ckochandClaude Opus 5.5
7afe562124
After the last design (or a Stop), the player sends $SLP (GRBL and FluidNC sleep), so the motors stop holding and the table is quiet. The page shows "Motors off"; the next design wakes the controller (reset + unlock) and homes first, since the arm can be moved by hand while the motors are off. The jog panel wakes it too. Setting: motion.motors_off_when_done (default true). Checked on the real Uno: Idle -> $SLP -> Sleep -> reset -> Alarm -> $X -> Idle. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
431 lines
17 KiB
Python
431 lines
17 KiB
Python
"""Talk to GRBL 1.1 (Arduino Uno) or FluidNC over USB serial.
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Streaming uses GRBL's character-counting method: keep sending lines while the bytes not yet
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acknowledged fit in the controller's 128-byte receive buffer. That keeps the planner full, so
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the ball doesn't stutter on short moves.
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"""
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import re
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import time
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RX_BUFFER = 127
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STATUS_RE = re.compile(r'<([^|>]+)(.*)>')
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# real-time commands (single bytes, acted on at once, never queued)
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RT_STATUS = b'?'
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RT_HOLD = b'!'
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RT_RESUME = b'~'
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RT_RESET = b'\x18'
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RT_JOG_CANCEL = b'\x85'
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class GrblError(RuntimeError):
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pass
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class Aborted(GrblError):
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"""A wait was cut short because `abort` was set (a STOP from the web page or the jog panel)."""
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class SwitchTripped(GrblError):
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"""The home switch was pressed while a pattern was running: the carriage has lost its place."""
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class Status:
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def __init__(self):
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self.state = 'Unknown' # Idle, Run, Hold, Jog, Alarm, ...
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self.sub = '' # e.g. Hold:0 = stopped, Hold:1 = still slowing down
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self.mpos = (0.0, 0.0, 0.0)
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self.wco = (0.0, 0.0, 0.0)
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self.pins = ''
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self.when = 0.0
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@property
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def wpos(self):
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return tuple(m - w for m, w in zip(self.mpos, self.wco))
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def parse(self, line):
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m = STATUS_RE.match(line)
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if not m:
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return False
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state = m.group(1)
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self.state, _, self.sub = state.partition(':')
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self.pins = ''
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wpos = None
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for field in m.group(2).split('|'):
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k, _, v = field.partition(':')
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if k in ('MPos', 'WPos', 'WCO'):
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vals = (tuple(float(x) for x in v.split(',')) + (0.0, 0.0, 0.0))[:3]
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if k == 'MPos':
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self.mpos = vals
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elif k == 'WCO':
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self.wco = vals
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else:
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wpos = vals
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elif k == 'Pn':
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self.pins = v
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if wpos is not None:
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self.mpos = tuple(a + b for a, b in zip(wpos, self.wco))
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self.when = time.monotonic()
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return True
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class Controller:
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"""One open connection. `port` is a pyserial-like object (the tests pass a simulator)."""
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def __init__(self, port, kind='grbl', log=print):
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self.port = port
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self.kind = kind
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self.log = log
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self.status = Status()
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self.pending = [] # byte lengths of lines sent but not yet acknowledged
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self.errors = []
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self.banner = ''
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self._buf = b''
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self.abort = False # set from another thread (the jog panel's STOP) to end a wait
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self.guard = None # None, or 'release' / 'armed' while patterns run (see arm_guard)
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self.guard_stuck_mm = 0.0
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self.status_every = 0.08 # while guarded, ask for a status report this often (s)
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self._presses = 0
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self._last_q = 0.0
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# ------------------------------------------------------------ open / close
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@classmethod
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def open(cls, device, baud=115200, kind='grbl', log=print):
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import serial
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p = serial.Serial(device, baud, timeout=0.02, write_timeout=2)
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c = cls(p, kind, log)
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c.wake()
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return c
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def reopen(self, port):
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"""Carry on with a new port (after the USB link dropped and came back): fresh state, then
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wait for the Uno's start-up banner. The position is lost, so home again before drawing."""
