class GroundControlApp(App):
def get_application_config(self):
return super(GroundControlApp, self).get_application_config(
'~/%(appname)s.ini')
json = '''
[
{
"type": "string",
"title": "Serial Connection",
"desc": "Select the COM port to connect to machine",
"section": "Maslow Settings",
"key": "COMport"
},
{
"type": "string",
"title": "Distance Between Motors",
"desc": "The horizontal distance between the center of the motor shafts in MM.",
"section": "Maslow Settings",
"key": "motorSpacingX"
},
{
"type": "string",
"title": "Work Area Width in MM",
"desc": "The width of the machine working area (normally 8 feet).",
"section": "Maslow Settings",
"key": "bedWidth"
},
{
"type": "string",
"title": "Work Area Height in MM",
"desc": "The Height of the machine working area (normally 4 feet).",
"section": "Maslow Settings",
"key": "bedHeight"
},
{
"type": "string",
"title": "Motor Offset Height in MM",
"desc": "The vertical distance from the edge of the work area to the level of the motors.",
"section": "Maslow Settings",
"key": "motorOffsetY"
},
{
"type": "string",
"title": "Distance Between Sled Mounting Points",
"desc": "The horizontal distance between the points where the chains mount to the sled.",
"section": "Maslow Settings",
"key": "sledWidth"
},
{
"type": "string",
"title": "Vertical Distance Sled Mounts to Cutter",
"desc": "The vertical distance between where the chains mount on the sled to the cutting tool.",
"section": "Maslow Settings",
"key": "sledHeight"
},
{
"type": "string",
"title": "Center Of Gravity",
"desc": "How far below the cutting bit is the center of gravity. This can be found by resting the sled on a round object and observing where it balances.",
"section": "Maslow Settings",
"key": "sledCG"
},
{
"type": "bool",
"title": "z-axis installed",
"desc": "Does the machine have an automatic z-axis?",
"section": "Maslow Settings",
"key": "zAxis"
},
{
"type": "string",
"title": "Z-Axis Pitch",
"desc": "The number of mm moved per rotation of the z-axis",
"section": "Maslow Settings",
"key": "zDistPerRot"
},
{
"type": "string",
"title": "Open File",
"desc": "The path to the open file",
"section": "Maslow Settings",
"key": "openFile"
},
{
"type": "string",
"title": "Macro 1",
"desc": "User defined gcode bound to the Macro 1 button",
"section": "Maslow Settings",
"key": "macro1"
},
{
"type": "string",
"title": "Macro 2",
"desc": "User defined gcode bound to the Macro 2 button",
"section": "Maslow Settings",
"key": "macro2"
}
]
'''
advanced = '''
[
{
"type": "string",
"title": "Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the left or right motor",
"section": "Advanced Settings",
"key": "encoderSteps"
},
{
"type": "string",
"title": "Gear Teeth",
"desc": "The number of teeth on the gear of the left or right motor",
"section": "Advanced Settings",
"key": "gearTeeth"
},
{
"type": "string",
"title": "Chain Pitch",
"desc": "The distance between chain roller centers",
"section": "Advanced Settings",
"key": "chainPitch"
},
{
"type": "string",
"title": "Z-Axis Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the z-axis",
"section": "Advanced Settings",
"key": "zEncoderSteps"
},
{
"type": "string",
"title": "Home Position X Coordinate",
"desc": "The X coordinate of the home position",
"section": "Advanced Settings",
"key": "homeX"
},
{
"type": "string",
"title": "Home Position Y Coordinate",
"desc": "The X coordinate of the home position",
"section": "Advanced Settings",
"key": "homeY"
},
{
"type": "bool",
"title": "Truncate Floating Point Numbers",
"desc": "Truncate floating point numbers at the specified number of decimal places",
"section": "Advanced Settings",
"key": "truncate"
},
{
"type": "string",
"title": "Floating Point Precision",
"desc": "If truncate floating point numbers is enabled, the number of digits after the decimal place to preserve",
"section": "Advanced Settings",
"key": "digits"
},
{
"type": "options",
"title": "Kinematics Type",
"desc": "Switch between trapezoidal and triangular kinematics",
"options": ["Quadrilateral", "Triangular"],
"section": "Advanced Settings",
"key": "kinematicsType"
},
{
"type": "string",
"title": "Rotation Radius for Triangular Kinematics",
"desc": "The distance between where the chains attach and the center of the router bit in mm",
"section": "Advanced Settings",
"key": "rotationRadius"
},
{
"type": "bool",
"title": "Enable Custom Positional PID Values",
"desc": "Enable using custom values for the positional PID controller. Turning this off will return to the default values",
"section": "Advanced Settings",
"key": "enablePosPIDValues"
},
{
"type": "string",
"title": "Kp Position",
"desc": "The proportional constant for the position PID controller",
"section": "Advanced Settings",
"key": "KpPos"
},
{
"type": "string",
"title": "Ki Position",
"desc": "The integral constant for the position PID controller",
"section": "Advanced Settings",
"key": "KiPos"
},
{
"type": "string",
"title": "Kd Position",
"desc": "The derivative constant for the position PID controller",
"section": "Advanced Settings",
"key": "KdPos"
},
{
"type": "bool",
"title": "Enable Custom Velocity PID Values",
"desc": "Enable using custom values for the Velocity PID controller. Turning this off will return to the default values",
"section": "Advanced Settings",
"key": "enableVPIDValues"
},
{
"type": "string",
"title": "Kp Velocity",
"desc": "The proportional constant for the velocity PID controller",
"section": "Advanced Settings",
"key": "KpV"
},
{
"type": "string",
"title": "Ki Velocity",
"desc": "The integral constant for the velocity PID controller",
"section": "Advanced Settings",
"key": "KiV"
},
{
"type": "string",
"title": "Kd Velocity",
"desc": "The derivative constant for the velocity PID controller",
"section": "Advanced Settings",
"key": "KdV"
}
]
'''
gcsettings = '''
[
{
"type": "string",
"title": "Zoom In",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.",
"section": "Ground Control Settings",
"key": "zoomIn"
},
{
"type": "string",
"title": "Zoom Out",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.",
"section": "Ground Control Settings",
"key": "zoomOut"
},
{
"type": "string",
"title": "Valid File Extensions",
"desc": "Valid file extensions for Ground Control to open. Comma separated list.",
"section": "Ground Control Settings",
"disabled": "True",
"key": "validExtensions"
}
]
'''
def build(self):
Window.maximize()
interface = FloatLayout()
self.data = Data()
self.frontpage = FrontPage(self.data, name='FrontPage')
interface.add_widget(self.frontpage)
self.nonVisibleWidgets = NonVisibleWidgets()
'''
Load User Settings
'''
self.config.set('Advanced Settings', 'truncate', 0)
self.config.set('Advanced Settings', 'digits', 4)
self.config.write()
self.data.comport = self.config.get('Maslow Settings', 'COMport')
self.data.gcodeFile = self.config.get('Maslow Settings', 'openFile')
offsetX = float(self.config.get('Advanced Settings', 'homeX'))
offsetY = float(self.config.get('Advanced Settings', 'homeY'))
self.data.gcodeShift = [offsetX,offsetY]
self.data.config = self.config
'''
Initializations
'''
self.frontpage.setUpData(self.data)
self.nonVisibleWidgets.setUpData(self.data)
self.frontpage.gcodecanvas.initialize()
'''
Scheduling
'''
Clock.schedule_interval(self.runPeriodically, .01)
'''
Push settings to machine
'''
self.data.bind(connectionStatus = self.push_settings_to_machine)
self.data.pushSettings = self.push_settings_to_machine
self.push_settings_to_machine()
return interface
def build_config(self, config):
"""
Set the default values for the config sections.
"""
config.setdefaults('Maslow Settings', {'COMport' : '',
'zAxis' : 0,
'zDistPerRot' : 3.17,
'bedWidth' : 2438.4,
'bedHeight' : 1219.2,
'motorOffsetY' : 463,
'motorSpacingX' : 2978.4,
'sledWidth' : 310,
'sledHeight' : 139,
'sledCG' : 79,
'openFile' : " ",
'macro1' : "",
'macro2' : ""})
config.setdefaults('Advanced Settings', {'encoderSteps' : 8148.0,
'gearTeeth' : 10,
'chainPitch' : 6.35,
'zEncoderSteps' : 7560.0,
'homeX' : 0.0,
'homeY' : 0.0,
'truncate' : 0,
'digits' : 4,
'kinematicsType' : 'Quadrilateral',
'rotationRadius' : '100',
'enablePosPIDValues' : 0,
'KpPos' : 400,
'KiPos' : 5,
'KdPos' : 10,
'enableVPIDValues' : 0,
'KpV' : 20,
'KiV' : 1,
'KdV' : 0})
config.setdefaults('Ground Control Settings', {'zoomIn': "pageup",
'validExtensions':".nc, .ngc, .text, .gcode",
'zoomOut': "pagedown"})
def build_settings(self, settings):
"""
Add custom section to the default configuration object.
"""
settings.add_json_panel('Maslow Settings', self.config, data=self.json)
settings.add_json_panel('Advanced Settings', self.config, data=self.advanced)
settings.add_json_panel('Ground Control Settings', self.config, data=self.gcsettings)
def on_config_change(self, config, section, key, value):
"""
Respond to changes in the configuration.
