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

meerk40t/newly/controller.py

@@ -1,1144 +1,1158 @@
-"""
-Newly Controller
-"""
-import math
-import struct
-import time
-
-from meerk40t.core.cutcode.rastercut import RasterCut
-from meerk40t.newly.mock_connection import MockConnection
-from meerk40t.newly.usb_connection import USBConnection
-
-
-class NewlyController:
-    """
-    Newly Controller
-    """
-
-    def __init__(
-        self,
-        service,
-        x=0,
-        y=0,
-        force_mock=False,
-    ):
-        self._machine_index = 0
-        self.service = service
-        self.force_mock = force_mock
-        self.is_shutdown = False  # Shutdown finished.
-
-        name = self.service.label
-        self.usb_log = service.channel(f"{name}/usb", buffer_size=500)
-        self.usb_log.watch(lambda e: service.signal("pipe;usb_status", e))
-
-        # Load Primary Pens
-        self.sp0 = self.service.setting(int, "sp0", 0)
-        self.sp1 = self.service.setting(int, "sp1", 1)
-        self.sp2 = self.service.setting(int, "sp2", 2)
-
-        self.connection = None
-        self._is_opening = False
-        self._abort_open = False
-        self._disable_connect = False
-
-        self._job_x = None
-        self._job_y = None
-
-        self._last_x = x
-        self._last_y = y
-
-        self._last_updated_x = x
-        self._last_updated_y = y
-
-        #######################
-        # Preset Modes.
-        #######################
-
-        self._set_pen = None
-        self._set_cut_dc = None
-        self._set_move_dc = None
-        self._set_mode = None
-        self._set_speed = None
-        self._set_power = None
-        self._set_pwm_freq = None
-        self._set_relative = None
-        self._set_bit_depth = None
-        self._set_bit_width = None
-        self._set_backlash = None
-        self._set_corner_speed = None
-        self._set_acceleration_length = None
-
-        #######################
-        # Current Set Modes.
-        #######################
-
-        self._pen = None
-        self._cut_dc = None
-        self._move_dc = None
-        self._mode = None
-        self._speed = None
-        self._power = None
-        self._pwm_frequency = None
-        self._relative = None
-        self._bit_depth = None
-        self._bit_width = None
-        self._backlash = None
-        self._corner_speed = None
-        self._acceleration_length = None
-
-        self._realtime = False
-
-        self.mode = "init"
-        self.paused = False
-        self._command_buffer = []
-
-    def __call__(self, cmd, *args, **kwargs):
-        if isinstance(cmd, str):
-            # Any string data sent is latin-1 encoded.
-            self._command_buffer.append(cmd.encode("latin-1"))
-        else:
-            self._command_buffer.append(cmd)
-
-    def set_disable_connect(self, status):
-        self._disable_connect = status
-
-    def added(self):
-        pass
-
-    def service_detach(self):
-        pass
-
-    def shutdown(self, *args, **kwargs):
-        self.is_shutdown = True
-
-    @property
-    def connected(self):
-        if self.connection is None:
-            return False
-        return self.connection.is_open(self._machine_index)
-
-    @property
-    def is_connecting(self):
-        if self.connection is None:
-            return False
-        return self._is_opening
-
-    def abort_connect(self):
-        self._abort_open = True
-        self.usb_log("Connect Attempts Aborted")
-
-    def disconnect(self):
-        try:
-            self.connection.close(self._machine_index)
-        except (ConnectionError, ConnectionRefusedError, AttributeError):
-            pass
-        self.connection = None
-        # Reset error to allow another attempt
-        self.set_disable_connect(False)
-
-    def connect_if_needed(self):
-        if self._disable_connect:
-            # After many failures automatic connects are disabled. We require a manual connection.
-            self.abort_connect()
-            self.connection = None
-            raise ConnectionRefusedError(
-                "NewlyController was unreachable. Explicit connect required."
-            )
-        if self.connection is None:
-            if self.service.setting(bool, "mock", False) or self.force_mock:
-                self.connection = MockConnection(self.usb_log)
-                name = self.service.label
-                self.connection.send = self.service.channel(f"{name}/send")
-                self.connection.recv = self.service.channel(f"{name}/recv")
-            else:
-                self.connection = USBConnection(self.usb_log)
-        self._is_opening = True
-        self._abort_open = False
-        count = 0
-        while not self.connection.is_open(self._machine_index):
-            try:
-                if self.connection.open(self._machine_index) < 0:
-                    raise ConnectionError
-                self.init_laser()
-            except (ConnectionError, ConnectionRefusedError):
-                time.sleep(0.3)
-                count += 1
-                # self.usb_log(f"Error-Routine pass #{count}")
-                if self.is_shutdown or self._abort_open:
-                    self._is_opening = False
-                    self._abort_open = False
-                    return
-                if self.connection.is_open(self._machine_index):
-                    self.connection.close(self._machine_index)
-                if count >= 10:
-                    # We have failed too many times.
-                    self._is_opening = False
-                    self.set_disable_connect(True)
-                    self.usb_log("Could not connect to the controller.")
-                    self.usb_log("Automatic connections disabled.")
-                    raise ConnectionRefusedError("Could not connect to the controller.")
-                time.sleep(0.3)
-                continue
-        self._is_opening = False
-        self._abort_open = False
-
-    def sync(self):
-        self._last_updated_x, self._last_updated_y = self._last_x, self._last_y
-
-    def update(self):
-        last_x, last_y = self.service.view.iposition(
-            self._last_updated_x, self._last_updated_y
-        )
-        x, y = self.service.view.iposition(self._last_x, self._last_y)
-        self.sync()
-        self.service.signal("driver;position", (last_x, last_y, x, y))
-
-    #######################
-    # MODE SHIFTS
-    #######################
-
-    def realtime_job(self, job=None):
-        """
-        Starts a realtime job, which runs on file0
-        @return:
-        """
-        if self.mode != "init":
-            return
-        self._realtime = True
-        self.mode = "realtime"
-        self(f"ZZZFile0")
-        self._clear_settings()
-
-    def _clear_settings(self):
-        self._set_pen = None
-        self._set_cut_dc = None
-        self._set_move_dc = None
-        self._set_mode = None
-        self._set_speed = None
-        self._set_power = None
-        self._set_pwm_freq = None
-        self._set_relative = None
-        self._set_bit_depth = None
-        self._set_bit_width = None
-        self._set_backlash = None
-        self._set_corner_speed = None
-        self._set_acceleration_length = None
-
-        self._pen = None
-        self._cut_dc = None
-        self._move_dc = None
-        self._mode = None
-        self._speed = None
-        self._power = None
-        self._pwm_frequency = None
-        self._relative = None
-        self._bit_depth = None
-        self._bit_width = None
-        self._backlash = None
-        self._corner_speed = None
-        self._acceleration_length = None
-
-    def _set_move_mode(self):
-        """
-        Move mode is done for any major movements usually starting out an execution.
-
-        eg.
-        VP100;VK100;SP2;SP2;VQ15;VJ24;VS10;DA0;
-        @return:
-        """
-        self.mode = "move"
-        self._set_pen = self.sp2
-        self._set_cut_dc = self.service.cut_dc
-        self._set_move_dc = self.service.move_dc
-        self._set_mode = "move"
-        self._set_speed = self.service.moving_speed
-        self._set_power = None
-        self._set_pwm_freq = None
-        self._set_relative = True
-        self._set_bit_depth = None
-        self._set_bit_width = None
-        self._set_backlash = None
-        self._set_corner_speed = None
-        self._set_acceleration_length = None
-
-    def _set_goto_mode(self):
-        """
-        Goto mode is done for minor between movements, where we don't need to set the power to 0, since we will be
-        using PU; commands.
-
-        eg.
-        SP2;SP2;VQ15;VJ24;VS10;PR;PU2083,-5494;
-
-        @return:
-        """
-        self._set_pen = self.sp2
-        self._set_mode = "goto"
-        self._set_speed = self.service.moving_speed
-        self._set_relative = True
-
-    def _set_frame_mode(self):
-        """
-        Frame mode is the standard framing operation settings.
-        eg.
