def spawn(self): vel = self.gobj.getLinearVelocity() vel.magnitude = 0.25 _, pos, _ = self.gobj.ray(vel) if pos: pipe = Pipe() if self.color == "orange": self.flip(pipe) pipe_old = self.color_pipe[self.color] if pipe_old: pipe_old.burrow() pipe.worldPosition = pos pipe.worldPosition.z -= 0.6 pipe.grow() self.color_pipe[self.color] = pipe pipes = list(self.color_pipe.values()) if not None in pipes: self.bind_pipes(pipes) self.gobj.end()
def __init__(self, left, gap_center, velocity, color, gap, group):
#Create the two pipes that make up a pipe set
self.topPipe = Pipe(left, gap_center - gap / 2, velocity, color, False)
self.botPipe = Pipe(left, gap_center + gap / 2, velocity, color, True)
group.add(self.topPipe)
group.add(self.botPipe)
def spawn(self):
vel = self.gobj.getLinearVelocity()
vel.magnitude = 0.25
_, pos, _ = self.gobj.ray(vel)
if pos:
pipe = Pipe()
if self.color == "orange":
self.flip(pipe)
pipe_old = self.color_pipe[self.color]
if pipe_old:
pipe_old.burrow()
pipe.worldPosition = pos
pipe.worldPosition.z -= 0.6
pipe.grow()
self.color_pipe[self.color] = pipe
pipes = list(self.color_pipe.values())
if not None in pipes:
self.bind_pipes(pipes)
self.gobj.end()
def main():
b = Bird(230, 350)
p = Pipe(550)
s = Score()
run = True
while run:
clock.tick(60)
win.blit(bg, (0, 0))
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
break
pressed = pygame.key.get_pressed()
if pressed[pygame.K_SPACE]:
b.jump()
if p.collision(b):
b.dead_bird()
print("SCORE : " + str(s.count))
break
if p.cleared_pipe(b):
p = Pipe(550)
s.update_score()
s.display_score(win)
b.draw(win)
p.draw(win)
p.move()
b.move()
pygame.display.update()
def init(self,voice=1):
if voice==1: super().init()
self.bgColor = (255,255,255)
self.count = 0
self.sec = 0
self.min = 0
self.timetext = "TIME : 0:00"
self.timechange = False
self.movechange = False
self.mute = -1
self.mode = "play"
#self.mode = "solve"
self.solvelist = [5,6,7,3,2,6,5,1,2,3,7]
self.solvelist += [11,12,8,4,3,7,6,10,9]
self.solvelist += [13,14,15,16,12,11,10,9,13,14,15,11]
self.solvelist += [10,14,13,9,10,6,5,9,13,14,15]
self.solveindex = len(self.solvelist)-1
datastring = "1000\n"
datastring += "1000\n"
writeFile("game4data.txt",datastring)
global curk,k
curk,k = 16,16
global pg,pp
pg = [2,7,10,11,14]
pp = [1,3,4,5,9,13]
Gear.init()
Tile.init()
Pipe.init()
self.win = False
self.gears = pygame.sprite.Group()
self.pipes = pygame.sprite.Group()
self.gears.add(Gear(330-65,180+65,-1,0))
self.gears.add(Gear(330+65*4,180,17,0,1))
self.tiles = pygame.sprite.Group()
for i in range(4):
for j in range(4):
x=330+65*j
y=180+65*i
num=j*4+i+1
if num != curk: self.tiles.add(Tile(x,y,num))
if num in pg:
self.gears.add(Gear(x,y,num,0))
if num in pp:
if num == 13:
self.pipes.add(Pipe(x,y,num,4))
elif num == 5:
self.pipes.add(Pipe(x,y,num,5))
else:
self.pipes.add(Pipe(x,y,num,1))
self.exit = 20
self.exittype = 1
self.timer = 15
def get_random_pipes(xpos):
size = random.randint(100, 300)
pipe = Pipe(False, xpos, size, TELA_ALTURA)
pipe_inverted = Pipe(True, xpos, TELA_ALTURA - size - ESPACO_GAP,
TELA_ALTURA)
pipe_gap = PipeGap(xpos, TELA_ALTURA, TELA_ALTURA)
return (pipe, pipe_inverted, pipe_gap)
def reset():
pipes.clear()
[
pipes.append(i)
for i in [Pipe(0), Pipe(x_difference),
Pipe(x_difference * 2)]
]
def main():
score = 0
bird = Bird(200, 320)
base = Base(730)
pipes = [Pipe(700)]
win = pygame.display.set_mode((WIN_WIDTH, WIN_HEIGHT))
pygame.init()
clock = pygame.time.Clock()
run = True
game = True
while run:
clock.tick(25)
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == (pygame.K_TAB or pygame.K_SPACE):
bird.jump()
if event.type == pygame.QUIT:
run = False
if game:
rem = []
add_pipe = False
for pipe in pipes:
if pipe.collide(bird, win):
game = False
if pipe.x + pipe.PIPE_TOP.get_width() < 0:
rem.append(pipe)
if not pipe.passed and pipe.x < bird.x:
pipe.passed = True
add_pipe = True
pipe.move()
if add_pipe:
score += 1
pipes.append(Pipe(700))
for r in rem:
pipes.remove(r)
pipe.move()
if bird.y + bird.img.get_height() >= 700:
game = False
base.move()
if game:
bird.move()
draw_window(win, bird, pipes, base, score)
else:
game_over(win, base, score)
pygame.quit()
quit()
def create_pipe(screen, pipes, game_state, SCREEN_WIDTH, SCREEN_HEIGHT):
random_height = random.choice([250, 350, 450])
pipes.append(
Pipe(screen, SCREEN_WIDTH + 100, 0, 40, random_height,
(255, 255, 255)))
pipes.append(
Pipe(screen, SCREEN_WIDTH + 100, random_height + 150, 40,
SCREEN_HEIGHT, (255, 255, 255)))
def main():
run = True
while run:
bird = Bird(230, 350)
base = Base(700)
pipes = [Pipe(730)]
win = pygame.display.set_mode((winWidth, windHeight))
pygame.display.set_caption("Padmank's Flappy Bird")
clock = pygame.time.Clock()
score = 0
alive, paused = True, False
while alive:
clock.tick(30)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run, alive = False, False
pygame.quit()
quit()
break
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
run, alive = False, False
pygame.quit()
quit()
break
if event.key == pygame.K_SPACE:
bird.jump()
if event.key == pygame.K_r:
main()
if not paused:
bird.move()
addPipe = False
removePipes = []
for pipe in pipes:
if pipe.collide(bird):
paused = True
if pipe.x + pipe.topPipe.get_width() < 0: #if pipe is off the screen completely
removePipes.append(pipe)
if not pipe.passed and pipe.x < bird.x:
pipe.passed = True
addPipe = True
pipe.move()
if addPipe:
score += 1
pipes.append(Pipe(600))
for r in removePipes:
pipes.remove(r)
if bird.y + bird.img.get_height() >= 730:
paused = True
base.move()
drawWindow(win, bird, pipes, base, score)
