Handle SET_VALUE for speed, flow and temperatures; drop gcode force

.github/workflows/python-tests.yml

@@ -48,7 +48,7 @@ jobs:
         pip install -U -r requirements-multi.txt
         pip install pylint~=2.17.7
         pip install -U 'ruff~=0.16.10' pytest pytest-doctestplus pytest-mypy pytest-cov mock
-        pip install --force-reinstall git+https://github.com/prusa3d/prusa-connect-sdk-printer.git@feat/lazy-file-protocol
+        pip install --force-reinstall git+https://github.com/prusa3d/prusa-connect-sdk-printer.git@websockets
         pip install --force-reinstall git+https://github.com/prusa3d/gcode-metadata.git
 
     - name: Lint with ruff

ChangeLog

@@ -1,6 +1,6 @@
 # ChangeLog
 
-0.9.0 (unreleased)
+1.0.0 (unreleased)
     * Use the Lazy File Protocol: Connect gets the list of storages and asks for the content of folders (also on the SD card) when it needs it
     * Tell Connect to rescan the SD card when its content changes
     * Report the end of a file upload via PUT, so Connect and other clients get the transfer finished event
@@ -9,6 +9,9 @@
     * Fix a crash when rebooting a multi-instance PrusaLink
     * Fix a CRC issue
     * Point the setup wizard to the Prusa Downloads page and the Prusa-Firmware GitHub releases for the latest stable firmware
+    * Handle the SET_VALUE command for speed, flow and temperatures
+    * Drop the gcode force option
+    * Communicate with Connect over WebSocket instead of the previous protocol, for faster response times
 
 0.8.1 (2024-06-28)
     * Add a v4l2 workaround so broken camera handles are disqualified from scan

