class AnimalShelter:
def __init__(self):
self.dog_queue = Queue()
self.cat_queue = Queue()
def enqueue(self, animal):
animal.time_stamp = time.time()
if animal.type == "dog":
self.dog_queue.add(animal)
if animal.type == "cat":
self.cat_queue.add(animal)
def dequeue_any(self):
if self.dog_queue.is_empty():
return self.cat_queue.remove()
if self.cat_queue.is_empty():
return self.dog_queue.remove()
if self.dog_queue.peek().time_stamp < self.cat_queue.peek().time_stamp:
return self.dog_queue.remove()
else:
return self.cat_queue.remove()
def dequeue_dog(self):
return self.dog_queue.remove()
def dequeue_cat(self):
return self.cat_queue.remove()
class TestQueue(unittest.TestCase):
def setUp(self):
self.queue = Queue()
def queue_add_small(self):
self.queue.add(1)
self.queue.add(2)
self.queue.add(3)
def sanity_check(self, input_data):
self.assertEqual(self.queue.data, input_data)
def test_init(self):
self.sanity_check([])
def test_add(self):
self.queue.add("hi")
self.sanity_check(["hi"])
self.queue.add("hello")
self.sanity_check(["hi", "hello"])
def test_peek(self):
self.queue_add_small()
self.assertEqual(self.queue.peek(), 1)
def test_remove(self):
self.queue_add_small()
output = self.queue.remove()
self.assertEqual(output, 1)
self.sanity_check([2, 3])
output = self.queue.remove()
self.assertEqual(output, 2)
self.sanity_check([3])
output = self.queue.remove()
self.assertEqual(output, 3)
self.sanity_check([])
def test_peek_error(self):
self.assertRaises(Exception, lambda: self.queue.peek())
def test_pop_error(self):
self.assertRaises(Exception, lambda: self.queue.remove())
class TwoAxisStage:
"""
Test Description
"""
def __init__(self, port, baud, startupfile):
self.s = None
self.window = tk.Toplevel()
self.window.title('Plasma n Lasers')
self.pos = [0., 0.]
self.currentpos = 'X0 Y0'
self.rate = 1
self.grid = [5, 9]
self.rowLen = 5
self.colLen = 9
self.port = port
self.baud = baud
self.startupfile = startupfile
self.connected = False
self.queue = None
self.tempFile = None
self.temprunning = False
self.filename = None
self.buttonx = 12
self.buttony = 6
self.feedrate = 0
self.shotnum = 0
self.datafile = None
self.datafilename = None
self.parameters = {
'stepPulseLength': [0, None],
'stepIdleDelay': [1, None],
'axisDirection': [3, None],
'statusReport': [10, None],
'feedbackUnits': [13, None],
'xSteps/mm': [100, None],
'ySteps/mm': [101, None],
'xMaxRate': [110, None],
'yMaxRate': [111, None],
'xMaxAcc': [120, None],
'yMaxAcc': [121, None],
}
self.param_number = 2 ###########
# draws all on-screen controls and assigns their event commands
self.rowarr = list(i for i in range(self.grid[0]))
self.colarr = list(i for i in range(self.grid[1]))
self.window.rowconfigure(self.rowarr, minsize=50, weight=1)
self.window.columnconfigure(self.colLen, minsize=50, weight=1)
# On screen control grid
self.btn_w = tk.Button(master=self.window,
text="\u219F",
command=lambda: self.jogY(self.rate))
self.btn_w['font'] = font.Font(size=18)
self.btn_w.grid(row=1, column=2, sticky="nsew")
self.btn_a = tk.Button(master=self.window,
text="\u219E",
command=lambda: self.jogX(-1 * self.rate))
self.btn_a['font'] = font.Font(size=18)
self.btn_a.grid(row=2, column=1, sticky="nsew")
self.btn_s = tk.Button(master=self.window,
text="\u21A1",
command=lambda: self.jogY(-1 * self.rate))
self.btn_s['font'] = font.Font(size=18)
self.btn_s.grid(row=2, column=2, sticky="nsew")
self.btn_d = tk.Button(master=self.window,
text="\u21A0",
command=lambda: self.jogX(self.rate))
self.btn_d['font'] = font.Font(size=18)
self.btn_d.grid(row=2, column=3, sticky="nsew")
# serial connect button
self.connect_btn = tk.Button(
master=self.window,
text='connect',
fg='red',
command=lambda: self.initSerial(self.port, self.baud, self.
