6981974383

Committed 24 Nov 2023 02:31PM UTC coverage: 88.592%. First build

Build # 6981974383

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set-soft

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93.66

/src/pcbnew_do

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# Copyright (c) 2020-2023 Salvador E. Tropea
# Copyright (c) 2020-2023 Instituto Nacional de Tecnología Industrial
# Copyright (c) 2019 Jesse Vincent (@obra)
# Copyright (c) 2018-2019 Seppe Stas (@seppestas) (Productize SPRL)
# Based on ideas by: Scott Bezek (@scottbez1)
# License: Apache 2.0
# Project: KiAuto (formerly kicad-automation-scripts)
# Adapted from: https://github.com/obra/kicad-automation-scripts
"""
Various pcbnew operations

This program runs pcbnew and can:
1) Print PCB layers
2) Run the DRC
The process is graphical and very delicated.
"""

import argparse
import atexit
import gettext
import json
import os
import re
import shutil
import subprocess
import sys
from tempfile import TemporaryDirectory
from time import (asctime, localtime, sleep)
import time

# Look for the 'kiauto' module from where the script is running
script_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.insert(0, os.path.dirname(script_dir))
# Utils import
# Log functionality first
from kiauto import log
log.set_domain(os.path.splitext(os.path.basename(__file__))[0])
logger = None

from kiauto.file_util import (load_filters, wait_for_file_created_by_process, apply_filters, list_errors, list_warnings,
                              check_kicad_config_dir, restore_config, backup_config, check_lib_table, create_user_hotkeys,
                              check_input_file, memorize_project, restore_project, get_log_files, create_kicad_config,
                              set_time_out_scale as set_time_out_scale_f)
from kiauto.misc import (REC_W, REC_H, __version__, NO_PCB, PCBNEW_CFG_PRESENT, WAIT_START, WRONG_LAYER_NAME,
                         WRONG_PCB_NAME, PCBNEW_ERROR, WRONG_ARGUMENTS, Config, USER_HOTKEYS_PRESENT, RULES_KEY,
                         CORRUPTED_PCB, __copyright__, __license__, TIME_OUT_MULT, get_en_locale, KICAD_CFG_PRESENT,
                         MISSING_TOOL, KICAD_VERSION_6_99)
from kiauto.interposer import (check_interposer, dump_interposer_dialog, start_queue, setup_interposer_filename,
                               create_interposer_print_options_file, wait_queue, wait_start_by_msg, wait_and_show_progress,
                               set_kicad_process, open_dialog_i, wait_kicad_ready_i, paste_bogus_filename, paste_text_i,
                               paste_output_file_i, exit_kicad_i, send_keys, wait_create_i, save_interposer_print_data)
from kiauto.ui_automation import (PopenContext, xdotool, wait_not_focused, wait_for_window, recorded_xvfb,
                                  wait_point, text_replace, set_time_out_scale, open_dialog_with_retry, ShowInfoAction)

TITLE_CONFIRMATION = '^Confirmation$'
TITLE_ERROR = '^Error$'
TITLE_WARNING = '^Warning$'
TITLE_FILE_OPEN_ERROR = '^File Open (Error|Warning)$'
# This is very Debian specific, you need to install `gdb` and the kicad-nightly-dbg package
DEBUG_KICAD_NG = False
DEBUG_KICAD = False
VRML_UNITS = ['millimeters', 'meters', 'deciinches', 'inches']


def parse_drc_ki5(lines):
    drc_errors = None
    unconnected_pads = None
    in_errs = False
    in_wrns = False
    err_regex = re.compile(r'^ErrType\((\d+)\): (.*)')
    for line in lines:
        m = re.search(r'^\*\* Found ([0-9]+) DRC (errors|violations) \*\*$', line)
        if m:
            drc_errors = m.group(1)
            in_errs = True
            continue
        m = re.search(r'^\*\* Found ([0-9]+) unconnected pads \*\*$', line)
        if m:
            unconnected_pads = m.group(1)
            in_errs = False
            in_wrns = True
            continue
        m = re.search(r'^\*\* End of Report \*\*$', line)
        if m:
            break
        # TODO: Add support for this category
        m = re.search(r'^\*\* Found ([0-9]+) Footprint', line)
        if m:
            break
        if in_errs:
            m = err_regex.search(line)
            if m:
                cfg.errs.append('({}) {}'.format(m.group(1), m.group(2)))
                continue
            if len(line) > 4 and len(cfg.errs) > 0:
                cfg.errs.append(cfg.errs.pop()+'\n'+line)
                continue
        if in_wrns:
            m = err_regex.search(line)
            if m:
                cfg.wrns.append('({}) {}'.format(m.group(1), m.group(2)))
                continue
            if len(line) > 4 and len(cfg.wrns) > 0:
                cfg.wrns.append(cfg.wrns.pop()+'\n'+line)
                continue

    return int(drc_errors), int(unconnected_pads)


def parse_drc_ki6(lines):
    # A violation entry looks something like:
    #
    # [courtyards_overlap]: Courtyards overlap
    #     Local override; Severity: error (excluded)
    #     @(107.9891 mm, 114.3683 mm): Footprint SW104
    #     @(100.0000 mm, 119.3700 mm): Footprint J201
    #
    # Some violations may have fewer lines (eg missing courtyard will have only one location)
    # We are only interested in the first two lines of each violation.
    #
    # Unconnected traces are presented similarly:
    #
    # [unconnected_items]: Missing connection between items
    #     Local override; Severity: error
    #     @(99.4000 mm, 112.8900 mm): Pad 1 [Net-(J201-PadB5)] of R201 on B.Cu
    #     @(99.4000 mm, 114.5700 mm): Pad B5 [Net-(J201-PadB5)] of J201 on B.Cu
    err_regex = re.compile(r'^\[(\S+)\]: (.*)')
    sev_regex = re.compile(r'^    (.*); Severity: (.*)')
    # Collect all violations
    violations = []
    for offset in range(len(lines)-2):
        m = err_regex.search(lines[offset])
        s = sev_regex.search(lines[offset+1])
        if m and s:
            # Found a violation in this pair of lines
            violation = {'type': m.group(1), 'message': m.group(2), 'rule': s.group(1), 'severity': s.group(2)}
            assert violation['severity'] in ["error (excluded)", "error", "warning (excluded)", "warning"]
            violations.append(violation)
            context = []
            while offset+len(context) < len(lines):
                ln = lines[offset+2+len(context)]
                if not ln.startswith("    "):
                    break
                context.append(ln.rstrip())  # Strip out ending \n
            violation['context'] = "\n".join(context)
    # Classify the violations
    unconnected = [v for v in violations if v['type'] == "unconnected_items"]
    drc_errors = [v for v in violations if v['severity'] == "error" and v not in unconnected]
    drc_warns = [v for v in violations if v['severity'] == "warning" or v['type'] == "unconnected_items"]
    # Add the errors and warnings
    cfg.errs = ['({}) {}; Severity: error\n{}'.format(e['type'], e['message'], e['context']) for e in drc_errors]
    cfg.wrns = ['({}) {}; Severity: warning\n{}'.format(w['type'], w['message'], w['context']) for w in drc_warns]

    return len(drc_errors), len(drc_warns)


def parse_drc(cfg):
    with open(cfg.output_file, 'rt') as f:
        lines = f.read().splitlines()
    if cfg.ki5:
        return parse_drc_ki5(lines)
    else:
        return parse_drc_ki6(lines)


def dismiss_already_running():
    # The "Confirmation" modal pops up if pcbnew is already running
    nf_title = TITLE_CONFIRMATION
    wait_for_window(nf_title, nf_title, 1)

    logger.info('Dismiss pcbnew already running')
    xdotool(['search', '--onlyvisible', '--name', nf_title, 'windowfocus'])
    logger.debug('Found, sending Return')
    xdotool(['key', 'Return'])
    logger.debug('Wait a little, this dialog is slow')
    sleep(5)


def dismiss_warning():  # pragma: no cover
    nf_title = TITLE_WARNING
    wait_for_window(nf_title, nf_title, 1)

    logger.error('Dismiss pcbnew warning, will fail')
    xdotool(['search', '--onlyvisible', '--name', nf_title, 'windowfocus'])
    xdotool(['key', 'Return'])


def dismiss_file_open_error():
    nf_title = TITLE_FILE_OPEN_ERROR
    wait_for_window(nf_title, nf_title, 1)

    logger.warning('This file is already opened ({})'.format(cfg.input_file))
    xdotool(['search', '--onlyvisible', '--name', nf_title, 'windowfocus'])
    xdotool(['key', 'Left', 'Return'])


def dismiss_error():
    nf_title = TITLE_ERROR
    wait_for_window(nf_title, nf_title, 1)

    logger.debug('Dismiss pcbnew error')
    xdotool(['search', '--onlyvisible', '--name', nf_title, 'windowfocus'])
    logger.debug('Found, sending Return')
    xdotool(['key', 'Return'])


def wait_pcbnew(time=10, others=None):
    return wait_for_window('Main pcbnew window', cfg.pn_window_title, time, others=others, popen_obj=cfg.popen_obj)


def wait_pcbew_start(cfg):
    failed_focuse = False
    other = None
    try:
        id = wait_pcbnew(cfg.wait_start, [TITLE_CONFIRMATION, TITLE_WARNING, TITLE_ERROR, TITLE_FILE_OPEN_ERROR])
    except RuntimeError:  # pragma: no cover
        logger.debug('Time-out waiting for pcbnew, will retry')
        failed_focuse = True
    except ValueError as err:
        other = str(err)
        logger.debug('Found "'+other+'" window instead of pcbnew')
        failed_focuse = True
    except subprocess.CalledProcessError:
        logger.debug('Pcbnew is no longer running (returned {})'.format(cfg.popen_obj.poll()))
        id = [0]
    if failed_focuse:
        wait_point(cfg)
        if other == TITLE_ERROR:
            dismiss_error()
            logger.error('pcbnew reported an error')
            exit(PCBNEW_ERROR)
        elif other == TITLE_CONFIRMATION:
            dismiss_already_running()
        elif other == TITLE_WARNING:  # pragma: no cover
            dismiss_warning()
        elif other == TITLE_FILE_OPEN_ERROR:
            dismiss_file_open_error()
        try:
            id = wait_pcbnew(5)
        except RuntimeError:  # pragma: no cover
            logger.error('Time-out waiting for pcbnew, giving up')
            exit(PCBNEW_ERROR)
    if len(id) > 1:
        logger.error('More than one PCBNew windows detected, one could be a misnamed error dialog')
        exit(PCBNEW_ERROR)
    return id[0]


