483 lines
No EOL
12 KiB
C#
483 lines
No EOL
12 KiB
C#
// Copyright (c) 2015, Lars Brubaker
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.IO.Ports;
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using System.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MatterHackers.PrinterEmulator
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{
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public class Emulator : IDisposable
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{
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public int CDChangeCount;
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public bool CDState;
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public int CtsChangeCount;
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public bool CtsState;
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public int DsrChangeCount;
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public bool DsrState;
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private static Regex numberRegex = new Regex(@"[-+]?[0-9]*\.?[0-9]+([eE][-+]?[0-9]+)?");
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private long commandIndex = 1;
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private int recievedCount = 0;
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// Dictionary of command and response callback
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private Dictionary<string, Func<string, string>> responses = new Dictionary<string, Func<string, string>>();
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private SerialPort serialPort = null;
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private bool shutDown = false;
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public Emulator()
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{
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responses.Add("A", Echo);
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responses.Add("G0", SetPosition);
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responses.Add("G1", SetPosition);
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responses.Add("G28", HomePosition);
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responses.Add("G4", Wait);
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responses.Add("G92", ResetPosition);
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responses.Add("M104", SetExtruderTemperature);
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responses.Add("M105", ReturnTemp);
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responses.Add("M106", SetFan);
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responses.Add("M109", SetExtruderTemperature);
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responses.Add("M110", SetLineCount);
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responses.Add("M114", GetPosition);
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responses.Add("M115", ReportMarlinFirmware);
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responses.Add("M140", SetBedTemperature);
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responses.Add("M190", SetBedTemperature);
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responses.Add("M20", ListSdCard);
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responses.Add("M21", InitSdCard);
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responses.Add("N", ParseChecksumLine);
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}
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public event EventHandler ExtruderTemperatureChanged;
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public event EventHandler FanSpeedChanged;
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public double BedCurrentTemperature { get; private set; } = 26;
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public double BedGoalTemperature { get; private set; } = -1;
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public double EPosition { get; private set; }
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public double ExtruderCurrentTemperature { get; private set; } = 27;
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public double ExtruderGoalTemperature { get; private set; } = 0;
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public double FanSpeed { get; private set; }
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public string PortName { get; set; }
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public bool RunSlow { get; set; }
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public bool SimulateLineErrors { get; set; } = false;
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public double XPosition { get; private set; }
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public double YPosition { get; private set; }
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public double ZPosition { get; private set; }
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public static int CalculateChecksum(string commandToGetChecksumFor)
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{
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int checksum = 0;
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if (commandToGetChecksumFor.Length > 0)
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{
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checksum = commandToGetChecksumFor[0];
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for (int i = 1; i < commandToGetChecksumFor.Length; i++)
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{
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checksum ^= commandToGetChecksumFor[i];
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}
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}
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return checksum;
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}
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public static bool GetFirstNumberAfter(string stringToCheckAfter, string stringWithNumber, ref double readValue, int startIndex = 0)
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{
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int stringPos = stringWithNumber.IndexOf(stringToCheckAfter, startIndex);
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if (stringPos != -1)
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{
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stringPos += stringToCheckAfter.Length;
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readValue = ParseDouble(stringWithNumber, ref stringPos);
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return true;
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}
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return false;
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}
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public static double ParseDouble(String source, ref int startIndex)
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{
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Match numberMatch = numberRegex.Match(source, startIndex);
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String returnString = numberMatch.Value;
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startIndex = numberMatch.Index + numberMatch.Length;
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double returnVal;
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double.TryParse(returnString, NumberStyles.Number, CultureInfo.InvariantCulture, out returnVal);
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return returnVal;
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}
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public void Dispose()
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{
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ShutDown();
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}
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public string Echo(string command)
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{
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return command;
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}
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public string GetCommandKey(string command)
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{
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if (command.IndexOf(' ') != -1)
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{
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return command.Substring(0, command.IndexOf(' '));
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}
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return command;
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}
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public string GetCorrectResponse(string inCommand)
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{
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try
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{
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// Remove line returns
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var commandNoNl = inCommand.Split('\n')[0]; // strip of the trailing cr (\n)
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var command = ParseChecksumLine(commandNoNl);
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if (command.Contains("Resend"))
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{
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return command + "ok\n";
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}
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var commandKey = GetCommandKey(command);
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if (responses.ContainsKey(commandKey))
