meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7010__py2.py3-none-any.whl

meerk40t/moshi/driver.py

@@ -1,696 +1,862 @@
-"""
-Moshiboard Driver
-
-Governs the generic commands issued by laserjob and spooler and converts that into regular Moshi laser output.
-"""
-
-import time
-
-from ..core.cutcode.cubiccut import CubicCut
-from ..core.cutcode.dwellcut import DwellCut
-from ..core.cutcode.gotocut import GotoCut
-from ..core.cutcode.homecut import HomeCut
-from ..core.cutcode.inputcut import InputCut
-from ..core.cutcode.linecut import LineCut
-from ..core.cutcode.outputcut import OutputCut
-from ..core.cutcode.plotcut import PlotCut
-from ..core.cutcode.quadcut import QuadCut
-from ..core.cutcode.waitcut import WaitCut
-from ..core.parameters import Parameters
-from ..core.plotplanner import PlotPlanner
-from ..device.basedevice import (
-    DRIVER_STATE_FINISH,
-    DRIVER_STATE_MODECHANGE,
-    DRIVER_STATE_PROGRAM,
-    DRIVER_STATE_RAPID,
-    DRIVER_STATE_RASTER,
-    PLOT_FINISH,
-    PLOT_JOG,
-    PLOT_LEFT_UPPER,
-    PLOT_RAPID,
-    PLOT_SETTING,
-    PLOT_START,
-)
-from .builder import MoshiBuilder
-
-
-class MoshiDriver(Parameters):
-    """
-    A driver takes spoolable commands and turns those commands into states and code in a language
-    agnostic fashion. The Moshiboard Driver overloads the Driver class to take spoolable values from
-    the spooler and converts them into Moshiboard specific actions.
-
-    """
-
-    def __init__(self, service, channel=None, *args, **kwargs):
-        super().__init__()
-        self.service = service
-        self.name = str(self.service)
-        self.state = 0
-
-        self.native_x = 0
-        self.native_y = 0
-
-        self.plot_planner = PlotPlanner(self.settings)
-        self.queue = list()
-
-        self.program = MoshiBuilder()
-
-        self.paused = False
-        self.hold = False
-        self.paused = False
-
-        self.preferred_offset_x = 0
-        self.preferred_offset_y = 0
-
-        name = self.service.label
-        self.pipe_channel = service.channel(f"{name}/events")
-        self.program.channel = self.pipe_channel
-
-        self.out_pipe = None
-        self.out_real = None
-
-    def __repr__(self):
-        return f"MoshiDriver({self.name})"
-
-    def __call__(self, e, real=False):
-        if real:
-            self.out_real(e)
-        else:
-            self.out_pipe(e)
-
-    def hold_work(self, priority):
-        """
-        Required.
-
-        Spooler check. to see if the work cycle should be held.
-
-        @return: hold?
-        """
-        return priority <= 0 and (self.paused or self.hold)
-
-    def job_start(self, job):
-        pass
-
-    def job_finish(self, job):
-        self.rapid_mode()
-
-    def get(self, key, default=None):
-        """
-        Required.
-
-        @param key: Key to get.
-        @param default: Default value to use.
-        @return:
-        """
-        return self.settings.get(key, default=default)
-
-    def set(self, key, value):
-        """
-        Required.
-
-        Sets a laser parameter this could be speed, power, wobble, number_of_unicorns, or any unknown parameters for
-        yet to be written drivers.
-
-        @param key:
-        @param value:
-        @return:
-        """
-        if key == "power":
-            self._set_power(value)
-        elif key == "ppi":
-            self._set_power(value)
-        elif key == "pwm":
-            self._set_power(value)
-        elif key == "overscan":
-            self._set_overscan(value)
-        elif key == "speed":
-            self._set_speed(value)
-        elif key == "step":
-            self._set_step(value)
-        else:
-            self.settings[key] = value
-
-    def status(self):
-        """
-        Wants a status report of what the driver is doing.
-        @return:
-        """
-        state_major = "idle"
-        state_minor = "idle"
-        if self.state == DRIVER_STATE_RAPID:
-            state_major = "idle"
-            state_minor = "idle"
-        elif self.state == DRIVER_STATE_FINISH:
-            state_major = "idle"
-            state_minor = "finished"
-        elif self.state == DRIVER_STATE_PROGRAM:
-            state_major = "busy"
-            state_minor = "program"
-        elif self.state == DRIVER_STATE_RASTER:
-            state_major = "busy"
-            state_minor = "raster"
-        elif self.state == DRIVER_STATE_MODECHANGE:
-            state_major = "busy"
-            state_minor = "changing"
-        return (self.native_x, self.native_y), state_major, state_minor
-
-    def laser_off(self, *values):
-        """
-        Turn laser off in place.
-
-        Moshiboards do not support this command.
-
-        @param values:
-        @return:
-        """
-        pass
-
-    def laser_on(self, *values):
-        """
-        Turn laser on in place.
-
-        Moshiboards do not support this command.
-
-        @param values:
-        @return:
-        """
-        pass
-
-    def plot(self, plot):
-        """
-        Gives the driver a bit of cutcode that should be plotted.
-        @param plot:
-        @return:
-        """
-        self.queue.append(plot)
-
-    def plot_start(self):
-        """
-        Called at the end of plot commands to ensure the driver can deal with them all as a group.