def exit_pcbnew(cfg):
    # Wait until the dialog is closed, useful when more than one file are created
    id = wait_pcbnew(10)

    send_keys(cfg, 'Exiting pcbnew', 'ctrl+q')
    try:
        wait_not_focused(id[0], 5)
    except RuntimeError:  # pragma: no cover
        logger.debug('PCBnew not exiting, will retry')
        pass
    # Dismiss any dialog. I.e. failed to write the project
    # Note: if we modified the PCB KiCad will ask for save using a broken dialog.
    #       It doesn't have a name and only gets focus with a WM.
    logger.info('Retry pcbnew exit')
    wait_point(cfg)
    xdotool(['key', 'Return', 'ctrl+q'])
    try:
        wait_not_focused(id[0], 5)
    except RuntimeError:  # pragma: no cover
        logger.debug('PCBnew not exiting, will kill')
        pass
    # If we failed to exit we will kill it anyways
    wait_point(cfg)


def open_print_dialog(cfg, print_dialog_keys, id_pcbnew):
    # Open the KiCad Print dialog
    logger.info('Open File->Print')
    wait_point(cfg)
    xdotool(['key']+print_dialog_keys)
    retry = False
    try:
        # Do a first try with small time-out, perhaps we sent the keys before the window was available
        id = wait_for_window('Print dialog', '^Print', skip_id=id_pcbnew, timeout=2)
    except RuntimeError:  # pragma: no cover
        # Perhaps the fill took too much try again
        retry = True
    # Retry the open dialog
    if retry:  # pragma: no cover
        # Excluded from coverage, only happends under conditions hard to reproduce
        logger.info('Open File->Print (retrying)')
        wait_point(cfg)
        xdotool(['key']+print_dialog_keys)
        id = wait_for_window('Print dialog', '^Print', skip_id=id_pcbnew)
    if len(id) == 1:
        # Only 1 window matched, the print dialog
        return id[0]
    if len(id) > 2:
        logger.error('Too much windows with similar names')
        exit(PCBNEW_ERROR)
    return id[1] if id[0] == id_pcbnew else id[0]


def print_layers(cfg, id_pcbnew):
    if not cfg.ki5:
        print_dialog_keys = ['ctrl+p']
    else:
        # We should be able to use Ctrl+P, unless the user configured it
        # otherwise. We aren't configuring hotkeys for 5.1 so is better
        # to just use the menu accelerators (removed on KiCad 6)
        print_dialog_keys = ['alt+f', 'p']
    if cfg.use_interposer:
        return print_layers_i(cfg, id_pcbnew, print_dialog_keys)
    return print_layers_n(cfg, id_pcbnew, print_dialog_keys)


def fill_zones_i(cfg):
    # Wait for KiCad to be sleeping
    wait_kicad_ready_i(cfg)
    # Now we fill the zones
    send_keys(cfg, 'Filling zones ...', 'b')
    # Wait fill end and inform the elapsed time (for slow fills)
    wait_and_show_progress(cfg, 'GTK:Window Destroy:Fill All Zones', r'(\d:\d\d:\d\d)', '0', 'Elapsed time',
                           skip_match='0:00:00', with_windows=True)


def print_layers_i(cfg, id_pcbnew, print_dialog_keys):
    # Create a temporal dir for the output file
    # GTK is limited to the names we can choose, so we let it create the name and move to the arbitrary one
    # Note: we can't control the extension
    with TemporaryDirectory() as tmpdir:
        # Pass the target dir, file name and format to the interposer
        fname = save_interposer_print_data(cfg, tmpdir, 'interposer', 'pdf' if not cfg.svg else 'svg')
        # Fill zones if the user asked for it
        if cfg.fill_zones:
            fill_zones_i(cfg)
        # Open the KiCad print dialog
        open_dialog_i(cfg, 'Print', ['key']+print_dialog_keys, extra_msg='KiCad')
        # Open the gtk print dialog
        # Big magic 1: we add an accelerator to the Print button, so Alt+P is enough
        open_dialog_i(cfg, 'Print', 'alt+p', extra_msg='GTK', no_main=True, no_show=True)
        # Confirm the options
        # Big magic 2: the interposer selected the printer, output file name and format, just confirm them
        send_keys(cfg, 'Print', 'Return', closes='Print', delay_io=True)
        # Wait until the file is created
        wait_create_i(cfg, 'print', fname)
        # Close KiCad Print dialog
        send_keys(cfg, 'Close Print dialog', 'Escape', closes='Print')
        # Move the file to the user selected name
        shutil.move(fname, cfg.output_file)
    # Exit
    exit_kicad_i(cfg)


def print_layers_n(cfg, id_pcbnew, print_dialog_keys):
    # Fill zones if the user asked for it
    if cfg.fill_zones:
        logger.info('Fill zones')
        wait_point(cfg)
        # Make sure KiCad is responding
        # We open the dialog and then we close it
        id_print_dialog = open_print_dialog(cfg, print_dialog_keys, id_pcbnew)
        xdotool(['key', 'Escape'])
        wait_not_focused(id_print_dialog)
        wait_pcbnew()
        # Now we fill the zones
        xdotool(['key', 'b'])
        # Wait for complation
        sleep(1)
        id_pcbnew = wait_pcbnew()[0]
    id_print_dialog = open_print_dialog(cfg, print_dialog_keys, id_pcbnew)
    # Open the gtk print dialog
    wait_point(cfg)
    # KiCad 5: Two possible options here:
    # 1) With WM we usually get "Exclude PCB edge ..." selected
    # 2) Without WM we usually get "Color" selected
    # In both cases sending 4 Shit+Tab moves us to one of the layer columns.
    # From there Return prints and Escape closes the window.
    # KiCad 6/7 on Debian 12: we get a button, going right selects the Print button
    keys = ['key', 'shift+Tab', 'shift+Tab', 'shift+Tab', 'shift+Tab', 'Right', 'Right', 'Return']
    xdotool(keys)
    # Check it is open
    id2 = wait_for_window('Printer dialog', '^(Print|%s)$' % cfg.print_dlg_name, skip_id=id_print_dialog)
    id_printer_dialog = id2[1] if id2[0] == id_print_dialog else id2[0]
    wait_point(cfg)
    # List of printers
    xdotool(['key', 'Tab',
             # Go up to the top
             'Home',
             # Output file name
             'Tab',
             # Open dialog
             'Return'])
    id_sel_f = wait_for_window('Select a filename', '(Select a filename|%s)' % cfg.select_a_filename, 2)
    logger.info('Pasting output dir')
    wait_point(cfg)
    text_replace(cfg.output_file)
    xdotool(['key',
             # Select this name
             'Return'])
    # Back to print
    retry = False
    try:
        wait_not_focused(id_sel_f[0])
    except RuntimeError:
        retry = True
    if retry:
        logger.debug('Retrying the Return to select the filename')
        xdotool(['key', 'Return'])
        wait_not_focused(id_sel_f[0])
    wait_for_window('Printer dialog', '^(Print|%s)$' % cfg.print_dlg_name, skip_id=id_print_dialog)
    wait_point(cfg)
    format = 3*['Left'] if not cfg.svg else 3*['Right']
    xdotool(['key',
             # Format options
             'Tab'] +
            # Be sure we are at left/right (PDF/SVG)
            format +
            # Print it
            ['Return'])
    # Wait until the file is created
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)
    wait_not_focused(id_printer_dialog)
    # Now we should be in the KiCad Print dialog again
    wait_for_window('Print dialog', 'Print')
    wait_point(cfg)
    # Close the dialog
    # We are in one of the layer columns, here Escape works
    xdotool(['key', 'Escape'])
    wait_not_focused(id_print_dialog)
    # Exit
    exit_pcbnew(cfg)


def run_drc_5_1(cfg):
    logger.info('Open Inspect->DRC')
    wait_point(cfg)
    xdotool(['key', 'alt+i', 'd'])

    wait_for_window('DRC modal window', cfg.drc_dialog_name)
    # Note: Refill zones on DRC gets saved in ~/.config/kicad/pcbnew as RefillZonesBeforeDrc
    # The space here is to enable the report of all errors for tracks
    logger.info('Enable reporting all errors for tracks')
    wait_point(cfg)
    xdotool(['key', 'Tab', 'Tab', 'Tab', 'Tab', 'space', 'Tab', 'Tab', 'Tab', 'Tab'])
    logger.info('Pasting output dir')
    wait_point(cfg)
    text_replace(cfg.output_file)
    xdotool(['key', 'Return'])

    wait_for_window('Report completed dialog', 'Disk File Report Completed')
    wait_point(cfg)
    xdotool(['key', 'Return'])
    wait_for_window('DRC modal window', cfg.drc_dialog_name)

    logger.info('Closing the DRC dialog')
    wait_point(cfg)
    xdotool(['key', 'shift+Tab', 'Return'])
    wait_pcbnew()


