Doc re-org. New Grbl Logos!
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Sonny Jeon
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doc/script/simple_stream.py
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doc/script/simple_stream.py
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#!/usr/bin/env python
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"""\
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Simple g-code streaming script for grbl
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Provided as an illustration of the basic communication interface
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for grbl. When grbl has finished parsing the g-code block, it will
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return an 'ok' or 'error' response. When the planner buffer is full,
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grbl will not send a response until the planner buffer clears space.
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G02/03 arcs are special exceptions, where they inject short line
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segments directly into the planner. So there may not be a response
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from grbl for the duration of the arc.
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---------------------
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The MIT License (MIT)
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Copyright (c) 2012 Sungeun K. Jeon
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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---------------------
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"""
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import serial
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import time
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# Open grbl serial port
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s = serial.Serial('/dev/tty.usbmodem1811',115200)
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# Open g-code file
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f = open('grbl.gcode','r');
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# Wake up grbl
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s.write("\r\n\r\n")
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time.sleep(2) # Wait for grbl to initialize
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s.flushInput() # Flush startup text in serial input
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# Stream g-code to grbl
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for line in f:
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l = line.strip() # Strip all EOL characters for consistency
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print 'Sending: ' + l,
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s.write(l + '\n') # Send g-code block to grbl
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grbl_out = s.readline() # Wait for grbl response with carriage return
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print ' : ' + grbl_out.strip()
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# Wait here until grbl is finished to close serial port and file.
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raw_input(" Press <Enter> to exit and disable grbl.")
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# Close file and serial port
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f.close()
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s.close()
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138
doc/script/stream.py
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138
doc/script/stream.py
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#!/usr/bin/env python
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"""\
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Stream g-code to grbl controller
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This script differs from the simple_stream.py script by
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tracking the number of characters in grbl's serial read
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buffer. This allows grbl to fetch the next line directly
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from the serial buffer and does not have to wait for a
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response from the computer. This effectively adds another
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buffer layer to prevent buffer starvation.
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CHANGELOG:
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- 20140714: Updated baud rate to 115200. Added a settings
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write mode via simple streaming method. MIT-licensed.
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TODO:
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- Add runtime command capabilities
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---------------------
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The MIT License (MIT)
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Copyright (c) 2012-2014 Sungeun K. Jeon
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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---------------------
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"""
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import serial
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import re
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import time
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import sys
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import argparse
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# import threading
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RX_BUFFER_SIZE = 128
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# Define command line argument interface
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parser = argparse.ArgumentParser(description='Stream g-code file to grbl. (pySerial and argparse libraries required)')
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parser.add_argument('gcode_file', type=argparse.FileType('r'),
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help='g-code filename to be streamed')
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parser.add_argument('device_file',
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help='serial device path')
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parser.add_argument('-q','--quiet',action='store_true', default=False,
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help='suppress output text')
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parser.add_argument('-s','--settings',action='store_true', default=False,
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help='settings write mode')
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args = parser.parse_args()
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# Periodic timer to query for status reports
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# TODO: Need to track down why this doesn't restart consistently before a release.
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# def periodic():
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# s.write('?')
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# t = threading.Timer(0.1, periodic) # In seconds
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# t.start()
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# Initialize
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s = serial.Serial(args.device_file,115200)
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f = args.gcode_file
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verbose = True
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if args.quiet : verbose = False
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settings_mode = False
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if args.settings : settings_mode = True
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# Wake up grbl
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print "Initializing grbl..."
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s.write("\r\n\r\n")
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# Wait for grbl to initialize and flush startup text in serial input
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time.sleep(2)
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s.flushInput()
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# Stream g-code to grbl
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l_count = 0
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if settings_mode:
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# Send settings file via simple call-response streaming method. Settings must be streamed
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# in this manner since the EEPROM accessing cycles shut-off the serial interrupt.
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print "SETTINGS MODE: Streaming", args.gcode_file.name, " to ", args.device_file
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for line in f:
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l_count += 1 # Iterate line counter
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# l_block = re.sub('\s|\(.*?\)','',line).upper() # Strip comments/spaces/new line and capitalize
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l_block = line.strip() # Strip all EOL characters for consistency
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if verbose: print 'SND: ' + str(l_count) + ':' + l_block,
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s.write(l_block + '\n') # Send g-code block to grbl
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grbl_out = s.readline().strip() # Wait for grbl response with carriage return
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if verbose: print 'REC:',grbl_out
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else:
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# Send g-code program via a more agressive streaming protocol that forces characters into
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# Grbl's serial read buffer to ensure Grbl has immediate access to the next g-code command
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# rather than wait for the call-response serial protocol to finish. This is done by careful
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# counting of the number of characters sent by the streamer to Grbl and tracking Grbl's
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# responses, such that we never overflow Grbl's serial read buffer.
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g_count = 0
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c_line = []
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# periodic() # Start status report periodic timer
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for line in f:
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l_count += 1 # Iterate line counter
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# l_block = re.sub('\s|\(.*?\)','',line).upper() # Strip comments/spaces/new line and capitalize
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l_block = line.strip()
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c_line.append(len(l_block)+1) # Track number of characters in grbl serial read buffer
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grbl_out = ''
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while sum(c_line) >= RX_BUFFER_SIZE-1 | s.inWaiting() :
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out_temp = s.readline().strip() # Wait for grbl response
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if out_temp.find('ok') < 0 and out_temp.find('error') < 0 :
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print " Debug: ",out_temp # Debug response
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else :
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grbl_out += out_temp;
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g_count += 1 # Iterate g-code counter
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grbl_out += str(g_count); # Add line finished indicator
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del c_line[0] # Delete the block character count corresponding to the last 'ok'
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if verbose: print "SND: " + str(l_count) + " : " + l_block,
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s.write(l_block + '\n') # Send g-code block to grbl
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if verbose : print "BUF:",str(sum(c_line)),"REC:",grbl_out
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# Wait for user input after streaming is completed
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print "G-code streaming finished!\n"
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print "WARNING: Wait until grbl completes buffered g-code blocks before exiting."
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raw_input(" Press <Enter> to exit and disable grbl.")
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# Close file and serial port
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f.close()
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s.close()
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