def safety_callback(channel):
open(config.get('task', 'lock_file'), 'w').close()
message = {'type': '', 'code': ''}
write_emergency(json.dumps(message))
su = SerialUtils()
GPIO_STATUS=GPIO.input(2)
type="emergency"
if(GPIO_STATUS == 0):
su.sendGCode('M730')
reply = su.getReply()
#print ">>>> ", reply
if(reply != ''):
decodedReply = decodeReply(reply)
if decodedReply != None :
special_codes = [110, 120, 121]
if(decodedReply in special_codes):
if decodedReply == 110:
type="alert"
su.flush()
su.sendGCode('M999')
elif decodedReply == 120 or decodedReply == 121:
if(settings['bothy'] == 'Shutdown' or settings['bothz'] == 'Shutdown'):
call (['sudo php /var/www/fabui/application/modules/controller/ajax/shutdown.php'], shell=True)
GPIO.cleanup() #we can disable GPIO as we are rebooting the system.
message = {'type': type, 'code': str(decodedReply)}
ws.send(json.dumps(message))
write_emergency(json.dumps(message))
su.flush()
su.close()
GPIO_STATUS=GPIO.HIGH
if os.path.isfile(config.get('task', 'lock_file')):
os.remove(config.get('task', 'lock_file'))
def safety_callback(channel):
open(config.get('task', 'lock_file'), 'w').close()
message = {'type': '', 'code': ''}
write_emergency(json.dumps(message))
su = SerialUtils()
GPIO_STATUS = GPIO.input(2)
type = "emergency"
if (GPIO_STATUS == 0):
su.sendGCode('M730')
reply = su.getReply()
#print ">>>> ", reply
if (reply != ''):
decodedReply = decodeReply(reply)
if decodedReply != None:
special_codes = [110, 120, 121]
if (decodedReply in special_codes):
if decodedReply == 110:
type = "alert"
su.flush()
su.sendGCode('M999')
elif decodedReply == 120 or decodedReply == 121:
if (settings['bothy'] == 'Shutdown'
or settings['bothz'] == 'Shutdown'):
call([
'sudo php /var/www/fabui/application/modules/controller/ajax/shutdown.php'
],
shell=True)
GPIO.cleanup(
) #we can disable GPIO as we are rebooting the system.
message = {'type': type, 'code': str(decodedReply)}
ws.send(json.dumps(message))
write_emergency(json.dumps(message))
su.flush()
su.close()
GPIO_STATUS = GPIO.HIGH
if os.path.isfile(config.get('task', 'lock_file')):
os.remove(config.get('task', 'lock_file'))
class SerialFactory():
def __init__(self):
self.serial = SerialUtils(debug=False)
self.reply = None
self.command = None
self.response = {}
def get_eeprom(self):
self.response = self.serial.eeprom()
self.output()
def restore_eeprom(self):
self.send('M502', False)
self.send('M500', False)
self.output()
def send(self, codes, output = True):
codes = codes.split('-')
replies = []
for code in codes:
self.serial.sendGCode(code)
replies.append(self.serial.getReply())
time.sleep(0.2)
self.command = codes
self.reply = replies
if(output):
self.output()
def output(self):
object = {
'response' : self.response,
'command' : self.command,
'reply' : self.reply
}
print json.dumps(object)
class SerialFactory():
def __init__(self):
self.serial = SerialUtils(debug=False)
self.reply = None
self.command = None
self.response = {}
def get_eeprom(self):
self.response = self.serial.eeprom()
self.output()
def restore_eeprom(self):
self.send('M502', False)
self.send('M500', False)
self.output()
def send(self, codes, output=True):
codes = codes.split('-')
replies = []
for code in codes:
self.serial.sendGCode(code)
replies.append(self.serial.getReply())
time.sleep(0.2)
self.command = codes
self.reply = replies
if (output):
self.output()
def output(self):
object = {
'response': self.response,
'command': self.command,
'reply': self.reply
}
print json.dumps(object)
'hybrid': hybridHead,
'print_v2': printHead2,
'mill_v2': millHead2
}
"""
START BOOTSTRAP
"""
if (hardware_reset):
su.reset()
time.sleep(3)
if (flush):
su.flush()
if (hardware_reset == False):
su.sendGCode('M300')
su.sendGCode('M701 S0\r\nM702 S0\r\nM703 S0')
### rise probe
su.sendGCode('M402')
time.sleep(1)
### set ambient colors
su.sendGCode(
('M701 S%s\r\nM702 S%s\r\nM703 S%s' %
(settings['color']['r'], settings['color']['g'], settings['color']['b'])))
### set safety door open: enable/disable warnings
su.sendGCode(('M732 S%s' % settings['safety']['door']))
