Sender.py

#!/usr/bin/python
# -*- coding: ascii -*-
# $Id: bCNC.py,v 1.6 2014/10/15 15:04:48 bnv Exp bnv $
#
# Author: vvlachoudis@gmail.com
# Date: 17-Jun-2015

__author__  = "Vasilis Vlachoudis"
__email__   = "vvlachoudis@gmail.com"

import os
import re
import sys
import rexx
import time
import threading
import webbrowser
try:
	import serial
except:
	serial = None
try:
	from Queue import *
except ImportError:
	from queue import *

from CNC import WAIT, MSG, UPDATE, WCS, CNC, GCode
import Utils
import Pendant

WIKI = "https://github.com/vlachoudis/bCNC/wiki"

SERIAL_POLL   = 0.125	# s
G_POLL        = 10	# s

RX_BUFFER_SIZE = 128

GPAT      = re.compile(r"[A-Za-z]\d+.*")
STATUSPAT = re.compile(r"^<(\w*?),MPos:([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),WPos:([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),?(.*)>$")
POSPAT    = re.compile(r"^\[(...):([+\-]?\d*\.\d*),([+\-]?\d*\.\d*),([+\-]?\d*\.\d*):?(\d*)\]$")
TLOPAT    = re.compile(r"^\[(...):([+\-]?\d*\.\d*)\]$")
DOLLARPAT = re.compile(r"^\[G\d* .*\]$")
FEEDPAT   = re.compile(r"^(.*)[fF](\d+\.?\d+)(.*)$")

CONNECTED     = "Connected"
NOT_CONNECTED = "Not connected"

STATECOLOR = {	"Alarm"       : "Red",
		"Run"         : "LightGreen",
		"Hold"        : "Orange",
		CONNECTED     : "Orange",
		NOT_CONNECTED : "OrangeRed"}

STATECOLORDEF = "LightYellow"

# From https://github.com/grbl/grbl/wiki/Interfacing-with-Grbl
ERROR_CODES = {
	"Run"      : _("bCNC is currently sending a gcode program to Grbl"),
	"Idle"     : _("Grbl is in idle state and waiting for user commands"),
	"Hold"     : _("Grbl is on hold state. Click on resume (pause) to continue"),
	"Alarm"    : _("Alarm is an emergency state. Something has gone terribly wrong when these occur. Typically, they are caused by limit error when the machine has moved or wants to move outside the machine space and crash into something. They also report problems if Grbl is lost and can't guarantee positioning or a probe command has failed. Once in alarm-mode, Grbl will lock out and shut down everything until the user issues a reset. Even after a reset, Grbl will remain in alarm-mode, block all G-code from being executed, but allows the user to override the alarm manually. This is to ensure the user knows and acknowledges the problem and has taken steps to fix or account for it."),
	NOT_CONNECTED : _("Grbl is not connected. Please specify the correct port and click Open."),
	CONNECTED     : _("Connection is established with Grbl"),

