rublicatorg 0.0.1

data/README.rdoc

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+Provides a programming interface to commnicate with a MakerBot 3D Printer.
+
+Should eventually be able to do everything that ReplicatorG can do... but for now it is very incomplete.
+
+=Ruby gem usage
+
+  require "rublicatorg"
+
+  makerbot = RublicatorG.new("/dev/tty.usbserial-FTE3Q0I3")
+
+  puts "Motherboard Firmware Version: #{makerbot.motherboard_version}"
+
+=Command line
+
+Also installs a rublicatorg binary that can be called on the command line.
+
+  Usage: rublicatorg [options] [file]
+      -l, --list                       List the files stored on the SD card
+      -r, --run FILE                   Run the FILE from the SD card
+      -h, --help                       Display this screen

data/bin/rublicatorg

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+#!/usr/bin/env ruby
+
+require "rublicatorg"
+require "optparse"
+require "parseconfig"
+
+options = {}
+
+optparse = OptionParser.new do |opts|
+  opts.banner = "Usage: rublicatorg [options] [file]"
+
+  options[:port] = false
+  opts.on('-p', '--port PORT', 'Serial port (can also be specified in ~/.rublicatorgrc)') do |p|
+    options[:port] = p
+  end
+  
+  options[:list] = false
+  opts.on('-l', '--list', 'List the files stored on the SD card') do |l|
+    options[:list] = l
+  end
+  
+  options[:run] = false
+  opts.on('-r', '--run FILE', 'Run the FILE from the SD card') do |r|
+    options[:run] = r
+  end
+
+  opts.on_tail('-h', '--help', 'Display this screen') do
+    puts opts
+    exit
+  end
+end
+
+optparse.parse!
+
+begin
+  if options[:port] == false
+    rcfile = File.expand_path("~/.rublicatorgrc")
+    if File.exists?(rcfile)
+      config = ParseConfig.new(rcfile)
+      options[:port] = config.get_value('port')
+    else
+      raise "Serial port not specified and not found in #{rcfile}"
+    end
+  end
+
+  makerbot = RublicatorG.new(options[:port])
+
+  case true
+  when options[:list]
+    filenames = makerbot.filenames.collect{|f| f.split(".")[0]}.join(",")
+    puts filenames
+  when options[:run] != false
+    makerbot.run(options[:run])
+  else
+    puts optparse
+  end
+rescue Exception => e
+  puts "ERROR: #{e.message}"
+  exit(-1)
+end

data/examples/name.rb

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+#!/usr/bin/env ruby -wKU
+
+require "rublicatorg"
+
+$DEBUG = true
+
+makerbot = RublicatorG.new("/dev/tty.usbserial-A600emXZ")
+
+old_name = makerbot.name
+puts "Old Machine Name: #{old_name}"
+makerbot.name = "Foo Bar"
+puts "New Machine Name: #{makerbot.name}"
+makerbot.name = old_name
+puts "Reset Old Machine Name: #{makerbot.name}"

data/examples/play_sd_card.rb

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+#!/usr/bin/env ruby -wKU
+
+require "rublicatorg"
+
+$DEBUG = true
+
+makerbot = RublicatorG.new("/dev/tty.usbserial-A600emXZ")
+
+makerbot.run("home.s3g")
+

data/examples/read_sd_card.rb

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+#!/usr/bin/env ruby -wKU
+
+require "rublicatorg"
+
+$DEBUG = true
+
+makerbot = RublicatorG.new("/dev/tty.usbserial-A600emXZ")
+
+filenames = makerbot.filenames
+
+puts filenames.inspect
+

data/examples/version.rb

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+#!/usr/bin/env ruby -wKU
+
+require "rublicatorg"
+
+$DEBUG = true
+
+makerbot = RublicatorG.new("/dev/tty.usbserial-A600emXZ")
+
+puts "Motherboard Firmware Version: #{makerbot.motherboard_version} (#{makerbot.motherboard_build_name})"
+puts "Toolhead 0 Firmware Version: #{makerbot.toolhead_version(0)} (#{makerbot.toolhead_build_name(0)})"
+makerbot.motherboard_init
+puts "Machine Name: #{makerbot.name}"

