Initial commit of source code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/klippy.py

@@ -0,0 +1,163 @@
+#!/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()