def _return_home(self) -> None:
logger.info('start return home')
pos = cnc.position
generate_linear_puls(pos.x.steps * -1, pos.y.steps * -1, PULS_DEVICE)
self._run_loop()
send_wss_event(self._q_msg_tx, self.running_action_id,
'print:return_to_home:succeeded')
def head_image(self, msg: dict) -> None:
"""
Process head image request.
Sends related start and finish messages, and calls child class handler.
:param msg: Incoming WSS Message
:type msg: dict
:return:
"""
send_wss_event(self._q_msg_tx, msg['id'], 'head_image:starting')
self._head_image(msg)
send_wss_event(self._q_msg_tx, msg['id'], 'head_image:completed')
def hunt(self, msg: dict) -> None:
"""
Home the focus lens.
Sends related start and finish messages, and calls child class handler.
:param msg: Incoming WSS Message
:type msg: dict
:return:
"""
send_wss_event(self._q_msg_tx, msg['id'], 'hunt:starting')
self._hunt(msg)
send_wss_event(self._q_msg_tx, msg['id'], 'hunt:completed')
def lidar_image(self, msg: dict) -> None:
"""
Process lidar image request.
Sends related start and finish messages, and calls child class handler to capture
head images with and without the distance measuring laser enabled.
:param msg: Incoming WSS Message
:type msg: dict
:return:
"""
send_wss_event(self._q_msg_tx, msg['id'], 'lidar_image:starting')
self._head_image(msg, msg['settings'][0])
send_wss_event(self._q_msg_tx, msg['id'], 'lidar_image:completed')
def motion(self, msg: dict) -> None:
"""
Process motion request.
Sends related start and finish messages, and calls child class handler.
:param msg: Incoming WSS Message
:type msg: dict
:return:
"""
send_wss_event(self._q_msg_tx, msg['id'],
msg['action_type'] + ':starting')
self._motion(msg)
if self._running_action_cancelled:
self._send_cancelled_message(msg['id'], msg['action_type'])
else:
send_wss_event(self._q_msg_tx, msg['id'],
msg['action_type'] + ':completed')
def send_report(q: Queue, msg: dict) -> None:
"""
Send device settings report in the required format.
:param q: {WSS message queue
:type q: Queue
:param msg: WSS Message
:type msg: dict
:return:
"""
settings = ''
logger.info("START")
for item, setting in MACHINE_SETTINGS.items():
value = '' if setting.default is None else str(setting.default)
if setting.in_report:
if item == 'SAid':
value = msg['id']
if item in _CONFIG_PROVIDERS:
config_value = get_cfg(_CONFIG_PROVIDERS.get(item))
if config_value is not None:
value = str(config_value)
if item in _REGISTERED_PROVIDERS:
value = str(_REGISTERED_PROVIDERS[item]())
if setting.type is int:
value = int(float(value))
elif setting.type is str:
value = '"{}"'.format(value)
else:
value = setting.type(value)
settings += '"{}":{},'.format(item, value)
# The service appears to bypass the homing process if we send it an empty settings value.
# It is assumed that this prevents the machine from re-homing every time it loses and regains
# the connection to the Glowforge service (a seemingly frequent occurrence).
if not get_cfg('SETTINGS.SET') and not get_cfg('EMULATOR.BYPASS_HOMING'):
send_wss_event(q, msg['id'], 'settings:completed',
data={'key': 'settings', 'value': '{"values":{%s}}' % settings[:-1]})
set_cfg('SETTINGS.SET', True)
else:
send_wss_event(q, msg['id'], 'settings:completed', data={'key': 'settings', 'value': '{}'})
logger.info("COMPLETE")
def _switch_event(self, event: SwitchEvent) -> None:
logger.debug('received switch event %s' % str(event))
if event.code == InputSwitch.SW_BUTTON:
if event.val:
logger.info('button pushed')
send_wss_event(self._q_msg_tx, None, 'button:pressed')
self._button_pressed = True
else:
logger.info('button released')
send_wss_event(self._q_msg_tx, None, 'button:released')
elif event.code == InputSwitch.SW_DOORS:
if event.val:
logger.info('lid closed')
send_wss_event(self._q_msg_tx, None, 'lid:closed')
else:
logger.info('lid opened')
send_wss_event(self._q_msg_tx, None, 'lid:opened')
def _motion(self, msg: dict) -> None:
# Download puls file from service
self._motion_download(msg)
if msg['action_type'] == 'print':
send_wss_event(self._q_msg_tx, msg['id'],
'print:download:completed')
self._button_wait(msg)
if not self._running_action_cancelled:
send_wss_event(self._q_msg_tx, msg['id'],
'print:warmup:starting')
# Run motion job
if not self._running_action_cancelled:
if msg['action_type'] == 'print':
send_wss_event(self._q_msg_tx, msg['id'], 'print:running')
send_wss_event(self._q_msg_tx, msg['id'],
'print:return_to_home:succeeded')
self._last_action = msg['action_type']
def _motion(self, msg: dict) -> None:
logger.info('start motion')
if self._safe_to_move:
cnc.clear_all()
# Download puls file from service
logger.info('loading motion file from %s' % msg['motion_url'])
self._motion_stats = load_motion(self._session, msg['motion_url'],
PULS_DEVICE)
logger.info('motion stats: %s' % self._motion_stats)
if msg['action_type'] == 'print':
send_wss_event(self._q_msg_tx, msg['id'],
'print:download:completed')
cnc.laser_latch(0)
self._button_wait(msg)
if not self._running_action_cancelled:
send_wss_event(self._q_msg_tx, msg['id'],
'print:warmup:starting')
# Configure for print, and wait for warm up
if not self._running_action_cancelled:
self._config_from_pulse('run',
self._motion_stats['header_data'])
if msg['action_type'] == 'print':
if get_cfg('MOTION.WARM_UP_DELAY'):
sleep(int(get_cfg('MOTION.WARM_UP_DELAY')))
# Run motion job
if not self._running_action_cancelled:
if msg['action_type'] == 'print':
logger.info('start temps: %s' % str(temp_sensor.all))
send_wss_event(self._q_msg_tx, msg['id'], 'print:running')
self._run_loop()
cnc.laser_latch(1)
pos = cnc.position
logger.info(
'end positions (actual/expected): X (%s/%s), Y (%s/%s), Z (%s/%s)'
% (
pos.x.steps,
self._motion_stats['stats']['XEND'],
pos.y.steps,
self._motion_stats['stats']['YEND'],
pos.z.steps,
self._motion_stats['stats']['ZEND'],
))
logger.info('motion bytes actual:%s, expected: %s' %
(pos.bytes.processed, self._motion_stats['size']))
if msg['action_type'] == 'print':
logger.info('end print temps: %s' % str(temp_sensor.all))
# Cool down for prints
if msg['action_type'] == 'print':
self._return_home()
logger.info('start cool down')
self._config_from_pulse('cool_down',
self._motion_stats['header_data'])
if get_cfg('MOTION.COOL_DOWN_DELAY'):
sleep(int(get_cfg('MOTION.COOL_DOWN_DELAY')))
logger.info('end cool-down temps: %s' % str(temp_sensor.all))
# Config for idle
logger.info('start idle')
self._config_from_pulse('idle', self._motion_stats['header_data'])
pos = cnc.position
logger.info('end positions (%s, %s, %s)' %
(pos.x.steps, pos.y.steps, pos.z.steps))
logger.info('end motion')
def _send_cancelled_message(self, action_id: int, action_type: str):
send_wss_event(self._q_msg_tx, action_id, '%s:cancelled' % action_type)