"""
if section == "Maslow Settings":
self.push_settings_to_machine()
if key == "COMport":
self.data.comport = value
if (key == "bedHeight" or key == "bedWidth"):
self.frontpage.gcodecanvas.drawWorkspace()
if section == "Advanced Settings":
self.push_settings_to_machine()
if (key == "truncate") or (key == "digits"):
self.frontpage.gcodecanvas.reloadGcode()
def close_settings(self, settings):
"""
Close settings panel
"""
super(GroundControlApp, self).close_settings(settings)
def push_settings_to_machine(self, *args):
cmdString = ("B03"
+" A" + str(self.data.config.get('Maslow Settings', 'bedWidth'))
+" C" + str(self.data.config.get('Maslow Settings', 'bedHeight'))
+" Q" + str(self.data.config.get('Maslow Settings', 'motorSpacingX'))
+" E" + str(self.data.config.get('Maslow Settings', 'motorOffsetY'))
+" F" + str(self.data.config.get('Maslow Settings', 'sledWidth'))
+" R" + str(self.data.config.get('Maslow Settings', 'sledHeight'))
+" H" + str(self.data.config.get('Maslow Settings', 'sledCG'))
+" I" + str(self.data.config.get('Maslow Settings', 'zAxis'))
+" J" + str(self.data.config.get('Advanced Settings', 'encoderSteps'))
+" K" + str(self.data.config.get('Advanced Settings', 'gearTeeth'))
+" M" + str(self.data.config.get('Advanced Settings', 'chainPitch'))
+" N" + str(self.data.config.get('Maslow Settings' , 'zDistPerRot'))
+" P" + str(self.data.config.get('Advanced Settings', 'zEncoderSteps'))
+ " "
)
self.data.gcode_queue.put(cmdString)
#Split the settings push into two so that it doesn't exceed the maximum line length
if int(self.data.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
KpPos = float(self.data.config.get('Advanced Settings', 'KpPos'))
KiPos = float(self.data.config.get('Advanced Settings', 'KiPos'))
KdPos = float(self.data.config.get('Advanced Settings', 'KdPos'))
else:
KpPos = 400
KiPos = 5
KdPos = 10
if int(self.data.config.get('Advanced Settings', 'enableVPIDValues')) == 1:
KpV = float(self.data.config.get('Advanced Settings', 'KpV'))
KiV = float(self.data.config.get('Advanced Settings', 'KiV'))
KdV = float(self.data.config.get('Advanced Settings', 'KdV'))
else:
KpV = 20
KiV = 1
KdV = 0
if self.data.config.get('Advanced Settings', 'kinematicsType') == 'Quadrilateral':
kinematicsType = 1
print "quadrilateral recognized"
else:
kinematicsType = 2
print "triangular kinematics recognized"
cmdString = ("B03"
+" S" + str(KpPos)
+" T" + str(KiPos)
+" U" + str(KdPos)
+" V" + str(KpV)
+" W" + str(KiV)
+" X" + str(KdV)
+" Y" + str(kinematicsType)
+" Z" + str(self.data.config.get('Advanced Settings', 'rotationRadius'))
+ " "
)
self.data.gcode_queue.put(cmdString)
'''
Update Functions
'''
def writeToTextConsole(self, message):
try:
newText = self.frontpage.consoleText[-500:] + message
self.frontpage.consoleText = newText
self.frontpage.textconsole.gotToBottom()
except:
self.frontpage.consoleText = "text not displayed correctly"
def runPeriodically(self, *args):
'''
this block should be handled within the appropriate widget
'''
while not self.data.message_queue.empty(): #if there is new data to be read
message = self.data.message_queue.get()
self.data.logger.writeToLog(message)
if message[0] == "<":
self.setPosOnScreen(message)
elif message[0] == "[":
if message[1:4] == "PE:":
self.setErrorOnScreen(message)
elif message[1:8] == "Measure":
print "measure seen"
print message
measuredDist = float(message[9:len(message)-3])
self.data.measureRequest(measuredDist)
elif message[0:8] == "Message:":
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(continueOn = self.dismiss_popup_continue, text = message[9:])
self._popup = Popup(title="Notification: ", content=content,
auto_dismiss=False, size_hint=(0.35, 0.35))
self._popup.open()
elif message[0:8] == "Firmware":
self.writeToTextConsole("Ground Control " + str(self.data.version) + "\r\n" + message + "\r\n")
elif message == "ok\r\n":
pass #displaying all the 'ok' messages clutters up the display
else:
self.writeToTextConsole(message)
def dismiss_popup_continue(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.quick_queue.put("~") #send cycle resume command to unpause the machine
self.data.uploadFlag = self.previousUploadStatus #resume cutting if the machine was cutting before
def dismiss_popup_hold(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = 0 #stop cutting
def setPosOnScreen(self, message):
'''
This should be moved into the appropriate widget
'''
try:
startpt = message.find('MPos:') + 5
endpt = message.find('WPos:')
numz = message[startpt:endpt]
units = "mm" #message[endpt+1:endpt+3]
valz = numz.split(",")
self.xval = float(valz[0])
self.yval = float(valz[1])
self.zval = float(valz[2])
if math.isnan(self.xval):
self.writeToTextConsole("Unable to resolve x Kinematics.")
self.xval = 0
if math.isnan(self.yval):
self.writeToTextConsole("Unable to resolve y Kinematics.")
self.yval = 0
if math.isnan(self.zval):
self.writeToTextConsole("Unable to resolve z Kinematics.")
self.zval = 0
self.frontpage.setPosReadout(self.xval,self.yval,self.zval)
self.frontpage.gcodecanvas.positionIndicator.setPos(self.xval,self.yval,self.data.units)
except:
print "One Machine Position Report Command Misread"
return
def setErrorOnScreen(self, message):
try:
startpt = message.find(':')+1
endpt = message.find(',', startpt)
leftErrorValueAsString = message[startpt:endpt]
leftErrorValueAsFloat = float(leftErrorValueAsString)
startpt = endpt + 1
endpt = message.find(',', startpt)
rightErrorValueAsString = message[startpt:endpt]
rightErrorValueAsFloat = float(rightErrorValueAsString)
if self.data.units == "INCHES":
rightErrorValueAsFloat = rightErrorValueAsFloat/25.4
leftErrorValueAsFloat = leftErrorValueAsFloat/25.4
avgError = (abs(leftErrorValueAsFloat) + abs(rightErrorValueAsFloat))/2
self.frontpage.gcodecanvas.positionIndicator.setError(0, self.data.units)
self.data.logger.writeErrorValueToLog(avgError)
self.frontpage.gcodecanvas.targetIndicator.setPos(self.xval - .5*rightErrorValueAsFloat + .5*leftErrorValueAsFloat, self.yval - .5*rightErrorValueAsFloat - .5*leftErrorValueAsFloat,self.data.units)
except:
print "Machine Position Report Command Misread Happened Once"
class GroundControlApp(App):
def get_application_config(self):
return super(GroundControlApp,
self).get_application_config('~/%(appname)s.ini')
def build(self):
interface = FloatLayout()
self.data = Data()
if self.config.get('Maslow Settings', 'colorScheme') == 'Light':
self.data.iconPath = './Images/Icons/normal/'
self.data.fontColor = '[color=7a7a7a]'
self.data.drawingColor = [.47, .47, .47]
Window.clearcolor = (1, 1, 1, 1)
self.data.posIndicatorColor = [0, 0, 0]
self.data.targetInicatorColor = [1, 0, 0]
elif self.config.get('Maslow Settings', 'colorScheme') == 'Dark':
self.data.iconPath = './Images/Icons/highvis/'
self.data.fontColor = '[color=000000]'
self.data.drawingColor = [1, 1, 1]
Window.clearcolor = (0, 0, 0, 1)
self.data.posIndicatorColor = [1, 1, 1]
self.data.targetInicatorColor = [1, 0, 0]
elif self.config.get('Maslow Settings',
'colorScheme') == 'DarkGreyBlue':
self.data.iconPath = './Images/Icons/darkgreyblue/'
self.data.fontColor = '[color=000000]'
self.data.drawingColor = [1, 1, 1]
Window.clearcolor = (0.06, 0.10, 0.2, 1)
self.data.posIndicatorColor = [0.51, 0.93, 0.97]
self.data.targetInicatorColor = [1, 0, 0]
Window.maximize()
self.frontpage = FrontPage(self.data, name='FrontPage')
interface.add_widget(self.frontpage)
self.nonVisibleWidgets = NonVisibleWidgets()
'''
Load User Settings
'''
# force create an ini no matter what.
self.config.write()
if self.config.get('Advanced Settings', 'encoderSteps') == '8148.0':
self.data.message_queue.put(
"Message: This update will adjust the the number of encoder pulses per rotation from 8,148 to 8,113 in your settings which improves the positional accuracy.\n\nPerforming a calibration will help you get the most out of this update."
)
self.config.set('Advanced Settings', 'encoderSteps', '8113.73')
#up the maximum feedrate
if self.config.get('Advanced Settings', 'maxFeedrate') == '700':
self.data.message_queue.put(
"Message: This update will increase the maximum feedrate of your machine. You can adjust this value under the Advanced settings."
)
self.config.set('Advanced Settings', 'maxFeedrate', '800')
self.config.write()
self.data.comport = self.config.get('Maslow Settings', 'COMport')
self.data.baudRate = int(self.config.get('Maslow Settings',
'baudRate'))
self.data.gcodeFile = self.config.get('Maslow Settings', 'openFile')
offsetX = float(self.config.get('Advanced Settings', 'homeX'))
offsetY = float(self.config.get('Advanced Settings', 'homeY'))
self.data.gcodeShift = [offsetX, offsetY]
self.data.config = self.config
self.config.add_callback(self.configSettingChange)
# Background image setup
self.data.backgroundFile = self.config.get('Background Settings',
'backgroundFile')
self.data.backgroundManualReg = json.loads(
self.config.get('Background Settings', 'manualReg'))
if self.data.backgroundFile != "":
BackgroundMenu(self.data).processBackground()
'''
Initializations
'''
self.frontpage.setUpData(self.data)
self.nonVisibleWidgets.setUpData(self.data)
self.frontpage.gcodecanvas.initialize()
'''
Scheduling
'''
Clock.schedule_interval(self.runPeriodically, .01)
'''
Push settings to machine
'''
self.data.bind(connectionStatus=self.requestMachineSettings)
self.data.pushSettings = self.requestMachineSettings
return interface
def build_config(self, config):
"""
Set the default values for the config sections.
