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machine.py
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import glob
import fbpy.fb as fb
from math import *
import time
import gcodeparser.gcodeparser as gcode
import mill.interface as interface
import curses
import curses.textpad
import os
import data
import timeit
try:
import pololu.dipololu as pololu
POLOLU_AVAILABLE = True
except ImportError:
print "WARNING, NO HARDWARE SUPPORT, ONLY SIMULATION. press enter to continue"
s=raw_input()
POLOLU_AVAILABLE = False
class Dummypololu(object):
def __init__(self):
pass
def enable(self):
pass
def disable(self):
pass
def stepsleft(self,x):
pass
def stepsright(self,y):
pass
class Dummtpololu2(object):
stepdelay=0
speed = 0
def __init__(self):
pass
def enable(self):
pass
def disable(self):
pass
def steps(self,somelist):
pass
class Simpololu(object):
def __init__(self):
self.X = 0.0
def stepsleft(self, x):
self.X -=x
def stepsright(self,x):
self.X +=x
class Mysim(gcode.Simulator):
def __init__(self, surf, interfaceself):
self.interfaceself = interfaceself
self.X=0
self.Y=0
params = data.Calibrate()
params.getdata()
self.stepspermmX = params.stepspermmx
self.stepspermmY = params.stepspermmy
self.sleepx = params.speedx
self.sleepy = params.speedy
self.lastx=0
self.lasty=0
self.hystx=params.hysteresisx
self.hysty=params.hysteresisy
gcode.Simulator.__init__(self, surf)
gcode.Point.scale = params.scale
self.aanslagy=0
self.aanslagx=0
if (POLOLU_AVAILABLE):
self.xydriver = pololu.Pololu(
pololu.Pins(
enablex = 25,
directionx=23,
stepx=24,
enabley=22,
directiony=17,
stepy=27
)
)
self.xydriver.disable()
self.xydriver.speed=280
else:
self.ydriver = Dummypololu()
self.xdriver = Dummypololu()
self.xydriver = Dummtpololu2()
self.simxdriver = Simpololu()
self.simydriver = Simpololu()
def raisedrill(self):
self.surf.pixelstyle.color = self.color1
self.interfaceself.drillmessage("raise mill and press space to continue...")
def lowerdrill(self):
self.surf.pixelstyle.color = self.color2
self.interfaceself.drillmessage("lower mill and press space to continue...")
def simfinished(self):
self.interfaceself.drillmessage("Simulation finished, press space to continue")
def pause(self):
#time.sleep(self.sleepx)
#time.sleep(self.xydriver.stepdelay)
return self.interfaceself.ifpause()
def talkback(self, talk):
self.interfaceself.showgcode(talk)
def movexyz(self, dx, dy, x, y, mode, rampup):
self.xydriver.speed = 100.0+180.0 * rampup
self.xydriver.steps([-dx*self.stepspermmX, dy*self.stepspermmY])
class Myinterface(interface.Interface):
LEFTCOLUMN = 10
menudata = [
[10, LEFTCOLUMN, " MENU"],
[11, LEFTCOLUMN, "======================="],
[12, LEFTCOLUMN, "q) quit"],
[13, LEFTCOLUMN, "C) start milling"],
[14, LEFTCOLUMN, "S) simulate"],
[15, LEFTCOLUMN, "o) set origin"],
[16, LEFTCOLUMN, "l) load file"],
[17, LEFTCOLUMN, "c) calibrate"],
[18, LEFTCOLUMN, "<space> pause/play"],
[19, LEFTCOLUMN, "i,j,k,m up/dn/lt/rt, u,o,n,,diag"],
[20, LEFTCOLUMN, "a,w,s,z move graph"],
[21, LEFTCOLUMN, "+, -, zoom graph"],
[22, LEFTCOLUMN, "Q) quit closing machine"],
