meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7020__py2.py3-none-any.whl

meerk40t/core/spoolers.py

@@ -1,705 +1,706 @@
-import time
-from math import isinf
-from threading import Condition
-
-from meerk40t.core.laserjob import LaserJob
-from meerk40t.core.units import Length
-from meerk40t.kernel import CommandSyntaxError
-
-"""
-This module defines a set of commands that usually send a single easy command to the spooler. Basic jogging, home,
-unlock rail commands. And it provides the the spooler class which should be provided by each driver.
-
-Spoolers process different jobs in order. A spooler job can be anything, but usually is a LaserJob which is a simple
-list of commands.
-"""
-
-
-def plugin(kernel, lifecycle):
-    if lifecycle == "register":
-        _ = kernel.translation
-
-        @kernel.console_command(
-            "spool",
-            help=_("spool <command>"),
-            regex=True,
-            input_type=(None, "plan"),
-            output_type="spooler",
-        )
-        def spool(command, channel, _, data=None, remainder=None, **kwgs):
-            device = kernel.device
-
-            spooler = device.spooler
-            # Do we have a filename to use as label?
-            label = kernel.elements.basename
-
-            if data is not None:
-                # If plan data is in data, then we copy that and move on to next step.
-                data.final()
-                loops = 1
-                elements = kernel.elements
-                e = elements.op_branch
-
-                if e.loop_continuous:
-                    loops = float("inf")
-                else:
-                    if e.loop_enabled:
-                        loops = e.loop_n
-                spooler.laserjob(
-                    data.plan, loops=loops, label=label, outline=data.outline
-                )
-                channel(_("Spooled Plan."))
-                kernel.root.signal("plan", data.name, 6)
-
-            if remainder is None:
-                channel(_("----------"))
-                channel(_("Spoolers:"))
-                for d, d_name in enumerate(device.match("device", suffix=True)):
-                    channel(f"{d}: {d_name}")
-                channel(_("----------"))
-                channel(_("Spooler on device {name}:").format(name=str(device.label)))
-                for s, op_name in enumerate(spooler.queue):
-                    channel(f"{s}: {op_name}")
-                channel(_("----------"))
-            return "spooler", spooler
-
-        @kernel.console_argument("op", type=str, help=_("unlock, origin, home, etc"))
-        @kernel.console_command(
-            "send",
-            help=_("send a plan-command to the spooler"),
-            input_type="spooler",
-            output_type="spooler",
-        )
-        def spooler_send(
-            command, channel, _, data_type=None, op=None, data=None, **kwgs
-        ):
-            spooler = data
-            if op is None:
-                raise CommandSyntaxError
-            try:
-                for plan_command, command_name, suffix in kernel.find("plan", op):
-                    label = f"Send {op}"
-                    spooler.laserjob(plan_command, label=label)
-                    return data_type, spooler
-            except (KeyError, IndexError):
-                pass
-            channel(_("No plan command found."))
-            return data_type, spooler
-
-        @kernel.console_command(
-            "list",
-            help=_("spool<?> list"),
-            input_type="spooler",
-            output_type="spooler",
-        )
-        def spooler_list(command, channel, _, data_type=None, data=None, **kwgs):
-            spooler = data
-            channel(_("----------"))
-            channel(_("Spoolers:"))
-            for d, d_name in enumerate(kernel.match("device", suffix=True)):
-                channel(f"{d}: {d_name}")
-            channel(_("----------"))
-            channel(
-                _("Spooler on device {name}:").format(name=str(kernel.device.label))
-            )
-            for s, op_name in enumerate(spooler.queue):
-                channel(f"{s}: {op_name}")
-            channel(_("----------"))
-            return data_type, spooler
-
-        @kernel.console_command(
-            "clear",
-            help=_("spooler<?> clear"),
-            input_type="spooler",
-            output_type="spooler",
-        )
-        def spooler_clear(command, channel, _, data_type=None, data=None, **kwgs):
-            spooler = data
-            spooler.clear_queue()
-            return data_type, spooler
-
-        @kernel.console_command(
-            "+laser",
-            hidden=True,
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("turn laser on in place"),
-        )
-        def plus_laser(data, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("laser_on")
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "-laser",
-            hidden=True,
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("turn laser off in place"),
-        )
-        def minus_laser(data, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("laser_off")
-            return "spooler", spooler
-
-        @kernel.console_argument(
-            "amount", type=Length, help=_("amount to move in the set direction.")
