def exampleHuissen(self):
f = open("alarm_db/2018-06-24-04-13-11.xml", "rb")
xmlContent = f.read()
f.close()
alarm = Alarm(self.config)
try:
alarm.fromXml(xmlContent, self.logger)
except:
self.logger.error('Failed to parse XML:', exc_info=True)
return
self.processAlarm(alarm)
def __init__(self, **kwargs):
super(Alarm_manager_widget, self).__init__(**kwargs)
# self.Alarm_Body=Alarm_Body=FloatLayout(pos_hint={'center_x':0.5,'y':0})
self.AM_bar=AM_bar=BoxLayout(orientation='vertical')
self.scroller=scroller=ScrollView(size_hint=(1,.9),pos_hint={'center_x':0.5,'top':1})
scroller.add_widget(AM_bar)
self.add_widget(scroller)
self.f=f=open("alarms.txt", "r")
self.Alarm_one =Alarm_one= Alarm()
# AM_bar.add_widget(Alarm_widget(size_hint=(1,None),height=100))
for line in f:
print (line)
try:
self.Create_Alarm(Alarm_one.ReadMinutes(line), Alarm_one.ReadSeconds(line) , Alarm_one.ReadAlarm(line))
except IndexError:
break
f.close()
self.AM_ToolBar=FloatLayout(size_hint=(1,.1),pos_hint={'center_x':0.5,'y':0})
self.add_widget(self.AM_ToolBar)
self.kuku=BooleanProperty(False)
def alarms(self, value):
for alarm in self._alarms:
alarm.cancel()
self._alarms.remove(alarm)
for alarmString in value:
self._alarms.append(Alarm(alarmString, self, seconds=10 * 60))
def load_alarms(self):
foo = self.cursor.execute('SELECT * FROM INTEGRATION_ALARM;')
self.alarms = [Alarm(x) for x in foo]
alarms_stack = self.builder.get_object('alarmsStack')
for x in self.alarms:
alarms_stack.pack_start(x.get_button(), False, False, False)
x.get_button().show()
def __init__(self, test=Constants.test, parent=None):
# UI init
super(MainWindow, self).__init__(parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.voltageTimer = QTimer()
self.voltageTimer.start(
Constants.updateRate) # update every 0.15 second
self.guiTimer = QTimer()
self.guiTimer.start(0)
self.cm = plt.get_cmap('cool')
self.alarm = Alarm(Constants.alarmParams, parent=self)
self.judge = Judge(Constants.DATA_DIR)
self.warning = Warning(parent=self)
self.recorder = None
self.setting = Setting(self.alarm.getInitialState())
self.time = None
self.measure = None
self.predict = {'predict': 1, 'cnt': 0, 'curr_predict': None}
# check it is test mode or not (arduino don't need to connect)
try:
self.arduino = Arduino()
except:
print('using monk arduino')
self.arduino = ArduinoTest()
# Connection
self.voltageTimer.timeout.connect(self.voltageUpdate)
self.ui.actionRecord_Data.triggered.connect(self.recordData)
self.ui.actionSetting.triggered.connect(self.showSetting)
self.setting.finished.connect(self.settingClose)
self.guiTimer.timeout.connect(self.guiUpdate)
# ShortCut
self.ui.actionRecord_Data.setShortcut("Ctrl+D")
self.ui.actionSetting.setShortcut("Ctrl+S")
# Check is there are the data valid or not
self.judgeStatusCheck()
# Show the main window
self.show()
# Show and locate the warning message manually
self.warning.showWarning()
def execute_alarm(self):
a = Alarm(
Alarm.FILAMENT_JAM,
"Filament deviation above limit ({0:.2f} mm) for extruder {1} ".
format(self.error_pos * 1000,
self.ext_nr), "Filament jam on ext. {}".format(self.ext_nr))
logging.warning(
"Extruder {0} has reported too large deviation: {1:.2f} mm".format(
self.ext_nr, self.error_pos * 1000))
def response(self, data):
"""新线程要做的事"""
addr = data['addr']
tcp_client = data['tcp_client']
buf_size = data['buf_size']
# 接受客户端述数据
data = tcp_client.recv(buf_size).decode()
# 将客户端数据转换成列表
data = simplejson.loads(data)
# 对数据进行计算
info = InfoCompute(data)
# 获取所有结果
data_precent = info.return_all_precent()
# 策略类
str = Strategies()
# 获取check的结果
total, message = str.check_all_data(data_precent,
self.old_alarm_dict[addr])
# 告警
alarm = Alarm()
# 对数据进行检测，如果超出阈值，则就开始告警
# sign : 0则表示不进行报警，1则表示告警的级别
sign = alarm.send_mail(total, message)
print("%s's sign: %d " % (addr, sign))
data_precent['level'] = sign
data_precent['message'] = message
# 将结果保存到列表里面
per = Persistent()
# 保存所有源数据
per.save_all_data(data, addr)
# 保存警告后的数据
per.save_alarm_data(data_precent, addr)
# 告警过后，将历史数据清空
if sign >= 4:
total = self.init_alarm
print("------------------")
self.old_alarm_dict[addr] = total
# 退出后关闭连接
tcp_client.close()
def execute(self, g):
bed_diameter_mm = g.get_float_by_letter("D", 140.0) # Bed diameter
circles = g.get_int_by_letter("C", 2) # Number of circles
points_pr_circle = g.get_int_by_letter("P", 8) # Points pr circle
probe_start_height = g.get_float_by_letter(
"S", 6.0) # Probe starting point above bed
add_zero = bool(g.get_int_by_letter("Z", 1)) # Add probe point in 0, 0
probe_speed = g.get_float_by_letter("K", 3000)
reverse = g.get_int_by_letter("R", 0)
reverse = -1 if bool(reverse) else 1
theta = np.linspace(0,
reverse * 2 * np.pi,
points_pr_circle,
endpoint=False)
probes = []
r = bed_diameter_mm / 2
for a in np.linspace(r, 0, circles, endpoint=False):
for t in theta:
x, y = a * np.cos(t), a * np.sin(t)
probes.append((x, y))
if add_zero:
probes.append((0, 0))
gcodes = "M561; (RFS) Reset bed matrix\n"
for i, p in enumerate(probes):
gcodes += "M557 P{0} X{1:+02.2f} Y{2:+02.2f} Z{3}\n".format(
i, p[0], p[1], probe_start_height)
gcodes += " G32 ; Undock probe\n"
gcodes += " G28 ; Home steppers\n"
for i in range(len(probes)):
gcodes += " G30 P{} S F{}; Probe point {}\n".format(
i, probe_speed, i)
gcodes += " G31 ; Dock probe\n"
gcodes += " M561 U; (RFS) Update the matrix based on probe data\n"
gcodes += " M561 S; Show the current matrix\n"
gcodes += " M500; (RFS) Save data\n"
# REset probe points
self.printer.probe_points = []
self.printer.config.set("Macros", "G29", gcodes)
Alarm.action_command("new_g29", json.dumps(gcodes))
def response(self, data):
"""新线程要做的事"""
addr = data['addr']
tcp_client = data['tcp_client']
buf_size = data['buf_size']
# 接受客户端述数据
data = tcp_client.recv(buf_size).decode()
# 将客户端数据转换成列表
data = simplejson.loads(data)
# 对数据进行计算
info = InfoCompute(data)
# 获取所有结果
data_precent = info.return_all_precent()
# 策略类
str = Strategies()
# 获取check的结果
total, message = str.check_all_data(data_precent, self.old_alarm_dict[addr])
# 告警
alarm = Alarm()
# 对数据进行检测，如果超出阈值，则就开始告警
# sign : 0则表示不进行报警，1则表示告警的级别
sign = alarm.send_mail(total, message)
print("%s's sign: %d " % (addr, sign))
data_precent['level'] = sign
data_precent['message'] = message
# 将结果保存到列表里面
per = Persistent()
# 保存所有源数据
per.save_all_data(data, addr)
# 保存警告后的数据
per.save_alarm_data(data_precent, addr)
# 告警过后，将历史数据清空
if sign >= 4:
total = self.init_alarm
print("------------------")
self.old_alarm_dict[addr] = total
# 退出后关闭连接
tcp_client.close()
def _loop(self):
''' Gather distance travelled from each of the sensors '''
while self.running:
self.current_pos = self.sensor.get_distance()
if self.printer and self.printer.path_planner:
self.ideal_pos = self.printer.path_planner.get_extruder_pos(self.ext_nr)