def init(self): super().init() self.bgColor = (255,255,255) self.count = 0 self.sec = 3100 self.min = 0 self.timetext = "TIME : 0:30" self.timeup = False self.mute = -1 global curk,k curk,k = 4,4 global p1,p2,p3,p4,p5,p6,p7 p1 = [5,7,10,12,15] p2 = [8,9] p3 = [14] p4 = [] p5 = [3] p6 = [2] p7 = [6,11] Pipe.init() Tile.init() Gear.init() self.win = False self.pipes = pygame.sprite.Group() self.tiles = pygame.sprite.Group() self.gears = pygame.sprite.Group() self.gears.add(Gear(330+65*3+5,180-55,-1,0)) for i in range(4): for j in range(4): x=332+65*j y=180+65*i num = j*4+i+1 if num in p1: self.pipes.add(Pipe(x,y,num,1)) elif num in p2: self.pipes.add(Pipe(x,y,num,2)) elif num in p3: self.pipes.add(Pipe(x,y,num,3)) elif num in p4: self.pipes.add(Pipe(x,y,num,4)) elif num in p5: self.pipes.add(Pipe(x,y,num,5)) elif num in p6: self.pipes.add(Pipe(x,y,num,6)) elif num in p7: self.pipes.add(Pipe(x,y,num,7)) elif num!= curk: self.tiles.add(Tile(x,y,num)) self.timer = 15
def init(self,voice=1):
if voice==1: super().init()
self.bgColor = (255,255,255)
self.count = 0
self.sec = 0
self.min = 0
self.timetext = "TIME : 0:00"
self.timechange = False
self.movechange = False
self.mute = -1
self.mode = "play"
#self.mode = "solve"
self.solvelist = [11,10,9,13,14,10,11,7,6,10,11,12,8]
self.solvelist += [7,3,2,6,10,11,12,8,7,3]
self.solveindex = len(self.solvelist)-1
datastring = "1000\n"
datastring += "1000\n"
writeFile("game5data.txt",datastring)
global curk,k
curk,k = 4,4
global p3,p6
p3 = [1,2,3,5,6,9]
p6 = [8,11,12,14,15,16]
Pipe.init()
Tile.init()
Gear.init()
self.win = False
self.pipes = pygame.sprite.Group()
self.tiles = pygame.sprite.Group()
self.gears = pygame.sprite.Group()
self.gears.add(Gear(330+65*3+5,180-55,-1,0,1))
for i in range(4):
for j in range(4):
x=332+65*j
y=180+65*i
num = j*4+i+1
if num in p3:
self.pipes.add(Pipe(x,y,num,3))
elif num in p6:
self.pipes.add(Pipe(x,y,num,6))
elif num!= curk:
self.tiles.add(Tile(x,y,num))
self.exit = 0
self.exittype = 6
self.timer = 15
self.gassound = pygame.mixer.Sound('sound/gas01.wav')
self.gassound.play()
self.gassound.set_volume(0.2)
def wilcox(set1,set2):
save(set1,"w.1")
save(set2,"w.2")
pipe=Pipe("/home/bmajoros/1000G/src/wilcox.R w.1 w.2 two.sided")
p=None
while(True):
line=pipe.readline()
if(line is None): break
if(rex.find("p-value\s*=\s*(\S+)",line)): p=rex[1]
elif(rex.find("p-value\s*<\s*(\S+)",line)): p=rex[1]
return p
def load(self, flag, generation_number):
self.backGround_1 = BackGround(self.screen, 0, 0, 0, 600, False)
self.backGround_2 = BackGround(self.screen, 0, 0, 300, 600, False)
self.backGround_1_inverted = BackGround(self.screen, 0, 0, 0, 0, True)
self.backGround_2_inverted = BackGround(self.screen, 0, 0, 300, 0, True)
self.landScape = LandScape(self.screen, 0, 0, 0, 0)
self.frame_alive = 0
self.birds_pool = []
self.bird_score = []
self.models_load = []
self.load_nn = []
self.population_size = 20
self.generation_number = generation_number
if flag:
for idx in range(0, self.population_size):
bird = Bird(self.screen, 300, 400, 300, 400)
self.birds_pool.append(bird)
else:
for i in range(0, self.population_size):
m = NeuralNetwork()
self.load_nn.append(m)
self.load_nn[i].get_model().load_weights("models/model" + str(i+1)+ ".keras")
bird = Bird(self.screen, 300, 400, 300, 400, self.load_nn[i])
self.birds_pool.append(bird)
y1 = random.randint(450, 500)
y2 = random.randint(0, 100)
self.pipe = Pipe(self.screen, 0, 0, 1200, y1, False)
self.pipe_inverted = Pipe(self.screen, 0, 0, 1200, y2, True)
self.landScape.load()
self.backGround_1.load()
self.backGround_2.load()
self.backGround_1_inverted.load()
self.backGround_2_inverted.load()
self.nn = []
for bird in self.birds_pool:
bird.load()
self.pipe.load()
self.pipe_inverted.load()
self.game_objects = [self.backGround_1,
self.backGround_2,
self.pipe,
self.pipe_inverted,
self.backGround_1_inverted,
self.backGround_2_inverted] + self.birds_pool
self.collision_handler = Collision(self.game_objects)
class Interpreter():
def __init__(self):
self.pipe = Pipe()
self.redir = Redir()
self.boolean = Boolean()
self.cmd = Exec()
def visit_BinOp(self, node):
if type(node) is Cmd or type(node) is File or type(node) is Eol:
return node
else:
if node.token == 'PIPE':
left = self.visit_BinOp(node.left)
if type(left) is Cmd and left.pipePlace == 'start':
self.pipe.pipe_start(left)
right = self.visit_BinOp(node.right)
if type(right) is Cmd:
if right.pipePlace == 'inter':
self.pipe.pipe_inter(right)
else:
self.pipe.pipe_end(right)
#print('pipe')
elif node.token in ['GREAT', 'GREATAND', 'DGREAT']:
if type(node.left) is Cmd and type(node.right) is File:
self.visit_BinOp(node.left)
self.redir.exec_only_redir(node.left, node.right)
else:
self.visit_BinOp(node.left)
self.redir.exec_redir(self.pipe,
self.visit_BinOp(node.right))
#print('redir')
elif node.token in ['OR', 'AND']:
self.visit_BinOp(node.left)
if type(node.left) is Cmd:
self.cmd.exec_cmd(node.left)
ret = self.boolean.checkStatus(self.cmd.pid)
elif node.left.token in ['GREAT', 'GREATAND', 'DGREAT']:
ret = self.boolean.checkStatus(self.redir.pid)
else:
self.pipe.sequence_end()
ret = self.boolean.checkStatus(self.pipe.pid)
if (ret == 0
and node.token == 'OR') or (ret != 0
and node.token == 'AND'):
return
self.visit_BinOp(node.right)
if type(node.right) is Cmd:
self.cmd.exec_cmd(node.right)
#print('and')
elif node.token == 'EOL':
self.visit_BinOp(node.left)
self.visit_BinOp(node.right)
if type(node.left) is Cmd:
self.cmd.exec_cmd(node.left)
elif node.left.token in ['GREAT', 'GREATAND', 'DGREAT']:
pass
def betaBinomialVariance2(alpha,beta,n):
pipe=Pipe("/home/bmajoros/src/util/beta-binomial -S "+str(VAR_SAMPLE_SIZE)+
" "+str(n)+" "+str(alpha)+" "+str(alpha+beta))
array=[]
while(True):
line=pipe.readline()
if(line is None): break
x=int(line.rstrip())
array.append(x)
(mean,SD,min,max)=SummaryStats.summaryStats(array)
var=SD*SD
if(var<0.01):
print("VAR",array,"\n",alpha,beta,n,var)
exit()
return var
