import sys, os, time
import glob, json, argparse, copy
import tempfile
import socket, webbrowser
from wsgiref.simple_server import WSGIRequestHandler, make_server
from bottle import *
from serial_manager import SerialManager
from flash import flash_upload, reset_atmega
from build import build_firmware
from filereaders import read_svg, read_dxf, read_ngc
APPNAME = "lasaurapp"
VERSION = "14.01"
COMPANY_NAME = "com.nortd.labs"
SERIAL_PORT = None
BITSPERSECOND = 57600
NETWORK_PORT = 4444
HARDWARE = 'x86' # also: 'beaglebone', 'raspberrypi'
CONFIG_FILE = "lasaurapp.conf"
COOKIE_KEY = 'secret_key_jkn23489hsdf'
FIRMWARE = "LasaurGrbl.hex"
TOLERANCE = 0.08
if os.name == 'nt': #sys.platform == 'win32':
GUESS_PREFIX = "Arduino"
elif os.name == 'posix':
if sys.platform == "linux" or sys.platform == "linux2":
GUESS_PREFIX = "2341" # match by arduino VID
else:
GUESS_PREFIX = "tty.usbmodem"
else:
GUESS_PREFIX = "no prefix"
def resources_dir():
"""This is to be used with all relative file access.
_MEIPASS is a special location for data files when creating
standalone, single file python apps with pyInstaller.
Standalone is created by calling from 'other' directory:
python pyinstaller/pyinstaller.py --onefile app.spec
"""
if hasattr(sys, "_MEIPASS"):
return sys._MEIPASS
else:
# root is one up from this file
return os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../'))
def storage_dir():
directory = ""
if sys.platform == 'darwin':
# from AppKit import NSSearchPathForDirectoriesInDomains
# # NSApplicationSupportDirectory = 14
# # NSUserDomainMask = 1
# # True for expanding the tilde into a fully qualified path
# appdata = path.join(NSSearchPathForDirectoriesInDomains(14, 1, True)[0], APPNAME)
directory = os.path.join(os.path.expanduser('~'), 'Library', 'Application Support', COMPANY_NAME, APPNAME)
elif sys.platform == 'win32':
directory = os.path.join(os.path.expandvars('%APPDATA%'), COMPANY_NAME, APPNAME)
else:
directory = os.path.join(os.path.expanduser('~'), "." + APPNAME)
if not os.path.exists(directory):
os.makedirs(directory)
return directory
class HackedWSGIRequestHandler(WSGIRequestHandler):
""" This is a heck to solve super slow request handling
on the BeagleBone and RaspberryPi. The problem is WSGIRequestHandler
which does a reverse lookup on every request calling gethostbyaddr.
For some reason this is super slow when connected to the LAN.
(adding the IP and name of the requester in the /etc/hosts file
solves the problem but obviously is not practical)
"""
def address_string(self):
"""Instead of calling getfqdn -> gethostbyaddr we ignore."""
# return "(a requester)"
return str(self.client_address[0])
def run_with_callback(host, port):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = make_server(host, port, handler, handler_class=HackedWSGIRequestHandler)
server.timeout = 0.01
server.quiet = True
print "Persistent storage root is: " + storage_dir()
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ('127.0.0.1', port)
# if host == '':
# try:
# print "http://%s:%d/ (public)" % (socket.gethostbyname(socket.gethostname()), port)
# except socket.gaierror:
# # print "http://beaglebone.local:4444/ (public)"
# pass
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
# auto-connect on startup
global SERIAL_PORT
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
# open web-browser
try:
webbrowser.open_new_tab('http://127.0.0.1:'+str(port))
pass
except webbrowser.Error:
print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
@route('/longtest')
def longtest_handler():
fp = open("longtest.ngc")
for line in fp:
SerialManager.queue_gcode_line(line)
return "Longtest queued."
