def test_can_change_transformer(self):
samples_per_second = 4
laser_size = 0.5
path2audio = PathToPoints(samples_per_second, self.transformer, laser_size)
path2audio.set_transformer(TuningTransformer())
expected = numpy.array([[1.0, 1.0], [1.0, 1.0]])
actual = path2audio.process([1.0, 1.0, 1.0], [1.0, 1.0, 1.0], 1.0)
self.assertNumpyArrayClose(expected, actual)
def test_can_change_transformer(self):
samples_per_second = 4
laser_size = 0.5
path2audio = PathToPoints(samples_per_second, self.transformer,
laser_size)
path2audio.set_transformer(TuningTransformer())
expected = numpy.array([[1.0, 1.0], [1.0, 1.0]])
actual = path2audio.process([1.0, 1.0, 1.0], [1.0, 1.0, 1.0], 1.0)
self.assertNumpyArrayClose(expected, actual)
class CalibrationAPI(object):
'''The calibration API proivides the tools required to setup a Peacy Printer'''
def __init__(self, configuration_manager):
logger.info("Calibartion API Startup")
self._configuration_manager = configuration_manager
self._configuration = self._configuration_manager.load()
self._point_generator = SinglePointGenerator()
self._blink_generator = BlinkGenerator()
self._orientaiton_generator = OrientationGenerator()
self._alignment_generator = CalibrationLineGenerator()
self._scale_generator = ScaleGenerator(speed=2.0, radius=1.0)
self._test_patterns = {
'Hilbert Space Filling Curve': HilbertGenerator(),
'Square': SquareGenerator(),
'Circle': CircleGenerator(),
'Spiral': SpiralGenerator(),
'Memory Hourglass': MemoryHourglassGenerator(),
'Damping Test': DampingTestGenerator(),
'NESW': NESWGenerator(),
'Twitch': TwitchGenerator(),
}
self._current_generator = self._point_generator
self._laser_control = LaserControl(self._configuration.cure_rate.override_laser_power_amount)
transformer = TuningTransformer(scale=self._configuration.calibration.max_deflection)
self._controller = None
logger.debug("Setting up audiowriter")
self._current_generator = self._point_generator
self._state = MachineState()
self._status = MachineStatus()
self._communicator = UsbPacketCommunicator(self._configuration.circut.calibration_queue_length)
self._communicator.start()
self._disseminator = MicroDisseminator(
self._laser_control,
self._communicator,
self._configuration.circut.data_rate
)
self._path_to_points = PathToPoints(
self._disseminator.samples_per_second,
transformer,
self._configuration.options.laser_thickness_mm
)
post_fire_delay_speed = None
slew_delay_speed = None
if self._configuration.options.post_fire_delay:
post_fire_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.post_fire_delay) / 1000.0)
if self._configuration.options.slew_delay:
slew_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.slew_delay) / 1000.0)
self._writer = LayerWriter(
self._disseminator,
self._path_to_points,
self._laser_control,
self._state,
post_fire_delay_speed=post_fire_delay_speed,
slew_delay_speed=slew_delay_speed
)
self._layer_processing = LayerProcessing(
self._writer,
self._state,
self._status,
)
self._controller = Controller(
self._writer,
self._layer_processing,
self._current_generator,
self._status,
abort_on_error=False,
)
self.make_pattern_fit()
self._controller.start()
def subscribe_to_status(self, callback):
'''Provides ability to subscribe to a printer safety status message (PrinterStatusMessage)'''
self._communicator.register_handler(PrinterStatusMessage, callback)
def set_print_area(self, width, height, depth):
'''Set the print area (width, height, depth) in mm'''
self._configuration.calibration.print_area_x = width
self._configuration.calibration.print_area_y = height
self._configuration.calibration.print_area_z = depth
self._save()
def get_print_area(self):
'''Gets the print area (width, height, depth) in mm'''
return (self._configuration.calibration.print_area_x, self._configuration.calibration.print_area_y, self._configuration.calibration.print_area_z)
def set_orientation(self, x_flip, yflip, swap_axis):
'''Allows for compensation of coil hook up by flipping and reversing axis'''
self._configuration.calibration.flip_x_axis = x_flip
self._configuration.calibration.flip_y_axis = yflip
self._configuration.calibration.swap_axis = swap_axis
self._save()
def get_orientation(self):
'''Gets the compensation for coil hook up returns tuple3 of booleans (flip x axis, flip y axis, swap axis) '''
return (self._configuration.calibration.flip_x_axis, self._configuration.calibration.flip_y_axis, self._configuration.calibration.swap_axis)
def show_point(self, xyz=[0.5, 0.5, 0.5]):