-        )
-        @kernel.console_command(
-            ("left", "right", "up", "down"),
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("cmd <amount>"),
-        )
-        def direction(command, channel, _, data=None, amount=None, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            if amount is None:
-                amount = Length("1mm")
-            if not hasattr(spooler, "_dx"):
-                spooler._dx = Length(0)
-            if not hasattr(spooler, "_dy"):
-                spooler._dy = Length(0)
-            if command.endswith("right"):
-                spooler._dx += amount
-            elif command.endswith("left"):
-                spooler._dx -= amount
-            elif command.endswith("up"):
-                spooler._dy -= amount
-            elif command.endswith("down"):
-                spooler._dy += amount
-            kernel.console(".timer 1 0 spool jog\n")
-            return "spooler", spooler
-
-        @kernel.console_option("force", "f", type=bool, action="store_true")
-        @kernel.console_command(
-            "jog",
-            hidden=True,
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("executes outstanding jog buffer"),
-        )
-        def jog(command, channel, _, data, force=False, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            try:
-                idx = spooler._dx
-                idy = spooler._dy
-            except AttributeError:
-                return
-            if force:
-                spooler.command("move_rel", idx, idy)
-                spooler._dx = Length(0)
-                spooler._dy = Length(0)
-            else:
-                if spooler.is_idle:
-                    spooler.command("move_rel", float(idx), float(idy))
-                    channel(_("Position moved: {x} {y}").format(x=idx, y=idy))
-                    spooler._dx = Length(0)
-                    spooler._dy = Length(0)
-                else:
-                    channel(_("Busy Error"))
-            return "spooler", spooler
-
-        @kernel.console_option("force", "f", type=bool, action="store_true")
-        @kernel.console_argument("x", type=Length, help=_("change in x"))
-        @kernel.console_argument("y", type=Length, help=_("change in y"))
-        @kernel.console_command(
-            ("move", "move_absolute"),
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("move <x> <y>: move to position."),
-        )
-        def move_absolute(channel, _, x, y, data=None, force=False, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            if y is None:
-                raise CommandSyntaxError
-            if force:
-                spooler.command("move_abs", x, y)
-            else:
-                if spooler.is_idle:
-                    spooler.command("move_abs", x, y)
-                else:
-                    channel(_("Busy Error"))
-            return "spooler", spooler
-
-        @kernel.console_option("force", "f", type=bool, action="store_true")
-        @kernel.console_argument("dx", type=Length, help=_("change in x"))
-        @kernel.console_argument("dy", type=Length, help=_("change in y"))
-        @kernel.console_command(
-            "move_relative",
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("move_relative <dx> <dy>"),
-        )
-        def move_relative(channel, _, dx, dy, data=None, force=False, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            if dy is None:
-                raise CommandSyntaxError
-            if force:
-                spooler.command("move_rel", dx, dy)
-            else:
-                if spooler.is_idle:
-                    spooler.command("move_rel", dx, dy)
-                else:
-                    channel(_("Busy Error"))
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "home",
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("home the laser"),
-        )
-        def home(data=None, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("home")
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "physical_home",
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("home the laser (goto endstops)"),
-        )
-        def physical_home(data=None, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("physical_home")
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "unlock",
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("unlock the rail"),
-        )
-        def unlock(data=None, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("unlock_rail")
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "lock",
-            input_type=("spooler", None),
-            output_type="spooler",
-            help=_("lock the rail"),
-        )
-        def lock(data, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-            spooler.command("lock_rail")
-            return "spooler", spooler
-
-        @kernel.console_command(
-            "test_dot_and_home",
-            input_type=("spooler", None),
-            hidden=True,
-        )
-        def run_home_and_dot_test(data, **kwgs):
-            if data is None:
-                data = kernel.device.spooler
-            spooler = data
-
-            def home_dot_test():
-                for i in range(25):
-                    yield "rapid_mode"
-                    yield "home"
-                    yield "laser_off"
-                    yield "wait_finish"
-                    yield "move_abs", "3in", "3in"
-                    yield "wait_finish"
-                    yield "laser_on"
-                    yield "wait", 50
-                    yield "laser_off"
-                    yield "wait_finish"
-                yield "home"
-                yield "wait_finish"
-
-            spooler.laserjob(
-                list(home_dot_test()), label=f"Dot and Home Test", helper=True
-            )
-            return "spooler", spooler
-
-
-class SpoolerJob:
-    """
-    Example of Spooler Job.
-
-    The primary methodology of a spoolerjob is that it has an `execute` function that takes the driver as an argument
-    it should then perform driver-like commands on the given driver to perform whatever actions the job should
-    execute.
-
-    The `priority` attribute is required.
-
-    The job should be permitted to `stop()` and respond to `is_running()`, and other checks as to elapsed_time(),
-    estimate_time(), and status.
-    """
-
-    def __init__(
-        self,
-        service,
-    ):
-        self.stopped = False
-        self.service = service
-        self.runtime = 0
-        self.priority = 0
-
-    @property
-    def status(self):
-        """
-        Status is simply a status as to the job. This will be relayed by things that check the job status of jobs
-        in the spooler.
-
-        @return:
-        """
-        if self.is_running:
-            return "Running"
-        else:
-            return "Queued"
-
-    def execute(self, driver):
-        """
-        This is the primary method of the SpoolerJob. In this example we call the "home()" function.