[23, LEFTCOLUMN, "e) enablei motor"],
[24, LEFTCOLUMN, "d) disable motor"],
[25, LEFTCOLUMN, "f,F slowdown, speedup"],
[26, LEFTCOLUMN, "g go to gcode line and move"],
[27, LEFTCOLUMN, "! go to gcode line, no move"]
]
def __init__(self):
self.surface = fb.Surface()
self.surf = fb.Surface((650,200),(500,500))
self.parser = gcode.Parse()
self.sim = Mysim(self.surf, self)
interface.Interface.__init__(self)
self.gcodewin = curses.newwin(35,60,10,5*self.LEFTCOLUMN)
self.filewin = curses.newwin(10,60,40,self.LEFTCOLUMN)
self.statewin = curses.newwin(3, 60, 5, 5*self.LEFTCOLUMN)
self.crdwin = curses.newwin(1, 80, int(0.9*self.height), self.LEFTCOLUMN)
def pause(self):
go = 1
while (go):
c=self.screen.getch()
go=self.generichandler(c)
if (c==ord(' ')):
go=0
#if (c==ord('q')):
# return -1
return 0
def ifpause(self):
c=self.screen.getch()
if (c==ord(' ')):
self.drillmessage("paused, space to continue")
return self.generichandler(c)
def resetorigin(self):
pass
def decrementx(self, n):
self.sim.movexyz(-n, 0, 0 , 0, 0,1)
def decrementy(self,n):
self.sim.movexyz(0, n, 0 , 0, 0,1)
def incrementx(self,n):
self.sim.movexyz(n, 0, 0, 0, 0,1)
def incrementy(self,n):
self.sim.movexyz(0,-n, 0, 0, 0,1)
def dowhateverSis(self, mode):
if (self.sim.geometries is None):
return
self.sim.draw()
self.sim.sim(mode)
self.statewin.addstr(0,0," ")
def showgcode(self, gcodestring):
self.gcodewin.addstr(0,0, gcodestring)
self.gcodewin.refresh()
def updatedata(self):
self.crdwin.addstr( 0, 0,
"CURR CRD: x0 = {0:<4} y0 = {1:<4} x1 = {2:<4} y1 = {3:<4}".format( self.sim.currentx0,
self.sim.currenty0,
self.sim.currentx1,
self.sim.currenty1))
self.crdwin.refresh()
def raw_input(self, y, x, question):
self.screen.nodelay(0)
curses.echo()
self.screen.addstr(y,x,question)
returnstring = self.screen.getstr(y,x+len(question),20)
self.screen.nodelay(1)
curses.noecho()
self.screen.addstr(y,x," ")
self.screen.refresh()
return returnstring
def loopinit(self):
self.sim.state="POLL "
def generichandler(self, arg):
go=1
self.statewin.addstr(1,1,self.sim.state)
s ="d bressnham:time {0}, delay {1}".format(self.sim.tictoc, self.sim.xydriver.stepdelay)
self.statewin.addstr(2,1,s)
self.statewin.refresh()
self.updatedata()
if (arg==-1):
return go
elif (arg==ord('q')):
go=0
return 0
elif (arg==ord('l')):
self.loadfile()
elif (arg==ord('S')):
self.dowhateverSis(0)
elif (arg==ord('C')):
self.dowhateverSis(1)
elif (arg==ord('c')):
self.resetorigin()
elif (arg==ord('+')):
self.sim.zoom +=0.05
self.sim.draw()
elif (arg==ord('-')):
self.sim.zoom -=0.05
self.sim.draw()
elif (arg==ord('w')):
self.sim.offsety +=0.05
self.sim.draw()
elif (arg==ord('z')):
self.sim.offsety -=0.05
self.sim.draw()
elif (arg==ord('a')):
self.sim.offsetx -=0.05
self.sim.draw()
elif (arg==ord('s')):
self.sim.offsetx +=0.05
self.sim.draw()
elif (arg==ord('e')):
self.screen.addstr(3,3,"motor enabled ")
self.screen.refresh()
self.sim.xydriver.enable()
elif (arg==ord('d')):
self.screen.addstr(3,3,"motor disabled")
self.sim.xydriver.disable()
elif (arg==ord('I')):
self.decrementy(1)
elif (arg==ord('M')):
self.incrementy(1)
elif (arg==ord('J')):
