def __init__(self, portnumber):
"""
@param portnumber: serial port number. check your os-specific serial.py file for details
"""
#error tolerance for positioning axes (inches)
self.movtol = 0.0001
self.portnumber = portnumber
self.baudrate = 19200
#in seconds
self.sertimeout = None
self.virtualmachine = Machine()
self.gui = None
self.board = EventQueue(self._finished_milling_board_callback)
self.one_offs = EventQueue()
self.board.pause()
self.one_offs.go()
self.board.setName("Board Queue Thread")
self.one_offs.setName("One Offs Thread")
# jogging move parameters
self.PEN_STATES = {'up': 'up', 'down': 'down', 'cut': 'cut'}
self.pen_state = self.PEN_STATES['up']
self.pen_up_z = 0.05
self.pen_down_z = -0.005
self.pen_cut_z = -0.010 # ??
self.move_amount = 0.1
self.traverse_speed = 8.0
self.retract_speed = 8.0
self.cutting_speed = 4.0
self.plunge_speed = 4.0
# start event queues
self.board.start()
self.one_offs.start()
def __init__(self, portnumber):
"""
@param portnumber: serial port number. check your os-specific serial.py file for details
"""
#error tolerance for positioning axes (inches)
self.movtol = 0.0001
self.portnumber = portnumber
self.baudrate = 19200
#in seconds
self.sertimeout = None
self.virtualmachine = Machine()
self.gui = None
self.board = EventQueue(self._finished_milling_board_callback)
self.one_offs = EventQueue()
self.board.pause()
self.one_offs.go()
self.board.setName("Board Queue Thread")
self.one_offs.setName("One Offs Thread")
# jogging move parameters
self.PEN_STATES = {'up':'up', 'down':'down', 'cut':'cut'}
self.pen_state = self.PEN_STATES['up']
self.pen_up_z = 0.05
self.pen_down_z = -0.005
self.pen_cut_z = -0.010 # ??
self.move_amount = 0.1
self.traverse_speed = 8.0
self.retract_speed = 8.0
self.cutting_speed = 4.0
self.plunge_speed = 4.0
# start event queues
self.board.start()
self.one_offs.start()
class Controller(object):
"""
this space intentionally left blank
"""
def __init__(self, portnumber):
"""
@param portnumber: serial port number. check your os-specific serial.py file for details
"""
#error tolerance for positioning axes (inches)
self.movtol = 0.0001
self.portnumber = portnumber
self.baudrate = 19200
#in seconds
self.sertimeout = None
self.virtualmachine = Machine()
self.gui = None
self.board = EventQueue(self._finished_milling_board_callback)
self.one_offs = EventQueue()
self.board.pause()
self.one_offs.go()
self.board.setName("Board Queue Thread")
self.one_offs.setName("One Offs Thread")
# jogging move parameters
self.PEN_STATES = {'up': 'up', 'down': 'down', 'cut': 'cut'}
self.pen_state = self.PEN_STATES['up']
self.pen_up_z = 0.05
self.pen_down_z = -0.005
self.pen_cut_z = -0.010 # ??
self.move_amount = 0.1
self.traverse_speed = 8.0
self.retract_speed = 8.0
self.cutting_speed = 4.0
self.plunge_speed = 4.0
# start event queues
self.board.start()
self.one_offs.start()
def _finished_milling_board_callback(self):
self.board.pause()
self.one_offs.go()
def is_pen_up(self):
return self.pen_state == self.PEN_STATES['up']
def is_pen_down(self):
return self.pen_state == self.PEN_STATES['down']
def is_pen_cutting(self):
return self.pen_state == self.PEN_STATES['cut']
def set_gui(self, gui):
"""
Set self's gui field. This should be part of the constructor, but because GUI's constructor
also takes a Controller, we need a set_gui method to resolve the catch-22.
If set_gui is never called, that's ok. There will simply be no gui.