-
-        @return:
-        """
-        for q in self.queue:
-            x = self.native_x
-            y = self.native_y
-            start_x, start_y = q.start
-            if x != start_x or y != start_y:
-                self._goto_absolute(start_x, start_y, 0)
-            self.settings.update(q.settings)
-            if isinstance(q, LineCut):
-                self._goto_absolute(*q.end, 1)
-            elif isinstance(q, (QuadCut, CubicCut)):
-                interp = self.service.interpolate
-                step_size = 1.0 / float(interp)
-                t = step_size
-                for p in range(int(interp)):
-                    while self.hold_work(0):
-                        time.sleep(0.05)
-                    self._goto_absolute(*q.point(t), 1)
-                    t += step_size
-                last_x, last_y = q.end
-                self._goto_absolute(last_x, last_y, 1)
-            elif isinstance(q, HomeCut):
-                self.home()
-            elif isinstance(q, GotoCut):
-                start = q.start
-                self._goto_absolute(start[0], start[1], 0)
-            elif isinstance(q, WaitCut):
-                # Moshi has no forced wait functionality.
-                # self.wait_finish()
-                # self.wait(q.dwell_time)
-                pass
-            elif isinstance(q, DwellCut):
-                # Moshi cannot fire in place.
-                pass
-            elif isinstance(q, (InputCut, OutputCut)):
-                # Moshi has no core GPIO functionality
-                pass
-            else:
-                # Rastercut, PlotCut
-                if isinstance(q, PlotCut):
-                    q.check_if_rasterable()
-                self.plot_planner.push(q)
-                for x, y, on in self.plot_planner.gen():
-                    if self.hold_work(0):
-                        time.sleep(0.05)
-                        continue
-                    on = int(on)
-                    if on > 1:
-                        # Special Command.
-                        if on & (
-                            PLOT_RAPID | PLOT_JOG
-                        ):  # Plot planner requests position change.
-                            # self.rapid_jog(x, y)
-                            self.native_x = x
-                            self.native_y = y
-                            if self.state != DRIVER_STATE_RAPID:
-                                self._move_absolute(x, y)
-                            continue
-                        elif on & PLOT_FINISH:  # Plot planner is ending.
-                            self.finished_mode()
-                            break
-                        elif on & PLOT_START:
-                            self._ensure_program_or_raster_mode(
-                                self.preferred_offset_x,
-                                self.preferred_offset_y,
-                                self.native_x,
-                                self.native_y,
-                            )
-                        elif on & PLOT_LEFT_UPPER:
-                            self.preferred_offset_x = x
-                            self.preferred_offset_y = y
-                        elif on & PLOT_SETTING:
-                            # Plot planner settings have changed.
-                            p_set = Parameters(self.plot_planner.settings)
-                            if p_set.power != self.power:
-                                self._set_power(p_set.power)
-                            if (
-                                p_set.speed != self.speed
-                                or p_set.raster_step_x != self.raster_step_x
-                                or p_set.raster_step_y != self.raster_step_y
-                            ):
-                                self._set_speed(p_set.speed)
-                                self._set_step(p_set.raster_step_x, p_set.raster_step_y)
-                                self.rapid_mode()
-                            self.settings.update(p_set.settings)
-                        continue
-                    self._goto_absolute(x, y, on & 1)
-        self.queue.clear()
-
-    def move_abs(self, x, y):
-        """
-        Requests laser move to absolute position x, y in physical units
-
-        @param x:
-        @param y:
-        @return:
-        """
-        x, y = self.service.view.position(x, y)
-        self.rapid_mode()
-        self._move_absolute(int(x), int(y))
-
-    def move_rel(self, dx, dy):
-        """
-        Requests laser move relative position dx, dy in physical units
-
-        @param dx:
-        @param dy:
-        @return:
-        """
-        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
-        self.rapid_mode()
-        x = self.native_x + unit_dx
-        y = self.native_y + unit_dy
-        self._move_absolute(int(x), int(y))
-        self.rapid_mode()
-
-    def home(self):
-        """
-        Send a home command to the device. In the case of Moshiboards this is merely a move to
-        0,0 in absolute position.
-        """
-        if self.service.rotary_active and self.service.rotary_supress_home:
-            return
-        self.rapid_mode()
-        self.speed = 40
-        self.program_mode(0, 0, 0, 0)
-        self.rapid_mode()
-        self.native_x = 0
-        self.native_y = 0
-
-    def physical_home(self):
-        """ "
-        This would be the command to go to a real physical home position (ie hitting endstops)
-        """
-        self.home()
-
-    def unlock_rail(self):
-        """
-        Unlock the Rail or send a "FreeMotor" command.
-        """
-        self.rapid_mode()
-        self.pipe_channel("Realtime: FreeMotor")
-        MoshiBuilder.freemotor(self.out_real, self.pipe_channel)
-
-    def rapid_mode(self, *values):
-        """
-        Ensure the driver is currently in a default state. If we are not in a default state the driver
-        should end the current program.
-        """
-        if self.state == DRIVER_STATE_RAPID:
-            return
-        self.commit()
-        if self.pipe_channel:
-            self.pipe_channel("Rapid Mode")
-        self.state = DRIVER_STATE_RAPID
-
-    def finished_mode(self, *values):
-        """
-        Ensure the driver is currently in a finished state. If we are not in a finished state the driver
-        should end the current program and return to rapid mode.
-
-        Finished is required between rasters since it's an absolute home.
-        """
-        if self.state == DRIVER_STATE_FINISH:
-            return
-
-        if self.pipe_channel:
-            self.pipe_channel("Finished Mode")
-        if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_MODECHANGE):
-            self.rapid_mode()
-
-        if self.state == self.state == DRIVER_STATE_RASTER:
-            self.pipe_channel("Final Raster Home")
-            self.home()
-        self.state = DRIVER_STATE_FINISH
-
-    def program_mode(self, *values):
-        """
-        Ensure the laser is currently in a program state. If it is not currently in a program state we begin
-        a program state.