def init(self): super().init() self.bgColor = (255,255,255) self.count = 50 self.sec = 0 self.min = 0 self.timetext = "TIME : 0:00" self.moveup = False self.mute = -1 global curk,k curk,k = 16,16 global pg,pp pg = [2,7,10,11,14] pp = [1,3,4,5,9,13] Gear.init() Tile.init() Pipe.init() self.win = False self.gears = pygame.sprite.Group() self.pipes = pygame.sprite.Group() self.gears.add(Gear(330-65,180+65,-1,0)) self.gears.add(Gear(330+65*4,180,17,0)) self.tiles = pygame.sprite.Group() for i in range(4): for j in range(4): x=330+65*j y=180+65*i num=j*4+i+1 if num != curk: self.tiles.add(Tile(x,y,num)) if num in pg: self.gears.add(Gear(x,y,num,0)) if num in pp: if num == 13: self.pipes.add(Pipe(x,y,num,4)) elif num == 5: self.pipes.add(Pipe(x,y,num,5)) else: self.pipes.add(Pipe(x,y,num,1)) self.exit = 20 self.exittype = 1 self.timer = 15
def __init__(self):
pygame.init()
self.bird = Bird()
self.sw = 700
self.sh = 500
#maybe need to make a loop to add all the pipes into a list or someting kewl
self.pipes = pygame.sprite.Group()
self.birds = pygame.sprite.Group()
self.birds.add(self.bird)
self.screen = pygame.display.set_mode([self.sw, self.sh])
pygame.display.set_caption("Sappy Bird Nerd")
self.clock = pygame.time.Clock()
for i in range(8):
self.pipe = Pipe()
self.pipe.rect.x = i * self.pipe.spacing
if i % 2 == 0:
#bottom
self.pipe.rect.y = 500 - self.pipe.h
else:
self.pipe.rect.y = 0
self.pipes.add(self.pipe)
self.score = 0
self.game_over = False
self.start = False
def handle_pipes(pipes, birds, ge, nets):
remove_pipes = []
add_pipe = False
for pipe in pipes:
for index, bird in enumerate(birds):
if pipe.collide(bird):
ge[index].fitness -= 1
# Remove bird and its net and genome
birds.pop(index)
ge.pop(index)
nets.pop(index)
if not pipe.passed and pipe.x < bird.x:
pipe.passed = True
add_pipe = True
if pipe.x + pipe.PIPE_TOP.get_width() < 0:
remove_pipes.append(pipe)
pipe.move()
if add_pipe:
for bird in birds:
bird.score += 1
for g in ge:
g.fitness += 5
pipes.append(Pipe(WIN_WIDTH + 100))
for pipe in remove_pipes:
pipes.remove(pipe)
def match(file, difficulty):
while True:
OBJECTS['bird'] = []
HITMASK['bird'] = []
for bird in range(2):
OBJECTS['bird'].append(Bird())
HITMASK['bird'].append((
OBJECTS['bird'][bird].getHitmask(0),
OBJECTS['bird'][bird].getHitmask(1),
OBJECTS['bird'][bird].getHitmask(2)
))
OBJECTS['base'] = Base()
OBJECTS['pipe'] = Pipe()
HITMASK['pipe'] = (
OBJECTS['pipe'].getHitmaskLowerPipe(),
OBJECTS['pipe'].getHitmaskUpperPipe()
)
if 'win' in sys.platform:
extension = '.wav'
else:
extension = '.ogg'
SOUNDS['wing'] = pygame.mixer.Sound('assets/audio/wing' + extension)
SOUNDS['hit'] = pygame.mixer.Sound('assets/audio/hit' + extension)
rdmBg = random.randint(0, len(BACKGROUNDS_LIST) - 1)
IMAGES['background'] = pygame.image.load(BACKGROUNDS_LIST[rdmBg]).convert()
if matchGame(file, difficulty):
break
def main(genomes, config):
nets = []
ge = []
birds = []
for _, g in genomes:
# create net
net = neat.nn.FeedForwardNetwork.create(g, config)
nets.append(net)
#create bitrd
birds.append(Bird(230,350))
g.fitness = 0
ge.append(g)
base = Base(730)
pipes = [Pipe(WIN_WIDTH + 100)]
win = pygame.display.set_mode((WIN_WIDTH,WIN_HEIGHT))
clock = pygame.time.Clock()
running = True
while running:
clock.tick(30)
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
pygame.quit()
quit()
pipe_index = 0
if len(birds) > 0:
if len(pipes) > 1 and birds[0].x > pipes[0].x + pipes[0].PIPE_TOP.get_width():
pipe_index = 1
else:
running = False
break
for index, bird in enumerate(birds):
if base.collide(bird):
birds.pop(index)
ge.pop(index)
nets.pop(index)
else:
bird.move()
ge[index].fitness += 0.1
# Active neuro net, with given input values
# Here we use birds y position, distance to end of top pipe and distance of bird to end of bottom pipe
output = nets[index].activate((bird.y, abs(bird.y) - pipes[pipe_index].height, abs(bird.y) - pipes[pipe_index].bottom))
#output is list of outputs
if output[0] > 0.5:
bird.jump()
handle_pipes(pipes, birds, ge, nets)
base.move()
if len(birds) > 0:
draw_window(win, birds, pipes, base)
def reset():
global sprite_group, pipes_top, pipes_botom, point
bird.reset()
pipes_top = []
pipes_botom = []
Pipe.top_index = 0
Pipe.bottom_index = 0
point = 0
for i in range(COUNT):
center_y = make_center_y()
pipes_top.append(Pipe(OFFSET_X, OFFSET_Y, window_size, True, HORIZONTAL_DISTANCE, VERTICAL_DISTANCE, center_y))
pipes_botom.append(
Pipe(OFFSET_X, OFFSET_Y, window_size, False, HORIZONTAL_DISTANCE, VERTICAL_DISTANCE, center_y))
sprite_group = []
sprite_group.append(floor)
sprite_group.extend(pipes_top)
sprite_group.extend(pipes_botom)
def init(self): super().init() self.bgColor = (255,255,255) self.count = 0 self.sec = 2100 self.min = 0 self.timetext = "TIME: 0:20" self.timeup = False self.mute = -1 global curk,k curk,k = 3,3 global p1,p2,p3 p1 = [5,8,9,12] p2 = [2,14,15] p3 = [13] Pipe.init() Tile.init() Gear.init() self.win = False self.pipes = pygame.sprite.Group() self.tiles = pygame.sprite.Group() self.gears = pygame.sprite.Group() self.gears.add(Gear(330+65*3+5,180-55,-1,0)) for i in range(4): for j in range(4): x=332+65*j y=180+65*i num = j*4+i+1 if num in p1: self.pipes.add(Pipe(x,y,num,1)) elif num in p2: self.pipes.add(Pipe(x,y,num,2)) elif num in p3: self.pipes.add(Pipe(x,y,num,3)) elif num!= curk: self.tiles.add(Tile(x,y,num)) self.exit = 0 self.exittype = 1 self.timer = 15
def init(self): super().init() self.bgColor = (255,255,255) self.count = 30 self.sec = 0 self.min = 0 self.timetext = "TIME : 0:00" self.moveup = False self.mute = -1 global curk,k curk,k = 4,4 global p3,p6 p3 = [1,2,3,5,6,9] p6 = [8,11,12,14,15,16] Pipe.init() Tile.init() Gear.init() self.win = False self.pipes = pygame.sprite.Group() self.tiles = pygame.sprite.Group() self.gears = pygame.sprite.Group() self.gears.add(Gear(330+65*3+5,180-55,-1,0)) for i in range(4): for j in range(4): x=332+65*j y=180+65*i num = j*4+i+1 if num in p3: self.pipes.add(Pipe(x,y,num,3)) elif num in p6: self.pipes.add(Pipe(x,y,num,6)) elif num!= curk: self.tiles.add(Tile(x,y,num)) self.exit = 0 self.exittype = 6 self.timer = 15
def lose(self):
self.bird = Bird(Vars.BIRD_START_X, Vars.BIRD_START_Y)
self.pipe = self.pipe = [
Pipe(Vars.PIPE_STARTING_X + i * (Vars.PIPE_DISTANCE + Pipe.WIDTH))
for i in range(0, 3)
]
self.background = LoopingImage(Vars.WIN_HEIGHT, Vars.background_img,
