<filename>src/utils/machineCom.py
"""MachineCom handles communication with GCode based printers trough (USB)
serial ports.

For actual printing of objects this module is used from
Cura.serialCommunication and ran in a separate process.

"""
__copyright__ = 'Copyright (C) 2013 <NAME> - Released under terms of the AGPLv3 License'

import os
import glob
import sys
import time
import math
import re
import traceback
import threading
import platform
import Queue as queue

import serial

from avr_isp import stk500v2
from avr_isp import ispBase

import logging
logger = logging.getLogger(__name__)


class MachineCom(object):

    """Class for (USB) serial communication with 3D printers.

    This class keeps track of if the connection is still live, can auto-detect serial ports and baudrates.

    """
    STATE_NONE = 0
    STATE_OPEN_SERIAL = 1
    STATE_DETECT_SERIAL = 2
    STATE_DETECT_BAUDRATE = 3
    STATE_CONNECTING = 4
    STATE_OPERATIONAL = 5
    STATE_PRINTING = 6
    STATE_PAUSED = 7
    STATE_CLOSED = 8
    STATE_ERROR = 9
    STATE_CLOSED_WITH_ERROR = 10

    def __init__(self, port=None, baudrate=None, callbackObject=None):
        if callbackObject is None:
            callbackObject = MachineComPrintCallback()

        self._port = port
        self._baudrate = baudrate
        self._callback = callbackObject
        self._state = self.STATE_NONE
        self._serial = None
        self._serialDetectList = []
        self._baudrateDetectRetry = 0
        self._extruderCount = 1
        self._temperatureRequestExtruder = 0
        self._temp = [0] * self._extruderCount
        self._targetTemp = [0] * self._extruderCount
        self._bedTemp = 0
        self._bedTargetTemp = 0
        self._gcodeList = None
        self._gcodePos = 0
        self._commandQueue = queue.Queue()
        self._logQueue = queue.Queue(256)
        self._feedRateModifier = {}
        self._currentZ = -1
        self._heatupWaitStartTime = 0
        self._heatupWaitTimeLost = 0.0
        self._printStartTime100 = None

        self.thread = threading.Thread(target=self._monitor)
        self.thread.daemon = True
        self.thread.start()

    def _changeState(self, newState):
        if self._state == newState:
            return

        oldState = self.getStateString()

        self._state = newState
        self._log('Changing monitoring state from \'%s\' to \'%s\'' %
                  (oldState, self.getStateString()))
        self._callback.mcStateChange(newState)

    def getState(self):
        return self._state

    def getStateString(self):
        if self._state == self.STATE_NONE:
            return 'Offline'
        if self._state == self.STATE_OPEN_SERIAL:
            return 'Opening serial port'
        if self._state == self.STATE_DETECT_SERIAL:
            return 'Detecting serial port'
        if self._state == self.STATE_DETECT_BAUDRATE:
            return 'Detecting baudrate'
        if self._state == self.STATE_CONNECTING:
            return 'Connecting'
        if self._state == self.STATE_OPERATIONAL:
            return 'Operational'
        if self._state == self.STATE_PRINTING:
            return 'Printing'
        if self._state == self.STATE_PAUSED:
            return 'Paused'
        if self._state == self.STATE_CLOSED:
            return 'Closed'
        if self._state == self.STATE_ERROR:
            return 'Error: %s' % (self.getShortErrorString())
        if self._state == self.STATE_CLOSED_WITH_ERROR:
            return 'Error: %s' % (self.getShortErrorString())

        return '?%d?' % (self._state)

    def getShortErrorString(self):
        if len(self._errorValue) < 35:
            return self._errorValue

        return self._errorValue[:35] + '...'

    def getErrorString(self):
        return self._errorValue

    def isClosed(self):
        return self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED

    def isClosedOrError(self):
        return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR or self._state == self.STATE_CLOSED

    def isError(self):
        return self._state == self.STATE_ERROR or self._state == self.STATE_CLOSED_WITH_ERROR

    def isOperational(self):
        return self._state == self.STATE_OPERATIONAL or self._state == self.STATE_PRINTING or self._state == self.STATE_PAUSED

    def isPrinting(self):
        return self._state == self.STATE_PRINTING

    def isPaused(self):
        return self._state == self.STATE_PAUSED

    def getPrintPos(self):
        return self._gcodePos

    def getPrintTime(self):
        return time.time() - self._printStartTime

    def getPrintTimeRemainingEstimate(self):
        if self._printStartTime100 is None or self.getPrintPos() < 200:
            return None

