def _get_printer_details(self):
communicator = UsbPacketCommunicator(self.usb_queue_length)
communicator.register_handler(IAmMessage, self._ident_call_back)
communicator.start()
communicator.send(IdentifyMessage())
until = time.time() + 5.0
while (not self.printer_details and time.time() < until):
time.sleep(0.1)
communicator.close()
details = self.printer_details
self.printer_details = None
return details
def _get_printer_details(self):
communicator = UsbPacketCommunicator(self.usb_queue_length)
communicator.register_handler(IAmMessage, self._ident_call_back)
communicator.start()
communicator.send(IdentifyMessage())
until = time.time() + 5.0
while (not self.printer_details and time.time() < until):
time.sleep(0.1)
communicator.close()
details = self.printer_details
self.printer_details = None
return details
def _get_printer_details(self):
communicator = UsbPacketCommunicator(self.usb_queue_length)
communicator.register_handler(IAmMessage, self._ident_call_back)
communicator.start()
communicator.send(IdentifyMessage())
until = time.time() + 5.0
while (not self.printer_details and time.time() < until):
time.sleep(0.1)
communicator.close()
if not self.printer_details:
raise MissingPrinterException()
details = self.printer_details
self.printer_details = None
logger.info("Loaded printer \n{}".format(str(details.sn)))
return details
def _get_printer_details(self):
communicator = UsbPacketCommunicator(self.usb_queue_length)
communicator.register_handler(IAmMessage, self._ident_call_back)
communicator.start()
communicator.send(IdentifyMessage())
until = time.time() + 5.0
while (not self.printer_details and time.time() < until):
time.sleep(0.1)
communicator.close()
if not self.printer_details:
raise MissingPrinterException()
details = self.printer_details
self.printer_details = None
logger.info("Loaded printer \n{}".format(str(details.sn)))
return details
class UsbTestTerminal(object):
VREF_CAL_POS = 0
TEMP30_CAL_POS = 1
TEMP110_CAL_POS = 2
ADC_KEY_POS = 3
ADC_PA3_POS = 4
ADC_TEMP_POS = 5
ADC_VREF_POS = 6
def __init__(self, verbose=False):
self._verbose = verbose
self._drips = 0
self._serial = None
self._swrev = None
self._hwrev = None
self._adcNum = []
self._adcVal = []
self._dataRate = None
self._adcCals = []
self._move = [0, 0, 0]
self._usb = UsbPacketCommunicator(10)
self._usb.register_handler(IAmMessage, self.iAmHandler)
self._usb.register_handler(DripRecordedMessage, self.dripHandler)
self._usb.register_handler(ReturnAdcValMessage, self.adcHandler)
self._usb.start()
if verbose:
print "Started usb terminal"
time.sleep(0.1)
def usbClose(self):
self._usb.close()
def laserOff(self):
move = self._move
self._usb.send(MoveMessage(move[0], move[1], 0))
def laserOn(self):
move = self._move
self._usb.send(MoveMessage(move[0], move[1], 255))
def move(self, x, y, laserPower=0):
self._move = [x, y, laserPower]
self._usb.send(MoveMessage(x, y, laserPower))
def setDrips(self, dripCount=0):
self._usb.send(SetDripCountMessage(dripCount))
def identify(self):
self._usb.send(IdentifyMessage())
def enterBootloader(self, i_am_sure=None):
if i_am_sure == (0xDEADBEEF):
self._usb.send(EnterBootloaderMessage())
if (self._verbose):
print "Bootloadereded"
elif (self._verbose):
print "i_am_sure not loaded with the correct value"
print "Note: This may lock your peachy into the bootloader"
print " if you have old firmware on your board"
#A non-ideal push/pop queue interface.
#Doesn't account for mis-matching - May be worth clearing on each request?
