def send(code, ifile, device, baudrate, measure, yes, noopt, stats, zero):
if not ifile and not code:
print("Need either file or code")
return -1
if ifile:
code = ifile.read()
else:
code = "\n".join(code.split(";"))
codes = parse_and_optimize(code, noopt)
absolute = GStatement(GCode("G", 90))
spindle_start = GStatement(GCode("M", 3))
codes.insert(0, absolute)
codes.insert(0, spindle_start)
if measure == "metric":
adjust = GCode("G", 21)
else:
adjust = GCode("G", 20)
codes.insert(0, GStatement(adjust))
if zero:
zero = GStatement(GCode("G", 0), GCode("Z", 0), GCode("X", 0), GCode("Y", 0))
codes.append(zero)
codes.append(GStatement(GCode("M", 5)))
if stats:
print(generate_stats(codes), file=sys.stderr)
if not yes:
print()
x = None
while x != "y":
x = raw_input("Start? (y/n) ")
if x == "n":
print("Aborting")
return -1
cnc = CNC(device, baudrate)
cnc.add_codes(*codes)
cnc.onprogress, cnc.oncomplete = make_progressbar(len(cnc), "Buffer: ")
cnc.onalarm = lambda x: print("\nalarm: %s, %s" % (x, cnc.cur))
cnc.onerror = lambda x: print("\nerror: %s, %s" % (x, cnc.cur))
try:
cnc.connect()
cnc.send_queue()
except KeyboardInterrupt:
print()
print("Interrupted")
print("Raising position alarm")
cnc.halt()
return -1
return 0
def main(tools = [1] * 8, step = 1, is_error = False):
cnc_arr = [CNC(i+1, tools[i], is_error) for i in range(0,8)]
rgv = RGV()
work_num = 1
for i in range(0, 8*60*60):
if rgv.state == 0:
# 检查是否持有物料
if rgv.target_work == None:
rgv.target_work = Work(work_num,step)
work_num = work_num + 1
# 筛选故障cnc和不同加工工序的cnc
temp_cnc_arr = []
for cnc in cnc_arr:
if cnc.trouble_time != 0:
continue
if rgv.target_work.step + 1 == cnc.tool:
temp_cnc_arr.append(cnc)
# 打擂找出最佳目标cnc
min_time = float('inf')
best_cnc = None
if get_has_minus(temp_cnc_arr,rgv):
# 有负数情况
for cnc in temp_cnc_arr:
# 去除所有正数
if cnc.work_timer - get_move_time(cnc.position, rgv.position) > 0:
continue
# 求出放置移动时间加上下料时间最小的数
place_time = k_even_place_time if cnc.num % 2 == 0 else k_odd_place_time
if get_move_time(cnc.position, rgv.position) + place_time < min_time:
min_time = get_move_time(cnc.position, rgv.position) + place_time
best_cnc = cnc
else:
# 全为正数
# 求出剩余工作时间加上上下料时间最短
for cnc in temp_cnc_arr:
place_time = k_even_place_time if cnc.num % 2 == 0 else k_odd_place_time
temp_time = cnc.work_timer + place_time
if temp_time < min_time:
min_time = temp_time
best_cnc = cnc
# 未找到最佳cnc则退出
if not best_cnc:return (rgv,cnc_arr)
# 对rgv下达指令
rgv.move_to_position(best_cnc.position)
if best_cnc.work_timer > 0:
rgv.wait()
else:
rgv.place(best_cnc)
# cnc,rgv 执行指令
for cnc in cnc_arr:cnc.execute()
rgv.execute()
return (rgv,cnc_arr)
def buildModel(self):
cnc = CNC(self.settings.acceleration, self.settings.layerheight)
if RECORD_TIMES:
self.log("recording g code times in /tmp/gcodeTimes")
fp = open("/tmp/gcodeTimes", "w")
ln = -1
for gl in self.gcode:
ln += 1
p = re.split("\\s+", gl, 1)
params = {}
if not (p[0].strip() in ["M117", "m117"]):
if len(p) >= 2:
self.paramStr = p[1]
if "X" in self.paramStr:
params["X"] = self._get_float("X")
if "Y" in self.paramStr:
params["Y"] = self._get_float("Y")
if "Z" in self.paramStr:
params["Z"] = self._get_float("Z")
if "E" in self.paramStr:
params["E"] = self._get_float("E")
if "F" in self.paramStr:
params["F"] = self._get_float("F")
if "S" in self.paramStr:
params["S"] = self._get_float("S")
if "P" in self.paramStr:
params["P"] = self._get_float("P")
t = cnc.execute(p[0], params, ln)
if RECORD_TIMES:
fp.write("(%s) (%.3f)\n" % (gl, t))
if RECORD_TIMES:
fp.close()
gobj = cnc.getGObject()
gobj.setMaxLine(ln)
self.maxTool = cnc.getMaxTool()
self.totalTime, self.layerTimes = cnc.getTimes()
self.layerMap = []
for lx in range(len(gobj)):
