Class: RublicatorG

Inherits:
Object
  • Object
show all
Defined in:
lib/rublicatorg.rb

Constant Summary collapse

VERSION = 
"0.0.1"
START_BYTE = 
0xd5
@@motherboard_codes = 
{
  # query
  "version"                 => 0x00,
  "init"                    => 0x01,
  "get_buffer_size"         => 0x02,
  "clear_buffer"            => 0x03,
  "get_position"            => 0x04,
  "get_range"               => 0x05,
  "set_range"               => 0x06,
  "abort"                   => 0x07,
  "pause"                   => 0x08,
  "probe"                   => 0x09,
  "tool_query"              => 0x0a,
  "is_finished"             => 0x0b,
  "read_eeprom"             => 0x0c,
  "write_eeprom"            => 0x0d,
  "capture_to_file"         => 0x0e,
  "end_capture"             => 0x0f,
  "playback_file"           => 0x10,
  "reset"                   => 0x11,
  "next_filename"           => 0x12,
  "read_debug_registers"    => 0x13,
  "get_build_name"          => 0x14,
  # buffered
  "queue_point_absolute"    => 0x81,
  "set_position_registers"  => 0x82,
  "find_axes_min"           => 0x83,
  "find_axes_max"           => 0x84,
  "delay"                   => 0x85,
  "change_tool"             => 0x86,
  "wait_for_tool"           => 0x87,
  "tool_command"            => 0x88,
  "enable_axes"             => 0x89
}
@@toolhead_codes = 
{
  "version"                 => 0x00,
  "init"                    => 0x01,
  "get_temperature"         => 0x02,
  "set_motor1_pwm"          => 0x04,
  "set_motor2_pwm"          => 0x05,
  "set_motor1_rpm"          => 0x06,
  "set_motor2_rpm"          => 0x07,
  "set_motor1_direction"    => 0x08,
  "set_motor2_direction"    => 0x09,
  "toggle_motor1"           => 0x0a,
  "toggle_motor2"           => 0x0b,
  "toggle_fan"              => 0x0c,
  "toggle_valve"            => 0x0d,
  "set_servo1_position"     => 0x0e,
  "set_servo2_position"     => 0x0f,
  "filament_status"         => 0x10,
  "get_motor1_rpm"          => 0x11,
  "get_motor2_rpm"          => 0x12,
  "get_motor1_pwm"          => 0x13,
  "get_motor2_pwm"          => 0x14,
  "select_tool"             => 0x15,
  "is_tool_ready"           => 0x16,
  
  "get_build_name"          => 0x22
}
@@response_codes = 
{
  0x00 => "Generic error, packet discarded.",
  0x01 => "Success.",
  0x02 => "Action buffer overflow, entire packet discarded.",
  0x03 => "CRC mismatch, packet discarded.",
  0x04 => "Query packet too big, packet discarded.",
  0x05 => "Command not supported/recognized.",
  0x06 => "Success; expect more packets.  Used when a single reponse packet cannot contain the entire message to be retrieved.",
  0x07 => "Downstream timeout (for example, a toolhead timed out)."
}
@@sd_response_codes = 
{
  0x00 => "operation was successful",
  0x01 => "no SD card was present",
  0x02 => "SD card init failed",
  0x03 => "partition table could not be read",
  0x04 => "filesystem could not be opened",
  0x05 => "root directory could not be opened",
  0x06 => "SD card is locked",
  0x07 => "no such file"
}
@@mutex = 
Mutex.new

Instance Method Summary collapse

Constructor Details

#initialize(dev = nil) ⇒ RublicatorG

Returns a new instance of RublicatorG.



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# File 'lib/rublicatorg.rb', line 161

def initialize(dev = nil)
  dev ||= $DEV

  @@mutex.synchronize do
    begin
      @sp = SerialPort.new(dev, 115200, 8, 1, SerialPort::NONE)

      # @sp.flow_control = SerialPort::HARD
      @sp.read_timeout = 5000
      $stderr.puts "Cannot connect to #{dev}" if @sp.nil?
    # rescue Errno::EBUSY
    rescue
      raise "Cannot connect. The serial port device is busy or unavailable."
    end
  end

  puts "Connected to: serial port #{dev}" if $DEBUG
end

Instance Method Details

#close ⇒ Object

Close the connection



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# File 'lib/rublicatorg.rb', line 181

def close
  @@mutex.synchronize do
    @sp.close if @sp and not @sp.closed?
  end
end

#connected? ⇒ Boolean

Returns true if the connection to the machine is open; false otherwise

Returns:

  • (Boolean) 


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# File 'lib/rublicatorg.rb', line 188

def connected?
  not @sp.closed?
end

#crc8(str, crc = 0) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 261

def crc8(str, crc=0)
  str.each_byte do |byte|
    # * This is a Java implementation of the IButton/Maxim 8-bit CRC. Code ported
    # * from the AVR-libc implementation, which is used on the RR3G end.    
    # crc = (crc ^ data) & 0xff; // i loathe java's promotion rules
    # for (int i = 0; i < 8; i++) {
    #         if ((crc & 0x01) != 0) {
    #                 crc = ((crc >>> 1) ^ 0x8c) & 0xff;
    #         } else {
    #                 crc = (crc >>> 1) & 0xff;
    #         }
    # }

    crc = (crc ^ byte) & 0xff

    8.times do |i|
      unless crc & 0x01 == 0
        crc = ((crc >> 1) ^ 0x8c) & 0xff
      else
        crc = (crc >> 1) & 0xff
      end
    end
  end

  crc
end

#filenames ⇒ Object 



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# File 'lib/rublicatorg.rb', line 372

def filenames
  filenames = []