Vars.BACKGROUND_VEL)
self.floor = Floor(Vars.FLOOR_HEIGHT, Vars.Floor_img, Vars.FLOOR_VEL)
self.score = 0
self.distance = 0
Vars.lose = False
def betaBinomial(dnaRef, dnaAlt, rnaRef, rnaAlt):
OPTIONS = " -t -s 2 "
cmd=BETA_BINOMIAL+""+OPTIONS+" "+str(rnaAlt)+" "+str(rnaRef+rnaAlt)+" "+\
str(dnaAlt+1)+" "+str(dnaAlt+dnaRef+2)
#cmd=BETA_BINOMIAL+""+OPTIONS+" "+str(rnaAlt)+" "+str(rnaRef+rnaAlt)+" "+\
# str(dnaRef+1)+" "+str(dnaAlt+dnaRef+2)
#print(cmd)
output = Pipe.run(cmd)
#print("OUTPUT:",output)
P = float(output)
#print(P)
return P
def align(self, seq1, seq2):
file1 = self.writeFile("query", seq1)
file2 = self.writeFile("reference", seq2)
cmd=self.alignerDir+"/smith-waterman -q "+self.matrixFile+" "+\
str(self.gapOpen)+" "+str(self.gapExtend)+" "+file1+" "+file2+" DNA"
output = Pipe.run(cmd)
os.remove(file1)
os.remove(file2)
if (not rex.find("CIGAR=(\S+)", output)):
raise Exception("Can't parse aligner output: " + output)
cigar = rex[1]
cigar = self.swapInsDel(cigar) # because I define cigars differently
return CigarString(cigar)
def run(self):
self.events()
self.bird.move()
self.background.move()
self.floor.move()
for i in self.pipe:
i.move()
i.collide(self.bird)
self.floor.collide(self.bird)
self.add_score()
if self.pipe[0].x < 0 - self.pipe[0].IMAGE.get_width():
self.pipe.pop(0)
self.pipe.append(
Pipe(self.pipe[-1].x + Pipe.WIDTH + Vars.PIPE_DISTANCE))
if Vars.lose:
self.lose()
def train():
generation = 0
brain = []
record = 0
bestBird = NeuralNetwork(INPUT, HIDDEN, OUTPUT)
velGame = 0
info = {'close': False, 'brain': brain, 'generation': generation, 'record': record, 'bestBird': bestBird, 'velGame': velGame}
for i in range(BIRDS):
brain.append(NeuralNetwork(INPUT, HIDDEN, OUTPUT))
start = time.time()
while True:
OBJECTS['bird'] = []
HITMASK['bird'] = []
for bird in range(BIRDS):
OBJECTS['bird'].append(Bird())
HITMASK['bird'].append((
OBJECTS['bird'][bird].getHitmask(0),
OBJECTS['bird'][bird].getHitmask(1),
OBJECTS['bird'][bird].getHitmask(2)
))
OBJECTS['base'] = Base()
OBJECTS['pipe'] = Pipe()
HITMASK['pipe'] = (
OBJECTS['pipe'].getHitmaskLowerPipe(),
OBJECTS['pipe'].getHitmaskUpperPipe()
)
rdmBg = random.randint(0, len(BACKGROUNDS_LIST) - 1)
IMAGES['background'] = pygame.image.load(BACKGROUNDS_LIST[rdmBg]).convert()
if not info['close']:
info = trainGame(info['brain'], info['generation'], info['record'], info['bestBird'], info['velGame'])
else:
break
end = time.time()
t = end - start
hour = int(t / 3600)
min = int((t % 3600) / 60)
sec = int((t % 3600) % 60)
stringTime = 'Time:' + str(hour) + 'h ' + str(min) + 'm ' + str(sec) + 's'
drawText(10, 35, stringTime, (0, 0, 0), 35)
pygame.display.update()
time.sleep(3)
def __init__(self):
self.bird = Bird(Vars.BIRD_START_X, Vars.BIRD_START_Y)
self.pipe = [
Pipe(Vars.PIPE_STARTING_X + i * (Vars.PIPE_DISTANCE + Pipe.WIDTH))
for i in range(0, 3)
]
self.background = LoopingImage(Vars.WIN_HEIGHT, Vars.background_img,
Vars.BACKGROUND_VEL)
self.floor = Floor(Vars.FLOOR_HEIGHT, Vars.Floor_img, Vars.FLOOR_VEL)
self.fpsClock = pygame.time.Clock()
self.distance = 0
self.score = 0
self.score_number_text = Vars.font1.render(str(self.score), False,
(0, 0, 0))
while Vars.running:
self.run()
self.draw()
self.fpsClock.tick(Vars.FPS)
def main(genomes, config):
"""Run the main process to execute the game."""
global GEN
GEN += 1
nets = []
ge = []
birds = []
for _, g in genomes:
net = neat.nn.FeedForwardNetwork.create(g, config)
nets.append(net)
birds.append(Bird(230, 350))
g.fitness = 0
ge.append(g)
base = Base(730)
pipes = [Pipe(600)]
win = pygame.display.set_mode((WIN_WIDTH, WIN_HEIGHT))
clock = pygame.time.Clock()
run = True
score = 0
while run:
clock.tick(30)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
pygame.quit()
quit()
pipe_ind = 0
if len(birds) > 0:
if len(pipes) > 1 and birds[0].x > pipes[0].x + pipes[0].PIPE_TOP.get_width():
pipe_ind = 1
else:
run = False
break
for x, bird in enumerate(birds):
bird.move()
ge[x].fitness += 0.1
output = nets[x].activate(
(bird.y, abs(bird.y - pipes[pipe_ind].height), abs(bird.y - pipes[pipe_ind].bottom)))
if output[0] > 0.5:
bird.jump()
add_pipe = False
rem = []
for pipe in pipes:
for x, bird in enumerate(birds):
if pipe.collide(bird):
ge[x].fitness -= 1
birds.pop(x)
nets.pop(x)
ge.pop(x)
if not pipe.passed and pipe.x < bird.x:
pipe.passed = True
add_pipe = True
if pipe.x + pipe.PIPE_TOP.get_width() < 0:
rem.append(pipe)
pipe.move()
if add_pipe:
score += 1
for g in ge:
g.fitness += 5
pipes.append(Pipe(600))
for r in rem:
pipes.remove(r)
for x, bird in enumerate(birds):
if bird.y + bird.img.get_height() >= 730 or bird.y < 0:
birds.pop(x)
nets.pop(x)
ge.pop(x)
base.move()
draw_window(win, birds, pipes, base, score, GEN)
def game(generation, high_score):
birds = ga.get_population()
# for bird in birds:
# print(bird.neural_network)
# input()
pipe_level = 1
pipes = []
done = False
pygame.time.set_timer(USEREVENT + 1, pipe_interval)
BackGround = Background('large.jpg', [0, 0])
while not done:
screen.fill([255, 255, 255])
screen.blit(BackGround.image, BackGround.rect)
for event in pygame.event.get():
if event.type == pygame.QUIT:
done = True
pygame.quit()
exit()
if event.type == USEREVENT + 1:
pipes.append(Pipe(pipe_level))
pipe_level += 1
if event.type == pygame.MOUSEBUTTONDOWN:
for bird in birds:
bird.up()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
for bird in birds:
bird.up()
if event.key == pygame.K_ESCAPE:
done = True
pygame.quit()
exit()
for pipe in pipes:
pipe.update()
pipes = [pipe for pipe in pipes if not pipe.offscreen()]
for bird in birds:
if pipe.hit(bird):
# print("Score of this bird was", bird.score)
birds.remove(bird)
pass
# Drawing pipes
for pipe in pipes:
pipe.show()
pipes_to_right_of_bird = [
pipe for pipe in pipes if pipe.distance_from_bird_to_end_of_gap > 0
]
closest_pipe_to_right_of_bird = 0
if len(pipes_to_right_of_bird) > 0:
closest_pipe_to_right_of_bird = min(
pipes_to_right_of_bird,
key=lambda pipe_lambda: pipe_lambda.