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try:
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if self.port:
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self.port.close()
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except Exception:
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pass
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self.port = port
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self._buf, self.banner = b'', ''
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self.pending.clear()
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self.guard, self.abort = None, False
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self.status = Status()
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self.wake()
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def wake(self, wait=3.0):
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"""Opening the port resets an Uno (about 2 s); wait for its start-up banner.
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(No blank lines are sent to wake it: their late 'ok's would upset the byte counting.)"""
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t_end = time.monotonic() + wait
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seen = None
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while time.monotonic() < t_end:
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for line in self._lines():
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if 'grbl' in line.lower() or 'fluidnc' in line.lower():
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self.banner, seen = line, time.monotonic()
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if seen and time.monotonic() - seen > 0.3:
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break
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self.port.reset_input_buffer()
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self._buf = b''
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self.pending.clear()
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self.query()
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def close(self):
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self.port.close()
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# ------------------------------------------------------------ low level
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def _lines(self):
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data = self.port.read(self.port.in_waiting or 1)
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if data:
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self._buf += data
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out = []
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while b'\n' in self._buf:
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raw, self._buf = self._buf.split(b'\n', 1)
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line = raw.decode('ascii', 'replace').strip()
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if line:
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out.append(line)
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return out
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def poll(self):
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"""Read whatever has arrived and act on it."""
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if self.guard and time.monotonic() - self._last_q > self.status_every:
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self.realtime(RT_STATUS)
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for line in self._lines():
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if line == 'ok':
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if self.pending:
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self.pending.pop(0)
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elif line.startswith('error:'):
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if self.pending:
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self.pending.pop(0)
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self.errors.append(line)
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elif line.startswith('<'):
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self.status.parse(line)
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if self.guard:
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self._check_guard()
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elif line.startswith('ALARM'):
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self.status.state = 'Alarm'
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raise GrblError(f'{line}: the controller stopped. Check the table, then run `home` again.')
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elif line.startswith('[MSG:'):
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self.log(f'controller says {line}')
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elif 'grbl' in line.lower():
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self.banner = line
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def realtime(self, b):
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if b == RT_STATUS:
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self._last_q = time.monotonic()
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self.port.write(b)
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# ------------------------------------------------------------ switch guard
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def arm_guard(self, cfg):
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"""Stop at once if the home switch is pressed while a pattern runs.
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Patterns stay at least `rho_min_mm` out, 1 mm past where the switch trips, so they never
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press it. A press can then only mean the carriage isn't where the controller thinks:
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missed steps, a slipping belt, or something in the way. Left alone, it would grind into
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the end stop, and later patterns would run off the other end of the arm.
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Right after homing the switch may still be pressed; that's fine until it has been seen
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released once (or the carriage is clearly past it, which means the switch is stuck)."""
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self.guard = 'release'
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self.guard_stuck_mm = cfg['homing']['switch_rho_mm'] + 5.0
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self._presses = 0
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def disarm_guard(self):
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self.guard = None
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def _check_guard(self):
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st = self.status
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if st.state in ('Alarm', 'Home'):
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return
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pressed = 'Y' in st.pins
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if self.guard == 'release':
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if not pressed:
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self.guard = 'armed'
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elif st.wpos[1] > self.guard_stuck_mm:
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self._trip(f'the home switch is still pressed at rho {st.wpos[1]:.1f} mm, so it is stuck '
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f'or its wiring is shorted')
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return
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# two reports in a row (about 0.1 s apart), so one electrical blip doesn't stop a pattern
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self._presses = self._presses + 1 if pressed else 0
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if self._presses >= 2:
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self._trip(f'the home switch was pressed at rho {st.wpos[1]:.1f} mm, where the carriage should never '
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f'reach it. The carriage has lost its place (missed steps, a slipping belt, or '
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f'something blocking it)')
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def _trip(self, why):
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self.realtime(RT_RESET) # stops the motors at once; the position is lost anyway
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self.guard = None
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self.status.state = 'Alarm'
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self.pending.clear()
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raise SwitchTripped(why)
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def query(self, timeout=1.0):
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"""Ask for a status report and wait for it."""