def popAdc(self, timeout=0.1):
start = time.time()
timeout = start + timeout #in seconds
while (time.time() < timeout): #wait for data being available or
if (len(self._adcVal) != 0):
tmp = [self._adcNum[0], self._adcVal[0]]
del self._adcNum[0]
del self._adcVal[0]
return tmp
else:
time.sleep(0.01)
def clearAdcQueues(self):
self._adcNum = []
self._adcVal = []
def getAdcCalibrations(self):
if len(self._adcCals) != 3:
[adcNum, adcVrefCal] = self.getAdcVal(self.VREF_CAL_POS)
[adcNum, adcTemp30] = self.getAdcVal(self.TEMP30_CAL_POS)
[adcNum, adcTemp110] = self.getAdcVal(self.TEMP110_CAL_POS)
self._adcCals = [adcVrefCal, adcTemp30, adcTemp110]
def getTemperature(self):
self.getAdcCalibrations()
#Return actual Temperature in C
#Formulas taken from STM32F0 datasheet page 252
adcVrefCal = self._adcCals[self.VREF_CAL_POS]
adcTemp30 = self._adcCals[self.TEMP30_CAL_POS]
adcTemp110 = self._adcCals[self.TEMP110_CAL_POS]
#Get the current Vref and Temperature each time
[adcNum, adcTemperature] = self.getAdcVal(self.ADC_TEMP_POS)
[adcNum, adcVref] = self.getAdcVal(self.ADC_VREF_POS)
vrefCompensation = 1.0 * adcVrefCal / adcVref
temperature = adcTemperature * vrefCompensation - adcTemp30
temperature = temperature * (110 - 30) / (adcTemp110 - adcTemp30)
temperature = temperature + 30
if (self._verbose):
print('Temperatures Value={0} Celcius={1}'.format(
adcTemperature, temperature))
return temperature
def getSupplyVoltage(self):
self.getAdcCalibrations()
adcVrefCal = self._adcCals[self.VREF_CAL_POS]
[adcNum, adcVref] = self.getAdcVal(self.ADC_VREF_POS)
vrefCompensation = 1.0 * adcVrefCal / adcVref
#calibrated at 3.3V always
supplyVoltage = 3.3 * vrefCompensation
if (self._verbose):
print('Voltage {0}, Value {1}'.format(supplyVoltage, adcVref))
return supplyVoltage
def getAdcKeyVal(self):
return self.getAdcVal(self.ADC_KEY_POS)
def getAdcVal(self, adcNum):
'''ADC NUMBERS:
0 - Vref Calibration Factor
1 - 30C temperature calibration
2 - 110C temperature calibration
3 - ADC key (PA2)
4 - Pin (PA3)
5 - Temperature
6 - Vref (3.3V volts)
'''
self._adcNum.append(adcNum)
self._usb.send(GetAdcValMessage(adcNum))
if self._verbose:
print('adcNum: {0}'.format(adcNum))
return self.popAdc()
def adcHandler(self, message):
if (len(self._adcNum) > len(self._adcVal)):
self._adcVal.append(message.adcVal)
if self._verbose:
print('adcNum: {0} adcVal: {1}'.format(self._adcNum[-1],
self._adcVal[-1]))
else:
self.clearAdcQueues()
def dripHandler(self, message):
self._drips = message.drips
if self._verbose:
print('Recieved drip: {0}'.format(message.drips))
def iAmHandler(self, message):
self._serial = message.sn
self._swrev = message.swrev
self._hwrev = message.hwrev
self._dataRate = message.dataRate
if self._verbose:
print('Serial number: {0}'.format(message.sn))
print('SW rev number: {0}'.format(message.swrev))
print('HW rev number: {0}'.format(message.hwrev))
print('Data Rate: {0}'.format(message.dataRate))
class UsbTestTerminal(object):
VREF_CAL_POS = 0
TEMP30_CAL_POS = 1
TEMP110_CAL_POS = 2
ADC_KEY_POS = 3
ADC_PA3_POS = 4
ADC_TEMP_POS = 5
ADC_VREF_POS = 6
def __init__(self,verbose=False):
self._verbose=verbose
self._drips=0
self._serial=None
self._swrev=None
self._hwrev=None
self._adcNum=[]
self._adcVal=[]
self._dataRate=None
self._adcCals=[]
self._move=[0,0,0]
self._usb = UsbPacketCommunicator(10)
self._usb.register_handler(IAmMessage, self.iAmHandler)
self._usb.register_handler(DripRecordedMessage, self.dripHandler)
self._usb.register_handler(ReturnAdcValMessage, self.adcHandler)
self._usb.start()
if verbose:
print "Started usb terminal"
time.sleep(0.1)
def usbClose(self):
self._usb.close()
def laserOff(self):
move=self._move
self._usb.send(MoveMessage(move[0],move[1],0))
def laserOn(self):
move=self._move
self._usb.send(MoveMessage(move[0],move[1],255))
def move(self,x,y,laserPower=0):
self._move=[x,y,laserPower]
self._usb.send(MoveMessage(x,y,laserPower))
def setDrips(self,dripCount=0):
self._usb.send(SetDripCountMessage(dripCount))
def identify(self):
self._usb.send(IdentifyMessage())
def enterBootloader(self,i_am_sure=None):
if i_am_sure==(0xDEADBEEF):
self._usb.send(EnterBootloaderMessage())
if (self._verbose):
print "Bootloadereded"
elif (self._verbose):
print "i_am_sure not loaded with the correct value"
print "Note: This may lock your peachy into the bootloader"
print " if you have old firmware on your board"
#A non-ideal push/pop queue interface.