def run_drc_6_0(cfg):
    logger.info('Open Inspect->DRC')
    wait_point(cfg)
    xdotool(['key', RULES_KEY.lower()])
    # Wait dialog
    wait_for_window('DRC modal window', cfg.drc_dialog_name)
    # Run the DRC
    logger.info('Run DRC')
    wait_point(cfg)
    xdotool(['key', 'Return'])
    #
    # To know when KiCad finished we try this:
    # - Currently I can see a way, just wait some time
    #
    sleep(12*cfg.time_out_scale)
    # Save the DRC
    logger.info('Open the save dialog')
    wait_point(cfg)
    logger.info('Save DRC')
    wait_point(cfg)
    xdotool(['key', 'shift+Tab', 'shift+Tab', 'shift+Tab', 'shift+Tab',
             'Right', 'Right', 'Right', 'Right', 'Up', 'Return'])
    # Wait for the save dialog
    wait_for_window('DRC File save dialog', 'Save Report to File')
    # Paste the name
    logger.info('Pasting output file')
    wait_point(cfg)
    text_replace(cfg.output_file)
    # Wait for report created
    logger.info('Wait for DRC file creation')
    wait_point(cfg)
    xdotool(['key', 'Return'])
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)
    # Close the dialog
    logger.info('Closing the DRC dialog')
    wait_point(cfg)
    xdotool(['key', 'Escape'])
    wait_pcbnew()


def run_drc_python(cfg):
    logger.debug("Using Python interface instead of running KiCad")
    import pcbnew
    logger.debug("Re-filling zones")
    filler = pcbnew.ZONE_FILLER(cfg.board)
    filler.Fill(cfg.board.Zones())
    if cfg.kicad_version > KICAD_VERSION_6_99 and os.environ.get('KICAD7_FOOTPRINT_DIR') is None:
        # This is most probably a bug in the Python DRC code
        os.environ['KICAD7_FOOTPRINT_DIR'] = '/usr/share/kicad/footprints/'
    logger.debug("Running DRC")
    pcbnew.WriteDRCReport(cfg.board, cfg.output_file, pcbnew.EDA_UNITS_MILLIMETRES, True)
    if cfg.save:
        logger.info('Saving PCB')
        os.rename(cfg.input_file, cfg.input_file + '-bak')
        cfg.board.Save(cfg.input_file)


def run_drc_n(cfg):
    if not cfg.ki5:
        run_drc_6_0(cfg)
    else:
        run_drc_5_1(cfg)
    # Save the PCB
    if cfg.save:
        logger.info('Saving PCB')
        wait_point(cfg)
        os.rename(cfg.input_file, cfg.input_file + '-bak')
        xdotool(['key', 'ctrl+s'])
        logger.info('Wait for PCB file creation')
        wait_point(cfg)
        wait_for_file_created_by_process(cfg.pcbnew_pid, os.path.realpath(cfg.input_file))
    # Exit
    exit_pcbnew(cfg)


def run_drc_5_1_i(cfg):
    control_dlg, _ = open_dialog_i(cfg, cfg.drc_dialog_name, ['key', 'alt+i', 'd'], no_main=True)
    # Enable report all errors for tracks and go to the file name
    # Here we added a shortcut for "Report all errors for tracks (slower)"
    send_keys(cfg, 'Enable reporting all errors for tracks', ['key', 'alt+r', 'alt+c'])
    paste_output_file_i(cfg)
    # The following dialog indicates the report was finished
    # 'Disk File Report Completed' dialog
    file_dialog, _ = open_dialog_i(cfg, 'Disk File Report Completed', 'Return', no_show=True, no_main=True)
    send_keys(cfg, 'Close dialog', 'Return', closes=file_dialog)
    # Now close the DRC control
    send_keys(cfg, 'Closing the DRC dialog', 'alt+l', closes=control_dlg)


def run_drc_6_0_i(cfg):
    control_dlg, _ = open_dialog_i(cfg, cfg.drc_dialog_name, RULES_KEY.lower(), no_main=True)
    # Run the DRC
    send_keys(cfg, 'Run DRC', 'Return')
    # Wait for the end of the DRC (at the end KiCad restores the Close button)
    wait_queue(cfg, 'GTK:Button Label:C_lose')
    wait_kicad_ready_i(cfg)
    # Save the DRC
    # We added a short-cut for Save...
    file_dialog, _ = open_dialog_i(cfg, 'Save Report to File', 'alt+s')
    # Paste the name
    paste_bogus_filename(cfg)
    # Close the report dialog and also wait for the report creation (both in parallel)
    send_keys(cfg, 'Create report', 'Return', closes=file_dialog, delay_io=True)
    wait_create_i(cfg, 'DRC report')
    # Close the dialog
    # Note: The following command closes the dialog, but on GTK 3.24.34 it looks like
    # the dialog isn't destroyed. It seems to be safer to skip the wait.
    send_keys(cfg, 'Closing the DRC dialog', 'Escape')  # , closes=control_dlg)


def run_drc_i(cfg):
    if not cfg.ki5:
        run_drc_6_0_i(cfg)
    else:
        run_drc_5_1_i(cfg)
    # Save the PCB
    if cfg.save:
        os.rename(cfg.input_file, cfg.input_file+'-bak')
        wait_kicad_ready_i(cfg)
        send_keys(cfg, 'Saving PCB', 'ctrl+s')
        wait_create_i(cfg, 'PCB', fn=os.path.realpath(cfg.input_file))
    # Exit
    exit_kicad_i(cfg)


def run_drc(cfg):
    if cfg.use_interposer:
        return run_drc_i(cfg)
    return run_drc_n(cfg)


def export_gencad(cfg):
    wait_point(cfg)
    if cfg.ki5 or cfg.use_interposer:
        # With the interposer we add the missing accelerators to KiCad 6
        keys = ['key', 'alt+f', 'x', 'g']
    else:
        keys = ['key', 'alt+f', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'KP_Space', 'Down', 'Return']
        if cfg.ki7:
            keys.insert(2, 'Down')
    if cfg.use_interposer:
        export_gencad_i(cfg, keys)
    else:
        export_gencad_n(cfg, keys)


def export_vrml_i(cfg, keys):
    # Open the "VRML Export Options"
    dialog, _ = open_dialog_i(cfg, 'VRML Export Options', keys)
    # Paste the name
    paste_output_file_i(cfg)
    if cfg.dir_models:
        # Paste the 3D path
        send_keys(cfg, 'Changing to 3D path', 'Down')
        wait_kicad_ready_i(cfg)
        paste_text_i(cfg, 'Pasting 3D path', cfg.dir_models)
    # Do it
    send_keys(cfg, 'Generating the VRML', ['key', 'Return'], closes=dialog, delay_io=True)
    wait_create_i(cfg, 'VRML')
    # Exit
    exit_kicad_i(cfg)


def export_vrml_n(cfg, keys):
    open_dialog_with_retry("Open VRML export", keys, "VRML options", 'VRML Export Options', cfg)
    xdotool(['key', 'ctrl+a'])
    xdotool(['type', cfg.output_file])
    if cfg.dir_models:
        xdotool(['key', 'Down'])
        xdotool(['type', cfg.dir_models])
    xdotool(['key', 'Return'])
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)


def export_vrml(cfg):
    wait_point(cfg)
    if cfg.ki5 or cfg.use_interposer:
        # With the interposer we add the missing accelerators to KiCad 6
        keys = ['key', 'alt+f', 'x', 'v']
    else:
        keys = ['key', 'alt+f', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'Down', 'KP_Space', 'Down', 'Down',
                'Return']
        if cfg.ki7:
            keys.insert(2, 'Down')
    if cfg.use_interposer:
        export_vrml_i(cfg, keys)
    else:
        export_vrml_n(cfg, keys)


def export_gencad_select_options(cfg):
    logger.info('Changing settings')
    xdotool(['key', 'Down'])
    if cfg.flip_bottom_padstacks:
        xdotool(['key', 'KP_Space'])
    xdotool(['key', 'Down'])
    if cfg.unique_pin_names:
        xdotool(['key', 'KP_Space'])
    xdotool(['key', 'Down'])
    if cfg.no_reuse_shapes:
        xdotool(['key', 'KP_Space'])
    xdotool(['key', 'Down'])
    if cfg.aux_origin:
        xdotool(['key', 'KP_Space'])
    xdotool(['key', 'Down'])
    if cfg.save_origin:
        xdotool(['key', 'KP_Space'])
    xdotool(['key', 'Return'])
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)


def export_gencad_i(cfg, keys):
    # Open the "Export to GenCAD settings"
    dialog, _ = open_dialog_i(cfg, 'Export to GenCAD settings', keys)
    # KiCad dialogs are unreliable, you never know which widget is selected
    # This goes to the top left corner of the dialog
    # Note 1: lamentably this widget doesn't have a label
    # Note 2: KiCad 7.0.7 behavior changed, up goes to the button (when no WM)
    xdotool(['key', 'alt+f', 'Up', 'Left'])
    # Paste the name
    paste_output_file_i(cfg)
    # Change the settings to what the user wants
    # To make it easier we add accelerators
    keys = ['key']
    if not cfg.flip_bottom_padstacks:
        # We used Alt+F to go to the file name, so here the logic is inverted
        keys.append('alt+f')
    if cfg.unique_pin_names:
        keys.append('alt+g')
    if cfg.no_reuse_shapes:
        keys.append('alt+n')
    if cfg.aux_origin:
        keys.append('alt+u')
    if cfg.save_origin:
        keys.append('alt+s')
    keys.append('Return')
    send_keys(cfg, 'Changing settings', keys, closes=dialog, delay_io=True)
    wait_create_i(cfg, 'GenCAD')
    # Exit
    exit_kicad_i(cfg)


def export_gencad_n(cfg, keys):
    open_dialog_with_retry("Open GenCAD export", keys, "GenCAD settings", 'Export to GenCAD settings', cfg)
    xdotool(['type', cfg.output_file])
    export_gencad_select_options(cfg)


def ipc_netlist(cfg):
    wait_point(cfg)
    if cfg.ki5:
        if cfg.use_interposer:
            keys = ['key', 'alt+f', 'f', 'i']
        else:
            keys = ['key', 'alt+f', 'f', 'Down', 'Down', 'Down', 'Return']
    else:
        keys = ['key', 'shift+alt+e']
    if cfg.use_interposer:
        ipc_netlist_i(cfg, keys)
    else:
        ipc_netlist_n(cfg, keys)