"""
# Calculate computed settings on load
config.add_callback(self.computeSettings)
config.setdefaults(
'Computed Settings',
maslowSettings.getDefaultValueSection('Computed Settings'))
config.setdefaults(
'Maslow Settings',
maslowSettings.getDefaultValueSection('Maslow Settings'))
config.setdefaults(
'Advanced Settings',
maslowSettings.getDefaultValueSection('Advanced Settings'))
config.setdefaults(
'Ground Control Settings',
maslowSettings.getDefaultValueSection('Ground Control Settings'))
config.setdefaults(
'Background Settings',
maslowSettings.getDefaultValueSection('Background Settings'))
config.remove_callback(self.computeSettings)
def build_settings(self, settings):
"""
Add custom section to the default configuration object.
"""
settings.add_json_panel(
'Maslow Settings',
self.config,
data=maslowSettings.getJSONSettingSection('Maslow Settings'))
settings.add_json_panel(
'Advanced Settings',
self.config,
data=maslowSettings.getJSONSettingSection('Advanced Settings'))
settings.add_json_panel('Ground Control Settings',
self.config,
data=maslowSettings.getJSONSettingSection(
"Ground Control Settings"))
def computeSettings(self, section, key, value):
# Update Computed settings
if key == 'kinematicsType':
if value == 'Quadrilateral':
self.config.set('Computed Settings', 'kinematicsTypeComputed',
"1")
else:
self.config.set('Computed Settings', 'kinematicsTypeComputed',
"2")
elif (key == 'gearTeeth'
or key == 'chainPitch') and self.config.has_option(
'Advanced Settings', 'gearTeeth') and self.config.has_option(
'Advanced Settings', 'chainPitch'):
distPerRot = float(
self.config.get('Advanced Settings', 'gearTeeth')) * float(
self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRot", str(distPerRot))
elif key == 'enablePosPIDValues':
for key in ('KpPos', 'KiPos', 'KdPos', 'propWeight'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
#updated computed values for z-axis
for key in ('KpPosZ', 'KiPosZ', 'KdPosZ', 'propWeightZ'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key, value)
elif key == 'enableVPIDValues':
for key in ('KpV', 'KiV', 'KdV'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
#updated computed values for z-axis
for key in ('KpVZ', 'KiVZ', 'KdVZ'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key, value)
elif key == 'chainOverSprocket':
if value == 'Top':
self.config.set('Computed Settings',
'chainOverSprocketComputed', 1)
else:
self.config.set('Computed Settings',
'chainOverSprocketComputed', 2)
elif key == 'fPWM':
if value == '31,000Hz':
self.config.set('Computed Settings', 'fPWMComputed', 1)
elif value == '4,100Hz':
self.config.set('Computed Settings', 'fPWMComputed', 2)
else:
self.config.set('Computed Settings', 'fPWMComputed', 3)
def configSettingChange(self, section, key, value):
"""
Respond to changes in the configuration.
"""
# Update GC things
if section == "Maslow Settings":
if key == "COMport":
self.data.comport = value
if key == "baudRate":
self.data.baudRate = int(value)
if (key == "bedHeight" or key == "bedWidth"):
self.frontpage.gcodecanvas.drawWorkspace()
if (key == "macro1_title") or (key == "macro2_title"):
self.frontpage.update_macro_titles()
if section == "Advanced Settings":
if (key == "truncate") or (key == "digits"):
self.frontpage.gcodecanvas.reloadGcode()
if (key == "spindleAutomate"):
if (value == "Servo"):
value = 1
elif (value == "Relay_High"):
value = 2
elif (value == "Relay_Low"):
value = 3
else:
value = 0
# Update Computed Settings
self.computeSettings(section, key, value)
# Write the settings change to the Disk
self.data.config.write()
# only run on live connection
if self.data.connectionStatus != 1:
return
# Push settings that can be directly written to machine
firmwareKey = maslowSettings.getFirmwareKey(section, key)
if firmwareKey is not None:
self.data.gcode_queue.put("$" + str(firmwareKey) + "=" +
str(value))
def requestMachineSettings(self, *args):
'''
Requests the machine to report all settings. This will implicitly
cause a sync of the machine settings because if GroundControl sees a
reported setting which does match its expected value, GC will push the
correct setting to the machine.
'''
if self.data.connectionStatus == 1:
self.data.gcode_queue.put("$$")
def receivedSetting(self, message):
'''
This parses a settings report from the machine, usually received in
response to a $$ request. If the value received does not match the
expected value.
'''
parameter, position = self.parseFloat(message, 0)
value, position = self.parseFloat(message, position)
if (parameter is not None and value is not None):
maslowSettings.syncFirmwareKey(int(parameter), value, self.data)
def parseFloat(self, text, position=0):
'''
Takes a string and parses out the float found at position default to 0
returning a list of the matched float and the ending
position of the float
'''
# This regex comes from a python docs recommended
regex = re.compile("[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?")
match = regex.search(text[position:])
if match:
return (float(match.group(0)), match.end(0))
else:
return (None, position)
'''
Update Functions
'''
def writeToTextConsole(self, message):
try:
newText = self.frontpage.consoleText[-2000:] + message
self.frontpage.consoleText = newText
self.frontpage.textconsole.gotToBottom()
except:
self.frontpage.consoleText = "text not displayed correctly"
def runPeriodically(self, *args):
'''
this block should be handled within the appropriate widget
'''
while not self.data.message_queue.empty(
): #if there is new data to be read
message = self.data.message_queue.get()
if message[0] == "<":
self.setPosOnScreen(message)
elif message[0] == "$":
self.receivedSetting(message)
elif message[0] == "[":
if message[1:4] == "PE:":
self.setErrorOnScreen(message)
elif message[1:8] == "Measure":
measuredDist = float(message[9:len(message) - 3])
try:
self.data.measureRequest(measuredDist)
except:
print "No function has requested a measurement"
elif message[0:13] == "Maslow Paused":
self.data.uploadFlag = 0
self.writeToTextConsole(message)
elif message[0:8] == "Message:":
if self.data.calibrationInProcess and message[
0:
15] == "Message: Unable": #this suppresses the annoying messages about invalid chain lengths during the calibration process
break
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(
continueOn=self.dismiss_popup_continue, text=message[9:])
if sys.platform.startswith('darwin'):
self._popup = Popup(title="Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(.3, .3))
else:
self._popup = Popup(title="Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(None, None))
self._popup.open()
if global_variables._keyboard:
global_variables._keyboard.bind(
on_key_down=self.keydown_popup)
self._popup.bind(on_dismiss=self.ondismiss_popup)
elif message[0:6] == "ALARM:":
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(
continueOn=self.dismiss_popup_continue, text=message[7:])
if sys.platform.startswith('darwin'):
self._popup = Popup(title="Alarm Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(.3, .3))
else:
self._popup = Popup(title="Alarm Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(None, None))
self._popup.open()
if global_variables._keyboard:
global_variables._keyboard.bind(
on_key_down=self.keydown_popup)
self._popup.bind(on_dismiss=self.ondismiss_popup)
elif message[0:8] == "Firmware":
self.data.logger.writeToLog("Ground Control Version " +
str(self.data.version) + "\n")
self.writeToTextConsole("Ground Control " +
str(self.data.version) + "\r\n" +
message + "\r\n")
#Check that version numbers match
if float(message[-7:]) < float(self.data.version):
self.data.message_queue.put(
"Message: Warning, your firmware is out of date and may not work correctly with this version of Ground Control\n\n"
+ "Ground Control Version " + str(self.data.version) +
"\r\n" + message)
if float(message[-7:]) > float(self.data.version):
self.data.message_queue.put(
"Message: Warning, your version of Ground Control is out of date and may not work with this firmware version\n\n"
+ "Ground Control Version " + str(self.data.version) +
"\r\n" + message)
elif message == "ok\r\n":
pass #displaying all the 'ok' messages clutters up the display
else:
self.writeToTextConsole(message)
def ondismiss_popup(self, event):
if global_variables._keyboard:
global_variables._keyboard.unbind(on_key_down=self.keydown_popup)
def keydown_popup(self, keyboard, keycode, text, modifiers):
if (keycode[1] == 'enter') or (keycode[1]
== 'numpadenter') or (keycode[1]
== 'escape'):
self.dismiss_popup_continue()
return True # always swallow keypresses since this is a modal dialog
def dismiss_popup_continue(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.quick_queue.put(
"~") #send cycle resume command to unpause the machine
self.data.uploadFlag = self.previousUploadStatus #resume cutting if the machine was cutting before
def dismiss_popup_hold(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = 0 #stop cutting
def setPosOnScreen(self, message):
'''
This should be moved into the appropriate widget
'''
try:
startpt = message.find('MPos:') + 5
endpt = message.find('WPos:')
numz = message[startpt:endpt]
units = "mm" #message[endpt+1:endpt+3]
valz = numz.split(",")
self.xval = float(valz[0])
self.yval = float(valz[1])
self.zval = float(valz[2])
if math.isnan(self.xval):
self.writeToTextConsole("Unable to resolve x Kinematics.")
self.xval = 0
if math.isnan(self.yval):
self.writeToTextConsole("Unable to resolve y Kinematics.")
self.yval = 0
if math.isnan(self.zval):
self.writeToTextConsole("Unable to resolve z Kinematics.")