startupfile))
self.connect_btn.grid(row=1, column=5, sticky='nsew')
# 10 button
self.btn_10 = tk.Button(master=self.window,
text='10',
command=lambda: self.switchRate(10))
self.btn_10.grid(row=3, column=1, sticky='nsew')
self.btn_10.configure(width=self.buttonx, height=self.buttony)
# 1 button
self.btn_1 = tk.Button(master=self.window,
text='1',
command=lambda: self.switchRate(1))
self.btn_1.grid(row=3, column=2, sticky='nsew')
self.btn_1.configure(width=self.buttonx, height=self.buttony)
# 0.1 button
self.btn_01 = tk.Button(master=self.window,
text='0.1',
command=lambda: self.switchRate(0.1))
self.btn_01.grid(row=3, column=3, sticky='nsew')
self.btn_01.configure(width=self.buttonx, height=self.buttony)
# 0.01 button
self.btn_001 = tk.Button(master=self.window,
text='0.01',
command=lambda: self.switchRate(0.01))
self.btn_001.grid(row=3, column=4, sticky='nsew')
self.btn_001.configure(width=self.buttonx, height=self.buttony)
self.btn_0001 = tk.Button(master=self.window,
text='0.001',
command=lambda: self.switchRate(0.001))
self.btn_0001.grid(row=3, column=5, sticky='nsew')
self.btn_0001.configure(width=self.buttonx, height=self.buttony)
# DRO frame
self.lbl_frame = tk.Frame(master=self.window,
relief=tk.RAISED,
borderwidth=3)
self.lbl_pos = tk.Label(master=self.lbl_frame,
text='X: %1.3f, Y:%1.3f, Feedrate: %d' %
(self.pos[0], self.pos[1], self.feedrate))
self.lbl_pos['font'] = font.Font(size=18)
self.lbl_frame.grid(row=0,
column=0,
columnspan=self.colLen + 1,
sticky='ew')
self.lbl_pos.pack()
# gcode input box
self.gcode_entry = tk.Entry(master=self.window)
self.gcode_entry.configure(width=40)
self.gcode_entry.grid(row=4, column=6, sticky='wn')
# gcode button
self.gcode_send = tk.Button(master=self.window,
text='Send',
command=lambda: self.sendCommand(
self.gcode_entry.get().rstrip() + '\n',
resetarg=True,
entry=self.gcode_entry))
self.gcode_send.grid(row=4, column=9, sticky='ewn')
self.gcode_send.configure(width=5)
# file input box
self.file_entry = tk.Entry(master=self.window)
self.file_entry.grid(row=4, columnspan=3, sticky='new')
# file input button
self.file_input = tk.Button(
master=self.window,
text='Get File',
command=lambda: self.getFile(self.file_entry.get()))
self.file_input.grid(row=4, column=3, sticky='new')
#self.file_input.configure(width=self.buttonx, height=self.buttony)
# file run button
self.file_run = tk.Button(master=self.window,
text='Run',
command=lambda: self.runFile())
self.file_run.grid(row=4, column=4, sticky='new')
self.file_run.configure(width=self.buttonx)
self.kill_btn = tk.Button(master=self.window,
text='Kill',
command=self.killSwitch)
self.kill_btn.grid(row=4, column=5, sticky='new')
self.kill_btn.configure(width=self.buttonx)
self.increment_btn = tk.Button(master=self.window,
text='G91',
command=self.setG91)
self.increment_btn.grid(row=1, column=1, sticky='nsew')
self.increment_btn.configure(width=self.buttonx, height=self.buttony)
self.absolute_btn = tk.Button(master=self.window,
text='G90',
command=self.setG90)
self.absolute_btn.grid(row=1, column=3, sticky='nsew')
