def __encode(self, block):
type, id = block['type'], block['id']
if type != 'set': log.info('Cmd:' + log_json(block))
if type == 'line':
self._enqueue_line_time(block)
return Cmd.line(block['target'], block['exit-vel'],
block['max-accel'], block['max-jerk'],
block['times'], block.get('speeds', []))
if type == 'set':
name, value = block['name'], block['value']
if name == 'message':
msg = dict(message=value)
self.cmdq.enqueue(id, self.ctrl.msgs.broadcast, msg)
if name in ['line', 'tool']: self._enqueue_set_cmd(id, name, value)
if name == 'speed': return Cmd.speed(value)
if len(name) and name[0] == '_':
# Don't queue axis positions, can be triggered by new position
if len(name) != 2 or name[1] not in 'xyzabc':
self._enqueue_set_cmd(id, name[1:], value)
if name == '_feed': # Must come after _enqueue_set_cmd() above
return Cmd.set_sync('if', 1 / value if value else 0)
if name[0:1] == '_' and name[1:2] in 'xyzabc':
if name[2:] == '_home': return Cmd.set_axis(name[1], value)
if name[2:] == '_homed':
motor = self.ctrl.state.find_motor(name[1])
if motor is not None:
return Cmd.set_sync('%dh' % motor, value)
return
if type == 'input':
# TODO handle timeout
self.planner.synchronize(0) # TODO Fix this
return Cmd.input(block['port'], block['mode'], block['timeout'])
if type == 'output':
return Cmd.output(block['port'], int(float(block['value'])))
if type == 'dwell':
self._enqueue_dwell_time(block)
return Cmd.dwell(block['seconds'])
if type == 'pause': return Cmd.pause(block['pause-type'])
if type == 'seek':
return Cmd.seek(block['switch'], block['active'], block['error'])
if type == 'end': return '' # Sends id
raise Exception('Unknown planner command "%s"' % type)
def __encode(self, block):
log.info('Cmd:' + json.dumps(block))
type, id = block['type'], block['id']
if type == 'line':
return Cmd.line(block['target'], block['exit-vel'],
block['max-accel'], block['max-jerk'],
block['times'])
if type == 'set':
name, value = block['name'], block['value']
if name == 'message':
self.cmdq.enqueue(id, True, self.ctrl.msgs.broadcast,
{'message': value})
if name in ['line', 'tool']:
self._enqueue_set_cmd(id, name, value)
if name == 'speed': return Cmd.speed(value)
if len(name) and name[0] == '_':
self._enqueue_set_cmd(id, name[1:], value)
if name[0:1] == '_' and name[1:2] in 'xyzabc':
if name[2:] == '_home': return Cmd.set_axis(name[1], value)
if name[2:] == '_homed':
motor = self.ctrl.state.find_motor(name[1])
if motor is not None: return Cmd.set('%dh' % motor, value)
return
if type == 'input':
# TODO handle timeout
self.planner.synchronize(0) # TODO Fix this
return Cmd.input(block['port'], block['mode'], block['timeout'])
if type == 'output':
return Cmd.output(block['port'], int(float(block['value'])))
if type == 'dwell': return Cmd.dwell(block['seconds'])
if type == 'pause': return Cmd.pause(block['pause-type'])
if type == 'seek':
return Cmd.seek(block['switch'], block['active'], block['error'])
raise Exception('Unknown planner command "%s"' % type)
def _update_vars(self, msg):
try:
self.ctrl.state.machine_vars(msg['variables'])
self.queue_command(Cmd.DUMP) # Refresh all vars
# Set axis positions
for axis in 'xyzabc':
position = self.ctrl.state.get(axis + 'p', 0)
self.queue_command(Cmd.set_axis(axis, position))
except Exception as e:
log.warning('AVR reload failed: %s', traceback.format_exc())
self.ctrl.ioloop.call_later(1, self.connect)
def set_position(self, axis, position):
axis = axis.lower()
if self.ctrl.state.is_axis_homed(axis):
self.mdi('G92 %s%f' % (axis, position))
else:
if self._get_cycle() not in ['idle', 'mdi']:
raise Exception('Cannot zero position during ' +
self._get_cycle())
self._begin_cycle('mdi')
self.planner.set_position({axis: position})
super().queue_command(Cmd.set_axis(axis, position))
def set_position(self, axis, position):
axis = axis.lower()
if self.ctrl.state.is_axis_homed(axis):
# If homed, change the offset rather than the absolute position
self.mdi('G92%s%f' % (axis, position))
elif self.ctrl.state.is_axis_enabled(axis):
if self._get_cycle() != 'idle' and not self._is_paused():
raise Exception('Cannot set position during ' +
self._get_cycle())
# Set the absolute position both locally and via the AVR
self.ctrl.state.set(axis + 'p', position)
super().queue_command(Cmd.set_axis(axis, position))
def _encode(self, block):
cmd = self.__encode(block)
if cmd is not None:
self.cmdq.enqueue(block['id'], None)
return Cmd.set_sync('id', block['id']) + '\n' + cmd
def modbus_write(self, addr, value):
self._i2c_block(Cmd.modbus_write(addr, value))
def modbus_read(self, addr): self._i2c_block(Cmd.modbus_read(addr))
def modbus_write(self, addr, value):
def jog(self, axes):
self._begin_cycle('jogging')
super().queue_command(Cmd.jog(axes))
def _i2c_set(self, name, value): self._i2c_block(Cmd.set(name, value))
@overrides(Comm)
def modbus_read(self, addr):
self._i2c_block(Cmd.modbus_read(addr))
def jog(self, axes):
self._begin_cycle('jogging')
self.planner.position_change()
super().queue_command(Cmd.jog(axes))
def _i2c_set(self, name, value):
self._i2c_block(Cmd.set(name, value))