self.zval = 0
except:
print "One Machine Position Report Command Misread"
return
self.frontpage.setPosReadout(self.xval, self.yval, self.zval)
self.frontpage.gcodecanvas.positionIndicator.setPos(
self.xval, self.yval, self.data.units)
def setErrorOnScreen(self, message):
try:
startpt = message.find(':') + 1
endpt = message.find(',', startpt)
leftErrorValueAsString = message[startpt:endpt]
leftErrorValueAsFloat = float(leftErrorValueAsString)
startpt = endpt + 1
endpt = message.find(',', startpt)
rightErrorValueAsString = message[startpt:endpt]
rightErrorValueAsFloat = float(rightErrorValueAsString)
if self.data.units == "INCHES":
rightErrorValueAsFloat = rightErrorValueAsFloat / 25.4
leftErrorValueAsFloat = leftErrorValueAsFloat / 25.4
avgError = (abs(leftErrorValueAsFloat) +
abs(rightErrorValueAsFloat)) / 2
self.frontpage.gcodecanvas.positionIndicator.setError(
0, self.data.units)
self.data.logger.writeErrorValueToLog(avgError)
self.frontpage.gcodecanvas.targetIndicator.setPos(
self.xval - .5 * rightErrorValueAsFloat +
.5 * leftErrorValueAsFloat, self.yval -
.5 * rightErrorValueAsFloat - .5 * leftErrorValueAsFloat,
self.data.units)
except:
print "Machine Position Report Command Misread Happened Once"
class GroundControlApp(App):
def get_application_config(self):
return super(GroundControlApp,
self).get_application_config('~/%(appname)s.ini')
json = '''
[
{
"type": "string",
"title": "Serial Connection",
"desc": "Select the COM port to connect to machine",
"section": "Maslow Settings",
"key": "COMport"
},
{
"type": "string",
"title": "Distance Between Motors",
"desc": "The horizontal distance between the center of the motor shafts in MM.",
"section": "Maslow Settings",
"key": "motorSpacingX"
},
{
"type": "string",
"title": "Work Area Width in MM",
"desc": "The width of the machine working area (normally 8 feet).",
"section": "Maslow Settings",
"key": "bedWidth"
},
{
"type": "string",
"title": "Work Area Height in MM",
"desc": "The Height of the machine working area (normally 4 feet).",
"section": "Maslow Settings",
"key": "bedHeight"
},
{
"type": "string",
"title": "Motor Offset Height in MM",
"desc": "The vertical distance from the edge of the work area to the level of the motors.",
"section": "Maslow Settings",
"key": "motorOffsetY"
},
{
"type": "string",
"title": "Distance Between Sled Mounting Points",
"desc": "The horizontal distance between the points where the chains mount to the sled.",
"section": "Maslow Settings",
"key": "sledWidth"
},
{
"type": "string",
"title": "Vertical Distance Sled Mounts to Cutter",
"desc": "The vertical distance between where the chains mount on the sled to the cutting tool.",
"section": "Maslow Settings",
"key": "sledHeight"
},
{
"type": "string",
"title": "Center Of Gravity",
"desc": "How far below the cutting bit is the center of gravity. This can be found by resting the sled on a round object and observing where it balances.",
"section": "Maslow Settings",
"key": "sledCG"
},
{
"type": "bool",
"title": "z-axis installed",
"desc": "Does the machine have an automatic z-axis?",
"section": "Maslow Settings",
"key": "zAxis"
},
{
"type": "string",
"title": "Z-Axis Pitch",
"desc": "The number of mm moved per rotation of the z-axis",
"section": "Maslow Settings",
"key": "zDistPerRot"
},
{
"type": "string",
"title": "Open File",
"desc": "The path to the open file",
"section": "Maslow Settings",
"key": "openFile"
}
]
'''
advanced = '''
[
{
"type": "string",
"title": "Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the left or right motor",
"section": "Advanced Settings",
"key": "encoderSteps"
},
{
"type": "string",
"title": "Gear Teeth",
"desc": "The number of teeth on the gear of the left or right motor",
"section": "Advanced Settings",
"key": "gearTeeth"
},
{
"type": "string",
"title": "Chain Pitch",
"desc": "The distance between chain roller centers",
"section": "Advanced Settings",
"key": "chainPitch"
},
{
"type": "string",
"title": "Z-Axis Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the z-axis",
"section": "Advanced Settings",
"key": "zEncoderSteps"
}
]
'''
gcsettings = '''
[
{
"type": "string",
"title": "Zoom In",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.",
"section": "Ground Control Settings",
"key": "zoomIn"
},
{
"type": "string",
"title": "Zoom Out",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.",
"section": "Ground Control Settings",
"key": "zoomOut"
},
{
"type": "string",
"title": "Valid File Extensions",
"desc": "Valid file extensions for Ground Control to open. Comma separated list.",
"section": "Ground Control Settings",
"key": "validExtensions"
}
]
'''
def build(self):
Window.maximize()
interface = FloatLayout()
self.data = Data()
self.frontpage = FrontPage(self.data, name='FrontPage')
interface.add_widget(self.frontpage)
self.nonVisibleWidgets = NonVisibleWidgets()
'''
Load User Settings
'''
self.data.comport = self.config.get('Maslow Settings', 'COMport')
self.data.gcodeFile = self.config.get('Maslow Settings', 'openFile')
self.data.config = self.config
'''
Initializations
'''
self.frontpage.setUpData(self.data)
self.nonVisibleWidgets.setUpData(self.data)
self.frontpage.gcodecanvas.initialize()
'''
Scheduling
'''
Clock.schedule_interval(self.runPeriodically, .01)
'''
Push settings to machine
'''
self.data.bind(connectionStatus=self.push_settings_to_machine)
self.data.pushSettings = self.push_settings_to_machine
return interface
def build_config(self, config):
"""
Set the default values for the config sections.
"""
config.setdefaults(
'Maslow Settings', {
'COMport': '',
'zAxis': 0,
'zDistPerRot': 3.17,
'bedWidth': 2438.4,
'bedHeight': 1219.2,
'motorOffsetY': 463,
'motorSpacingX': 2978.4,
'sledWidth': 310,
'sledHeight': 139,
'sledCG': 79,
'openFile': " "
})
config.setdefaults(
'Advanced Settings', {
'encoderSteps': 8148.0,
'gearTeeth': 10,
'chainPitch': 6.35,
'zEncoderSteps': 7560.0
})
config.setdefaults(
'Ground Control Settings', {
'zoomIn': "pageup",
'validExtensions': ".nc, .ngc, .text, .gcode",
'zoomOut': "pagedown"
})
def build_settings(self, settings):
"""
Add custom section to the default configuration object.
"""
settings.add_json_panel('Maslow Settings', self.config, data=self.json)
settings.add_json_panel('Advanced Settings',
self.config,
data=self.advanced)
settings.add_json_panel('Ground Control Settings',
self.config,
data=self.gcsettings)
def on_config_change(self, config, section, key, value):
"""
Respond to changes in the configuration.
"""
if section == "Maslow Settings":
if key == "COMport":
self.data.comport = value
self.push_settings_to_machine()
if (key == "bedHeight" or key == "bedWidth"):
self.frontpage.gcodecanvas.drawWorkspace()
def close_settings(self, settings):
"""
Close settings panel
"""
super(GroundControlApp, self).close_settings(settings)
def push_settings_to_machine(self, *args):
cmdString = (
"B03" + " A" +
str(self.data.config.get('Maslow Settings', 'bedWidth')) + " C" +
str(self.data.config.get('Maslow Settings', 'bedHeight')) + " Q" +
str(self.data.config.get('Maslow Settings', 'motorSpacingX')) +
" E" +
str(self.data.config.get('Maslow Settings', 'motorOffsetY')) +
" F" + str(self.data.config.get('Maslow Settings', 'sledWidth')) +
" R" + str(self.data.config.get('Maslow Settings', 'sledHeight')) +
" H" + str(self.data.config.get('Maslow Settings', 'sledCG')) +
" I" + str(self.data.config.get('Maslow Settings', 'zAxis')) +
" J" +
str(self.data.config.get('Advanced Settings', 'encoderSteps')) +
" K" +
str(self.data.config.get('Advanced Settings', 'gearTeeth')) +
" M" +
str(self.data.config.get('Advanced Settings', 'chainPitch')) +
" N" +
str(self.data.config.get('Maslow Settings', 'zDistPerRot')) +
" P" +
str(self.data.config.get('Advanced Settings', 'zEncoderSteps')) +
" ")
self.data.gcode_queue.put(cmdString)
'''
Update Functions
'''
def writeToTextConsole(self, message):
try:
newText = self.frontpage.consoleText[-3000:] + message
self.frontpage.consoleText = newText
self.frontpage.textconsole.gotToBottom()
except:
self.frontpage.consoleText = "text not displayed correctly"
def runPeriodically(self, *args):
'''
this block should be handled within the appropriate widget
'''
while not self.data.message_queue.empty(
): #if there is new data to be read
message = self.data.message_queue.get()
self.data.logger.writeToLog(message)
if message[0] == "<":
self.setPosOnScreen(message)
elif message[0] == "[":
if message[1:10] == "PosError:":
self.setErrorOnScreen(message)
elif message[1:8] == "Measure":
print "measure seen"
print message
measuredDist = float(message[9:len(message) - 3])
self.data.measureRequest(measuredDist)
elif message[0:8] == "Message:":
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(
continueOn=self.dismiss_popup_continue,
hold=self.dismiss_popup_hold,
text=message[9:])
self._popup = Popup(title="Notification: ",
content=content,
auto_dismiss=False,
size_hint=(0.35, 0.35))
self._popup.open()
else:
self.writeToTextConsole(message)
def dismiss_popup_continue(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = self.previousUploadStatus #resume cutting if the machine was cutting before
def dismiss_popup_hold(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = 0 #stop cutting
def setPosOnScreen(self, message):
'''
This should be moved into the appropriate widget
'''
try:
startpt = message.find('MPos:') + 5
endpt = message.find('WPos:')
numz = message[startpt:endpt]
units = "mm" #message[endpt+1:endpt+3]
valz = numz.split(",")
xval = float(valz[0])
yval = float(valz[1])
zval = float(valz[2])
if math.isnan(xval):
self.writeToTextConsole("Unable to resolve x Kinematics.")