#Doesn't account for mis-matching - May be worth clearing on each request?
def popAdc(self,timeout=0.1):
start=time.time()
timeout=start+timeout #in seconds
while(time.time()<timeout): #wait for data being available or
if (len(self._adcVal) != 0):
tmp=[self._adcNum[0],self._adcVal[0]]
del self._adcNum[0]
del self._adcVal[0]
return tmp
else:
time.sleep(0.01)
def clearAdcQueues(self):
self._adcNum=[]
self._adcVal=[]
def getAdcCalibrations(self):
if len(self._adcCals)!=3:
[adcNum,adcVrefCal] = self.getAdcVal(self.VREF_CAL_POS)
[adcNum,adcTemp30] = self.getAdcVal(self.TEMP30_CAL_POS)
[adcNum,adcTemp110] = self.getAdcVal(self.TEMP110_CAL_POS)
self._adcCals = [adcVrefCal,adcTemp30,adcTemp110]
def getTemperature(self):
self.getAdcCalibrations()
#Return actual Temperature in C
#Formulas taken from STM32F0 datasheet page 252
adcVrefCal = self._adcCals[self.VREF_CAL_POS]
adcTemp30 = self._adcCals[self.TEMP30_CAL_POS]
adcTemp110 = self._adcCals[self.TEMP110_CAL_POS]
#Get the current Vref and Temperature each time
[adcNum,adcTemperature]=self.getAdcVal(self.ADC_TEMP_POS)
[adcNum,adcVref]=self.getAdcVal(self.ADC_VREF_POS)
vrefCompensation = 1.0*adcVrefCal/adcVref
temperature = adcTemperature*vrefCompensation-adcTemp30
temperature = temperature*(110-30)/(adcTemp110-adcTemp30)
temperature = temperature + 30
if (self._verbose):
print ('Temperatures Value={0} Celcius={1}'.format(adcTemperature,temperature))
return temperature
def getSupplyVoltage(self):
self.getAdcCalibrations()
adcVrefCal=self._adcCals[self.VREF_CAL_POS]
[adcNum,adcVref]=self.getAdcVal(self.ADC_VREF_POS)
vrefCompensation = 1.0*adcVrefCal/adcVref
#calibrated at 3.3V always
supplyVoltage = 3.3*vrefCompensation
if (self._verbose):
print ('Voltage {0}, Value {1}'.format(supplyVoltage,adcVref))
return supplyVoltage
def getAdcKeyVal(self):
return self.getAdcVal(self.ADC_KEY_POS)
def getAdcVal(self,adcNum):
'''ADC NUMBERS:
0 - Vref Calibration Factor
1 - 30C temperature calibration
2 - 110C temperature calibration
3 - ADC key (PA2)
4 - Pin (PA3)
5 - Temperature
6 - Vref (3.3V volts)
'''
self._adcNum.append(adcNum)
self._usb.send(GetAdcValMessage(adcNum))
if self._verbose:
print('adcNum: {0}'.format(adcNum))
return self.popAdc()
def adcHandler(self,message):
if (len(self._adcNum) > len(self._adcVal)):
self._adcVal.append(message.adcVal)
if self._verbose:
print('adcNum: {0} adcVal: {1}'.format(self._adcNum[-1], self._adcVal[-1]))
else:
self.clearAdcQueues()
def dripHandler(self, message):
self._drips=message.drips
if self._verbose:
print('Recieved drip: {0}'.format(message.drips))
def iAmHandler(self, message):
self._serial=message.sn
self._swrev=message.swrev
self._hwrev=message.hwrev
self._dataRate=message.dataRate
if self._verbose:
print('Serial number: {0}'.format(message.sn))
print('SW rev number: {0}'.format(message.swrev))
print('HW rev number: {0}'.format(message.hwrev))
print('Data Rate: {0}'.format(message.dataRate))
class CalibrationAPI(object):
'''The calibration API proivides the tools required to setup a Peacy Printer'''
def __init__(self, configuration_manager):
logger.info("Calibartion API Startup")
self._configuration_manager = configuration_manager
self._configuration = self._configuration_manager.load()
self._point_generator = SinglePointGenerator()
self._blink_generator = BlinkGenerator()
self._orientaiton_generator = OrientationGenerator()
self._alignment_generator = CalibrationLineGenerator()
self._scale_generator = ScaleGenerator(speed=2.0, radius=1.0)
self._test_patterns = {
'Hilbert Space Filling Curve': HilbertGenerator(),
'Square': SquareGenerator(),
'Circle': CircleGenerator(),
'Spiral': SpiralGenerator(),
'Memory Hourglass': MemoryHourglassGenerator(),
'Damping Test': DampingTestGenerator(),
'NESW': NESWGenerator(),
'Twitch': TwitchGenerator(),
}
self._current_generator = self._point_generator
self._laser_control = LaserControl(self._configuration.cure_rate.override_laser_power_amount)