-        SP0;VS20;PR;PD9891,0;PD0,-19704;PD-9891,0;PD0,19704;ZED;
-
-        @return:
-        """
-
-        self._set_cut_dc = self.service.cut_dc
-        self._set_move_dc = self.service.move_dc
-        self._set_pen = self.sp0
-        self._set_power = 0
-        self._set_relative = True
-        self._set_mode = "frame"
-        self._set_speed = self.service.moving_speed
-        if self.service.pwm_enabled:
-            self._set_pwm_freq = self.service.pwm_frequency
-
-    def _set_vector_mode(self):
-        """
-        Vector mode typically is just the PD commands for a vector.
-
-        eg.
-        PR;SP1;DA65;VS187;PD0,-2534;PD1099,0;PD0,2534;PD-1099,0;
-        @return:
-        """
-        self._set_pen = self.sp1
-        self._set_cut_dc = self.service.cut_dc
-        self._set_move_dc = self.service.move_dc
-        self._set_mode = "vector"
-        self._set_speed = self.service.default_cut_speed
-        self._set_power = self.service.default_cut_power
-        if self.service.pwm_enabled:
-            self._set_pwm_freq = self.service.pwm_frequency
-        self._set_relative = True
-        self._set_bit_depth = None
-        self._set_bit_width = None
-        self._set_backlash = None
-
-    def _set_raster_mode(self):
-        """
-        Raster mode is the typical preamble and required settings for running a raster. This usually consists of
-        YF, YZ, XF, XZ, and small PU commands.
-
-        EG.
-        BT1;DA77;BC0;BD3;SP0;VQ20;VJ10;VS18;YF...
-        @return:
-        """
-        self._set_pen = self.sp0
-        self._set_cut_dc = self.service.cut_dc
-        self._set_move_dc = self.service.move_dc
-        self._set_mode = "raster"
-        self._corner_speed = None
-        self._acceleration_length = None
-        if self.service.pwm_enabled:
-            self._set_pwm_freq = self.service.pwm_frequency
-        self._set_relative = True
-        self._set_bit_depth = 1
-        self._set_bit_width = 1
-        self._set_speed = self.service.default_raster_speed
-        self._set_power = self.service.default_raster_power
-
-    def _write_frame(self, outline):
-        self.mode = "frame"
-        if outline is not None:
-            x, y = self._last_x, self._last_y
-            self("DW")
-            for pt in outline:
-                self.frame(*pt)
-            self.frame(*outline[0])
-            self.goto(x, y)  # Return to initial x, y if different than outline.
-            self._clear_settings()
-            self("ZED")
-
-    def _execute_job(self):
-        self.service.laser_status = "active"
-        self("ZED")
-        cmd = b";".join(self._command_buffer) + b";"
-        self.connect_if_needed()
-        self.connection.write(index=self._machine_index, data=cmd)
-        self._command_buffer.clear()
-        self._clear_settings()
-        self.service.laser_status = "idle"
-
-    def open_job(self, job=None):
-        """
-        Opens a job at the declared file_index
-
-        @return:
-        """
-
-        outline = None
-        try:
-            outline = job.outline
-        except AttributeError:
-            pass
-        if outline is not None:
-            self.set_xy(*outline[0])
-            self._job_x, self._job_y = outline[0]
-        self._realtime = False
-        self._clear_settings()
-        self(f"ZZZFile{self.service.file_index}")
-        self._write_frame(outline)
-        self("GZ")
-        self._clear_settings()
-
-    def close_job(self, job=None):
-        """
-        Closes the file and sends.
-        @return:
-        """
-        if not self._command_buffer:
-            return
-        if self.mode in ("realtime", "init"):
-            # Job contains no instructions.
-            self.mode = "init"
-            self._command_buffer.clear()
-            return
-        if not self._realtime and self._job_x is not None and self._job_y is not None:
-            self.goto_rel(self._job_x, self._job_y)
-
-        self._execute_job()
-        self.mode = "init"
-        if self.service.autoplay and not self._realtime:
-            self.replay(self.service.file_index)
-
-    def program_mode(self):
-        self._set_vector_mode()
-
-    def rapid_mode(self):
-        pass
-
-    #######################
-    # Raster Events
-    #######################
-
-    def scanline(self, bits, right=False, left=False, top=False, bottom=False):
-        """
-        Send a scanline movement.
-
-        @param bits: list of bits.
-        @param right: Moving right?
-        @param left: Moving left?
-        @param top: Moving top?
-        @param bottom: Moving bottom?
-        @return:
-        """
-        self._commit_settings()
-        cmd = None
-        if left:  # left movement
-            cmd = bytearray(b"YF")
-            bits = bits[::-1]
-        elif right:
-            cmd = bytearray(b"YZ")
-            bits = bits[::-1]
-        elif top:
-            cmd = bytearray(b"XF")
-            bits = bits[::-1]
-        elif bottom:
-            cmd = bytearray(b"XZ")
-            bits = bits[::-1]
-        if cmd is None:
-            return  # 0,0 goes nowhere.
-        count = len(bits)
-        byte_length = int(math.ceil(count / 8))
-        cmd += struct.pack(">i", count)[1:]
-        binary = "".join([str(b) for b in bits])
-        cmd += int(binary, 2).to_bytes(byte_length, "little")
-        self(cmd)
-        if left:
-            self._last_x -= count
-        elif right:
-            self._last_x += count
-        elif top:
-            self._last_y -= count
-        elif bottom:
-            self._last_y += count
-
-    def _raster_jog(self, x, y, raster_cut):
-        self.goto(x, y)
-        self._set_raster_mode()
-        self.set_settings(raster_cut.settings)
-        self._set_mode = "raster"
-        self._commit_settings()
-
-    def raster(self, raster_cut: RasterCut):
-        """
-        Run a raster cut with scanlines and default actions.
-
-        @param raster_cut:
-        @return:
-        """
-
-        scanline = []
-        increasing = True
-
-        def commit_scanline():
-            if scanline:
-                # If there is a scanline commit the scanline.
-                if raster_cut.horizontal:
-                    # Horizontal Raster.
-                    if increasing:
-                        self.scanline(scanline, right=True)
-                        scanline.clear()
-                    else:
-                        self.scanline(scanline, left=True)
-                        scanline.clear()
-                else:
-                    # Vertical raster.
-                    if increasing:
-                        self.scanline(scanline, bottom=True)
-                        scanline.clear()
-                    else:
-                        self.scanline(scanline, top=True)
-                        scanline.clear()
-
-        self("IN")
-        self._clear_settings()
-
-        previous_x, previous_y = raster_cut.plot.initial_position_in_scene()
-
-        self._raster_jog(previous_x, previous_y, raster_cut)
-
-        if raster_cut.horizontal:
-            self.mode = "raster_horizontal"
-            for x, y, on in raster_cut.plot.plot():
-                dx = x - previous_x
-                dy = y - previous_y
-                if dx < 0 and increasing or dx > 0 and not increasing:
-                    # X direction has switched.
-                    commit_scanline()
-                    increasing = not increasing
-                if dy != 0:
-                    # We are moving in the Y direction.
-                    commit_scanline()
-                    if abs(dy) > self.service.max_raster_jog:
-                        self._raster_jog(x, y, raster_cut)
-                    else:
-                        self._relative = True
-                        self("PR")
-                        self._goto(x, y)  # remain standard rastermode
-                if dx != 0:
-                    # Normal move, extend bytes.
-                    scanline.extend([int(on)] * abs(dx))
-                previous_x, previous_y = x, y
-        else:
-            self.mode = "raster_vertical"
-            for x, y, on in raster_cut.plot.plot():
-                dx = x - previous_x
-                dy = y - previous_y
-                if dy < 0 and increasing or dy > 0 and not increasing:
-                    # Y direction has switched.
-                    commit_scanline()
-                    increasing = not increasing
-                if dx != 0:
-                    # We are moving in the X direction.
-                    commit_scanline()
-                    if abs(dx) > self.service.max_raster_jog:
-                        self._raster_jog(x, y, raster_cut)
-                    else:
-                        self._relative = True
-                        self("PR")
-                        self._goto(x, y)  # remain standard rastermode
-                if dy != 0:
-                    # Normal move, extend bytes
-                    scanline.extend([int(on)] * abs(dy))
-                previous_x, previous_y = x, y
-        commit_scanline()
-
-    #######################
-    # SETS FOR PLOTLIKES
-    #######################
-
-    def set_settings(self, settings):
-        """
-        Sets the primary settings. Rapid, frequency, speed, and timings.