-
-        If the driver is currently in a program state the assurance is made.
-        """
-        if self.state == DRIVER_STATE_PROGRAM:
-            return
-
-        if self.pipe_channel:
-            self.pipe_channel("Program Mode")
-        if self.state == DRIVER_STATE_RASTER:
-            self.finished_mode()
-            self.rapid_mode()
-        try:
-            offset_x = int(values[0])
-        except (ValueError, IndexError):
-            offset_x = 0
-        try:
-            offset_y = int(values[1])
-        except (ValueError, IndexError):
-            offset_y = 0
-        try:
-            move_x = int(values[2])
-        except (ValueError, IndexError):
-            move_x = 0
-        try:
-            move_y = int(values[3])
-        except (ValueError, IndexError):
-            move_y = 0
-        self._start_program_mode(offset_x, offset_y, move_x, move_y)
-
-    def raster_mode(self, *values):
-        """
-        Ensure the driver is currently in a raster program state. If it is not in a raster program state
-        we write the raster program state.
-        """
-        if self.state == DRIVER_STATE_RASTER:
-            return
-
-        if self.pipe_channel:
-            self.pipe_channel("Raster Mode")
-        if self.state == DRIVER_STATE_PROGRAM:
-            self.finished_mode()
-            self.rapid_mode()
-        try:
-            offset_x = int(values[0])
-        except (ValueError, IndexError):
-            offset_x = 0
-        try:
-            offset_y = int(values[1])
-        except (ValueError, IndexError):
-            offset_y = 0
-        try:
-            move_x = int(values[2])
-        except (ValueError, IndexError):
-            move_x = 0
-        try:
-            move_y = int(values[3])
-        except (ValueError, IndexError):
-            move_y = 0
-        self._start_raster_mode(offset_x, offset_y, move_x, move_y)
-
-    def wait(self, time_in_ms):
-        """
-        Wait asks that the work be stalled or current process held for the time time_in_ms in ms. If wait_finished is
-        called first this will attempt to stall the machine while performing no work. If the driver in question permits
-        waits to be placed within code this should insert waits into the current job. Returning instantly rather than
-        holding the processes.
-
-        @param time_in_ms:
-        @return:
-        """
-        time.sleep(time_in_ms / 1000.0)
-
-    def wait_finish(self, *values):
-        """
-        Wait finish should hold the calling thread until the current work has completed. Or otherwise prevent any data
-        from being sent with returning True for the until that criteria is met.
-
-        @param values:
-        @return:
-        """
-        self.hold = True
-        # self.temp_holds.append(lambda: len(self.output) != 0)
-
-    def function(self, function):
-        """
-        This command asks that this function be executed at the appropriate time within the spooled cycle.
-
-        @param function:
-        @return:
-        """
-        function()
-
-    def beep(self):
-        """
-        Wants a system beep to be issued.
-        This command asks that a beep be executed at the appropriate time within the spooled cycle.
-
-        @return:
-        """
-        self.service("beep\n")
-
-    def console(self, value):
-        """
-        This asks that the console command be executed at the appropriate time within the spooled cycle.
-
-        @param value: console command
-        @return:
-        """
-        self.service(value)
-
-    def signal(self, signal, *args):
-        """
-        This asks that this signal be broadcast at the appropriate time within the spooling cycle.
-
-        @param signal:
-        @param args:
-        @return:
-        """
-        self.service.signal(signal, *args)
-
-    def pause(self, *args):
-        """
-        Asks that the laser be paused.
-
-        @param args:
-        @return:
-        """
-        self.paused = True
-        self.service.signal("pause")
-
-    def resume(self, *args):
-        """
-        Asks that the laser be resumed.
-
-        To work this command should usually be put into the realtime work queue for the laser.
-
-        @param args:
-        @return:
-        """
-        self.paused = False
-        self.service.signal("pause")
-
-    def reset(self, *args):
-        """
-        This command asks that this device be emergency stopped and reset. Usually that queue data from the spooler be
-        deleted.
-
-        @param args:
-        @return:
-        """
-        self.service.spooler.clear_queue()
-        self.rapid_mode()
-        self.queue.clear()
-        self.pipe_channel("Realtime: Stop")
-        MoshiBuilder.stop(self.out_real)
-        self.pipe_channel("Control Request: Stop")
-        self.paused = False
-        self.service.signal("pause")
-
-    ####################
-    # Protected Driver Functions
-    ####################
-
-    def _start_program_mode(
-        self,
-        offset_x,
-        offset_y,
-        move_x=None,
-        move_y=None,
-        speed=None,
-        normal_speed=None,
-    ):
-        if move_x is None:
-            move_x = offset_x
-        if move_y is None:
-            move_y = offset_y
-        if speed is None and self.speed is not None:
-            speed = int(self.speed)
-        if speed is None:
-            speed = 20
-        if normal_speed is None:
-            normal_speed = speed
-
-        # Normal speed is rapid. Passing same speed so PPI isn't crazy.
-        self.program.vector_speed(speed, normal_speed)
-        self.program.set_offset(0, offset_x, offset_y)
-        self.state = DRIVER_STATE_PROGRAM
-
-        self.program.move_abs(move_x, move_y)
-        self.native_x = move_x
-        self.native_y = move_y
-
-    def _start_raster_mode(
-        self, offset_x, offset_y, move_x=None, move_y=None, speed=None
-    ):
-        if move_x is None:
-            move_x = offset_x
-        if move_y is None:
-            move_y = offset_y
-        if speed is None and self.speed is not None:
-            speed = int(self.speed)
-        if speed is None:
-            speed = 160
-        self.program.raster_speed(speed)
-        self.program.set_offset(0, offset_x, offset_y)
-        self.state = DRIVER_STATE_RASTER
-
-        self.program.move_abs(move_x, move_y)
-        self.native_x = move_x
-        self.native_y = move_y
-
-    def _set_power(self, power=1000.0):
-        self.power = power
-        if self.power > 1000.0:
-            self.power = 1000.0
-        if self.power <= 0:
-            self.power = 0.0
-
-    def _set_overscan(self, overscan=None):
-        self.overscan = overscan
-
-    def _set_speed(self, speed=None):
-        """
-        Set the speed for the driver.