def ipc_netlist_n(cfg, keys):
    open_dialog_with_retry("Open file save for IPC netlist", keys, "Dialog to save the IPC netlist",
                           'Export D-356 Test File', cfg)
    xdotool(['key', 'ctrl+a'])
    xdotool(['type', cfg.output_file])
    xdotool(['key', 'Return'])
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)


def ipc_netlist_i(cfg, keys):
    # Open the "Export D-356 Test File"
    dialog, _ = open_dialog_i(cfg, 'Export D-356 Test File', keys)
    # Paste the name (well, something that will be replaced by the real name)
    paste_bogus_filename(cfg)
    # Generate the netlist
    send_keys(cfg, 'Generate the netlist', 'Return', closes=dialog, delay_io=True)
    # Wait for file creation
    wait_create_i(cfg, 'IPC D-356')
    # Exit
    exit_kicad_i(cfg)


def wait_ray_tracer(cfg):
    # I can't find a mechanism to determine if the render finished.
    # I think this is a bug in KiCad, you can save unfinished images!!!!
    logger.info('Waiting for the final render')
    if cfg.detect_rt:
        # Try to figure out meassuring the CPU usage
        end = time.clock_gettime(time.CLOCK_MONOTONIC) + cfg.wait_rt
        counter = 5
        children = cfg.kicad_process.children(recursive=True)
        logger.debug('pcbnew pid {}'.format(cfg.kicad_process.pid))
        for child in children:
            logger.debug('- pcbnew child pid {}'.format(child.pid))
        while (counter > 0) and (time.clock_gettime(time.CLOCK_MONOTONIC) < end):
            cpu_usage = cfg.kicad_process.cpu_percent(0.3)
            for child in children:
                cpu_usage += child.cpu_percent(0.3)
            if cpu_usage > 5:
                if counter < 5:
                    counter = counter + 1
            else:
                counter = counter - 1
            logger.debug('CPU {} %, ({}) waiting ...'.format(cpu_usage, counter))
    else:
        sleep(cfg.wait_rt)


def wait_ray_tracer_i(cfg):
    # Wait until we see the 100% rendered and the time is reported
    wait_and_show_progress(cfg, 'PANGO:Rendering time', r'Rendering: (\d+ \%)', 'Rendering:', 'Rendering')
    # wait_swap(cfg) should be absorved by the wait for sleep at the end of the progress


def wait_3d_ready_n(cfg):
    if not cfg.ki5:
        # On my system this huge delay is needed only when using docker.
        # I don't know why and also don't know why the KiCad 5 methode fails.
        sleep(1*cfg.time_out_scale)
        return
    sleep(0.2*cfg.time_out_scale)
    keys = ['key', 'alt+p', 'Return']
    dname = '3D Display Options'
    if not cfg.ki5:
        keys.insert(2, 'Down')
        dname = 'Preferences'
    for retry in range(30):
        xdotool(keys)
        found = True
        try:
            wait_for_window('Options dialog', dname, 1)
        except RuntimeError:  # pragma: no cover
            found = False
        if found:
            break
    if not found:
        logger.error('Time-out waiting for 3D viewer to be responsive')
        exit(PCBNEW_ERROR)
    xdotool(['key', 'Escape'])
    wait_for_window('3D Viewer', '3D Viewer')


def apply_steps(steps, key, neg_key, id, cfg):
    if steps:
        k = key
        if steps < 0:
            steps = -steps
            k = neg_key
        for _ in range(steps):
            logger.info('Step ({})'.format(k))
            xdotool(['key', k], id)
            logger.debug('Step '+key)
            if cfg.use_interposer:
                if cfg.wait_after_move:
                    wait_kicad_ready_i(cfg, swaps=1)
                    # Arbitrary, this is a problem with KiCad 5, so I won't spend too much time looking for a better solution
                    sleep(1)
                    wait_kicad_ready_i(cfg)
            else:
                wait_3d_ready_n(cfg)


def open_save_image_n(cfg, id):
    keys = ['key', 'alt+f', 'Return']
    for retry in range(10):
        xdotool(keys, id)
        if (cfg.ray_tracing or cfg.use_rt_wait) and cfg.detect_rt:
            wait_ray_tracer(cfg)
        found = True
        try:
            wait_for_window('File save dialog', '3D Image File Name', 3)
        except RuntimeError:  # pragma: no cover
            found = False
        if found:
            break
    if not found:
        logger.error('Failed to open the file save dialog')
        exit(PCBNEW_ERROR)


def capture_3d_view(cfg):
    if not cfg.ki5 and cfg.kicad_version < 6000002:
        logger.error('Upgrade KiCad, this version has a bug')
        exit(MISSING_TOOL)
    # Configure KiCad 5 vs 6 differences
    if cfg.ki5:
        cfg.keys_rt = ['alt+p', 'Down']
        cfg.key_close_3d = 'ctrl+q'
    else:
        cfg.keys_rt = ['alt+p']
        cfg.key_close_3d = 'ctrl+w'
    if cfg.use_interposer:
        return capture_3d_view_i(cfg)
    return capture_3d_view_n(cfg)


def capture_3d_view_n(cfg):
    """ 3D View capture, normal version """
    # Open the 3D viewer
    open_keys = ['key', 'alt+3']
    dialog_name = '3D Viewer'
    id = open_dialog_with_retry('Open 3D Viewer', open_keys, '3D viewer dialog', dialog_name, cfg)[0]
    wait_point(cfg)

    wait_3d_ready_n(cfg)

    # Switch to orthographic (KiCad 6 has persistence)
    if cfg.orthographic and cfg.ki5:
        # Can easily break, no persistence, no option, no shortcut ... KiCad's way
        xdotool(['mousemove', '711', '44', 'click', '1', 'mousemove', 'restore'])

    # Apply the view axis
    if cfg.view != 'z':
        xdotool(['key', cfg.view], id)
        wait_3d_ready_n(cfg)

    # Apply the movements
    apply_steps(cfg.move_x, 'Right', 'Left', id, cfg)
    apply_steps(cfg.move_y, 'Up', 'Down', id, cfg)

    # Apply the rotations
    if not cfg.ki5:
        apply_steps(cfg.rotate_x, 'alt+x', 'shift+alt+x', id, cfg)
        apply_steps(cfg.rotate_y, 'alt+y', 'shift+alt+y', id, cfg)
        apply_steps(cfg.rotate_z, 'alt+z', 'shift+alt+z', id, cfg)

    # Apply the zoom steps
    zoom = cfg.zoom
    if zoom:
        zoom_b = '4'
        if zoom < 0:
            zoom = -zoom
            zoom_b = '5'
        for _ in range(zoom):
            # Wait some time before sending commands
            # See discussion on #13 issue at GitHub
            sleep(0.05)
            logger.info('Zoom')
            xdotool(['click', zoom_b], id)
            logger.debug('Zoom')
            wait_3d_ready_n(cfg)

    if cfg.ray_tracing:
        xdotool(['key']+cfg.keys_rt+['Return'], id)
        logger.debug('Ray tracing')

    if cfg.ray_tracing or cfg.use_rt_wait:
        wait_ray_tracer(cfg)

    # Save the image as PNG
    logger.info('Saving the image')
    open_save_image_n(cfg, id)

    # Paste the name
    logger.info('Pasting output file')
    wait_point(cfg)
    text_replace(cfg.output_file)

    # Wait for the image to be created
    logger.info('Wait for the image file creation')
    wait_point(cfg)
    # Wait before confirming the file name
    sleep(0.1*cfg.time_out_scale)
    xdotool(['key', 'Return'])
    wait_for_file_created_by_process(cfg.pcbnew_pid, cfg.output_file)

    # Close the 3D viewer
    logger.info('Closing the 3D viewer')
    wait_point(cfg)
    xdotool(['key', cfg.key_close_3d])

    wait_pcbnew()


def capture_3d_view_i(cfg):
    """ 3D View capture, interposer version """
    dialog, id = open_dialog_i(cfg, '3D Viewer', 'alt+3', no_wait=True)
    logger.debug('3D Viewer is drawing')

    # Detect the 3D models load (On Ki5 we can miss the "loading..." message
    logger.info('Loading 3D models')
    reload_time_msg = 'PANGO:Reload time'
    if not cfg.ki5:
        # KiCad 6 does a first bogus render without loading the models
        wait_queue(cfg, reload_time_msg, starts=True)
        # Then comes the real action
    wait_and_show_progress(cfg, reload_time_msg, r'Loading (.*)', 'Loading', 'Loading')
    logger.info('Finished loading 3D models')
    # Wait until the dialog is ready
    id = wait_for_window('3D Viewer', '3D Viewer', 1)[0]
    if cfg.ki5:
        # KiCad 5 can't handle all commands at once
        cfg.wait_after_move = True

    # Switch to orthographic (KiCad 6 has persistence)
    if cfg.orthographic and cfg.ki5:
        # Can easily break, no persistence, no option, no shortcut ... KiCad's way
        # Note: This is just for KiCad 5, and can't be patched by the interposer because
        # this button is handled by the WX AUI (not by the underlying widgets)
        xdotool(['mousemove', '711', '44', 'click', '1', 'mousemove', 'restore'])

    # Apply the view axis
    if cfg.view != 'z':
        logger.info('Changing view')
        xdotool(['key', cfg.view], id)
        if cfg.wait_after_move:
            wait_kicad_ready_i(cfg, swaps=1)

    # Apply the movements
    apply_steps(cfg.move_x, 'Right', 'Left', id, cfg)
    apply_steps(cfg.move_y, 'Up', 'Down', id, cfg)

    # Apply the rotations
    if not cfg.ki5:
        apply_steps(cfg.rotate_x, 'alt+x', 'shift+alt+x', id, cfg)
        apply_steps(cfg.rotate_y, 'alt+y', 'shift+alt+y', id, cfg)
        apply_steps(cfg.rotate_z, 'alt+z', 'shift+alt+z', id, cfg)

