dune-weaver/dune_weaver_flask/modules/serial/serial_manager.py

import serial
import serial.tools.list_ports
import threading
import time
import logging
from dune_weaver_flask.modules.core.state import state

logger = logging.getLogger(__name__)

# Global variables
ser = None
ser_port = None
serial_lock = threading.RLock()
IGNORE_PORTS = ['/dev/cu.debug-console', '/dev/cu.Bluetooth-Incoming-Port']

# Device information
arduino_table_name = None
arduino_driver_type = 'Unknown'
firmware_version = 'Unknown'


def list_serial_ports():
    """Return a list of available serial ports."""
    ports = serial.tools.list_ports.comports()
    available_ports = [port.device for port in ports if port.device not in IGNORE_PORTS]
    logger.debug(f"Available serial ports: {available_ports}")
    return available_ports

def get_machine_steps():
    """
    Send "$$" to the serial port to retrieve machine settings and return values for $100 and $101.
    Returns two floats: x_steps_per_mm and y_steps_per_mm, or (None, None) if not found.
    """
    if not is_connected():
        logger.error("Serial connection is not established.")
        return None, None

    while True:
        with serial_lock:
            ser.write("$$\n".encode())
            ser.flush()
            time.sleep(1)  # Allow time for response

            x_steps_per_mm = None
            y_steps_per_mm = None
            gear_ratio = None

            while ser.in_waiting > 0:
                line = ser.readline().decode().strip()
                logger.debug(f"Config response: {line}")

                if line.startswith("$100="):
                    x_steps_per_mm = float(line.split("=")[1])
                    state.x_steps_per_mm = x_steps_per_mm
                elif line.startswith("$101="):
                    y_steps_per_mm = float(line.split("=")[1])
                    state.y_steps_per_mm = y_steps_per_mm
                elif line.startswith("$131="):
                    gear_ratio = float(line.split("=")[1])
                    state.gear_ratio = gear_ratio

                if x_steps_per_mm is not None and y_steps_per_mm is not None and gear_ratio is not None:
                    return True
        

def connect_to_serial(port=None, baudrate=115200):
    """Automatically connect to the first available serial port or a specified port."""
    global ser, ser_port, arduino_table_name, arduino_driver_type, firmware_version
    try:
        if port is None:
            ports = list_serial_ports()
            if not ports:
                logger.warning("No serial port connected")
                return False
            port = ports[0]  # Auto-select the first available port

        with serial_lock:
            if ser and ser.is_open:
                ser.close()
            ser = serial.Serial(port, baudrate, timeout=2)
            ser_port = port

        try:
            if get_machine_steps():
                logger.info(f"x_steps_per_mm: {state.x_steps_per_mm}, y_steps_per_mm: {state.y_steps_per_mm}, gear_ratio: {state.gear_ratio}")
        except:
            logger.fatal("Not GRBL firmware")
            pass 
            
        machine_x, machine_y = get_machine_position()
        if not machine_x or not machine_y or machine_x != state.machine_x or machine_y != state.machine_y:
            logger.info(f'x, y; {machine_x}, {machine_y}')
            logger.info(f'State x, y; {state.machine_x}, {state.machine_y}')
            home()
        else:
            logger.info('Machine position known, skipping home')
            logger.info(f'Theta: {state.current_theta}, rho: {state.current_rho}')
            logger.info(f'State x, y; {state.machine_x}, {state.machine_y}')
            
        
        logger.info(f"Connected to serial port: {port}")
        time.sleep(2)  # Allow time for the connection to establish

        try:
            if get_machine_steps(): 
                logger.info(f"x_steps_per_mm: {state.x_steps_per_mm}, x_steps_per_mm: {state.y_steps_per_mm}, gear_ratio: {state.gear_ratio}")
                return True
        except:
            logger.info("Not GRBL firmware")
            return False
        
    except serial.SerialException as e:
        logger.error(f"Failed to connect to serial port {port}: {e}")
        ser_port = None

    logger.error("Max retries reached. Could not connect to a serial port.")
    return False


def disconnect_serial():
    """Disconnect the current serial connection."""
    global ser, ser_port
    if ser and ser.is_open:
        logger.info("Disconnecting serial connection")
        ser.close()
        ser = None
    ser_port = None


def restart_serial(port, baudrate=115200):
    """Restart the serial connection."""
    logger.info(f"Restarting serial connection on port {port}")
    disconnect_serial()
    return connect_to_serial(port, baudrate)


def is_connected():
    """Check if serial connection is established and open."""
    return ser is not None and ser.is_open


def get_port():
    """Get the current serial port."""
    return ser_port


def get_status_response():
    """
    Send a status query ('?') and return the response string if available.
    This helper centralizes the query logic used throughout the module.
    """
    while True:
        with serial_lock:
            ser.write('?'.encode())
            ser.flush()
            while ser.in_waiting > 0:
                response = ser.readline().decode().strip()
                if "MPos" in response:
                    logger.debug(f"Status response: {response}")
                    return response
        time.sleep(1)