self.absolute_btn.configure(width=self.buttonx, height=self.buttony)
# go home button
self.home_btn = tk.Button(
master=self.window,
text='Go\nHome',
command=lambda: self.sendCommand('G90 X0 Y0 F' + str(
self.parameters['xMaxRate'][1])))
self.home_btn.grid(row=2, column=4, sticky='nsew')
self.home_btn.configure(width=self.buttonx, height=self.buttony)
# set home button
self.set_home = tk.Button(
master=self.window,
text='Set\nHome',
command=lambda: self.sendCommand('G92 X0 Y0'))
self.set_home.grid(row=1, column=4, sticky='nsew')
self.set_home.configure(width=self.buttonx, height=self.buttony)
self.start_from_death_btn = tk.Button(master=self.window,
text='No temp\nfile found',
command=self.__startFromDeath)
self.start_from_death_btn.grid(row=2, column=5, sticky='nesw')
self.start_from_death_btn['font'] = font.Font(size=10)
self.start_from_death_btn.configure(width=self.buttonx,
height=self.buttony)
self.output = tk.Listbox(master=self.window)
self.output.grid(columnspan=4,
rowspan=self.grid[1] - 6,
row=1,
column=6,
sticky='nsew')
self.output.configure(bg='white')
self.window.bind('<Return>', (lambda x: self.sendCommand(
self.gcode_entry.get(), entry=self.gcode_entry, resetarg=True)))
self.__setTempFile()
self.setKeybinds()
self.Refresh()
# self.window.protocol("WM_DELETE_WINDOW", self.__on_closing)
self.initSerial(self.port, self.baud, self.startupfile)
def start(self):
self.window.mainloop()
def stop(self):
self.window.destroy()
def __on_closing(self):
if messagebox.askokcancel("Quit", "Quit?"):
self.s.close()
self.window.destroy()
def setKeybinds(self):
"""
binds keypress event to the onKeyPress function
:return: None
"""
self.window.bind('<KeyPress>', self.onKeyPress)
def Refresh(self):
"""
Sets recurring event to update GUI every 50ms
:return: None
"""
self.lbl_pos.configure(text='X: %1.3f, Y:%1.3f, Feedrate: %d' %
(self.pos[0], self.pos[1], self.feedrate))
self.window.after(5, self.Refresh)
def onKeyPress(self, event, wasd=False):
"""
Allows for stage control via WASD - Not sure if keeping implementation
:param event: onKeyPress event
:param wasd: if True, wasd controls the stage
:return: None
"""
if wasd:
if event.char.lower() == 'w':
self.jogY(self.rate)
elif event.char.lower() == 'a':
self.jogX(-1 * self.rate)
elif event.char.lower() == 's':
self.jogY(-1 * self.rate)
elif event.char.lower() == 'd':
self.jogX(self.rate)
def jogX(self, v):
"""
Jogs the X stage by the specified rate within the GUI
:param v: float rate
:return: None
"""
if not self.temprunning:
c = 'G91 x' + str(v) + '\n'
self.sendCommand(c)
def jogY(self, v):
"""
Jogs the Y stage by the specified rate within the GUI
:param v: float rate
:return: None
"""
if not self.temprunning:
c = 'G91 y' + str(v) + '\n'
self.sendCommand(c)
def switchRate(self, v):
"""
Switches current jog rate to specified input
:param v: float jog rate
:return:
"""
# used to switch the rate's order of magnitude corresponding to pressed button
self.rate = v
def readOut(self):
"""
Reads out the reply from GRBL
:return: None
"""