-        @param driver:
-        @return:
-        """
-        try:
-            driver.home()
-        except AttributeError:
-            pass
-
-        return True
-
-    def stop(self):
-        self.stopped = True
-
-    def is_running(self):
-        return not self.stopped
-
-    def elapsed_time(self):
-        """
-        How long is this job already running...
-        """
-        result = 0
-        return result
-
-    def estimate_time(self):
-        return 0
-
-
-class Spooler:
-    """
-    Spoolers are threaded job processors. A series of jobs is added to the spooler and these jobs are
-    processed in order. The driver is checked for any holds it may have preventing new commands from being
-    executed. If that isn't the case, the highest priority job is executed by calling the job's required
-    `execute()` function passing the relevant driver as the one variable. The job itself is agnostic, and will
-    execute whatever it wants calling the driver-like functions that may or may not exist on the driver.
-
-    If execute() returns true then it is fully executed and will be removed. Otherwise, it will be repeatedly
-    called until whatever work it is doing is finished. This also means the driver itself is checked for holds
-    (usually pausing or busy) each cycle.
-    """
-
-    def __init__(self, context, driver=None, **kwargs):
-        self.context = context
-        self.driver = driver
-        self._current = None
-
-        self._lock = Condition()
-        self._queue = []
-
-        self._shutdown = False
-        self._thread = None
-
-    def __repr__(self):
-        return f"Spooler({str(self.context)})"
-
-    def __del__(self):
-        self.name = None
-        self._lock = None
-        self._queue = None
-
-    def __len__(self):
-        return len(self._queue)
-
-    def added(self, *args, **kwargs):
-        """
-        Device service is added to the kernel.
-
-        @param args:
-        @param kwargs:
-        @return:
-        """
-        self.restart()
-
-    def shutdown(self, *args, **kwargs):
-        """
-        device service is shutdown during the shutdown of the kernel or destruction of the service
-
-        @param args:
-        @param kwargs:
-        @return:
-        """
-        self._shutdown = True
-        with self._lock:
-            self._lock.notify_all()
-
-    def restart(self):
-        """
-        Start or restart the spooler thread.
-
-        @return:
-        """
-        self._shutdown = False
-        if self._thread is None:
-
-            def clear_thread(*a):
-                self._shutdown = True
-                self._thread = None
-                try:
-                    # If something is currently processing stop it.
-                    self._current.stop()
-                except AttributeError:
-                    pass
-                with self._lock:
-                    self._lock.notify_all()
-
-            self._thread = self.context.threaded(
-                self.run,
-                result=clear_thread,
-                thread_name=f"Spooler({self.context.path})",
-            )
-            self._thread.stop = clear_thread
-
-    def run(self):
-        """
-        Run thread for the spooler.
-
-        The thread runs while the spooler is not shutdown. This executes in the spooler thread. It waits, while
-        the queue is empty and is notified when items are added to the queue. Each job in the spooler is called
-        with execute(). If the function returns True, the job is finished and removed. We then move on to the next
-        spooler item. If execute() returns False the job is not finished and will be reattempted. Each spooler
-        cycle checks the priority and whether there's a wait/hold for jobs at that priority level.
-
-        @return:
-        """
-        while not self._shutdown:
-            if self.context.kernel.is_shutdown:
-                return  # Kernel shutdown spooler threads should die off.
-            is_valid = False
-            with self._lock:
-                idx = 0
-                while not is_valid:
-                    try:
-                        program = self._queue[idx]
-                        # Not all type of jobs are regular jobs,
-                        # so that needs to be checked...
-                        if hasattr(program, "enabled"):
-                            if program.enabled:
-                                is_valid = True
-                                break
-                            else:
-                                idx += 1
-                        else:
-                            is_valid = True
-                            break
-                    except IndexError:
-                        # There is no work to do.
-                        self._lock.wait()
-                        break
-            if not is_valid:
-                continue
-
-            priority = program.priority
-
-            # Check if the driver holds work at this priority level.
-            if self.driver.hold_work(priority):
-                time.sleep(0.01)
-                continue
-            if program != self._current:
-                # A different job is loaded. If it has a job_start, we call that.
-                if hasattr(self.driver, "job_start"):
-                    function = getattr(self.driver, "job_start")
-                    function(program)
-            self._current = program
-            try:
-                fully_executed = program.execute(self.driver)
-            except ConnectionAbortedError:
-                # Driver could no longer connect to where it was told to send the data.
-                return
-            except ConnectionRefusedError:
-                # Driver connection failed but, we are not aborting the spooler thread
-                if self._shutdown:
-                    return
-                with self._lock:
-                    self._lock.wait()
-                continue
-            if fully_executed:
-                # all work finished
-                self.remove(program)
-
-                # If we finished this work we call job_finished.
