Exemplo n.º 1
0
    def __encode(self, block):
        type, id = block['type'], block['id']

        if type != 'set': log.info('Cmd:' + log_json(block))

        if type == 'line':
            self._enqueue_line_time(block)
            return Cmd.line(block['target'], block['exit-vel'],
                            block['max-accel'], block['max-jerk'],
                            block['times'], block.get('speeds', []))

        if type == 'set':
            name, value = block['name'], block['value']

            if name == 'message':
                msg = dict(message=value)
                self.cmdq.enqueue(id, self.ctrl.msgs.broadcast, msg)

            if name in ['line', 'tool']: self._enqueue_set_cmd(id, name, value)
            if name == 'speed': return Cmd.speed(value)

            if len(name) and name[0] == '_':
                # Don't queue axis positions, can be triggered by new position
                if len(name) != 2 or name[1] not in 'xyzabc':
                    self._enqueue_set_cmd(id, name[1:], value)

            if name == '_feed':  # Must come after _enqueue_set_cmd() above
                return Cmd.set_sync('if', 1 / value if value else 0)

            if name[0:1] == '_' and name[1:2] in 'xyzabc':
                if name[2:] == '_home': return Cmd.set_axis(name[1], value)

                if name[2:] == '_homed':
                    motor = self.ctrl.state.find_motor(name[1])
                    if motor is not None:
                        return Cmd.set_sync('%dh' % motor, value)

            return

        if type == 'input':
            # TODO handle timeout
            self.planner.synchronize(0)  # TODO Fix this
            return Cmd.input(block['port'], block['mode'], block['timeout'])

        if type == 'output':
            return Cmd.output(block['port'], int(float(block['value'])))

        if type == 'dwell':
            self._enqueue_dwell_time(block)
            return Cmd.dwell(block['seconds'])

        if type == 'pause': return Cmd.pause(block['pause-type'])

        if type == 'seek':
            return Cmd.seek(block['switch'], block['active'], block['error'])

        if type == 'end': return ''  # Sends id

        raise Exception('Unknown planner command "%s"' % type)
Exemplo n.º 2
0
    def __encode(self, block):
        log.info('Cmd:' + json.dumps(block))

        type, id = block['type'], block['id']

        if type == 'line':
            return Cmd.line(block['target'], block['exit-vel'],
                            block['max-accel'], block['max-jerk'],
                            block['times'])

        if type == 'set':
            name, value = block['name'], block['value']

            if name == 'message':
                self.cmdq.enqueue(id, True, self.ctrl.msgs.broadcast,
                                  {'message': value})

            if name in ['line', 'tool']:
                self._enqueue_set_cmd(id, name, value)

            if name == 'speed': return Cmd.speed(value)

            if len(name) and name[0] == '_':
                self._enqueue_set_cmd(id, name[1:], value)

            if name[0:1] == '_' and name[1:2] in 'xyzabc':
                if name[2:] == '_home': return Cmd.set_axis(name[1], value)

                if name[2:] == '_homed':
                    motor = self.ctrl.state.find_motor(name[1])
                    if motor is not None: return Cmd.set('%dh' % motor, value)

            return

        if type == 'input':
            # TODO handle timeout
            self.planner.synchronize(0)  # TODO Fix this
            return Cmd.input(block['port'], block['mode'], block['timeout'])

        if type == 'output':
            return Cmd.output(block['port'], int(float(block['value'])))

        if type == 'dwell': return Cmd.dwell(block['seconds'])
        if type == 'pause': return Cmd.pause(block['pause-type'])
        if type == 'seek':
            return Cmd.seek(block['switch'], block['active'], block['error'])

        raise Exception('Unknown planner command "%s"' % type)