# Find the error in position, removing any previously reported error
self.error_pos = self.current_pos-self.ideal_pos-self.prev_alarm_pos
# Sound the alarm, if above level.
if abs(self.error_pos) >= self.alarm_level:
self.execute_alarm()
self.prev_alarm_pos = self.current_pos-self.ideal_pos
# Send filament data, if enabled
if self.send_action_command:
Alarm.action_command("filament_sensor", self.get_error())
time.sleep(1)
def __init__(self, **kwargs):
super(SetAlarm_widget, self).__init__(**kwargs)
self.Alarm_Body = Alarm_Body = FloatLayout(pos_hint={
'center_x': 0.5,
'y': 0
})
self.SM_TM = SM_TM = ScreenManager(size_hint=[1, .8],
pos_hint={
'center_x': 0.5,
'top': 1
})
self.frst = frst = Set_Time_Screen(name='STS', id='firstw')
# self.scnd=scnd=Act_Time_Screen(name='ATS',id='scndw')
# self.thd=thd=Call_Time_Screen(name='CTS',id='thdw')
# thd.CallAgreeButt.img1.source='icons8-circled-play-filled-90.png'
# thd.CallAgreeButt.btn1.bind(on_release=self.IDAgree)
# thd.CallDAgreeButt.img1.source='icons8-no-96.png'
# thd.CallDAgreeButt.btn1.bind(on_release=self.IAgree)
self.SM_TM.add_widget(frst)
# self.SM_TM.add_widget(scnd)
# self.SM_TM.add_widget(thd)
self.AlarmSession = AlarmSession = Alarm()
# self.Button_Pause=Button_Pause= AlarmLables(size_hint=[1/5.5,1],pos_hint={'center_x': .5, 'y': 0})
# Button_Pause.img1.source='icons8-pause-button-filled-96.png'
# Button_Pause.btn1.bind(on_release=self.LetsGetPause)
# self.Button_Stop=Button_Stop= AlarmLables(size_hint=[1/5.5,1],pos_hint={'right': 0.9, 'y': 0})
# Button_Stop.img1.source='icons8-no-96.png'
# Button_Stop.btn1.bind(on_release=self.LetsGetStop)
self.valueseconds = None
self.valueminutes = None
self.Alarm_ToolBar = Alarm_ToolBar = FloatLayout(size_hint=(.9, .1),
pos_hint={
'center_x': 0.5,
'y': 0
})
# Alarm_ToolBar.add_widget(Button_Pause)
# Alarm_ToolBar.add_widget(Button_Stop)
# self.touchedS=BooleanProperty(False)
# self.touchedP=BooleanProperty(False)
# self.audiobool=BooleanProperty(False)
# self.sound_inst_loop=['Sound1.mp3','Sound2.mp3','Sound3.mp3','Sound4.mp3','Sound5.mp3']
# self.sound_loop=['1','2','3','4','5']
# for i in range(len(self.sound_inst_loop)):
# self.sound_loop[i] = SoundLoader.load(self.sound_inst_loop[i])
Alarm_Body.add_widget(SM_TM)
Alarm_Body.add_widget(Alarm_ToolBar)
self.add_widget(Alarm_Body)
def _loop(self):
''' Gather distance travelled from each of the sensors '''
while self.running:
self.current_pos = self.sensor.get_distance()
if self.printer and self.printer.path_planner:
self.ideal_pos = self.printer.path_planner.get_extruder_pos(
self.ext_nr)
# Find the error in position, removing any previously reported error
self.error_pos = self.current_pos - self.ideal_pos - self.prev_alarm_pos
# Sound the alarm, if above level.
if abs(self.error_pos) >= self.alarm_level:
self.execute_alarm()
self.prev_alarm_pos = self.current_pos - self.ideal_pos
# Send filament data, if enabled
if self.send_action_command:
Alarm.action_command("filament_sensor", self.get_error())
time.sleep(1)
def main():
while True:
#retrieve data
Trigger(db)
# The alarm class, basically it checks in the database if the alarm is true or false,
# based on that it either turns on or off the leds/buzzing
Alarm(db)
# makes it so it runs every second
time.sleep(1)
def check_temperature_error(self):
""" Check the temperatures, make sure they are sane.