If set_gui is called twice, self.gui is overwritten
@param gui: a GUI instance
"""
self.gui = gui
def _movegen(self, moveto):
"""
@param moveto:
@return: delta
"""
#ensures that error always starts out larger than the tolerance
error = self.movtol * 2 * numpy.ones(len(moveto))
#copies machine position to hypothetical position
position = self.virtualmachine.position
delta = numpy.zeros(len(moveto))
while max(error) > self.movtol:
error = moveto - position
travel = self.virtualmachine.move(error)
position = position + travel
delta = delta + error
return delta
def _GCD(self, a, b):
while b != 0:
(a, b) = (b, a % b)
return a
def _stepgen(self, traverse, rate):
"""
@param traverse:
@param rate: in in/min
@TODO Currently only works propertly with 1 and 2 axis movement. Simultaneous
movement in 3 axes is buggy. "This implies that error mapping won't work yet."
"""
# convert to inches per second
rate = rate / 60.
# this flag gets set if a no-move condition is triggered
nomove = 0
distancesquaredsum = 0
clockspeeds = numpy.zeros(self.virtualmachine.numberofaxes)
prescalars = numpy.zeros(self.virtualmachine.numberofaxes)
stepsizes = numpy.zeros(self.virtualmachine.numberofaxes)
softwarecountersize = numpy.zeros(self.virtualmachine.numberofaxes)
hardwarecountersize = numpy.zeros(self.virtualmachine.numberofaxes)
for i in range(self.virtualmachine.numberofaxes):
distancesquaredsum = distancesquaredsum + (traverse[i] *
traverse[i])
clockspeeds[i] = self.virtualmachine.motorcontrollers[i].clockspeed
prescalars[i] = self.virtualmachine.motorcontrollers[i].prescalar
stepsizes[i] = self.virtualmachine.motorcontrollers[i].stepsize
softwarecountersize[i] = self.virtualmachine.motorcontrollers[
i].softwarecountersize
hardwarecountersize[i] = self.virtualmachine.motorcontrollers[
i].hardwarecountersize
distance = math.sqrt(distancesquaredsum) #Euclidean distance of move
movetime = distance / rate #Duration of move in seconds
if settings.LOG: print "MOVETIME", movetime
scaledclock = clockspeeds / prescalars #Motor controller clock speeds (ticks / second)
steps = traverse / stepsizes #number of steps needed
steps = numpy.round(steps) #convert steps into integers
absteps = numpy.abs(steps) #absolute step values
movingaxes = numpy.nonzero(steps)[0] #isolates only the moving axes
movingsteps = numpy.take(steps, movingaxes)
absmovingsteps = numpy.take(absteps, movingaxes)
counter_durations = numpy.zeros(len(steps))
directions = movingsteps / absmovingsteps #-1 = reverse, 1 = forward
if len(movingsteps) > 2:
if settings.LOG:
print "3+ AXIS SIMULTANEOUS MOVES NOT SUPPORTED BY THIS STEP GENERATOR"
if len(movingsteps) != 0:
nomove = 0
if len(movingsteps) == 2:
gcd = self._GCD(absmovingsteps[0], absmovingsteps[1])
gcd_movingsteps = absmovingsteps / gcd
# flip gcd_movingsteps
moving_durations = gcd_movingsteps[::-1]
overall_duration = absmovingsteps[0] * moving_durations[0]
else: # len == 1
moving_durations = [1]
overall_duration = absmovingsteps[0]
maxsteps = max(absmovingsteps)
stepinterval = overall_duration / absmovingsteps
softwarecounterrange = (softwarecountersize / maxsteps).astype(int)
hardwarecounterrange = numpy.ones(
self.virtualmachine.numberofaxes) * min(hardwarecountersize)
# movetime / number of sw counter ticks = time per click
neededtimeperpulse = movetime / overall_duration
prehwcounterpulsetime = prescalars / clockspeeds
hardwarecounterstemp = numpy.ceil(neededtimeperpulse /
prehwcounterpulsetime)
hardwarecountersovfl = numpy.ceil(hardwarecounterstemp /
hardwarecounterrange)
softwarecounters = numpy.min(
[softwarecounterrange, hardwarecountersovfl], axis=0)
hardwarecounters = numpy.ceil(
neededtimeperpulse /
(prehwcounterpulsetime * softwarecounters))
durations = numpy.zeros(self.virtualmachine.numberofaxes)
numpy.put(durations, movingaxes, stepinterval)
numpy.put(counter_durations, movingaxes, moving_durations)
counter_durations = counter_durations * softwarecounters
overall_duration = overall_duration * softwarecounters[
0] #this is a hack for now
directions2 = numpy.zeros(self.virtualmachine.numberofaxes)
numpy.put(directions2, movingaxes, directions)
for i in range(self.virtualmachine.numberofaxes):
self.virtualmachine.motorcontrollers[
i].hardwarecounter = hardwarecounters[i]
self.virtualmachine.motorcontrollers[
i].softwarecounter = counter_durations[i]
self.virtualmachine.motorcontrollers[
i].duration = overall_duration
if directions2[i] == -1:
directions2[i] = 2
self.virtualmachine.motorcontrollers[
i].direction = directions2[i]
else:
nomove = 1
for i in range(self.virtualmachine.numberofaxes):
self.virtualmachine.motorcontrollers[i].hardwarecounter = 0
self.virtualmachine.motorcontrollers[i].softwarecounter = 0
self.virtualmachine.motorcontrollers[i].duration = 0
self.virtualmachine.motorcontrollers[i].direction = 0
return nomove
def _xmit(self):
"""
Constructs and sends packet over serial port.