@route('/css/:path#.+#')
def static_css_handler(path):
return static_file(path, root=os.path.join(resources_dir(), 'frontend/css'))
@route('/js/:path#.+#')
def static_js_handler(path):
return static_file(path, root=os.path.join(resources_dir(), 'frontend/js'))
@route('/img/:path#.+#')
def static_img_handler(path):
return static_file(path, root=os.path.join(resources_dir(), 'frontend/img'))
@route('/favicon.ico')
def favicon_handler():
return static_file('favicon.ico', root=os.path.join(resources_dir(), 'frontend/img'))
### LIBRARY
@route('/library/get/:path#.+#')
def static_library_handler(path):
return static_file(path, root=os.path.join(resources_dir(), 'library'), mimetype='text/plain')
@route('/library/list')
def library_list_handler():
# return a json list of file names
file_list = []
cwd_temp = os.getcwd()
try:
os.chdir(os.path.join(resources_dir(), 'library'))
file_list = glob.glob('*')
finally:
os.chdir(cwd_temp)
return json.dumps(file_list)
### QUEUE
def encode_filename(name):
str(time.time()) + '-' + base64.urlsafe_b64encode(name)
def decode_filename(name):
index = name.find('-')
return base64.urlsafe_b64decode(name[index+1:])
@route('/queue/get/:name#.+#')
def static_queue_handler(name):
return static_file(name, root=storage_dir(), mimetype='text/plain')
@route('/queue/list')
def library_list_handler():
# base64.urlsafe_b64encode()
# base64.urlsafe_b64decode()
# return a json list of file names
files = []
cwd_temp = os.getcwd()
try:
os.chdir(storage_dir())
files = filter(os.path.isfile, glob.glob("*"))
files.sort(key=lambda x: os.path.getmtime(x))
finally:
os.chdir(cwd_temp)
return json.dumps(files)
@route('/queue/save', method='POST')
def queue_save_handler():
ret = '0'
if 'job_name' in request.forms and 'job_data' in request.forms:
name = request.forms.get('job_name')
job_data = request.forms.get('job_data')
filename = os.path.abspath(os.path.join(storage_dir(), name.strip('/\\')))
if os.path.exists(filename) or os.path.exists(filename+'.starred'):
return "file_exists"
try:
fp = open(filename, 'w')
fp.write(job_data)
print "file saved: " + filename
ret = '1'
finally:
fp.close()
else:
print "error: save failed, invalid POST request"
return ret
@route('/queue/rm/:name')
def queue_rm_handler(name):
# delete queue item, on success return '1'
ret = '0'
filename = os.path.abspath(os.path.join(storage_dir(), name.strip('/\\')))
if filename.startswith(storage_dir()):
if os.path.exists(filename):
try:
os.remove(filename);
print "file deleted: " + filename
ret = '1'
finally:
pass
return ret
@route('/queue/clear')
def queue_clear_handler():
# delete all queue items, on success return '1'
ret = '0'
files = []
cwd_temp = os.getcwd()
try:
os.chdir(storage_dir())
files = filter(os.path.isfile, glob.glob("*"))
files.sort(key=lambda x: os.path.getmtime(x))
finally:
os.chdir(cwd_temp)
for filename in files:
if not filename.endswith('.starred'):
filename = os.path.join(storage_dir(), filename)
try:
os.remove(filename);
print "file deleted: " + filename
ret = '1'
finally:
pass
return ret
@route('/queue/star/:name')
def queue_star_handler(name):
ret = '0'
filename = os.path.abspath(os.path.join(storage_dir(), name.strip('/\\')))
if filename.startswith(storage_dir()):
if os.path.exists(filename):
os.rename(filename, filename + '.starred')
ret = '1'
return ret
@route('/queue/unstar/:name')
def queue_unstar_handler(name):
ret = '0'
filename = os.path.abspath(os.path.join(storage_dir(), name.strip('/\\')))
if filename.startswith(storage_dir()):
if os.path.exists(filename + '.starred'):
os.rename(filename + '.starred', filename)
ret = '1'
return ret
@route('/')
@route('/index.html')
@route('/app.html')
def default_handler():
return static_file('app.html', root=os.path.join(resources_dir(), 'frontend') )
@route('/stash_download', method='POST')
def stash_download():
"""Create a download file event from string."""
filedata = request.forms.get('filedata')
fp = tempfile.NamedTemporaryFile(mode='w', delete=False)
filename = fp.name
with fp:
fp.write(filedata)
fp.close()
print filedata
print "file stashed: " + os.path.basename(filename)
return os.path.basename(filename)
@route('/download/:filename/:dlname')
def download(filename, dlname):
print "requesting: " + filename
return static_file(filename, root=tempfile.gettempdir(), download=dlname)
@route('/serial/:connect')
def serial_handler(connect):
if connect == '1':
# print 'js is asking to connect serial'
if not SerialManager.is_connected():
try:
global SERIAL_PORT, BITSPERSECOND, GUESS_PREFIX
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
ret = "Serial connected to %s:%d." % (SERIAL_PORT, BITSPERSECOND) + '<br>'
time.sleep(1.0) # allow some time to receive a prompt/welcome
SerialManager.flush_input()
SerialManager.flush_output()
return ret
except serial.SerialException:
SERIAL_PORT = None
print "Failed to connect to serial."