	"ok" : _("All is good! Everything in the last line was understood by Grbl and was successfully processed and executed."),
	"error: Expected command letter" : _("G-code is composed of G-code \'words\', which consists of a letter followed by a number value. This error occurs when the letter prefix of a G-code word is missing in the G-code block (aka line)."),
	"error: Bad number format" : _("The number value suffix of a G-code word is missing in the G-code block, or when configuring a $Nx=line or $x=val Grbl setting and the x is not a number value."),
	"error: Invalid statement" : _("The issued Grbl $ system command is not recognized or is invalid."),
	"error: Value < 0" : _("The value of a $x=val Grbl setting, F feed rate, N line number, P word, T tool number, or S spindle speed is negative."),
	"error:Setting disabled" : _("Homing is disabled when issuing a $H command."),
	"error: Value < 3 usec" : _("Step pulse time length cannot be less than 3 microseconds (for technical reasons)."),
	"error: EEPROM read fail. Using defaults" : _("If Grbl can't read data contained in the EEPROM, this error is returned. Grbl will also clear and restore the effected data back to defaults."),
	"error: Not idle" : _("Certain Grbl $ commands are blocked depending Grbl's current state, or what its doing. In general, Grbl blocks any command that fetches from or writes to the EEPROM since the AVR microcontroller will shutdown all of the interrupts for a few clock cycles when this happens. There is no work around, other than blocking it. This ensures both the serial and step generator interrupts are working smoothly throughout operation."),
	"error: Alarm lock" : _("Grbl enters an ALARM state when Grbl doesn't know where it is and will then block all G-code commands from being executed. This error occurs if G-code commands are sent while in the alarm state. Grbl has two alarm scenarios: When homing is enabled, Grbl automatically goes into an alarm state to remind the user to home before doing anything; When something has went critically wrong, usually when Grbl can't guarantee positioning. This typically happens when something causes Grbl to force an immediate stop while its moving from a hard limit being triggered or a user commands an ill-timed reset."),
	"error: Homing not enabled" : _("Soft limits cannot be enabled if homing is not enabled, because Grbl has no idea where it is when you startup your machine unless you perform a homing cycle."),
	"error: Line overflow" : _("Grbl has to do everything it does within 2KB of RAM. Not much at all. So, we had to make some decisions on what's important. Grbl limits the number of characters in each line to less than 80 characters (70 in v0.8, 50 in v0.7 or earlier), excluding spaces or comments. The G-code standard mandates 256 characters, but Grbl simply doesn't have the RAM to spare. However, we don't think there will be any problems with this with all of the expected G-code commands sent to Grbl. This error almost always occurs when a user or CAM-generated G-code program sends position values that are in double precision (i.e. -2.003928578394852), which is not realistic or physically possible. Users and GUIs need to send Grbl floating point values in single precision (i.e. -2.003929) to avoid this error."),
	"error: Modal group violation" : _("The G-code parser has detected two G-code commands that belong to the same modal group in the block/line. Modal groups are sets of G-code commands that mutually exclusive. For example, you can't issue both a G0 rapids and G2 arc in the same line, since they both need to use the XYZ target position values in the line. LinuxCNC.org has some great documentation on modal groups."),
	"error: Unsupported command" : _("The G-code parser doesn't recognize or support one of the G-code commands in the line. Check your G-code program for any unsupported commands and either remove them or update them to be compatible with Grbl."),
	"error: Undefined feed rate" : _("There is no feed rate programmed, and a G-code command that requires one is in the block/line. The G-code standard mandates F feed rates to be undefined upon a reset or when switching from inverse time mode to units mode. Older Grbl versions had a default feed rate setting, which was illegal and was removed in Grbl v0.9."),
	"error: Invalid gcode ID:23" : _("A G or M command value in the block is not an integer. For example, G4 can't be G4.13. Some G-code commands are floating point (G92.1), but these are ignored."),
	"error: Invalid gcode ID:24" : _("Two G-code commands that both require the use of the XYZ axis words were detected in the block."),
	"error: Invalid gcode ID:25" : _("A G-code word was repeated in the block."),
	"error: Invalid gcode ID:26" : _("A G-code command implicitly or explicitly requires XYZ axis words in the block, but none were detected."),
	"error: Invalid gcode ID:27" : _("The G-code protocol mandates N line numbers to be within the range of 1-99,999. We think that's a bit silly and arbitrary. So, we increased the max number to 9,999,999. This error occurs when you send a number more than this."),
	"error: Invalid gcode ID:28" : _("A G-code command was sent, but is missing some important P or L value words in the line. Without them, the command can't be executed. Check your G-code."),
	"error: Invalid gcode ID:29" : _("Grbl supports six work coordinate systems G54-G59. This error happens when trying to use or configure an unsupported work coordinate system, such as G59.1, G59.2, and G59.3."),
	"error: Invalid gcode ID:30" : _("The G53 G-code command requires either a G0 seek or G1 feed motion mode to be active. A different motion was active."),
	"error: Invalid gcode ID:31" : _("There are unused axis words in the block and G80 motion mode cancel is active."),
	"error: Invalid gcode ID:32" : _("A G2 or G3 arc was commanded but there are no XYZ axis words in the selected plane to trace the arc."),
	"error: Invalid gcode ID:33" : _("The motion command has an invalid target. G2, G3, and G38.2 generates this error. For both probing and arcs traced with the radius definition, the current position cannot be the same as the target. This also errors when the arc is mathematically impossible to trace, where the current position, the target position, and the radius of the arc doesn't define a valid arc."),
	"error: Invalid gcode ID:34" : _("A G2 or G3 arc, traced with the radius definition, had a mathematical error when computing the arc geometry. Try either breaking up the arc into semi-circles or quadrants, or redefine them with the arc offset definition."),
	"error: Invalid gcode ID:35" : _("A G2 or G3 arc, traced with the offset definition, is missing the IJK offset word in the selected plane to trace the arc."),
	"error: Invalid gcode ID:36" : _("There are unused, leftover G-code words that aren't used by any command in the block."),
	"error: Invalid gcode ID:37" : _("The G43.1 dynamic tool length offset command cannot apply an offset to an axis other than its configured axis. The Grbl default axis is the Z-axis."),