-                if hasattr(self.driver, "job_finish"):
-                    function = getattr(self.driver, "job_finish")
-                    function(program)
-
-    @property
-    def is_idle(self):
-        return len(self._queue) == 0 or self._queue[0].priority < 0
-
-    @property
-    def current(self):
-        return self._current
-
-    @property
-    def queue(self):
-        return self._queue
-
-    def laserjob(
-        self, job, priority=0, loops=1, label=None, helper=False, outline=None
-    ):
-        """
-        send a wrapped laser job to the spooler.
-        """
-        if label is None:
-            label = f"{self.__class__.__name__}:{len(job)} items"
-        # label = str(job)
-        ljob = LaserJob(
-            label,
-            list(job),
-            driver=self.driver,
-            priority=priority,
-            loops=loops,
-            outline=outline,
-        )
-        ljob.helper = helper
-        ljob.uid = self.context.logging.uid("job")
-        with self._lock:
-            self._stop_lower_priority_running_jobs(priority)
-            self._queue.append(ljob)
-            self._queue.sort(key=lambda e: e.priority, reverse=True)
-            self._lock.notify()
-        self.context.signal("spooler;queue", len(self._queue))
-
-    def command(self, *job, priority=0, helper=True, outline=None):
-        ljob = LaserJob(
-            str(job), [job], driver=self.driver, priority=priority, outline=outline
-        )
-        ljob.helper = helper
-        ljob.uid = self.context.logging.uid("job")
-        with self._lock:
-            self._stop_lower_priority_running_jobs(priority)
-            self._queue.append(ljob)
-            self._queue.sort(key=lambda e: e.priority, reverse=True)
-            self._lock.notify()
-        self.context.signal("spooler;queue", len(self._queue))
-
-    def send(self, job, prevent_duplicate=False):
-        """
-        Send a job to the spooler queue
-
-        @param job: job to send to the spooler.
-        @param prevent_duplicate: prevents the same job from being added again.
-        @return:
-        """
-        job.uid = self.context.logging.uid("job")
-        with self._lock:
-            if prevent_duplicate:
-                for q in self._queue:
-                    if q is job:
-                        return
-            self._stop_lower_priority_running_jobs(job.priority)
-            self._queue.append(job)
-            self._queue.sort(key=lambda e: e.priority, reverse=True)
-            self._lock.notify()
-        self.context.signal("spooler;queue", len(self._queue))
-
-    def _stop_lower_priority_running_jobs(self, priority):
-        for e in self._queue:
-            if e.is_running() and e.priority < priority:
-                e.stop()
-
-    def clear_queue(self):
-        with self._lock:
-            for element in self._queue:
-                loop = getattr(element, "loops_executed", 0)
-                total = getattr(element, "loops", 0)
-                if isinf(total):
-                    status = "stopped"
-                elif loop < total:
-                    status = "stopped"
-                else:
-                    status = "completed"
-                self.context.logging.event(
-                    {
-                        "uid": getattr(element, "uid"),
-                        "status": status,
-                        "loop": getattr(element, "loops_executed", None),
-                        "total": getattr(element, "loops", None),
-                        "label": getattr(element, "label", None),
-                        "start_time": getattr(element, "time_started", None),
-                        "duration": getattr(element, "runtime", None),
-                        "device": self.context.label,
-                        "important": not getattr(element, "helper", False),
-                        "estimate": element.estimate_time()
-                        if hasattr(element, "estimate_time")
-                        else None,
-                        "steps_done": getattr(element, "steps_done", None),
-                        "steps_total": getattr(element, "steps_total", None),
-                    }
-                )
-                self.context.signal("spooler;completed")
-                element.stop()
-            self._queue.clear()
-            self._lock.notify()
-        self.context.signal("spooler;queue", len(self._queue))
-
-    def remove(self, element):
-        with self._lock:
-            status = "completed"
-            if element.status == "Running":
-                element.stop()
-                status = "Stopped"
-            self.context.logging.event(
-                {
-                    "uid": getattr(element, "uid"),
-                    "status": status,
-                    "loop": getattr(element, "loops_executed", None),
-                    "total": getattr(element, "loops", None),
-                    "label": getattr(element, "label", None),
-                    "start_time": getattr(element, "time_started", None),
-                    "duration": getattr(element, "runtime", None),
-                    "device": self.context.label,
-                    "important": not getattr(element, "helper", False),
-                    "estimate": element.estimate_time()
-                    if hasattr(element, "estimate_time")
-                    else None,
-                    "steps_done": getattr(element, "steps_done", None),
-                    "steps_total": getattr(element, "steps_total", None),
-                }
-            )
-            self.context.signal("spooler;completed")
-            element.stop()
-            for i in range(len(self._queue) - 1, -1, -1):
-                e = self._queue[i]
-                if e is element:
-                    del self._queue[i]
-            self._lock.notify()
-        self.context.signal("spooler;queue", len(self._queue))
+import time
+from math import isinf
+from threading import Condition
+
+from meerk40t.core.laserjob import LaserJob
+from meerk40t.core.units import Length
+from meerk40t.kernel import CommandSyntaxError
+
+"""
+This module defines a set of commands that usually send a single easy command to the spooler. Basic jogging, home,
+unlock rail commands. And it provides the the spooler class which should be provided by each driver.