-        """
-        if self.speed != speed:
-            self.speed = speed
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def _set_step(self, step_x=None, step_y=None):
-        """
-        Set the raster step for the driver.
-        """
-        if self.raster_step_x != step_x or self.raster_step_y != step_y:
-            self.raster_step_x = step_x
-            self.raster_step_y = step_y
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def commit(self):
-        self.pipe_channel("Pushed program to output...")
-        if len(self.program):
-            self.program.termination()
-            if self.service.mock:
-                self.program.debug(self.pipe_channel)
-            self(bytearray(self.program.data))
-        self.program.clear()
-
-    def _ensure_program_or_raster_mode(self, x, y, x1=None, y1=None):
-        """
-        Ensure builder is needed. Makes sure it's in program or raster mode.
-        """
-        if self.state in (DRIVER_STATE_RASTER, DRIVER_STATE_PROGRAM):
-            return
-
-        if x1 is None:
-            x1 = x
-        if y1 is None:
-            y1 = y
-        if self.raster_step_x == 0 and self.raster_step_y == 0:
-            self.program_mode(x, y, x1, y1)
-        else:
-            if self.service.enable_raster:
-                self.raster_mode(x, y, x1, y1)
-            else:
-                self.program_mode(x, y, x1, y1)
-
-    def _goto_absolute(self, x, y, cut):
-        """
-        Goto absolute position. Cut flags whether this should be with or without the laser.
-        """
-        self._ensure_program_or_raster_mode(x, y)
-        old_current = self.service.current
-
-        if self.state == DRIVER_STATE_PROGRAM:
-            if cut:
-                self.program.cut_abs(x, y)
-            else:
-                self.program.move_abs(x, y)
-        else:
-            # DRIVER_STATE_RASTER
-            if x == self.native_x and y == self.native_y:
-                return
-            if cut:
-                if x == self.native_x:
-                    self.program.cut_vertical_abs(y=y)
-                if y == self.native_y:
-                    self.program.cut_horizontal_abs(x=x)
-            else:
-                if x == self.native_x:
-                    self.program.move_vertical_abs(y=y)
-                if y == self.native_y:
-                    self.program.move_horizontal_abs(x=x)
-        self.native_x = x
-        self.native_y = y
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def _move_absolute(self, x, y):
-        """
-        Move to a position x, y. This is an absolute position.
-        """
-        old_current = self.service.current
-        self._ensure_program_or_raster_mode(x, y)
-        self.program.move_abs(x, y)
-        self.native_x = x
-        self.native_y = y
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def laser_disable(self, *values):
-        self.laser_enabled = False
-
-    def laser_enable(self, *values):
-        self.laser_enabled = True
+"""
+Moshiboard Driver
+
+Governs the generic commands issued by laserjob and spooler and converts that into regular Moshi laser output.
+"""
+
+import time
+
+from ..core.cutcode.cubiccut import CubicCut
+from ..core.cutcode.dwellcut import DwellCut
+from ..core.cutcode.gotocut import GotoCut
+from ..core.cutcode.homecut import HomeCut
+from ..core.cutcode.inputcut import InputCut
+from ..core.cutcode.linecut import LineCut
+from ..core.cutcode.outputcut import OutputCut
+from ..core.cutcode.plotcut import PlotCut
+from ..core.cutcode.quadcut import QuadCut
+from ..core.cutcode.waitcut import WaitCut
+from ..core.parameters import Parameters
+from ..core.plotplanner import PlotPlanner
+from ..device.basedevice import (
+    DRIVER_STATE_FINISH,
+    DRIVER_STATE_MODECHANGE,
+    DRIVER_STATE_PROGRAM,
+    DRIVER_STATE_RAPID,
+    DRIVER_STATE_RASTER,
+    PLOT_FINISH,
+    PLOT_JOG,
+    PLOT_LEFT_UPPER,
+    PLOT_RAPID,
+    PLOT_SETTING,
+    PLOT_START,
+)
+from ..tools.geomstr import Geomstr
+from .builder import MoshiBuilder
+
+
+class MoshiDriver(Parameters):
+    """
+    A driver takes spoolable commands and turns those commands into states and code in a language
+    agnostic fashion. The Moshiboard Driver overloads the Driver class to take spoolable values from
+    the spooler and converts them into Moshiboard specific actions.
+
+    """
+
+    def __init__(self, service, channel=None, *args, **kwargs):
+        super().__init__()
+        self.service = service
+        self.name = str(self.service)
+        self.state = 0
+
+        self.native_x = 0
+        self.native_y = 0
+
+        self.plot_planner = PlotPlanner(self.settings)
+        self.queue = []
+        self._queue_current = 0
+        self._queue_total = 0
+
+        self.program = MoshiBuilder()
+
+        self.paused = False
+        self.holds = []
+        self.temp_holds = []
+
+        self.preferred_offset_x = 0
+        self.preferred_offset_y = 0
+
+        self.pipe_channel = service.channel(f"{service.safe_label}/events")
+        self.program.channel = self.pipe_channel
+
+        self.out_pipe = None
+        self.out_real = None
+
+        self._signal_updates = self.service.setting(bool, "signal_updates", True)
+
+        def primary_hold():
+            if self.out_pipe is None:
+                return True
+            if (
+                hasattr(self.service.controller, "is_shutdown")
+                and self.service.controller.is_shutdown
+            ):
+                raise ConnectionAbortedError("Cannot hold for a shutdown pipe.")