distance_from_bird_to_end_of_gap)
# draw target point
target_point = [
100 +
closest_pipe_to_right_of_bird.distance_from_bird_to_end_of_gap
if isinstance(closest_pipe_to_right_of_bird, Pipe) else width,
closest_pipe_to_right_of_bird.top +
int(closest_pipe_to_right_of_bird.gap / 2)
if closest_pipe_to_right_of_bird else int(height / 2)
]
pygame.draw.circle(screen, blue, target_point, 5)
pygame.draw.line(screen, blue, [0, target_point[1]],
[width, target_point[1]])
pygame.draw.line(screen, blue, [target_point[0], 0],
[target_point[0], height])
curr_score = ga.get_best_unit().score
if curr_score > high_score:
high_score = curr_score
screen.blit(
pygame.font.Font('C://windows//fonts//arial.ttf',
20).render("Generation:{}".format(generation),
True, blue), (10, 570))
screen.blit(
pygame.font.Font('C://windows//fonts//arial.ttf',
20).render("High Score:{}".format(high_score),
True, blue), (150, 570))
screen.blit(
pygame.font.Font('C://windows//fonts//arial.ttf',
20).render("alive:{}".format(len(birds)), True,
blue), (300, 570))
for bird in birds:
if bird.hit_walls():
birds.remove(bird)
continue
bird.update()
bird.horizontal_distance = target_point[0] - bird.x
bird.height_difference = target_point[1] - bird.y
bird.target_point = target_point
if (generation < 3):
sim = True
else:
sim = False
if bird.neural_network_make_decision(bird.horizontal_distance,
bird.height_difference,
bird.velocity,
simulated=sim):
bird.up()
else:
pass
# Draw birds
for bird in birds:
bird.show()
if not len(birds):
pass
done = True
pygame.display.flip()
clock.tick(fps)
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
def __init__(self):
logging.info("Redeem initializing "+version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision "+self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops","inputdev");
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4" , 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0,0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1,1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2,2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None,3,3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None,4,4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(self.printer.config.getfloat('Steppers', 'current_'+name))
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.printer.config.getint('Steppers', 'microstepping_'+name))
stepper.direction = self.printer.config.getint('Steppers', 'direction_'+name)
stepper.set_decay(self.printer.config.getboolean("Steppers", "slow_decay_"+name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on "+path)
else:
logging.info("No cold end present in path: "+path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat('Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat('Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat('Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans=[]
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(self.printer.config.get('Steppers', 'home_speed_h'))
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(dirname+"/../firmware/firmware_runtime.p",dirname+"/../firmware/firmware_runtime.bin",dirname+"/../firmware/firmware_endstops.p",dirname+"/../firmware/firmware_endstops.bin",self.revision,self.printer.config,"/usr/bin/pasm")
self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware)
self.printer.path_planner.set_acceleration(float(self.printer.config.get('Steppers', 'acceleration')))
travel={}
offset={}
for axis in ['X','Y','Z']:
travel[axis] = self.printer.config.getfloat('Geometry', 'travel_'+axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry', 'offset_'+axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer);
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop "+endstop.name+" hit? : "+ str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
def init(self,voice=1):
if voice==1: super().init()
self.bgColor = (255,255,255)
self.count = 0
self.sec = 0
self.min = 0
self.timetext = "TIME: 0:00"
self.timechange = False
self.movechange = False
self.mute = -1
self.mode = "play"
#self.mode = "solve"
self.solvelist = [10,6,7,3,2,1,5,9]
self.solvelist += [10,6,5,9,10,6,2,3]
self.solvelist += [4,8,12,11,7,8]
self.solvelist += [12,11,10,6,2,3]
self.solvelist += [7,8,4,3,7,8,12,11,10]
self.solvelist += [6,7,8,12,11,10,9,5,6,7]
self.solveindex = len(self.solvelist)-1
datastring = "1000\n"
datastring += "1000\n"
writeFile("game6data.txt",datastring)
global curk,k
curk,k = 8,8
global p1,p2,p3,p4,p5,p6
p1 = []
p2 = [1,6,9]
p3 = [4]
p4 = [3]
p5 = [10]
p6 = [5]
Pipe.init()
Tile.init()
self.win = False
self.pipes = pygame.sprite.Group()
self.tiles = pygame.sprite.Group()
for i in range(4):
for j in range(3):
x=332+65*j
y=180+65*i
num = j*4+i+1
if num in p1:
self.pipes.add(Pipe(x,y,num,1))
elif num in p2:
self.pipes.add(Pipe(x,y,num,2))
elif num in p3:
self.pipes.add(Pipe(x,y,num,3))
elif num in p4:
self.pipes.add(Pipe(x,y,num,4))
elif num in p5:
self.pipes.add(Pipe(x,y,num,5))
elif num in p6:
self.pipes.add(Pipe(x,y,num,6))
elif num!= curk:
self.tiles.add(Tile(x,y,num))
self.exit = 8
self.exittype = "init"
self.timer = 15
self.gassound = pygame.mixer.Sound('sound/gas01.wav')
self.gassound.play()
self.gassound.set_volume(0.2)
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing " + version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(
self.config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(
self.config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
self.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
self.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
"B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
"B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
"B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1(
"/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1,
self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP(self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2,
self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1: self.fan_2, 2: self.fan_3}
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0, "H": 0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter(
"F")) / 60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
if g.hasLetter(
"E"
) and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement,
g.is_crc()) # Make a path segment from the axes
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(
g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE",
False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(
path
) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code(
) == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0",
"H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(
i)) / 1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate,
"G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(
int(g.tokenValue(i)))
SMD.commit()
elif g.code(
) == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(
float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(
float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to " +
str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(
float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to " + str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:" + str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:" + str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:" + str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:" + str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(
float(g.getValueByLetter("S")) /
255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0)) / 255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: " +
' '.join('%s:%s' % i
for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: " + g.message)
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing "+firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(logfile, maxBytes=2*1024*1024)
printer.redeem_logging_handler.setFormatter(logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1", "X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es, invert)
self.printer.end_stops[es].stops = self.printer.config.get('Endstops', 'end_stop_'+es+'_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90, 11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91, 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92, 13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93, 14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94, 15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5" , "GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5", "GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2" , "GPIO0_14", "GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis "+name+" has slave "+slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: "+str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-"+str(i)))
logging.info("Found Cold end "+str(i)+" on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
resistance = self.printer.config.getfloat("Heaters", "resistance_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart, resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat('Heaters', 'min_temp_'+e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat('Heaters', 'max_temp_'+e)
self.printer.heaters[e].max_temp_rise = self.printer.config.getfloat('Heaters', 'max_rise_temp_'+e)