	"ALARM: Hard/soft limit" : _("Hard and/or soft limits must be enabled for this error to occur. With hard limits, Grbl will enter alarm mode when a hard limit switch has been triggered and force kills all motion. Machine position will be lost and require re-homing. With soft limits, the alarm occurs when Grbl detects a programmed motion trying to move outside of the machine space, set by homing and the max travel settings. However, upon the alarm, a soft limit violation will instruct a feed hold and wait until the machine has stopped before issuing the alarm. Soft limits do not lose machine position because of this."),
	"ALARM: Abort during cycle" : _("This alarm occurs when a user issues a soft-reset while the machine is in a cycle and moving. The soft-reset will kill all current motion, and, much like the hard limit alarm, the uncontrolled stop causes Grbl to lose position."),
	"ALARM: Probe fail" : _("The G38.2 straight probe command requires an alarm or error when the probe fails to trigger within the programmed probe distance. Grbl enters the alarm state to indicate to the user the probe has failed, but will not lose machine position, since the probe motion comes to a controlled stop before the error."),
}

#==============================================================================
# bCNC Sender class
#==============================================================================
class Sender:
	def __init__(self):
		# Global variables
		self.history     = []
		self._historyPos = None
		CNC.loadConfig(Utils.config)
		self.gcode = GCode()
		self.cnc   = self.gcode.cnc

		self.log         = Queue()	# Log queue returned from GRBL
		self.queue       = Queue()	# Command queue to send to GRBL
		self.pendant     = Queue()	# Command queue to be executed from Pendant
		self.serial      = None
		self.thread      = None
		self.controller  = Utils.CONTROLLER["Grbl"]

		self._posUpdate  = False	# Update position
		self._probeUpdate= False	# Update probe
		self._gUpdate    = False	# Update $G
		self._update     = None		# Generic update

		self.running     = False
		self._runLines   = 0
		self._stop       = False	# Raise to stop current run
		self._quit       = 0
		self._pause      = False	# machine is on Hold
		self._alarm      = True		# Display alarm message if true
		self._msg        = None
		self._sumcline   = 0
		self._lastFeed   = 0
		self._newFeed   = 0

	#----------------------------------------------------------------------
	def quit(self, event=None):
		self.saveConfig()
		Pendant.stop()

	#----------------------------------------------------------------------
	def loadConfig(self):
		self.controller  = Utils.CONTROLLER.get(Utils.getStr("Connection", "controller"), 0)
		Pendant.port     = Utils.getInt("Connection","pendantport",Pendant.port)
		GCode.LOOP_MERGE = Utils.getBool("File","dxfloopmerge")
		self.loadHistory()

	#----------------------------------------------------------------------
	def saveConfig(self):
		self.saveHistory()

	#----------------------------------------------------------------------
	def loadHistory(self):
		try:
			f = open(Utils.hisFile,"r")
		except:
			return
		self.history = [x.strip() for x in f]
		f.close()

	#----------------------------------------------------------------------
	def saveHistory(self):
		try:
			f = open(Utils.hisFile,"w")
		except:
			return
		f.write("\n".join(self.history))
		f.close()

	#----------------------------------------------------------------------
	# Evaluate a line for possible expressions
	# can return a python exception, needs to be catched
	#----------------------------------------------------------------------
	def evaluate(self, line):
		return self.gcode.evaluate(CNC.parseLine2(line,True))

	#----------------------------------------------------------------------
	# Execute a line as gcode if pattern matches
	# @return True on success
	#         False otherwise
	#----------------------------------------------------------------------
	def executeGcode(self, line):
		if isinstance(line, tuple):
			self.sendGCode(line)
			return True

		elif line[0] in ("$","!","~","?","(","@") or GPAT.match(line):
			self.sendGCode(line+"\n")
			return True

		return False

	#----------------------------------------------------------------------
	# Execute a single command
	#----------------------------------------------------------------------
	def executeCommand(self, line):
		#print
		#print "<<<",line
		#try:
		#	line = self.gcode.evaluate(CNC.parseLine2(line,True))
		#except:
		#	return "Evaluation error", sys.exc_info()[1]
		#print ">>>",line

		if line is None: return

		oline = line.strip()
		line  = oline.replace(","," ").split()
		cmd   = line[0].upper()