+
+Spoolers process different jobs in order. A spooler job can be anything, but usually is a LaserJob which is a simple
+list of commands.
+"""
+
+
+def plugin(kernel, lifecycle):
+    if lifecycle == "register":
+        _ = kernel.translation
+
+        @kernel.console_command(
+            "spool",
+            help=_("spool <command>"),
+            regex=True,
+            input_type=(None, "plan"),
+            output_type="spooler",
+        )
+        def spool(command, channel, _, data=None, remainder=None, **kwgs):
+            device = kernel.device
+
+            spooler = device.spooler
+            # Do we have a filename to use as label?
+            label = kernel.elements.basename
+
+            if data is not None:
+                # If plan data is in data, then we copy that and move on to next step.
+                data.final()
+                loops = 1
+                elements = kernel.elements
+                elements("wordlist advance\n")
+                e = elements.op_branch
+
+                if e.loop_continuous:
+                    loops = float("inf")
+                else:
+                    if e.loop_enabled:
+                        loops = e.loop_n
+                spooler.laserjob(
+                    data.plan, loops=loops, label=label, outline=data.outline
+                )
+                channel(_("Spooled Plan."))
+                kernel.root.signal("plan", data.name, 6)
+
+            if remainder is None:
+                channel(_("----------"))
+                channel(_("Spoolers:"))
+                for d, d_name in enumerate(device.match("device", suffix=True)):
+                    channel(f"{d}: {d_name}")
+                channel(_("----------"))
+                channel(_("Spooler on device {name}:").format(name=str(device.label)))
+                for s, op_name in enumerate(spooler.queue):
+                    channel(f"{s}: {op_name}")
+                channel(_("----------"))
+            return "spooler", spooler
+
+        @kernel.console_argument("op", type=str, help=_("unlock, origin, home, etc"))
+        @kernel.console_command(
+            "send",
+            help=_("send a plan-command to the spooler"),
+            input_type="spooler",
+            output_type="spooler",
+        )
+        def spooler_send(
+            command, channel, _, data_type=None, op=None, data=None, **kwgs
+        ):
+            spooler = data
+            if op is None:
+                raise CommandSyntaxError
+            try:
+                for plan_command, command_name, suffix in kernel.find("plan", op):
+                    label = f"Send {op}"
+                    spooler.laserjob(plan_command, label=label)
+                    return data_type, spooler
+            except (KeyError, IndexError):
+                pass
+            channel(_("No plan command found."))
+            return data_type, spooler
+
+        @kernel.console_command(
+            "list",
+            help=_("spool<?> list"),
+            input_type="spooler",
+            output_type="spooler",
+        )
+        def spooler_list(command, channel, _, data_type=None, data=None, **kwgs):
+            spooler = data
+            channel(_("----------"))
+            channel(_("Spoolers:"))
+            for d, d_name in enumerate(kernel.match("device", suffix=True)):
+                channel(f"{d}: {d_name}")
+            channel(_("----------"))
+            channel(
+                _("Spooler on device {name}:").format(name=str(kernel.device.label))
+            )
+            for s, op_name in enumerate(spooler.queue):
+                channel(f"{s}: {op_name}")
+            channel(_("----------"))
+            return data_type, spooler
+
+        @kernel.console_command(
+            "clear",
+            help=_("spooler<?> clear"),
+            input_type="spooler",
+            output_type="spooler",
+        )
+        def spooler_clear(command, channel, _, data_type=None, data=None, **kwgs):
+            spooler = data
+            spooler.clear_queue()
+            return data_type, spooler
+
+        @kernel.console_command(
+            "+laser",
+            hidden=True,
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("turn laser on in place"),
+        )
+        def plus_laser(data, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("laser_on")
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "-laser",
+            hidden=True,
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("turn laser off in place"),
+        )
+        def minus_laser(data, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("laser_off")
+            return "spooler", spooler
+
+        @kernel.console_argument(
+            "amount", type=Length, help=_("amount to move in the set direction.")