transformer = TuningTransformer(scale=self._configuration.calibration.max_deflection)
self._controller = None
logger.debug("Setting up audiowriter")
self._current_generator = self._point_generator
self._state = MachineState()
self._status = MachineStatus()
self._communicator = UsbPacketCommunicator(self._configuration.circut.calibration_queue_length)
self._communicator.start()
self._disseminator = MicroDisseminator(
self._laser_control,
self._communicator,
self._configuration.circut.data_rate
)
self._path_to_points = PathToPoints(
self._disseminator.samples_per_second,
transformer,
self._configuration.options.laser_thickness_mm
)
post_fire_delay_speed = None
slew_delay_speed = None
if self._configuration.options.post_fire_delay:
post_fire_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.post_fire_delay) / 1000.0)
if self._configuration.options.slew_delay:
slew_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.slew_delay) / 1000.0)
self._writer = LayerWriter(
self._disseminator,
self._path_to_points,
self._laser_control,
self._state,
post_fire_delay_speed=post_fire_delay_speed,
slew_delay_speed=slew_delay_speed
)
self._layer_processing = LayerProcessing(
self._writer,
self._state,
self._status,
)
self._controller = Controller(
self._writer,
self._layer_processing,
self._current_generator,
self._status,
abort_on_error=False,
)
self.make_pattern_fit()
self._controller.start()
def subscribe_to_status(self, callback):
'''Provides ability to subscribe to a printer safety status message (PrinterStatusMessage)'''
self._communicator.register_handler(PrinterStatusMessage, callback)
def set_print_area(self, width, height, depth):
'''Set the print area (width, height, depth) in mm'''
self._configuration.calibration.print_area_x = width
self._configuration.calibration.print_area_y = height
self._configuration.calibration.print_area_z = depth
self._save()
def get_print_area(self):
'''Gets the print area (width, height, depth) in mm'''
return (self._configuration.calibration.print_area_x, self._configuration.calibration.print_area_y, self._configuration.calibration.print_area_z)
def set_orientation(self, x_flip, yflip, swap_axis):
'''Allows for compensation of coil hook up by flipping and reversing axis'''
self._configuration.calibration.flip_x_axis = x_flip
self._configuration.calibration.flip_y_axis = yflip
self._configuration.calibration.swap_axis = swap_axis
self._save()
def get_orientation(self):
'''Gets the compensation for coil hook up returns tuple3 of booleans (flip x axis, flip y axis, swap axis) '''
return (self._configuration.calibration.flip_x_axis, self._configuration.calibration.flip_y_axis, self._configuration.calibration.swap_axis)
def show_point(self, xyz=[0.5, 0.5, 0.5]):
'''Used to show a single point with no calibration applied'''
# logger.info('Showing point')
x, y, z = xyz
self._point_generator.xy = [x, y]
if (self._current_generator != self._point_generator):
self._unapply_calibration()
self._update_generator(self._point_generator)
def show_blink(self, xyz=[0.5, 0.5, 0.0]):
'''Used to show a blinking point with no calibration applied used for aligning on and off laser posisition'''
logger.info('Showing blink')
x, y, z = xyz
self._blink_generator.xy = [x, y]
if (self._current_generator != self._blink_generator):
self._unapply_calibration()
self._update_generator(self._blink_generator)
def show_orientation(self):
'''Used to show pattern with no calibration applied used for determining orientation'''
logger.info('Showing Orientation')
if (self._current_generator != self._orientaiton_generator):
self._unapply_calibration()
self._update_generator(self._orientaiton_generator)
def show_line(self):
'''Used to show a single line on one axis used to line up calibration grid'''
logger.info('Showing line')
self._unapply_calibration()
self._update_generator(self._alignment_generator)
def show_test_pattern(self, pattern):
'''Used to show a test pattern with calibration applied'''
logger.info('Showing test pattern %s' % pattern)
