From 4896e640744978adc4c05296853652ae61b9bb61 Mon Sep 17 00:00:00 2001
From: Sohel <so.bourgeau@gmail.com>
Date: Wed, 20 Nov 2024 15:49:55 +0100
Subject: [PATCH] The web app now streams gcode over web sockets

---
 plotter-app/app.py            |  8 ++--
 plotter-app/streamer.py       | 74 +++++++++++++++++++++++++++++++++--
 plotter-app/test_socket.py    |  8 ++++
 plotter-app/websocket_test.py | 24 ++++++++++++
 4 files changed, 107 insertions(+), 7 deletions(-)
 create mode 100644 plotter-app/test_socket.py
 create mode 100644 plotter-app/websocket_test.py

diff --git a/plotter-app/app.py b/plotter-app/app.py
index 830ef4f..1b7be06 100644
--- a/plotter-app/app.py
+++ b/plotter-app/app.py
@@ -1,7 +1,7 @@
 from flask import Flask, render_template, request
 import sys
 import os
-from streamer import stream_gcode
+from streamer import stream_gcode_websocket
 from text_to_gcode import convert_text
 
 import svgToGcode
@@ -42,7 +42,7 @@ def getSVG():
             
             gcode = svgToGcode.convertToGcode(file.read() ,output)
  
-            stream_gcode(gcode.splitlines())
+            stream_gcode_websocket(gcode.splitlines())
             print(gcode)
             print("done!")
         else:
@@ -62,7 +62,7 @@ def getGcode():
         
             gcode = file.readlines()
             print(str(gcode))
-            stream_gcode(gcode)
+            stream_gcode_websocket(gcode)
             
         else:
             print('empty file or unaccepted file')
@@ -102,6 +102,8 @@ def getText():
             gcode_filename = "retourligne.gcode"
             with open(gcode_filename, "w") as gcode_file:
                 gcode_file.write(gcode_output)
+            
+            stream_gcode_websocket(gcode_output) #envoi du gcode généré au plotter
 
             print(f"G-code saved to {gcode_filename}")
         else:
diff --git a/plotter-app/streamer.py b/plotter-app/streamer.py
index 7282704..0f8c3c5 100644
--- a/plotter-app/streamer.py
+++ b/plotter-app/streamer.py
@@ -1,6 +1,9 @@
 import serial
 import time
-
+import threading
+import websocket
+import time
+import queue
 
 #### Load gcode testfile
 
@@ -10,9 +13,9 @@ import time
 
 
 
-#### Streamer 
+#### Serial treamer 
 
-def stream_gcode(gcode):
+def stream_gcode_serial(gcode):
   # Open grbl serial port
   s = serial.Serial('/dev/ttyACM0',115200)
 
@@ -40,5 +43,68 @@ def stream_gcode(gcode):
   
   print('job done')
 
-#stream_gcode(gcode)
 
+
+
+#### Web Socket Streamer
+
+# Global variables
+ws = None
+response_queue = queue.Queue()  # Thread-safe queue for server responses
+
+def receiver():
+    """Receives messages from the WebSocket server."""
+    while True:
+        try:
+            # Receive a message from the WebSocket
+            for l in ws.recv().splitlines():
+                if isinstance(l, str):
+                    response = l
+                else:
+                    response = str(l, 'utf-8')
+                # print("Received:", response)
+                response_queue.put(response)  # Add response to the queue
+        except Exception as e:
+            print("Error in receiver:", e)
+            break
+
+def stream_gcode_websocket(gcode):
+    """Streams G-code commands to the WebSocket server."""
+    global ws
+    ws = websocket.WebSocket()
+    ws.connect("ws://192.168.0.1:81")  # Replace with your server's address
+
+    # Start the receiver thread
+    t = threading.Thread(target=receiver, daemon=True)
+    t.start()
+
+    # Wake up GRBL
+    ws.send("\r\n\r\n")
+    time.sleep(2)  # Wait for GRBL to initialize
+    with response_queue.mutex:
+      response_queue.queue.clear()
+
+    for line in gcode:
+        l = str(line.strip())  # Strip all EOL characters for consistency
+        print('Sending:', l)
+        ws.send(l + '\n')  # Send G-code block to the server
+
+        # Wait for server response
+        try:
+            grbl_out = response_queue.get(timeout=5)  # Wait up to 5 seconds for a response
+            print('Response:', grbl_out.strip())
+            if(grbl_out.strip() != "ok"):
+                break
+        except queue.Empty:
+            print("Timeout waiting for server response.")
+
+    print('Job done')
+    ws.close()
+
+# gcode = [
+#     "G0 X10 Y10",
+#     "G1 X20 Y20",
+#     "G1 X30 Y10"
+# ]
+
+# stream_gcode_websocket(gcode)
\ No newline at end of file
diff --git a/plotter-app/test_socket.py b/plotter-app/test_socket.py
new file mode 100644
index 0000000..d938066
--- /dev/null
+++ b/plotter-app/test_socket.py
@@ -0,0 +1,8 @@
+import socket
+import sys
+# Create a TCP/IP socket
+sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+# Connect the socket to the port where the server is listening
+server_address = ('192.168.0.1', 81)
+print(sys.stderr, 'connecting to %s port %s' % server_address)
+sock.connect(server_address) 
\ No newline at end of file
diff --git a/plotter-app/websocket_test.py b/plotter-app/websocket_test.py
new file mode 100644
index 0000000..eef98f8
--- /dev/null
+++ b/plotter-app/websocket_test.py
@@ -0,0 +1,24 @@
+import threading, websocket, time
+ws = websocket.WebSocket()
+ws.connect("ws://192.168.0.1:81")
+
+# Reception needs to be done in a separate thread; you cannot
+# assume that a given command will always result in exactly one
+# response at a predictable time
+# def receiver():
+#     while True:
+#         for l in ws.recv().splitlines():
+#             if isinstance(l, str):
+#                 print(l)
+#             else:
+#                 print(str(l, 'utf-8'))
+
+# t = threading.Thread(target=receiver)
+# t.start()
+
+# ws.send("?")  # realtime characters need no line terminator
+# ws.send("$/axes/x\n")  # line-oriented commands need \n at the end
+ws.send("\r\n\r\n")
+print(ws.recv())
+ws.send("G0 X10\n")
+print(ws.recv())