+        )
+        @kernel.console_command(
+            ("left", "right", "up", "down"),
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("cmd <amount>"),
+        )
+        def direction(command, channel, _, data=None, amount=None, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            if amount is None:
+                amount = Length("1mm")
+            if not hasattr(spooler, "_dx"):
+                spooler._dx = Length(0)
+            if not hasattr(spooler, "_dy"):
+                spooler._dy = Length(0)
+            if command.endswith("right"):
+                spooler._dx += amount
+            elif command.endswith("left"):
+                spooler._dx -= amount
+            elif command.endswith("up"):
+                spooler._dy -= amount
+            elif command.endswith("down"):
+                spooler._dy += amount
+            kernel.console(".timer 1 0 spool jog\n")
+            return "spooler", spooler
+
+        @kernel.console_option("force", "f", type=bool, action="store_true")
+        @kernel.console_command(
+            "jog",
+            hidden=True,
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("executes outstanding jog buffer"),
+        )
+        def jog(command, channel, _, data, force=False, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            try:
+                idx = spooler._dx
+                idy = spooler._dy
+            except AttributeError:
+                return
+            if force:
+                spooler.command("move_rel", idx, idy)
+                spooler._dx = Length(0)
+                spooler._dy = Length(0)
+            else:
+                if spooler.is_idle:
+                    spooler.command("move_rel", float(idx), float(idy))
+                    channel(_("Position moved: {x} {y}").format(x=idx, y=idy))
+                    spooler._dx = Length(0)
+                    spooler._dy = Length(0)
+                else:
+                    channel(_("Busy Error"))
+            return "spooler", spooler
+
+        @kernel.console_option("force", "f", type=bool, action="store_true")
+        @kernel.console_argument("x", type=Length, help=_("change in x"))
+        @kernel.console_argument("y", type=Length, help=_("change in y"))
+        @kernel.console_command(
+            ("move", "move_absolute"),
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("move <x> <y>: move to position."),
+        )
+        def move_absolute(channel, _, x, y, data=None, force=False, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            if y is None:
+                raise CommandSyntaxError
+            if force:
+                spooler.command("move_abs", x, y)
+            else:
+                if spooler.is_idle:
+                    spooler.command("move_abs", x, y)
+                else:
+                    channel(_("Busy Error"))
+            return "spooler", spooler
+
+        @kernel.console_option("force", "f", type=bool, action="store_true")
+        @kernel.console_argument("dx", type=Length, help=_("change in x"))
+        @kernel.console_argument("dy", type=Length, help=_("change in y"))
+        @kernel.console_command(
+            "move_relative",
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("move_relative <dx> <dy>"),
+        )
+        def move_relative(channel, _, dx, dy, data=None, force=False, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            if dy is None:
+                raise CommandSyntaxError
+            if force:
+                spooler.command("move_rel", dx, dy)
+            else:
+                if spooler.is_idle:
+                    spooler.command("move_rel", dx, dy)
+                else:
+                    channel(_("Busy Error"))
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "home",
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("home the laser"),
+        )
+        def home(data=None, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("home")
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "physical_home",
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("home the laser (goto endstops)"),
+        )
+        def physical_home(data=None, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("physical_home")
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "unlock",
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("unlock the rail"),
+        )
+        def unlock(data=None, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("unlock_rail")
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "lock",
+            input_type=("spooler", None),
+            output_type="spooler",
+            help=_("lock the rail"),
+        )
+        def lock(data, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+            spooler.command("lock_rail")
+            return "spooler", spooler
+
+        @kernel.console_command(
+            "test_dot_and_home",
+            input_type=("spooler", None),
+            hidden=True,
+        )
+        def run_home_and_dot_test(data, **kwgs):
+            if data is None:
+                data = kernel.device.spooler
+            spooler = data
+
+            def home_dot_test():
+                for i in range(25):
+                    yield "rapid_mode"
+                    yield "home"
+                    yield "laser_off"
+                    yield "wait_finish"
+                    yield "move_abs", "3in", "3in"
+                    yield "wait_finish"
+                    yield "laser_on"
+                    yield "wait", 50
+                    yield "laser_off"
+                    yield "wait_finish"
+                yield "home"
+                yield "wait_finish"
+
+            spooler.laserjob(
+                list(home_dot_test()), label="Dot and Home Test", helper=True
+            )
+            return "spooler", spooler
+
+
+class SpoolerJob:
+    """
+    Example of Spooler Job.
+
+    The primary methodology of a spoolerjob is that it has an `execute` function that takes the driver as an argument
+    it should then perform driver-like commands on the given driver to perform whatever actions the job should
+    execute.
+
+    The `priority` attribute is required.
+
+    The job should be permitted to `stop()` and respond to `is_running()`, and other checks as to elapsed_time(),
+    estimate_time(), and status.
+    """
+
+    def __init__(
+        self,
+        service,
+    ):
+        self.stopped = False
+        self.service = service
+        self.runtime = 0
+        self.priority = 0
+
+    @property
+    def status(self):
+        """
+        Status is simply a status as to the job. This will be relayed by things that check the job status of jobs
+        in the spooler.
+
+        @return:
+        """
+        if self.is_running:
+            return "Running"
+        else:
+            return "Queued"
+
+    def execute(self, driver):
+        """
+        This is the primary method of the SpoolerJob. In this example we call the "home()" function.