### set collision-warning enable/disable warnings
su.sendGCode(('M734 S%s' % settings['safety']['collision-warning']))
### set homing preferences
su.sendGCode(('M714 S%s' % settings['switch']))
if (settings['hardware']['head']['type'] in HEAD_VERSION_CMDS):
HEAD_VERSION_CMDS[settings['hardware']['head']['type']](su, settings)
else:
hybridHead(su, settings)
""" exec hardware revisions """
if (settings['settings_type'] == 'custom'):
customHardware(su, settings, config.get('printer', 'settings_file'))
elif hw_version in HW_VERSION_CMDS:
HW_VERSION_CMDS[hw_version](su, settings,
config.get('printer', 'settings_file'))
else:
settings['feeder']['show'] = True
saveSettings(settings, config.get('printer', 'settings_file'))
if (save_settings):
eeprom = su.eeprom()
settings['e'] = eeprom['steps_per_unit']['e']
saveSettings(settings, config.get('printer', 'settings_file'))
#### save all to EEPROM
commands.append('M500')
### alive machine
commands.append('M728')
### set ambient lights ###
commands.append('M701 S{0}'.format(settings['color']['r']))
commands.append('M702 S{0}'.format(settings['color']['g']))
commands.append('M703 S{0}'.format(settings['color']['b']))
su.sendGCode(commands)
su.close()
if os.path.isfile(config.get('task', 'lock_file')):
os.remove(config.get('task', 'lock_file'))
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-t", "--trace", help="log travce file", default=config.get('macro', 'trace_file'))
parser.add_argument("-r", "--response", help="log response file", default=config.get('macro', 'response_file'))
parser.add_argument("-l", "--heigth", help="height", default=38, type=int)
parser.add_argument("-n", "--probes", help="Number of probes", default=1, type=int)
parser.add_argument("-s", "--skip", help="Skip homing", action="store_true")
parser.add_argument("-d", "--debug", help="Debug: print console", action="store_true")
args = parser.parse_args()
#write LOCK FILE
open(config.get('task', 'lock_file'), 'w').close()
""" ### init ### """
log_trace = args.trace
logfile = args.response
response_file = args.response
num_probes = args.probes
skip_homing = args.skip
debug = args.debug
cycle=True
s_warning=s_error=s_skipped=0
probe_height=50.0
milling_offset=0.0
probe_offset_security=15
screw_turns=["" for x in range(4)]
screw_height=["" for x in range(4)]
screw_degrees=["" for x in range(4)]
#points to probe
probed_points=np.array([[5+17,5+61.5,0],[5+17,148.5+61.5,0],[178+17,148.5+61.5,0],[178+17,5+61.5,0]])
#first screw offset (lower left corner)
screw_offset=[8.726,10.579,0]
''' #### START #### '''
su = SerialUtils(debug = debug)
su.trace('Manual Bed Calibration Wizard Initiated')
eeprom = su.eeprom();
probe_height = (abs(float(eeprom['probe_length'])) + 1 ) + probe_offset_security
settings_file = open(config.get('printer', 'settings_file'))
settings = json.load(settings_file)
if 'settings_type' in settings and settings['settings_type'] == 'custom':
settings_file = open(config.get('printer', 'custom_settings_file'))
settings = json.load(settings_file)
settings_file.close()
try:
safety_door = int (settings['safety']['door']) == 1
milling_offset = float(settings['milling']['layer-offset'])
except KeyError:
safety_door = False
milling_offset = 0
if(safety_door):
su.doMacro('M741', 'TRIGGERED', -1, 'Front panel door control', verbose=False)
su.doMacro('M744', 'TRIGGERED', -1, 'Milling bed side up', warning=True, verbose=False)
#su.trace("Milling sacrificial layer thickness: "+str(milling_offset))
su.doMacro('M402', 'ok', 1, 'Retracting Probe (safety)', verbose=False)
su.doMacro('G90', 'ok', -1, 'Setting absolute mode', verbose=False)
if(skip_homing == False):
su.doMacro('G27', 'ok', -1, 'Homing Z - Fast', verbose=False)
su.doMacro('G92 Z241.2', 'ok', -1, 'Setting correct Z', verbose=False)
su.doMacro('M402', 'ok', 1, 'Retracting Probe (safety)', verbose=False)
su.doMacro("G0 Z"+str(probe_height)+" F15000", 'ok', -1, 'Moving to start Z height', verbose=False)#mandatory!