+            return self.paused
+
+        self.holds.append(primary_hold)
+
+    def __repr__(self):
+        return f"MoshiDriver({self.name})"
+
+    def __call__(self, e, real=False):
+        if real:
+            self.out_real(e)
+        else:
+            self.out_pipe(e)
+
+    def get_internal_queue_status(self):
+        return self._queue_current, self._queue_total
+
+    def _set_queue_status(self, current, total):
+        self._queue_current = current
+        self._queue_total = total
+
+    def hold_work(self, priority):
+        """
+        Holds are criteria to use to pause the data interpretation. These halt the production of new data until the
+        criteria is met. A hold is constant and will always halt the data while true. A temp_hold will be removed
+        as soon as it does not hold the data.
+
+        @return: Whether data interpretation should hold.
+        """
+        if priority > 0:
+            # Don't hold realtime work.
+            return False
+
+        temp_hold = False
+        fail_hold = False
+        for i, hold in enumerate(self.temp_holds):
+            if not hold():
+                self.temp_holds[i] = None
+                fail_hold = True
+            else:
+                temp_hold = True
+        if fail_hold:
+            self.temp_holds = [hold for hold in self.temp_holds if hold is not None]
+        if temp_hold:
+            return True
+        for hold in self.holds:
+            if hold():
+                return True
+        return False
+
+    def job_start(self, job):
+        pass
+
+    def job_finish(self, job):
+        self.rapid_mode()
+
+    def get(self, key, default=None):
+        """
+        Required.
+
+        @param key: Key to get.
+        @param default: Default value to use.
+        @return:
+        """
+        return self.settings.get(key, default=default)
+
+    def set(self, key, value):
+        """
+        Required.
+
+        Sets a laser parameter this could be speed, power, wobble, number_of_unicorns, or any unknown parameters for
+        yet to be written drivers.
+
+        @param key:
+        @param value:
+        @return:
+        """
+        if key == "power":
+            self._set_power(value)
+        elif key == "ppi":
+            self._set_power(value)
+        elif key == "pwm":
+            self._set_power(value)
+        elif key == "overscan":
+            self._set_overscan(value)
+        elif key == "speed":
+            self._set_speed(value)
+        elif key == "step":
+            self._set_step(value)
+        else:
+            self.settings[key] = value
+
+    def status(self):
+        """
+        Wants a status report of what the driver is doing.
+        @return:
+        """
+        state_major = "idle"
+        state_minor = "idle"
+        if self.state == DRIVER_STATE_RAPID:
+            state_major = "idle"
+            state_minor = "idle"
+        elif self.state == DRIVER_STATE_FINISH:
+            state_major = "idle"
+            state_minor = "finished"
+        elif self.state == DRIVER_STATE_PROGRAM:
+            state_major = "busy"
+            state_minor = "program"
+        elif self.state == DRIVER_STATE_RASTER:
+            state_major = "busy"
+            state_minor = "raster"
+        elif self.state == DRIVER_STATE_MODECHANGE:
+            state_major = "busy"
+            state_minor = "changing"
+        return (self.native_x, self.native_y), state_major, state_minor
+
+    def laser_off(self, *values):
+        """
+        Turn laser off in place.
+
+        Moshiboards do not support this command.
+
+        @param values:
+        @return:
+        """
+        pass
+
+    def laser_on(self, *values):
+        """
+        Turn laser on in place.
+
+        Moshiboards do not support this command.
+
+        @param values:
+        @return:
+        """
+        pass
+
+    def geometry(self, geom):
+        """
+        Called at the end of plot commands to ensure the driver can deal with them all as a group.
+
+        @return:
+        """
+        # TODO: Raster geom strokes need to be run in raster mode for moshi.
+        g = Geomstr()
+        for segment_type, start, c1, c2, end, sets in geom.as_lines():
+            x = self.native_x
+            y = self.native_y
+            if x != start.real or y != start.imag:
+                self._goto_absolute(start.real, start.imag, 0)
+            self.settings.update(sets)
+
+            if segment_type == "line":
+                self._goto_absolute(end.real, end.imag, 1)
+            elif segment_type == "end":
+                pass
+            elif segment_type == "quad":
+                interp = self.service.interp
+                g.clear()
+                g.quad(start, c1, end)
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    self._goto_absolute(p.real, p.imag, 1)
+            elif segment_type == "cubic":
+                interp = self.service.interp
+                g.clear()
+                g.cubic(start, c1, c2, end)
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    self._goto_absolute(p.real, p.imag, 1)
+            elif segment_type == "arc":
+                interp = self.service.interp
+                g.clear()
+                g.arc(start, c1, end)
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    self._goto_absolute(p.real, p.imag, 1)
+            elif segment_type == "point":
+                function = sets.get("function")
+                if function == "dwell":
+                    # Moshi cannot fire in place.
+                    pass
+                elif function == "wait":
+                    # Moshi has no forced wait functionality.
+                    pass
+                elif function == "home":
+                    self.home()
+                elif function == "goto":
+                    self._goto_absolute(start.real, start.imag, 0)
+                elif function == "input":
+                    # Moshi has no core GPIO functionality
+                    pass
+                elif function == "output":
+                    # Moshi has no core GPIO functionality
+                    pass
+
+    def plot(self, plot):
+        """
+        Gives the driver a bit of cutcode that should be plotted.
