def __init__(self,filePath=None):
Task.__init__(self,"print")
self.logger=logging.getLogger("dobozweb.core.Automation.PrintTask")
self.logger.setLevel(logging.ERROR)
self.filePath=filePath
self.totalLines=1
self.lastLine=None
self.currentLine=0#for post error recup
self.reconnectionCommand=None
self.currentLayer=0#for layer counting
self.totalLayers=0
self.currentLayerValue=0#the actual z component
self.pointCloud=PointCloud()
self.source=None
self.recoveryMode=False
self.doLayerAnalysis=False
"""For all things related to the print positioning tracking """
self.gcodeParser=GCodeParser()
"""For the history of all previous commands this will need to be replaced with something more robust in the future"""
self.gcodeHistoryMaxSize=100
self.gcodeHistoryIndex=0
self.gcodeHistory=[]
def __init__(self,scanWidth=1,scanLength=1,resolution=1,passes=1,filePath=None,saveScan=False):
Task.__init__(self,"scan")
self.logger=logging.getLogger("dobozweb.core.Automation.ScanTask")
self.logger.setLevel(logging.ERROR)
self.width=scanWidth
self.length=scanLength
self.resolution=resolution
self.filePath=filePath
self.saveScan=saveScan
self.pointCloud=PointCloud()
self.pointCloudBuilder=PointCloudBuilder(resolution=resolution,width=scanWidth,length=scanLength,passes=passes)
totalPoints=(int(scanWidth/resolution)+1)*(int(scanLength/resolution)+1)*passes
self.logger.info("Total scan points %d",totalPoints)
self.progressFraction=float(100.00/float(totalPoints))
self.logger.info("Progress Fraction set by scan to %s",str(self.progressFraction))
self.logger.critical("Task Init Done")
class ScanTask(Task):
"""For all things related to the scanning """
def __init__(self,scanWidth=1,scanLength=1,resolution=1,passes=1,filePath=None,saveScan=False):
Task.__init__(self,"scan")
self.logger=logging.getLogger("dobozweb.core.Automation.ScanTask")
self.logger.setLevel(logging.ERROR)
self.width=scanWidth
self.length=scanLength
self.resolution=resolution
self.filePath=filePath
self.saveScan=saveScan
self.pointCloud=PointCloud()
self.pointCloudBuilder=PointCloudBuilder(resolution=resolution,width=scanWidth,length=scanLength,passes=passes)
totalPoints=(int(scanWidth/resolution)+1)*(int(scanLength/resolution)+1)*passes
self.logger.info("Total scan points %d",totalPoints)
self.progressFraction=float(100.00/float(totalPoints))
self.logger.info("Progress Fraction set by scan to %s",str(self.progressFraction))
self.logger.critical("Task Init Done")
def __str__(self):
string='{"id": "%s", "type": "%s", "width": %s, "height":%f, "resolution": %s}' %(str(self.id), self.type,self.width,self.length,self.resolution)
return string
def connect(self,connector):
self.connector=connector
if hasattr(self.connector, 'events'):
self.connector.events.OnDataRecieved+=self._data_recieved
# self.connector.events.OnDisconnected+=self.on_connector_disconnect
# self.connector.events.OnReconnected+=self.on_connector_reconnect
def disconnect(self):
"""Dsiconnected the task from the connector: to remove event handling """
self.connector.events.OnDataRecieved-=self._data_recieved
self.connector=None
def start(self):
self.status="SR"#actual first start
self.events.OnEntered(self,"Entered")
#######################
#Initialize base position
self.connector.send_command("G21")
self.connector.send_command("G90")
self.connector.send_command("G92")
ptBld=self.pointCloudBuilder.currentPoint
self.connector.send_command("G1 X"+str(ptBld.x)+" Y"+str(ptBld.y))
def stop(self):
self.status="NP"
self.events.OnExited(self,"OnExited")
def _do_action_step(self):
#move the printhead , ask for scan, wait for answer
if not self.pointCloudBuilder.finished:
self.progress+=self.progressFraction
ptBld=self.pointCloudBuilder.currentPoint
ptStr="G1 X"+str(ptBld.x)+" Y"+str(ptBld.y)
self.connector.send_command(ptStr)
else:
self.progress=100
self.pointCloud=self.pointCloudBuilder.pointCloud
self.status="F"#finished
if self.saveScan:
if self.filePath:
self.pointCloud.save(self.filePath)
else:
pass
self.connector.send_command("G1 X0 Y0")
self.totalTime+=time.time()-self.startTime
self.startTime=time.time()
def _data_recieved(self,args,kargs):
"""
Function that gets called each time a new serial event is recieved.
