def __init__(self):
self.smoothie_com = SmoothieCom(Config.SMOOTHIE_URL, Config.SMOOTHIE_PORT)
self.COMMAND_TYPE_TO_HANDLER = {
'move': self.move,
'position': self.position,
'hardstop': self.hardstop,
'home': self.home,
'acceleration': self.acceleration,
'speed': self.speed
}
class CommandToGCode(object):
"""
this module converts front-end commands to GCode
then sends GCode strings to Smoothie-Com module
"""
def __init__(self):
self.smoothie_com = SmoothieCom(Config.SMOOTHIE_URL, Config.SMOOTHIE_PORT)
self.COMMAND_TYPE_TO_HANDLER = {
'move': self.move,
'position': self.position,
'hardstop': self.hardstop,
'home': self.home,
'acceleration': self.acceleration,
'speed': self.speed
}
@asyncio.coroutine
def connect(self):
"""
tell the smoothie module to connect to the motor controller
return True if successful
"""
return (yield from self.smoothie_com.connect())
@asyncio.coroutine
def send_gcode(self, gcode : str):
"""
send a GCode string to the smoothie module
"""
if gcode:
return (yield from self.smoothie_com.send(gcode))
@asyncio.coroutine
def process(self, command):
"""
receive front-end commands, and convert them to GCode
returns None or a coordinate dict
"""
command_type = command.get('type', '')
command_data = command.get('data', {})
gcode_list = None
try:
handler = self.COMMAND_TYPE_TO_HANDLER[command_type]
gcode_list = handler(command_data)
except KeyError:
logger.error('invalid command: {}'.format(command_type))
if gcode_list:
coords = None
# pass the data to the matching method, returning an array of gcode strings
for gcode_string in gcode_list:
ret = yield from self.send_gcode(gcode_string)
if ret != None:
coords = self.parse_coordinates(ret)
return coords
def parse_coordinates(self, coords):
"""
removes unnecessary data from the coordinates object returned from smoothie-com
returns a dict
"""
if isinstance(coords, dict):
new_coords = {}
for axis, label in Config.GCODE_KEYS['position'].items():
if coords.get(label, None) != None:
new_coords[axis] = coords[label]
return new_coords
def create_gcode_string(self, data, type):
"""
turns a front-end command dict into the equivalent gcode string
returns a string
"""
temp_string = ''
for axis in Config.GCODE_AXIS.get(type, []):
if data.get(axis, None):
temp_key = Config.GCODE_KEYS[type][axis]
temp_string += ' {0}{1}'.format( temp_key , data[axis] )
# only return the string if it has grown beyond the initial command
if len(temp_string):
return Config.GCODE_COMMANDS[type] + temp_string # prepend with the appropriate gcode command
else:
return ''
def move(self, data):
"""
create absolute or relative movement gcode
returns array of strings
"""
mode = Config.GCODE_COMMANDS['move_rel'] if data.get('relative', False) else Config.GCODE_COMMANDS['move_abs']
return [ mode , self.create_gcode_string(data, 'move') ]
def position(self, data):
"""
GET or SET the current axis positions
returns array of strings
"""
if data and isinstance(data, dict) and len(data.keys()):
return [ self.create_gcode_string(data, 'position') ]
else:
return [ Config.GCODE_COMMANDS['position_get'] ]
def speed(self, data):
"""
create 'speed' gcode
returns array of strings
"""
return [ self.create_gcode_string(data, 'speed') ]
def acceleration(self, data):
"""
create 'acceleration' gcode
returns array of strings
"""
return [ self.create_gcode_string(data, 'acceleration') ]
def home(self, data):
"""
create 'home' gcode: if no axis are specified, all axis are homed at once
returns array of strings
"""
temp_string = Config.GCODE_COMMANDS['home']
for n in (data if data else []): # a None might be passed
temp_string += ' {}'.format(str(n[0]).upper()) # UPPER CASE
return [ temp_string ]
def hardstop(self, data):
"""
create 'hardstop' gcode: halt the motor driver, then reset it
returns array of strings
"""
return [ Config.GCODE_COMMANDS['hardstop'] , Config.GCODE_COMMANDS['reset'] ]