-
-        @param settings: The current settings dictionary
-        @return:
-        """
-        if "speed" in settings:
-            self._set_speed = settings.get("speed")
-        if "power" in settings:
-            self._set_power = settings.get("power")
-        if "pwm_frequency" in settings:
-            self._set_pwm_freq = settings.get("pwm_frequency")
-
-    #######################
-    # PLOTLIKE SHORTCUTS
-    #######################
-
-    def raw(self, data):
-        data = bytes(data, "latin1")
-        self.connect_if_needed()
-        self.connection.write(index=self._machine_index, data=data)
-
-    def frame(self, x, y):
-        self._set_frame_mode()
-        self._mark(x, y)
-
-    def mark(self, x, y, settings=None, power=None, speed=None):
-        """
-        Mark either sets default vector settings or sets the settings based on the settings object provided.
-        @param x:
-        @param y:
-        @param settings:
-        @param power: power during switch
-        @param speed: speed for marking
-        @return:
-        """
-        self._set_vector_mode()
-        if settings is not None:
-            self.set_settings(settings)
-        if power is not None:
-            self._set_power = power
-        if speed is not None:
-            self._set_speed = speed
-        self._mark(x, y)
-
-    def _mark(self, x, y):
-        dx = int(round(x - self._last_x))
-        dy = int(round(y - self._last_y))
-        if dx == 0 and dy == 0:
-            return
-        self._commit_settings()
-        if self._relative:
-            self(f"PD{dy},{dx}")
-            self._last_x += dx
-            self._last_y += dy
-        else:
-            x = int(round(x))
-            y = int(round(y))
-            self(f"PD{y},{x}")
-            self._last_x, self._last_y = x, y
-
-    def goto(self, x, y):
-        """
-        Goto position.
-        @param x:
-        @param y:
-        @return:
-        """
-        self.goto_rel(x, y)
-
-    def goto_abs(self, x, y):
-        """
-        Goto given absolute coords value.
-        @param x:
-        @param y:
-        @return:
-        """
-        self._set_move_mode()
-        self._relative = False
-        self._goto(x, y)
-
-    def goto_rel(self, x, y):
-        """
-        Positions are given in absolute coords, but the motion sent to the laser is relative.
-        @param x:
-        @param y:
-        @return:
-        """
-        self._set_move_mode()
-        self._goto(x, y)
-
-    def _goto(self, x, y):
-        dx = int(round(x - self._last_x))
-        dy = int(round(y - self._last_y))
-        if dx == 0 and dy == 0:
-            return
-        self._commit_settings()
-        if self._relative:
-            self(f"PU{dy},{dx}")
-            self._last_x += dx
-            self._last_y += dy
-        else:
-            x = int(round(x))
-            y = int(round(y))
-            self(f"PU{y},{x}")
-            self._last_x, self._last_y = x, y
-
-    def set_xy(self, x, y):
-        self.realtime_job()
-        self.mode = "jog"
-        self.goto_rel(x, y)
-        self.close_job()
-
-    def get_last_xy(self):
-        return self._last_x, self._last_y
-
-    #######################
-    # Command Shortcuts
-    #######################
-
-    def move_frame(self, file_index):
-        self.realtime_job()
-        self.mode = "move_frame"
-        self(f"ZK{file_index}")
-        self.close_job()
-
-    def draw_frame(self, file_index):
-        self.realtime_job()
-        self.mode = "draw_frame"
-        self(f"ZH{file_index}")
-        self.close_job()
-
-    def replay(self, file_index):
-        self.realtime_job()
-        self.mode = "replay"
-        self(f"ZG{file_index}")
-        self.close_job()
-
-    def home_speeds(self, x_speed, y_speed, m_speed):
-        self.realtime_job()
-        self.mode = "home_speeds"
-        self(f"VX{int(round(x_speed / 10))}")
-        self(f"VY{int(round(y_speed / 10))}")
-        self(f"VM{int(round(m_speed / 10))}")
-        self.close_job()
-
-    def z_relative(self, amount, speed=100):
-        self.realtime_job()
-        self.mode = "zmove"
-        self(f"CV{int(round(speed / 10))}")
-        self(f"CR{int(round(amount))}")
-        self.close_job()
-
-    def z_absolute(self, z_position, speed=100):
-        self.realtime_job()
-        self.mode = "zmove"
-        self(f"CV{int(round(speed / 10))}")
-        self(f"CU{int(round(z_position))}")
-        self.close_job()
-
-    def w_relative(self, amount, speed=100):
-        self.realtime_job()
-        self.mode = "wmove"
-        self(f"WV{int(round(speed / 10))}")
-        self(f"WR{int(round(amount))}")
-        self.close_job()
-
-    def w_absolute(self, w_position, speed=100):
-        self.realtime_job()
-        self.mode = "wmove"
-        self(f"WV{int(round(speed / 10))}")
-        self(f"WU{int(round(w_position))}")
-        self.close_job()
-
-    def pulse(self, pulse_time_ms):
-        self.realtime_job()
-        self.dwell(pulse_time_ms)
-        self.close_job()
-
-    def home(self):
-        self.realtime_job()
-        self.mode = "home"
-        self("RS")
-        self._last_x = 0
-        self._last_y = 0
-        self.close_job()
-
-    def origin(self):
-        self.realtime_job()
-        self.mode = "origin"
-        self.goto(0, 0)
-        self.close_job()
-
-    def abort(self):
-        self.realtime_job()
-        self.mode = "abort"
-        self("ZQ")
-        self.close_job()
-
-    def wait(self, time_in_ms):
-        while time_in_ms > 255:
-            time_in_ms -= 255
-            self("TX255")
-        if time_in_ms > 0:
-            self(f"TX{int(round(time_in_ms))}")
-
-    def dwell(self, time_in_ms, settings=None):
-        self.mode = "pulse"
-        if self.service.pwm_enabled:
-            self._set_pwm_freq = self.service.pwm_frequency
-        if settings is not None:
-            # Settings based speed, power, pwm_freq
-            if "power" in settings:
-                self._set_power = settings.get("power")
-            if "pwm_frequency" in settings:
-                self._set_pwm_freq = settings.get("pwm_frequency")
-            # self.set_settings(settings)
-        else:
-            self._set_power = 1000.0
-        self._set_power *= self.service.max_pulse_power / 100.0
-        self._commit_pwmfreq()
-        self._commit_power()
-        while time_in_ms > 255:
-            time_in_ms -= 255
-            self("TO255")
-        if time_in_ms > 0:
-            self(f"TO{int(round(time_in_ms))}")
-
-    def pause(self):
-        self.realtime_job()
-        self.mode = "pause"
-        self("ZT")
-        self.close_job()
-        self.paused = True
-
-    def resume(self):
-        self.realtime_job()
-        self.mode = "resume"
-        self("ZG")
-        self.close_job()
-        self.paused = False
-
-    def wait_finished(self):
-        # No known method to force the laser to single state.
-        pass
-
-    def init_laser(self):
-        self.usb_log("Ready")
-
-    def power(self, power):
-        """
-        Accepts power in percent, automatically converts to power_ratio
-
-        @param power:
-        @return:
-        """
-        self._set_power = power
-
-    #######################
-    # Commit settings
-    #######################
-
-    def _commit_settings(self):
-        if self._set_speed is not None:
-            # If set speed is set, we set all the various speed chart lookup properties.
-            settings = self._get_chart_settings_for_speed(self._set_speed)
-            self._set_corner_speed = int(round(settings["corner_speed"]))
-            self._set_acceleration_length = int(round(settings["acceleration_length"]))
-            self._set_backlash = int(round(settings["backlash"]))
-
-        self.commit_mode()
-        self._commit_pwmfreq()
-        self._commit_dc()
-        if self._mode != "raster":
-            self._commit_pen()
-        self._commit_power()
-        if self._mode == "raster":
-            self._commit_raster()
-            self._commit_pen()
-        if self._mode != "vector":
-            self._commit_corner_speed()
-            self._commit_acceleration_length()
-        self._commit_speed()
-        self._commit_relative_mode()
-
-    def commit_mode(self):
-        if self._set_mode is None:
-            # Quick fail.