Sound the alarm if something is wrong """
if len(self.temperatures) < 2:
return
temp_delta = self.temperatures[-1] - self.temperatures[-2]
# Check that temperature is not rising too quickly
if temp_delta > self.max_temp_rise:
a = Alarm(
Alarm.HEATER_RISING_FAST,
"Temperature rising too quickly ({} degrees) for {}".format(
temp_delta, self.name))
# Check that temperature is not falling too quickly
if temp_delta < -self.max_temp_fall:
a = Alarm(
Alarm.HEATER_FALLING_FAST,
"Temperature falling too quickly ({} degrees) for {}".format(
temp_delta, self.name))
# Check that temperature has not fallen below a certain setpoint from target
if self.min_temp_enabled and self.current_temp < (self.target_temp -
self.min_temp):
a = Alarm(
Alarm.HEATER_TOO_COLD,
"Temperature below min set point ({} degrees) for {}".format(
self.min_temp,
self.name), "Alarm: Heater {}".format(self.name))
# Check if the temperature has gone beyond the max value
if self.current_temp > self.max_temp:
a = Alarm(
Alarm.HEATER_TOO_HOT,
"Temperature beyond max ({} degrees) for {}".format(
self.max_temp, self.name))
# Check the time diff, only warn if something is off.
if self.time_diff > 2:
logging.warning("Heater time update large: " + self.name +
" temp: " + str(self.current_temp) +
" time delta: " +
str(self.current_time - self.prev_time))
def main():
# define buttons for gpio input
mode_button = 29
increase_button = 31
decrease_button = 33
# define serial and device in order to interact with the LED matrix
serial = spi(port=0, device=0, gpio=noop())
device = max7219(serial, cascaded=4, block_orientation=-90, rotate=1)
virtual = viewport(device, width=8, height=32)
# create instance of Alarm
alarm = Alarm(virtual, device)
# setup buttons
GPIO.setmode(GPIO.BOARD) # Use physical pin numbering
GPIO.setup(mode_button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(increase_button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(decrease_button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# bounce time for the buttons so that they work properly
bounce_time = 300
# setup callbacks for the buttons with pull down logic
GPIO.add_event_detect(mode_button,
GPIO.RISING,
callback=alarm.state_callback,
bouncetime=bounce_time)
GPIO.add_event_detect(increase_button,
GPIO.RISING,
callback=alarm.inc_callback,
bouncetime=bounce_time)
GPIO.add_event_detect(decrease_button,
GPIO.RISING,
callback=alarm.dec_callback,
bouncetime=bounce_time)
# start alarm loop
alarm.alarm_loop()
def execute(self, g):
heater_nr = g.get_int_by_letter("E", 0)
heater_name = ["HBP", "E", "H", "A", "B", "C"][heater_nr+1] # Map to name
if not heater_name in self.printer.heaters:
logging.warning("M303: Heater does not exist")
return
heater = self.printer.heaters[heater_name]
temp = g.get_float_by_letter("S", 200.0)
cycles = min(3, g.get_int_by_letter("C", 4))
pre_cal = bool(g.get_int_by_letter("P", 0))
tuning_algo_nr = g.get_int_by_letter("Q", 0)
if tuning_algo_nr not in [0, 1]:
logging.warning("Unknown uning algorithm '{}'. Use one of 0, 1. Choosing 0.".format(tuning_algo_nr))
tuning_algo_nr = 0
tuning_algo = ["TL","ZN"][tuning_algo_nr]
tuner = Autotune(heater, temp, cycles, g, self.printer, pre_cal, tuning_algo)
tuner.run()
logging.info("Max temp: {}, Min temp: {}, Ku: {}, Pu: {}".format(tuner.max_temp, tuner.min_temp, tuner.Ku, tuner.Pu))
logging.info("Kp: {}, Ti: {}, Td: {}".format(heater.Kp, heater.Ti, heater.Td))
self.printer.send_message(g.prot,"Max temp: {}, Min temp: {}, Ku: {}, Pu: {}".format(tuner.max_temp, tuner.min_temp, tuner.Ku, tuner.Pu))
self.printer.send_message(g.prot, "Kp: {}, Ti: {}, Td: {}".format(heater.Kp, heater.Ti, heater.Td))
self.printer.send_message(g.prot, "Settings by G-code: \n")
self.printer.send_message(g.prot, "M130 P{} S{:.4f}\n".format(heater_nr, heater.Kp))
self.printer.send_message(g.prot, "M131 P{} S{:.4f}\n".format(heater_nr, heater.Ti))
self.printer.send_message(g.prot, "M132 P{} S{:.4f}\n".format(heater_nr, heater.Td))
self.printer.send_message(g.prot, "Settings in local.cfg: \n")
self.printer.send_message(g.prot, "pid_{}_Kp = {:.4f}\n".format(heater_name.lower(), heater.Kp))
self.printer.send_message(g.prot, "pid_{}_Ti = {:.4f}\n".format(heater_name.lower(), heater.Ti))
self.printer.send_message(g.prot, "pid_{}_Td = {:.4f}".format(heater_name.lower(), heater.Td))
tune_data = {
"tune_data": tuner.plot_temps,
"tune_gcode": g.message,
"replicape_key": self.printer.replicape_key}
Alarm.action_command("pid_tune_data", json.dumps(tune_data))
def run(self):
Main.start_time = '{:.19}'.format(str(datetime.now()))
ip_addresses = ["216.58.192.142", "aftonbladet.se", "mixer.com"]
def internet_on(ip_list):
success = False
for ip in ip_list:
try:
request.urlopen("http://" + ip, timeout=2)
success = True
except error.URLError as err:
print("URL that generated the error code: ", ip)
print("Error description:", err.reason)
except socket.timeout:
print("URL that generated the error code: ", ip)
print("Error description: No response.")
except socket.error:
print("URL that generated the error code: ", ip)
print("Error description: Socket error.")
if not success:
Main.dc_list.append(ConError())
history_file = open('history.txt', 'a+')
history_file.write('{:.19}'.format(str(datetime.now())) + '\n')
history_file.close()
return success
while True:
Main.internet_status = internet_on(ip_addresses)
Main.current_time = '{:.19}'.format(str(datetime.now()))
Main.last_dc = '{:.19}'.format(str(ConError.last_dc))
Main.total_dc = str(ConError.total_dc)
if len(Main.dc_list) >= 4:
Main.next_dc = Main.dc_list[-4].time + timedelta(
days=3) + timedelta(minutes=11)
if not Main.internet_status:
sleep(600)
else:
Alarm(self.dc_list)
sleep(randint(7, 30))
def __init__(self, pin, sensorConfiguration, name):
if len(sensorConfiguration) != 5:
logging.error(
"PT100 Sensor configuration for {0} is missing parameters. Expected: 5, received: {1}."
.format(pin, len(sensorConfiguration)))
Alarm(
Alarm.THERMISTOR_ERROR,
"PT100 Sensor configuration for {0} is missing parameters. Expected: 5, received: {1}."