+        @param plot:
+        @return:
+        """
+        self.queue.append(plot)
+
+    def plot_start(self):
+        """
+        Called at the end of plot commands to ensure the driver can deal with them all as a group.
+
+        @return:
+        """
+        total = len(self.queue)
+        current = 0
+        for q in self.queue:
+            current += 1
+            self._set_queue_status(current, total)
+            p_set = Parameters(q.settings)
+            if p_set.power != self.power:
+                self._set_power(p_set.power)
+            if (
+                p_set.speed != self.speed
+                or p_set.raster_step_x != self.raster_step_x
+                or p_set.raster_step_y != self.raster_step_y
+            ):
+                self._set_speed(p_set.speed)
+                self._set_step(p_set.raster_step_x, p_set.raster_step_y)
+                self.rapid_mode()
+            self.settings.update(q.settings)
+
+            x = self.native_x
+            y = self.native_y
+            start_x, start_y = q.start
+            if x != start_x or y != start_y:
+                self._goto_absolute(start_x, start_y, 0)
+            if isinstance(q, LineCut):
+                x0, y0, x1, y1 = int(q.start[0]), int(q.start[1]), int(q.end[0]), int(q.end[1])
+                dx, dy = abs(x1 - x0), abs(y1 - y0)
+                # horizontal, vertical or 45 deg angled line
+                if dx == 0 or dy == 0 or dx == dy:
+                    self._goto_absolute(*q.end, 1)
+                else:
+                    # other oblique line
+                    if dx > dy:
+                        d = dy
+                        sx = float((x1 - x0) / dy)
+                        if y1 - y0 > 0:
+                            sy = 1
+                        else:
+                            sy = -1
+                    else:
+                        d = dx
+                        if x1 - x0 > 0:
+                            sx = 1
+                        else:
+                            sx = -1
+                        sy = float((y1 - y0) / dx)
+                    x = x0
+                    y = y0
+                    self._goto_absolute(*q.start, 0)
+                    for i in range(d):
+                        while self.hold_work(0):
+                            time.sleep(0.05)
+                        x += sx
+                        y += sy
+                        self._goto_absolute(int(x), int(y), 1)
+            elif isinstance(q, QuadCut):
+                interp = self.service.interp
+                g = Geomstr()
+                g.quad(complex(*q.start), complex(*q.c()), complex(*q.end))
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    self._goto_absolute(p.real, p.imag, 1)
+            elif isinstance(q, CubicCut):
+                interp = self.service.interp
+                g = Geomstr()
+                g.cubic(
+                    complex(*q.start),
+                    complex(*q.c1()),
+                    complex(*q.c2()),
+                    complex(*q.end),
+                )
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    self._goto_absolute(p.real, p.imag, 1)
+            elif isinstance(q, HomeCut):
+                self.home()
+            elif isinstance(q, GotoCut):
+                start = q.start
+                self._goto_absolute(start[0], start[1], 0)
+            elif isinstance(q, WaitCut):
+                # Moshi has no forced wait functionality.
+                # self.wait_finish()
+                # self.wait(q.dwell_time)
+                pass
+            elif isinstance(q, DwellCut):
+                # Moshi cannot fire in place.
+                pass
+            elif isinstance(q, (InputCut, OutputCut)):
+                # Moshi has no core GPIO functionality
+                pass
+            else:
+                # Rastercut, PlotCut
+                if isinstance(q, PlotCut):
+                    q.check_if_rasterable()
+                self.plot_planner.push(q)
+                for x, y, on in self.plot_planner.gen():
+                    if self.hold_work(0):
+                        time.sleep(0.05)
+                        continue
+                    on = int(on)
+                    if on > 1:
+                        # Special Command.
+                        if on & (
+                            PLOT_RAPID | PLOT_JOG
+                        ):  # Plot planner requests position change.
+                            # self.rapid_jog(x, y)
+                            self.native_x = x
+                            self.native_y = y
+                            if self.state != DRIVER_STATE_RAPID:
+                                self._move_absolute(x, y)
+                            continue
+                        elif on & PLOT_FINISH:  # Plot planner is ending.
+                            self.finished_mode()
+                            break
+                        elif on & PLOT_START:
+                            self._ensure_program_or_raster_mode(
+                                self.preferred_offset_x,
+                                self.preferred_offset_y,
+                                self.native_x,
+                                self.native_y,
+                            )
+                        elif on & PLOT_LEFT_UPPER:
+                            self.preferred_offset_x = x
+                            self.preferred_offset_y = y
+                        elif on & PLOT_SETTING:
+                            # Plot planner settings have changed.
+                            p_set = Parameters(self.plot_planner.settings)
+                            if p_set.power != self.power:
+                                self._set_power(p_set.power)
+                            if (
+                                p_set.speed != self.speed
+                                or p_set.raster_step_x != self.raster_step_x
+                                or p_set.raster_step_y != self.raster_step_y
+                            ):
+                                self._set_speed(p_set.speed)
+                                self._set_step(p_set.raster_step_x, p_set.raster_step_y)
+                                self.rapid_mode()
+                            self.settings.update(p_set.settings)
+                        continue
+                    self._goto_absolute(x, y, on & 1)
+        self.queue.clear()
+        self._set_queue_status(0, 0)
+
+    def move_abs(self, x, y):
+        """
+        Requests laser move to absolute position x, y in physical units
+
+        @param x:
+        @param y:
+        @return:
+        """
+        x, y = self.service.view.position(x, y)
+        self.rapid_mode()
+        self._move_absolute(int(x), int(y))
+
+    def move_rel(self, dx, dy):
+        """
+        Requests laser move relative position dx, dy in physical units
+
+        @param dx:
+        @param dy:
+        @return:
+        """
+        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
+        self.rapid_mode()
+        x = self.native_x + unit_dx
+        y = self.native_y + unit_dy
+        self._move_absolute(int(x), int(y))
+        self.rapid_mode()
+
+    def home(self):
+        """
+        Send a home command to the device. In the case of Moshiboards this is merely a move to
+        0,0 in absolute position.