-            return
-        new_mode = self._set_mode
-        self._set_mode = None
-        if new_mode != self._mode:
-            self._mode = new_mode
-
-            # Old speed and power are void on mode change.
-            self._speed = None
-            self._power = None
-            self._corner_speed = None
-            self._acceleration_length = None
-            self._backlash = None
-
-    #######################
-    # Commit DC Info
-    #######################
-
-    def _commit_cut_dc(self):
-        if self._set_cut_dc is None and self._cut_dc is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_dc = self._set_cut_dc
-        self._set_cut_dc = None
-        if new_dc is None:
-            # Nothing set, set default.
-            new_dc = self.service.cut_dc
-        if new_dc != self._cut_dc:
-            # DC is different
-            self._cut_dc = new_dc
-            self(f"VP{self._cut_dc}")
-
-    def _commit_move_dc(self):
-        if self._set_move_dc is None and self._move_dc is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_dc = self._set_move_dc
-        self._set_move_dc = None
-        if new_dc is None:
-            # Nothing set, set default.
-            new_dc = self.service.move_dc
-        if new_dc != self._move_dc:
-            # DC is different
-            self._move_dc = new_dc
-            self(f"VK{self._move_dc}")
-
-    def _commit_dc(self):
-        self._commit_cut_dc()
-        self._commit_move_dc()
-
-    #######################
-    # Commit Pen
-    #######################
-
-    def _commit_pen(self):
-        if self._set_pen is None and self._pen is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_pen = self._set_pen
-        self._set_pen = None
-        if new_pen is None:
-            # Nothing set, set default.
-            new_pen = 0
-        if new_pen != self._pen:
-            # PEN is different
-            self._pen = new_pen
-            self(f"SP{self._pen}")
-
-    #######################
-    # Commit Power
-    #######################
-
-    def _map_power(self, power):
-        if self.mode == "pulse":
-            power /= 10.0
-            return int(round(power))
-        power /= 1000.0  # Scale to 0-1
-        power *= self.service.max_power  # Scale by max power %
-        power *= 255.0 / 100.0  # range between 000 and 255
-        if power > 255:
-            return 255
-        if power <= 0:
-            return 0
-        return int(round(power))
-
-    def _commit_power(self):
-        """
-        Write power information. If the _set_power is set then it takes priority. Otherwise, the power remains set to
-        what it was previously set to. If no power is set, then power is set to the default cut power.
-
-        @return:
-        """
-        if self._set_power is None and self._power is not None:
-            return  # quick fail.
-
-        new_power = self._set_power
-        self._set_power = None
-
-        if new_power is None:
-            return
-
-        # Premap the power setting.
-        new_power = self._map_power(new_power)
-
-        if new_power != self._power:
-            # Already set power is not the new_power setting.
-            self._power = new_power
-            self(f"DA{new_power}")
-
-    def _commit_pwmfreq(self):
-        """
-        Write pwm frequency information.
-        @return:
-        """
-        if self._set_pwm_freq is None and self._pwm_frequency is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_freq = self._set_pwm_freq
-        self._set_pwm_freq = None
-        if new_freq is None:
-            return
-        if new_freq != self._pwm_frequency:
-            # Frequency is needed, and different
-            self._pwm_frequency = new_freq
-            self(f"PL{self._pwm_frequency}")
-
-    #######################
-    # Commit speed settings
-    #######################
-
-    def _commit_speed(self):
-        if self._set_speed is None and self._speed is not None:
-            return
-        new_speed = self._set_speed
-        self._set_speed = None
-        if new_speed is not None and new_speed != self._speed:
-            self._speed = new_speed
-            if self._mode == "vector":
-                self(f"VS{self._map_vector_speed(new_speed)}")
-            else:
-                self(f"VS{self._map_raster_speed(new_speed)}")
-
-    def _get_chart_settings_for_speed(self, speed):
-        """
-        Get charted settings for a particular speed. Given a speed this provides other required settings for this
-        same speed.
-
-        @param speed:
-        @return:
-        """
-        chart = self.service.speedchart
-        smallest_difference = float("inf")
-        closest_index = None
-        for i, c in enumerate(chart):
-            chart_speed = c.get("speed", 0)
-            delta_speed = chart_speed - speed
-            if chart_speed > speed and smallest_difference > delta_speed:
-                smallest_difference = delta_speed
-                closest_index = i
-        if closest_index is not None:
-            return chart[closest_index]
-        return chart[-1]
-
-    def _map_raster_speed(self, speed):
-        v = int(round(speed / 10))
-        if v == 0:
-            v = 1
-        return v
-
-    def _map_vector_speed(self, speed):
-        if speed >= 93:
-            return int(round(speed / 10))
-        if speed >= 15:
-            return 162 + int(round(speed))
-        if speed >= 5:
-            return 147 + int(round(speed * 2))
-        if speed >= 1:
-            return 132 + int(round(speed * 5))
-        else:
-            return 127 + int(round(speed * 10))
-
-    #######################
-    # Commit Speed Chart
-    #######################
-
-    def _commit_corner_speed(self):
-        if self._set_corner_speed is None and self._corner_speed is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_corner_speed = self._set_corner_speed
-        self._set_corner_speed = None
-        if new_corner_speed is None:
-            # Nothing set, set default.
-            return
-        if new_corner_speed != self._corner_speed:
-            # Corner_speed is different
-            self._corner_speed = new_corner_speed
-            self(f"VQ{int(round(self._corner_speed))}")
-
-    def _commit_acceleration_length(self):
-        if (
-            self._set_acceleration_length is None
-            and self._acceleration_length is not None
-        ):
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_acceleration_length = self._set_acceleration_length
-        self._set_acceleration_length = None
-        if new_acceleration_length is None:
-            # Nothing set, set default.
-            return
-        if new_acceleration_length != self._acceleration_length:
-            # Acceleration Length is different
-            self._acceleration_length = new_acceleration_length
-            self(f"VJ{int(round(self._acceleration_length))}")
-
-    #######################
-    # Commit Relative Mode
-    #######################
-
-    def _commit_relative_mode(self):
-        if self._set_relative is None and self._relative is not None:
-            return
-        new_relative = self._set_relative
-        self._set_relative = None
-
-        if new_relative is None:
-            new_relative = True
-
-        if new_relative != self._relative:
-            self._relative = new_relative
-            if self._relative:
-                self("PR")
-            else:
-                self("PA")
-
-    #######################
-    # Commit Raster
-    #######################
-
-    def _commit_raster_bitdepth(self):
-        if self._set_bit_depth is None and self._bit_depth is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_bitdepth = self._set_bit_depth
-        self._set_bit_depth = None
-        if new_bitdepth is None:
-            # Nothing set, set default.
-            return
-        if new_bitdepth != self._bit_depth:
-            # Bitdepth is different
-            self._bit_depth = new_bitdepth
-            self(f"BT{self._bit_depth}")
-
-    def _commit_raster_bitwidth(self):
-        if self._set_bit_width is None and self._bit_width is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_bitwidth = self._set_bit_width
-        self._set_bit_width = None
-        if new_bitwidth is None:
-            # Nothing set, set default.
-            return
-        if new_bitwidth != self._bit_width:
-            # Bitdepth is different
-            self._bit_width = new_bitwidth
-            self(f"BD{self._bit_width}")
-
-    def _commit_raster_backlash(self):
-        if self._set_backlash is None and self._backlash is not None:
-            # Quick Fail.
-            return
-
-        # Fetch Requested.
-        new_backlash = self._set_backlash
-        self._set_backlash = None
-        if new_backlash is None:
-            # Nothing set, set default.
-            return
-        if new_backlash != self._backlash:
-            # backlash is different
-            self._backlash = new_backlash
-            self(f"BC{self._backlash}")
-
-    def _commit_raster(self):
-        self._commit_raster_bitdepth()
-        self._commit_raster_backlash()
-        self._commit_raster_bitwidth()
+"""
+Newly Controller
+"""
+import math
+import struct
+import time
+
+from meerk40t.core.cutcode.rastercut import RasterCut
+from meerk40t.newly.mock_connection import MockConnection
+from meerk40t.newly.usb_connection import USBConnection
+
+
+class NewlyController:
+    """
+    Newly Controller
+    """
+
+    def __init__(
+        self,
+        service,
+        x=0,
+        y=0,
+        force_mock=False,
+    ):
+        self._machine_index = 0
+        self.service = service
+        self.force_mock = force_mock
+        self.is_shutdown = False  # Shutdown finished.