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{
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if (RunSlow)
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{
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// do the right amount of time for the given command
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Thread.Sleep(20);
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}
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return responses[commandKey](command);
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}
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else
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{
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Console.WriteLine($"Command {command} not found");
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}
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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}
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return "ok\n";
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}
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public string GetPosition(string command)
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{
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// position commands look like this: X:0.00 Y:0.00 Z0.00 E:0.00 Count X: 0.00 Y:0.00 Z:0.00 then an ok on the next line
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return $"X:{XPosition:0.00} Y: {YPosition:0.00} Z: {ZPosition:0.00} E: {EPosition:0.00} Count X: 0.00 Y: 0.00 Z: 0.00\nok\n";
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}
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public string ReportMarlinFirmware(string command)
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{
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return "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:https://github.com/MarlinFirmware/Marlin PROTOCOL_VERSION:1.0 MACHINE_TYPE:Framelis v1 EXTRUDER_COUNT:1 UUID:155f84b5-d4d7-46f4-9432-667e6876f37a\nok\n";
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}
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// Add response callbacks here
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public string ReturnTemp(string command)
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{
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// temp commands look like this: ok T:19.4 /0.0 B:0.0 /0.0 @:0 B@:0
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if (BedGoalTemperature == -1)
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{
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if (ExtruderGoalTemperature != 0)
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{
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ExtruderCurrentTemperature = ExtruderCurrentTemperature + (ExtruderGoalTemperature - ExtruderCurrentTemperature) * .8;
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}
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return $"ok T:{ExtruderCurrentTemperature:0.0} / {ExtruderGoalTemperature:0.0}\n";
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}
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else
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{
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ExtruderCurrentTemperature = ExtruderCurrentTemperature + (ExtruderGoalTemperature - ExtruderCurrentTemperature) * .8;
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BedCurrentTemperature = BedCurrentTemperature + (BedGoalTemperature - BedCurrentTemperature) * .8;
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return $"ok T:{ExtruderCurrentTemperature:0.0} / {ExtruderGoalTemperature:0.0} B: {BedCurrentTemperature:0.0} / {BedGoalTemperature:0.0}\n";
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}
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}
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public string SetFan(string command)
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{
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try
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{
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var sIndex = command.IndexOf('S') + 1;
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FanSpeed = int.Parse(command.Substring(sIndex));
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FanSpeedChanged?.Invoke(this, null);
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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}
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return "ok\n";
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}
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public void ShutDown()
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{
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shutDown = true;
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}
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public void SimulateReboot()
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{
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commandIndex = 1;
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recievedCount = 0;
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}
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public void Startup()
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{
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serialPort = new SerialPort(PortName);
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serialPort.ReadTimeout = 500;
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serialPort.WriteTimeout = 500;
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serialPort.Open();
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string speed = RunSlow ? "slow" : "fast";
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Console.WriteLine($"\n Initializing emulator on port {serialPort.PortName} (Speed: {speed})");
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Task.Run(() =>
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{
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while (!shutDown)
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{
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if (serialPort.CDHolding != CDState)
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{
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CDState = serialPort.CDHolding;
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CDChangeCount++;
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}
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if (serialPort.CtsHolding != CtsState)
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{
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CtsState = serialPort.CtsHolding;
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CtsChangeCount++;
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}
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if (serialPort.DsrHolding != DsrState)
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{
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DsrState = serialPort.DsrHolding;
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DsrChangeCount++;
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}
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Thread.Sleep(10);
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}
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});
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Task.Run(() =>
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{
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while (!shutDown)
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{
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string line = "";
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try
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{
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line = serialPort.ReadLine(); // read a '\n' terminated line
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}
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catch (TimeoutException te)
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{
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}
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catch (Exception)
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{
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}
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if (line.Length > 0)
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{
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Console.WriteLine(line);
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var response = GetCorrectResponse(line);
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Console.WriteLine(response);
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serialPort.Write(response);
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}
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}
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serialPort.Close();
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serialPort.Dispose();
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});
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}
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private string HomePosition(string command)
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{
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XPosition = 0;
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YPosition = 0;
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ZPosition = 0;
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return "ok\n";
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}
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private string InitSdCard(string arg)