README.md

@@ -65,7 +65,7 @@ pip install PrusaLink
 
 # Or install straight from GitHub
 pip install git+https://github.com/prusa3d/gcode-metadata.git
-pip install git+https://github.com/prusa3d/Prusa-Connect-SDK-Printer.git@feat/lazy-file-protocol
+pip install git+https://github.com/prusa3d/Prusa-Connect-SDK-Printer.git@websockets
 pip install git+https://github.com/prusa3d/Prusa-Link.git
 ```
 

image_builder/image_builder.py

@@ -475,7 +475,7 @@ def build_image():
         run_over_ssh(
             "pip install --break-system-packages git+https://"
             "github.com/prusa3d/Prusa-Connect-SDK-Printer.git"
-            "@feat/lazy-file-protocol",
+            "@websockets",
         )
         run_over_ssh(
             "pip install --break-system-packages git+https://"

prusa/link/__init__.py

@@ -5,8 +5,8 @@
 __application__ = "PrusaLink"
 __vendor__ = "Prusa Research"
 
-__version__ = "0.9.0.dev0"
-__date__ = "18 Dec 2024"
+__version__ = "1.0.0.dev0"
+__date__ = "9 Oct 2026"
 __copyright__ = "(c) 2024 Prusa 3D"
 __author_name__ = "PrusaLink Developers"
 __author_email__ = "link@prusa3d.cz"

prusa/link/printer_adapter/command_handlers.py

@@ -14,7 +14,7 @@
 from sys import executable
 from threading import Event
 from time import monotonic, time
-from typing import Dict, Optional, Set
+from typing import ClassVar, Dict, Optional, Set, Tuple
 
 from prusa.connect.printer.const import Event as EventConst
 from prusa.connect.printer.const import Source, State
@@ -25,6 +25,7 @@
     RESET_PIN,
     SERIAL_QUEUE_TIMEOUT,
     STATE_CHANGE_TIMEOUT,
+    LimitsMK3,
 )
 from ..serial.helpers import enqueue_instruction, enqueue_list_from_str
 from ..util import (
@@ -332,15 +333,13 @@ class ExecuteGcode(Command):
     """Class for executing an arbitrary gcode or gcode list"""
     command_name = "execute_gcode"
 
-    def __init__(self, gcode, force=False, **kwargs):
+    def __init__(self, gcode, **kwargs):
         """
         If all checks pass, runs the specified gcode.
         :param gcode: "\n" separated gcodes to send to the printer""
-        :param force: Whether to skip state checks
         """
         super().__init__(**kwargs)
         self.gcode = gcode
-        self.force = force
 
     def _run_command(self):
         """
@@ -349,14 +348,10 @@ def _run_command(self):
         Doesn't renew the expected state change, so the other state changes
         will fall back onto defaults
         """
-        if self.force:
-            log.debug("Force sending gcode: '%s'", self.gcode)
-
         state = self.model.state_manager.current_state
-        if not self.force:
-            if state in {State.PRINTING, State.ATTENTION, State.ERROR}:
-                raise CommandFailed(
-                    f"Can't run '{self.gcode}' while in f{state.name} state.")
+        if state in {State.PRINTING, State.ATTENTION, State.ERROR}:
+            raise CommandFailed(
+                f"Can't run '{self.gcode}' while in f{state.name} state.")
 
         self.state_manager.expect_change(
             StateChange(command_id=self.command_id,
@@ -397,6 +392,63 @@ def _get_state_change(default_source):
         return StateChange(default_source=default_source)
 
 
+class SetValue(Command):
+    """Sets one of the values, that used to be set by forced gcodes.
+    Runs right away, even during a print, the way a forced gcode did"""
+    command_name = "set_value"
+
+    # key: (gcode template, minimum, maximum)
+    SETTINGS: ClassVar[Dict[str, Tuple[str, int, int]]] = {
+        "speed": ("M220 S{}", LimitsMK3.print_speed_min,
+                  LimitsMK3.print_speed_max),
+        "flow": ("M221 S{}", LimitsMK3.print_flow_min,
+                 LimitsMK3.print_flow_max),
+        "nozzle_temperature": ("M104 S{}", LimitsMK3.temp_nozzle_min,
+                               LimitsMK3.temp_nozzle_max),
+        "bed_temperature": ("M140 S{}", LimitsMK3.temp_bed_min,
+                            LimitsMK3.temp_bed_max),
+    }
+    ALLOWED_STATES: ClassVar[Set[State]] = {
+        State.IDLE, State.PAUSED, State.FINISHED, State.STOPPED,
+        State.PRINTING, State.READY}
+
+    def __init__(self, parameters: Optional[Dict], **kwargs):
+        """
+        :param parameters: the kwargs of the SET_VALUE command, expected
+            to contain exactly one of the SETTINGS keys
+        """
+        super().__init__(**kwargs)
+        self.parameters = parameters
+
+    def _run_command(self):
+        """Validates the value and the state, then sets the value"""
+        if not self.parameters or len(self.parameters) != 1:
+            raise CommandFailed("SET_VALUE needs exactly one value")
+        key, value = next(iter(self.parameters.items()))
+        if key not in self.SETTINGS:
+            raise CommandFailed(f"Can't set unknown value '{key}'")
+        gcode, minimum, maximum = self.SETTINGS[key]
+
+        # bool is an int, but sending True as a temperature is a mistake
+        if not isinstance(value, int) or isinstance(value, bool):
+            raise CommandFailed(f"'{key}' has to be an integer")
+        if not minimum <= value <= maximum:
+            raise CommandFailed(
+                f"'{key}' has to be between {minimum} and {maximum}")
+
+        state = self.model.state_manager.current_state
+        if state not in self.ALLOWED_STATES:
+            raise CommandFailed(f"Can't set '{key}' while in {state.name} "
+                                f"state.")
+        if (key == "nozzle_temperature" and state == State.PRINTING
+                and value < LimitsMK3.min_temp_nozzle_e):
+            raise CommandFailed(
+                f"Can't set the nozzle below {LimitsMK3.min_temp_nozzle_e} "
+                f"while printing.")
+
+        self.do_instruction(gcode.format(value))
+
+
 class FilamentCommand(Command):
