start grbl

test_tube_scanner/modules/grbl.py

@@ -29,7 +29,9 @@ class GRBLController:
     Y_MIN = 0
 
     def __init__(self, port='/dev/ttyUSB0', baudrate=115200, timeout=1, send_callback=None, x_max=None, y_max=None):
-        self.lock = threading.Lock()
+        logger.info(f"GRBLController::init begin {port} device port")
+        
+        #self.lock = threading.Lock()
         self.port = port
         self.baudrate = baudrate
         self.timeout = timeout
@@ -44,9 +46,8 @@ class GRBLController:
             self._state = self._send_msg
 
         self.x, self.y = 0, 0
-        self.start_connection()
-        self._wake_up()
-        self._init_machine()
+        
+        #self.start_connection()
 
     def wait_for(self, delay=1.0):
         threading.Event().wait(delay*1.0)
@@ -57,7 +58,7 @@ class GRBLController:
     def clear_buffer(self):
         while self.ser.in_waiting >0:
             msg = self.ser.readline().decode().strip()
-            print(f"Buffer: {msg}")
+            logger.info(f"Buffer: {msg}")
             self._state(state='serial', msg=msg)
 
     def start_connection(self):
@@ -69,9 +70,14 @@ class GRBLController:
                 self.ser.setDTR(False)
                 self.ser.setRTS(False)
                 self.clear_buffer()
+                
+                self._wake_up()
+                self._init_machine()
+                logger.info(f"GRBLController::start_connexion started {self.port}")
                 break
             except Exception as e:
-                print(f"Erreur de connexion (essai {n}): {e}")
+                logger.error(f"GRBLController::start_connexion (essai {n}): {e}")
+                self._state(state='error', msg=f"{e}")
                 n += 1
                 self.wait_for(1.0)
 
@@ -100,12 +106,6 @@ class GRBLController:
             self._state(state='error', msg=f"Error send {cmd} command: {e}")
             self.close()
             self.start_connection()
-            self._wake_up()
-            self._init_machine()
-            '''
-            self.recover()
-            self.reset_grbl()
-            raise'''
 
     def recover(self):
         #print("Récupération de GRBL...")

test_tube_scanner/scanner/process.py

@@ -228,6 +228,12 @@ class ScannerProcess(Task):
             self.cam._active_median = False
             self.cam.set_circular_crop(None)
             
+            self.grbl = grbl.GRBLController(
+                send_callback=self._display, 
+                x_max=self.conf.grbl_xmax, 
+                y_max=self.conf.grbl_ymax
+            )
+
             self.stop_event.clear()
             self.start_services()
         except Exception as e:
@@ -248,6 +254,7 @@ class ScannerProcess(Task):
     def start_services(self):
         Thread(target=self._listen_to_redis, daemon=True).start()
         Thread(target=self._recording, daemon=True).start()
+        Thread(target=self._init_grbl, daemon=True).start()
         self.cam.start()
 
     def _send(self, **payload):
@@ -288,21 +295,22 @@ class ScannerProcess(Task):
             except Exception as e:
                 logger.error(f'recorder: {e}')
 
+
     def _init_grbl(self, feed=1000):
-        self.grbl = grbl.GRBLController(
-            send_callback=self._display, 
-            x_max=self.conf.grbl_xmax, 
-            y_max=self.conf.grbl_ymax
-        )
+        logger.info(f"==== GRBLController try to start connection!")
+        self.grbl.start_connection()
+        self._send(state='serial', msg=f"Connected {self.grbl.port}")        
+        
         self.grbl.go_origin(feed=feed)
         self.grbl.wait_for(2.0)
 
+
     def _listen_to_redis(self):
         try:
             logger.info(f"==== Scanner {self.group}: listen via redisDB")
             pubsub = redisDB.pubsub()
             pubsub.subscribe(self.group)
-            self._init_grbl()
+            #self._init_grbl()
             self.manager = MultiWellManager(process=self)
             
             for message in pubsub.listen():