    # Apply the zoom steps
    zoom = cfg.zoom
    if zoom:
        zoom_b = '4'
        if zoom < 0:
            zoom = -zoom
            zoom_b = '5'
        for _ in range(zoom):
            # Wait some time before sending commands
            # See discussion on #13 issue at GitHub
            sleep(0.05)
            logger.info('Zoom')
            xdotool(['click', zoom_b], id)
            logger.debug('Zoom')
            # An extra swap is done because we used the mouse (mouse "moved")
            if cfg.wait_after_move:
                wait_kicad_ready_i(cfg, swaps=1)

    if cfg.ray_tracing:
        send_keys(cfg, 'Start ray tracing', ['key']+cfg.keys_rt+['Return'])
        wait_queue(cfg, 'PANGO:Raytracing')
        wait_ray_tracer_i(cfg)

    # Save the image as PNG
    # Open the Save dialog
    file_dlg, _ = open_dialog_i(cfg, '3D Image File Name', ['key', 'alt+f', 'Return'])
    # Paste the name
    paste_bogus_filename(cfg)
    # Wait for the image to be created
    send_keys(cfg, 'Export the PNG', 'Return', closes=file_dlg, delay_io=True)
    # Wait until the file is created (why we just see the close?)
    wait_create_i(cfg, 'PNG')
    # Close the 3D viewer
    send_keys(cfg, 'Closing the 3D viewer', cfg.key_close_3d, closes=dialog)
    exit_kicad_i(cfg)


def load_layers(pcb):
    layer_names = []
    with open(pcb, "rt") as pcb_file:
        collect_layers = False
        for line in pcb_file:
            if collect_layers:
                z = re.match(r'\s+\((\d+)\s+"[^"]+"\s+\S+\s+"([^"]+)"', line)
                if not z:
                    z = re.match(r'\s+\((\d+)\s+(\S+)', line)
                if z:
                    id, name = z.groups()
                    if name[0] == '"':
                        name = name[1:-1]
                    layer_names.append(name)
                else:
                    if re.search(r'^\s+\)$', line):
                        collect_layers = False
                        break
            else:
                if re.search(r'\s+\(layers', line):
                    collect_layers = True
    return layer_names


class ListLayers(argparse.Action):
    """A special action class to list the PCB layers and exit"""
    def __call__(self, parser, namespace, values, option_string):
        layer_names = load_layers(values[0])
        for layer in layer_names:
            print(layer)
        parser.exit()  # exits the program with no more arg parsing and checking


def restore_pcb(cfg):
    if cfg.input_file and cfg.pcb_size >= 0 and cfg.pcb_date >= 0:
        cur_date = os.path.getmtime(cfg.input_file)
        bkp = cfg.input_file+'-bak'
        if cur_date != cfg.pcb_date:
            logger.debug('Current pcb date: {} (!={}), trying to restore it'.
                         format(asctime(localtime(cur_date)), asctime(localtime(cfg.pcb_date))))
            if os.path.isfile(bkp):
                bkp_size = os.path.getsize(bkp)
                if bkp_size == cfg.pcb_size:
                    os.remove(cfg.input_file)
                    os.rename(bkp, cfg.input_file)
                    logger.debug('Moved {} -> {}'.format(bkp, cfg.input_file))
                else:  # pragma: no cover
                    logger.error('Corrupted back-up file! (size = {})'.format(bkp_size))
            else:  # pragma: no cover
                logger.error('No back-up available!')
        if not cfg.ki5 and os.path.isfile(bkp):
            os.remove(bkp)


def memorize_pcb(cfg):
    cfg.pcb_size = os.path.getsize(cfg.input_file)
    cfg.pcb_date = os.path.getmtime(cfg.input_file)
    logger.debug('Current pcb ({}) size: {} date: {}'.
                 format(cfg.input_file, cfg.pcb_size, asctime(localtime(cfg.pcb_date))))
    if not cfg.ki5:
        # KiCad 6 no longer creates back-up, we do it
        try:
            shutil.copy2(cfg.input_file, cfg.input_file+'-bak')
        except PermissionError:
            logger.warning("Unable to create a back-up for the PCB (read-only?)")
            return
    atexit.register(restore_pcb, cfg)


def write_color(out, name, color, post=''):
    if color is None:
        return
    if post:
        post = '_'+post
    name += 'Color_'
    out.write('%s=%f\n' % (name+'Red'+post, color[0]))
    out.write('%s=%f\n' % (name+'Green'+post, color[1]))
    out.write('%s=%f\n' % (name+'Blue'+post, color[2]))


def to_rgb(color, bottom=False):
    index = 4 if bottom and len(color) > 4 else 0
    alpha = color[index+3]
    if alpha == 1.0:
        return "rgb({}, {}, {})".format(round(color[index]*255.0), round(color[index+1]*255.0), round(color[index+2]*255.0))
    return "rgba({}, {}, {}, {})".format(round(color[index]*255.0), round(color[index+1]*255.0), round(color[index+2]*255.0),
                                         alpha)


def create_pcbnew_config(cfg):
    # Mark which layers are requested
    used_layers = set()
    if cfg.layers:
        layer_cnt = cfg.board.GetCopperLayerCount()
    for layer in cfg.layers:
        # Support for kiplot inner layers
        if layer.startswith("Inner"):
            m = re.match(r"^Inner\.([0-9]+)$", layer)
            if not m:
                logger.error('Malformed inner layer name: '+layer+', use Inner.N')
                sys.exit(WRONG_LAYER_NAME)
            layer_n = int(m.group(1))
            if layer_n < 1 or layer_n >= layer_cnt - 1:
                logger.error(layer+" isn't a valid layer")
                sys.exit(WRONG_LAYER_NAME)
            used_layers.add(layer_n)
        else:
            id = cfg.board.GetLayerID(layer)
            if id < 0:
                logger.error('Unknown layer '+layer)
                sys.exit(WRONG_LAYER_NAME)
            used_layers.add(id)
    with open(cfg.conf_pcbnew, "wt") as text_file:
        if cfg.conf_pcbnew_json:
            conf = {"graphics": {"canvas_type": 2}}
            conf["drc_dialog"] = {"refill_zones": True,
                                  "test_track_to_zone": True,
                                  "test_all_track_errors": True}
            conf["system"] = {"first_run_shown": True}
            conf["printing"] = {"monochrome": cfg.monochrome,
                                "color_theme": cfg.color_theme,
                                "use_theme": True,
                                "title_block": not cfg.no_title,
                                "scale": cfg.scaling,
                                "layers": sorted(used_layers)}
            conf["plot"] = {"check_zones_before_plotting": cfg.fill_zones,
                            "mirror": cfg.mirror,
                            "all_layers_on_one_page": int(not cfg.separate),
                            "pads_drill_mode": cfg.pads}
            conf["window"] = {"size_x": cfg.rec_width,
                              "size_y": cfg.rec_height}
            conf["export_vrml"] = {"copy_3d_models": cfg.copy_3d_models,
                                   "origin_mode": cfg.origin_mode,
                                   "ref_units": cfg.ref_units,
                                   "ref_x": cfg.ref_x,
                                   "ref_y": cfg.ref_y,
                                   "units": cfg.units,
                                   "use_relative_paths": cfg.use_relative_paths}
            json_text = json.dumps(conf)
            text_file.write(json_text)
            logger.debug(json_text)
            # Colors for the 3D Viewer
            if cfg.bg_color_1 is not None:
                conf = {}
                conf["3d_viewer"] = {"background_bottom": to_rgb(cfg.bg_color_1),
                                     "background_top": to_rgb(cfg.bg_color_2),
                                     "board": to_rgb(cfg.board_color),
                                     "copper": to_rgb(cfg.copper_color),
                                     "silkscreen_bottom": to_rgb(cfg.silk_color, bottom=True),
                                     "silkscreen_top": to_rgb(cfg.silk_color),
                                     "soldermask_bottom": to_rgb(cfg.sm_color, bottom=True),
                                     "soldermask_top": to_rgb(cfg.sm_color),
                                     "solderpaste": to_rgb(cfg.sp_color),
                                     "use_board_stackup_colors": False}
                json_text = json.dumps(conf)
                os.makedirs(os.path.dirname(cfg.conf_colors), exist_ok=True)
                with open(cfg.conf_colors, "wt") as color_file:
                    color_file.write(json_text)
                logger.debug("Colors:")
                logger.debug(json_text)
                # 3D Viewer window
                conf = {}
                conf["window"] = {"pos_x": 0, "pos_y": 0, "size_x": cfg.rec_width, "size_y": cfg.rec_height}
                conf["camera"] = {"projection_mode": int(not cfg.orthographic), "animation_enabled": False}
                conf["render"] = {"show_footprints_insert": not cfg.no_smd,
                                  "show_footprints_normal": not cfg.no_tht,
                                  "show_footprints_virtual": not cfg.no_virtual,
                                  "show_axis": False,
                                  "opengl_AA_mode": 0,
                                  "show_silkscreen": not cfg.hide_silkscreen,
                                  "show_soldermask": not cfg.hide_soldermask,
                                  "show_solderpaste": not cfg.hide_solderpaste,
                                  "show_zones": not cfg.hide_zones,
                                  "clip_silk_on_via_annulus": not cfg.dont_clip_silk_on_via_annulus,
                                  "subtract_mask_from_silk": not cfg.dont_substrack_mask_from_silk,
                                  "realistic": not cfg.use_layer_colors,
                                  "show_board_body": not cfg.hide_board_body,
                                  "show_comments": cfg.show_comments,
                                  "show_eco": cfg.show_eco,
                                  "show_adhesive": cfg.show_adhesive}
                json_text = json.dumps(conf)
                with open(cfg.conf_3dview, "wt") as viewer_file:
                    viewer_file.write(json_text)
                logger.debug("3D Viewer:")
                logger.debug(json_text)
        else:
            text_file.write('canvas_type=2\n')
            text_file.write('RefillZonesBeforeDrc=1\n')
            text_file.write('DrcTrackToZoneTest=1\n')
            text_file.write('PcbFrameFirstRunShown=1\n')
            # Color
            text_file.write('PrintMonochrome=%d\n' % (cfg.monochrome))
            # Include frame
            text_file.write('PrintPageFrame=%d\n' % (not cfg.no_title))
            # Drill marks
            text_file.write('PrintPadsDrillOpt=%d\n' % (cfg.pads))
            # Only one file
            text_file.write('PrintSinglePage=%d\n' % (not cfg.separate))
            # Scaling
            text_file.write('PrintScale=%3.1f\n' % (cfg.scaling))
            # List all posible layers, indicating which ones are requested
            for x in range(0, 50):
                text_file.write('PlotLayer_%d=%d\n' % (x, int(x in used_layers)))
            # The output image size is the window size!!!
            text_file.write('Viewer3DFrameNamePos_x=0\n')
            text_file.write('Viewer3DFrameNamePos_y=0\n')
            text_file.write('Viewer3DFrameNameSize_x=%d\n' % (cfg.rec_width))
            text_file.write('Viewer3DFrameNameSize_y=%d\n' % (cfg.rec_height))
            # We must indicate a window size compatible with the screen.
            # Otherwise events could fail to reach the main window.
            text_file.write('PcbFramePos_x=0\n')
            text_file.write('PcbFramePos_y=0\n')
            text_file.write('PcbFrameSize_x=%d\n' % (cfg.rec_width))
            text_file.write('PcbFrameSize_y=%d\n' % (cfg.rec_height))
            text_file.write('ShowAxis=0\n')
            text_file.write('ShowFootprints_Normal=%d\n' % (not cfg.no_tht))  # Normal?!
            # Insert????!!!! please a cup of coffee for this guy ...
            text_file.write('ShowFootprints_Insert=%d\n' % (not cfg.no_smd))
            text_file.write('ShowFootprints_Virtual=%d\n' % (not cfg.no_virtual))
            # We enable the raytracer after applying all moves
            # text_file.write('RenderEngine=%d\n' % (cfg.ray_tracing))
            write_color(text_file, 'Bg', cfg.bg_color_1)
            write_color(text_file, 'Bg', cfg.bg_color_2, 'Top')
            write_color(text_file, 'SMask', cfg.sm_color)
            write_color(text_file, 'SPaste', cfg.sp_color)
            write_color(text_file, 'Silk', cfg.silk_color)
            write_color(text_file, 'Copper', cfg.copper_color)
            write_color(text_file, 'BoardBody', cfg.board_color)
            # VRML options
            text_file.write('VrmlExportUnit=%d\n' % (cfg.units))
            text_file.write('VrmlExportCopyFiles=%d\n' % (cfg.copy_3d_models))
            text_file.write('VrmlUseRelativePaths=%d\n' % (cfg.use_relative_paths))
            text_file.write('VrmlRefUnits=%d\n' % (cfg.ref_units))
            text_file.write('VrmlRefX=%f\n' % (cfg.ref_x))
            text_file.write('VrmlRefY=%f\n' % (cfg.ref_y))
            text_file.write('VrmlUsePlainPCB=0\n')
    # shutil.copy2(cfg.conf_pcbnew, '/tmp/generated')