return ""
elif connect == '0':
# print 'js is asking to close serial'
if SerialManager.is_connected():
if SerialManager.close(): return "1"
else: return ""
elif connect == "2":
# print 'js is asking if serial connected'
if SerialManager.is_connected(): return "1"
else: return ""
else:
print 'ambigious connect request from js: ' + connect
return ""
@route('/status')
def get_status():
status = copy.deepcopy(SerialManager.get_hardware_status())
status['serial_connected'] = SerialManager.is_connected()
status['lasaurapp_version'] = VERSION
return json.dumps(status)
@route('/pause/:flag')
def set_pause(flag):
# returns pause status
if flag == '1':
if SerialManager.set_pause(True):
print "pausing ..."
return '1'
else:
return '0'
elif flag == '0':
print "resuming ..."
if SerialManager.set_pause(False):
return '1'
else:
return '0'
@route('/flash_firmware')
@route('/flash_firmware/:firmware_file')
def flash_firmware_handler(firmware_file=FIRMWARE):
global SERIAL_PORT, GUESS_PREFIX
return_code = 1
if SerialManager.is_connected():
SerialManager.close()
# get serial port by url argument
# e.g: /flash_firmware?port=COM3
if 'port' in request.GET.keys():
serial_port = request.GET['port']
if serial_port[:3] == "COM" or serial_port[:4] == "tty.":
SERIAL_PORT = serial_port
# get serial port by enumeration method
# currenty this works on windows only for updating the firmware
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
# resort to brute force methode
# find available com ports and try them all
if not SERIAL_PORT:
comport_list = SerialManager.list_devices(BITSPERSECOND)
for port in comport_list:
print "Trying com port: " + port
return_code = flash_upload(port, resources_dir(), firmware_file, HARDWARE)
if return_code == 0:
print "Success with com port: " + port
SERIAL_PORT = port
break
else:
return_code = flash_upload(SERIAL_PORT, resources_dir(), firmware_file, HARDWARE)
ret = []
ret.append('Using com port: %s<br>' % (SERIAL_PORT))
ret.append('Using firmware: %s<br>' % (firmware_file))
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
ret.append('<h2>Successfully Flashed!</h2><br>')
ret.append('<a href="/">return</a>')
return ''.join(ret)
else:
print "ERROR: Failed to flash Arduino."
ret.append('<h2>Flashing Failed!</h2> Check terminal window for possible errors. ')
ret.append('Most likely LasaurApp could not find the right serial port.')
ret.append('<br><a href="/flash_firmware/'+firmware_file+'">try again</a> or <a href="/">return</a><br><br>')
if os.name != 'posix':
ret. append('If you know the COM ports the Arduino is connected to you can specifically select it here:')
for i in range(1,13):
ret. append('<br><a href="/flash_firmware?port=COM%s">COM%s</a>' % (i, i))
return ''.join(ret)
@route('/build_firmware')
def build_firmware_handler():
ret = []
buildname = "LasaurGrbl_from_src"
firmware_dir = os.path.join(resources_dir(), 'firmware')
source_dir = os.path.join(resources_dir(), 'firmware', 'src')
return_code = build_firmware(source_dir, firmware_dir, buildname)
if return_code != 0:
print ret
ret.append('<h2>FAIL: build error!</h2>')
ret.append('Syntax error maybe? Try builing in the terminal.')
ret.append('<br><a href="/">return</a><br><br>')
else:
print "SUCCESS: firmware built."
ret.append('<h2>SUCCESS: new firmware built!</h2>')
ret.append('<br><a href="/flash_firmware/'+buildname+'.hex">Flash Now!</a><br><br>')
return ''.join(ret)
@route('/reset_atmega')
def reset_atmega_handler():
reset_atmega(HARDWARE)
return '1'
@route('/gcode', method='POST')
def job_submit_handler():
job_data = request.forms.get('job_data')
if job_data and SerialManager.is_connected():
lines = job_data.split('\n')
print "Adding to queue %s lines" % len(lines)
for line in lines:
SerialManager.queue_gcode_line(line)
return "__ok__"
else:
return "serial disconnected"
@route('/queue_pct_done')
def queue_pct_done_handler():
return SerialManager.get_queue_percentage_done()
@route('/file_reader', method='POST')
def file_reader():
"""Parse SVG string."""