.format(pin, len(sensorConfiguration)))
else:
self.pin = pin
self.name = name
self.sensorIdentifier = sensorConfiguration[0] # The identifier
self.pullup = sensorConfiguration[1]
self.R0 = sensorConfiguration[2]
self.A = sensorConfiguration[3]
self.B = sensorConfiguration[4]
def get_temperature(self):
""" Return the temperature in degrees celsius """
ret = -1.0
Thermistor.mutex.acquire()
try:
with open(self.pin, "r") as file:
voltage = (float(file.read().rstrip()) / 4095.0) * 1.8
res_val = self.voltage_to_resistance(
voltage) # Convert to resistance
ret = self.resistance_to_degrees(res_val) # Convert to degrees
except IOError as e:
Alarm(
Alarm.THERMISTOR_ERROR,
"Unable to get ADC value ({0}): {1}".format(
e.errno, e.strerror))
finally:
Thermistor.mutex.release()
return ret
def read_adc(self):
voltage = 0
TemperatureSensor.mutex.acquire()
try:
with open(self.pin, "r") as file:
signal = float(file.read().rstrip())
if (signal > self.maxAdc or signal <= 0.0):
voltage = -1.0
else:
voltage = signal / self.maxAdc * 1.8 #input range is 0 ... 1.8V
except IOError as e:
Alarm(
Alarm.THERMISTOR_ERROR,
"Unable to get ADC value ({0}): {1}".format(
e.errno, e.strerror))
TemperatureSensor.mutex.release()
return voltage
def __init__(self, pin, sensorConfiguration, name):
""" Init """
self.name = name
if len(sensorConfiguration) != 5:
Alarm(
Alarm.THERMISTOR_ERROR,
"Sensor configuration for {0} is missing parameters. Expected: 5, received: {1}."
.format(pin, len(sensorConfiguration)))
else:
self.pin = pin
self.sensorIdentifier = sensorConfiguration[0] # The identifier
self.r1 = sensorConfiguration[1] #pullup resistance
self.c1 = sensorConfiguration[2] #Steinhart-Hart coefficient
self.c2 = sensorConfiguration[3] #Steinhart-Hart coefficient
self.c3 = sensorConfiguration[4] #Steinhart-Hart coefficient
logging.debug(
"Initialized temperature sensor at {0} (type: {1}). Pullup value = {2} Ohm. Steinhart-Hart coefficients: c1 = {3}, c2 = {4}, c3 = {5}."
.format(pin, sensorConfiguration[0], sensorConfiguration[1],
sensorConfiguration[2], sensorConfiguration[3],
sensorConfiguration[4]))
settings_data = config.SETTINGS
radio_channels = None
with open(radio_config) as data_file:
radio_data = json.load(data_file)
if "channels" in radio_data:
radio_channels = radio_data['channels']
p = Radio(radio_channels=radio_channels, mplayer_path=config.MPLAYER_PATH)
if "radio" in settings_data:
_radio_settings = settings_data['radio']
p.change_country(_radio_settings['country'])
if "radio_stations" in _radio_settings and len(_radio_settings['radio_stations']) > 0:
p.radio_channels.extend(_radio_settings['radio_stations'])
web_frontend.radio = p
alarm = Alarm("res/sounds/Argon_48k.wav", settings=settings_data)
alarm.create_alarms()
web_frontend.alarm = alarm
last_state = config.load_last_state()
if last_state is not None:
p.set_channel(last_state["last_radio_station"])
gui.current_page = last_state["last_page"]
tingbot.run(loop)
def execute(self, g):
# This G-code can be used directly
text = g.message.strip("M117 ")
Alarm.action_command("display_message", text)
def fault_callback(self, key, event):
Alarm(
Alarm.STEPPER_FAULT,
"Stepper {}<br>Most likely the stepper is over heated.".format(
self.name))
def __init__(self, pin, ArduinoPort):
Alarm.__init__(self, pin, ArduinoPort)
def execute(self, g):
if g.has_letter("P"): # Load point
index = int(g.get_value_by_letter("P"))
point = self.printer.probe_points[index]
else:
# If no probe point is specified, use current pos
# this value is in metres
# need to convert to millimetres as we are using
#this value for a G0 call
point = self.printer.path_planner.get_current_pos(mm=True,
ideal=True)
logging.debug("G30: current position (mm) : X{} Y{} Z{}".format(
point["X"], point["Y"], point["Z"]))
if g.has_letter("X"): # Override X
point["X"] = float(g.get_value_by_letter("X"))
if g.has_letter("Y"): # Override Y
point["Y"] = float(g.get_value_by_letter("Y"))
if g.has_letter("Z"): # Override Z
point["Z"] = float(g.get_value_by_letter("Z"))
# Get probe length, if present, else use 1 cm.
if g.has_letter("D"):
probe_length = float(g.get_value_by_letter("D")) / 1000.
else:
probe_length = self.printer.config.getfloat('Probe', 'length')
# Get probe speed. If not preset, use printers curent speed.
if g.has_letter("F"):
probe_speed = float(g.get_value_by_letter("F")) / 60000.0
else:
probe_speed = self.printer.config.getfloat('Probe', 'speed')
# Get acceleration. If not present, use value from config.
if g.has_letter("A"):
probe_accel = float(g.get_value_by_letter("A"))
else:
probe_accel = self.printer.config.getfloat('Probe', 'accel')
use_bed_matrix = bool(g.get_int_by_letter("B", 0))
# Find the Probe offset
# values in config file are in metres, need to convert to millimetres
offset_x = self.printer.config.getfloat('Probe', 'offset_x') * 1000
offset_y = self.printer.config.getfloat('Probe', 'offset_y') * 1000
logging.debug("G30: probing from point (mm) : X{} Y{} Z{}".format(
point["X"] + offset_x, point["Y"] + offset_y, point["Z"]))
# Move to the position
G0 = Gcode({
"message":
"G0 X{} Y{} Z{}".format(point["X"] + offset_x,
point["Y"] + offset_y, point["Z"]),
"prot":
g.prot
})
self.printer.processor.execute(G0)
self.printer.path_planner.wait_until_done()
bed_dist = self.printer.path_planner.probe(
probe_length, probe_speed, probe_accel) * 1000.0 # convert to mm
logging.debug("Bed dist: " + str(bed_dist) + " mm")
self.printer.send_message(
g.prot,
"Found Z probe distance {0:.2f} mm at (X, Y) = ({1:.2f}, {2:.2f})".
format(bed_dist, point["X"], point["Y"]))
Alarm.action_command("bed_probe_point",
json.dumps([point["X"], point["Y"], bed_dist]))
# Must have S to save the probe bed distance
# this is required for calculation of the bed compensation matrix
# NOTE: the use of S in G30 is different to that in G29, here "S" means "save"
if g.has_letter("S"):
if not g.has_letter("P"):
logging.warning(
"G30: S-parameter was set, but no index (P) was set.")