def load_pcb(fname):
    import pcbnew
    logger.info('Loading '+fname)
    try:
        board = pcbnew.LoadBoard(fname)
    except OSError as e:
        logger.error('Error loading PCB file. Corrupted?')
        logger.error(e)
        exit(CORRUPTED_PCB)
    return board


def process_drc_out(cfg):
    error_level = 0
    drc_errors, unconnected_pads = parse_drc(cfg)
    logger.debug('Found {} DRC errors and {} unconnected pads/warnings'.format(drc_errors, unconnected_pads))
    # Apply filters
    skip_err, skip_unc = apply_filters(cfg, 'DRC error/s', 'unconnected pad/s or warnings')
    drc_errors = drc_errors-skip_err
    unconnected_pads = unconnected_pads-skip_unc
    if drc_errors == 0 and unconnected_pads == 0:
        logger.info('No errors')
    else:
        logger.error('Found {} DRC errors and {} unconnected pad/s or warnings'.format(drc_errors, unconnected_pads))
        list_errors(cfg)
        if args.ignore_unconnected:
            unconnected_pads = 0
        else:
            list_warnings(cfg)
        error_level = -(drc_errors+unconnected_pads)
    return error_level


def parse_one_color(color):
    match = re.match(r'#([\da-fA-F]{2})([\da-fA-F]{2})([\da-fA-F]{2})([\da-fA-F]{2})?', color)
    if match is None:
        logger.error('Malformed color: `{}` please use `#RRGGBBAA` where RR, GG, BB and AA are hexadecimal numbers.')
        logger.error('AA is the transparency (FF opaque) and is optional. Only supported by KiCad 6.')
        exit(WRONG_ARGUMENTS)
    res = match.groups()
    alpha = 1.0
    if res[3] is not None:
        alpha = int(res[3], 16)/255.0
    return (int(res[0], 16)/255.0, int(res[1], 16)/255.0, int(res[2], 16)/255.0, alpha)


def parse_color(color):
    res = color[0].split(',')
    if len(res) == 2 and res[0][0] == '#' and res[1][0] == '#':
        c1 = parse_one_color(res[0])
        c2 = parse_one_color(res[1])
        return c1+c2
    return parse_one_color(color[0])


def wait_pcbnew_start_by_msg(cfg):
    wait_start_by_msg(cfg)
    # Make sure pcbnew has the focus, I saw problems with WM pop-ups getting the focus
    return wait_pcbnew()


if __name__ == '__main__':  # noqa: C901
    parser = argparse.ArgumentParser(description='KiCad PCB automation')
    subparsers = parser.add_subparsers(help='Command:', dest='command')

    # short commands: iIrmnsSvVw
    parser.add_argument('--disable_interposer', '-I', help='Avoid using the interposer lib', action='store_true')
    parser.add_argument('--info', '-n', help='Show information about the installation', action=ShowInfoAction, nargs=0)
    parser.add_argument('--interposer_sniff', '-i', help="Log interposer info, but don't use it", action='store_true')
    parser.add_argument('--record', '-r', help='Record the UI automation', action='store_true')
    parser.add_argument('--rec_width', help='Record width ['+str(REC_W)+']', type=int, default=REC_W)
    parser.add_argument('--rec_height', help='Record height ['+str(REC_H)+']', type=int, default=REC_H)
    parser.add_argument('--separate_info', '-S', help='Send info debug level to stdout', action='store_true')
    parser.add_argument('--start_x11vnc', '-s', help='Start x11vnc (debug)', action='store_true')
    parser.add_argument('--use_wm', '-m', help='Use a window manager (fluxbox)', action='store_true')
    parser.add_argument('--verbose', '-v', action='count', default=0)
    parser.add_argument('--version', '-V', action='version', version='%(prog)s '+__version__+' - ' +
                        __copyright__+' - License: '+__license__)
    parser.add_argument('--wait_key', '-w', help='Wait for key to advance (debug)', action='store_true')
    parser.add_argument('--wait_start', help='Timeout to pcbnew start ['+str(WAIT_START)+']', type=int, default=WAIT_START)
    parser.add_argument('--time_out_scale', help='Timeout multiplier, affects most timeouts',
                        type=float, default=TIME_OUT_MULT)

    # short commands: cflmMopsStv
    export_parser = subparsers.add_parser('export', help='Export PCB layers')
    export_parser.add_argument('--color_theme', '-c', nargs=1, help='KiCad 6 color theme (i.e. _builtin_default, user)',
                               default=['_builtin_classic'])
    export_parser.add_argument('--fill_zones', '-f', help='Fill all zones before printing', action='store_true')
    export_parser.add_argument('--list', '-l', help='Print a list of layers in LIST PCB and exit', nargs=1, action=ListLayers)
    export_parser.add_argument('--monochrome', '-m', help='Print in blanck and white', action='store_true')
    export_parser.add_argument('--mirror', '-M', help='Print mirrored', action='store_true')
    export_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file', default=['printed.pdf'])
    export_parser.add_argument('--pads', '-p', nargs=1, help='Pads style (0 none, 1 small, 2 full)', default=[2])
    export_parser.add_argument('--scaling', '-s', nargs=1, help='Scale factor (0 fit page)', default=[1.0])
    export_parser.add_argument('--separate', '-S', help='Layers in separated sheets', action='store_true')
    export_parser.add_argument('--no-title', '-t', help='Remove the title-block', action='store_true')
    export_parser.add_argument('--svg', '-v', help='SVG output instead of PDF', action='store_true')
    export_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    export_parser.add_argument('output_dir', help='Output directory')
    export_parser.add_argument('layers', nargs='+', help='Which layers to include')

    # short commands: fFios
    drc_parser = subparsers.add_parser('run_drc', help='Run Design Rules Checker on a PCB')
    drc_parser.add_argument('--errors_filter', '-f', nargs=1, help='File with filters to exclude errors')
    drc_parser.add_argument('--force_gui', '-F', help='Force the use of the GUI (KiCad 6)', action='store_true')
    drc_parser.add_argument('--ignore_unconnected', '-i', help='Ignore unconnected paths', action='store_true')
    drc_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file', default=['drc_result.rpt'])
    drc_parser.add_argument('--save', '-s', help='Save after DRC (updating filled zones)', action='store_true')
    drc_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    drc_parser.add_argument('output_dir', help='Output directory')