+        @param driver:
+        @return:
+        """
+        try:
+            driver.home()
+        except AttributeError:
+            pass
+
+        return True
+
+    def stop(self):
+        self.stopped = True
+
+    def is_running(self):
+        return not self.stopped
+
+    def elapsed_time(self):
+        """
+        How long is this job already running...
+        """
+        result = 0
+        return result
+
+    def estimate_time(self):
+        return 0
+
+
+class Spooler:
+    """
+    Spoolers are threaded job processors. A series of jobs is added to the spooler and these jobs are
+    processed in order. The driver is checked for any holds it may have preventing new commands from being
+    executed. If that isn't the case, the highest priority job is executed by calling the job's required
+    `execute()` function passing the relevant driver as the one variable. The job itself is agnostic, and will
+    execute whatever it wants calling the driver-like functions that may or may not exist on the driver.
+
+    If execute() returns true then it is fully executed and will be removed. Otherwise, it will be repeatedly
+    called until whatever work it is doing is finished. This also means the driver itself is checked for holds
+    (usually pausing or busy) each cycle.
+    """
+
+    def __init__(self, context, driver=None, **kwargs):
+        self.context = context
+        self.driver = driver
+        self._current = None
+
+        self._lock = Condition()
+        self._queue = []
+
+        self._shutdown = False
+        self._thread = None
+
+    def __repr__(self):
+        return f"Spooler({str(self.context)})"
+
+    def __del__(self):
+        self.name = None
+        self._lock = None
+        self._queue = None
+
+    def __len__(self):
+        return len(self._queue)
+
+    def added(self, *args, **kwargs):
+        """
+        Device service is added to the kernel.
+
+        @param args:
+        @param kwargs:
+        @return:
+        """
+        self.restart()
+
+    def shutdown(self, *args, **kwargs):
+        """
+        device service is shutdown during the shutdown of the kernel or destruction of the service
+
+        @param args:
+        @param kwargs:
+        @return:
+        """
+        self._shutdown = True
+        with self._lock:
+            self._lock.notify_all()
+
+    def restart(self):
+        """
+        Start or restart the spooler thread.
+
+        @return:
+        """
+        self._shutdown = False
+        if self._thread is None:
+
+            def clear_thread(*a):
+                self._shutdown = True
+                self._thread = None
+                try:
+                    # If something is currently processing stop it.
+                    self._current.stop()
+                except AttributeError:
+                    pass
+                with self._lock:
+                    self._lock.notify_all()
+
+            self._thread = self.context.threaded(
+                self.run,
+                result=clear_thread,
+                thread_name=f"Spooler({self.context.path})",
+            )
+            self._thread.stop = clear_thread
+
+    def run(self):
+        """
+        Run thread for the spooler.
+
+        The thread runs while the spooler is not shutdown. This executes in the spooler thread. It waits, while
+        the queue is empty and is notified when items are added to the queue. Each job in the spooler is called
+        with execute(). If the function returns True, the job is finished and removed. We then move on to the next
+        spooler item. If execute() returns False the job is not finished and will be reattempted. Each spooler
+        cycle checks the priority and whether there's a wait/hold for jobs at that priority level.
+
+        @return:
+        """
+        while not self._shutdown:
+            if self.context.kernel.is_shutdown:
+                return  # Kernel shutdown spooler threads should die off.
+            is_valid = False
+            with self._lock:
+                idx = 0
+                while not is_valid:
+                    try:
+                        program = self._queue[idx]
+                        # Not all type of jobs are regular jobs,
+                        # so that needs to be checked...
+                        if hasattr(program, "enabled"):
+                            if program.enabled:
+                                is_valid = True
+                                break
+                            else:
+                                idx += 1
+                        else:
+                            is_valid = True
+                            break
+                    except IndexError:
+                        # There is no work to do.
+                        self._lock.wait()
+                        break
+            if not is_valid:
+                continue
+
+            priority = program.priority
+
+            # Check if the driver holds work at this priority level.
+            if self.driver.hold_work(priority):
+                time.sleep(0.01)
+                continue
+            if program != self._current:
+                # A different job is loaded. If it has a job_start, we call that.
+                if hasattr(self.driver, "job_start"):
+                    function = getattr(self.driver, "job_start")
+                    function(program)
+            self._current = program
+            try:
+                fully_executed = program.execute(self.driver)
+            except ConnectionAbortedError:
+                # Driver could no longer connect to where it was told to send the data.
+                return
+            except ConnectionRefusedError:
+                # Driver connection failed but, we are not aborting the spooler thread
+                if self._shutdown:
+                    return
+                with self._lock:
+                    self._lock.wait()
+                continue
+            if fully_executed:
+                # all work finished
+                self.remove(program)
+
+                # If we finished this work we call job_finished.