+
+        self.usb_log = service.channel(f"{service.safe_label}/usb", buffer_size=500)
+        self.usb_log.watch(lambda e: service.signal("pipe;usb_status", e))
+
+        # Load Primary Pens
+        self.sp0 = self.service.setting(int, "sp0", 0)
+        self.sp1 = self.service.setting(int, "sp1", 1)
+        self.sp2 = self.service.setting(int, "sp2", 2)
+
+        self.connection = None
+        self._is_opening = False
+        self._abort_open = False
+        self._disable_connect = False
+
+        self._job_x = None
+        self._job_y = None
+
+        self._last_x = x
+        self._last_y = y
+
+        self._last_updated_x = x
+        self._last_updated_y = y
+
+        #######################
+        # Preset Modes.
+        #######################
+
+        self._set_pen = None
+        self._set_cut_dc = None
+        self._set_move_dc = None
+        self._set_mode = None
+        self._set_speed = None
+        self._set_power = None
+        self._set_pwm_freq = None
+        self._set_relative = None
+        self._set_bit_depth = None
+        self._set_bit_width = None
+        self._set_backlash = None
+        self._set_corner_speed = None
+        self._set_acceleration_length = None
+
+        #######################
+        # Current Set Modes.
+        #######################
+
+        self._pen = None
+        self._cut_dc = None
+        self._move_dc = None
+        self._mode = None
+        self._speed = None
+        self._power = None
+        self._pwm_frequency = None
+        self._relative = None
+        self._bit_depth = None
+        self._bit_width = None
+        self._backlash = None
+        self._corner_speed = None
+        self._acceleration_length = None
+
+        self._realtime = False
+
+        self.mode = "init"
+        self.paused = False
+        self._command_buffer = []
+        self._signal_updates = self.service.setting(bool, "signal_updates", True)
+
+    def __call__(self, cmd, *args, **kwargs):
+        if isinstance(cmd, str):
+            # Any string data sent is latin-1 encoded.
+            self._command_buffer.append(cmd.encode("latin-1"))
+        else:
+            self._command_buffer.append(cmd)
+
+    def set_disable_connect(self, status):
+        self._disable_connect = status
+
+    def added(self):
+        pass
+
+    def service_detach(self):
+        pass
+
+    def shutdown(self, *args, **kwargs):
+        self.is_shutdown = True
+
+    @property
+    def connected(self):
+        if self.connection is None:
+            return False
+        return self.connection.is_open(self._machine_index)
+
+    @property
+    def is_connecting(self):
+        if self.connection is None:
+            return False
+        return self._is_opening
+
+    def abort_connect(self):
+        self._abort_open = True
+        self.usb_log("Connect Attempts Aborted")
+
+    def disconnect(self):
+        try:
+            self.connection.close(self._machine_index)
+        except (ConnectionError, ConnectionRefusedError, AttributeError):
+            pass
+        self.connection = None
+        # Reset error to allow another attempt
+        self.set_disable_connect(False)
+
+    def connect_if_needed(self):
+        if self._disable_connect:
+            # After many failures automatic connects are disabled. We require a manual connection.
+            self.abort_connect()
+            self.connection = None
+            raise ConnectionRefusedError(
+                "NewlyController was unreachable. Explicit connect required."
+            )
+        if self.connection is None:
+            if self.service.setting(bool, "mock", False) or self.force_mock:
+                self.connection = MockConnection(self.usb_log)
+                name = self.service.safe_label
+                self.connection.send = self.service.channel(f"{name}/send")
+                self.connection.recv = self.service.channel(f"{name}/recv")
+            else:
+                self.connection = USBConnection(self.usb_log)
+        if self.connection is None:
+            self._is_opening = False
+            self.set_disable_connect(True)
+            self.usb_log("Could not connect to the controller.")
+            self.usb_log("Automatic connections disabled.")
+            raise ConnectionRefusedError("Could not connect to the controller.")
+
+        self._is_opening = True
+        self._abort_open = False
+        count = 0
+        while not self.connection.is_open(self._machine_index):
+            try:
+                if self.connection.open(self._machine_index) < 0:
+                    raise ConnectionError
+                self.init_laser()
+            except (ConnectionError, ConnectionRefusedError):
+                time.sleep(0.3)
+                count += 1
+                # self.usb_log(f"Error-Routine pass #{count}")
+                if self.is_shutdown or self._abort_open:
+                    self._is_opening = False
+                    self._abort_open = False
+                    return
+                if self.connection.is_open(self._machine_index):
+                    self.connection.close(self._machine_index)
+                if count >= 10:
+                    # We have failed too many times.
+                    self._is_opening = False
+                    self.set_disable_connect(True)
+                    self.usb_log("Could not connect to the controller.")
+                    self.usb_log("Automatic connections disabled.")
+                    raise ConnectionRefusedError("Could not connect to the controller.")
+                time.sleep(0.3)
+                continue
+        self._is_opening = False
+        self._abort_open = False
+
+    def sync(self):
+        self._last_updated_x, self._last_updated_y = self._last_x, self._last_y
+
+    def update(self):
+        last_x, last_y = self.service.view.iposition(
+            self._last_updated_x, self._last_updated_y
+        )
+        x, y = self.service.view.iposition(self._last_x, self._last_y)
+        self.sync()
+        if self._signal_updates:
+            self.service.signal("driver;position", (last_x, last_y, x, y))
+
+    #######################
+    # MODE SHIFTS
+    #######################
+
+    def realtime_job(self, job=None):
+        """
+        Starts a realtime job, which runs on file0
+        @return:
+        """
+        if self.mode != "init":
+            return
+        self._realtime = True
+        self.mode = "realtime"
+        self(f"ZZZFile{0}")
+        self._clear_settings()
+
+    def _clear_settings(self):
+        self._set_pen = None
+        self._set_cut_dc = None
+        self._set_move_dc = None
+        self._set_mode = None
+        self._set_speed = None
+        self._set_power = None
+        self._set_pwm_freq = None
+        self._set_relative = None
+        self._set_bit_depth = None
+        self._set_bit_width = None
+        self._set_backlash = None
+        self._set_corner_speed = None
+        self._set_acceleration_length = None
+
+        self._pen = None
+        self._cut_dc = None
+        self._move_dc = None
+        self._mode = None
+        self._speed = None
+        self._power = None
+        self._pwm_frequency = None
+        self._relative = None
+        self._bit_depth = None
+        self._bit_width = None
+        self._backlash = None
+        self._corner_speed = None
+        self._acceleration_length = None
+
+    def _set_move_mode(self):
+        """
+        Move mode is done for any major movements usually starting out an execution.
+
+        e.g.
+        VP100;VK100;SP2;SP2;VQ15;VJ24;VS10;DA0;
+        @return:
+        """
+        self.mode = "move"
+        self._set_pen = self.sp2
+        self._set_cut_dc = self.service.cut_dc
+        self._set_move_dc = self.service.move_dc
+        self._set_mode = "move"
+        self._set_speed = self.service.moving_speed
+        self._set_power = None
+        self._set_pwm_freq = None
+        self._set_relative = True
+        self._set_bit_depth = None
+        self._set_bit_width = None
+        self._set_backlash = None
+        self._set_corner_speed = None
+        self._set_acceleration_length = None
+
+    def _set_goto_mode(self):
+        """
+        Goto mode is done for minor between movements, where we don't need to set the power to 0, since we will be
+        using PU; commands.
+
+        e.g.
+        SP2;SP2;VQ15;VJ24;VS10;PR;PU2083,-5494;
+
+        @return:
+        """
+        self._set_pen = self.sp2
+        self._set_mode = "goto"
+        self._set_speed = self.service.moving_speed
+        self._set_relative = True
+
+    def _set_frame_mode(self):
+        """
+        Frame mode is the standard framing operation settings.
+        e.g.