        printTime = (time.time() - self._printStartTime100) / 60
        printTimeTotal = printTime * \
            (len(self._gcodeList) - 100) / (self.getPrintPos() - 100)
        printTimeLeft = printTimeTotal - printTime
        return printTimeLeft

    def getTemp(self):
        return self._temp

    def getBedTemp(self):
        return self._bedTemp

    def _try_to_open_serial(self):
        try:
            if self._port == 'VIRTUAL':
                self._changeState(self.STATE_OPEN_SERIAL)
                self._serial = VirtualPrinter()

            else:
                self._changeState(self.STATE_OPEN_SERIAL)
                self._log('Connecting to: %s with baudrate: %s (configured)' % (
                    self._port, self._baudrate))
                self._serial = serial.Serial(
                    str(self._port), self._baudrate, timeout=5, writeTimeout=10000)

            self._log('Connected to: %s, starting monitor' % (self._serial))
            self._changeState(self.STATE_CONNECTING)

        except:
            self._log('Unexpected error while connecting to serial port: %s %s' % (
                self._port, getExceptionString()))
            self._changeState(self.STATE_CLOSED)

        return self._serial

    def _handle_error_result(self, line):
        # Oh YEAH, consistency.
        # Marlin reports an MIN/MAX temp error as "Error:x\n: Extruder switched off. MAXTEMP triggered !\n"
        #	But a bed temp error is reported as "Error: Temperature heated bed switched off. MAXTEMP triggered !!"
        # So we can have an extra newline in the most common case. Awesome work
        # people.
        if re.match('Error:[0-9]\n', line):
            line = line.rstrip() + self._readline()

        # Skip the communication errors, as those get corrected.
        if 'Extruder switched off' in line or 'Temperature heated bed switched off' in line or 'Something is wrong, please turn off the printer.' in line:
            if not self.isError():
                self._errorValue = line[6:]
                self._changeState(self.STATE_ERROR)

    def _handle_temperature_result(self, line):
        try:
            self._temp[self._temperatureRequestExtruder] = float(
                re.search('T: *([0-9\.]*)', line).group(1))
        except:
            pass

        if 'B:' in line:
            try:
                self._bedTemp = float(
                    re.search('B: *([0-9\.]*)', line).group(1))
            except:
                pass

            self._callback.mcTempUpdate(
                self._temp, self._bedTemp, self._targetTemp, self._bedTargetTemp)

            # If we are waiting for an M109 or M190 then measure the time we
            # lost during heatup, so we can remove that time from our printing
            # time estimate.
            if not 'ok' in line and self._heatupWaitStartTime != 0:
                t = time.time()
                self._heatupWaitTimeLost = t - self._heatupWaitStartTime
                self._heatupWaitStartTime = t

    def _monitor(self):
        while True:
            if self._state == self.STATE_NONE or self._state == self.STATE_CLOSED or self._state == self.STATE_CLOSED_WITH_ERROR:
                # Reconnect after 5 seconds
                if self._state != self.STATE_NONE:
                    time.sleep(5)

                self._try_to_open_serial()

                # Start monitoring the serial port.
                if self._state == self.STATE_CONNECTING:
                    timeout = time.time() + 15
                else:
                    timeout = time.time() + 5

                tempRequestTimeout = timeout

            line = self._readline()

            if line is None:
                self._log(
                    'The line read from arduino is None, connection closed')
                self.close()
                continue

            # No matter the state, if we see an fatal error, goto the error state and store the error for reference.
            # Only goto error on known fatal errors.
            if line.startswith('Error:'):
                self._handle_error_result(line)

            if ' T:' in line or line.startswith('T:'):
                self._handle_temperature_result(line)

            elif line.strip() != '' and line.strip() != 'ok' and not line.startswith('Resend:') and not line.startswith('Error:checksum mismatch') and not line.startswith('Error:Line Number is not Last Line Number+1') and line != 'echo:Unknown command:""\n' and self.isOperational():
                self._callback.mcMessage(line)

            if self._state == self.STATE_CONNECTING:
                # 'wait' needed for Repetier (kind of watchdog)
                if line == '' or 'wait' in line:
                    self._sendCommand('M105')