If the last command was confirmed, move to next position and get height info
"""
self.logger.info("event recieved from reprap %s",str(kargs))
if self.status!="F":
if "ok" in kargs:
if "height" in kargs:
try:
height=float(kargs.split(' ')[2])
height=height/50
self.logger.info("Scan thing %s",str(height))
#self.events.OnScanHeightRecieved(height)
self.pointCloudBuilder.add_point(height)
self.logger.critical("current point %s",str(self.pointCloudBuilder.currentPoint))
self.pointCloudBuilder.next_point_continuous()
self.pointCloud=self.pointCloudBuilder.pointCloud
except:
pass
if self.status!="NP" and self.status!="SP":
self._do_action_step()
else:
if not "G92" in kargs and not "G90" in kargs and not "G21" in kargs and "G1" in kargs and self.status!="NP" and self.status!="SP" :
self.connector.send_command("M180")
else:
if "ok" in kargs and "G1" in kargs:
self.events.OnExited(self,"OnExited")
class PrintTask(Task):
""" A task for printing gcode files"""
def __init__(self,filePath=None):
Task.__init__(self,"print")
self.logger=logging.getLogger("dobozweb.core.Automation.PrintTask")
self.logger.setLevel(logging.ERROR)
self.filePath=filePath
self.totalLines=1
self.lastLine=None
self.currentLine=0#for post error recup
self.reconnectionCommand=None
self.currentLayer=0#for layer counting
self.totalLayers=0
self.currentLayerValue=0#the actual z component
self.pointCloud=PointCloud()
self.source=None
self.recoveryMode=False
self.doLayerAnalysis=False
"""For all things related to the print positioning tracking """
self.gcodeParser=GCodeParser()
"""For the history of all previous commands this will need to be replaced with something more robust in the future"""
self.gcodeHistoryMaxSize=100
self.gcodeHistoryIndex=0
self.gcodeHistory=[]
# self.logFile=open("log.txt","r")
# logContent=self.logFile.read()
# self.logFile.close()
# if logContent.find("ok")==-1:
# #read line
# self.logger.critical("last instance of program failed, loading up file")
# self.set_filePath_fromLog()
def __str__(self):
string='{"id": "%s", "type": "%s", "file": "%s"}' %(str(self.id), self.type, os.path.basename(self.filePath))
return string
def connect(self,connector):
self.connector=connector
print(self.connector)
if hasattr(self.connector, 'events'):
self.connector.events.OnDataRecieved+=self._data_recieved
# self.connector.events.OnDisconnected+=self.on_connector_disconnect
# self.connector.events.OnReconnected+=self.on_connector_reconnect
def disconnect(self):
self.connector.events.OnDataRecieved-=self._data_recieved
self.connector=None
def start(self):
""" Starts the current print task"""
self._set_filePath()
try:
self.source=open(self.filePath,"r")
self._forward_toLine(self.currentLine)#go to requested start line
self.status="SR"#actual first start
self.events.OnEntered(self,"Entered")
self._do_action_step()
except Exception as inst:
self.logger.critical("invalid gcode file %s",str(inst))
def _forward_toLine(self,lineNumber):
"""
Function to go to a specific line of the gcode file
Params:
lineNumber: the line we want to go to
"""
if lineNumber>0:
line = self.source.readline()
lineIndex=0
while line:
if lineIndex>=self.currentLine:
self.currentLine=lineIndex
print("going to line ",self.currentLine)
break
line = self.source.readline()
lineIndex+=1
def _set_filePath(self):
"""
This function sets the current sourceFile, parses it for line numbers
and layer count, sets everything up, and sends adapted events
"""
self.logger.critical("setting filePath: %s",self.filePath)
try:
self.source=open(self.filePath,"r")
if not self.recoveryMode:
self.currentLine=0
else:
self.forward_toLine(self.currentLine)
self.totalLayers=0
lastZ=0
lineIndex=self.currentLine
for line in self.source.readlines():
#TODO: some more inteligent "guestimate" of layers : read from the start, get two diferent z components, read from the end, get last Z component
# layerInfo=self.gcodeParser.parse(line)
# try:
# zInfo=float(layerInfo.zcmd.value.to_eng_string())
# if zInfo!=lastZ:
# self.totalLayers+=1
# lastZ=zInfo
# except:
# pass
lineIndex+=1
self.source.close()
self.totalLines=lineIndex #- self.currentLine+1