self.printer.heaters[e].max_temp_fall = self.printer.config.getfloat('Heaters', 'max_fall_temp_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.get("Servos", "servo_"+str(servo_nr)+"_channel")
pulse_min = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_pulse_min")
pulse_max = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_pulse_max")
angle_min = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_min")
angle_max = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_max")
angle_init = printer.config.getfloat("Servos", "servo_"+str(servo_nr)+"_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max, angle_init)
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat('Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option('Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat('Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects temp sensor ds18b20 {} with fan {}".format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders', "enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders", "enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders", "event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders", "cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders", "diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex)-3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat("Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level"+str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.min_speeds[i] = printer.config.getfloat('Planner', 'min_speed_'+axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner', 'max_jerk_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
printer = Printer()
self.printer = printer
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
Path.set_axes(5)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "0A4A"
# We set it to 5 axis by default
Path.set_axes(5)
if self.printer.config.reach_revision:
Path.set_axes(8)
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1"]:
PWM.set_frequency(1000)
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]:
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(pin, keycode, es, invert)
# Backwards compatibility with A3
if self.revision == "00A3":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4)
elif self.revision == "00B1":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
else:
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4)
if printer.config.reach_revision:
printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5)
printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6)
printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
# Commit changes for the Steppers
#Stepper.commit()
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Set up cold ends
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart)
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision == "00B1":
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_channel")
angle_off = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_off")
s = Servo(channel, 500, 750, angle_off)
s.angle_on = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_on")
s.angle_off = angle_off
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), False)
c.ok_range = 4
c.set_target_temperature(60)
c.enable()
self.printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.revision, self.printer.config, "/usr/bin/pasm")
printer.maxJerkXY = printer.config.getfloat('Planner', 'maxJerk_xy')
printer.maxJerkZ = printer.config.getfloat('Planner', 'maxJerk_z')
printer.maxJerkEH = printer.config.getfloat('Planner', 'maxJerk_eh')
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
printer.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_enabled()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")
def __init__(self):
firmware_version = "1.1.8~Raw Deal"
logging.info("Redeem initializing " + firmware_version)
printer = Printer()
self.printer = printer
Path.printer = printer
printer.firmware_version = firmware_version
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error(
"/etc/redeem/default.cfg does not exist, this file is required for operation"
)
sys.exit() # maybe use something more graceful?
if not os.path.exists("/etc/redeem/local.cfg"):
logging.info("/etc/redeem/local.cfg does not exist, Creating one")
os.mknod("/etc/redeem/local.cfg")
# Parse the config files.
printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
# Set up additional logging, if present:
if self.printer.config.getboolean('System', 'log_to_file'):
logfile = self.printer.config.get('System', 'logfile')
formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s'
printer.redeem_logging_handler = logging.handlers.RotatingFileHandler(
logfile, maxBytes=2 * 1024 * 1024)
printer.redeem_logging_handler.setFormatter(
logging.Formatter(formatter))
printer.redeem_logging_handler.setLevel(level)
logging.getLogger().addHandler(printer.redeem_logging_handler)
logging.info("-- Logfile configured --")
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "00B3"
# We set it to 5 axis by default
Path.NUM_AXES = 5
if self.printer.config.reach_revision:
logging.info("Found Reach rev. " +
self.printer.config.reach_revision)
if self.printer.config.reach_revision == "00A0":
Path.NUM_AXES = 8
elif self.printer.config.reach_revision == "00B0":
Path.NUM_AXES = 7
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1", "00B2", "00B3"]:
PWM.set_frequency(1000)
# Test the alarm framework
Alarm.printer = self.printer
Alarm.executor = AlarmExecutor()
alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational")
# Init the Watchdog timer
printer.watchdog = Watchdog()
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_disabled()
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
# Set up key listener
Key_pin.listener = Key_pin_listener(EndStop.inputdev)
for es in ["Z2", "Y2", "X2", "Z1", "Y1",
"X1"]: # Order matches end stop inversion mask in Firmware
pin = self.printer.config.get("Endstops", "pin_" + es)
keycode = self.printer.config.getint("Endstops", "keycode_" + es)
invert = self.printer.config.getboolean("Endstops", "invert_" + es)
self.printer.end_stops[es] = EndStop(printer, pin, keycode, es,
invert)
self.printer.end_stops[es].stops = self.printer.config.get(
'Endstops', 'end_stop_' + es + '_stops')
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
if self.revision == "00A3":
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, "X")
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, "Y")
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z")
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, "E")
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, "H")
elif self.revision == "00B1":
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B2":
printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29",
"GPIO2_4", 11, 0, "X")
printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22",
"GPIO2_5", 12, 1, "Y")
printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26",
"GPIO0_15", 13, 2, "Z")
printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15",
"GPIO2_1", 14, 3, "E")
printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14",
"GPIO2_3", 15, 4, "H")
elif self.revision == "00B3":
printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90,
11, 0, "X")
printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91,
12, 1, "Y")
printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92,
13, 2, "Z")
printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93,
14, 3, "E")
printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94,
15, 4, "H")
elif self.revision in ["00A4", "0A4A"]:
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29",
"GPIO2_4", 0, 0, "X")
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22",
"GPIO2_5", 1, 1, "Y")
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, 2, "Z")
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15",
"GPIO2_1", 3, 3, "E")
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14",
"GPIO2_3", 4, 4, "H")
# Init Reach steppers, if present.
if printer.config.reach_revision == "00A0":
printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18",
"GPIO0_14", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5",
"GPIO0_14", 6, 6, "B")
printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19",
"GPIO0_14", 7, 7, "C")
elif printer.config.reach_revision == "00B0":
printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5",
"GPIO0_3", 5, 5, "A")
printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14",
"GPIO0_3", 6, 6, "B")
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.direction = printer.config.getint('Steppers',
'direction_' + name)
stepper.has_endstop = printer.config.getboolean(
'Endstops', 'has_' + name)
stepper.set_current_value(
printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(
printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(
printer.config.getint("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat(
'Endstops', 'soft_end_stop_max_' + name)
slave = printer.config.get('Steppers', 'slave_' + name)
if slave:
Path.add_slave(name, slave)
logging.debug("Axis " + name + " has slave " + slave)
# Commit changes for the Steppers
#Stepper.commit()
Stepper.printer = printer
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = [
"Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial",
"C_radial", "A_tangential", "B_tangential", "C_tangential"
]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Discover and add all DS18B20 cold ends.