if pattern in self._test_patterns.keys():
self._apply_calibration()
self._update_generator(self._test_patterns[pattern])
else:
logger.error('Pattern: %s does not exist' % pattern)
raise Exception('Pattern: %s does not exist' % pattern)
def show_scale(self):
'''Shows the scale square'''
logger.info('Showing scale')
self._unapply_calibration()
self._update_generator(self._scale_generator)
def get_max_deflection(self):
'''Gets the maximum allowable deflection of the mirrors as percentage'''
return self._configuration.calibration.max_deflection
def set_max_deflection(self, deflection):
'''Sets the maximum allowable deflection of the mirrors as percentage'''
self._configuration.calibration.max_deflection = deflection
self._unapply_calibration()
self._save()
def set_laser_off_override(self, state):
'''Allows user so force the laser on'''
self._controller.laser_off_override = state
def set_test_pattern_speed(self, speed):
'''Changes the speed at which the test pattern is drawn in mm/sec'''
[pattern.set_speed(speed) for pattern in self._test_patterns.values()]
def set_test_pattern_current_height(self, current_height):
'''Changes the height at which the test pattern is drawn in mm'''
[pattern.set_current_height(current_height) for pattern in self._test_patterns.values()]
def get_test_patterns(self):
'''returns a list of test patterns'''
return self._test_patterns.keys()
def current_calibration(self):
'''Returns the current calibration for the printer'''
return self._configuration.calibration
def save_points(self, height, lower_points, upper_points):
'''deprecated use set_lower_points and set_upper_points, set_height'''
self.set_lower_points(lower_points)
self.set_upper_points(upper_points)
self.set_height(height)
def get_lower_points(self):
'''Gets the lower calibration points'''
return self._configuration.calibration.lower_points
def set_lower_points(self, lower_points):
'''Set and saves the suppliled lower calibration'''
self._configuration.calibration.lower_points = lower_points
self._save()
def get_upper_points(self):
'''Gets the upper calibration points'''
return self._configuration.calibration.upper_points
def set_upper_points(self, upper_points):
'''Set and saves the suppliled upper calibration'''
self._configuration.calibration.upper_points = upper_points
self._save()
def get_height(self):
'''Gets the calibration height'''
return self._configuration.calibration.height
def set_height(self, height):
'''Set and saves the upper calibration height'''
self._configuration.calibration.height = height
self._save()
def _save(self):
self._configuration_manager.save(self._configuration)
self.make_pattern_fit()
# deprecated
def make_pattern_fit(self):
for pattern in self._test_patterns.values():
pattern.set_radius(self.get_largest_object_radius())
def close(self):
'''Must be called before shutting down applications'''
self._controller.close()
def _update_generator(self, generator):
self._current_generator = generator
self._controller.change_generator(self._current_generator)
def _apply_calibration(self):
self._path_to_points.set_transformer(
HomogenousTransformer(
self._configuration.calibration.max_deflection,
self._configuration.calibration.height,
self._configuration.calibration.lower_points,
self._configuration.calibration.upper_points
)
)
def _unapply_calibration(self):
self._path_to_points.set_transformer(
TuningTransformer(scale=self._configuration.calibration.max_deflection))
def _validate_points(self, points):
if (len(points) != 4):
return False
return True
def get_largest_object_radius(self):
'''Based on current calibrations_gets_maximum_size_of_object at the base layer'''
lowest = None
for (x, y) in self._configuration.calibration.lower_points.values():
if not lowest or abs(x) < lowest:
lowest = abs(x)
if abs(y) < lowest:
lowest = abs(y)
logger.info("Calulated max radius of object as: %s mm" % lowest)
return lowest
def stop(self):
'''Stops the calibaration interactivity'''
self._controller.stop()