else:
self.printer.probe_heights[index] = bed_dist
def start(self):
self.cycleTimer.stop()
path = self.config.get("db", "path", fallback=None)
if not path:
return
paths = [os.path.join(path, entry) for entry in os.listdir(path)]
paths = [path for path in paths if \
(path.endswith('.dme') or \
path.endswith('.xml') or \
path.endswith('.json')) and \
os.path.isfile(path)]
paths = sorted(paths, reverse=True)
self.alarms = []
index = 0
while index < self.historySize and len(paths) > 0:
path = paths[0]
paths = paths[1:]
alarm = Alarm(self.config)
try:
alarm.load(path)
except Exception as e:
self.logger.error('History failed to load %s: %s', path, e)
continue
if alarm.fallbackStr:
# ignore incomplete or invalid alarms in history
continue
if len(self.alarms) and self.alarms[-1].matches(alarm):
self.alarms[-1].merge(alarm)
else:
self.alarms.append(alarm)
index += 1
local_tz = get_localzone()
now = local_tz.localize(datetime.datetime.now())
index = 0
for alarm in self.alarms:
dateStr = alarm.datetime.strftime('%A, %d. %B, %H:%M')
delta = alarm.datetime - now
dateStr += ' (' + babel.dates.format_timedelta(
delta, add_direction=True) + ')'
image = alarm.imageBase()
if image:
image += '.svg'
pixmap = pixmapFromSvg(os.path.join(self.imageDir, image), 40)
else:
pixmap = QPixmap()
self.symbolLabels[index].setPixmap(pixmap)
title = alarm.title()
if not title:
title = alarm.fallbackStr
self.titleLabels[index].setText(title)
desc = dateStr
loc = alarm.location()
if loc:
desc += '\n' + loc
self.descLabels[index].setText(desc)
index += 1
self.index = 0
if len(self.alarms):
alarm = self.alarms[self.index]
self.targetMap.setTarget(alarm.lat, alarm.lon, ([], ))
self.cycleTimer.start()
self.updateStyles()
else:
self.finished.emit()
def fault_callback(self, key, event):
Alarm(Alarm.STEPPER_FAULT, "Stepper {}".format(self.name))
def execute(self, g):
# This G-code can be used directly
text = g.message.strip("M117 ")
Alarm.action_command("display_message", text)
def main():
# We need the logger variable in the exception handler.
# So we create it here.
logger = logging.getLogger( 'DCacheAggregator' )
# Ignore hangup signals. We shouldn't die just because our parent
# shell logs out.
signal.signal( signal.SIGHUP, signal.SIG_IGN )
# Try to catch common signals and send email before we die
signal.signal( signal.SIGINT, warn_of_signal );
signal.signal( signal.SIGQUIT, warn_of_signal );
signal.signal( signal.SIGTERM, warn_of_signal );
try:
# Tell Gratia what versions we are using.
# CHRIS: is there a way to automate the version extraction
# using the pkg_resource package?
Gratia.RegisterReporterLibrary( "psycopg2", "2.0.6" )
#Gratia.RegisterReporterLibrary( "SQLAlchemy", "0.4.1" )
rev = Gratia.ExtractCvsRevision("$Revision: 1.13 $")
tag = Gratia.ExtractCvsRevision("$Name: $")
Gratia.RegisterReporter( "dCacheBillingAggregator.py",
str(rev) + " (tag " + str(tag) + ")")
# BRIAN: attempt to pull the dCache version from RPM.
version = "UNKNOWN"
try:
version = os.popen("rpm -q --qf '%{VERSION}-%{RELEASE}' " \
"dcache-server").read()
except:
pass
Gratia.RegisterService( "dCache", version )
# Initialize gratia before attempting to read its config file.
Gratia.Initialize()
# Extract the configuration information into local variables.
myconf = dCacheProbeConfig()
# Get the name of the directory where we are to store the log files.
logDir = myconf.get_LogFolder()
# Make sure that the logging directory is present
if not os.path.isdir( logDir ):
os.mkdir( logDir, 0755 )
logFileName = os.path.join( logDir, "dcacheTransfer.log" )
# Set up an alarm to send an email if the program terminates.
termSubject = "dCache-transfer probe is going down"
termMessage = "The dCache transfer probe for Gratia has " + \
"terminated.\nPlease check the logfile\n\n " + \
logFileName + \
"\n\nfor the cause.\n"
terminationAlarm = Alarm( myconf.get_EmailServerHost(),
myconf.get_EmailFromAddress(),
myconf.get_EmailToList(),
termSubject, termMessage, 0, 0, False )
# Set up the logger with a suitable format
hdlr = RotatingFileHandler( logFileName, 'a', 512000, 10 )
formatter = logging.Formatter( '%(asctime)s %(levelname)s %(message)s' )
hdlr.setFormatter( formatter )
logger.addHandler( hdlr )
logger.setLevel( myconf.get_AggrLogLevel() )
logger.info( "starting " + ProgramName )
stopFileName = myconf.get_StopFileName()
updateFreq = float(myconf.get_UpdateFrequency())
logger.warn("update freq = %.2f" % updateFreq)
# Create the aggregator instance that we will use.
dataDir = myconf.get_DataFolder()
aggregator = DCacheAggregator(myconf, dataDir)
# If profiling was requested, turn it on.
profiling = sys.argv.count('-profile') > 0
if profiling:
profiler = hotshot.Profile("profile.dat")
logger.info( "Enabling Profiling" )
# Now aggregate new records, then sleep, until somebody creates
# the stop file...
while 1:
# Make sure we (still) have a connection to Gratia.
if ( not TestContainer.isTest() ): # no need in that during self test
Gratia.Maintenance()
if profiling:
profiler.run("aggregator.sendBillingInfoRecordsToGratia()")
else:
try:
aggregator.sendBillingInfoRecordsToGratia()
except TestContainer.SimInterrupt:
logger.info("BillingRecSimulator.SimInterrupt caught, " \
"restarting")
aggregator = DCacheAggregator(myconf, dataDir)
continue
# Are we are shutting down?
if os.path.exists(stopFileName):
break
if TestContainer.isTest():
break
logger.warn("sleeping for = %.2f seconds" % updateFreq)
sleep_check(updateFreq, stopFileName)
# If we are profiling, print the results...
if profiling:
profiler.close()
stats = hotshot.stats.load("profile.dat")
stats.sort_stats('time', 'calls')
stats.print_stats()
logger.warn(ProgramName + " stop file detected.")
except (KeyboardInterrupt, SystemExit):
raise
except:
# format the traceback into a string
tblist = traceback.format_exception( sys.exc_type,
sys.exc_value,
sys.exc_traceback )
msg = ProgramName + " caught an exception:\n" + "".join(tblist)
print msg
logger.error(msg)
TestContainer.dumpStatistics(logger)
# shut down the logger to make sure nothing is lost.
logger.critical(ProgramName + " shutting down.")