'''Used to show a single point with no calibration applied'''
# logger.info('Showing point')
x, y, z = xyz
self._point_generator.xy = [x, y]
if (self._current_generator != self._point_generator):
self._unapply_calibration()
self._update_generator(self._point_generator)
def show_blink(self, xyz=[0.5, 0.5, 0.0]):
'''Used to show a blinking point with no calibration applied used for aligning on and off laser posisition'''
logger.info('Showing blink')
x, y, z = xyz
self._blink_generator.xy = [x, y]
if (self._current_generator != self._blink_generator):
self._unapply_calibration()
self._update_generator(self._blink_generator)
def show_orientation(self):
'''Used to show pattern with no calibration applied used for determining orientation'''
logger.info('Showing Orientation')
if (self._current_generator != self._orientaiton_generator):
self._unapply_calibration()
self._update_generator(self._orientaiton_generator)
def show_line(self):
'''Used to show a single line on one axis used to line up calibration grid'''
logger.info('Showing line')
self._unapply_calibration()
self._update_generator(self._alignment_generator)
def show_test_pattern(self, pattern):
'''Used to show a test pattern with calibration applied'''
logger.info('Showing test pattern %s' % pattern)
if pattern in self._test_patterns.keys():
self._apply_calibration()
self._update_generator(self._test_patterns[pattern])
else:
logger.error('Pattern: %s does not exist' % pattern)
raise Exception('Pattern: %s does not exist' % pattern)
def show_scale(self):
'''Shows the scale square'''
logger.info('Showing scale')
self._unapply_calibration()
self._update_generator(self._scale_generator)
def get_max_deflection(self):
'''Gets the maximum allowable deflection of the mirrors as percentage'''
return self._configuration.calibration.max_deflection
def set_max_deflection(self, deflection):
'''Sets the maximum allowable deflection of the mirrors as percentage'''
self._configuration.calibration.max_deflection = deflection
self._unapply_calibration()
self._save()
def set_laser_off_override(self, state):
'''Allows user so force the laser on'''
self._controller.laser_off_override = state
def set_test_pattern_speed(self, speed):
'''Changes the speed at which the test pattern is drawn in mm/sec'''
[pattern.set_speed(speed) for pattern in self._test_patterns.values()]
def set_test_pattern_current_height(self, current_height):
'''Changes the height at which the test pattern is drawn in mm'''
[pattern.set_current_height(current_height) for pattern in self._test_patterns.values()]
def get_test_patterns(self):
'''returns a list of test patterns'''
return self._test_patterns.keys()
def current_calibration(self):
'''Returns the current calibration for the printer'''
return self._configuration.calibration
def save_points(self, height, lower_points, upper_points):
'''deprecated use set_lower_points and set_upper_points, set_height'''
self.set_lower_points(lower_points)
self.set_upper_points(upper_points)
self.set_height(height)
def get_lower_points(self):
'''Gets the lower calibration points'''
return self._configuration.calibration.lower_points
def set_lower_points(self, lower_points):
'''Set and saves the suppliled lower calibration'''
self._configuration.calibration.lower_points = lower_points
self._save()
def get_upper_points(self):
'''Gets the upper calibration points'''
return self._configuration.calibration.upper_points
def set_upper_points(self, upper_points):
'''Set and saves the suppliled upper calibration'''
self._configuration.calibration.upper_points = upper_points
self._save()
def get_height(self):
'''Gets the calibration height'''
return self._configuration.calibration.height
def set_height(self, height):
'''Set and saves the upper calibration height'''
self._configuration.calibration.height = height
self._save()
def _save(self):
self._configuration_manager.save(self._configuration)
self.make_pattern_fit()
# deprecated
def make_pattern_fit(self):
for pattern in self._test_patterns.values():
pattern.set_radius(self.get_largest_object_radius())
def close(self):
'''Must be called before shutting down applications'''
self._controller.close()
def _update_generator(self, generator):
self._current_generator = generator
self._controller.change_generator(self._current_generator)
def _apply_calibration(self):
self._path_to_points.set_transformer(
HomogenousTransformer(
self._configuration.calibration.max_deflection,
self._configuration.calibration.height,
self._configuration.calibration.lower_points,