+        SP0;VS20;PR;PD9891,0;PD0,-19704;PD-9891,0;PD0,19704;ZED;
+
+        @return:
+        """
+
+        self._set_cut_dc = self.service.cut_dc
+        self._set_move_dc = self.service.move_dc
+        self._set_pen = self.sp0
+        self._set_power = 0
+        self._set_relative = True
+        self._set_mode = "frame"
+        self._set_speed = self.service.moving_speed
+        if self.service.pwm_enabled:
+            self._set_pwm_freq = self.service.pwm_frequency
+
+    def _set_vector_mode(self):
+        """
+        Vector mode typically is just the PD commands for a vector.
+
+        e.g.
+        PR;SP1;DA65;VS187;PD0,-2534;PD1099,0;PD0,2534;PD-1099,0;
+        @return:
+        """
+        self._set_pen = self.sp1
+        self._set_cut_dc = self.service.cut_dc
+        self._set_move_dc = self.service.move_dc
+        self._set_mode = "vector"
+        self._set_speed = self.service.default_cut_speed
+        self._set_power = self.service.default_cut_power
+        if self.service.pwm_enabled:
+            self._set_pwm_freq = self.service.pwm_frequency
+        self._set_relative = True
+        self._set_bit_depth = None
+        self._set_bit_width = None
+        self._set_backlash = None
+
+    def _set_raster_mode(self):
+        """
+        Raster mode is the typical preamble and required settings for running a raster. This usually consists of
+        YF, YZ, XF, XZ, and small PU commands.
+
+        EG.
+        BT1;DA77;BC0;BD3;SP0;VQ20;VJ10;VS18;YF...
+        @return:
+        """
+        self._set_pen = self.sp0
+        self._set_cut_dc = self.service.cut_dc
+        self._set_move_dc = self.service.move_dc
+        self._set_mode = "raster"
+        self._corner_speed = None
+        self._acceleration_length = None
+        if self.service.pwm_enabled:
+            self._set_pwm_freq = self.service.pwm_frequency
+        self._set_relative = True
+        self._set_bit_depth = 1
+        self._set_bit_width = 1
+        self._set_speed = self.service.default_raster_speed
+        self._set_power = self.service.default_raster_power
+
+    def _write_frame(self, outline):
+        self.mode = "frame"
+        if outline is not None:
+            x, y = self._last_x, self._last_y
+            self("DW")
+            for pt in outline:
+                self.frame(*pt)
+            self.frame(*outline[0])
+            self.goto(x, y)  # Return to initial x, y if different from outline.
+            self._clear_settings()
+            self("ZED")
+
+    def _execute_job(self):
+        self.service.laser_status = "active"
+        self("ZED")
+        cmd = b";".join(self._command_buffer) + b";"
+        try:
+            self.connect_if_needed()
+            self.connection.write(index=self._machine_index, data=cmd)
+        except ConnectionError:
+            pass
+        self._command_buffer.clear()
+        self._clear_settings()
+        self.service.laser_status = "idle"
+
+    def open_job(self, job=None):
+        """
+        Opens a job at the declared file_index
+
+        @return:
+        """
+
+        outline = None
+        try:
+            outline = job.outline
+        except AttributeError:
+            pass
+        if outline is not None:
+            self.set_xy(*outline[0])
+            self._job_x, self._job_y = outline[0]
+        self._realtime = False
+        self._clear_settings()
+        self(f"ZZZFile{self.service.file_index}")
+        self._write_frame(outline)
+        self("GZ")
+        self._clear_settings()
+
+    def close_job(self, job=None):
+        """
+        Closes the file and sends.
+        @return:
+        """
+        if not self._command_buffer:
+            return
+        if self.mode in ("realtime", "init"):
+            # Job contains no instructions.
+            self.mode = "init"
+            self._command_buffer.clear()
+            return
+        if not self._realtime and self._job_x is not None and self._job_y is not None:
+            self.goto_rel(self._job_x, self._job_y)
+
+        self._execute_job()
+        self.mode = "init"
+        if self.service.autoplay and not self._realtime:
+            self.replay(self.service.file_index)
+
+    def program_mode(self):
+        self._set_vector_mode()
+
+    def rapid_mode(self):
+        pass
+
+    #######################
+    # Raster Events
+    #######################
+
+    def scanline(self, bits, right=False, left=False, top=False, bottom=False):
+        """
+        Send a scanline movement.
+
+        @param bits: list of bits.
+        @param right: Moving right?
+        @param left: Moving left?
+        @param top: Moving top?
+        @param bottom: Moving bottom?
+        @return:
+        """
+        self._commit_settings()
+        cmd = None
+        if left:  # left movement
+            cmd = bytearray(b"YF")
+            bits = bits[::-1]
+        elif right:
+            cmd = bytearray(b"YZ")
+            bits = bits[::-1]
+        elif top:
+            cmd = bytearray(b"XF")
+            bits = bits[::-1]
+        elif bottom:
+            cmd = bytearray(b"XZ")
+            bits = bits[::-1]
+        if cmd is None:
+            return  # 0,0 goes nowhere.
+        count = len(bits)
+        byte_length = int(math.ceil(count / 8))
+        cmd += struct.pack(">i", count)[1:]
+        binary = "".join([str(b) for b in bits])
+        cmd += int(binary, 2).to_bytes(byte_length, "little")
+        self(cmd)
+        if left:
+            self._last_x -= count
+        elif right:
+            self._last_x += count
+        elif top:
+            self._last_y -= count
+        elif bottom:
+            self._last_y += count
+
+    def _raster_jog(self, x, y, raster_cut):
+        self.goto(x, y)
+        self._set_raster_mode()
+        self.set_settings(raster_cut.settings)
+        self._set_mode = "raster"
+        self._commit_settings()
+
+    def raster(self, raster_cut: RasterCut):
+        """
+        Run a raster cut with scanlines and default actions.
+
+        @param raster_cut:
+        @return:
+        """
+
+        scanline = []
+        increasing = True
+
+        def commit_scanline():
+            if scanline:
+                # If there is a scanline commit the scanline.
+                if raster_cut.horizontal:
+                    # Horizontal Raster.
+                    if increasing:
+                        self.scanline(scanline, right=True)
+                        scanline.clear()
+                    else:
+                        self.scanline(scanline, left=True)
+                        scanline.clear()
+                else:
+                    # Vertical raster.
+                    if increasing:
+                        self.scanline(scanline, bottom=True)
+                        scanline.clear()
+                    else:
+                        self.scanline(scanline, top=True)
+                        scanline.clear()
+
+        self("IN")
+        self._clear_settings()
+
+        previous_x, previous_y = raster_cut.plot.initial_position_in_scene()
+
+        self._raster_jog(previous_x, previous_y, raster_cut)
+
+        if raster_cut.horizontal:
+            self.mode = "raster_horizontal"
+            for x, y, on in raster_cut.plot.plot():
+                dx = x - previous_x
+                dy = y - previous_y
+                if dx < 0 and increasing or dx > 0 and not increasing:
+                    # X direction has switched.
+                    commit_scanline()
+                    increasing = not increasing
+                if dy != 0:
+                    # We are moving in the Y direction.
+                    commit_scanline()
+                    if abs(dy) > self.service.max_raster_jog:
+                        self._raster_jog(x, y, raster_cut)
+                    else:
+                        self._relative = True
+                        self("PR")
+                        self._goto(x, y)  # remain standard rastermode
+                if dx != 0:
+                    # Normal move, extend bytes.
+                    scanline.extend([int(on)] * abs(dx))
+                previous_x, previous_y = x, y
+        else:
+            self.mode = "raster_vertical"
+            for x, y, on in raster_cut.plot.plot():
+                dx = x - previous_x
+                dy = y - previous_y
+                if dy < 0 and increasing or dy > 0 and not increasing:
+                    # Y direction has switched.
+                    commit_scanline()
+                    increasing = not increasing
+                if dx != 0:
+                    # We are moving in the X direction.