self.decrementx(1)
elif (arg==ord('K')):
self.incrementx(1)
elif (arg==ord('f')):
self.sim.sleepx +=0.0001
self.sim.sleepy +=0.0001
if (self.sim.sleepx>1):
self.sim.sleepx=1
if (self.sim.sleepy>1):
self.sim.sleepy=1
elif (arg==ord('F')):
self.sim.sleepx -=0.0001
self.sim.sleepy -=0.0001
if (self.sim.sleepx<0.0001):
self.sim.sleepx=0.0001
if (self.sim.sleepy<0.0001):
self.sim.sleepy=0.0001
elif (arg==ord('i')):
self.decrementy(300)
elif (arg==ord('m')):
self.incrementy(300)
elif (arg==ord('j')):
self.decrementx(300)
elif (arg==ord('k')):
self.incrementx(300)
elif (arg==ord('u')):
self.sim.movexyz(-300,300,0,0,0, 1)
elif (arg==ord('o')):
self.sim.movexyz,(300,300,0,0,0,1)
elif (arg==ord(',')):
self.sim.movexyz(300,-300,0,0,0,1)
elif (arg==ord('n')):
self.sim.movexyz(-300,-300,0,0,0,1)
elif (arg==ord('<')):
self.sim.linecounter-=2
go=-1
self.sim.forward=True
elif (arg==ord('>')):
self.sim.linecounter+=0
go=-1
self.sim.forward=True
elif (arg==ord('Q')):
os.system('sudo shutdown -h now')
elif (arg==ord('!')):
#goto line without interp
goline = self.raw_input(1,1,"line nr: ")
self.sim.linecounter = int(goline)
self.sim.sim(1)
elif (arg==ord('g')):
#goto line...
self.sim.state = "goto line"
x0=self.sim.currentx0
y0=self.sim.currenty0
goline = self.raw_input(1,1,"line nr: ")
geo = self.sim.geometries.geometries[int(goline)]
X0 = geo.point1
x1=int(X0.x*self.sim.SCALE)
y1=int(X0.y*self.sim.SCALE)
self.sim.interviolate(x0, x1, y0, y1, 1)
self.sim.linecounter = int(goline)
q = self.raw_input(2,1,"continue or stop (c/s):ENTER ")
if (q=="c"):
self.sim.sim(1)
else:
return 1#make sure no recursions occur or so
return go
def resetorigin(self):
self.sim.X = 0
self.sim.Y = 0
def drillmessage(self, message):
self.screen.addstr(int(0.8*self.height),self.LEFTCOLUMN, "Drill MSG:{0}".format(message))
self.screen.refresh()
self.pause()
self.screen.addstr(int(0.8*self.height),self.LEFTCOLUMN," ")
self.screen.refresh()
def drillmovemessage(self, message):
self.screen.addstr(int(0.8*self.height),self.LEFTCOLUMN, "Drill MSG:{0}".format(message))
self.screen.refresh()
self.screen.addstr(int(0.8*self.height),self.LEFTCOLUMN," ")
self.screen.refresh()
def loadfile(self):
self.filewin.addstr(0,0,"Available files:")
self.filewin.addstr(1,0,"================")
files=glob.glob("/dev/shm/cnc/*.ngc")
for lineno, filename in enumerate(files):
self.filewin.addstr(lineno+2, 0, "{0:<3}:{1}".format(lineno+1, filename))
self.filewin.refresh()
retnr = self.raw_input(1,1,"filenr: ")
self.parser.filename = files[int(retnr)-1]
self.parser.parse()
self.sim.geometries = self.parser.geometries
self.sim.draw()
def calibrate(self):
#work in progress...
#self.screen.keypad(1)
#win = curses.newwin(5, 60, 5, 10)
#tb = curses.textpad.Textbox(win)
#text = tb.edit()
#curses.beep()
#ofzoo....
#self.sim.stepspermmX = int(text.encode('utf_8'))
pass
def handlerestkeypresses(self,c):
if (c==ord('c')):
#calibrate
self.calibrate()
elif(c==ord('h')):
#hysteresis settings
pass
if __name__ == '__main__':
machineinterface = Myinterface()
machineinterface.main()
machineinterface.loop()
machineinterface.quit()
#todo