xval = 0
if math.isnan(yval):
self.writeToTextConsole("Unable to resolve y Kinematics.")
yval = 0
if math.isnan(zval):
self.writeToTextConsole("Unable to resolve z Kinematics.")
zval = 0
except:
print "bad data"
return
self.frontpage.setPosReadout(xval, yval, zval)
self.frontpage.gcodecanvas.positionIndicator.setPos(
xval, yval, self.data.units)
def setErrorOnScreen(self, message):
try:
startpt = message.find(':') + 1
endpt = message.find(',', startpt)
errorValueAsString = message[startpt:endpt]
errorValueAsFloat = float(errorValueAsString)
self.frontpage.gcodecanvas.positionIndicator.setError(
errorValueAsFloat)
self.data.logger.writeErrorValueToLog(errorValueAsFloat)
except:
print "unable to read error value"
class GroundControlApp(App):
def get_application_config(self):
return super(GroundControlApp, self).get_application_config(
'~/%(appname)s.ini')
def build(self):
interface = FloatLayout()
self.data = Data()
if self.config.get('Maslow Settings', 'colorScheme') == 'Light':
self.data.iconPath = './Images/Icons/normal/'
self.data.fontColor = '[color=7a7a7a]'
self.data.drawingColor = [.47,.47,.47]
Window.clearcolor = (1, 1, 1, 1)
self.data.posIndicatorColor = [0,0,0]
self.data.targetInicatorColor = [1,0,0]
elif self.config.get('Maslow Settings', 'colorScheme') == 'Dark':
self.data.iconPath = './Images/Icons/highvis/'
self.data.fontColor = '[color=000000]'
self.data.drawingColor = [1,1,1]
Window.clearcolor = (0, 0, 0, 1)
self.data.posIndicatorColor = [1,1,1]
self.data.targetInicatorColor = [1,0,0]
elif self.config.get('Maslow Settings', 'colorScheme') == 'DarkGreyBlue':
self.data.iconPath = './Images/Icons/darkgreyblue/'
self.data.fontColor = '[color=000000]'
self.data.drawingColor = [1,1,1]
Window.clearcolor = (0.06, 0.10, 0.2, 1)
self.data.posIndicatorColor = [0.51,0.93,0.97]
self.data.targetInicatorColor = [1,0,0]
Window.maximize()
self.frontpage = FrontPage(self.data, name='FrontPage')
interface.add_widget(self.frontpage)
self.nonVisibleWidgets = NonVisibleWidgets()
'''
Load User Settings
'''
# force create an ini no matter what.
self.config.write()
if self.config.get('Advanced Settings', 'encoderSteps') == '8148.0':
self.data.message_queue.put("Message: This update will adjust the the number of encoder pulses per rotation from 8,148 to 8,113 in your settings which improves the positional accuracy.\n\nPerforming a calibration will help you get the most out of this update.")
self.config.set('Advanced Settings', 'encoderSteps', '8113.73')
#up the maximum feedrate
if self.config.get('Advanced Settings', 'maxFeedrate') == '700':
self.data.message_queue.put("Message: This update will increase the maximum feedrate of your machine. You can adjust this value under the Advanced settings.")
self.config.set('Advanced Settings', 'maxFeedrate', '800')
self.config.write()
self.data.comport = self.config.get('Maslow Settings', 'COMport')
self.data.gcodeFile = self.config.get('Maslow Settings', 'openFile')
offsetX = float(self.config.get('Advanced Settings', 'homeX'))
offsetY = float(self.config.get('Advanced Settings', 'homeY'))
self.data.gcodeShift = [offsetX,offsetY]
self.data.config = self.config
self.config.add_callback(self.configSettingChange)
# Background image setup
self.data.backgroundFile = self.config.get('Background Settings',
'backgroundFile')
self.data.backgroundManualReg = json.loads(
self.config.get('Background Settings', 'manualReg'))
if self.data.backgroundFile != "":
BackgroundMenu(self.data).processBackground()
'''
Initializations
'''
self.frontpage.setUpData(self.data)
self.nonVisibleWidgets.setUpData(self.data)
self.frontpage.gcodecanvas.initialize()
'''
Scheduling
'''
Clock.schedule_interval(self.runPeriodically, .01)
'''
Push settings to machine
'''
self.data.bind(connectionStatus = self.requestMachineSettings)
self.data.pushSettings = self.requestMachineSettings
return interface
def build_config(self, config):
"""
Set the default values for the config sections.
"""
# Calculate computed settings on load
config.add_callback(self.computeSettings)
config.setdefaults('Computed Settings', maslowSettings.getDefaultValueSection('Computed Settings'))
config.setdefaults('Maslow Settings', maslowSettings.getDefaultValueSection('Maslow Settings'))
config.setdefaults('Advanced Settings', maslowSettings.getDefaultValueSection('Advanced Settings'))
config.setdefaults('Ground Control Settings', maslowSettings.getDefaultValueSection('Ground Control Settings'))
config.setdefaults('Background Settings', maslowSettings.getDefaultValueSection('Background Settings'))
config.remove_callback(self.computeSettings)
def build_settings(self, settings):
"""
Add custom section to the default configuration object.
"""
settings.add_json_panel('Maslow Settings', self.config, data=maslowSettings.getJSONSettingSection('Maslow Settings'))
settings.add_json_panel('Advanced Settings', self.config, data=maslowSettings.getJSONSettingSection('Advanced Settings'))
settings.add_json_panel('Ground Control Settings', self.config, data=maslowSettings.getJSONSettingSection("Ground Control Settings"))
def computeSettings(self, section, key, value):
# Update Computed settings
if key == 'kinematicsType':
if value == 'Quadrilateral':
self.config.set('Computed Settings', 'kinematicsTypeComputed', "1")
else:
self.config.set('Computed Settings', 'kinematicsTypeComputed', "2")
elif (key == 'gearTeeth' or key == 'chainPitch') and self.config.has_option('Advanced Settings', 'gearTeeth') and self.config.has_option('Advanced Settings', 'chainPitch'):
distPerRot = float(self.config.get('Advanced Settings', 'gearTeeth')) * float(self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRot", str(distPerRot))
elif key == 'enablePosPIDValues':
for key in ('KpPos', 'KiPos', 'KdPos', 'propWeight'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
#updated computed values for z-axis
for key in ('KpPosZ', 'KiPosZ', 'KdPosZ', 'propWeightZ'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key, value)
elif key == 'enableVPIDValues':
for key in ('KpV', 'KiV', 'KdV'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
#updated computed values for z-axis
for key in ('KpVZ', 'KiVZ', 'KdVZ'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key, value)
elif key == 'chainOverSprocket':
if value == 'Top':
self.config.set('Computed Settings', 'chainOverSprocketComputed', 1)
else:
self.config.set('Computed Settings', 'chainOverSprocketComputed', 2)
elif key == 'fPWM':
if value == '31,000Hz':
self.config.set('Computed Settings', 'fPWMComputed', 1)
elif value == '4,100Hz':
self.config.set('Computed Settings', 'fPWMComputed', 2)
else:
self.config.set('Computed Settings', 'fPWMComputed', 3)
def configSettingChange(self, section, key, value):
"""
Respond to changes in the configuration.
"""
# Update GC things
if section == "Maslow Settings":
if key == "COMport":
self.data.comport = value
if (key == "bedHeight" or key == "bedWidth"):
self.frontpage.gcodecanvas.drawWorkspace()
if (key == "macro1_title") or (key == "macro2_title"):
self.frontpage.update_macro_titles()
if section == "Advanced Settings":
if (key == "truncate") or (key == "digits"):
self.frontpage.gcodecanvas.reloadGcode()
if (key == "spindleAutomate"):
if (value == "Servo"):
value = 1
elif (value == "Relay_High"):
value = 2
elif (value == "Relay_Low"):
value = 3
else:
value = 0
# Update Computed Settings
self.computeSettings(section, key, value)
# Write the settings change to the Disk
self.data.config.write()
# only run on live connection
if self.data.connectionStatus != 1:
return
# Push settings that can be directly written to machine
firmwareKey = maslowSettings.getFirmwareKey(section, key)
if firmwareKey is not None:
self.data.gcode_queue.put("$" + str(firmwareKey) + "=" + str(value))
def requestMachineSettings(self, *args):
'''
Requests the machine to report all settings. This will implicitly
cause a sync of the machine settings because if GroundControl sees a
reported setting which does match its expected value, GC will push the
correct setting to the machine.
'''
if self.data.connectionStatus == 1:
self.data.gcode_queue.put("$$")
def receivedSetting(self, message):
'''
This parses a settings report from the machine, usually received in
response to a $$ request. If the value received does not match the
expected value.