+        """
+        if self.service.rotary.active and self.service.rotary.suppress_home:
+            return
+        self.rapid_mode()
+        self.set("speed", 40)
+        self.program_mode(0, 0, 0, 0)
+        self.rapid_mode()
+        self.native_x = 0
+        self.native_y = 0
+
+    def physical_home(self):
+        """ "
+        This would be the command to go to a real physical home position (i.e. hitting endstops)
+        """
+        self.home()
+
+    def unlock_rail(self):
+        """
+        Unlock the Rail or send a "FreeMotor" command.
+        """
+        self.rapid_mode()
+        self.pipe_channel("Realtime: FreeMotor")
+        MoshiBuilder.freemotor(self.out_real, self.pipe_channel)
+
+    def rapid_mode(self, *values):
+        """
+        Ensure the driver is currently in a default state. If we are not in a default state the driver
+        should end the current program.
+        """
+        if self.state == DRIVER_STATE_RAPID:
+            return
+        self.commit()
+        if self.pipe_channel:
+            self.pipe_channel("Rapid Mode")
+        self.state = DRIVER_STATE_RAPID
+
+    def finished_mode(self, *values):
+        """
+        Ensure the driver is currently in a finished state. If we are not in a finished state the driver
+        should end the current program and return to rapid mode.
+
+        Finished is required between rasters since it's an absolute home.
+        """
+        if self.state == DRIVER_STATE_FINISH:
+            return
+
+        if self.pipe_channel:
+            self.pipe_channel("Finished Mode")
+        if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_MODECHANGE):
+            self.rapid_mode()
+
+        if self.state == self.state == DRIVER_STATE_RASTER:
+            self.pipe_channel("Final Raster Home")
+            self.home()
+        self.state = DRIVER_STATE_FINISH
+
+    def program_mode(self, *values):
+        """
+        Ensure the laser is currently in a program state. If it is not currently in a program state we begin
+        a program state.
+
+        If the driver is currently in a program state the assurance is made.
+        """
+        if self.state == DRIVER_STATE_PROGRAM:
+            return
+
+        if self.pipe_channel:
+            self.pipe_channel("Program Mode")
+        if self.state == DRIVER_STATE_RASTER:
+            self.finished_mode()
+            self.rapid_mode()
+        try:
+            offset_x = int(values[0])
+        except (ValueError, IndexError):
+            offset_x = 0
+        try:
+            offset_y = int(values[1])
+        except (ValueError, IndexError):
+            offset_y = 0
+        try:
+            move_x = int(values[2])
+        except (ValueError, IndexError):
+            move_x = 0
+        try:
+            move_y = int(values[3])
+        except (ValueError, IndexError):
+            move_y = 0
+        self._start_program_mode(offset_x, offset_y, move_x, move_y)
+
+    def raster_mode(self, *values):
+        """
+        Ensure the driver is currently in a raster program state. If it is not in a raster program state
+        we write the raster program state.
+        """
+        if self.state == DRIVER_STATE_RASTER:
+            return
+
+        if self.pipe_channel:
+            self.pipe_channel("Raster Mode")
+        if self.state == DRIVER_STATE_PROGRAM:
+            self.finished_mode()
+            self.rapid_mode()
+        try:
+            offset_x = int(values[0])
+        except (ValueError, IndexError):
+            offset_x = 0
+        try:
+            offset_y = int(values[1])
+        except (ValueError, IndexError):
+            offset_y = 0
+        try:
+            move_x = int(values[2])
+        except (ValueError, IndexError):
+            move_x = 0
+        try:
+            move_y = int(values[3])
+        except (ValueError, IndexError):
+            move_y = 0
+        self._start_raster_mode(offset_x, offset_y, move_x, move_y)
+
+    def wait(self, time_in_ms):
+        """
+        Wait asks that the work be stalled or current process held for the time time_in_ms in ms. If wait_finished is
+        called first this will attempt to stall the machine while performing no work. If the driver in question permits
+        waits to be placed within code this should insert waits into the current job. Returning instantly rather than
+        holding the processes.
+
+        @param time_in_ms:
+        @return:
+        """
+        time.sleep(time_in_ms / 1000.0)
+
+    def wait_finish(self, *values):
+        """
+        Wait finish should hold the calling thread until the current work has completed. Or otherwise prevent any data
+        from being sent with returning True for the until that criteria is met.
+
+        @param values:
+        @return:
+        """
+
+        def temp_hold():
+            try:
+                return (
+                    self.service.controller.state == "wait"
+                    or len(self.service.controller) != 0
+                )
+            except TypeError:
+                return False
+
+        self.temp_holds.append(temp_hold)
+
+    def function(self, function):
+        """
+        This command asks that this function be executed at the appropriate time within the spooled cycle.
+
+        @param function:
+        @return:
+        """
+        function()
+
+    def beep(self):
+        """
+        Wants a system beep to be issued.
+        This command asks that a beep be executed at the appropriate time within the spooled cycle.
+
+        @return:
+        """
+        self.service("beep\n")
+
+    def console(self, value):
+        """
+        This asks that the console command be executed at the appropriate time within the spooled cycle.
