Verison 1.0.3 Release
Based on Buildbotics 0.4.14
This commit is contained in:
OneFinityCNC
280
src/py/bbctrl/Cmd.py
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280
src/py/bbctrl/Cmd.py
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#!/usr/bin/env python3
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################################################################################
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# #
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# This file is part of the Buildbotics firmware. #
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# #
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# Copyright (c) 2015 - 2018, Buildbotics LLC #
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# All rights reserved. #
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# #
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# This file ("the software") is free software: you can redistribute it #
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# and/or modify it under the terms of the GNU General Public License, #
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# version 2 as published by the Free Software Foundation. You should #
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# have received a copy of the GNU General Public License, version 2 #
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# along with the software. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# The software is distributed in the hope that it will be useful, but #
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# WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
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# Lesser General Public License for more details. #
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# #
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# You should have received a copy of the GNU Lesser General Public #
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# License along with the software. If not, see #
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# <http://www.gnu.org/licenses/>. #
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# #
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# For information regarding this software email: #
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# "Joseph Coffland" <joseph@buildbotics.com> #
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# #
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################################################################################
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import struct
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import base64
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import json
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# Keep this in sync with AVR code command.def
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SET = '$'
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SET_SYNC = '#'
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MODBUS_READ = 'm'
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MODBUS_WRITE = 'M'
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SEEK = 's'
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SET_AXIS = 'a'
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LINE = 'l'
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SYNC_SPEED = '%'
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SPEED = 'p'
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INPUT = 'I'
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DWELL = 'd'
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PAUSE = 'P'
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STOP = 'S'
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UNPAUSE = 'U'
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JOG = 'j'
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REPORT = 'r'
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REBOOT = 'R'
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RESUME = 'c'
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ESTOP = 'E'
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SHUTDOWN = 'X'
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CLEAR = 'C'
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FLUSH = 'F'
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DUMP = 'D'
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HELP = 'h'
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SEEK_ACTIVE = 1 << 0
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SEEK_ERROR = 1 << 1
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def encode_float(x):
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return base64.b64encode(struct.pack('<f', x))[:-2].decode("utf-8")
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def decode_float(s):
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return struct.unpack('<f', base64.b64decode(s + '=='))[0]
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def encode_axes(axes):
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data = ''
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for axis in 'xyzabc':
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if axis in axes:
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data += axis + encode_float(axes[axis])
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elif axis.upper() in axes:
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data += axis + encode_float(axes[axis.upper()])
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return data
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def set_sync(name, value):
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if isinstance(value, float): return set_float(name, value)
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else: return SET_SYNC + '%s=%s' % (name, value)
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def set(name, value):
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if isinstance(value, float): return set_float(name, value)
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else: return SET + '%s=%s' % (name, value)
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def set_float(name, value):
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return SET_SYNC + '%s=:%s' % (name, encode_float(value))
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def modbus_read(addr): return MODBUS_READ + '%d' % addr
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def modbus_write(addr, value): return MODBUS_WRITE + '%d=%d' % (addr, value)
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def set_axis(axis, position): return SET_AXIS + axis + encode_float(position)
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def line(target, exitVel, maxAccel, maxJerk, times, speeds):
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cmd = LINE
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cmd += encode_float(exitVel)
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cmd += encode_float(maxAccel)
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cmd += encode_float(maxJerk)
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cmd += encode_axes(target)
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# S-Curve time parameters
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for i in range(7):
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if times[i]:
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cmd += str(i) + encode_float(times[i] / 60000) # to mins
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# Speeds
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for dist, speed in speeds:
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cmd += '\n' + sync_speed(dist, speed)
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return cmd
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def speed(value): return SPEED + encode_float(value)
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def sync_speed(dist, speed):
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return SYNC_SPEED + encode_float(dist) + encode_float(speed)
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def input(port, mode, timeout):
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type, index, m = 'd', 0, 0
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# Analog/digital & port index
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if port == 'digital-in-0': type, index = 'd', 0
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if port == 'digital-in-1': type, index = 'd', 1