# implement own method?
out = self.s.readline() # Wait for grbl response with carriage return
#print('> ' + out.strip().decode('UTF-8'))
#self.output['text'] += '\n>' + out.decode('UTF-8').strip()
self.output.insert('end', '\n' + '> ' + out.decode('UTF-8').rstrip())
self.output.yview(tk.END)
def sendCommand(self, gcode, resetarg=False, entry=None):
"""
Sends command to GRBL. Checks if it is a comment, then sends command and updates DRO position accordingly
:param gcode: command to be sent
:param resetarg: used to detect if a command was sent via the input box so it knows to clear it
:param entry: entry box instance to clear
:return: None
"""
# check if it's a comment
if self.s:
if gcode.strip() == '' or gcode.strip()[0] == ';':
return
t = gcode.rstrip().lower().split(' ')
# check if it's a manual entry to clear entry box
if resetarg and entry is not None:
entry.delete(0, 'end')
if 'g90' in t:
self.setG90(cmd=False)
if 'g91' in t:
self.setG91(cmd=False)
for i in t:
if i.lower().strip()[0] == 'f':
self.__setFeed(int(i.strip()[1:]))
self.output.insert('end', '\n' + '~> ' + gcode.rstrip())
self.output.yview(tk.END)
gcode = gcode.rstrip() + '\n'
self.s.write(gcode.encode('UTF-8'))
self.readOut()
# self.__writeData([time.time_ns(), gcode.rstrip()])
self.setPos(gcode)
def initSerial(self, port, baud, filename):
"""
Initalizes serial connection with grbl doohickey. Parses all startup commands from a text file input
:param port: USB port board is plugged into
:param baud: communication baud rate
:param filename: startup filename containing startup grbl code
:return: None
"""
if not self.connected:
try:
self.s = serial.Serial(port, baud)
except Exception as e:
self.stop()
raise (e)
else:
# Wake up grbl
self.s.write(b"\r\n\r\n")
# allow grbl to initialize
time.sleep(2)
# flush startup from serial
self.s.flushInput()
# open startup file
with open(filename, 'r') as f:
for line in f:
# strip EOL chars
l = line.strip()
self.sendCommand(l + '\r')
print('Connected to GRBL')
self.connect_btn.configure(fg='green', text='Connected')
self.connected = True
self.__parseParameters()
else:
self.connected = False
self.s.close()
self.s = None
self.queue = None
print('Connection closed')
self.connect_btn.configure(fg='red', text='Connect')
def setG91(self, cmd=True):
"""
Sets relative movements active
:param cmd: If true, send the G91 command, regardless, switch button text color to match
:return: None
"""
if self.s:
if cmd:
self.sendCommand('G91')
self.increment_btn.configure(fg='green')
self.absolute_btn.configure(fg='black')
def setG90(self, cmd=True):
"""
Sets absolute movements active
:param cmd: If true, send the G90 command, regardless, switch button text color to match
:return: None
"""
if self.s:
if cmd:
self.sendCommand('G90')
self.increment_btn.configure(fg='black')
self.absolute_btn.configure(fg='green')
def setPos(self, cmd):
"""
sets position of table on DRO
:param cmd: gcode command containing new location
:return: None
"""
# g91 iterates, not sets
if cmd[:3].lower() == 'g91':
for i in cmd.split(' '):
if i.lower()[0] == 'x':
self.pos[0] += float(i[1:])
if i.lower()[0] == 'y':
self.pos[1] += float(i[1:])
else:
for i in cmd.split(' '):
if i.lower()[0] == 'x':
self.pos[0] = float(i[1:])
if i.lower()[0] == 'y':
self.pos[1] = float(i[1:])
def getFile(self, filename):
"""
Opens file containing gcode. Does not parse for correctness.
