 20.0
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if (temperatures["B"]["target"] != 0):
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target = temperatures["B"]["target"]
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stop_heating = False
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while (temperatures["B"]["value"] < target-2 or temperatures["B"]["value"] > target+2):
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send_busy(ser, 1)
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if stop_heating:
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stop_heating = False
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temperatures["B"]["target"] = 0.0
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return ok(line) + "\nok"
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updateTemperatures("E0", common.current_milli_time())
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updateTemperatures("B", common.current_milli_time())
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val = generateTemperatureResponse(False)
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common.send_echo(ser, val)
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ser.flush()
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wait(1000, ser)
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updateTemperatures("E0", common.current_milli_time())
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updateTemperatures("B", common.current_milli_time())
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val = generateTemperatureResponse(False)
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common.send_echo(ser, val)
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return ok(line)
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# M220 response
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def M220_response(cmd,line,ser):
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val = re.findall(r'S\d+', cmd)
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if (len(val) > 0):
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F_R = val[0][1:]
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return "FR:"+F_R+"%\nok"
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return ok(line)
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# List of supported methods
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methods = [
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{"str": "G0", "fn": G0_G1_response},
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{"str": "G1", "fn": G0_G1_response},
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{"str": "G28", "fn": G28_response},
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{"str": "G29 V4", "fn": G29_V4_response},
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{"str": "G90", "fn": G90_response},
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{"str": "G91", "fn": G91_response},
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{"str": "M104", "fn": M104_response},
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{"str": "M105", "fn": M105_response},
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{"str": "M106", "fn": M106_response},
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{"str": "M107", "fn": M107_response},
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{"str": "M109", "fn": M109_response},
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{"str": "M114", "fn": M114_response},
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{"str": "M140", "fn": M140_response},
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{"str": "M190", "fn": M190_response},
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{"str": "M220", "fn": M220_response},
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]
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# Process a line of GCODE
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def processLine(line,ser):
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time.sleep(0.01)
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cmd = line
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if (line.startswith("N")):
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p = line.find(' ')
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cmd = line[p+1:]
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p = cmd.rfind('*')
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cmd = cmd[:p]
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global methods
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for method in methods:
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if cmd.startswith(method["str"]):
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return method["fn"](cmd,line,ser)
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if line.startswith("M") or line.startswith("G") or line.startswith("N"):
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return ok(line)
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if line.find("[esp")!=-1 or line.find("[0;")!=-1 or line.find("[1;")!=-1:
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return ""
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return "echo:Unknown command: \"" + line + "\"\nok"
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