print("TOTALLINES",self.totalLines)
if self.totalLayers>2:
self.totalLayers-=2
#self.logger.critical("Total layers %g",self.totalLayers)
#self.events.OnTotalLinesSet(self,str(self.totalLines))
#self.events.OnTotalLayersSet(self,str(self.totalLayers))
self.progressFraction=float(100/float(self.totalLines))
self.logger.info("totalLines %s",str(self.totalLines))
self.logger.info("ProgressFraction set %s",str(self.progressFraction))
self.progress=0
self.logFile=open("log.txt",'w')
self.logFile.write("path="+str(self.filePath))
self.logFile.close()
except Exception as inst:
self.logger.critical("can't load file %s",str(inst))
def _set_filePath_fromLog(self):
"""
This function is for recovery mode exclusively: it gets the params of the
last loaded gcode file and the last send gcode line from the log file
"""
try:
self.logFile=open("log.txt",'r')
number = Word(nums)
#parse last filePath and lineNumber
path=Dict(OneOrMore(Group("path"+"="+SkipTo( "," | stringEnd ))))
lastline=Dict(OneOrMore(Group("line"+'='+ number)))
tmp=path+Optional(",")+Optional(lastline)
ln=self.logFile.readline()
params=tmp.parseString(ln).asDict()
self.logFile.close()
self.recoveryMode=True
try:
self.currentLine=eval(params["line="])
#skip one line : it is better to lose one command than loose the print
self.currentLine+=1
except:
self.currentLine=0
self.set_filePath(params["path="])
self.events.OnPathSet(self,params["path="])
self.recoveryMode=False
except:
pass
def _do_action_step(self):
"""
gets the next line in the gCode file, sends it via serial, updates the logFile
and then increments the currentLine counter
"""
line=None
print("LINe",line,"linenb",self.currentLine,"progress",self.progress)
try:
line = self.source.readline()
self.line=line
self.lastLine=line
except :
pass
if line is not None:
if line!= "":# and line !="\n" and line != "\r\n" and line != "\n\r":
self.connector.add_command(line,answerRequired=True)
try:
self.gcodeHistory.insert(self.gcodeHistoryIndex, line)
if len(self.gcodeHistory)>self.gcodeHistoryMaxSize:
self.gcodeHistoryIndex=0
except:
pass
"""
Update the logfile with the current Line number
"""
self.logger.debug("Sent command "+ line)
self.currentLine+=1
pos=self.gcodeParser.parse(line)
if pos:
try:
#self.position=[pos.xcmd.value.to_eng_string(),pos.zcmd.value.to_eng_string(),pos.ycmd.value.to_eng_string()]
x=float(pos.xcmd.value.to_eng_string())
y=float(pos.ycmd.value.to_eng_string())
z=float(pos.zcmd.value.to_eng_string())
if z!=self.currentLayerValue:
self.currentLayer+=1
self.currentLayerValue=z
self.pointCloud.add_point(Point(x/20,y/20,z/20))
except Exception as inst:
self.logger.debug("failed to add point to movement map %s",str(inst))
self.totalTime+=time.time()-self.startTime
self.startTime=time.time()
if self.currentLine==self.totalLines:
self.progress=100
self.status="F"
self.events.OnExited(self,"OnExited")
else:
self.progress+=self.progressFraction
else:
print("empty line")
self.currentLine+=1
if (self.currentLine)<self.totalLines:
self.progress+=self.progressFraction
self._do_action_step()
else:
self.progress=100
self.status="F"
self.events.OnExited(self,"OnExited")
def _data_recieved(self,args,kargs):
"""
Function that gets called each time a new serial event is recieved.
If the last command was confirmed, read next line frome gcode file, and
send it over serial.
"""
command=kargs
self.logger.debug("event recieved from reprap %s",str(command))
if self.reconnectionCommand and self.status=="SP":
if self.reconnectionCommand in command.answer:
self.reconnectionCommand=None
if self.status!="NP" and self.status!="SP":#not paused
if "ok" in command.answer or "start" in command.answer and not command.special:
self._do_action_step()
# tmpLastLine=(self.lastLine.rstrip()).replace("\n","")
# tmpAnsw=" ".join(kargs.lstrip().split(' ')[:-1])
# tmpAnswLine=tmpAnsw.rstrip()
#
# if tmpLastLine == tmpAnswLine:#did we recieve the right answer
def stop(self):
"""
clean shutdown mode
"""
self.status="NP"
try:
self.source.close()
except:
pass
self.logFile=open("log.txt","a")
self.logFile.write(", shutdown=ok")
self.events.OnExited(self,"OnExited")