import glob
paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave")
logging.debug("Found cold ends: " + str(paths))
for i, path in enumerate(paths):
self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i)))
logging.info("Found Cold end " + str(i) + " on " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_" + e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_" + e)
chart = self.printer.config.get("Heaters", "temp_chart_" + e)
resistance = self.printer.config.getfloat("Heaters",
"resistance_" + e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET " + e, chart,
resistance)
self.printer.thermistors[e].printer = printer
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e)
prefix = self.printer.config.get('Heaters', 'prefix_' + e)
if e != "HBP":
self.printer.heaters[e] = Extruder(self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e,
onoff)
else:
self.printer.heaters[e] = HBP(self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat(
'Heaters', 'pid_p_' + e)
self.printer.heaters[e].I = self.printer.config.getfloat(
'Heaters', 'pid_i_' + e)
self.printer.heaters[e].D = self.printer.config.getfloat(
'Heaters', 'pid_d_' + e)
# Min/max settings
self.printer.heaters[e].min_temp = self.printer.config.getfloat(
'Heaters', 'min_temp_' + e)
self.printer.heaters[e].max_temp = self.printer.config.getfloat(
'Heaters', 'max_temp_' + e)
self.printer.heaters[
e].max_temp_rise = self.printer.config.getfloat(
'Heaters', 'max_rise_temp_' + e)
self.printer.heaters[
e].max_temp_fall = self.printer.config.getfloat(
'Heaters', 'max_fall_temp_' + e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision in ["00B1", "00B2", "00B3"]:
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
if printer.config.reach_revision == "00A0":
self.printer.fans.append(Fan(14))
self.printer.fans.append(Fan(15))
self.printer.fans.append(Fan(7))
# Disable all fans
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while (printer.config.has_option("Servos", "servo_" + str(servo_nr) +
"_enable")):
if printer.config.getboolean("Servos",
"servo_" + str(servo_nr) + "_enable"):
channel = printer.config.get(
"Servos", "servo_" + str(servo_nr) + "_channel")
pulse_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_min")
pulse_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_pulse_max")
angle_min = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_min")
angle_max = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_max")
angle_init = printer.config.getfloat(
"Servos", "servo_" + str(servo_nr) + "_angle_init")
s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max,
angle_init)
printer.servos.append(s)
logging.info("Added servo " + str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
continue
if printer.config.getboolean(
'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f),
True) # Use ON/OFF on these.
c.ok_range = 4
opt_temp = "therm-{}-fan-{}-target_temp".format(t, f)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(
t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if not self.printer.config.has_option(
'Cold-ends', "add-fan-{}-to-M106".format(i)):
continue
if self.printer.config.getboolean('Cold-ends',
"add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the colds to fans
for ce, cold_end in enumerate(self.printer.cold_ends):
for f, fan in enumerate(self.printer.fans):
option = "connect-ds18b20-{}-fan-{}".format(ce, f)
if self.printer.config.has_option('Cold-ends', option):
if self.printer.config.getboolean('Cold-ends', option):
c = Cooler(cold_end, fan,
"Cooler-ds18b20-{}-{}".format(ce, f), False)
c.ok_range = 4
opt_temp = "cooler_{}_target_temp".format(ce)
if printer.config.has_option('Cold-ends', opt_temp):
target_temp = printer.config.getfloat(
'Cold-ends', opt_temp)
else:
target_temp = 60
c.set_target_temperature(target_temp)
c.enable()
printer.coolers.append(c)
logging.info(
"Cooler connects temp sensor ds18b20 {} with fan {}"
.format(ce, f))
# Init roatray encs.
printer.filament_sensors = []
# Init rotary encoders
printer.rotary_encoders = []
for ex in ["E", "H", "A", "B", "C"]:
if not printer.config.has_option('Rotary-encoders',
"enable-{}".format(ex)):
continue
if printer.config.getboolean("Rotary-encoders",
"enable-{}".format(ex)):
logging.debug("Rotary encoder {} enabled".format(ex))
event = printer.config.get("Rotary-encoders",
"event-{}".format(ex))
cpr = printer.config.getint("Rotary-encoders",
"cpr-{}".format(ex))
diameter = printer.config.getfloat("Rotary-encoders",
"diameter-{}".format(ex))
r = RotaryEncoder(event, cpr, diameter)
printer.rotary_encoders.append(r)
# Append as Filament Sensor
ext_nr = Path.axis_to_index(ex) - 3
sensor = FilamentSensor(ex, r, ext_nr, printer)
alarm_level = printer.config.getfloat(
"Filament-sensors", "alarm-level-{}".format(ex))
logging.debug("Alarm level" + str(alarm_level))
sensor.alarm_level = alarm_level
printer.filament_sensors.append(sensor)
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n" +
str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat(
'Planner', 'max_speed_' + axis.lower())
Path.min_speeds[i] = printer.config.getfloat(
'Planner', 'min_speed_' + axis.lower())
Path.jerks[i] = printer.config.getfloat('Planner',
'max_jerk_' + axis.lower())
Path.home_speed[i] = printer.config.getfloat(
'Homing', 'home_speed_' + axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat(
'Homing', 'home_backoff_speed_' + axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat(
'Homing', 'home_backoff_offset_' + axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter(
)
Path.backlash_compensation[i] = printer.config.getfloat(
'Steppers', 'backlash_' + axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.printer, "/usr/bin/pasm")
printer.move_cache_size = printer.config.getfloat(
'Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat(
'Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat(
'Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat(
'Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
# Setting acceleration before PathPlanner init
for axis in printer.steppers.keys():
Path.acceleration[Path.axis_to_index(
axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[
axis] = printer.config.getfloat('Geometry',
'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (
Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X', 'Y', 'Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[
axis] = printer.config.getfloat('Geometry',
'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] = (
Path.soft_min[i]
if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X', 'Y', 'Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat(
'Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[
axis] = printer.path_planner.center_offset[axis]
if axis in ['X', 'Y', 'Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning(
"Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta"
)
if center_default:
logging.warning(
"Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta"
)
if home_default:
logging.warning(
"Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az, Bz, Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz,
Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X', 'Y', 'Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s" %
str(printer.path_planner.home_pos))
# Enable Stepper timeout
timeout = printer.config.getint('Steppers', 'timeout_seconds')
printer.swd = StepperWatchdog(printer, timeout)
if printer.config.getboolean('Steppers', 'use_timeout'):
printer.swd.start()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning(
"Neither tty0tty or socat is installed! No virtual tty pipes enabled"
)
class Replicape:
''' Init '''
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
''' When a new gcode comes in, excute it '''
def loop(self):
print "Replicape starting main"
try:
while True:
gcode = Gcode(self.commands.get(), self)
self._execute(gcode)
if gcode.prot == "USB":
self.usb.send_message(gcode.getAnswer())
elif gcode.prot == "PIPE":
self.pipe.send_message(gcode.getAnswer())
else:
self.ethernet.send_message(gcode.getAnswer())
self.commands.task_done()
except Exception as e:
logging.exception("Ooops: ")
''' Execute a G-code '''
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter("F"))/60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