def parse_machine_position(response):
    """
    Parse the work position (MPos) from a status response.
    Expected format: "<...|MPos:-994.869,-321.861,0.000|...>"
    Returns a tuple (work_x, work_y) if found, else None.
    """
    if "MPos:" not in response:
        return None
    try:
        wpos_section = next((part for part in response.split("|") if part.startswith("MPos:")), None)
        if wpos_section:
            wpos_str = wpos_section.split(":", 1)[1]
            wpos_values = wpos_str.split(",")
            work_x = float(wpos_values[0])
            work_y = float(wpos_values[1])
            return work_x, work_y
    except Exception as e:
        logger.error(f"Error parsing work position: {e}")
    return None


def parse_buffer_info(response):
    """
    Parse the planner and serial buffer info from a status response.
    Expected format: "<...|Bf:15,128|...>"
    Returns a dictionary with keys 'planner_buffer' and 'serial_buffer' if found, else None.
    """
    if "|Bf:" in response:
        try:
            buffer_section = response.split("|Bf:")[1].split("|")[0]
            planner_buffer, serial_buffer = map(int, buffer_section.split(","))
            return {"planner_buffer": planner_buffer, "serial_buffer": serial_buffer}
        except ValueError:
            logger.warning("Failed to parse buffer info from response")
    return None


def send_grbl_coordinates(x, y, speed=600, timeout=2, home=False):
    """
    Send a G-code command to FluidNC and wait up to timeout seconds for an 'ok' response.
    If no 'ok' is received, retry every retry_interval seconds until successful.
    """
    logger.debug(f"Sending G-code: X{x} Y{y} at F{speed}")
    while True:
        with serial_lock:
            if home:
                gcode = f"$J=G91 Y{y} F{speed}"
            else:
                gcode = f"G1 X{x} Y{y} F{speed}"
            ser.write(f"{gcode}\n".encode())
            ser.flush()
            logger.debug(f"Sent command: {gcode}")

            start_time = time.time()
            while time.time() - start_time < timeout:
                if ser.in_waiting > 0:
                    response = ser.readline().decode().strip()
                    logger.debug(f"Response: {response}")
                    if response.lower() == "ok":
                        logger.debug("Command execution confirmed.")
                        return  # Exit function when 'ok' is received

            logger.warning(f"No 'ok' received for X{x} Y{y}. Retrying in 1s...")

        time.sleep(1)


def home(retry = 0):
    logger.info(f"Homing with speed {state.speed}")
    
    # Check config for sensorless homing
    with serial_lock:
        ser.flush()
        ser.write("$config\n".encode())
        response = ser.readline().decode().strip().lower()
        logger.debug(f"Config response: {response}")
                
    if "sensorless" in response:
        logger.info("Using sensorless homing")
        with serial_lock:
            ser.write("$H\n".encode())
            ser.write("G1 Y0 F100\n".encode())
            ser.flush()
    # we check that we actually got a valid response, if not, we try again a couple of times
    elif "filename" in response:
        logger.info("Using brute-force homing")
        send_grbl_coordinates(0, -110/5, state.speed, home=True)
    # error:3 means that the controller is running grbl, which doesn't support $config
    # we just use brute force homing for grbl
    elif "error:3" in response:
        logger.info("Grbl detected, Using brute-force homing")
        send_grbl_coordinates(0, -110/5, state.speed, home=True)
    else:
        # we wait a bit and cal again increasing retry times
        # if we are over the third retry, we give up
        if retry < 3:
            time.sleep(1)
            home(retry+1)
            return
        else:
            # after 3 retries we're still not getting a good response
            # raise an exception
            raise Exception("Couldn't get a valid response for homing after 3 retries")
    
    
    state.current_theta = state.current_rho = 0
    update_machine_position()

def check_idle():
    """
    Continuously check if the machine is in the 'Idle' state.
    """
    logger.info("Checking idle")
    while True:
        response = get_status_response()
        if response and "Idle" in response:
            logger.info("Table is idle")
            update_machine_position()
            return True  # Exit once 'Idle' is confirmed
        time.sleep(1)
        
def get_machine_position(timeout=3):
    """
    Send status queries for up to `timeout` seconds to obtain a valid machine (work) position.
    Returns a tuple (machine_x, machine_y) if a valid response is received,
    otherwise returns (None, None) after timeout.
    """
    start_time = time.time()
    while time.time() - start_time < timeout:
        with serial_lock:
            ser.write('?'.encode())
            ser.flush()
            # Check if there is any response available
            while ser.in_waiting > 0:
                response = ser.readline().decode().strip()
                logger.debug(f"Raw status response: {response}")
                if "MPos" in response:
                    pos = parse_machine_position(response)
                    if pos:
                        machine_x, machine_y = pos
                        logger.debug(f"Machine position: X={machine_x}, Y={machine_y}")
                        return machine_x, machine_y
        # Short sleep before trying again
        time.sleep(0.1)
    logger.warning("Timeout reached waiting for machine position")
    return None, None

def update_machine_position():
    state.machine_x, state.machine_y = get_machine_position()
    state.save()