+                    commit_scanline()
+                    if abs(dx) > self.service.max_raster_jog:
+                        self._raster_jog(x, y, raster_cut)
+                    else:
+                        self._relative = True
+                        self("PR")
+                        self._goto(x, y)  # remain standard rastermode
+                if dy != 0:
+                    # Normal move, extend bytes
+                    scanline.extend([int(on)] * abs(dy))
+                previous_x, previous_y = x, y
+        commit_scanline()
+
+    #######################
+    # SETS FOR PLOTLIKES
+    #######################
+
+    def set_settings(self, settings):
+        """
+        Sets the primary settings. Rapid, frequency, speed, and timings.
+
+        @param settings: The current settings dictionary
+        @return:
+        """
+        if "speed" in settings:
+            self._set_speed = settings.get("speed")
+        if "power" in settings:
+            self._set_power = settings.get("power")
+        if "pwm_frequency" in settings:
+            self._set_pwm_freq = settings.get("pwm_frequency")
+
+    #######################
+    # PLOTLIKE SHORTCUTS
+    #######################
+
+    def raw(self, data):
+        data = bytes(data, "latin1")
+        try:
+            self.connect_if_needed()
+            self.connection.write(index=self._machine_index, data=data)
+        except ConnectionError:
+            return
+
+    def frame(self, x, y):
+        self._set_frame_mode()
+        self._mark(x, y)
+
+    def mark(self, x, y, settings=None, power=None, speed=None):
+        """
+        Mark either sets default vector settings or sets the settings based on the settings object provided.
+        @param x:
+        @param y:
+        @param settings:
+        @param power: power during switch
+        @param speed: speed for marking
+        @return:
+        """
+        self._set_vector_mode()
+        if settings is not None:
+            self.set_settings(settings)
+        if power is not None:
+            self._set_power = power
+        if speed is not None:
+            self._set_speed = speed
+        self._mark(x, y)
+
+    def _mark(self, x, y):
+        dx = int(round(x - self._last_x))
+        dy = int(round(y - self._last_y))
+        if dx == 0 and dy == 0:
+            return
+        self._commit_settings()
+        if self._relative:
+            self(f"PD{dy},{dx}")
+            self._last_x += dx
+            self._last_y += dy
+        else:
+            x = int(round(x))
+            y = int(round(y))
+            self(f"PD{y},{x}")
+            self._last_x, self._last_y = x, y
+
+    def goto(self, x, y):
+        """
+        Goto position.
+        @param x:
+        @param y:
+        @return:
+        """
+        self.goto_rel(x, y)
+
+    def goto_abs(self, x, y):
+        """
+        Goto given absolute coords value.
+        @param x:
+        @param y:
+        @return:
+        """
+        self._set_move_mode()
+        self._relative = False
+        self._goto(x, y)
+
+    def goto_rel(self, x, y):
+        """
+        Positions are given in absolute coords, but the motion sent to the laser is relative.
+        @param x:
+        @param y:
+        @return:
+        """
+        self._set_move_mode()
+        self._goto(x, y)
+
+    def _goto(self, x, y):
+        dx = int(round(x - self._last_x))
+        dy = int(round(y - self._last_y))
+        if dx == 0 and dy == 0:
+            return
+        self._commit_settings()
+        if self._relative:
+            self(f"PU{dy},{dx}")
+            self._last_x += dx
+            self._last_y += dy
+        else:
+            x = int(round(x))
+            y = int(round(y))
+            self(f"PU{y},{x}")
+            self._last_x, self._last_y = x, y
+
+    def set_xy(self, x, y):
+        self.realtime_job()
+        self.mode = "jog"
+        self.goto_rel(x, y)
+        self.close_job()
+
+    def get_last_xy(self):
+        return self._last_x, self._last_y
+
+    #######################
+    # Command Shortcuts
+    #######################
+
+    def move_frame(self, file_index):
+        self.realtime_job()
+        self.mode = "move_frame"
+        self(f"ZK{file_index}")
+        self.close_job()
+
+    def draw_frame(self, file_index):
+        self.realtime_job()
+        self.mode = "draw_frame"
+        self(f"ZH{file_index}")
+        self.close_job()
+
+    def replay(self, file_index):
+        self.realtime_job()
+        self.mode = "replay"
+        self(f"ZG{file_index}")
+        self.close_job()
+
+    def home_speeds(self, x_speed, y_speed, m_speed):
+        self.realtime_job()
+        self.mode = "home_speeds"
+        self(f"VX{int(round(x_speed / 10))}")
+        self(f"VY{int(round(y_speed / 10))}")
+        self(f"VM{int(round(m_speed / 10))}")
+        self.close_job()
+
+    def z_relative(self, amount, speed=100):
+        self.realtime_job()
+        self.mode = "zmove"
+        self(f"CV{int(round(speed / 10))}")
+        self(f"CR{int(round(amount))}")
+        self.close_job()
+
+    def z_absolute(self, z_position, speed=100):
+        self.realtime_job()
+        self.mode = "zmove"
+        self(f"CV{int(round(speed / 10))}")
+        self(f"CU{int(round(z_position))}")
+        self.close_job()
+
+    def w_relative(self, amount, speed=100):
+        self.realtime_job()
+        self.mode = "wmove"
+        self(f"WV{int(round(speed / 10))}")
+        self(f"WR{int(round(amount))}")
+        self.close_job()
+
+    def w_absolute(self, w_position, speed=100):
+        self.realtime_job()
+        self.mode = "wmove"
+        self(f"WV{int(round(speed / 10))}")
+        self(f"WU{int(round(w_position))}")
+        self.close_job()
+
+    def pulse(self, pulse_time_ms):
+        self.realtime_job()
+        self.dwell(pulse_time_ms)
+        self.close_job()
+
+    def home(self):
+        self.realtime_job()
+        self.mode = "home"
+        self("RS")
+        self._last_x = 0
+        self._last_y = 0
+        self.close_job()
+
+    def origin(self):
+        self.realtime_job()
+        self.mode = "origin"
+        self.goto(0, 0)
+        self.close_job()
+
+    def abort(self):
+        self.realtime_job()
+        self.mode = "abort"
+        self("ZQ")
+        self.close_job()
+
+    def wait(self, time_in_ms):
+        while time_in_ms > 255:
+            time_in_ms -= 255
+            self("TX255")
+        if time_in_ms > 0:
+            self(f"TX{int(round(time_in_ms))}")
+
+    def dwell(self, time_in_ms, settings=None):
+        self.mode = "pulse"
+        if self.service.pwm_enabled:
+            self._set_pwm_freq = self.service.pwm_frequency
+        if settings is not None:
+            # Settings based speed, power, pwm_freq
+            if "power" in settings:
+                self._set_power = settings.get("power")
+            if "pwm_frequency" in settings:
+                self._set_pwm_freq = settings.get("pwm_frequency")
+            # self.set_settings(settings)
+        else:
+            self._set_power = 1000.0
+        self._set_power *= self.service.max_pulse_power / 100.0
+        self._commit_pwmfreq()
+        self._commit_power()
+        while time_in_ms > 255:
+            time_in_ms -= 255
+            self("TO255")
+        if time_in_ms > 0:
+            self(f"TO{int(round(time_in_ms))}")
+
+    def pause(self):
+        self.realtime_job()
+        self.mode = "pause"
+        self("ZT")
+        self.close_job()
+        self.paused = True
+
+    def resume(self):
+        self.realtime_job()
+        self.mode = "resume"
+        self("ZG")
+        self.close_job()
+        self.paused = False
+
+    def wait_finished(self):
+        # No known method to force the laser to single state.
+        pass
+
+    def init_laser(self):
+        self.usb_log("Ready")
+
+    def power(self, power):
+        """
+        Accepts power in percent, automatically converts to power_ratio
+
+        @param power:
+        @return:
+        """
+        self._set_power = power
+
+    #######################
+    # Commit settings
+    #######################
+
+    def _commit_settings(self):
+        if self._set_speed is not None:
+            # If set speed is set, we set all the various speed chart lookup properties.
+            settings = self._get_chart_settings_for_speed(self._set_speed)
+            self._set_corner_speed = int(round(settings["corner_speed"]))
+            self._set_acceleration_length = int(round(settings["acceleration_length"]))
+            self._set_backlash = int(round(settings["backlash"]))
+
+        self.commit_mode()
+        self._commit_pwmfreq()
+        self._commit_dc()
+        if self._mode != "raster":
+            self._commit_pen()
+        self._commit_power()
+        if self._mode == "raster":
+            self._commit_raster()
+            self._commit_pen()
+        if self._mode != "vector":
+            self._commit_corner_speed()
+            self._commit_acceleration_length()
+        self._commit_speed()
+        self._commit_relative_mode()
+
+    def commit_mode(self):
+        if self._set_mode is None:
+            # Quick fail.