		# ABS*OLUTE: Set absolute coordinates
		if rexx.abbrev("ABSOLUTE",cmd,3):
			self.sendGCode("G90\n")

		# HELP: open browser to display help
		elif cmd == "HELP":
			self.help()

		# HOME: perform a homing cycle
		elif cmd == "HOME":
			self.home()

		# LO*AD [filename]: load filename containing g-code
		elif rexx.abbrev("LOAD",cmd,2):
			self.load(line[1])

		# OPEN: open serial connection to grbl
		# CLOSE: close serial connection to grbl
		elif cmd in ("OPEN","CLOSE"):
			self.openClose()

		# QU*IT: quit program
		# EX*IT: exit program
		elif rexx.abbrev("QUIT",cmd,2) or rexx.abbrev("EXIT",cmd,2):
			self.quit()

		# PAUSE: pause cycle
		elif cmd == "PAUSE":
			self.pause()

		# RESUME: resume
		elif cmd == "RESUME":
			self.resume()

		# FEEDHOLD: feedhold
		elif cmd == "FEEDHOLD":
			self.feedHold()

		# REL*ATIVE: switch to relative coordinates
		elif rexx.abbrev("RELATIVE",cmd,3):
			self.sendGCode("G91\n")

		# RESET: perform a soft reset to grbl
		elif cmd == "RESET":
			self.softReset()

		# RUN: run g-code
		elif cmd == "RUN":
			self.run()

		# SAFE [z]: safe z to move
		elif cmd=="SAFE":
			try: self.cnc.safe = float(line[1])
			except: pass
			self.statusbar["text"] = "Safe Z= %g"%(self.cnc.safe)

		# SA*VE [filename]: save to filename or to default name
		elif rexx.abbrev("SAVE",cmd,2):
			if len(line)>1:
				self.save(line[1])
			else:
				self.saveAll()

		# SENDHEX: send a hex-char in grbl
		elif cmd == "SENDHEX":
			self.sendHex(line[1])

		# SET [x [y [z]]]: set x,y,z coordinates to current workspace
		elif cmd == "SET":
			try: x = float(line[1])
			except: x = None
			try: y = float(line[2])
			except: y = None
			try: z = float(line[3])
			except: z = None
			self._wcsSet(x,y,z)

		elif cmd == "SET0":
			self._wcsSet(0.,0.,0.)

		elif cmd == "SETX":
			try: x = float(line[1])
			except: x = ""
			self._wcsSet(x,None,None)

		elif cmd == "SETY":
			try: y = float(line[1])
			except: y = ""
			self._wcsSet(None,y,None)

		elif cmd == "SETZ":
			try: z = float(line[1])
			except: z = ""
			self._wcsSet(None,None,z)

		# STOP: stop current run
		elif cmd == "STOP":
			self.stopRun()

		# UNL*OCK: unlock grbl
		elif rexx.abbrev("UNLOCK",cmd,3):
			self.unlock()

		# Send commands to SMOOTHIE
		elif self.controller == Utils.SMOOTHIE:
			if line[0] in (	"help", "version", "mem", "ls",
					"cd", "pwd", "cat", "rm", "mv",
					"remount", "play", "progress", "abort",
					"reset", "dfu", "break", "config-get",
					"config-set", "get", "set_temp", "get",
					"get", "net", "load", "save", "upload",
					"calc_thermistor", "thermistors", "md5sum"):
				self.serial.write(oline+"\n")

		else:
			return _("unknown command"),_("Invalid command %s")%(oline)

	#----------------------------------------------------------------------
	def help(self, event=None):
		webbrowser.open(WIKI,new=2)

	#----------------------------------------------------------------------
	def loadRecent(self, recent):
		filename = Utils.getRecent(recent)
		if filename is None: return
		self.load(filename)

	#----------------------------------------------------------------------
	def _loadRecent0(self,event): self.loadRecent(0)
	def _loadRecent1(self,event): self.loadRecent(1)
	def _loadRecent2(self,event): self.loadRecent(2)
	def _loadRecent3(self,event): self.loadRecent(3)
	def _loadRecent4(self,event): self.loadRecent(4)
	def _loadRecent5(self,event): self.loadRecent(5)
	def _loadRecent6(self,event): self.loadRecent(6)
	def _loadRecent7(self,event): self.loadRecent(7)
	def _loadRecent8(self,event): self.loadRecent(8)
	def _loadRecent9(self,event): self.loadRecent(9)

