647 lines
No EOL
16 KiB
C#
647 lines
No EOL
16 KiB
C#
// Copyright (c) 2018, Lars Brubaker, John Lewin
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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.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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using MatterHackers.SerialPortCommunication.FrostedSerial;
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namespace MatterHackers.PrinterEmulator
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{
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public partial class Emulator : IDisposable
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{
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/// <summary>
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/// The number of seconds the emulator should take to heat up to a given target
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/// </summary>
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public static double DefaultHeatUpTime = 3;
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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;
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private bool shuttingDown = false;
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public Emulator()
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{
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Emulator.Instance = this;
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responses = new Dictionary<string, Func<string, string>>()
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{
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{ "A", Echo },
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{ "G0", SetPosition },
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{ "G1", SetPosition },
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{ "G28", HomePosition },
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{ "G30", SimulateProbe },
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{ "G4", Wait },
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{ "G92", ResetPosition },
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{ "M104", SetExtruderTemperature },
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{ "M105", ReturnTemp },
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{ "M106", SetFan },
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{ "M109", SetExtruderTemperature },
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{ "M110", SetLineCount },
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{ "M114", GetPosition },
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{ "M115", ReportMarlinFirmware },
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{ "M140", SetBedTemperature },
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{ "M190", SetBedTemperature },
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{ "M20", ListSdCard },
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{ "M21", InitSdCard },
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{ "N", ParseChecksumLine },
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{ "T", SetExtruderIndex },
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};
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}
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public event EventHandler ExtruderIndexChanged;
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public event EventHandler ExtruderTemperatureChanged;
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public event EventHandler FanSpeedChanged;
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public event EventHandler ZPositionChanged;
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public event EventHandler EPositionChanged;
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// Instance reference allows test to access the most recently initialized emulator
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public static Emulator Instance { get; private set; }
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public Heater CurrentExtruder { get { return Extruders[ExtruderIndex]; } }
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public int ExtruderIndex { get; private set; }
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public List<Heater> Extruders { get; private set; } = new List<Heater>()
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{
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new Heater("Hotend1") { CurrentTemperature = 27 }
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};
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public double FanSpeed { get; private set; }
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public bool HasHeatedBed { get; set; } = true;
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public Heater HeatedBed { get; } = new Heater("HeatedBed") { CurrentTemperature = 26 };
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public string PortName { get; set; }
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public bool RunSlow { get; set; } = false;
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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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this.ShutDown();
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Emulator.Instance = null;
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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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if (!command.StartsWith("G0")
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&& !command.StartsWith("G1")
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&& !command.StartsWith("M105"))
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{
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// Log non-busy commands
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Console.WriteLine(command);
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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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// Too noisy... restore if needed when debugging emulator
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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: {CurrentExtruder.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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string response = "ok";
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for(int i=0; i<Extruders.Count; i++)
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{
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string TString = (Extruders.Count == 1) ? "T" : $"T{i}";
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response += $" {TString}:{Extruders[i].CurrentTemperature:0.0} / {Extruders[i].TargetTemperature:0.0}";
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}
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// Newline if HeatedBed is disabled otherwise HeatedBed stats
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response += ((!this.HasHeatedBed) ? "\n" : $" B: {HeatedBed.CurrentTemperature:0.0} / {HeatedBed.TargetTemperature:0.0}\n");
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return response;
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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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if (!shuttingDown)
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{
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shuttingDown = true;
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HeatedBed.Stop();
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foreach (var extuder in Extruders)
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{
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extuder.Stop();
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}
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}
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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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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 Random rand = new Random();
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private string SimulateProbe(string command)
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{
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Thread.Sleep(500);
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return "Bed Position X: 0 Y: 0 Z: { rand.NextDouble() }\n"
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+ "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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this.QueueResponse(response + '\n');