  # keep reading until result is blank? or a max of 100
  100.times do |x|
    filename = send_and_receive([@@motherboard_codes["next_filename"], x == 0 ? 1 : 0]).gsub(/\000/, '')
    if filename == ""
      break
    else
      filenames << filename
    end
  end      

  filenames
end

#motherboard_build_name ⇒ Object 



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# File 'lib/rublicatorg.rb', line 297

def motherboard_build_name
  if result = send_and_receive([@@motherboard_codes["get_build_name"]])
    result
  else
    false
  end
end

#motherboard_init ⇒ Object 



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# File 'lib/rublicatorg.rb', line 305

def motherboard_init
  if result = send_and_receive([@@motherboard_codes["init"]])
    result
  else
    false
  end
end

#motherboard_version ⇒ Object 



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# File 'lib/rublicatorg.rb', line 288

def motherboard_version
  if result = send_and_receive([@@motherboard_codes["version"]])
    result = result.unpack("v")[0]
    "#{result/100}.#{result % 100}"
  else
    false
  end
end

#name ⇒ Object 



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# File 'lib/rublicatorg.rb', line 313

def name
  payload = []
  payload << @@motherboard_codes["read_eeprom"]
  # at position: 32, integer uint16 to 2 bytes
  payload << (32 & 0xff)
  payload << ((32 >> 8) & 0xff)
  # length to read: 16
  payload << 16
  
  if result = send_and_receive(payload)
    result
  else
    false
  end
end

#name=(str) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 329

def name=(str)
  raise "Name too long.  Name must be <= 16 characters." if str.size > 16
  
  payload = []
  payload << @@motherboard_codes["write_eeprom"]
  # at position: 32, integer uint16 to 2 bytes
  payload << (32 & 0xff)
  payload << ((32 >> 8) & 0xff)
  # length to write
  payload << 16
  # send the name
  str.ljust(16).each_byte do |byte|
    payload << byte
  end
  
  if result = send_and_receive(payload)
    result
  else
    false
  end
end

#recv_reply ⇒ Object 



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# File 'lib/rublicatorg.rb', line 232

def recv_reply
  @@mutex.synchronize do
    begin
      header        = @sp.sysread(2)
      start_byte    = header[0..0].to_hex_str
      length        = header[1..1].unpack("C")[0]

      payload       = @sp.sysread(length)
      response_code = payload[0..0].to_hex_str
      msg           = payload[1..-1]

      crc           = @sp.sysread(1).to_hex_str

    # rescue EOFError
    rescue
    	raise "Cannot read from the machine.  Make sure the device is on and connected."
    end

    puts "Received Message: start_byte: #{start_byte} length: #{length} response_code: #{response_code} payload: #{msg.to_hex_str} crc: #{crc}" if $DEBUG

    if response_code != '0x81'
      error = "ERROR: #{@@response_codes[response_code]}"
      return [false,error]
    end

    return [true,msg]
  end
end

#run(filename) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 388

def run(filename)
  raise "Filename too long.  Name must be <= 12 characters." if filename.size > 12
  
  payload = []
  payload << @@motherboard_codes["playback_file"]
  filename.each_byte do |byte|
    payload << byte
  end
  
  if result = send_and_receive(payload)
    result
  else
    false
  end
end

#send_and_receive(payload, request_reply = true) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 192

def send_and_receive(payload, request_reply=true)
  msg = [START_BYTE] + [payload.size] + payload + [crc8(payload.hex_to_str)]

  send_cmd(msg)

  # FIXME: ugly hackish timing, there are much more intelligent ways to handle the delay
  sleep(1)

  if request_reply
    ok,response = recv_reply

    if ok #and response[1] == op[1]
      # data = response[3..response.size]
      data = response
      # TODO ? if data contains a \n character, ruby seems to pass the parts before and after the \n
      # as two different parameters... we need to encode the data into a format that doesn't
      # contain any \n's and then decode it in the receiving method
      # data = data.to_hex_str
    elsif !ok
      $stderr.puts response
      data = false
    else
      $stderr.puts "ERROR: Unexpected response #{response}"
      data = false
    end
  else
    data = true
  end
  data
end

#send_cmd(payload) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 223

def send_cmd(payload)
  @@mutex.synchronize do
    puts "Sending message: #{payload.to_hex_str}" if $DEBUG
    payload.each do |b|
      @sp.putc b
    end
  end
end

#toolhead_build_name(tool_id = 0) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 362

def toolhead_build_name(tool_id=0)
  payload = [@@motherboard_codes["tool_query"], tool_id, @@toolhead_codes["get_build_name"]]
  
  if result = send_and_receive(payload)
    result
  else
    false
  end
end

#toolhead_version(tool_id = 0) ⇒ Object 



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# File 'lib/rublicatorg.rb', line 351

def toolhead_version(tool_id=0)
  payload = [@@motherboard_codes["tool_query"], tool_id, @@toolhead_codes["version"]]
  
  if result = send_and_receive(payload)
    result = result.unpack("v")[0]
    "#{result/100}.#{result % 100}"
  else
    false
  end
end