logging.shutdown()
# try to send an email warning of the shutdown.
if terminationAlarm != None:
terminationAlarm.event()
sys.exit(1)
def main():
# We need the logger variable in the exception handler.
# So we create it here.
logger = logging.getLogger('DCacheAggregator')
# Ignore hangup signals. We shouldn't die just because our parent
# shell logs out.
signal.signal(signal.SIGHUP, signal.SIG_IGN)
# Try to catch common signals and send email before we die
signal.signal(signal.SIGINT, warn_of_signal)
signal.signal(signal.SIGQUIT, warn_of_signal)
signal.signal(signal.SIGTERM, warn_of_signal)
try:
# Tell Gratia what versions we are using.
# CHRIS: is there a way to automate the version extraction
# using the pkg_resource package?
Gratia.RegisterReporterLibrary("psycopg2", "2.0.6")
#Gratia.RegisterReporterLibrary( "SQLAlchemy", "0.4.1" )
rev = Gratia.ExtractCvsRevision("$Revision: 1.13 $")
tag = Gratia.ExtractCvsRevision("$Name: $")
Gratia.RegisterReporter("dCacheBillingAggregator.py",
str(rev) + " (tag " + str(tag) + ")")
# BRIAN: attempt to pull the dCache version from RPM.
version = "UNKNOWN"
try:
version = os.popen("rpm -q --qf '%{VERSION}-%{RELEASE}' " \
"dcache-server").read()
except:
pass
Gratia.RegisterService("dCache", version)
# Initialize gratia before attempting to read its config file.
Gratia.Initialize()
# Extract the configuration information into local variables.
myconf = dCacheProbeConfig()
# Get the name of the directory where we are to store the log files.
logDir = myconf.get_LogFolder()
# Make sure that the logging directory is present
if not os.path.isdir(logDir):
os.mkdir(logDir, 0755)
logFileName = os.path.join(logDir, "dcacheTransfer.log")
# Set up an alarm to send an email if the program terminates.
termSubject = "dCache-transfer probe is going down"
termMessage = "The dCache transfer probe for Gratia has " + \
"terminated.\nPlease check the logfile\n\n " + \
logFileName + \
"\n\nfor the cause.\n"
terminationAlarm = Alarm(myconf.get_EmailServerHost(),
myconf.get_EmailFromAddress(),
myconf.get_EmailToList(), termSubject,
termMessage, 0, 0, False)
# Set up the logger with a suitable format
hdlr = RotatingFileHandler(logFileName, 'a', 512000, 10)
formatter = logging.Formatter('%(asctime)s %(levelname)s %(message)s')
hdlr.setFormatter(formatter)
logger.addHandler(hdlr)
logger.setLevel(myconf.get_AggrLogLevel())
logger.info("starting " + ProgramName)
stopFileName = myconf.get_StopFileName()
updateFreq = float(myconf.get_UpdateFrequency())
logger.warn("update freq = %.2f" % updateFreq)
# Create the aggregator instance that we will use.
dataDir = myconf.get_DataFolder()
aggregator = DCacheAggregator(myconf, dataDir)
# If profiling was requested, turn it on.
profiling = sys.argv.count('-profile') > 0
if profiling:
profiler = hotshot.Profile("profile.dat")
logger.info("Enabling Profiling")
# Now aggregate new records, then sleep, until somebody creates
# the stop file...
while 1:
# Make sure we (still) have a connection to Gratia.
if (not TestContainer.isTest()
): # no need in that during self test
Gratia.Maintenance()
if profiling:
profiler.run("aggregator.sendBillingInfoRecordsToGratia()")
else:
try:
aggregator.sendBillingInfoRecordsToGratia()
except TestContainer.SimInterrupt:
logger.info("BillingRecSimulator.SimInterrupt caught, " \
"restarting")
aggregator = DCacheAggregator(myconf, dataDir)
continue
# Are we are shutting down?
if os.path.exists(stopFileName):
break
if TestContainer.isTest():
break
logger.warn("sleeping for = %.2f seconds" % updateFreq)
sleep_check(updateFreq, stopFileName)
# If we are profiling, print the results...
if profiling:
profiler.close()
stats = hotshot.stats.load("profile.dat")
stats.sort_stats('time', 'calls')
stats.print_stats()
logger.warn(ProgramName + " stop file detected.")
except (KeyboardInterrupt, SystemExit):
raise
except:
# format the traceback into a string
tblist = traceback.format_exception(sys.exc_type, sys.exc_value,
sys.exc_traceback)
msg = ProgramName + " caught an exception:\n" + "".join(tblist)
print msg
logger.error(msg)
TestContainer.dumpStatistics(logger)
# shut down the logger to make sure nothing is lost.
logger.critical(ProgramName + " shutting down.")
logging.shutdown()
# try to send an email warning of the shutdown.
if terminationAlarm != None:
terminationAlarm.event()
sys.exit(1)
"""
Created on Tue Jul 31 18:42:53 2018
@author: Sander Oosterveld
"""
from MainScreen import MainScreen
from Alarm import Alarm, AlarmWidget
from queue import Queue
from Widget import TimeWidget, TextWidget, Position
from TimerObject import TimerObject
q = Queue()
screen = MainScreen(q)
screen.changeBackground('white')
alarm = Alarm("0700", "disturbed.ogg", True)
alarmWidget = AlarmWidget(screen, alarm)
timeWidget = TimeWidget(screen)
alarmWidget.make()
timeWidget.make()
timerObject = TimerObject(screen)
timerObject.addObject(screen.changeBackground, ("2300", -1), "black")
timerObject.addObject(screen.changeBackground, ("0630", -1), "white")
timerObject.addAlarm(alarm)
print(timerObject.getObjects())
alarm.setRepeat((1,2,3,4))
timerObject.updateAlarm(alarm)
print(timerObject.getObjects())
#timerObject.addObject(alarm.activate, ("0600", -1))
from flask import Flask
from Alarm import Alarm
from CeilingLights import CeilingLights
from Scheduler import make_scheduler
from Woodlamp import Woodlamp
app = Flask(__name__)
make_scheduler(app)
woodlamp = Woodlamp(app, '192.168.178.26')
alarm = Alarm(app, woodlamp)
ceiling = CeilingLights(app)
controllers = [woodlamp, alarm, ceiling]
@app.route('/')
def main_page():
return '<hr />'.join(
[controller.produce_main_page_content() for controller in controllers])
if __name__ == '__main__':
app.run(host='0.0.0.0')
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing " + firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error(
"/etc/redeem/default.cfg does not exist, this file is required for operation"
)
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(
logfile, maxBytes=2 * 1024 * 1024)
printer.redeem_logging_handler.setFormatter(
logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. " +
self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1",
"X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_" + es)
keycode = self.printer.config.getint("Endstops", "keycode_" + es)
invert = self.printer.config.getboolean("Endstops", "invert_" + es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es,
invert)
self.printer.end_stops[es].stops = self.printer.config.get(
'Endstops', 'end_stop_' + es + '_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90,
11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91,
12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92,
13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93,
14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94,
15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18",
"GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5",
"GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19",
"GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5",
"GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14",
"GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.direction = printer.config.getint('Steppers',
'direction_' + name)
stepper.has_endstop = printer.config.getboolean(
'Endstops', 'has_' + name)
stepper.set_current_value(
printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(
printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(
printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis " + name + " has slave " + slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = [
"Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial",
"C_radial", "A_tangential", "B_tangential", "C_tangential"
]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: " + str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i)))
logging.info("Found Cold end " + str(i) + " on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_" + e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_" + e)
chart = self.printer.config.get("Heaters", "temp_chart_" + e)
resistance = self.printer.config.getfloat("Heaters",
"resistance_" + e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET " + e, chart,
resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e)
prefix = self.printer.config.get('Heaters', 'prefix_' + e)
if e != "HBP":
self.printer.heaters[e] = Extruder(self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e,
onoff)
else:
self.printer.heaters[e] = HBP(self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat(
'Heaters', 'pid_p_' + e)
self.printer.heaters[e].I = self.printer.config.getfloat(
'Heaters', 'pid_i_' + e)
self.printer.heaters[e].D = self.printer.config.getfloat(
'Heaters', 'pid_d_' + e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat(
'Heaters', 'min_temp_' + e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat(
'Heaters', 'max_temp_' + e)
self.printer.heaters[
e].max_temp_rise = self.printer.config.getfloat(
'Heaters', 'max_rise_temp_' + e)
self.printer.heaters[
e].max_temp_fall = self.printer.config.getfloat(
'Heaters', 'max_fall_temp_' + e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while (printer.config.has_option("Servos", "servo_" + str(servo_nr) +
"_enable")):
if printer.config.getboolean("Servos",
"servo_" + str(servo_nr) + "_enable"):
channel = printer.config.get(
"Servos", "servo_" + str(servo_nr) + "_channel")
pulse_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_min")
pulse_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_max")
angle_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_min")
angle_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_max")
angle_init = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max,
angle_init)
printer.servos.append(s)
logging.info("Added servo " + str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f),
True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(
t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends',
"add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan,
"Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info(
"Cooler connects temp sensor ds18b20 {} with fan {}"
.format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders',
"enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders",
"enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders",
"event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders",
"cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders",
"diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex) - 3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat(
"Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level" + str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n" +
str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat(
'Planner', 'max_speed_' + axis.lower())
Path.min_speeds[i] = printer.config.getfloat(
'Planner', 'min_speed_' + axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner',
'max_jerk_' + axis.lower())
Path.home_speed[i] = printer.config.getfloat(
'Homing', 'home_speed_' + axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat(
'Homing', 'home_backoff_speed_' + axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat(
'Homing', 'home_backoff_offset_' + axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter(
)
Path.backlash_compensation[i] = printer.config.getfloat(
'Steppers', 'backlash_' + axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat(
'Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat(
'Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat(
'Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat(
'Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(
axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[
axis] = printer.config.getfloat('Geometry',
'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (
Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X', 'Y', 'Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[
axis] = printer.config.getfloat('Geometry',
'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] = (
Path.soft_min[i]
if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X', 'Y', 'Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat(
'Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[
axis] = printer.path_planner.center_offset[axis]
if axis in ['X', 'Y', 'Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning(
"Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta"
)
if center_default:
logging.warning(
"Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta"
)
if home_default:
logging.warning(
"Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz,
Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X', 'Y', 'Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s" %
str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning(
"Neither tty0tty or socat is installed! No virtual tty pipes enabled"
)
def __init__(self):
logging.info("Initializing ALMA_Tripod class")
self.ini = ConfigParser.ConfigParser()
self.ini.read('/opt/spinitalia/service/config.ini')
# Istanzio le classi
self.canopen = Canopen(self)
self.alarm = Alarm(self)
self.kinematic = Kinematic(self)
self.posTime = 0.01
self.almaPositionProtocol = None
self.almaPositionProtocolMulticast = None
self.last_sim = ""
self.last_sim_file = None
self.last_sim_time = 0.0
self.last_sim_timestamp = 0.0
# All'avvio il sistema si trova nello stato 99, Non autenticato
self.canStatus = 99
self.oldStatus = 98 # Forzo il primo update
self.simHash = ''
self.userLoggedIn = False
self.isAsyncError = False
# Inizializza le strutture
self.motorsAddress = []
self.motorPos = {'120': 0L, '121': 0L, '122': 0L, '119': 0L}
self.OpProgress = 0
self.isCentered = False
self.isImporting = False
self.isReadyToStart = False
self.currentLine = 0
self.mex_counter = 0L
self.almaControlProtocol = None
self.isReading = False
self.antenna_weight = 50
# Per evitare che vengano eseguiti comandi errati prima che il canopen abbia comunicato lo stato tramite la
# pipe ( si sblocca con CT0 )
self.init_done = False
# Annulla l'importazione
self.stopAnalysis = False
self.password = "******"
# Indirizzi dei motori
self.motor_address_list = ['119', '120', '121', '122']
# Calcolo della velocità
self.old_roll = 0.0
self.old_pitch = 0.0
self.old_yaw = 0.0
# Compila i cercatori
self.find_motor_position = re.compile(
'@M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) AS([^ ]*) T([^ ]*) C([^ ]*)'
)
# Per prima cosa aggiorno lo stato
self.update_output()
class Tripod:
"""Classe principale per la gestione del tripode.
Per la gestione del tripode, sono necessarie tre distinte attivita':
- Abilitazione dei segnali visivi e acustici in base allo stato
- Esecuzione del programma canopen_server per la comunicazione con i motori
- Avvio del server TCP per la comunicazione con il programma di controllo remoto
Il controllo dei segnali visivi ed acustici avviene tramite bus i2c, mentre il loro
stato dipende da quanto comunicato tramite PIPE dal canopen_server.
Il dialogo con il programma di controllo dei motori avviene tramite stdin, stdout e PIPE.