Packet contains instructions for different speeds for each of the
three motors, as well as a single instruction duration.
Blocking on receiving acknowledge. @TODO implement time_out with x retries
before raising an exception.
packet format:
byte0 - Start Byte
byte1 - hwcounter
byte2 - AXIS 1 Rate 0
byte3 - AXIS 1 Rate 1
byte4 - AXIS 2 Rate 0
byte5 - AXIS 2 Rate 1
byte6 - AXIS 3 Rate 0
byte7 - AXIS 3 Rate 1
byte8 - move duration 0
byte9 - move duration 1
byte10 - move duration 2
byte11 - move duration 3
byte12 - sync / motor direction (00ZrZfYrYfXrXf) where r is reverse and f is forward
@TODO add byte13 - checksum
@return: outgoing packet
@raise serial.SerialException: If cannot open serial port and in use-serial mode (USE_SERIAL is True)
"""
packetlength = 13
xmitteraxes = self.virtualmachine.numberofaxes
outgoing = numpy.zeros(packetlength)
outgoing[0] = 255
outgoing[1] = self.virtualmachine.motorcontrollers[0].hardwarecounter
for i in range(xmitteraxes):
outgoing[i * 2 + 2] = int(
self.virtualmachine.motorcontrollers[i].softwarecounter % 256)
outgoing[i * 2 + 3] = int(
self.virtualmachine.motorcontrollers[i].softwarecounter / 256)
outgoing[12] = outgoing[12] + self.virtualmachine.motorcontrollers[
i].direction * (4**i)
duration = self.virtualmachine.motorcontrollers[0].duration
outgoingindex = 11
remainder = duration
for i in range(4):
outgoing[11 - i] = int(remainder / 256**(3 - i))
remainder = remainder % 256**(3 - i)
try:
# open serial port
serport = serial.Serial(self.portnumber,
self.baudrate,
timeout=self.sertimeout)
# send command
for i in range(len(outgoing)):
serport.write(chr(outgoing[i]))
a = serport.read()
start = time.time()
serport.read()
if settings.LOG: print "XINT TIME", time.time() - start
except serial.SerialException, details:
if not settings.USE_SERIAL:
pass
else:
print "\nEXCEPTION RAISED:", details
sys.exit(0)
return outgoing
class Controller(object):
"""
this space intentionally left blank
"""
def __init__(self, portnumber):
"""
@param portnumber: serial port number. check your os-specific serial.py file for details
"""
#error tolerance for positioning axes (inches)
self.movtol = 0.0001
self.portnumber = portnumber
self.baudrate = 19200
#in seconds
self.sertimeout = None
self.virtualmachine = Machine()
self.gui = None
self.board = EventQueue(self._finished_milling_board_callback)
self.one_offs = EventQueue()
self.board.pause()
self.one_offs.go()
self.board.setName("Board Queue Thread")
self.one_offs.setName("One Offs Thread")
# jogging move parameters
self.PEN_STATES = {'up':'up', 'down':'down', 'cut':'cut'}
self.pen_state = self.PEN_STATES['up']
self.pen_up_z = 0.05
self.pen_down_z = -0.005
self.pen_cut_z = -0.010 # ??
self.move_amount = 0.1
self.traverse_speed = 8.0
self.retract_speed = 8.0
self.cutting_speed = 4.0
self.plunge_speed = 4.0
# start event queues
self.board.start()
self.one_offs.start()
def _finished_milling_board_callback(self):
self.board.pause()
self.one_offs.go()
def is_pen_up(self): return self.pen_state == self.PEN_STATES['up']
def is_pen_down(self): return self.pen_state == self.PEN_STATES['down']
def is_pen_cutting(self): return self.pen_state == self.PEN_STATES['cut']
def set_gui(self, gui):
"""
Set self's gui field. This should be part of the constructor, but because GUI's constructor
also takes a Controller, we need a set_gui method to resolve the catch-22.