self._configuration.calibration.upper_points
)
)
def _unapply_calibration(self):
self._path_to_points.set_transformer(
TuningTransformer(scale=self._configuration.calibration.max_deflection))
def _validate_points(self, points):
if (len(points) != 4):
return False
return True
def get_largest_object_radius(self):
'''Based on current calibrations_gets_maximum_size_of_object at the base layer'''
lowest = None
for (x, y) in self._configuration.calibration.lower_points.values():
if not lowest or abs(x) < lowest:
lowest = abs(x)
if abs(y) < lowest:
lowest = abs(y)
logger.info("Calulated max radius of object as: %s mm" % lowest)
return lowest
def stop(self):
'''Stops the calibaration interactivity'''
self._controller.stop()
class CalibrationAPI(object):
def __init__(self, configuration_manager):
logger.info("Calibartion API Startup")
self._configuration_manager = configuration_manager
self._configuration = self._configuration_manager.load()
self._point_generator = SinglePointGenerator()
self._blink_generator = BlinkGenerator()
self._orientaiton_generator = OrientationGenerator()
self._alignment_generator = CalibrationLineGenerator()
self._scale_generator = ScaleGenerator(speed=2.0, radius=1.0)
self._test_patterns = {
'Hilbert Space Filling Curve': HilbertGenerator(),
'Square': SquareGenerator(),
'Circle': CircleGenerator(),
'Spiral': SpiralGenerator(),
'Memory Hourglass': MemoryHourglassGenerator(),
'Damping Test': DampingTestGenerator(),
'NESW': NESWGenerator(),
'Twitch': TwitchGenerator(),
}
self._current_generator = self._point_generator
self._laser_control = LaserControl(self._configuration.cure_rate.override_laser_power_amount)
transformer = TuningTransformer(scale=self._configuration.calibration.max_deflection)
self._controller = None
logger.debug("Setting up audiowriter")
self._current_generator = self._point_generator
self._state = MachineState()
self._status = MachineStatus()
self._communicator = UsbPacketCommunicator(self._configuration.circut.calibration_queue_length)
self._communicator.start()
self._disseminator = MicroDisseminator(
self._laser_control,
self._communicator,
self._configuration.circut.data_rate
)
self._path_to_points = PathToPoints(
self._disseminator.samples_per_second,
transformer,
self._configuration.options.laser_thickness_mm
)
post_fire_delay_speed = None
slew_delay_speed = None
if self._configuration.options.post_fire_delay:
post_fire_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.post_fire_delay) / 1000.0)
if self._configuration.options.slew_delay:
slew_delay_speed = self._configuration.options.laser_thickness_mm / (float(self._configuration.options.slew_delay) / 1000.0)
self._writer = LayerWriter(
self._disseminator,
self._path_to_points,
self._laser_control,
self._state,
post_fire_delay_speed=post_fire_delay_speed,
slew_delay_speed=slew_delay_speed
)
self._layer_processing = LayerProcessing(
self._writer,
self._state,
self._status,
)
self._controller = Controller(
self._writer,
self._layer_processing,
self._current_generator,
self._status,
abort_on_error=False,
)
self.make_pattern_fit()
self._controller.start()
def set_print_area(self, width, height, depth):
self._configuration.calibration.print_area_x = width
self._configuration.calibration.print_area_y = height
self._configuration.calibration.print_area_z = depth
self._save()
def get_print_area(self):
return (self._configuration.calibration.print_area_x, self._configuration.calibration.print_area_y, self._configuration.calibration.print_area_z)
def set_orientation(self, x_flip, yflip, swap_axis):
self._configuration.calibration.flip_x_axis = x_flip
self._configuration.calibration.flip_y_axis = yflip
self._configuration.calibration.swap_axis = swap_axis
self._save()
def get_orientation(self):
return (self._configuration.calibration.flip_x_axis, self._configuration.calibration.flip_y_axis, self._configuration.calibration.swap_axis)
'''Used to show a single point with no calibration applied'''
def show_point(self, xyz=[0.5, 0.5, 0.5]):
# logger.info('Showing point')
x, y, z = xyz
self._point_generator.xy = [x, y]
if (self._current_generator != self._point_generator):
self._unapply_calibration()
self._update_generator(self._point_generator)
'''Used to show a blinking point with no calibration applied used for aligning on and off laser posisition'''
def show_blink(self, xyz=[0.5, 0.5, 0.0]):
logger.info('Showing blink')
x, y, z = xyz
self._blink_generator.xy = [x, y]
if (self._current_generator != self._blink_generator):
