def __init__(self,scanWidth=1,scanLength=1,resolution=1,passes=1,filePath=None,saveScan=False):
Task.__init__(self,"scan")
self.logger=logging.getLogger("dobozweb.core.Automation.ScanTask")
self.logger.setLevel(logging.ERROR)
self.width=scanWidth
self.length=scanLength
self.resolution=resolution
self.filePath=filePath
self.saveScan=saveScan
self.pointCloud=PointCloud()
self.pointCloudBuilder=PointCloudBuilder(resolution=resolution,width=scanWidth,length=scanLength,passes=passes)
totalPoints=(int(scanWidth/resolution)+1)*(int(scanLength/resolution)+1)*passes
self.logger.info("Total scan points %d",totalPoints)
self.progressFraction=float(100.00/float(totalPoints))
self.logger.info("Progress Fraction set by scan to %s",str(self.progressFraction))
self.logger.critical("Task Init Done")
class ScanTask(Task):
"""For all things related to the scanning """
def __init__(self,scanWidth=1,scanLength=1,resolution=1,passes=1,filePath=None,saveScan=False):
Task.__init__(self,"scan")
self.logger=logging.getLogger("dobozweb.core.Automation.ScanTask")
self.logger.setLevel(logging.ERROR)
self.width=scanWidth
self.length=scanLength
self.resolution=resolution
self.filePath=filePath
self.saveScan=saveScan
self.pointCloud=PointCloud()
self.pointCloudBuilder=PointCloudBuilder(resolution=resolution,width=scanWidth,length=scanLength,passes=passes)
totalPoints=(int(scanWidth/resolution)+1)*(int(scanLength/resolution)+1)*passes
self.logger.info("Total scan points %d",totalPoints)
self.progressFraction=float(100.00/float(totalPoints))
self.logger.info("Progress Fraction set by scan to %s",str(self.progressFraction))
self.logger.critical("Task Init Done")
def __str__(self):
string='{"id": "%s", "type": "%s", "width": %s, "height":%f, "resolution": %s}' %(str(self.id), self.type,self.width,self.length,self.resolution)
return string
def connect(self,connector):
self.connector=connector
if hasattr(self.connector, 'events'):
self.connector.events.OnDataRecieved+=self._data_recieved
# self.connector.events.OnDisconnected+=self.on_connector_disconnect
# self.connector.events.OnReconnected+=self.on_connector_reconnect
def disconnect(self):
"""Dsiconnected the task from the connector: to remove event handling """
self.connector.events.OnDataRecieved-=self._data_recieved
self.connector=None
def start(self):
self.status="SR"#actual first start
self.events.OnEntered(self,"Entered")
#######################
#Initialize base position
self.connector.send_command("G21")
self.connector.send_command("G90")
self.connector.send_command("G92")
ptBld=self.pointCloudBuilder.currentPoint
self.connector.send_command("G1 X"+str(ptBld.x)+" Y"+str(ptBld.y))
def stop(self):
self.status="NP"
self.events.OnExited(self,"OnExited")
def _do_action_step(self):
#move the printhead , ask for scan, wait for answer
if not self.pointCloudBuilder.finished:
self.progress+=self.progressFraction
ptBld=self.pointCloudBuilder.currentPoint
ptStr="G1 X"+str(ptBld.x)+" Y"+str(ptBld.y)
self.connector.send_command(ptStr)
else:
self.progress=100
self.pointCloud=self.pointCloudBuilder.pointCloud
self.status="F"#finished
if self.saveScan:
if self.filePath:
self.pointCloud.save(self.filePath)
else:
pass
self.connector.send_command("G1 X0 Y0")
self.totalTime+=time.time()-self.startTime
self.startTime=time.time()
def _data_recieved(self,args,kargs):
"""
Function that gets called each time a new serial event is recieved.
If the last command was confirmed, move to next position and get height info
"""
self.logger.info("event recieved from reprap %s",str(kargs))
if self.status!="F":
if "ok" in kargs:
if "height" in kargs:
try:
height=float(kargs.split(' ')[2])
height=height/50
self.logger.info("Scan thing %s",str(height))
#self.events.OnScanHeightRecieved(height)
self.pointCloudBuilder.add_point(height)
self.logger.critical("current point %s",str(self.pointCloudBuilder.currentPoint))
self.pointCloudBuilder.next_point_continuous()
self.pointCloud=self.pointCloudBuilder.pointCloud
except:
pass
if self.status!="NP" and self.status!="SP":
self._do_action_step()
else:
if not "G92" in kargs and not "G90" in kargs and not "G21" in kargs and "G1" in kargs and self.status!="NP" and self.status!="SP" :
self.connector.send_command("M180")
else:
if "ok" in kargs and "G1" in kargs:
self.events.OnExited(self,"OnExited")