filename = request.forms.get('filename')
filedata = request.forms.get('filedata')
dimensions = request.forms.get('dimensions')
try:
dimensions = json.loads(dimensions)
except TypeError:
dimensions = None
# print "dims", dimensions[0], ":", dimensions[1]
dpi_forced = None
try:
dpi_forced = float(request.forms.get('dpi'))
except:
pass
optimize = True
try:
optimize = bool(int(request.forms.get('optimize')))
except:
pass
if filename and filedata:
print "You uploaded %s (%d bytes)." % (filename, len(filedata))
if filename[-4:] in ['.dxf', '.DXF']:
res = read_dxf(filedata, TOLERANCE, optimize)
elif filename[-4:] in ['.svg', '.SVG']:
res = read_svg(filedata, dimensions, TOLERANCE, dpi_forced, optimize)
elif filename[-4:] in ['.ngc', '.NGC']:
res = read_ngc(filedata, TOLERANCE, optimize)
else:
print "error: unsupported file format"
# print boundarys
jsondata = json.dumps(res)
# print "returning %d items as %d bytes." % (len(res['boundarys']), len(jsondata))
return jsondata
return "You missed a field."
# def check_user_credentials(username, password):
# return username in allowed and allowed[username] == password
#
# @route('/login')
# def login():
# username = request.forms.get('username')
# password = request.forms.get('password')
# if check_user_credentials(username, password):
# response.set_cookie("account", username, secret=COOKIE_KEY)
# return "Welcome %s! You are now logged in." % username
# else:
# return "Login failed."
#
# @route('/logout')
# def login():
# username = request.forms.get('username')
# password = request.forms.get('password')
# if check_user_credentials(username, password):
# response.delete_cookie("account", username, secret=COOKIE_KEY)
# return "Welcome %s! You are now logged out." % username
# else:
# return "Already logged out."
### Setup Argument Parser
argparser = argparse.ArgumentParser(description='Run LasaurApp.', prog='lasaurapp')
argparser.add_argument('port', metavar='serial_port', nargs='?', default=False,
help='serial port to the Lasersaur')
argparser.add_argument('-v', '--version', action='version', version='%(prog)s ' + VERSION)
argparser.add_argument('-p', '--public', dest='host_on_all_interfaces', action='store_true',
default=False, help='bind to all network devices (default: bind to 127.0.0.1)')
argparser.add_argument('-f', '--flash', dest='flash', action='store_true',
default=False, help='flash Arduino with LasaurGrbl firmware')
argparser.add_argument('-b', '--build', dest='build_flash', action='store_true',
default=False, help='build and flash from firmware/src')
argparser.add_argument('-l', '--list', dest='list_serial_devices', action='store_true',
default=False, help='list all serial devices currently connected')
argparser.add_argument('-d', '--debug', dest='debug', action='store_true',
default=False, help='print more verbose for debugging')
argparser.add_argument('--beaglebone', dest='beaglebone', action='store_true',
default=False, help='use this for running on beaglebone')
argparser.add_argument('--raspberrypi', dest='raspberrypi', action='store_true',
default=False, help='use this for running on Raspberry Pi')
argparser.add_argument('-m', '--match', dest='match',
default=GUESS_PREFIX, help='match serial device with this string')
args = argparser.parse_args()
print "LasaurApp " + VERSION
if args.beaglebone:
HARDWARE = 'beaglebone'
NETWORK_PORT = 80
### if running on beaglebone, setup (pin muxing) and use UART1
# for details see: http://www.nathandumont.com/node/250
SERIAL_PORT = "/dev/ttyO1"
if os.path.exists("/sys/kernel/debug/omap_mux/uart1_txd"):
# we are not on the beaglebone black, setup uart1
# echo 0 > /sys/kernel/debug/omap_mux/uart1_txd
fw = file("/sys/kernel/debug/omap_mux/uart1_txd", "w")
fw.write("%X" % (0))
fw.close()
# echo 20 > /sys/kernel/debug/omap_mux/uart1_rxd
fw = file("/sys/kernel/debug/omap_mux/uart1_rxd", "w")
fw.write("%X" % ((1 << 5) | 0))
fw.close()
### Set up atmega328 reset control
# The reset pin is connected to GPIO2_7 (2*32+7 = 71).
# Setting it to low triggers a reset.
# echo 71 > /sys/class/gpio/export
try:
fw = file("/sys/class/gpio/export", "w")
fw.write("%d" % (71))
fw.close()
except IOError:
# probably already exported
pass
# set the gpio pin to output
# echo out > /sys/class/gpio/gpio71/direction
fw = file("/sys/class/gpio/gpio71/direction", "w")
fw.write("out")
fw.close()
# set the gpio pin high
# echo 1 > /sys/class/gpio/gpio71/value
fw = file("/sys/class/gpio/gpio71/value", "w")
fw.write("1")
fw.flush()
fw.close()