+                if hasattr(self.driver, "job_finish"):
+                    function = getattr(self.driver, "job_finish")
+                    function(program)
+
+    @property
+    def is_idle(self):
+        return len(self._queue) == 0 or self._queue[0].priority < 0
+
+    @property
+    def current(self):
+        return self._current
+
+    @property
+    def queue(self):
+        return self._queue
+
+    def laserjob(
+        self, job, priority=0, loops=1, label=None, helper=False, outline=None
+    ):
+        """
+        send a wrapped laser job to the spooler.
+        """
+        if label is None:
+            label = f"{self.__class__.__name__}:{len(job)} items"
+        # label = str(job)
+        ljob = LaserJob(
+            label,
+            list(job),
+            driver=self.driver,
+            priority=priority,
+            loops=loops,
+            outline=outline,
+        )
+        ljob.helper = helper
+        ljob.uid = self.context.logging.uid("job")
+        with self._lock:
+            self._stop_lower_priority_running_jobs(priority)
+            self._queue.append(ljob)
+            self._queue.sort(key=lambda e: e.priority, reverse=True)
+            self._lock.notify()
+        self.context.signal("spooler;queue", len(self._queue))
+
+    def command(self, *job, priority=0, helper=True, outline=None):
+        ljob = LaserJob(
+            str(job), [job], driver=self.driver, priority=priority, outline=outline
+        )
+        ljob.helper = helper
+        ljob.uid = self.context.logging.uid("job")
+        with self._lock:
+            self._stop_lower_priority_running_jobs(priority)
+            self._queue.append(ljob)
+            self._queue.sort(key=lambda e: e.priority, reverse=True)
+            self._lock.notify()
+        self.context.signal("spooler;queue", len(self._queue))
+
+    def send(self, job, prevent_duplicate=False):
+        """
+        Send a job to the spooler queue
+
+        @param job: job to send to the spooler.
+        @param prevent_duplicate: prevents the same job from being added again.
+        @return:
+        """
+        job.uid = self.context.logging.uid("job")
+        with self._lock:
+            if prevent_duplicate:
+                for q in self._queue:
+                    if q is job:
+                        return
+            self._stop_lower_priority_running_jobs(job.priority)
+            self._queue.append(job)
+            self._queue.sort(key=lambda e: e.priority, reverse=True)
+            self._lock.notify()
+        self.context.signal("spooler;queue", len(self._queue))
+
+    def _stop_lower_priority_running_jobs(self, priority):
+        for e in self._queue:
+            if e.is_running() and e.priority < priority:
+                e.stop()
+
+    def clear_queue(self):
+        with self._lock:
+            for element in self._queue:
+                loop = getattr(element, "loops_executed", 0)
+                total = getattr(element, "loops", 0)
+                if isinf(total):
+                    status = "stopped"
+                elif loop < total:
+                    status = "stopped"
+                else:
+                    status = "completed"
+                self.context.logging.event(
+                    {
+                        "uid": getattr(element, "uid"),
+                        "status": status,
+                        "loop": getattr(element, "loops_executed", None),
+                        "total": getattr(element, "loops", None),
+                        "label": getattr(element, "label", None),
+                        "start_time": getattr(element, "time_started", None),
+                        "duration": getattr(element, "runtime", None),
+                        "device": self.context.label,
+                        "important": not getattr(element, "helper", False),
+                        "estimate": element.estimate_time()
+                        if hasattr(element, "estimate_time")
+                        else None,
+                        "steps_done": getattr(element, "steps_done", None),
+                        "steps_total": getattr(element, "steps_total", None),
+                    }
+                )
+                self.context.signal("spooler;completed")
+                element.stop()
+            self._queue.clear()
+            self._lock.notify()
+        self.context.signal("spooler;queue", len(self._queue))
+
+    def remove(self, element):
+        with self._lock:
+            status = "completed"
+            if element.status == "Running":
+                element.stop()
+                status = "Stopped"
+            self.context.logging.event(
+                {
+                    "uid": getattr(element, "uid"),
+                    "status": status,
+                    "loop": getattr(element, "loops_executed", None),
+                    "total": getattr(element, "loops", None),
+                    "label": getattr(element, "label", None),
+                    "start_time": getattr(element, "time_started", None),
+                    "duration": getattr(element, "runtime", None),
+                    "device": self.context.label,
+                    "important": not getattr(element, "helper", False),
+                    "estimate": element.estimate_time()
+                    if hasattr(element, "estimate_time")
+                    else None,
+                    "steps_done": getattr(element, "steps_done", None),
+                    "steps_total": getattr(element, "steps_total", None),
+                }
+            )
+            self.context.signal("spooler;completed")
+            element.stop()
+            for i in range(len(self._queue) - 1, -1, -1):
+                e = self._queue[i]
+                if e is element:
+                    del self._queue[i]
+            self._lock.notify()
+        self.context.signal("spooler;queue", len(self._queue))