"""
def __init__(self):
logging.info("Initializing ALMA_Tripod class")
self.ini = ConfigParser.ConfigParser()
self.ini.read('/opt/spinitalia/service/config.ini')
# Istanzio le classi
self.canopen = Canopen(self)
self.alarm = Alarm(self)
self.kinematic = Kinematic(self)
self.posTime = 0.01
self.almaPositionProtocol = None
self.almaPositionProtocolMulticast = None
self.last_sim = ""
self.last_sim_file = None
self.last_sim_time = 0.0
self.last_sim_timestamp = 0.0
# All'avvio il sistema si trova nello stato 99, Non autenticato
self.canStatus = 99
self.oldStatus = 98 # Forzo il primo update
self.simHash = ''
self.userLoggedIn = False
self.isAsyncError = False
# Inizializza le strutture
self.motorsAddress = []
self.motorPos = {'120': 0L, '121': 0L, '122': 0L, '119': 0L}
self.OpProgress = 0
self.isCentered = False
self.isImporting = False
self.isReadyToStart = False
self.currentLine = 0
self.mex_counter = 0L
self.almaControlProtocol = None
self.isReading = False
self.antenna_weight = 50
# Per evitare che vengano eseguiti comandi errati prima che il canopen abbia comunicato lo stato tramite la
# pipe ( si sblocca con CT0 )
self.init_done = False
# Annulla l'importazione
self.stopAnalysis = False
self.password = "******"
# Indirizzi dei motori
self.motor_address_list = ['119', '120', '121', '122']
# Calcolo della velocità
self.old_roll = 0.0
self.old_pitch = 0.0
self.old_yaw = 0.0
# Compila i cercatori
self.find_motor_position = re.compile(
'@M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) @M([^ ]*) S([^ ]*) AS([^ ]*) T([^ ]*) C([^ ]*)'
)
# Per prima cosa aggiorno lo stato
self.update_output()
def cleanup(self):
logging.info("De-Initializing ALMA_Tripod class")
# Invia CT6, spegnimento
#reactor.callFromThread(self.canopen.sendCommand, 'CT6', 'local')
# Chiude lo streamer
if 'almaPositionProtocolMulticast' in vars():
if self.almaPositionProtocolMulticast.posSender:
self.almaPositionProtocolMulticast.posSender.stop()
# Chiude lo stream_reader
if 'receiver_thread' in vars():
self.receiver_thread.stop()
# Chiude il processo di comunicazione con i motori se attivo
if self.canopen:
self.canopen.transport.closeStdin()
# Chiude il reattore se attivo
if reactor.running:
logging.info("Stopping reactor")
reactor.stop()
# Solo per rimuovere l'interrupt sul GPIO
self.alarm.cleanup()
def start_canopen(self):
# Avvio il server CANOPEN
# usePTY serve ad evitare l'ECHO
# INFO: uso stdbuf per evitare il buffering dell'output se non in terminale
if self.ini.getboolean("System", "canopen_fake"):
reactor.spawnProcess(
self.canopen,
"/usr/bin/stdbuf",
args=[
"stdbuf",
"--output=L",
"--input=0",
"{}alma3d_canopenshell".format(self.ini.get("Path", "base_path")),
"fake",
"load#libcanfestival_can_socket.so,0,1M,8"
],
env=os.environ,
usePTY=False
)
else:
reactor.spawnProcess(
self.canopen,
"/usr/bin/stdbuf",
args=[
"stdbuf",
"--output=L",
"--input=0",
"{}alma3d_canopenshell".format(self.ini.get("Path", "base_path")),
"load#libcanfestival_can_socket.so,0,1M,8"
],
env=os.environ,
usePTY=False
)
def update_import_progress(self, value, line_num):
self.OpProgress = value
self.currentLine = line_num
def update_import_end(self, filename):
if not self.stopAnalysis:
self.isImporting = False
self.last_sim = filename
if filename != "":
self.isReadyToStart = True
def stream_reader(self):
# TODO: Deve ripartire automaticamente in caso di errore ed in caso di assenza di pipe!
logging.info("Position reader thread started!")
is_pipe_open = False
motor_pos = {'120': 0L, '121': 0L, '122': 0L, '119': 0L}
is_async_error = False
can_status = 3
is_centered = False
op_progress = 0
mex_counter = 0L
pos_time = 0.0
while self.isReading:
if is_pipe_open:
try:
line = pipein.readline()[:-1]
# print 'Parent %d got "%s" at %s' % (os.getpid(), line, time.time( ))
# line: @M119 S0 @M120 S0 @M121 S0 @M122 S0 AS4 T9 C0
canopen_status = self.find_motor_position.search(line)
if canopen_status:
motor_pos[canopen_status.group(1)] = canopen_status.group(2)
motor_pos[canopen_status.group(3)] = canopen_status.group(4)
motor_pos[canopen_status.group(5)] = canopen_status.group(6)
motor_pos[canopen_status.group(7)] = canopen_status.group(8)
# Se lo stato e' zero, vuol dire che c'e' una segnalazione pendente
if canopen_status.group(9) == '0' and is_async_error is False:
is_async_error = True
elif canopen_status.group(9) != '0':
try:
can_status = int(canopen_status.group(9))
except ValueError:
can_status = 97
logging.error("Impossibile convertire lo stato {}".format(can_status))
if not is_centered:
if can_status == 6:
is_centered = True
# pos_time = float(canopen_status.group(10))
pos_time = 0.01
op_progress = canopen_status.group(11)
mex_counter += 1
reactor.callFromThread(
self.update_var_from_canopen, motor_pos, is_async_error, can_status, is_centered,
pos_time, op_progress, mex_counter
)
except Exception, e:
# Potrebbe essere semplicemente non disponibile un dato!
exc_type, exc_value, exc_traceback = sys.exc_info()
logging.error("Disabling Alarm, device not found! (%s)" % str(e))
traceback.print_exception(exc_type, exc_value, exc_traceback, limit=2, file=sys.stdout)
is_pipe_open = False
logging.info("Pipe closed!")
else:
# Questa devo analizzarla meglio
try:
if self.ini.get("System", "canopen_fake"):
if os.path.exists(self.ini.get("Path", "pipe_position_fake")):
mode = os.stat(self.ini.get("Path", "pipe_position_fake")).st_mode
if stat.S_ISFIFO(mode):
pipein = open(self.ini.get("Path", "pipe_position_fake"), 'r')
is_pipe_open = True
continue
else:
if os.path.exists(self.ini.get("Path", "pipe_position")):
mode = os.stat(self.ini.get("Path", "pipe_position")).st_mode
if stat.S_ISFIFO(mode):
pipein = open(self.ini.get("Path", "pipe_position"), 'r')
is_pipe_open = True
continue
sleep(0.5)
except:
exc_type, exc_value, exc_traceback = sys.exc_info()
logging.error("Impossibile inviare lo stato (%s)" % sys.exc_info()[0])
traceback.print_exception(exc_type, exc_value, exc_traceback, limit=2, file=sys.stdout)
settings_data = config.SETTINGS
radio_channels = None
with open(radio_config) as data_file:
radio_data = json.load(data_file)
if "channels" in radio_data:
radio_channels = radio_data['channels']
p = Radio(radio_channels=radio_channels, mplayer_path=config.MPLAYER_PATH)
if "radio" in settings_data:
_radio_settings = settings_data['radio']
p.change_country(_radio_settings['country'])
if "radio_stations" in _radio_settings and len(
_radio_settings['radio_stations']) > 0:
p.radio_channels.extend(_radio_settings['radio_stations'])
web_frontend.radio = p
alarm = Alarm("res/sounds/Argon_48k.wav", settings=settings_data)
alarm.create_alarms()
web_frontend.alarm = alarm
last_state = config.load_last_state()
if last_state is not None:
p.set_channel(last_state["last_radio_station"])
gui.current_page = last_state["last_page"]
tingbot.run(loop)