'''
parameter, position = self.parseFloat(message, 0)
value, position = self.parseFloat(message, position)
if (parameter is not None and value is not None):
maslowSettings.syncFirmwareKey(int(parameter), value, self.data)
def parseFloat(self, text, position=0):
'''
Takes a string and parses out the float found at position default to 0
returning a list of the matched float and the ending
position of the float
'''
# This regex comes from a python docs recommended
regex = re.compile("[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?")
match = regex.search(text[position:])
if match:
return (float(match.group(0)), match.end(0))
else:
return (None, position)
'''
Update Functions
'''
def writeToTextConsole(self, message):
try:
newText = self.frontpage.consoleText[-2000:] + message
self.frontpage.consoleText = newText
self.frontpage.textconsole.gotToBottom()
except:
self.frontpage.consoleText = "text not displayed correctly"
def runPeriodically(self, *args):
'''
this block should be handled within the appropriate widget
'''
while not self.data.message_queue.empty(): #if there is new data to be read
message = self.data.message_queue.get()
if message[0] == "<":
self.setPosOnScreen(message)
elif message[0] == "$":
self.receivedSetting(message)
elif message[0] == "[":
if message[1:4] == "PE:":
self.setErrorOnScreen(message)
elif message[1:8] == "Measure":
measuredDist = float(message[9:len(message)-3])
try:
self.data.measureRequest(measuredDist)
except:
print "No function has requested a measurement"
elif message[0:13] == "Maslow Paused":
self.data.uploadFlag = 0
self.writeToTextConsole(message)
elif message[0:8] == "Message:":
if self.data.calibrationInProcess and message[0:15] == "Message: Unable": #this suppresses the annoying messages about invalid chain lengths during the calibration process
break
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(continueOn = self.dismiss_popup_continue, text = message[9:])
if sys.platform.startswith('darwin'):
self._popup = Popup(title="Notification: ", content=content,
auto_dismiss=False, size=(360,240), size_hint=(.3, .3))
else:
self._popup = Popup(title="Notification: ", content=content,
auto_dismiss=False, size=(360,240), size_hint=(None, None))
self._popup.open()
if global_variables._keyboard:
global_variables._keyboard.bind(on_key_down=self.keydown_popup)
self._popup.bind(on_dismiss=self.ondismiss_popup)
elif message[0:6] == "ALARM:":
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(continueOn = self.dismiss_popup_continue, text = message[7:])
if sys.platform.startswith('darwin'):
self._popup = Popup(title="Alarm Notification: ", content=content,
auto_dismiss=False, size=(360,240), size_hint=(.3, .3))
else:
self._popup = Popup(title="Alarm Notification: ", content=content,
auto_dismiss=False, size=(360,240), size_hint=(None, None))
self._popup.open()
if global_variables._keyboard:
global_variables._keyboard.bind(on_key_down=self.keydown_popup)
self._popup.bind(on_dismiss=self.ondismiss_popup)
elif message[0:8] == "Firmware":
self.data.logger.writeToLog("Ground Control Version " + str(self.data.version) + "\n")
self.writeToTextConsole("Ground Control " + str(self.data.version) + "\r\n" + message + "\r\n")
#Check that version numbers match
if float(message[-7:]) < float(self.data.version):
self.data.message_queue.put("Message: Warning, your firmware is out of date and may not work correctly with this version of Ground Control\n\n" + "Ground Control Version " + str(self.data.version) + "\r\n" + message)
if float(message[-7:]) > float(self.data.version):
self.data.message_queue.put("Message: Warning, your version of Ground Control is out of date and may not work with this firmware version\n\n" + "Ground Control Version " + str(self.data.version) + "\r\n" + message)
elif message == "ok\r\n":
pass #displaying all the 'ok' messages clutters up the display
else:
self.writeToTextConsole(message)
def ondismiss_popup(self, event):
if global_variables._keyboard:
global_variables._keyboard.unbind(on_key_down=self.keydown_popup)
def keydown_popup(self, keyboard, keycode, text, modifiers):
if (keycode[1] == 'enter') or (keycode[1] =='numpadenter') or (keycode[1] == 'escape'):
self.dismiss_popup_continue()
return True # always swallow keypresses since this is a modal dialog
def dismiss_popup_continue(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.quick_queue.put("~") #send cycle resume command to unpause the machine
self.data.uploadFlag = self.previousUploadStatus #resume cutting if the machine was cutting before
def dismiss_popup_hold(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = 0 #stop cutting
def setPosOnScreen(self, message):
'''
This should be moved into the appropriate widget
'''
try:
startpt = message.find('MPos:') + 5
endpt = message.find('WPos:')
numz = message[startpt:endpt]
units = "mm" #message[endpt+1:endpt+3]
valz = numz.split(",")
self.xval = float(valz[0])
self.yval = float(valz[1])
self.zval = float(valz[2])
if math.isnan(self.xval):
self.writeToTextConsole("Unable to resolve x Kinematics.")
self.xval = 0
if math.isnan(self.yval):
self.writeToTextConsole("Unable to resolve y Kinematics.")
self.yval = 0
if math.isnan(self.zval):
self.writeToTextConsole("Unable to resolve z Kinematics.")
self.zval = 0
except:
print "One Machine Position Report Command Misread"
return
self.frontpage.setPosReadout(self.xval, self.yval, self.zval)
self.frontpage.gcodecanvas.positionIndicator.setPos(self.xval,self.yval,self.data.units)
def setErrorOnScreen(self, message):
try:
startpt = message.find(':')+1
endpt = message.find(',', startpt)
leftErrorValueAsString = message[startpt:endpt]
leftErrorValueAsFloat = float(leftErrorValueAsString)
startpt = endpt + 1
endpt = message.find(',', startpt)
rightErrorValueAsString = message[startpt:endpt]
rightErrorValueAsFloat = float(rightErrorValueAsString)
if self.data.units == "INCHES":
rightErrorValueAsFloat = rightErrorValueAsFloat/25.4
leftErrorValueAsFloat = leftErrorValueAsFloat/25.4
avgError = (abs(leftErrorValueAsFloat) + abs(rightErrorValueAsFloat))/2
self.frontpage.gcodecanvas.positionIndicator.setError(0, self.data.units)
self.data.logger.writeErrorValueToLog(avgError)
self.frontpage.gcodecanvas.targetIndicator.setPos(self.xval - .5*rightErrorValueAsFloat + .5*leftErrorValueAsFloat, self.yval - .5*rightErrorValueAsFloat - .5*leftErrorValueAsFloat,self.data.units)
except:
print "Machine Position Report Command Misread Happened Once"
class GroundControlApp(App):
def get_application_config(self):
return super(GroundControlApp,
self).get_application_config('~/%(appname)s.ini')
json = '''
[
{
"type": "string",
"title": "Serial Connection",
"desc": "Select the COM port to connect to machine",
"section": "Maslow Settings",
"key": "COMport"
},
{
"type": "string",
"title": "Distance Between Motors",
"desc": "The horizontal distance between the center of the motor shafts in MM.\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "motorSpacingX"
},
{
"type": "string",
"title": "Work Area Width in MM",
"desc": "The width of the machine working area (normally 8 feet).\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "bedWidth"
},
{
"type": "string",
"title": "Work Area Height in MM",
"desc": "The Height of the machine working area (normally 4 feet).\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "bedHeight"
},
{
"type": "string",
"title": "Motor Offset Height in MM",
"desc": "The vertical distance from the edge of the work area to the level of the motors.\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "motorOffsetY"
},
{
"type": "string",
"title": "Distance Between Sled Mounting Points",
"desc": "The horizontal distance between the points where the chains mount to the sled.\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "sledWidth"
},
{
"type": "string",
"title": "Vertical Distance Sled Mounts to Cutter",
"desc": "The vertical distance between where the chains mount on the sled to the cutting tool.\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "sledHeight"
},
{
"type": "string",
"title": "Center Of Gravity",
"desc": "How far below the cutting bit is the center of gravity. This can be found by resting the sled on a round object and observing where it balances.\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "sledCG"
},
{
"type": "bool",
"title": "z-axis installed",
"desc": "Does the machine have an automatic z-axis?\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "zAxis"
},
{
"type": "string",
"title": "Z-Axis Pitch",
"desc": "The number of mm moved per rotation of the z-axis\\ndefault setting: %s",
"section": "Maslow Settings",
"key": "zDistPerRot"
},
{
"type": "options",
"title": "Color Scheme",
"desc": "Switch between the light and dark color schemes. Restarting GC is needed for this change to take effect\\ndefault setting: %s",
"options": ["Light", "Dark"],
"section": "Maslow Settings",
"key": "colorScheme"
},
{
"type": "string",
"title": "Open File",
"desc": "The path to the open file\\ndefault setting: your home directory",
"section": "Maslow Settings",
"key": "openFile"
},
{
"type": "string",
"title": "Macro 1",
"desc": "User defined gcode bound to the Macro 1 button",
"section": "Maslow Settings",
"key": "macro1"
},
{
"type": "string",
"title": "Macro 1 Title",
"desc": "User defined title for the Macro 1 button",
"section": "Maslow Settings",
"key": "macro1_title"
},
{
"type": "string",
"title": "Macro 2",
"desc": "User defined gcode bound to the Macro 2 button",
"section": "Maslow Settings",
"key": "macro2"
},
{
"type": "string",
"title": "Macro 2 Title",
"desc": "User defined title for the Macro 2 button",
"section": "Maslow Settings",
"key": "macro2_title"
}
]
''' % (
# global_variables._COMport,
global_variables._motorSpacingX,
global_variables._bedWidth,
global_variables._bedHeight,
global_variables._motorOffsetY,
global_variables._sledWidth,
global_variables._sledHeight,
global_variables._sledCG,
global_variables._zAxis,
global_variables._zDistPerRot,
global_variables._colorScheme)