self._unapply_calibration()
self._update_generator(self._blink_generator)
'''Used to show pattern with no calibration applied used for determining orientation'''
def show_orientation(self):
logger.info('Showing Orientation')
if (self._current_generator != self._orientaiton_generator):
self._unapply_calibration()
self._update_generator(self._orientaiton_generator)
'''Used to show a single line on one axis used to line up calibration grid'''
def show_line(self):
logger.info('Showing line')
self._unapply_calibration()
self._update_generator(self._alignment_generator)
'''Used to show a test pattern with calibration applied'''
def show_test_pattern(self, pattern):
logger.info('Showing test pattern %s' % pattern)
if pattern in self._test_patterns.keys():
self._apply_calibration()
self._update_generator(self._test_patterns[pattern])
else:
logger.error('Pattern: %s does not exist' % pattern)
raise Exception('Pattern: %s does not exist' % pattern)
'''Shows the scale square'''
def show_scale(self):
logger.info('Showing scale')
self._unapply_calibration()
self._update_generator(self._scale_generator)
def get_max_deflection(self):
return self._configuration.calibration.max_deflection
def set_max_deflection(self, deflection):
self._configuration.calibration.max_deflection = deflection
self._unapply_calibration()
self._save()
'''Allows user so force the laser on'''
def set_laser_off_override(self, state):
self._controller.laser_off_override = state
'''Changes the speed at which the test pattern is drawn in mm/sec'''
def set_test_pattern_speed(self, speed):
[pattern.set_speed(speed) for pattern in self._test_patterns.values()]
'''Changes the height at which the test pattern is drawn in mm'''
def set_test_pattern_current_height(self, current_height):
[pattern.set_current_height(current_height) for pattern in self._test_patterns.values()]
'''returns a list of test patterns'''
def get_test_patterns(self):
return self._test_patterns.keys()
'''Returns the current calibration for the printer'''
def current_calibration(self):
return self._configuration.calibration
'''deprecated use set_lower_points and set_upper_points, set_height'''
def save_points(self, height, lower_points, upper_points):
self.set_lower_points(lower_points)
self.set_upper_points(upper_points)
self.set_height(height)
'''Gets the lower calibration points'''
def get_lower_points(self):
return self._configuration.calibration.lower_points
'''Set and saves the suppliled lower calibration'''
def set_lower_points(self, lower_points):
self._configuration.calibration.lower_points = lower_points
self._save()
'''Gets the upper calibration points'''
def get_upper_points(self):
return self._configuration.calibration.upper_points
'''Set and saves the suppliled upper calibration'''
def set_upper_points(self, upper_points):
self._configuration.calibration.upper_points = upper_points
self._save()
'''Gets the calibration height'''
def get_height(self):
return self._configuration.calibration.height
'''Set and saves the upper calibration height'''
def set_height(self, height):
self._configuration.calibration.height = height
self._save()
def _save(self):
self._configuration_manager.save(self._configuration)
self.make_pattern_fit()
# deprecated
def make_pattern_fit(self):
for pattern in self._test_patterns.values():
pattern.set_radius(self.get_largest_object_radius())
'''Must be called before shutting down applications'''
def close(self):
self._controller.close()
def _update_generator(self, generator):
self._current_generator = generator
self._controller.change_generator(self._current_generator)
def _apply_calibration(self):
self._path_to_points.set_transformer(
HomogenousTransformer(
self._configuration.calibration.max_deflection,
self._configuration.calibration.height,
self._configuration.calibration.lower_points,
self._configuration.calibration.upper_points
)
)
def _unapply_calibration(self):
self._path_to_points.set_transformer(
TuningTransformer(scale=self._configuration.calibration.max_deflection))
def _validate_points(self, points):
if (len(points) != 4):
return False
return True
'''Based on current calibrations_gets_maximum_size_of_object at the base layer'''
def get_largest_object_radius(self):
lowest = None
for (x, y) in self._configuration.calibration.lower_points.values():
if not lowest or abs(x) < lowest:
lowest = abs(x)
if abs(y) < lowest:
lowest = abs(y)
logger.info("Calulated max radius of object as: %s mm" % lowest)
return lowest
def stop(self):
self._controller.stop()