### Set up atmega328 reset control - BeagleBone Black
# The reset pin is connected to GPIO2_9 (2*32+9 = 73).
# Setting it to low triggers a reset.
# echo 73 > /sys/class/gpio/export
try:
fw = file("/sys/class/gpio/export", "w")
fw.write("%d" % (73))
fw.close()
except IOError:
# probably already exported
pass
# set the gpio pin to output
# echo out > /sys/class/gpio/gpio73/direction
fw = file("/sys/class/gpio/gpio73/direction", "w")
fw.write("out")
fw.close()
# set the gpio pin high
# echo 1 > /sys/class/gpio/gpio73/value
fw = file("/sys/class/gpio/gpio73/value", "w")
fw.write("1")
fw.flush()
fw.close()
### read stepper driver configure pin GPIO2_12 (2*32+12 = 76).
# Low means Geckos, high means SMC11s
try:
fw = file("/sys/class/gpio/export", "w")
fw.write("%d" % (76))
fw.close()
except IOError:
# probably already exported
pass
# set the gpio pin to input
fw = file("/sys/class/gpio/gpio76/direction", "w")
fw.write("in")
fw.close()
# set the gpio pin high
fw = file("/sys/class/gpio/gpio76/value", "r")
ret = fw.read()
fw.close()
print "Stepper driver configure pin is: " + str(ret)
elif args.raspberrypi:
HARDWARE = 'raspberrypi'
NETWORK_PORT = 80
SERIAL_PORT = "/dev/ttyAMA0"
import RPi.GPIO as GPIO
# GPIO.setwarnings(False) # surpress warnings
GPIO.setmode(GPIO.BCM) # use chip pin number
pinSense = 7
pinReset = 2
pinExt1 = 3
pinExt2 = 4
pinExt3 = 17
pinTX = 14
pinRX = 15
# read sens pin
GPIO.setup(pinSense, GPIO.IN)
isSMC11 = GPIO.input(pinSense)
# atmega reset pin
GPIO.setup(pinReset, GPIO.OUT)
GPIO.output(pinReset, GPIO.HIGH)
# no need to setup the serial pins
# although /boot/cmdline.txt and /etc/inittab needs
# to be edited to deactivate the serial terminal login
# (basically anything related to ttyAMA0)
if args.list_serial_devices:
SerialManager.list_devices(BITSPERSECOND)
else:
if not SERIAL_PORT:
if args.port:
# (1) get the serial device from the argument list
SERIAL_PORT = args.port
print "Using serial device '"+ SERIAL_PORT +"' from command line."
else:
# (2) get the serial device from the config file
if os.path.isfile(CONFIG_FILE):
fp = open(CONFIG_FILE)
line = fp.readline().strip()
if len(line) > 3:
SERIAL_PORT = line
print "Using serial device '"+ SERIAL_PORT +"' from '" + CONFIG_FILE + "'."
if not SERIAL_PORT:
if args.match:
GUESS_PREFIX = args.match
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
if SERIAL_PORT:
print "Using serial device '"+ str(SERIAL_PORT)
if os.name == 'posix':
# not for windows for now
print "(first device to match: " + args.match + ")"
else:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
if SERIAL_PORT:
print "Using serial device '"+ str(SERIAL_PORT) +"' by best guess."
if not SERIAL_PORT:
print "-----------------------------------------------------------------------------"
print "WARNING: LasaurApp doesn't know what serial device to connect to!"
print "Make sure the Lasersaur hardware is connectd to the USB interface."
if os.name == 'nt':
print "ON WINDOWS: You will also need to setup the virtual com port."
print "See 'Installing Drivers': http://arduino.cc/en/Guide/Windows"
print "-----------------------------------------------------------------------------"
# run
if args.debug:
debug(True)
if hasattr(sys, "_MEIPASS"):
print "Data root is: " + sys._MEIPASS
if args.flash:
return_code = flash_upload(SERIAL_PORT, resources_dir(), FIRMWARE, HARDWARE)
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
else:
print "ERROR: Failed to flash Arduino."
elif args.build_flash:
# build
buildname = "LasaurGrbl_from_src"
firmware_dir = os.path.join(resources_dir(), 'firmware')
source_dir = os.path.join(resources_dir(), 'firmware', 'src')
return_code = build_firmware(source_dir, firmware_dir, buildname)
if return_code != 0:
print ret
else:
print "SUCCESS: firmware built."
# flash
return_code = flash_upload(SERIAL_PORT, resources_dir(), FIRMWARE, HARDWARE)
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
else:
print "ERROR: Failed to flash Arduino."
else:
if args.host_on_all_interfaces:
run_with_callback('', NETWORK_PORT)
else:
run_with_callback('127.0.0.1', NETWORK_PORT)