for (p,point) in enumerate(probed_points):
#real carriage position
x=point[0]-17
y=point[1]-61.5
su.doMacro("G0 X"+str(x)+" Y"+str(y)+" Z"+str(probe_height)+" F15000", 'ok', -1, 'Moving to Pos', verbose=False)
msg="Measuring point " +str(p+1)+ " of "+ str(len(probed_points)) + " (" +str(num_probes) + " times)"
su.trace(msg)
#Touches 4 times the bed in the same position
probes=num_probes #temp
for i in range(0,num_probes):
su.sendGCode('M401')
z = su.g30()
probed_points[p,2]+=float(z) # store Z
#G0 Z40 F5000
#macro("G0 Z40 F5000","ok",10,"Rising Bed",0.1, warning=True, verbose=False)
su.doMacro("G0 Z"+str(probe_height)+" F15000", 'ok', -1, 'Rising Bed', verbose=False)
#mean of the num of measurements
probed_points[p,0]=probed_points[p,0]
probed_points[p,1]=probed_points[p,1]
probed_points[p,2]=probed_points[p,2]/probes; #mean of the Z value on point "p"
#trace("Mean ="+ str(probed_points[p,2]))
#msg="Point " +str(p+1)+ "/"+ str(len(probed_points)) + " , Z= " +str(probed_points[p,2])
#trace(msg)
su.sendGCode('M402')
#su.doMacro("M402", 'ok', -1, 'Raising Probe', verbose=False)
#macro("M402","ok",2,"Raising Probe",0.1, warning=True, verbose=False)
#G0 Z40 F5000
#macro("G0 Z40 F5000","ok",2,"Rising Bed",0.1, warning=True, verbose=False)
su.doMacro("G0 Z"+str(probe_height)+" F15000", 'ok', -1, 'Rising Bed', verbose=False)
#macro("G0 Z"+str(probe_height)+" F5000","ok",2,"Rising Bed",0.5, warning=True, verbose=False)
su.doMacro("G0 X5 Y5 Z"+str(probe_height)+" F15000", 'ok', -1, 'Idle Position', verbose=False)
su.doMacro("M18", 'ok', -1, 'Motors off', verbose=False)
su.trace("Completed")
probed_points=np.add(probed_points,screw_offset)
Fit = str(fitplane(probed_points))
Fit = fitplane(probed_points)
coeff = Fit[0:3]
d = Fit[3]
eeprom = su.eeprom();
z_probe = float(eeprom['probe_length'])
d_ovr=d
cal_point=np.array([[0-8.726,0-10.579,0],[0-8.726,257.5-10.579,0],[223-8.726,257.5-10.579,0],[223-8.726,0-10.579,0]])
idx=0
for (p,point) in enumerate(cal_point):
#cal_point[p][0][1] => point[1] #Y coordinate of point 0
z=(-coeff[0]*point[0] - coeff[1]*point[1] +d)/coeff[2]
#difference from titled plane to straight plane
#distance=P2-P1
diff=abs(-d_ovr)-abs(z)
#msg= "d :"+str(d)+", P :"+str(p)+" , Z:" +str(z) +" Diff: "+str(diff) +" d_ovr: "+str(d_ovr)
#msg= str(d_ovr)+ "-"+str(abs(z))+" = " + str(diff)
#trace(msg)
#number of screw turns, pitch 0.5mm
turns=round(diff/0.5, 2) #
degrees= turns*360
degrees=int(5 * round(float(degrees)/5)) #lets round to upper 5
screw_turns[idx]=turns
screw_height[idx]=diff
screw_degrees[idx]=degrees
idx+=1
print "Calculated=" + str(z) + " Difference " + str(diff) +" Turns: "+ str(turns) + " deg: " + str(degrees)
#save everything
bed_calibration = {
"t1": screw_turns[0],
"t2": screw_turns[1],
"t3": screw_turns[2],
"t4": screw_turns[3],
"s1": screw_height[0],
"s2": screw_height[1],
"s3": screw_height[2],
"s4": screw_height[3],
"d1": screw_degrees[0],
"d2": screw_degrees[1],
"d3": screw_degrees[2],
"d4": screw_degrees[3]
}
result = {
"bed_calibration" : bed_calibration
}
with open(logfile, 'w') as outfile:
json.dump(result, outfile)
outfile.close()
if os.path.isfile(config.get('task', 'lock_file')):
os.remove(config.get('task', 'lock_file'))