advanced = '''
[
{
"type": "string",
"title": "Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the left or right motor\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "encoderSteps"
},
{
"type": "string",
"title": "Gear Teeth",
"desc": "The number of teeth on the gear of the left or right motor\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "gearTeeth"
},
{
"type": "string",
"title": "Chain Pitch",
"desc": "The distance between chain roller centers\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "chainPitch"
},
{
"type": "string",
"title": "Z-Axis Encoder Steps per Revolution",
"desc": "The number of encoder steps per revolution of the z-axis\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "zEncoderSteps"
},
{
"type": "bool",
"title": "Spindle Automation",
"desc": "Should the spindle start and stop automatically based on gcode? Leave off for default stepper control.\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "zAxisAuto"
},
{
"type": "string",
"title": "Home Position X Coordinate",
"desc": "The X coordinate of the home position\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "homeX"
},
{
"type": "string",
"title": "Home Position Y Coordinate",
"desc": "The X coordinate of the home position\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "homeY"
},
{
"type": "bool",
"title": "Truncate Floating Point Numbers",
"desc": "Truncate floating point numbers at the specified number of decimal places\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "truncate"
},
{
"type": "string",
"title": "Floating Point Precision",
"desc": "If truncate floating point numbers is enabled, the number of digits after the decimal place to preserve\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "digits"
},
{
"type": "options",
"title": "Kinematics Type",
"desc": "Switch between trapezoidal and triangular kinematics\\ndefault setting: %s",
"options": ["Quadrilateral", "Triangular"],
"section": "Advanced Settings",
"key": "kinematicsType"
},
{
"type": "string",
"title": "Rotation Radius for Triangular Kinematics",
"desc": "The distance between where the chains attach and the center of the router bit in mm\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "rotationRadius"
},
{
"type": "bool",
"title": "Enable Custom Positional PID Values",
"desc": "Enable using custom values for the positional PID controller. Turning this off will return to the default values\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "enablePosPIDValues"
},
{
"type": "string",
"title": "Kp Position",
"desc": "The proportional constant for the position PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KpPos"
},
{
"type": "string",
"title": "Ki Position",
"desc": "The integral constant for the position PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KiPos"
},
{
"type": "string",
"title": "Kd Position",
"desc": "The derivative constant for the position PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KdPos"
},
{
"type": "string",
"title": "Proportional Weighting",
"desc": "The ratio of Proportional on Error (1) to Proportional on Measure (0)\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "propWeight"
},
{
"type": "bool",
"title": "Enable Custom Velocity PID Values",
"desc": "Enable using custom values for the Velocity PID controller. Turning this off will return to the default values\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "enableVPIDValues"
},
{
"type": "string",
"title": "Kp Velocity",
"desc": "The proportional constant for the velocity PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KpV"
},
{
"type": "string",
"title": "Ki Velocity",
"desc": "The integral constant for the velocity PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KiV"
},
{
"type": "string",
"title": "Kd Velocity",
"desc": "The derivative constant for the velocity PID controller\\ndefault setting: %s",
"section": "Advanced Settings",
"key": "KdV"
}
]
''' % (global_variables._encoderSteps, global_variables._gearTeeth,
global_variables._chainPitch, global_variables._zEncoderSteps,
global_variables._zAxisAuto, global_variables._homeX,
global_variables._homeY, global_variables._truncate,
global_variables._digits, global_variables._kinematicsType,
global_variables._rotationRadius,
global_variables._enablePosPIDValues, global_variables._KpPos,
global_variables._KiPos, global_variables._KdPos,
global_variables._propWeight, global_variables._enableVPIDValues,
global_variables._KpV, global_variables._KiV, global_variables._KdV)
gcsettings = '''
[
{
"type": "bool",
"title": "Center Canvas on Window Resize",
"desc": "When resizing the window, automatically reset the Gcode canvas to be centered and zoomed out. Program must be restarted to take effect.\\ndefault setting: %s",
"section": "Ground Control Settings",
"key": "centerCanvasOnResize"
},
{
"type": "string",
"title": "Zoom In",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.\\ndefault setting: %s",
"section": "Ground Control Settings",
"key": "zoomIn"
},
{
"type": "string",
"title": "Zoom Out",
"desc": "Pressing this key will zoom in. Note combinations of keys like \'shift\' + \'=\' may not work as expected. Program must be restarted to take effect.\\ndefault setting: %s",
"section": "Ground Control Settings",
"key": "zoomOut"
},
{
"type": "string",
"title": "Valid File Extensions",
"desc": "Valid file extensions for Ground Control to open. Comma separated list.\\ndefault setting: %s",
"section": "Ground Control Settings",
"key": "validExtensions"
}
]
''' % (global_variables._centerCanvasOnResize, global_variables._zoomIn,
global_variables._zoomOut, global_variables._validExtensions)
def build(self):
interface = FloatLayout()
self.data = Data()
if self.config.get('Maslow Settings', 'colorScheme') == 'Light':
self.data.iconPath = './Images/Icons/normal/'
self.data.fontColor = '[color=7a7a7a]'
self.data.drawingColor = [.47, .47, .47]
Window.clearcolor = (1, 1, 1, 1)
self.data.posIndicatorColor = [0, 0, 0]
self.data.targetInicatorColor = [1, 0, 0]
elif self.config.get('Maslow Settings', 'colorScheme') == 'Dark':
self.data.iconPath = './Images/Icons/highvis/'
self.data.fontColor = '[color=000000]'
self.data.drawingColor = [1, 1, 1]
Window.clearcolor = (0, 0, 0, 1)
self.data.posIndicatorColor = [1, 1, 1]
self.data.targetInicatorColor = [1, 0, 0]
Window.maximize()
self.frontpage = FrontPage(self.data, name='FrontPage')
interface.add_widget(self.frontpage)
self.nonVisibleWidgets = NonVisibleWidgets()
'''
Load User Settings
'''
if self.config.get('Advanced Settings', 'encoderSteps') == '8148.0':
self.data.message_queue.put(
"Message: This update will adjust the the number of encoder pulses per rotation from 8,148 to 8,113 in your settings which improves the positional accuracy.\n\nPerforming a calibration will help you get the most out of this update."
)
self.config.set('Advanced Settings', 'encoderSteps', '8113.73')
self.config.write()
self.data.comport = self.config.get('Maslow Settings', 'COMport')
self.data.gcodeFile = self.config.get('Maslow Settings', 'openFile')
offsetX = float(self.config.get('Advanced Settings', 'homeX'))
offsetY = float(self.config.get('Advanced Settings', 'homeY'))
self.data.gcodeShift = [offsetX, offsetY]
self.data.config = self.config
'''
Initializations
'''
self.frontpage.setUpData(self.data)
self.nonVisibleWidgets.setUpData(self.data)
self.frontpage.gcodecanvas.initialize()
'''
Scheduling
'''
Clock.schedule_interval(self.runPeriodically, .01)
'''
Push settings to machine
'''
self.data.bind(connectionStatus=self.push_settings_to_machine)
self.data.pushSettings = self.push_settings_to_machine
return interface
def build_config(self, config):
"""
Set the default values for the config sections.
"""
config.setdefaults(
'Maslow Settings', {
'COMport': global_variables._COMport,
'zAxis': global_variables._zAxis,
'zDistPerRot': global_variables._zDistPerRot,
'bedWidth': global_variables._bedWidth,
'bedHeight': global_variables._bedHeight,
'motorOffsetY': global_variables._motorOffsetY,
'motorSpacingX': global_variables._motorSpacingX,
'sledWidth': global_variables._sledWidth,
'sledHeight': global_variables._sledHeight,
'sledCG': global_variables._sledCG,
'colorScheme': global_variables._colorScheme,
'openFile': global_variables._openFile,
'macro1': global_variables._macro1,
'macro1_title': global_variables._macro1_title,
'macro2': global_variables._macro2,
'macro2_title': global_variables._macro2_title
})
config.setdefaults(
'Advanced Settings', {
'encoderSteps': global_variables._encoderSteps,
'gearTeeth': global_variables._gearTeeth,
'chainPitch': global_variables._chainPitch,
'zEncoderSteps': global_variables._zEncoderSteps,
'zAxisAuto': global_variables._zAxisAuto,
'homeX': global_variables._homeX,
'homeY': global_variables._homeY,
'truncate': global_variables._truncate,
'digits': global_variables._digits,
'kinematicsType': global_variables._kinematicsType,
'rotationRadius': global_variables._rotationRadius,
'enablePosPIDValues': global_variables._enablePosPIDValues,
'KpPos': global_variables._KpPos,
'KiPos': global_variables._KiPos,
'KdPos': global_variables._KdPos,
'propWeight': global_variables._propWeight,
'enableVPIDValues': global_variables._enableVPIDValues,
'KpV': global_variables._KpV,
'KiV': global_variables._KiV,
'KdV': global_variables._KdV
})
config.setdefaults(
'Ground Control Settings', {
'centerCanvasOnResize': global_variables._centerCanvasOnResize,
'zoomIn': global_variables._zoomIn,
'zoomOut': global_variables._zoomOut,
'validExtensions': global_variables._validExtensions,
})
def build_settings(self, settings):
"""
Add custom section to the default configuration object.
"""
settings.add_json_panel('Maslow Settings', self.config, data=self.json)
settings.add_json_panel('Advanced Settings',
self.config,
data=self.advanced)
settings.add_json_panel('Ground Control Settings',
self.config,
data=self.gcsettings)
def on_config_change(self, config, section, key, value):
"""
Respond to changes in the configuration.