data/lib/rublicatorg.rb

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+#!/usr/bin/env ruby -wKU
+
+# RublicatorG - Ruby Makerbot/RepRap Control
+# Copyright (C) 2011 Tony Buser <tbuser@gmail.com> - http://tonybuser.com
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+# Protocol Definitions:
+# https://docs.google.com/Doc?docid=0AcWKwJ2SAxDzZGd6amZyY2NfMmdtODRnZ2Ri&hl=en&pli=1
+# http://replicat.org/sanguino3g#responsecode
+
+require "rubygems"
+require "serialport"
+
+class Array
+  def hex_to_str
+    str = ""
+    self.collect{|b| str << "%c" % b}
+    str
+  end
+  
+  def to_hex_str
+    self.collect{|e| "0x%02x" % e}.join(" ")
+  end
+end
+
+class String
+  def to_hex_str
+    str = ""
+    self.each_byte {|b| str << '0x%02x ' % b}
+    str.strip
+  end
+
+  def to_hex_array
+    arr = []
+    self.each_byte {|b| arr << '0x%02x' % b}
+    arr
+  end
+  
+  def from_hex_str
+    data = self.split(' ')
+    str = ""
+    data.each{|h| eval "str += '%c' % #{h}"}
+    str
+  end
+end
+
+# class Bignum
+#   # This is needed because String#unpack() can't handle little-endian signed longs...
+#   # instead we unpack() as a little-endian unsigned long (i.e. 'V') and then use this
+#   # method to convert to signed long.
+#   def as_signed
+#     -1*(self^0xffffffff) if self > 0xfffffff
+#   end
+# end
+
+$DEV ||= nil
+
+class RublicatorG
+  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
+  
+  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
+
+  # Close the connection
+  def close
+    @@mutex.synchronize do
+      @sp.close if @sp and not @sp.closed?
+    end
+  end
+
+  # Returns true if the connection to the machine is open; false otherwise
+  def connected?
+    not @sp.closed?
+  end
+  
+  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
+
+  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
+
+  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
+
+  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
+
+  def motherboard_version
+    if result = send_and_receive([@@motherboard_codes["version"]])
+      result = result.unpack("v")[0]
+      "#{result/100}.#{result % 100}"
+    else
+      false
+    end
+  end
+
+  def motherboard_build_name
+    if result = send_and_receive([@@motherboard_codes["get_build_name"]])
+      result
+    else
+      false
+    end
+  end
+
+  def motherboard_init
+    if result = send_and_receive([@@motherboard_codes["init"]])
+      result
+    else
+      false
+    end
+  end
+
+  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
+  
+  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
+
+  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
+
+  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
+
+  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
+  
+  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
+  
+end

data/test/test_rublicatorg.rb

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+require 'test/unit'
+require 'rublicatorg'
+
+class RublicatorgTest < Test::Unit::TestCase
+  def test_derp
+    # uhm, I need like a mock makerbot to do automated tests?
+    assert_equal 0xd5, RublicatorG::START_BYTE
+  end
+end

metadata

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+--- !ruby/object:Gem::Specification 
+name: rublicatorg
+version: !ruby/object:Gem::Version 
+  prerelease: false
+  segments: 
+  - 0
+  - 0
+  - 1
+  version: 0.0.1
+platform: ruby
+authors: 
+- Tony Buser
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2011-11-10 00:00:00 -05:00
+default_executable: 
+dependencies: 
+- !ruby/object:Gem::Dependency 
+  name: serialport
+  prerelease: false
+  requirement: &id001 !ruby/object:Gem::Requirement 
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        segments: 
+        - 0
+        version: "0"
+  type: :runtime
+  version_requirements: *id001
+- !ruby/object:Gem::Dependency 
+  name: parseconfig
+  prerelease: false
+  requirement: &id002 !ruby/object:Gem::Requirement 
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        segments: 
+        - 0
+        version: "0"
+  type: :runtime
+  version_requirements: *id002
+description: Communicate with a MakerBot 3D Printer
+email: tbuser@gmail.com
+executables: 
+- rublicatorg
+extensions: []
+
+extra_rdoc_files: []
+
+files: 
+- lib/rublicatorg.rb
+- bin/rublicatorg
+- examples/name.rb
+- examples/play_sd_card.rb
+- examples/read_sd_card.rb
+- examples/version.rb
+- test/test_rublicatorg.rb
+- README.rdoc
+has_rdoc: true
+homepage: http://github.com/tbuser/RublicatorG
+licenses: []
+
+post_install_message: 
+rdoc_options: []
+
+require_paths: 
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      segments: 
+      - 0
+      version: "0"
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      segments: 
+      - 0
+      version: "0"
+requirements: []
+
+rubyforge_project: rublicatorg
+rubygems_version: 1.3.6
+signing_key: 
+specification_version: 3
+summary: ReplicatorG in Ruby!
+test_files: []
+