	#----------------------------------------------------------------------
	def _saveConfigFile(self, filename=None):
		if filename is None:
			filename = self.gcode.filename
		Utils.setUtf("File", "dir",   os.path.dirname(os.path.abspath(filename)))
		Utils.setUtf("File", "file",  os.path.basename(filename))
		Utils.setUtf("File", "probe", os.path.basename(self.gcode.probe.filename))

	#----------------------------------------------------------------------
	# Load a file into editor
	#----------------------------------------------------------------------
	def load(self, filename):
		fn,ext = os.path.splitext(filename)
		ext = ext.lower()
		if ext==".probe":
			if filename is not None:
				self.gcode.probe.filename = filename
				self._saveConfigFile()
			self.gcode.probe.load(filename)
		elif ext == ".orient":
			# save orientation file
			self.gcode.orient.load(filename)
		elif ext == ".stl":
			# FIXME: implements solid import???
			pass
		elif ext==".dxf":
			self.gcode.init()
			self.gcode.importDXF(filename)
			self._saveConfigFile(filename)
		else:
			self.gcode.load(filename)
			self._saveConfigFile()
		Utils.addRecent(filename)

	#----------------------------------------------------------------------
	def save(self, filename):
		fn,ext = os.path.splitext(filename)
		ext = ext.lower()
		if ext == ".probe":
			# save probe
			if filename is not None:
				self.gcode.probe.filename = filename
				self._saveConfigFile()
			if not self.gcode.probe.isEmpty():
				self.gcode.probe.save()
		elif ext == ".orient":
			# save orientation file
			self.gcode.orient.save(filename)
		elif ext == ".stl":
			#save probe as STL
			self.gcode.probe.saveAsSTL(filename)
		elif ext == ".dxf":
			return self.gcode.saveDXF(filename)
		else:
			if filename is not None:
				self.gcode.filename = filename
				self._saveConfigFile()
			Utils.addRecent(self.gcode.filename)
			return self.gcode.save()

	#----------------------------------------------------------------------
	def saveAll(self, event=None):
		if self.gcode.filename:
			self.save(self.gcode.filename)
			if self.gcode.probe.filename:
				self.save(self.gcode.probe.filename)
		return "break"

	#----------------------------------------------------------------------
	# Open serial port
	#----------------------------------------------------------------------
	def open(self, device, baudrate):
		self.serial = serial.Serial(	device,
						baudrate,
						bytesize=serial.EIGHTBITS,
						parity=serial.PARITY_NONE,
						stopbits=serial.STOPBITS_ONE,
						timeout=0.1,
						xonxoff=False,
						rtscts=False)
		# Toggle DTR to reset Arduino
		self.serial.setDTR(0)
		time.sleep(1)
		CNC.vars["state"] = CONNECTED
		CNC.vars["color"] = STATECOLOR[CNC.vars["state"]]
		#self.state.config(text=CNC.vars["state"],
		#		background=CNC.vars["color"])
		# toss any data already received, see
		# http://pyserial.sourceforge.net/pyserial_api.html#serial.Serial.flushInput
		self.serial.flushInput()
		self.serial.setDTR(1)
		time.sleep(1)
		self.serial.write(b"\r\n\r\n")
		self._gcount = 0
		self._alarm  = True
		self.thread  = threading.Thread(target=self.serialIO)
		self.thread.start()
		return True

	#----------------------------------------------------------------------
	# Close serial port
	#----------------------------------------------------------------------
	def close(self):
		if self.serial is None: return
		try:
			self.stopRun()
		except:
			pass
		self._runLines = 0
		self.thread = None
		time.sleep(1)
		self.serial.close()
		self.serial = None
		CNC.vars["state"] = NOT_CONNECTED
		CNC.vars["color"] = STATECOLOR[CNC.vars["state"]]

	#----------------------------------------------------------------------
	# Send to controller a gcode or command
	#----------------------------------------------------------------------
	def sendGCode(self, cmd):
		if self.serial and not self.running:
			self.queue.put(cmd)

	#----------------------------------------------------------------------
	def sendHex(self, hexcode):
		if self.serial is None: return
		self.serial.write(chr(int(hexcode,16)))
		self.serial.flush()