If set_gui is never called, that's ok. There will simply be no gui.
If set_gui is called twice, self.gui is overwritten
@param gui: a GUI instance
"""
self.gui = gui
def _movegen(self, moveto):
"""
@param moveto:
@return: delta
"""
#ensures that error always starts out larger than the tolerance
error = self.movtol*2*numpy.ones(len(moveto))
#copies machine position to hypothetical position
position = self.virtualmachine.position
delta = numpy.zeros(len(moveto))
while max(error) > self.movtol:
error = moveto - position
travel = self.virtualmachine.move(error)
position=position + travel
delta = delta + error
return delta
def _GCD(self, a, b):
while b != 0:
(a, b) = (b, a%b)
return a
def _stepgen(self, traverse, rate):
"""
@param traverse:
@param rate: in in/min
@TODO Currently only works propertly with 1 and 2 axis movement. Simultaneous
movement in 3 axes is buggy. "This implies that error mapping won't work yet."
"""
# convert to inches per second
rate = rate / 60.
# this flag gets set if a no-move condition is triggered
nomove = 0
distancesquaredsum = 0
clockspeeds = numpy.zeros(self.virtualmachine.numberofaxes)
prescalars = numpy.zeros(self.virtualmachine.numberofaxes)
stepsizes = numpy.zeros(self.virtualmachine.numberofaxes)
softwarecountersize = numpy.zeros(self.virtualmachine.numberofaxes)
hardwarecountersize = numpy.zeros(self.virtualmachine.numberofaxes)
for i in range(self.virtualmachine.numberofaxes):
distancesquaredsum = distancesquaredsum + (traverse[i]*traverse[i])
clockspeeds[i] = self.virtualmachine.motorcontrollers[i].clockspeed
prescalars[i] = self.virtualmachine.motorcontrollers[i].prescalar
stepsizes[i] = self.virtualmachine.motorcontrollers[i].stepsize
softwarecountersize[i] = self.virtualmachine.motorcontrollers[i].softwarecountersize
hardwarecountersize[i] = self.virtualmachine.motorcontrollers[i].hardwarecountersize
distance = math.sqrt(distancesquaredsum) #Euclidean distance of move
movetime = distance / rate #Duration of move in seconds
if settings.LOG: print "MOVETIME", movetime
scaledclock = clockspeeds / prescalars #Motor controller clock speeds (ticks / second)
steps = traverse / stepsizes #number of steps needed
steps = numpy.round(steps) #convert steps into integers
absteps = numpy.abs(steps) #absolute step values
movingaxes = numpy.nonzero(steps)[0] #isolates only the moving axes
movingsteps = numpy.take(steps, movingaxes)
absmovingsteps = numpy.take(absteps, movingaxes)
counter_durations = numpy.zeros(len(steps))
directions = movingsteps/absmovingsteps #-1 = reverse, 1 = forward
if len(movingsteps)>2:
if settings.LOG: print "3+ AXIS SIMULTANEOUS MOVES NOT SUPPORTED BY THIS STEP GENERATOR"
if len(movingsteps) !=0:
nomove = 0
if len(movingsteps) == 2:
gcd = self._GCD(absmovingsteps[0], absmovingsteps[1])
gcd_movingsteps = absmovingsteps / gcd
# flip gcd_movingsteps
moving_durations = gcd_movingsteps[::-1]
overall_duration = absmovingsteps[0]*moving_durations[0]
else: # len == 1
moving_durations = [1]
overall_duration = absmovingsteps[0]
maxsteps = max(absmovingsteps)
stepinterval = overall_duration / absmovingsteps
softwarecounterrange = (softwarecountersize / maxsteps).astype(int)
hardwarecounterrange = numpy.ones(self.virtualmachine.numberofaxes)*min(hardwarecountersize)
# movetime / number of sw counter ticks = time per click
neededtimeperpulse = movetime / overall_duration
prehwcounterpulsetime = prescalars / clockspeeds