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before = self.status.when
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self.realtime(RT_STATUS)
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t_end = time.monotonic() + timeout
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while time.monotonic() < t_end:
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self.poll()
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if self.status.when != before:
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return self.status
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raise GrblError('no status report from the controller (wrong port, or not GRBL?)')
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def send(self, line):
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"""Queue one line, waiting while the controller's receive buffer is full."""
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data = (line.strip() + '\n').encode('ascii')
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while sum(self.pending) + len(data) > RX_BUFFER:
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if self.abort:
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raise Aborted('stopped')
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self.poll()
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self.port.write(data)
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self.pending.append(len(data))
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def command(self, line, timeout=10.0):
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"""Send one line and wait for its ok (raises on an error)."""
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n_err = len(self.errors)
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self.send(line)
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t_end = time.monotonic() + timeout
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while self.pending:
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if self.abort:
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raise Aborted('stopped')
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self.poll()
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if time.monotonic() > t_end:
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raise GrblError(f'no answer to {line!r}')
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if len(self.errors) > n_err:
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raise GrblError(f'{line!r} -> {self.errors[-1]}')
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def text(self, line, timeout=3.0):
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"""Send a $ query (only while idle) and collect the lines before its ok."""
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self.port.write((line + '\n').encode())
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out, t_end = [], time.monotonic() + timeout
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while time.monotonic() < t_end:
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for ln in self._lines():
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if ln == 'ok':
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return out
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if ln.startswith('error'):
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raise GrblError(f'{line} -> {ln}')
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if not ln.startswith('<'):
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out.append(ln)
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raise GrblError(f'no answer to {line!r}')
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def settings(self):
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"""$$ -> {'$100': '71.111', ...}"""
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out = {}
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for ln in self.text('$$'):
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k, _, v = ln.partition('=')
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if k.startswith('$'):
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out[k] = v.split()[0] if v else ''
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return out
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def wait_idle(self, every=0.15, on_status=None):
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"""Wait until everything sent is acknowledged and the machine has stopped."""
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while True:
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if self.abort:
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raise Aborted('stopped')
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st = self.query()
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if on_status:
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on_status(st)
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if not self.pending and st.state == 'Idle':
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return st
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self.pause(every)
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def pause(self, secs):
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"""Wait, but keep reading the controller (and, while guarded, keep checking the switch)."""
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t_end = time.monotonic() + secs
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while time.monotonic() < t_end:
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self.poll()
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time.sleep(0.005)
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# ------------------------------------------------------------ jobs
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def stream(self, lines, on_progress=None, status_every=0.25):
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"""Send G-code lines. on_progress(sent, total, status) is called a few times a second."""
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total, last, n_err = len(lines), 0.0, len(self.errors)
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for i, line in enumerate(lines, 1):
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self.send(line)
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if len(self.errors) > n_err:
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self.hold()
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raise GrblError(f'the controller rejected a line ({self.errors[-1]}); stopped')
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now = time.monotonic()
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if now - last > status_every:
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self.realtime(RT_STATUS)
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last = now
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if on_progress:
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on_progress(i, total, self.status)
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self.wait_idle(on_status=(lambda st: on_progress(total, total, st)) if on_progress else None)
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def hold(self):
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self.realtime(RT_HOLD)
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def resume(self):
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self.realtime(RT_RESUME)
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def stop(self):
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"""Stop cleanly: feed hold, wait until the motion has ended (Hold:0), then reset to throw
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away the moves still queued. Resetting while stopped keeps the machine position, but GRBL
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clears the G92 offset that homing set, so it is put back: no re-homing needed."""