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if port == 'digital-in-2': type, index = 'd', 2
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if port == 'digital-in-3': type, index = 'd', 3
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if port == 'analog-in-0': type, index = 'a', 0
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if port == 'analog-in-1': type, index = 'a', 1
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if port == 'analog-in-2': type, index = 'a', 2
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if port == 'analog-in-3': type, index = 'a', 3
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# Mode
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if mode == 'immediate': m = 0
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if mode == 'rise': m = 1
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if mode == 'fall': m = 2
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if mode == 'high': m = 3
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if mode == 'low': m = 4
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return '%s%s%d%d%s' % (INPUT, type, index, m, encode_float(timeout))
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def output(port, value):
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if port == 'mist': return '#1oa=' + ('1' if value else '0')
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if port == 'flood': return '#2oa=' + ('1' if value else '0')
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raise Exception('Unsupported output "%s"' % port)
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def dwell(seconds): return DWELL + encode_float(seconds)
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def pause(type):
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if type == 'program': type = 1
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elif type == 'optional': type = 2
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elif type == 'pallet-change': type = 1
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else: raise Exception('Unknown pause type "%s"' % type)
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return '%s%d' % (PAUSE, type)
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def jog(axes): return JOG + encode_axes(axes)
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def seek(switch, active, error):
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# cmd = SEEK + str(switch)
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cmd = SEEK + '%x' % switch
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flags = 0
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if active: flags |= SEEK_ACTIVE
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if error: flags |= SEEK_ERROR
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cmd += chr(flags + ord('0'))
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return cmd
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def decode_command(cmd):
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if not len(cmd): return
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data = {}
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if cmd[0] == SET or cmd[0] == SET_SYNC:
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data['type'] = 'set'
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if cmd[0] == SET_SYNC: data['sync'] = True
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equal = cmd.find('=')
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data['name'] = cmd[1:equal]
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value = cmd[equal + 1:]
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if value.lower() == 'true': value = True
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elif value.lower() == 'false': value = False
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elif value.find('.') == -1: data['value'] = int(value)
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else: data['value'] = float(value)
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elif cmd[0] == JOG:
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data['type'] = 'jog'
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cmd = cmd[1:]
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while len(cmd):
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name = cmd[0]
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value = decode_float(cmd[1:7])
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cmd = cmd[7:]
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if name in 'xyzabcuvw': data[name] = value
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elif cmd[0] == SEEK:
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data['type'] = 'seek'
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data['port'] = int(cmd[2], 16)
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flags = int(cmd[2], 16)
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data['active'] = bool(flags & SEEK_ACTIVE)
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data['error'] = bool(flags & SEEK_ERROR)
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elif cmd[0] == LINE:
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data['type'] = 'line'
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data['exit-vel'] = decode_float(cmd[1:7])
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data['max-accel'] = decode_float(cmd[7:13])
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data['max-jerk'] = decode_float(cmd[13:19])
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data['target'] = {}
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data['times'] = [0] * 7
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cmd = cmd[19:]
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while len(cmd):
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name = cmd[0]
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value = decode_float(cmd[1:7])
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cmd = cmd[7:]
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if name in 'xyzabcuvw': data['target'][name] = value
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else: data['times'][int(name)] = value
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elif cmd[0] == SYNC_SPEED:
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data['type'] = 'speed'
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data['offset'] = decode_float(cmd[1:7])
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data['speed'] = decode_float(cmd[7:13])
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elif cmd[0] == REPORT: data['type'] = 'report'
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elif cmd[0] == PAUSE: data['type'] = 'pause'
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elif cmd[0] == UNPAUSE: data['type'] = 'unpause'
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elif cmd[0] == ESTOP: data['type'] = 'estop'
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elif cmd[0] == SHUTDOWN: data['type'] = 'shutdown'
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elif cmd[0] == CLEAR: data['type'] = 'clear'
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elif cmd[0] == FLUSH: data['type'] = 'flush'
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elif cmd[0] == RESUME: data['type'] = 'resume'
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return data
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def decode(cmd):
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for line in cmd.split('\n'):
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yield decode_command(line.strip())
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def decode_and_print(cmd):
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for data in decode(cmd):
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print(json.dumps(data))
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if __name__ == "__main__":
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import sys
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if 1 < len(sys.argv):
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for arg in sys.argv[1:]:
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decode_and_print(arg)
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else:
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for line in sys.stdin:
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decode_and_print(str(line).strip())
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