    # short commands: bcdBoOrSTuvVwWxXyYzZ
    v3d_parser = subparsers.add_parser('3d_view', help='Capture the 3D view')
    v3d_parser.add_argument('--bg_color_1', '-b', nargs=1, help='Background color 1', default=['#66667F'])
    v3d_parser.add_argument('--bg_color_2', '-B', nargs=1, help='Background color 2', default=['#CCCCE5'])
    v3d_parser.add_argument('--board_color', nargs=1, help='Board body color', default=['#332B16E6'])
    v3d_parser.add_argument('--copper_color', '-c', nargs=1, help='Copper color', default=['#B29C00'])
    v3d_parser.add_argument('--detect_rt', '-d', help='Try to detect when the ray tracing render finshes,'
                            ' wait_rt value is the time-out (experimental)', action='store_true')
    v3d_parser.add_argument('--dont_clip_silk_on_via_annulus', help="Don't clip silkscreen at via annuli (KiCad 6)",
                            action='store_true')
    v3d_parser.add_argument('--dont_substrack_mask_from_silk', help="Don't clip silkscreen at solder mask edges (KiCad 6)",
                            action='store_true')
    v3d_parser.add_argument('--hide_board_body', help='Hide the body of the PCB board (KiCad 6)', action='store_true')
    v3d_parser.add_argument('--hide_silkscreen', help='Hide the silkscreen layers (KiCad 6)', action='store_true')
    v3d_parser.add_argument('--hide_soldermask', help='Hide the solder mask layers (KiCad 6)', action='store_true')
    v3d_parser.add_argument('--hide_solderpaste', help='Hide the solder paste layers (KiCad 6)', action='store_true')
    v3d_parser.add_argument('--hide_zones', help='Hide filled areas in zones (KiCad 6)', action='store_true')
    v3d_parser.add_argument('--move_x', '-x', nargs=1, help='Steps to move in the X axis (positive is to the right)',
                            default=[0], type=int)
    v3d_parser.add_argument('--move_y', '-y', nargs=1, help='Steps to move in the Y axis (positive is up)', default=[0],
                            type=int)
    v3d_parser.add_argument('--rotate_x', '-X', nargs=1,
                            help='Steps to rotate around the X axis (positive is clockwise) KiCad 6', default=[0], type=int)
    v3d_parser.add_argument('--rotate_y', '-Y', nargs=1,
                            help='Steps to rotate around the Y axis (positive is clockwise) KiCad 6', default=[0], type=int)
    v3d_parser.add_argument('--rotate_z', '-Z', nargs=1,
                            help='Steps to rotate around the Y axis (positive is clockwise) KiCad 6', default=[0], type=int)
    v3d_parser.add_argument('--no_smd', '-S', help='Do not include surface mount components', action='store_true')
    v3d_parser.add_argument('--no_tht', '-T', help='Do not include through-hole components', action='store_true')
    v3d_parser.add_argument('--virtual', '-V', help='Include virtual components', action='store_true')
    v3d_parser.add_argument('--orthographic', '-O', help='Enable the orthographic projection', action='store_true')
    v3d_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file (PNG)', default=['capture.png'])
    v3d_parser.add_argument('--ray_tracing', '-r', help='Enable the realistic render', action='store_true')
    v3d_parser.add_argument('--show_adhesive', help='Show the adhesive layer', action='store_true')
    v3d_parser.add_argument('--show_comments', help='Show the user comments layer', action='store_true')
    v3d_parser.add_argument('--show_eco', help='Show the user eco layers', action='store_true')
    v3d_parser.add_argument('--silk_color', nargs=1,
                            help='Silk color (KiCad 6 supports color1,color2 for top/bottom)', default=['#E5E5E5'])
    v3d_parser.add_argument('--sm_color', nargs=1, help='Solder mask color (KiCad 6 supports color1,color2 for top/bottom)',
                            default=['#143324D4'])
    v3d_parser.add_argument('--sp_color', nargs=1, help='Solder paste color', default=['#808080'])
    v3d_parser.add_argument('--use_layer_colors', help='Use the colors of the layers, not realistic colors (KiCad 6)',
                            action='store_true')
    v3d_parser.add_argument('--use_rt_wait', '-u', help='Use the ray tracing end detection even on normal renders',
                            action='store_true')
    v3d_parser.add_argument('--view', '-v', nargs=1, help='Axis view, uppercase is reversed (i.e. Z is bottom)',
                            default=['z'], choices=['x', 'y', 'z', 'X', 'Y', 'Z'],)
    v3d_parser.add_argument('--wait_after_move', '-W', help='Wait after moving (KiCad 6 and interposer option)',
                            action='store_true')
    v3d_parser.add_argument('--wait_rt', '-w', nargs=1, help='Seconds to wait for the ray tracing render [5]', default=[5],
                            type=int)
    v3d_parser.add_argument('--zoom', '-z', nargs=1, help='Zoom steps (use negative to reduce)', default=[0], type=int)
    v3d_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    v3d_parser.add_argument('output_dir', help='Output directory')

    # short commands: afnoOu
    export_gencad_parser = subparsers.add_parser('export_gencad', help='Export PCB as GenCAD')
    export_gencad_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    export_gencad_parser.add_argument('output_dir', help='Output directory')
    export_gencad_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file', default=['pcb.cad'])
    export_gencad_parser.add_argument('--flip_bottom_padstacks', '-f', help='Flip bottom footprint padstacks',
                                      action='store_true')
    export_gencad_parser.add_argument('--unique_pin_names', '-u', help='Generate unique pin names', action='store_true')
    export_gencad_parser.add_argument('--no_reuse_shapes', '-n',
                                      help='Generate a new shape for each footprint instance (Do not reuse shapes)',
                                      action='store_true')
    export_gencad_parser.add_argument('--aux_origin', '-a', help='Use auxiliary axis as origin', action='store_true')
    export_gencad_parser.add_argument('--save_origin', '-O', help='Save the origin coordinates in the file',
                                      action='store_true')

    # short commands: afnoOu
    ipc_netlist_parser = subparsers.add_parser('ipc_netlist', help='Create the IPC-D-356 netlist')
    ipc_netlist_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    ipc_netlist_parser.add_argument('output_dir', help='Output directory')
    ipc_netlist_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file', default=['pcb.d356'])

    # short commands: douUxy
    export_vrml_parser = subparsers.add_parser('export_vrml', help='Export 3D model for the PCB in VRML format')
    export_vrml_parser.add_argument('kicad_pcb_file', help='KiCad PCB file')
    export_vrml_parser.add_argument('output_dir', help='Output directory')
    export_vrml_parser.add_argument('--output_name', '-o', nargs=1, help='Name of the output file', default=['pcb.wrl'])
    export_vrml_parser.add_argument('--dir_models', '-d', help='Name of dir to store the footprint models.'
                                    ' Models will be embedded if not specified.', type=str)
    export_vrml_parser.add_argument('--ref_x', '-x', help='X origin, for user defined. KiCad6: Use center otherwise.',
                                    type=float)
    export_vrml_parser.add_argument('--ref_y', '-y', help='Y origin, for user defined. KiCad6: Use center otherwise.',
                                    type=float)
    export_vrml_parser.add_argument('--ref_units', '-u', help='Origin units', default='millimeters', const='millimeters',
                                    nargs='?', choices=['millimeters', 'inches'])
    export_vrml_parser.add_argument('--units', '-U', help='VRML units', default='millimeters', const='millimeters',
                                    nargs='?', choices=VRML_UNITS)

    args = parser.parse_args()
    logger = log.init(args.separate_info)
    # Set the specified verbosity
    log.set_level(logger, args.verbose)

    if args.command is None:
        logger.error('No command selected')
        parser.print_help()
        exit(WRONG_ARGUMENTS)

    cfg = Config(logger, args.kicad_pcb_file, args, is_pcbnew=True)
    cfg.wait_start = args.wait_start
    cfg.verbose = args.verbose
    set_time_out_scale(cfg.time_out_scale)
    set_time_out_scale_f(cfg.time_out_scale)
    # Empty values by default, we'll fill them for export
    cfg.fill_zones = False
    cfg.layers = []
    cfg.save = args.command == 'run_drc' and args.save
    cfg.input_file = args.kicad_pcb_file

    # Get local versions for the GTK window names
    gettext.textdomain('gtk30')
    cfg.select_a_filename = gettext.gettext('Select a filename')
    cfg.print_dlg_name = gettext.gettext('Print')
    logger.debug('Select a filename -> '+cfg.select_a_filename)
    logger.debug('Print -> '+cfg.print_dlg_name)

    # Force english + UTF-8
    en_locale = get_en_locale(logger)
    os.environ['LC_ALL'] = en_locale
    # Force english for GTK dialogs
    os.environ['LANGUAGE'] = 'en'
    # Force Mesa software rendering (otherwise, the 3D viewer may crash)
    os.environ['LIBGL_ALWAYS_SOFTWARE'] = "1"
    if DEBUG_KICAD:
        os.environ['MESA_DEBUG'] = "1"
        os.environ['MESA_LOG_FILE'] = "/tmp/mesa.log"
        os.environ['MESA_NO_ERROR'] = "1"
    # Make sure the input file exists and has an extension
    check_input_file(cfg, NO_PCB, WRONG_PCB_NAME)
    if args.command in ['run_drc', 'export']:
        cfg.board = load_pcb(cfg.input_file)
        if not cfg.save:
            memorize_pcb(cfg)
    else:
        cfg.board = None

    if args.command == 'export':
        # Read the layer names from the PCB
        cfg.fill_zones = args.fill_zones
        cfg.layers = args.layers
        try:
            cfg.scaling = float(args.scaling[0])
        except ValueError:
            logger.error('Scaling must be a floating point value')
            exit(WRONG_ARGUMENTS)
        try:
            cfg.pads = int(args.pads[0])
        except ValueError:
            logger.error('Pads style must be an integer value')
            exit(WRONG_ARGUMENTS)
        if cfg.pads < 0 or cfg.pads > 2:
            logger.error('Pad style must be 0, 1 or 2')
            exit(WRONG_ARGUMENTS)
        cfg.no_title = args.no_title
        cfg.monochrome = args.monochrome
        cfg.separate = args.separate
        cfg.svg = args.svg
        cfg.color_theme = args.color_theme[0]
        cfg.mirror = args.mirror
        if args.mirror and cfg.ki5:
            logger.warning("KiCad 5 doesn't support setting mirror print from the configuration file")
    else:
        cfg.scaling = 1.0
        cfg.pads = 2
        cfg.no_title = False
        cfg.monochrome = False
        cfg.separate = False
        cfg.mirror = False
        cfg.color_theme = '_builtin_classic'

    if args.command == 'export_gencad':
        cfg.flip_bottom_padstacks = args.flip_bottom_padstacks
        cfg.unique_pin_names = args.unique_pin_names
        cfg.no_reuse_shapes = args.no_reuse_shapes
        cfg.aux_origin = args.aux_origin
        cfg.save_origin = args.save_origin