self.layerMap.append(gobj.getGCodeLines(lx))
self.totalTimeStr = formatElapsed(self.totalTime)
self.layerTimeStr = [formatElapsed(s) for s in self.layerTimes]
return gobj
def buildModel(self):
rgcode = [s.rstrip() for s in self.gcode]
cnc = CNC(self.settings.acceleration, self.settings.layerheight)
ln = -1
for gl in rgcode:
ln += 1
if ";" in gl:
gl = gl.split(";")[0]
if gl.strip() == "":
continue
p = re.split("\\s+", gl, 1)
params = {}
if not (p[0].strip() in ["M117", "m117"]):
if len(p) >= 2:
self.paramStr = p[1]
if "X" in self.paramStr:
params["X"] = self._get_float("X")
if "Y" in self.paramStr:
params["Y"] = self._get_float("Y")
if "Z" in self.paramStr:
params["Z"] = self._get_float("Z")
if "E" in self.paramStr:
params["E"] = self._get_float("E")
if "F" in self.paramStr:
params["F"] = self._get_float("F")
if "S" in self.paramStr:
params["S"] = self._get_float("S")
cnc.execute(p[0], params, ln)
gobj = cnc.getGObject()
gobj.setMaxLine(ln)
self.totalTime, self.layerTimes = cnc.getTimes()
self.totalTimeStr = formatElapsed(self.totalTime)
self.layerTimeStr = [formatElapsed(s) for s in self.layerTimes]
return gobj
def __clean_data(self):
self.path = [] # 当前蚂蚁的路径
self.total_distance = 0.0 # 当前路径的总距离
self.move_count = 0 # 移动次数
self.current_city = -1 # 当前停留的城市
# self.open_table_city = [True for i in xrange(city_num)] # 探索城市的状态
city_index = random.randint(0, 1) # 随机初始出生点 因为rgv是固定0或1位置出发]
self.current_city = city_index
self.path.append(city_index)
# self.open_table_city[city_index] = False
self.move_count = 1
self.available_cnc = [i for i in range(0, 8)]
self.clock = 0
self.cncs = []
for i in range(0, 8):
self.cncs.append(CNC(time_process_single, time_process_single))
app["cnc"].poll()
except:
log.warning("error handle request")
log.warning(traceback.format_exc())
await asyncio.sleep(seconds)
loop = asyncio.get_event_loop()
app = web.Application(loop=loop)
app.add_routes([
web.get("/", index),
web.get("/ws", websocket),
])
app.router.add_static("/", path="./static")
app["loop"] = loop
asyncio.ensure_future(periodic(app, 1.0), loop=loop)
with open("config.json", "r") as f:
config = json.load(f)
try:
port = int(sys.argv[sys.argv.index("--port") + 1])
except:
port = 8080
with CNC(config, dummy="--dummy" in sys.argv) as cnc:
app["cnc"] = cnc
web.run_app(app, port=port)
def alarm(device, baudrate):
cnc = CNC(device, baudrate)
cnc.connect()
cnc.halt()
def send(code, ifile, device, baudrate, measure, yes, noopt, stats, zero):
if not ifile and not code:
print("Need either file or code")
return -1
if ifile:
code = ifile.read()
else:
code = '\n'.join(code.split(';'))
codes = parse_and_optimize(code, noopt)
absolute = GStatement(GCode('G', 90))
spindle_start = GStatement(GCode('M', 3))
codes.insert(0, absolute)
codes.insert(0, spindle_start)
if measure == 'metric':
adjust = GCode('G', 21)
else:
adjust = GCode('G', 20)
codes.insert(0, GStatement(adjust))
if zero:
zero = GStatement(GCode('G', 0), GCode('Z', 0), GCode('X', 0),
GCode('Y', 0))
codes.append(zero)
codes.append(GStatement(GCode('M', 5)))
if stats:
print(generate_stats(codes), file=sys.stderr)
if not yes:
print()
x = None
while x != 'y':
x = raw_input('Start? (y/n) ')
if x == 'n':
print('Aborting')
return -1
cnc = CNC(device, baudrate)
cnc.add_codes(*codes)
cnc.onprogress, cnc.oncomplete = make_progressbar(len(cnc), 'Buffer: ')
cnc.onalarm = lambda x: print('\nalarm: %s, %s' % (x, cnc.cur))
cnc.onerror = lambda x: print('\nerror: %s, %s' % (x, cnc.cur))
try:
cnc.connect()
cnc.send_queue()
except KeyboardInterrupt:
print()
print('Interrupted')
print('Raising position alarm')
cnc.halt()
return -1
return 0
def alarm(device, baudrate):
cnc = CNC(device, baudrate)
cnc.connect()
cnc.halt()