Inputs all non blank lines / comments into a queue for usage
:param filename: File to open
:return: None
"""
# queue with timing calculation for next move
# wipe queue
self.queue = None
try:
self.filename = filename
f = open(filename, 'r')
self.queue = Queue()
for line in f:
if line != '' and line[0] != ';':
self.queue.enqueue(line)
self.output.insert('end', '\n' + '> ' + ' Loaded ' + filename)
self.output.yview(tk.END)
except FileNotFoundError:
self.file_entry.delete(0, 'end')
self.output.insert('end', '\n' + '!> ' + ' File does not exist')
self.output.yview(tk.END)
def runFile(self):
"""
Used to run a file obained with getFile()
:return: None
"""
if self.s:
if not self.temprunning:
self.temprunning = True
self.__saveTempData()
nextpos = self.queue.dequeue()
self.sendCommand(nextpos)
if self.queue.size() > 0:
self.window.after(self.calcDelay(self.currentpos, nextpos),
self.runFile)
self.currentpos = nextpos
elif self.queue.size() == 0:
self.window.after(self.calcDelay(self.currentpos, nextpos),
self.finishRun)
else:
self.temprunning = False
return
def finishRun(self):
"""
Runs after file completion, removes contingency file since it is not needed.
:return: None
"""
print('File run complete')
self.__removeTempFile()
def killSwitch(self):
"""
effectively kills current gcode run by clearing queue. Note this isn't instantaneous
:return: None
"""
if self.s:
self.queue.clear()
self.temprunning = False
self.output.insert('end', '\n' + '!> ' + 'Current motion killed')
self.output.yview(tk.END)
def calcDelay(self, currentpos, nextpos):
"""
Calculates a lower end of the required delay between moved for the queue command system
:param currentpos: Current position
:param nextpos: Next position
:return: time delay in ms
"""
# todo: parse feeds & speeds from startup file
# calculate (approximate?) time delay until next step
# circular motion
ipos = self.__parsePosition(currentpos)
fpos = self.__parsePosition(nextpos)
assert len(ipos) == len(fpos), 'Input arrays must be same length'
v = float(self.parameters['xMaxRate'][1]) / 60
a = float(self.parameters['xMaxRate']
[1]) # becomes very choppy changing to xMaxAcc... idk wtf
delta = list(ipos[i] - fpos[i] for i in range(len(ipos)))
d = np.sqrt(sum(i**2 for i in delta))
deltaT = ((2 * v) / a) + ((d - (v**2 / a)) / v)
print('next move in ' + str(int(np.floor(deltaT * 1000))) + 'ms')
return int(np.floor(deltaT * 1000)) # in ms
def __parsePosition(self, ipos):
"""
Parses position for use with DRO
:param ipos: input position
:return: [x, y] list of current position
"""
pos = [0, 0]
for i in ipos.split(' '):
if i.lower()[0] == 'x':
pos[0] = float(i[1:])
if i.lower()[0] == 'y':
pos[1] = float(i[1:])
return pos
def __parseParameters(self):
"""
Parses parameters from a given input file into the parameters dictionary for usage
:return: None
"""
tmp = []
with open(self.startupfile, 'r') as f:
for line in f:
if line != '' and line[0] == '$':
tmp.append(line.strip().strip('$'))
f.close()
for i in tmp:
for key, value in self.parameters.items():
if i.split('=')[0] == str(value[0]):
self.parameters[key] = [i.split('=')[0], i.split('=')[1]]
self.feedrate = int(self.parameters['xMaxRate'][1])
print(self.feedrate)
print(self.parameters['xMaxRate'])
print(self.parameters['xMaxAcc'])
def __setTempFile(self):
"""
Sets the temporary file name, unless it exists
:return: None
"""
if os.path.exists('temp.npy') or self.tempFile is not None:
self.start_from_death_btn.configure(text='Load\nData?', fg='red')
self.__blinkButton(self.start_from_death_btn, 'red', 'blue', 1000)
else:
self.tempFile = 'temp.npy'
def __saveTempData(self):
"""
Saves temp data to temp file, if program is currently running it calls itself every 1000ms
:return: None
"""
if self.temprunning:
if self.queue.size() > 0:
np.save(self.tempFile, [
self.queue.peek(),
time.asctime(), self.filename, self.shotnum
])
self.window.after(1000, self.__saveTempData)
return True
else:
return False
def __retrieveTempData(self):
"""
Retrieves temp data from temp.npy if it exists and user calls it. Needs to be updated
to reflect final changes in temp data stored once integrated into laser system
:return: Last line that runfile stored before unexpected power loss
"""
self.tempFile = 'temp.npy'
currentline, t, self.filename, self.shotnum = np.load(self.tempFile)
print(currentline, t, self.filename)
return currentline
def __startFromDeath(self):
"""
Starts from an unexpected power loss. Retreives last known position from temp file.