	#----------------------------------------------------------------------
	def hardReset(self):
		self.busy()
		if self.serial is not None:
			if self.controller == Utils.SMOOTHIE:
				self.serial.write(b"reset\n")
			self.openClose()
			if self.controller == Utils.SMOOTHIE:
				time.sleep(6)
		self.openClose()
		self.stopProbe()
		self._alarm = False
		self.notBusy()

	#----------------------------------------------------------------------
	def softReset(self):
		if self.serial:
		#	if self.controller == Utils.GRBL:
				self.serial.write(b"\030")
		#	elif self.controller == Utils.SMOOTHIE:
		#		self.serial.write(b"reset\n")
		self.stopProbe()
		self._alarm = False

	#----------------------------------------------------------------------
	def unlock(self):
		self._alarm = False
		self.sendGCode("$X\n")

	#----------------------------------------------------------------------
	def home(self, event=None):
		self._alarm = False
		self.sendGCode("$H\n")

	#----------------------------------------------------------------------
	def viewSettings(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$$\n")

	def viewParameters(self):
		self.sendGCode("$#\n")

	def viewState(self):
		self.sendGCode("$G\n")

	def viewBuild(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$I\n")
		elif self.controller == Utils.SMOOTHIE:
			self.serial.write(b"version\n")

	def viewStartup(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$N\n")

	def checkGcode(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$C\n")

	def grblHelp(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$\n")
		elif self.controller == Utils.SMOOTHIE:
			self.serial.write(b"help\n")

	def grblRestoreSettings(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$RST=$\n")

	def grblRestoreWCS(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$RST=#\n")

	def grblRestoreAll(self):
		if self.controller == Utils.GRBL:
			self.sendGCode("$RST=#\n")

	#----------------------------------------------------------------------
	def goto(self, x=None, y=None, z=None):
		cmd = "G90G0"
		if x is not None: cmd += "X%g"%(x)
		if y is not None: cmd += "Y%g"%(y)
		if z is not None: cmd += "Z%g"%(z)
		self.sendGCode("%s\n"%(cmd))

	#----------------------------------------------------------------------
	# FIXME Duplicate with ControlPage
	#----------------------------------------------------------------------
	def _wcsSet(self, x, y, z):
		p = WCS.index(CNC.vars["WCS"])
		if p<6:
			cmd = "G10L20P%d"%(p+1)
		elif p==6:
			cmd = "G28.1"
		elif p==7:
			cmd = "G30.1"
		elif p==8:
			cmd = "G92"

		pos = ""
		if x is not None and abs(x)<10000.0: pos += "X"+str(x)
		if y is not None and abs(y)<10000.0: pos += "Y"+str(y)
		if z is not None and abs(z)<10000.0: pos += "Z"+str(z)
		cmd += pos
		self.sendGCode(cmd+"\n$#\n")
		self.event_generate("<<Status>>",
			data=(_("Set workspace %s to %s")%(WCS[p],pos)))
			#data=(_("Set workspace %s to %s")%(WCS[p],pos)).encode("utf8"))
		self.event_generate("<<CanvasFocus>>")

	#----------------------------------------------------------------------
	def feedHold(self, event=None):
		if event is not None and not self.acceptKey(True): return
		if self.serial is None: return
		self.serial.write(b"!")
		self.serial.flush()
		self._pause = True

	#----------------------------------------------------------------------
	def resume(self, event=None):
		if event is not None and not self.acceptKey(True): return
		if self.serial is None: return
		self.serial.write(b"~")
		self.serial.flush()
		self._msg   = None
		self._alarm = False
		self._pause = False

	#----------------------------------------------------------------------
	def pause(self, event=None):
		if self.serial is None: return
		if self._pause:
			self.resume()
		else:
			self.feedHold()

	#----------------------------------------------------------------------
	# FIXME ????
	#----------------------------------------------------------------------
	def g28Command(self):
		self.sendGCode("G28.1\n")

	#----------------------------------------------------------------------
	# FIXME ????
	#----------------------------------------------------------------------
	def g30Command(self):
		self.sendGCode("G30.1\n")

	#----------------------------------------------------------------------
	def emptyQueue(self):
		while self.queue.qsize()>0:
			try:
				self.queue.get_nowait()
			except Empty:
				break

	#----------------------------------------------------------------------
	def stopProbe(self):
		if self.gcode.probe.start:
			self.gcode.probe.clear()

	#----------------------------------------------------------------------
	def getBufferFill(self):
		return self._sumcline * 100. / RX_BUFFER_SIZE