hardwarecounterstemp = numpy.ceil(neededtimeperpulse / prehwcounterpulsetime)
hardwarecountersovfl = numpy.ceil(hardwarecounterstemp / hardwarecounterrange)
softwarecounters = numpy.min([softwarecounterrange, hardwarecountersovfl], axis = 0)
hardwarecounters = numpy.ceil(neededtimeperpulse/(prehwcounterpulsetime*softwarecounters))
durations = numpy.zeros(self.virtualmachine.numberofaxes)
numpy.put(durations, movingaxes, stepinterval)
numpy.put(counter_durations, movingaxes, moving_durations)
counter_durations = counter_durations * softwarecounters
overall_duration = overall_duration * softwarecounters[0] #this is a hack for now
directions2 = numpy.zeros(self.virtualmachine.numberofaxes)
numpy.put(directions2, movingaxes, directions)
for i in range(self.virtualmachine.numberofaxes):
self.virtualmachine.motorcontrollers[i].hardwarecounter = hardwarecounters[i]
self.virtualmachine.motorcontrollers[i].softwarecounter = counter_durations[i]
self.virtualmachine.motorcontrollers[i].duration = overall_duration
if directions2[i] == -1:
directions2[i] = 2
self.virtualmachine.motorcontrollers[i].direction = directions2[i]
else:
nomove = 1
for i in range(self.virtualmachine.numberofaxes):
self.virtualmachine.motorcontrollers[i].hardwarecounter = 0
self.virtualmachine.motorcontrollers[i].softwarecounter = 0
self.virtualmachine.motorcontrollers[i].duration = 0
self.virtualmachine.motorcontrollers[i].direction = 0
return nomove
def _xmit(self):
"""
Constructs and sends packet over serial port.
Packet contains instructions for different speeds for each of the
three motors, as well as a single instruction duration.
Blocking on receiving acknowledge. @TODO implement time_out with x retries
before raising an exception.
packet format:
byte0 - Start Byte
byte1 - hwcounter
byte2 - AXIS 1 Rate 0
byte3 - AXIS 1 Rate 1
byte4 - AXIS 2 Rate 0
byte5 - AXIS 2 Rate 1
byte6 - AXIS 3 Rate 0
byte7 - AXIS 3 Rate 1
byte8 - move duration 0
byte9 - move duration 1
byte10 - move duration 2
byte11 - move duration 3
byte12 - sync / motor direction (00ZrZfYrYfXrXf) where r is reverse and f is forward
@TODO add byte13 - checksum
@return: outgoing packet
@raise serial.SerialException: If cannot open serial port and in use-serial mode (USE_SERIAL is True)
"""
packetlength = 13
xmitteraxes = self.virtualmachine.numberofaxes
outgoing = numpy.zeros(packetlength)
outgoing[0] = 255
outgoing[1] = self.virtualmachine.motorcontrollers[0].hardwarecounter
for i in range(xmitteraxes):
outgoing[i*2+2] = int(self.virtualmachine.motorcontrollers[i].softwarecounter % 256)
outgoing[i*2+3] = int(self.virtualmachine.motorcontrollers[i].softwarecounter / 256)
outgoing[12] = outgoing[12] + self.virtualmachine.motorcontrollers[i].direction*(4**i)
duration = self.virtualmachine.motorcontrollers[0].duration
outgoingindex = 11
remainder = duration
for i in range(4):
outgoing[11-i] = int(remainder / 256**(3-i))
remainder = remainder % 256**(3-i)
try:
# open serial port
serport = serial.Serial(self.portnumber, self.baudrate, timeout=self.sertimeout)
# send command
for i in range(len(outgoing)):
serport.write(chr(outgoing[i]))
a = serport.read()
start = time.time()
serport.read()
if settings.LOG: print "XINT TIME", time.time() - start
except serial.SerialException, details:
if not settings.USE_SERIAL:
pass
else:
print "\nEXCEPTION RAISED:", details
sys.exit(0)
return outgoing