"""
if section == "Maslow Settings":
self.push_settings_to_machine()
if key == "COMport":
self.data.comport = value
if (key == "bedHeight" or key == "bedWidth"):
self.frontpage.gcodecanvas.drawWorkspace()
if (key == "macro1_title") or (key == "macro2_title"):
self.frontpage.update_macro_titles()
if section == "Advanced Settings":
self.push_settings_to_machine()
if (key == "truncate") or (key == "digits"):
self.frontpage.gcodecanvas.reloadGcode()
def push_settings_to_machine(self, *args):
#Push motor configuration settings to machine
if self.data.connectionStatus != 1:
return # only run on connection true
if int(self.data.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
KpPos = float(self.data.config.get('Advanced Settings', 'KpPos'))
KiPos = float(self.data.config.get('Advanced Settings', 'KiPos'))
KdPos = float(self.data.config.get('Advanced Settings', 'KdPos'))
propWeight = float(
self.data.config.get('Advanced Settings', 'propWeight'))
else:
KpPos = 1300
KiPos = 0
KdPos = 34
propWeight = 1
if int(self.data.config.get('Advanced Settings',
'enableVPIDValues')) == 1:
KpV = float(self.data.config.get('Advanced Settings', 'KpV'))
KiV = float(self.data.config.get('Advanced Settings', 'KiV'))
KdV = float(self.data.config.get('Advanced Settings', 'KdV'))
else:
KpV = 7
KiV = 0
KdV = .28
# Be pretty dumb about this, just push settings without checking to
# see what machine has
self.data.gcode_queue.put(
"$16=" + str(self.data.config.get('Maslow Settings', 'zAxis')))
self.data.gcode_queue.put(
"$12=" +
str(self.data.config.get('Advanced Settings', 'encoderSteps')))
distPerRot = float(
self.data.config.get('Advanced Settings', 'gearTeeth')) * float(
self.data.config.get('Advanced Settings', 'chainPitch'))
self.data.gcode_queue.put("$13=" + str(distPerRot))
self.data.gcode_queue.put(
"$19=" +
str(self.data.config.get('Maslow Settings', 'zDistPerRot')))
self.data.gcode_queue.put(
"$20=" +
str(self.data.config.get('Advanced Settings', 'zEncoderSteps')))
#main axes
self.data.gcode_queue.put("$21=" + str(KpPos))
self.data.gcode_queue.put("$22=" + str(KiPos))
self.data.gcode_queue.put("$23=" + str(KdPos))
self.data.gcode_queue.put("$24=" + str(propWeight))
self.data.gcode_queue.put("$25=" + str(KpV))
self.data.gcode_queue.put("$26=" + str(KiV))
self.data.gcode_queue.put("$27=" + str(KdV))
self.data.gcode_queue.put("$28=1.0")
#z axis
self.data.gcode_queue.put("$29=" + str(KpPos))
self.data.gcode_queue.put("$30=" + str(KiPos))
self.data.gcode_queue.put("$31=" + str(KdPos))
self.data.gcode_queue.put("$32=" + str(propWeight))
self.data.gcode_queue.put("$33=" + str(KpV))
self.data.gcode_queue.put("$34=" + str(KiV))
self.data.gcode_queue.put("$35=" + str(KdV))
self.data.gcode_queue.put("$36=1.0")
self.data.gcode_queue.put(
"$17=" +
str(self.data.config.get('Advanced Settings', 'zAxisAuto')))
#Push kinematics settings to machine
if self.data.config.get('Advanced Settings',
'kinematicsType') == 'Quadrilateral':
kinematicsType = 1
else:
kinematicsType = 2
self.data.gcode_queue.put(
"$0=" + str(self.data.config.get('Maslow Settings', 'bedWidth')))
self.data.gcode_queue.put(
"$1=" + str(self.data.config.get('Maslow Settings', 'bedHeight')))
self.data.gcode_queue.put(
"$2=" +
str(self.data.config.get('Maslow Settings', 'motorSpacingX')))
self.data.gcode_queue.put(
"$3=" +
str(self.data.config.get('Maslow Settings', 'motorOffsetY')))
self.data.gcode_queue.put(
"$4=" + str(self.data.config.get('Maslow Settings', 'sledWidth')))
self.data.gcode_queue.put(
"$5=" + str(self.data.config.get('Maslow Settings', 'sledHeight')))
self.data.gcode_queue.put(
"$6=" + str(self.data.config.get('Maslow Settings', 'sledCG')))
self.data.gcode_queue.put("$7=" + str(kinematicsType))
self.data.gcode_queue.put(
"$8=" +
str(self.data.config.get('Advanced Settings', 'rotationRadius')))
# Force kinematics recalibration
self.data.gcode_queue.put("$K")
'''
Update Functions
'''
def writeToTextConsole(self, message):
try:
newText = self.frontpage.consoleText[-500:] + message
self.frontpage.consoleText = newText
self.frontpage.textconsole.gotToBottom()
except:
self.frontpage.consoleText = "text not displayed correctly"
def runPeriodically(self, *args):
'''
this block should be handled within the appropriate widget
'''
while not self.data.message_queue.empty(
): #if there is new data to be read
message = self.data.message_queue.get()
if message[0] == "<":
self.setPosOnScreen(message)
elif message[0] == "[":
if message[1:4] == "PE:":
self.setErrorOnScreen(message)
elif message[1:8] == "Measure":
print "measure seen"
print message
measuredDist = float(message[9:len(message) - 3])
self.data.measureRequest(measuredDist)
elif message[0:13] == "Maslow Paused":
self.data.uploadFlag = 0
self.writeToTextConsole(message)
elif message[0:8] == "Message:":
self.previousUploadStatus = self.data.uploadFlag
self.data.uploadFlag = 0
try:
self._popup.dismiss() #close any open popup
except:
pass #there wasn't a popup to close
content = NotificationPopup(
continueOn=self.dismiss_popup_continue, text=message[9:])
if sys.platform.startswith('darwin'):
self._popup = Popup(title="Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(.3, .3))
else:
self._popup = Popup(title="Notification: ",
content=content,
auto_dismiss=False,
size=(360, 240),
size_hint=(None, None))
self._popup.open()
if global_variables._keyboard:
global_variables._keyboard.bind(
on_key_down=self.keydown_popup)
self._popup.bind(on_dismiss=self.ondismiss_popup)
elif message[0:8] == "Firmware":
self.data.logger.writeToLog("Ground Control Version " +
str(self.data.version) + "\n")
self.writeToTextConsole("Ground Control " +
str(self.data.version) + "\r\n" +
message + "\r\n")
#Check that version numbers match
if float(message[-7:]) < float(self.data.version):
self.data.message_queue.put(
"Message: Warning, your firmware is out of date and may not work correctly with this version of Ground Control\n\n"
+ "Ground Control Version " + str(self.data.version) +
"\r\n" + message)
if float(message[-7:]) > float(self.data.version):
self.data.message_queue.put(
"Message: Warning, your version of Ground Control is out of date and may not work with this firmware version\n\n"
+ "Ground Control Version " + str(self.data.version) +
"\r\n" + message)
elif message == "ok\r\n":
pass #displaying all the 'ok' messages clutters up the display
else:
self.writeToTextConsole(message)
def ondismiss_popup(self, event):
if global_variables._keyboard:
global_variables._keyboard.unbind(on_key_down=self.keydown_popup)
def keydown_popup(self, keyboard, keycode, text, modifiers):
if (keycode[1] == 'enter') or (keycode[1]
== 'numpadenter') or (keycode[1]
== 'escape'):
self.dismiss_popup_continue()
return True # always swallow keypresses since this is a modal dialog
def dismiss_popup_continue(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.quick_queue.put(
"~") #send cycle resume command to unpause the machine
self.data.uploadFlag = self.previousUploadStatus #resume cutting if the machine was cutting before
def dismiss_popup_hold(self):
'''
Close The Pop-up and continue cut
'''
self._popup.dismiss()
self.data.uploadFlag = 0 #stop cutting
def setPosOnScreen(self, message):
'''
This should be moved into the appropriate widget
'''
try:
startpt = message.find('MPos:') + 5
endpt = message.find('WPos:')
numz = message[startpt:endpt]
units = "mm" #message[endpt+1:endpt+3]
valz = numz.split(",")
self.xval = float(valz[0])
self.yval = float(valz[1])
self.zval = float(valz[2])
if math.isnan(self.xval):
self.writeToTextConsole("Unable to resolve x Kinematics.")
self.xval = 0
if math.isnan(self.yval):
self.writeToTextConsole("Unable to resolve y Kinematics.")
self.yval = 0
if math.isnan(self.zval):
self.writeToTextConsole("Unable to resolve z Kinematics.")
self.zval = 0
self.frontpage.setPosReadout(self.xval, self.yval, self.zval)
self.frontpage.gcodecanvas.positionIndicator.setPos(
self.xval, self.yval, self.data.units)
except:
print "One Machine Position Report Command Misread"
return
def setErrorOnScreen(self, message):
try:
startpt = message.find(':') + 1
endpt = message.find(',', startpt)
leftErrorValueAsString = message[startpt:endpt]
leftErrorValueAsFloat = float(leftErrorValueAsString)
startpt = endpt + 1
endpt = message.find(',', startpt)
rightErrorValueAsString = message[startpt:endpt]
rightErrorValueAsFloat = float(rightErrorValueAsString)
if self.data.units == "INCHES":
rightErrorValueAsFloat = rightErrorValueAsFloat / 25.4
leftErrorValueAsFloat = leftErrorValueAsFloat / 25.4
avgError = (abs(leftErrorValueAsFloat) +
abs(rightErrorValueAsFloat)) / 2
self.frontpage.gcodecanvas.positionIndicator.setError(
0, self.data.units)
self.data.logger.writeErrorValueToLog(avgError)
self.frontpage.gcodecanvas.targetIndicator.setPos(
self.xval - .5 * rightErrorValueAsFloat +
.5 * leftErrorValueAsFloat, self.yval -
.5 * rightErrorValueAsFloat - .5 * leftErrorValueAsFloat,
self.data.units)
except:
print "Machine Position Report Command Misread Happened Once"