	#----------------------------------------------------------------------
	def initRun(self):
		self._quit   = 0
		self._pause  = False
		self._paths  = None
		self.running = True
		self.disable()
		self.emptyQueue()
		time.sleep(1)

	#----------------------------------------------------------------------
	# Called when run is finished
	#----------------------------------------------------------------------
	def runEnded(self):
		self._runLines = 0
		self._quit     = 0
		self._pause    = False
		self.running   = False
		self._msg      = None
		self.enable()

	#----------------------------------------------------------------------
	# Stop the current run
	#----------------------------------------------------------------------
	def stopRun(self, event=None):
		self.feedHold()
		self._stop = True
		time.sleep(1)
		# remember and send all G commands
		G = " ".join([x for x in CNC.vars["G"] if x[0]=="G"])	# remember $G
		TLO = CNC.vars["TLO"]
		self.softReset()			# reset controller
		if self.controller == Utils.GRBL:
			time.sleep(1)
			self.unlock()
		self.runEnded()
		self.stopProbe()
		self.sendGCode("%s\n$G\n"%(G))		# restore $G
		self.sendGCode("G43.1Z%s\n$G\n"%(TLO))	# restore TLO

	#----------------------------------------------------------------------
	# thread performing I/O on serial line
	#----------------------------------------------------------------------
	def serialIO(self):
		cline  = []		# length of pipeline commands
		sline  = []		# pipeline commands
		wait   = False		# wait for commands to complete
		tosend = None		# next string to send
		status = False		# waiting for status <...> report
		tr = tg = time.time()	# last time a ? or $G was send to grbl

		while self.thread:
			t = time.time()

			# refresh machine position?
			if t-tr > SERIAL_POLL:
				# Send one ?
				self.serial.write(b"?")
				status = True
				#print ">S> ?"
				tr = t

			# Fetch new command to send if...
			if tosend is None and not wait and not self._pause and self.queue.qsize()>0:
				try:
					tosend = self.queue.get_nowait()
					#print "+++",repr(tosend)

					if isinstance(tosend, tuple):
						#print "gcount tuple=",self._gcount
						# wait to empty the grbl buffer
						if tosend[0] == WAIT:
							# Don't count WAIT until we are idle!
							wait = True
							#print "+++ WAIT ON"
							#print "gcount=",self._gcount, self._runLines
						elif tosend[0] == MSG:
							# Count executed commands as well
							self._gcount += 1
							if tosend[1] is not None:
								# show our message on machine status
								self._msg = tosend[1]
						elif tosend[0] == UPDATE:
							# Count executed commands as well
							self._gcount += 1
							self._update = tosend[1]
						else:
							# Count executed commands as well
							self._gcount += 1
						tosend = None

					elif not isinstance(tosend,str) and not isinstance(tosend,unicode):
						try:
							tosend = self.gcode.evaluate(tosend)
#							if isinstance(tosend, list):
#								cline.append(len(tosend[0]))
#								sline.append(tosend[0])
#								self.log.put((True,tosend[0]))
							if isinstance(tosend,str) or isinstance(tosend,unicode):
								tosend += "\n"
							else:
								# Count executed commands as well
								self._gcount += 1
								#print "gcount str=",self._gcount
							#print "+++ eval=",repr(tosend),type(tosend)
						except:
							self.log.put((True,sys.exc_info()[1]))
							tosend = None
				except Empty:
					break

				if tosend is not None:
					# All modification in tosend should be
					# done before adding it to cline
					if isinstance(tosend, unicode):
						tosend = tosend.encode("ascii","replace")

					#Keep track of last feed
					pat = FEEDPAT.match(tosend)
					if pat is not None:
						self._lastFeed = pat.group(2)

					#If Override change, attach feed
					if CNC.vars["overrideChanged"]:
						CNC.vars["overrideChanged"] = False
						self._newFeed = float(self._lastFeed)*CNC.vars["override"]/100.0
						if pat is None and self._newFeed!=0:
							tosend = "f%g" % (self._newFeed) + tosend
							#print tosend

					#Apply override Feed
					if CNC.vars["override"] != 100 and self._newFeed!=0:
						pat = FEEDPAT.match(tosend)
						if pat is not None:
							try:
								tosend = "%sf%g%s\n" % \
									(pat.group(1),
									 self._newFeed,
									 pat.group(3))
							except:
								pass