                elif 'ok' in line:
                    self._changeState(self.STATE_OPERATIONAL)

                if time.time() > timeout:
                    self._log('The request time out, connection closed')
                    self.close()

            elif self._state == self.STATE_OPERATIONAL:
                # Request the temperature on comm timeout (every 2 seconds)
                # when we are not printing.
                if line == '':
                    if self._extruderCount > 0:
                        self._temperatureRequestExtruder = (
                            self._temperatureRequestExtruder + 1) % self._extruderCount
                        self.sendCommand(
                            'M105 T%d' % (self._temperatureRequestExtruder))

                    else:
                        self.sendCommand('M105')

                    tempRequestTimeout = time.time() + 5

            elif self._state == self.STATE_PRINTING:

                if line == '' and time.time() > timeout:
                    self._log(
                        'Communication timeout during printing, forcing a line')
                    line = 'ok'

                if 'ok' in line or 'wait' in line:
                    timeout = time.time() + 5
                    if not self._commandQueue.empty():
                        self._sendCommand(self._commandQueue.get())
                    else:
                        self._sendNext()

                elif 'resend' in line.lower() or 'rs' in line:
                    try:
                        self._gcodePos = int(
                            line.replace('N:', ' ').replace('N', ' ').replace(':', ' ').split()[-1])
                    except:
                        if 'rs' in line:
                            self._gcodePos = int(line.split()[1])

    def _log(self, message):
        self._callback.mcLog(message)

    def _readline(self):
        if self._serial is None:
            return None
        try:
            ret = self._serial.readline()
        except:
            self._log('Unexpected error while reading serial port: %s' %
                      (getExceptionString()))
            self._errorValue = getExceptionString()
            self.close(True)
            return None
        if ret == '':
            #self._log("Recv: TIMEOUT")
            return ''
        self._log('Recv: %s' % (
            unicode(ret, 'ascii', 'replace').encode('ascii', 'replace').rstrip()))
        return ret

    def close(self, isError=False):
        if self._serial != None:
            self._serial.close()

            if isError:
                self._changeState(self.STATE_CLOSED_WITH_ERROR)

            else:
                self._changeState(self.STATE_CLOSED)

        self._serial = None

    def __del__(self):
        self.close()

    def _sendCommand(self, cmd):
        if self._serial is None:
            return
        if 'M109' in cmd or 'M190' in cmd:
            self._heatupWaitStartTime = time.time()
        if 'M104' in cmd or 'M109' in cmd:
            try:
                t = 0
                if 'T' in cmd:
                    t = int(re.search('T([0-9]+)', cmd).group(1))
                self._targetTemp[t] = float(
                    re.search('S([0-9]+)', cmd).group(1))
            except:
                pass
        if 'M140' in cmd or 'M190' in cmd:
            try:
                self._bedTargetTemp = float(
                    re.search('S([0-9]+)', cmd).group(1))
            except:
                pass
        self._log('Send: %s' % (cmd))
        try:
            self._serial.write(cmd + '\n')
        except serial.SerialTimeoutException:
            self._log(
                'Serial timeout while writing to serial port, trying again.')
            try:
                time.sleep(0.5)
                self._serial.write(cmd + '\n')
            except:
                self._log(
                    'Unexpected error while writing serial port: %s' % (getExceptionString()))
                self._errorValue = getExceptionString()
                self.close(True)
        except:
            self._log('Unexpected error while writing serial port: %s' %
                      (getExceptionString()))
            self._errorValue = getExceptionString()
            self.close(True)

    def _sendNext(self):
        if self._gcodePos >= len(self._gcodeList):
            self._changeState(self.STATE_OPERATIONAL)
            return
        if self._gcodePos == 100:
            self._printStartTime100 = time.time()
        line = self._gcodeList[self._gcodePos]
        if type(line) is tuple:
            self._printSection = line[1]
            line = line[0]
        try:
            if line == 'M0' or line == 'M1':
                # self.setPause(True)
                # Don't send the M0 or M1 to the machine, as M0 and M1 are
                # handled as an LCD menu pause.
                line = 'M105'
            if self._printSection in self._feedRateModifier:
                line = re.sub('F([0-9]*)', lambda m: 'F' + str(
                    int(int(m.group(1)) * self._feedRateModifier[self._printSection])), line)
            if ('G0' in line or 'G1' in line) and 'Z' in line:
                z = float(re.search('Z([0-9\.]*)', line).group(1))
                if self._currentZ != z:
                    self._currentZ = z
                    self._callback.mcZChange(z)
        except:
            self._log('Unexpected error: %s' % (getExceptionString()))
        checksum = reduce(
            lambda x, y: x ^ y, map(ord, '%s' % (line)))
        self._sendCommand('%s*%d' % (line, checksum))
        self._gcodePos += 1
        self._callback.mcProgress(self._gcodePos)