if g.hasLetter("E") and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement, g.is_crc())# Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE", False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0", "H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate, "G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
SMD.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
SMD.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
SMD.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to "+str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to "+str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:"+str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:"+str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:"+str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(float(g.getValueByLetter("S"))/255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0))/255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: "+' '.join('%s:%s' % i for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M142":
self.stat = True
elif g.code() == "M143":
self.stat = False
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: "+g.message)
def init(self,voice=1):
if voice==1: super().init()
self.bgColor = (255,255,255)
self.count = 0
self.sec = 0
self.flysec = 0
self.min = 0
self.timetext = "TIME: 0:00"
self.timechange = False
self.movechange = False
self.mute = -1
self.mode = "play"
#self.mode = "solve"
self.solvelist = [7,8,4,3,7,11,15,14,10,11,7,6,5]
self.solvelist += [9,13,14,10,9,5,6,10,9,5,1]
self.solvelist += [2,6,10,11,15,14,10,6]
self.solvelist += [7,11,15,16,12,11,10,14,15,16,12,11]
self.solveindex = len(self.solvelist)-1
datastring = "1000\n"
datastring += "1000\n"
writeFile("game8data.txt",datastring)
global curk1,curk2
curk1,curk2 = 7,11
global p1,p2
p1 = [2,3,5,8,9,12,14,15]
p2 = [2,4,7,14]
self.flip = 1
Pipe.init()
Tile.init()
Gear.init()
self.win = False
self.pipes = pygame.sprite.Group()
self.backpipes = pygame.sprite.Group()
self.tiles = pygame.sprite.Group()
self.backtiles = pygame.sprite.Group()
self.gears = pygame.sprite.Group()
self.gears.add(Gear(265,118,-1,0,1))
for i in range(4):
for j in range(4):
x=332+65*j
y=180+65*i
num = j*4+i+1
if num in p1:
self.pipes.add(Pipe(x,y,num,1))
elif num!= curk1:
self.tiles.add(Tile(x,y,num))
for i in range(4):
for j in range(4):
x=332+65*j
y=180+65*i
num = j*4+i+1
if num in p2:
self.backpipes.add(Pipe(x,y,num,2))
elif num!= curk2:
self.backtiles.add(Tile(x,y,num))
self.exit1 = 0
self.exittype1 = "left"
self.exit2 = 0
self.exittype2 = "none"
self.timer = 15
self.gassound = pygame.mixer.Sound('sound/gas01.wav')
self.gassound.play()
self.gassound.set_volume(0.2)
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = SMD("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = SMD("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = SMD("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["H"] = SMD("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["E"] = SMD("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
SMD.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(3)
self.mosfet_ext2 = Mosfet(4)
self.mosfet_hbp = Mosfet(5)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(1)
self.fan_2 = Fan(2)
self.fan_3 = Fan(0)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["Y1"] = EndStop("GPIO2_2", self.steppers, 1, "Y1")
self.end_stops["X1"] = EndStop("GPIO0_14", self.steppers, 2, "X1")
self.end_stops["Z1"] = EndStop("GPIO0_30", self.steppers, 3, "Z1")
self.end_stops["Y2"] = EndStop("GPIO3_21", self.steppers, 4, "Y2")
self.end_stops["X2"] = EndStop("GPIO0_31", self.steppers, 5, "X2")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 6, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
# Copyright (C)2016 William H. Majoros ([email protected]). #========================================================================= from __future__ import (absolute_import, division, print_function, unicode_literals, generators, nested_scopes, with_statement) from builtins import (bytes, dict, int, list, object, range, str, ascii, chr, hex, input, next, oct, open, pow, round, super, filter, map, zip) # The above imports should allow this program to run in both Python 2 and # Python 3. You might need to update your version of module "future". from Pipe import Pipe #import subprocess #import sys #def run_command(command): # command=command.split() # p = subprocess.Popen(command, # stdout=subprocess.PIPE, # stderr=subprocess.STDOUT) # return iter(p.stdout.readline, b'') #for line in run_command("ls -la"): # line=line.decode(sys.stdout.encoding).rstrip() # #line=line.decode("utf-8").rstrip() # print("line=",line) pipe=Pipe("ls -la | sort -g | sort -r | uniq -c") while(True): line=pipe.readline() if(not line): break print(line)
def getPvalue(self):
executable = Pipe.run("which fisher-exact-test.R")
cmd=executable+" "+str(self.x00)+" "+str(self.x01)+" "+\
str(self.x10)+" "+str(self.x11)
P = float(Pipe.run(cmd))
return P
def main():
pygame.init()
window = pygame.display.set_mode((WIN_WIDTH, WIN_HEIGHT), 0, 32)
draw_window(window)
TOTAL = 500
birds = []
savedBirds = []
generations = 0
for i in range(0, TOTAL):
birds.append(Bird(WIN_WIDTH, WIN_HEIGHT, None))
clock = pygame.time.Clock()
run = True
pipes = []
pipes.append(Pipe(WIN_HEIGHT, WIN_WIDTH + 100))
tickCount = 0
while run:
clock.tick(60)
tickCount += 1
draw_window(window)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if tickCount == 75:
pipes.append(Pipe(WIN_HEIGHT, WIN_WIDTH + 100))
tickCount = 0
for pipe in pipes:
if -100 >= pipe.x:
pipes.remove(pipe)
pipe.update()
pipe.draw(window)
for bird in birds:
if detect_collision(bird, pipes):
savedBirds.append(bird)
birds.remove(bird)
continue
if bird.y < 0 or bird.y > bird.maxHeight:
savedBirds.append(bird)
birds.remove(bird)
continue
bird.think(pipes)
bird.update()
bird.draw(window)
if birds.__len__() == 0:
pipes.clear()
tickCount = 74
birds = nextGeneration(WIN_WIDTH, WIN_HEIGHT, TOTAL, savedBirds)
savedBirds = []
generations += 1
print("Generations: ", generations)
pygame.display.update()
# main()
#=========================================================================
if (len(sys.argv) != 4):
exit(
ProgramName.get() +
" in.mtx.gz column out.mtx.gz\n where column = 1-based field index\n"
)
(infile, index, outfile) = sys.argv[1:]
OUT = open(HEADERFILE, "wt")
numHeader = 1
with gzip.open(infile, "rt") as IN:
for line in IN:
if (len(line) == 0): raise Exception("unexpected empty line")
if (line[0] == "%"):
numHeader += 1
print(line, file=OUT, end="")
else:
print(line, file=OUT, end="")
break
IN.close()
OUT.close()
cmd="cat "+infile+" | gunzip | tail -n +"+str(numHeader+1)+\
" | sort -g -k "+index+" > "+SORTEDFILE
Pipe.run(cmd)
cmd = "cat " + HEADERFILE + " " + SORTEDFILE + " | gzip > " + outfile
Pipe.run(cmd)
Pipe.run("rm " + SORTEDFILE)
Pipe.run("rm " + HEADERFILE)
def init(self,voice=1):
if voice==1: super().init()
self.bgColor = (255,255,255)
self.count = 0
self.sec = 0
self.min = 0
self.timetext = "TIME : 0:00"
self.timechange = False
self.movechange = False
self.mute = -1
self.mode = "play"
#self.mode = "solve"
self.solvelist = [2,6,7,8,4,3,2,6,5,1,2,6]
self.solvelist += [10,9,13,14,10,9,5,6,10]
self.solvelist += [9,13,14,15,11,10,9,13,14,15,16]
self.solvelist += [12,11,10,9,13,14,15,16,12,8]
self.solveindex = len(self.solvelist)-1
datastring = "1000\n"
datastring += "1000\n"
writeFile("game7data.txt",datastring)
global curk,k
curk,k = 4,4
global p1,p2,p3,p4,p5,p6,p7
p1 = [5,7,10,12,15]
p2 = [8,9]
p3 = [14]
p4 = []
p5 = [3]
p6 = [2]
p7 = [6,11]
Pipe.init()
Tile.init()
Gear.init()
self.win = False
self.pipes = pygame.sprite.Group()
self.tiles = pygame.sprite.Group()
self.gears = pygame.sprite.Group()
self.gears.add(Gear(330+65*3+5,180-55,-1,0,1))
for i in range(4):
for j in range(4):
x=332+65*j
y=180+65*i
num = j*4+i+1
if num in p1:
self.pipes.add(Pipe(x,y,num,1))
elif num in p2:
self.pipes.add(Pipe(x,y,num,2))
elif num in p3:
self.pipes.add(Pipe(x,y,num,3))
elif num in p4:
self.pipes.add(Pipe(x,y,num,4))
elif num in p5:
self.pipes.add(Pipe(x,y,num,5))
elif num in p6:
self.pipes.add(Pipe(x,y,num,6))
elif num in p7:
self.pipes.add(Pipe(x,y,num,7))
elif num!= curk:
self.tiles.add(Tile(x,y,num))
self.timer = 15
self.gassound = pygame.mixer.Sound('sound/gas01.wav')
self.gassound.play()
self.gassound.set_volume(0.2)