					# Bookkeeping of the buffers
					sline.append(tosend)
					cline.append(len(tosend))
					self.log.put((True,tosend))

			# Anything to receive?
			if self.serial.inWaiting() or tosend is None:
				line = str(self.serial.readline()).strip()
				#print "<R<",repr(line)
				#print "*-* stack=",sline,"sum=",sum(cline),"wait=",wait,"pause=",self._pause
				if line:
					if line[0]=="<":
						pat = STATUSPAT.match(line)
						if pat:
							if not status: self.log.put((False, line+"\n"))
							status = False
							if not self._alarm:
								CNC.vars["state"] = pat.group(1)
							CNC.vars["mx"] = float(pat.group(2))
							CNC.vars["my"] = float(pat.group(3))
							CNC.vars["mz"] = float(pat.group(4))
							CNC.vars["wx"] = float(pat.group(5))
							CNC.vars["wy"] = float(pat.group(6))
							CNC.vars["wz"] = float(pat.group(7))
							self._posUpdate = True
							if pat.group(1) != "Hold" and self._msg:
								self._msg = None

							# Machine is Idle buffer is empty
							# stop waiting and go on
							#print "<<< WAIT=",wait,sline,pat.group(1),sum(cline)
							#print ">>>", line
							if wait and not cline and pat.group(1)=="Idle":
								#print ">>>",line
								wait = False
								#print "<<< NO MORE WAIT"
								self._gcount += 1
						else:
							self.log.put((False, line+"\n"))

					elif line[0]=="[":
						self.log.put((False, line+"\n"))
						pat = POSPAT.match(line)
						if pat:
							if pat.group(1) == "PRB":
								CNC.vars["prbx"] = float(pat.group(2))
								CNC.vars["prby"] = float(pat.group(3))
								CNC.vars["prbz"] = float(pat.group(4))
								#if self.running:
								self.gcode.probe.add(
									 CNC.vars["prbx"]
									+CNC.vars["wx"]
									-CNC.vars["mx"],

									 CNC.vars["prby"]
									+CNC.vars["wy"]
									-CNC.vars["my"],

									 CNC.vars["prbz"]
									+CNC.vars["wz"]
									-CNC.vars["mz"])
								self._probeUpdate = True
							CNC.vars[pat.group(1)] = \
								[float(pat.group(2)),
								 float(pat.group(3)),
								 float(pat.group(4))]
						else:
							pat = TLOPAT.match(line)
							if pat:
								CNC.vars[pat.group(1)] = pat.group(2)
								self._probeUpdate = True
							elif DOLLARPAT.match(line):
								CNC.vars["G"] = line[1:-1].split()
								CNC.updateG()
								self._gUpdate = True

					else:
						#print "<r<",repr(line)
						self.log.put((False, line+"\n"))
						uline = line.upper()
						if uline.find("ERROR")==0 or uline.find("ALARM")==0:
							self._gcount += 1
							#print "gcount ERROR=",self._gcount
							if cline: del cline[0]
							if sline: CNC.vars["errline"] = sline.pop(0)
							if not self._alarm: self._posUpdate = True
							self._alarm = True
							CNC.vars["state"] = line
							if self.running:
								self.emptyQueue()
								# Dangerous calling state of Tk if not reentrant
								self.runEnded()
								tosend = None
								del cline[:]
								del sline[:]

						elif line.find("ok")>=0:
							self._gcount += 1
							#print "gcount OK=",self._gcount
							if cline: del cline[0]
							if sline: del sline[0]
							#print "SLINE:",sline

			# Received external message to stop
			if self._stop:
				self.emptyQueue()
				tosend = None
				del cline[:]
				del sline[:]
				self._stop = False

			#print "tosend='%s'"%(repr(tosend)),"stack=",sline,"sum=",sum(cline),"wait=",wait,"pause=",self._pause
			if tosend is not None and sum(cline) < RX_BUFFER_SIZE:
				self._sumcline = sum(cline)
#				if isinstance(tosend, list):
#					self.serial.write(str(tosend.pop(0)))
#					if not tosend: tosend = None

				#print ">S>",repr(tosend),"stack=",sline,"sum=",sum(cline)
				if self.controller==Utils.SMOOTHIE: tosend = tosend.upper()
				self.serial.write(bytes(tosend))
#				self.serial.write(tosend.encode("utf8"))
#				self.serial.flush()

				tosend = None
				if not self.running and t-tg > G_POLL:
					tosend = b"$G\n"
					sline.append(tosend)
					cline.append(len(tosend))
					tg = t