    def sendCommand(self, cmd):
        cmd = cmd.encode('ascii', 'replace')
        if self.isPrinting():
            self._commandQueue.put(cmd)
        elif self.isOperational():
            self._sendCommand(cmd)

    def printGCode(self, gcodeList):
        if self.isOperational() and not self.isPrinting():
            self._gcodeList = gcodeList
            self._gcodePos = 0
            self._printStartTime100 = None
            self._printSection = 'CUSTOM'
            self._changeState(self.STATE_PRINTING)
            self._printStartTime = time.time()

    def cancelPrint(self):
        if self.isOperational():
            self._changeState(self.STATE_OPERATIONAL)

    def setPause(self, pause):
        if not pause and self.isPaused():
            self._changeState(self.STATE_PRINTING)
            for i in xrange(0, 6):
                self._sendNext()
        if pause and self.isPrinting():
            self._changeState(self.STATE_PAUSED)

    def setFeedrateModifier(self, type, value):
        self._feedRateModifier[type] = value


class VirtualPrinter():

    """A virtual printer class used for debugging.

    Acts as a serial.Serial class, but without connecting to any port.
    Only available when running the development version of Cura.

    """

    def __init__(self):
        self.readList = ['start\n', 'Marlin: Virtual Marlin!\n', '\x80\n']
        self.temp = 0.0
        self.targetTemp = 0.0
        self.lastTempAt = time.time()
        self.bedTemp = 1.0
        self.bedTargetTemp = 1.0

    def write(self, data):
        if self.readList is None:
            return

        # print "Send: %s" % (data.rstrip())
        if 'M104' in data or 'M109' in data:
            try:
                self.targetTemp = float(re.search('S([0-9]+)', data).group(1))
            except:
                pass

        if 'M140' in data or 'M190' in data:
            try:
                self.bedTargetTemp = float(
                    re.search('S([0-9]+)', data).group(1))
            except:
                pass

        if 'M105' in data:
            self.readList.append('ok T:%.2f /%.2f B:%.2f /%.2f @:64\n' %
                                 (self.temp, self.targetTemp, self.bedTemp, self.bedTargetTemp))

        elif len(data.strip()) > 0:
            self.readList.append('ok\n')

    def readline(self):
        if self.readList is None:
            return ''
        n = 0
        timeDiff = self.lastTempAt - time.time()
        self.lastTempAt = time.time()
        if abs(self.temp - self.targetTemp) > 1:
            self.temp += math.copysign(timeDiff *
                                       10, self.targetTemp - self.temp)
        if abs(self.bedTemp - self.bedTargetTemp) > 1:
            self.bedTemp += math.copysign(timeDiff *
                                          10, self.bedTargetTemp - self.bedTemp)
        while len(self.readList) < 1:
            time.sleep(0.1)
            n += 1
            if n == 20:
                return ''
            if self.readList is None:
                return ''
        time.sleep(0.001)
        # print "Recv: %s" % (self.readList[0].rstrip())
        return self.readList.pop(0)

    def close(self):
        self.readList = None


class MachineComPrintCallback(object):

    """Base class for callbacks from the MachineCom class.

    This class has all empty implementations and is attached to the
    MachineCom if no other callback object is attached.

    """

    def mcLog(self, message):
        pass

    def mcTempUpdate(self, temp, bedTemp, targetTemp, bedTargetTemp):
        pass

    def mcStateChange(self, state):
        pass

    def mcMessage(self, message):
        pass

    def mcProgress(self, lineNr):
        pass

    def mcZChange(self, newZ):
        pass


def getExceptionString():
    locationInfo = traceback.extract_tb(sys.exc_info()[2])[0]
    return "%s: '%s' @ %s:%s:%d" % (str(sys.exc_info()[0].__name__), str(sys.exc_info()[1]), os.path.basename(locationInfo[0]), locationInfo[2], locationInfo[1])