Issues: Target stage *could* be manually moved on us prior to reviving. User initiative to ensure
nothing moves.
:return: None
"""
if self.s:
self.queue = None
currentline = self.__retrieveTempData()
try:
f = open(self.filename, 'r')
self.queue = Queue()
positionFound = False
for line in f:
if line == currentline:
positionFound = True
if positionFound:
if line != '' and line[0] != ';':
self.queue.enqueue(line)
print('Loaded ' + self.filename)
self.start_from_death_btn.configure(text='Start?',
fg='green',
command=self.runFile)
except FileNotFoundError:
self.file_entry.delete(0, 'end')
self.file_entry.insert(0, 'File does not exist')
else:
self.start_from_death_btn.configure(text='Not\nconnected')
self.window.after(
5000, lambda: self.start_from_death_btn.configure(
text='Load\nData?'))
def __removeTempFile(self):
"""
removes temp file at end of program run
:return: None
"""
os.remove(self.tempFile)
self.tempFile = None
def __blinkButton(self, button, c1, c2, delay):
"""
Blinks a button between two colors, c1 and c2. Has logic for specific buttons to cease switching given a
specific string as the text.
:param button: target button instance
:param c1: First color to switch to, string
:param c2: Second color to switch to, string
:param delay: Delay in ms
:return: None
"""
if button['text'] == 'Start?':
return
else:
if button['fg'] == c1:
button.configure(fg=c2)
else:
button.configure(fg=c1)
self.window.after(
delay, lambda: self.__blinkButton(button, c1, c2, delay))
def __createDataFile(self):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single class
for cohesion
:return: None
"""
self.datafilename = str('-'.join(
list(i.replace(':', '-')
for i in time.asctime().split(' ')))) + '.hdf5'
self.datafile = HDF5File(self.datafilename)
def __createGroup(self, name):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single
class for cohesion
:return: None
"""
self.datafile.createGroup(name)
def __setMetadataFromFile(self, mdfile, path='/'):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single
class for cohesion
:return: None
"""
metadata = self.__parseMetadataFile(mdfile)
for key, value in metadata.items():
self.datafile.setMetadata(key, value, path=path)
def __setMetadata(self, key, value, path='/'):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single
class for cohesion
:return: None
"""
self.datafile.setMetadata(key, value, path=path)
def __createDataSet(self, Group, Data):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single
class for cohesion
:return: None
"""
self.datafile.create_dataset(Group, Data, Data.shape)
def __parseMetadataFile(self, filename):
"""
Preliminary HDF5 methods prior to implementation of HDF5Methods.py. Likely will remove and integrate single
class for cohesion
:return: None
"""
md = {}
try:
with open(filename, 'r') as f:
for i in f.readlines():
j = i.rstrip().split(';')
md[j[0]] = j[1]
return md
except:
print('metadata file broken, fix and try again')
def __writeData(self, data):
"""
Writes data to the class instances datafile
:param data: Data to write
:return: None
"""
self.datafile.append(data)
def __setFeed(self, feedrate):
"""
Sets feedrate based on input
:param feedrate: New feedrate in mm/min
:return: None
"""
self.feedrate = feedrate