+
+        @param value: console command
+        @return:
+        """
+        self.service(value)
+
+    def signal(self, signal, *args):
+        """
+        This asks that this signal be broadcast at the appropriate time within the spooling cycle.
+
+        @param signal:
+        @param args:
+        @return:
+        """
+        self.service.signal(signal, *args)
+
+    def pause(self, *args):
+        """
+        Asks that the laser be paused.
+
+        @param args:
+        @return:
+        """
+        self.paused = True
+        self.service.signal("pause")
+
+    def resume(self, *args):
+        """
+        Asks that the laser be resumed.
+
+        To work this command should usually be put into the realtime work queue for the laser.
+
+        @param args:
+        @return:
+        """
+        self.paused = False
+        self.service.signal("pause")
+
+    def reset(self, *args):
+        """
+        This command asks that this device be emergency stopped and reset. Usually that queue data from the spooler be
+        deleted.
+
+        @param args:
+        @return:
+        """
+        self.service.spooler.clear_queue()
+        self.rapid_mode()
+        self.queue.clear()
+        self.pipe_channel("Realtime: Stop")
+        MoshiBuilder.stop(self.out_real)
+        self.pipe_channel("Control Request: Stop")
+        self.paused = False
+        self.service.signal("pause")
+
+    ####################
+    # Protected Driver Functions
+    ####################
+
+    def _start_program_mode(
+        self,
+        offset_x,
+        offset_y,
+        move_x=None,
+        move_y=None,
+        speed=None,
+        normal_speed=None,
+    ):
+        if move_x is None:
+            move_x = offset_x
+        if move_y is None:
+            move_y = offset_y
+        if speed is None and self.speed is not None:
+            speed = int(self.speed)
+        if speed is None:
+            speed = 20
+        if normal_speed is None:
+            normal_speed = speed
+        # Normal speed is rapid. Passing same speed so PPI isn't crazy.
+        self.program.vector_speed(speed, normal_speed)
+        self.program.set_offset(0, offset_x, offset_y)
+        self.state = DRIVER_STATE_PROGRAM
+
+        self.program.move_abs(move_x, move_y)
+        self.native_x = move_x
+        self.native_y = move_y
+
+    def _start_raster_mode(
+        self, offset_x, offset_y, move_x=None, move_y=None, speed=None
+    ):
+        if move_x is None:
+            move_x = offset_x
+        if move_y is None:
+            move_y = offset_y
+        if speed is None and self.speed is not None:
+            speed = int(self.speed)
+        if speed is None:
+            speed = 160
+        self.program.raster_speed(speed)
+        self.program.set_offset(0, offset_x, offset_y)
+        self.state = DRIVER_STATE_RASTER
+
+        self.program.move_abs(move_x, move_y)
+        self.native_x = move_x
+        self.native_y = move_y
+
+    def _set_power(self, power=1000.0):
+        self.power = max(0, min(1000, power))
+
+    def _set_overscan(self, overscan=None):
+        self.overscan = overscan
+
+    def _set_speed(self, speed=None):
+        """
+        Set the speed for the driver.
+        """
+        if self.speed != speed:
+            self.speed = speed
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def _set_step(self, step_x=None, step_y=None):
+        """
+        Set the raster step for the driver.
+        """
+        if self.raster_step_x != step_x or self.raster_step_y != step_y:
+            self.raster_step_x = step_x
+            self.raster_step_y = step_y
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def commit(self):
+        self.pipe_channel("Pushed program to output...")
+        if len(self.program):
+            self.program.termination()
+            if self.service.mock:
+                self.program.debug(self.pipe_channel)
+            self(bytearray(self.program.data))
+        self.program.clear()
+
+    def _ensure_program_or_raster_mode(self, x, y, x1=None, y1=None):
+        """
+        Ensure builder is needed. Makes sure it's in program or raster mode.
+        """
+        if self.state in (DRIVER_STATE_RASTER, DRIVER_STATE_PROGRAM):
+            return
+
+        if x1 is None:
+            x1 = x
+        if y1 is None:
+            y1 = y
+        if self.raster_step_x == 0 and self.raster_step_y == 0:
+            self.program_mode(x, y, x1, y1)
+        else:
+            if self.service.enable_raster:
+                self.raster_mode(x, y, x1, y1)
+            else:
+                self.program_mode(x, y, x1, y1)
+
+    def _goto_absolute(self, x, y, cut):
+        """
+        Goto absolute position. Cut flags whether this should be with or without the laser.
+        """
+        self._ensure_program_or_raster_mode(x, y)
+        old_current = self.service.current
+
+        if self.state == DRIVER_STATE_PROGRAM:
+            if cut:
+                self.program.cut_abs(x, y)
+            else:
+                self.program.move_abs(x, y)
+        else:
+            # DRIVER_STATE_RASTER
+            if x == self.native_x and y == self.native_y:
+                return
+            if cut:
+                if x == self.native_x:
+                    self.program.cut_vertical_abs(y=y)
+                if y == self.native_y:
+                    self.program.cut_horizontal_abs(x=x)
+            else:
+                if x == self.native_x:
+                    self.program.move_vertical_abs(y=y)
+                if y == self.native_y:
+                    self.program.move_horizontal_abs(x=x)
+        self.native_x = x
+        self.native_y = y
+
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def _move_absolute(self, x, y):
+        """
+        Move to a position x, y. This is an absolute position.
+        """
+        old_current = self.service.current
+        self._ensure_program_or_raster_mode(x, y)
+        self.program.move_abs(x, y)
+        self.native_x = x
+        self.native_y = y
+
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def laser_disable(self, *values):
+        self.laser_enabled = False
+
+    def laser_enable(self, *values):
+        self.laser_enabled = True