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self.abort = False
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guard, self.guard = self.guard, None
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self.realtime(RT_HOLD)
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t_end = time.monotonic() + 15
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while time.monotonic() < t_end:
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st = self.query()
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if st.state == 'Idle' or (st.state == 'Hold' and st.sub == '0'):
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break
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time.sleep(0.05)
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if st.state == 'Idle' and not self.pending:
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return st # nothing moving and nothing queued: no reset needed
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x, y = st.wpos[0], st.wpos[1]
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self.realtime(RT_RESET)
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time.sleep(0.5)
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t_end = time.monotonic() + 3
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while time.monotonic() < t_end:
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self._lines()
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time.sleep(0.05)
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self.pending.clear()
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if self.query().state != 'Alarm':
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self.command(f'G92 X{x:.3f} Y{y:.3f}')
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if guard:
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self.guard = 'release'
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self._presses = 0
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return self.query()
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def motors_off(self):
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"""Switch the motors off with the sleep command ($SLP; FluidNC has it too). They stop
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holding, so the arm turns by hand and the position is lost: before moving again the
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controller needs waking (a reset, see wake_up) and the table homing."""
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self.guard = None
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if self.query().state != 'Sleep':
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self.command('$SLP')
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self.query()
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def wake_up(self):
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"""Out of sleep: only a reset wakes it, and it then waits in ALARM until unlocked."""
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if self.query().state != 'Sleep':
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return
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self.realtime(RT_RESET)
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t_end, seen = time.monotonic() + 3, None
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while time.monotonic() < t_end:
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for line in self._lines():
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if 'grbl' in line.lower() or 'fluidnc' in line.lower():
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seen = time.monotonic()
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if seen and time.monotonic() - seen > 0.2:
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break
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time.sleep(0.02)
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self.pending.clear()
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self.query()
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def unlock(self):
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self.wake_up()
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if self.query().state == 'Alarm':
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self.command('$X')
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# ------------------------------------------------------------ homing (rho only)
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def home_rho(self, cfg, log=print):
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"""Home the carriage against the switch at the centre end of the arm, then set
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theta = 0 and rho = the switch position.
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GRBL on the Uno: done from here with jog moves and the switch state that GRBL puts in
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every status report ('Pn:Y'), so the stock firmware needs no changes.
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FluidNC: its own $H (configured in its config.yaml)."""
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h = cfg['homing']
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self.disarm_guard()
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if self.kind == 'fluidnc':
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self.command('$H', timeout=90)
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self.command('G92 X0')
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return self.wait_idle()
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self.unlock()
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self.command('G21')
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self.command('G90')
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def pressed():
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return 'Y' in self.query().pins
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if pressed():
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log('the switch is already pressed; moving off it first')
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self.command(f"$J=G91 G21 Y{h['pulloff_mm'] + 3:.2f} F{h['seek_mm_s'] * 60:.0f}")
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self.wait_idle()
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if pressed():
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raise GrblError('the home switch stays pressed: check its wiring (COM and NO to the Y- pins)')
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for speed, final in ((h['seek_mm_s'], False), (h['feed_mm_s'], True)):
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self.command(f"$J=G91 G21 Y-{h['max_travel_mm']:.1f} F{speed * 60:.0f}")
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t_end = time.monotonic() + h['max_travel_mm'] / speed + 5
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found = False
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while time.monotonic() < t_end:
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if self.abort:
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raise Aborted('stopped')
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if pressed():
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self.realtime(RT_JOG_CANCEL)
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found = True
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break
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time.sleep(0.005)
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if not found:
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self.realtime(RT_JOG_CANCEL)
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self.wait_idle()
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raise GrblError('home switch not found: is the 12 V supply on? Without it the motors stay still. '
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'Otherwise check the switch wiring, and that +Y moves the magnet outward (run `test`)')
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self.wait_idle()
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if not final:
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self.command(f"$J=G91 G21 Y{h['pulloff_mm']:.2f} F{h['seek_mm_s'] * 60:.0f}")
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self.wait_idle()
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# G92 sets the position without writing the Uno's EEPROM (G10 would, on every homing)
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self.command(f"G92 X0 Y{h['switch_rho_mm']:.3f}")
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self.command('G90')
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return self.wait_idle()
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