+            return
+        new_mode = self._set_mode
+        self._set_mode = None
+        if new_mode != self._mode:
+            self._mode = new_mode
+
+            # Old speed and power are void on mode change.
+            self._speed = None
+            self._power = None
+            self._corner_speed = None
+            self._acceleration_length = None
+            self._backlash = None
+
+    #######################
+    # Commit DC Info
+    #######################
+
+    def _commit_cut_dc(self):
+        if self._set_cut_dc is None and self._cut_dc is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_dc = self._set_cut_dc
+        self._set_cut_dc = None
+        if new_dc is None:
+            # Nothing set, set default.
+            new_dc = self.service.cut_dc
+        if new_dc != self._cut_dc:
+            # DC is different
+            self._cut_dc = new_dc
+            self(f"VP{self._cut_dc}")
+
+    def _commit_move_dc(self):
+        if self._set_move_dc is None and self._move_dc is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_dc = self._set_move_dc
+        self._set_move_dc = None
+        if new_dc is None:
+            # Nothing set, set default.
+            new_dc = self.service.move_dc
+        if new_dc != self._move_dc:
+            # DC is different
+            self._move_dc = new_dc
+            self(f"VK{self._move_dc}")
+
+    def _commit_dc(self):
+        self._commit_cut_dc()
+        self._commit_move_dc()
+
+    #######################
+    # Commit Pen
+    #######################
+
+    def _commit_pen(self):
+        if self._set_pen is None and self._pen is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_pen = self._set_pen
+        self._set_pen = None
+        if new_pen is None:
+            # Nothing set, set default.
+            new_pen = 0
+        if new_pen != self._pen:
+            # PEN is different
+            self._pen = new_pen
+            self(f"SP{self._pen}")
+
+    #######################
+    # Commit Power
+    #######################
+
+    def _map_power(self, power):
+        if self.mode == "pulse":
+            power /= 10.0
+            return int(round(power))
+        power /= 1000.0  # Scale to 0-1
+        power *= self.service.max_power  # Scale by max power %
+        power *= 255.0 / 100.0  # range between 000 and 255
+        if power > 255:
+            return 255
+        if power <= 0:
+            return 0
+        return int(round(power))
+
+    def _commit_power(self):
+        """
+        Write power information. If the _set_power is set then it takes priority. Otherwise, the power remains set to
+        what it was previously set to. If no power is set, then power is set to the default cut power.
+
+        @return:
+        """
+        if self._set_power is None and self._power is not None:
+            return  # quick fail.
+
+        new_power = self._set_power
+        self._set_power = None
+
+        if new_power is None:
+            return
+
+        # Premap the power setting.
+        new_power = self._map_power(new_power)
+
+        if new_power != self._power:
+            # Already set power is not the new_power setting.
+            self._power = new_power
+            self(f"DA{new_power}")
+
+    def _commit_pwmfreq(self):
+        """
+        Write pwm frequency information.
+        @return:
+        """
+        if self._set_pwm_freq is None and self._pwm_frequency is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_freq = self._set_pwm_freq
+        self._set_pwm_freq = None
+        if new_freq is None:
+            return
+        if new_freq != self._pwm_frequency:
+            # Frequency is needed, and different
+            self._pwm_frequency = new_freq
+            self(f"PL{self._pwm_frequency}")
+
+    #######################
+    # Commit speed settings
+    #######################
+
+    def _commit_speed(self):
+        if self._set_speed is None and self._speed is not None:
+            return
+        new_speed = self._set_speed
+        self._set_speed = None
+        if new_speed is not None and new_speed != self._speed:
+            self._speed = new_speed
+            if self._mode == "vector":
+                self(f"VS{self._map_vector_speed(new_speed)}")
+            else:
+                self(f"VS{self._map_raster_speed(new_speed)}")
+
+    def _get_chart_settings_for_speed(self, speed):
+        """
+        Get charted settings for a particular speed. Given a speed this provides other required settings for this
+        same speed.
+
+        @param speed:
+        @return:
+        """
+        chart = self.service.speedchart
+        smallest_difference = float("inf")
+        closest_index = None
+        for i, c in enumerate(chart):
+            chart_speed = c.get("speed", 0)
+            delta_speed = chart_speed - speed
+            if chart_speed > speed and smallest_difference > delta_speed:
+                smallest_difference = delta_speed
+                closest_index = i
+        if closest_index is not None:
+            return chart[closest_index]
+        return chart[-1]
+
+    def _map_raster_speed(self, speed):
+        v = int(round(speed / 10))
+        if v == 0:
+            v = 1
+        return v
+
+    def _map_vector_speed(self, speed):
+        if speed >= 93:
+            return int(round(speed / 10))
+        if speed >= 15:
+            return 162 + int(round(speed))
+        if speed >= 5:
+            return 147 + int(round(speed * 2))
+        if speed >= 1:
+            return 132 + int(round(speed * 5))
+        else:
+            return 127 + int(round(speed * 10))
+
+    #######################
+    # Commit Speed Chart
+    #######################
+
+    def _commit_corner_speed(self):
+        if self._set_corner_speed is None and self._corner_speed is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_corner_speed = self._set_corner_speed
+        self._set_corner_speed = None
+        if new_corner_speed is None:
+            # Nothing set, set default.
+            return
+        if new_corner_speed != self._corner_speed:
+            # Corner_speed is different
+            self._corner_speed = new_corner_speed
+            self(f"VQ{int(round(self._corner_speed))}")
+
+    def _commit_acceleration_length(self):
+        if (
+            self._set_acceleration_length is None
+            and self._acceleration_length is not None
+        ):
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_acceleration_length = self._set_acceleration_length
+        self._set_acceleration_length = None
+        if new_acceleration_length is None:
+            # Nothing set, set default.
+            return
+        if new_acceleration_length != self._acceleration_length:
+            # Acceleration Length is different
+            self._acceleration_length = new_acceleration_length
+            self(f"VJ{int(round(self._acceleration_length))}")
+
+    #######################
+    # Commit Relative Mode
+    #######################
+
+    def _commit_relative_mode(self):
+        if self._set_relative is None and self._relative is not None:
+            return
+        new_relative = self._set_relative
+        self._set_relative = None
+
+        if new_relative is None:
+            new_relative = True
+
+        if new_relative != self._relative:
+            self._relative = new_relative
+            if self._relative:
+                self("PR")
+            else:
+                self("PA")
+
+    #######################
+    # Commit Raster
+    #######################
+
+    def _commit_raster_bitdepth(self):
+        if self._set_bit_depth is None and self._bit_depth is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_bitdepth = self._set_bit_depth
+        self._set_bit_depth = None
+        if new_bitdepth is None:
+            # Nothing set, set default.
+            return
+        if new_bitdepth != self._bit_depth:
+            # Bitdepth is different
+            self._bit_depth = new_bitdepth
+            self(f"BT{self._bit_depth}")
+
+    def _commit_raster_bitwidth(self):
+        if self._set_bit_width is None and self._bit_width is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_bitwidth = self._set_bit_width
+        self._set_bit_width = None
+        if new_bitwidth is None:
+            # Nothing set, set default.
+            return
+        if new_bitwidth != self._bit_width:
+            # Bitdepth is different
+            self._bit_width = new_bitwidth
+            self(f"BD{self._bit_width}")
+
+    def _commit_raster_backlash(self):
+        if self._set_backlash is None and self._backlash is not None:
+            # Quick Fail.
+            return
+
+        # Fetch Requested.
+        new_backlash = self._set_backlash
+        self._set_backlash = None
+        if new_backlash is None:
+            # Nothing set, set default.
+            return
+        if new_backlash != self._backlash:
+            # backlash is different
+            self._backlash = new_backlash
+            self(f"BC{self._backlash}")
+
+    def _commit_raster(self):
+        self._commit_raster_bitdepth()
+        self._commit_raster_backlash()
+        self._commit_raster_bitwidth()