     """The shared code for Loading and Unloading of filament"""
 

prusa/link/printer_adapter/prusa_link.py

@@ -69,6 +69,7 @@
     ResetPrinter,
     ResumePrint,
     SetReady,
+    SetValue,
     StartPrint,
     StopPrint,
     UnloadFilament,
@@ -200,6 +201,7 @@ def __init__(self, cfg: Config, settings: Settings) -> None:
 
         # Bind command handlers
         self.printer.set_handler(CommandType.GCODE, self.execute_gcode)
+        self.printer.set_handler(CommandType.SET_VALUE, self.set_value)
         self.printer.set_handler(CommandType.PAUSE_PRINT, self.pause_print)
         self.printer.set_handler(CommandType.RESET_PRINTER, self.reset_printer)
         self.printer.set_handler(CommandType.UPGRADE, self.upgrade_link)
@@ -546,10 +548,18 @@ def execute_gcode(self, caller: SDKCommand) -> CommandResult:
         """
         assert caller.kwargs
         command = ExecuteGcode(gcode=caller.kwargs["gcode"],
-                               force=caller.force,
                                command_id=caller.command_id)
         return self.command_queue.do_command(command)
 
+    def set_value(self, caller: SDKCommand) -> CommandResult:
+        """
+        Connects the command to set speed, flow or temperatures from CONNECT
+        with its handler
+        """
+        command = SetValue(parameters=caller.kwargs,
+                           command_id=caller.command_id)
+        return self.command_queue.do_command(command)
+
     def start_print(self, caller: SDKCommand) -> CommandResult:
         """
         Connects the command to start print from CONNECT with its handler

prusa/link/sdk_augmentation/printer.py

@@ -9,7 +9,6 @@
 from prusa.connect.printer import Printer as SDKPrinter
 from prusa.connect.printer import const
 from prusa.connect.printer.command import Command
-from prusa.connect.printer.conditions import API, HTTP, CondState
 from prusa.connect.printer.const import Source
 from prusa.connect.printer.files import File
 
@@ -50,22 +49,6 @@ def __init__(self, *args, **kwargs):
                                       name="snapshot_sender",
                                       daemon=True)
 
-    def parse_command(self, res):
-        """Parse telemetry response.
-
-        When response from connect is command (HTTP Status: 200 OK), it
-        will set command object.
-        """
-
-        if 500 > res.status_code >= 400:
-            API.state = CondState.NOK
-        elif res.status_code == 503:
-            HTTP.state = CondState.NOK
-
-        res = super().parse_command(res)
-
-        return res
-
     def get_info(self) -> Dict[str, Any]:
         """Returns a dictionary containing the printers info."""
         info = super().get_info()

requirements.txt

@@ -1,4 +1,4 @@
-prusa.connect.sdk.printer @ git+https://github.com/prusa3d/Prusa-Connect-SDK-Printer.git@feat/lazy-file-protocol
+prusa.connect.sdk.printer @ git+https://github.com/prusa3d/Prusa-Connect-SDK-Printer.git@websockets
 py-gcode-metadata
 pip>=22.2.0
 bidict~=0.22.1

tests/test_command_handlers.py

@@ -432,19 +432,17 @@ def test_execute_gcode(state_manager):
 @pytest.mark.parametrize("state", [State.PRINTING, State.ATTENTION,
                                    State.ERROR])
 def test_execute_gcode_in_wrong_state(model, state):
-    """Gcodes are not run in these states unless forced"""
+    """Gcodes are never run in these states"""
     model.state_manager.current_state = state
     with pytest.raises(CommandFailed):
         ExecuteGcode("G28").run_command()
 
 
-def test_execute_gcode_forced(model):
-    """Force skips the state checks"""
+def test_execute_gcode_cannot_be_forced(model):
+    """The force flag is gone, so the state checks cannot be skipped"""
     model.state_manager.current_state = State.PRINTING
-    command = ExecuteGcode("G28", force=True)
-    with patch.object(module, "enqueue_list_from_str", return_value=[]), \
-            patch.object(command, "wait_while_running"):
-        command.run_command()
+    with pytest.raises(TypeError):
+        ExecuteGcode("G28", force=True)
 
 
 @pytest.mark.parametrize(("group", "message"), [

tests/test_sdk_printer.py

@@ -5,7 +5,6 @@
 import pytest
 from prusa.connect.printer import Printer as SDKPrinter
 from prusa.connect.printer.command import CommandRejected
-from prusa.connect.printer.conditions import API, HTTP, CondState
 from prusa.connect.printer.const import Event, PrinterType, Source, StorageType
 
 from prusa.link import __version__  # type:ignore
@@ -40,42 +39,6 @@ def printer():
     MyPrinter._MCSingleton__instance = None
 
 
-@pytest.fixture
-def parent_parse():
-    """The parse_command of the SDK printer"""
-    with patch.object(SDKPrinter, "parse_command", create=True) as parse:
-        yield parse
-
-
-@pytest.fixture
-def conditions():
-    """Conditions are restored after the test"""
-    previous = (API._state, HTTP._state)
-    yield
-    API._state, HTTP._state = previous
-
-
-@pytest.mark.parametrize(("status", "broken"), [
-    (400, "API"),
-    (404, "API"),
-    (503, "HTTP"),
-    (200, None),
-    (500, None),
-])
-@pytest.mark.usefixtures("conditions")
-def test_parse_command(printer, parent_parse, status, broken):
-    """Client errors break the API condition, 503 breaks HTTP"""
-    API._state = HTTP._state = CondState.OK
-    response = MagicMock(status_code=status)
-    assert printer.parse_command(response) is parent_parse.return_value
-    parent_parse.assert_called_once_with(response)
-    states = {"API": API._state, "HTTP": HTTP._state}
-    if broken:
-        assert states[broken] == CondState.NOK
-    else:
-        assert set(states.values()) == {CondState.OK}
-
-
 def test_get_info(printer):
     """Info has the diameter, storages without files and the version"""
     printer.nozzle_diameter = 0.4