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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 (!string.IsNullOrEmpty(command) && 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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SetPosition(command);
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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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HeatedBed.TargetTemperature = 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 SetExtruderIndex(string command)
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{
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try
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{
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// T0, T1, T2 are the expected format
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var tIndex = command.IndexOf('T') + 1;
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var extruderIndex = command.Substring(tIndex);
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ExtruderIndex = int.Parse(extruderIndex);
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ExtruderIndexChanged?.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 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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double index = 0;
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GetFirstNumberAfter("T", command, ref index);
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double temp = 0;
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GetFirstNumberAfter("S", command, ref temp);
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if (index > Extruders.Count - 1)
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{
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// increase the number of extruders
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var newList = new List<Heater>(Extruders.Count + 1);
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foreach(var extruder in Extruders)
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{
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newList.Add(extruder);
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}
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for(int i=Extruders.Count+1; i<index+2; i++)
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{
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newList.Add(new Heater($"Hotend{i}") { CurrentTemperature = 27 });
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}
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Extruders = newList;
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}
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Extruders[(int)index].TargetTemperature = temp;
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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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ZPositionChanged?.Invoke(null, null);
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}
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if (GetFirstNumberAfter("E", command, ref value))
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{
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CurrentExtruder.EPosition = value;
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EPositionChanged?.Invoke(null, null);
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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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// EmulatorPort
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public partial class Emulator : IFrostedSerialPort
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{
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private object receiveLock = new object();
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private Queue<string> receiveQueue = new Queue<string>();
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private AutoResetEvent receiveResetEvent = new AutoResetEvent(false);
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private object sendLock = new object();
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private Queue<string> sendQueue = new Queue<string>(new string[] { "Emulator v0.1\n" });
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public int BaudRate { get; set; }
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public int BytesToRead
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{
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get
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{
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if (sendQueue.Count == 0)
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{
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return 0;
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}
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return sendQueue?.Peek().Length ?? 0;
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}
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}
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public bool DtrEnable { get; set; }
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public bool IsOpen { get; private set; }
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public int ReadTimeout { get; set; }
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public bool RtsEnable { get; set; }
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public int WriteTimeout { get; set; }
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public void Close()
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{
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this.ShutDown();
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}
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public void Open()
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{
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this.IsOpen = true;
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receiveResetEvent = new AutoResetEvent(false);
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this.ReadTimeout = 500;
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this.WriteTimeout = 500;
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Console.WriteLine("\n Initializing emulator (Speed: {0})", (this.RunSlow) ? "slow" : "fast");
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Task.Run(() =>
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{
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Thread.CurrentThread.Name = "EmulatorDtr";
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while (!shuttingDown)
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{
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if (this.DtrEnable != DsrState)
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{
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DsrState = this.DtrEnable;
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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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Thread.CurrentThread.Name = "EmulatorPipeline";
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while (!shuttingDown || receiveQueue.Count > 0)
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{
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if (receiveQueue.Count == 0)
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{
|
|
if (shuttingDown)
|
|
{
|
|
return;
|
|
}
|
|
|
|
receiveResetEvent.WaitOne();
|
|
}
|
|
|
|
if (receiveQueue.Count == 0)
|
|
{
|
|
if (shuttingDown)
|
|
{
|
|
return;
|
|
}
|
|
|
|
Thread.Sleep(10);
|
|
}
|
|
else
|
|
{
|
|
string receivedLine;
|
|
|
|
lock (receiveLock)
|
|
{
|
|
receivedLine = receiveQueue.Dequeue();
|
|
}
|
|
|
|
if (receivedLine?.Length > 0)
|
|
{
|
|
//Thread.Sleep(250);
|
|
string emulatedResponse = GetCorrectResponse(receivedLine);
|
|
|
|
lock (sendLock)
|
|
{
|
|
sendQueue.Enqueue(emulatedResponse);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
this.IsOpen = false;
|
|
|
|
this.Dispose();
|
|
});
|
|
}
|
|
|
|
public void QueueResponse(string line)
|
|
{
|
|
sendQueue.Enqueue(line);
|
|
}
|
|
|
|
public int Read(byte[] buffer, int offset, int count) => throw new NotImplementedException();
|
|
|
|
public string ReadExisting()
|
|
{
|
|
lock (sendLock)
|
|
{
|
|
return sendQueue.Dequeue();
|
|
}
|
|
}
|
|
|
|
public void Write(string receivedLine)
|
|
{
|
|
lock (receiveLock)
|
|
{
|
|
receiveQueue.Enqueue(receivedLine);
|
|
}
|
|
|
|
// Release the main loop to process the received command
|
|
receiveResetEvent.Set();
|
|
}
|
|
|
|
public void Write(byte[] buffer, int offset, int count) => throw new NotImplementedException();
|
|
}
|
|
} |