    if args.command == '3d_view':
        cfg.zoom = int(args.zoom[0])
        cfg.view = args.view[0]
        cfg.no_tht = args.no_tht
        cfg.no_smd = args.no_smd
        cfg.no_virtual = not args.virtual
        cfg.move_x = args.move_x[0]
        cfg.move_y = args.move_y[0]
        cfg.rotate_x = args.rotate_x[0]
        cfg.rotate_y = args.rotate_y[0]
        cfg.rotate_z = args.rotate_z[0]
        cfg.ray_tracing = args.ray_tracing
        cfg.wait_rt = args.wait_rt[0]
        cfg.detect_rt = args.detect_rt
        cfg.bg_color_1 = parse_color(args.bg_color_1)
        cfg.bg_color_2 = parse_color(args.bg_color_2)
        cfg.board_color = parse_color(args.board_color)
        cfg.copper_color = parse_color(args.copper_color)
        cfg.silk_color = parse_color(args.silk_color)
        cfg.sm_color = parse_color(args.sm_color)
        cfg.sp_color = parse_color(args.sp_color)
        cfg.orthographic = args.orthographic
        cfg.use_rt_wait = args.use_rt_wait
        cfg.wait_after_move = args.wait_after_move
        cfg.hide_silkscreen = args.hide_silkscreen
        cfg.hide_soldermask = args.hide_soldermask
        cfg.hide_solderpaste = args.hide_solderpaste
        cfg.hide_zones = args.hide_zones
        cfg.dont_substrack_mask_from_silk = args.dont_substrack_mask_from_silk
        cfg.dont_clip_silk_on_via_annulus = args.dont_clip_silk_on_via_annulus
        cfg.use_layer_colors = args.use_layer_colors
        cfg.hide_board_body = args.hide_board_body
        cfg.show_comments = args.show_comments
        cfg.show_eco = args.show_eco
        cfg.show_adhesive = args.show_adhesive
    else:
        cfg.no_tht = False
        cfg.no_smd = False
        cfg.no_virtual = True
        cfg.ray_tracing = False
        cfg.bg_color_1 = cfg.bg_color_2 = cfg.board_color = None
        cfg.copper_color = cfg.silk_color = cfg.sm_color = cfg.sp_color = None
        cfg.wait_after_move = False

    if args.command == 'export_vrml':
        cfg.copy_3d_models = args.dir_models is not None
        cfg.origin_mode = 1 if args.ref_x is None and args.ref_y is None else 0
        cfg.ref_units = 1 if args.ref_units == 'inches' else 0
        cfg.ref_x = 0.0 if args.ref_x is None else args.ref_x
        cfg.ref_y = 0.0 if args.ref_y is None else args.ref_y
        cfg.units = VRML_UNITS.index(args.units)
        cfg.use_relative_paths = True
        cfg.dir_models = '' if args.dir_models is None else args.dir_models
    else:
        cfg.use_relative_paths = cfg.copy_3d_models = False
        cfg.units = cfg.origin_mode = cfg.ref_units = 0
        cfg.ref_x = cfg.ref_y = 0.0
        cfg.dir_models = ''

    if args.command == 'run_drc' and args.errors_filter:
        load_filters(cfg, args.errors_filter[0])

    memorize_project(cfg)
    # Back-up the current pcbnew configuration
    check_kicad_config_dir(cfg)
    cfg.conf_pcbnew_bkp = backup_config('PCBnew', cfg.conf_pcbnew, PCBNEW_CFG_PRESENT, cfg)
    if cfg.conf_colors:
        cfg.conf_colors_bkp = backup_config('Colors', cfg.conf_colors, PCBNEW_CFG_PRESENT, cfg)
    if cfg.conf_3dview:
        cfg.conf_3dview_bkp = backup_config('3D Viewer', cfg.conf_3dview, PCBNEW_CFG_PRESENT, cfg)
    # Create a suitable configuration
    create_pcbnew_config(cfg)
    # Hotkeys
    if not cfg.ki5:
        # KiCad 6 breaks menu short-cuts, but we can configure user hotkeys
        # Back-up the current user.hotkeys configuration
        cfg.conf_hotkeys_bkp = backup_config('User hotkeys', cfg.conf_hotkeys, USER_HOTKEYS_PRESENT, cfg)
        # Create a suitable configuration
        create_user_hotkeys(cfg)
    # Back-up the current kicad_common configuration
    cfg.conf_kicad_bkp = backup_config('KiCad common', cfg.conf_kicad, KICAD_CFG_PRESENT, cfg)
    # Create a suitable configuration
    create_kicad_config(cfg)
    # Make sure the user has fp-lib-table
    check_lib_table(cfg.user_fp_lib_table, cfg.sys_fp_lib_table)
    # Create output dir, compute full name for output file and remove it
    output_dir = os.path.abspath(args.output_dir)
    cfg.video_dir = cfg.output_dir = output_dir
    os.makedirs(output_dir, exist_ok=True)
    # Remove the output file
    output_file = os.path.join(output_dir, args.output_name[0])
    if os.path.exists(output_file):
        os.remove(output_file)
    cfg.output_file = output_file
    # Name for the video
    cfg.video_name = 'pcbnew_'+args.command+'_screencast.ogv'
    # Interposer settings
    check_interposer(args, logger, cfg)
    # When using the interposer inform the output file name using the environment
    setup_interposer_filename(cfg)
    #
    # Do all the work
    #
    error_level = 0
    if args.command == 'run_drc' and not cfg.ki5 and not args.force_gui:
        # First command to migrate to Python!
        run_drc_python(cfg)
        error_level = process_drc_out(cfg)
        do_retry = False
        cfg.use_interposer = cfg.enable_interposer = False
    else:
        flog_out, flog_err, cfg.flog_int = get_log_files(output_dir, 'pcbnew', also_interposer=cfg.enable_interposer)
        if cfg.enable_interposer:
            flog_out = subprocess.PIPE
            atexit.register(dump_interposer_dialog, cfg)
        for retry in range(3):
            do_retry = False
            with recorded_xvfb(cfg, retry):
                logger.debug('Starting '+cfg.pcbnew)
                if DEBUG_KICAD_NG:
                    os.environ['LD_LIBRARY_PATH'] = '/usr/lib/kicad-nightly/lib/x86_64-linux-gnu/:/usr/lib/kicad-nightly/lib/'
                    os.environ['KICAD_PATH'] = '/usr/share/kicad-nightly'
                    cmd = ['gdb', '-batch', '-n', '-ex', 'set pagination off', '-ex', 'run', '-ex', 'bt',
                           '-ex', 'bt full', '-ex', 'thread apply all bt full', '--args', '/usr/lib/kicad-nightly/bin/pcbnew',
                           cfg.input_file]
                elif DEBUG_KICAD:
                    cmd = ['gdb', '-batch', '-n', '-ex', 'set pagination off', '-ex', 'run', '-ex', 'bt', '-ex',
                           'set new-console on', '-ex', 'bt full', '-ex', 'thread apply all bt full', '--args',
                           '/usr/bin/pcbnew', cfg.input_file]
                else:
                    cmd = [cfg.pcbnew, cfg.input_file]
                use_low_level_io = False
                if args.command == 'export' and cfg.use_interposer:
                    # We need a file to save the print options, make it unique to avoid collisions
                    create_interposer_print_options_file(cfg)
                    use_low_level_io = True
                os.environ['KIAUTO_INTERPOSER_LOWLEVEL_IO'] = '1' if use_low_level_io else ''
                logger.info('Starting pcbnew ...')
                # bufsize=1 is line buffered
                with PopenContext(cmd, stderr=flog_err, close_fds=True, bufsize=1, text=True,
                                  stdout=flog_out, start_new_session=True) as pcbnew_proc:
                    # Avoid patching our childs
                    os.environ['LD_PRELOAD'] = ''
                    cfg.pcbnew_pid = pcbnew_proc.pid
                    set_kicad_process(cfg, pcbnew_proc.pid)
                    cfg.popen_obj = pcbnew_proc
                    start_queue(cfg)
                    id_pcbnew = wait_pcbnew_start_by_msg(cfg) if cfg.use_interposer else wait_pcbew_start(cfg)
                    if pcbnew_proc.poll() is not None:
                        do_retry = True
                    else:
                        if args.command == 'export':
                            # TODO: Implement KiCad 7 cli version.
                            # Currently useless since PDF is always B/W and KiBot has a much faster and better print
                            # KiCad 7 bug: https://gitlab.com/kicad/code/kicad/-/issues/13805
                            print_layers(cfg, id_pcbnew)
                        elif args.command == '3d_view':
                            capture_3d_view(cfg)
                        elif args.command == 'export_gencad':
                            export_gencad(cfg)
                        elif args.command == 'ipc_netlist':
                            ipc_netlist(cfg)
                        elif args.command == 'export_vrml':
                            export_vrml(cfg)
                        else:  # run_drc
                            run_drc(cfg)
                            error_level = process_drc_out(cfg)
            if not do_retry:
                break
            logger.warning("Pcbnew failed to start retrying ...")
    if do_retry:
        logger.error("Pcbnew failed to start try with --time_out_scale")
        error_level = PCBNEW_ERROR
    #
    # Exit clean-up
    #
    # The following code is here only to make coverage tool properly meassure atexit code.
    if not cfg.save and args.command in ['run_drc', 'export']:
        atexit.unregister(restore_pcb)
        restore_pcb(cfg)
    atexit.unregister(restore_config)
    restore_config(cfg)
    atexit.unregister(restore_project)
    restore_project(cfg)
    # We dump the dialog only on abnormal situations
    if cfg.use_interposer:
        logger.debug('Removing interposer dialog ({})'.format(cfg.flog_int.name))
        atexit.unregister(dump_interposer_dialog)
        cfg.flog_int.close()
        os.remove(cfg.flog_int.name)
    exit(error_level)

INTI-CMNB / KiAuto / 6981974383

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