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{
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return "ok\n";
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}
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private string ListSdCard(string arg)
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{
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string[] responsList =
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{
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"Begin file list",
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"Item 1.gcode",
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"Item 2.gcode",
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"End file list",
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};
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foreach (var response in responsList)
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{
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Console.WriteLine(response);
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serialPort.WriteLine(response);
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}
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return "ok\n";
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}
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private string ParseChecksumLine(string command)
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{
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recievedCount++;
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if (SimulateLineErrors && (recievedCount % 11) == 0)
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{
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command = "N-1 nthoeuc 654*";
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}
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if (command[0] == 'N')
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{
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double lineNumber = 0;
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GetFirstNumberAfter("N", command, ref lineNumber);
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var checksumStart = command.LastIndexOf('*');
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var commandToChecksum = command.Substring(0, checksumStart);
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if(commandToChecksum[commandToChecksum.Length-1] == ' ')
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{
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commandToChecksum = commandToChecksum.Substring(0, commandToChecksum.Length - 1);
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}
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double expectedChecksum = 0;
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GetFirstNumberAfter("*", command, ref expectedChecksum, checksumStart);
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int actualChecksum = CalculateChecksum(commandToChecksum);
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if ((lineNumber == commandIndex
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&& actualChecksum == expectedChecksum)
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|| command.Contains("M110"))
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{
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commandIndex++;
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int spaceIndex = command.IndexOf(' ') + 1;
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int endIndex = command.IndexOf('*');
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return command.Substring(spaceIndex, endIndex - spaceIndex);
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}
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else
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{
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return $"Error:checksum mismatch, Last Line: {commandIndex - 1}\nResend: {commandIndex}\n";
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}
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}
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else
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{
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return command;
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}
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}
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private string ResetPosition(string command)
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{
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return "ok\n";
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}
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private string SetBedTemperature(string command)
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{
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try
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{
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// M140 S210 or M190 S[temp]
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var sIndex = command.IndexOf('S') + 1;
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BedGoalTemperature = int.Parse(command.Substring(sIndex));
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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}
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return "ok\n";
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}
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private string SetExtruderTemperature(string command)
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{
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try
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{
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// M104 S210 or M109 S[temp]
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var sIndex = command.IndexOf('S') + 1;
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ExtruderGoalTemperature = int.Parse(command.Substring(sIndex));
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ExtruderTemperatureChanged?.Invoke(this, null);
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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}
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return "ok\n";
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}
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private string SetLineCount(string command)
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{
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double number = commandIndex;
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if (GetFirstNumberAfter("N", command, ref number))
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{
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commandIndex = (long)number + 1;
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}
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return "ok\n";
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}
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private string SetPosition(string command)
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{
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double value = 0;
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if (GetFirstNumberAfter("X", command, ref value))
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{
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XPosition = value;
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}
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if (GetFirstNumberAfter("Y", command, ref value))
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{
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YPosition = value;
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}
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if (GetFirstNumberAfter("Z", command, ref value))
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{
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ZPosition = value;
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}
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if (GetFirstNumberAfter("E", command, ref value))
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{
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EPosition = value;
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}
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return "ok\n";
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}
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private string Wait(string command)
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{
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try
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{
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// M140 S210 or M190 S[temp]
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double timeToWait = 0;
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if (!GetFirstNumberAfter("S", command, ref timeToWait))
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{
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if (GetFirstNumberAfter("P", command, ref timeToWait))
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{
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timeToWait /= 1000;
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}
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}
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Thread.Sleep((int)(timeToWait * 1000));
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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}
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return "ok\n";
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}
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}
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} |