fixing RotaryHandler
This commit is contained in:
sanjayk03-dev
@@ -604,6 +604,51 @@ class TimeHandler(bbctrl.APIHandler):
|
||||
self.get_log('TimeHandler').info('Error: {}'.format(e))
|
||||
|
||||
class RotaryHandler(bbctrl.APIHandler):
|
||||
def _populate_motors_backup(self, config_data):
|
||||
"""
|
||||
Populate and return motors-backup data from onefinity defaults and config template.
|
||||
"""
|
||||
log = self.get_log('RotaryHandler')
|
||||
|
||||
try:
|
||||
onefinity_defaults_path = bbctrl.get_resource('onefinity_defaults.json')
|
||||
with open(onefinity_defaults_path, 'r') as f:
|
||||
defaults = json.load(f)
|
||||
|
||||
template_path = bbctrl.get_resource('config-template.json')
|
||||
with open(template_path, 'r') as f:
|
||||
template = json.load(f)
|
||||
|
||||
motors = config_data.get('motors', [])
|
||||
if not motors:
|
||||
raise ValueError("Motors data not found")
|
||||
|
||||
motors_backup = []
|
||||
|
||||
backup_template = template.get('motors-backup', {}).get('template', {})
|
||||
backup_defaults = defaults.get('motors-backup', [])
|
||||
|
||||
for i, motor in enumerate(motors):
|
||||
backup = {}
|
||||
|
||||
for key, field in backup_template.items():
|
||||
backup[key] = field.get('default')
|
||||
|
||||
if i < len(backup_defaults):
|
||||
for key, value in backup_defaults[i].items():
|
||||
backup[key] = value
|
||||
|
||||
for key in backup_template.keys():
|
||||
if key not in backup and key in motor:
|
||||
backup[key] = motor[key]
|
||||
|
||||
motors_backup.append(backup)
|
||||
|
||||
return motors_backup
|
||||
|
||||
except Exception as e:
|
||||
log.error(f"Failed to populate motors-backup: {str(e)}")
|
||||
raise ValueError(f"Failed to populate motors-backup: {str(e)}")
|
||||
|
||||
def put_ok(self):
|
||||
try:
|
||||
@@ -612,8 +657,16 @@ class RotaryHandler(bbctrl.APIHandler):
|
||||
config = ctrl.config
|
||||
log = self.get_log('RotaryHandler')
|
||||
path = ctrl.get_path('config.json')
|
||||
if status is None:
|
||||
raise Exception("No status provided")
|
||||
|
||||
rotary_config = {
|
||||
'min-soft-limit': -720,
|
||||
'max-soft-limit': 720,
|
||||
'max-velocity': 100,
|
||||
'max-accel': 500,
|
||||
'max-jerk': 750,
|
||||
'step-angle': 0.25714,
|
||||
'travel-per-rev': 360
|
||||
}
|
||||
|
||||
try:
|
||||
if os.path.exists(path):
|
||||
@@ -622,56 +675,52 @@ class RotaryHandler(bbctrl.APIHandler):
|
||||
|
||||
except Exception: log.exception('Internal error: Failed to load config template')
|
||||
|
||||
log.info("Config data type {}".format(type(config_data)))
|
||||
log.info('686::Config data: {}'.format(config_data))
|
||||
|
||||
motors = config_data.get("motors")
|
||||
log.info("config_data: {}".format(config_data))
|
||||
motors_backup = config_data.get("motors-backup", {})
|
||||
log.info("Overall Motors_backup: {}".format(motors_backup))
|
||||
motors_backup = config_data.get("motors-backup")
|
||||
|
||||
log.info('691::Motors: {}'.format(motors))
|
||||
log.info('692::Motors backup: {}'.format(motors_backup))
|
||||
|
||||
if not motors:
|
||||
raise ValueError("Motors data not found in configuration")
|
||||
|
||||
if not motors_backup:
|
||||
motors_backup = self._populate_motors_backup(config_data)
|
||||
config_data['motors-backup'] = motors_backup
|
||||
|
||||
log.info('700::Motors backup: {}'.format(motors_backup))
|
||||
|
||||
motor_1 = motors[1]
|
||||
log.info("motor_1: {}".format(motor_1))
|
||||
motor_2 = motors[2]
|
||||
log.info("motor_2: {}".format(motor_2))
|
||||
motor_2_backup = motors_backup[2]
|
||||
log.info("motor_2_backup: {}".format(motor_2_backup))
|
||||
|
||||
is_axis_A = motor_2.get("axis") == "A"
|
||||
log.info('707::Motor 1: {}'.format(motor_1))
|
||||
log.info('708::Motor 2: {}'.format(motor_2))
|
||||
log.info('709::Motor 2 backup: {}'.format(motor_2_backup))
|
||||
|
||||
if is_axis_A == status:
|
||||
is_rotary_active = motor_2.get("axis") == "A"
|
||||
|
||||
log.info('713::is_rotary_active: {}'.format(is_rotary_active))
|
||||
|
||||
if is_rotary_active == status:
|
||||
return
|
||||
|
||||
motor_2["axis"] = "Y" if is_axis_A else "A"
|
||||
motor_1["max-velocity"] *= 2 if is_axis_A else 0.5
|
||||
if is_axis_A:
|
||||
motor_2['min-soft-limit'] = motor_2_backup['min-soft-limit']
|
||||
motor_2['max-soft-limit'] = motor_2_backup['max-soft-limit']
|
||||
motor_2['max-velocity'] = motor_2_backup["max-velocity"]
|
||||
motor_2['max-accel'] = motor_2_backup["max-accel"]
|
||||
motor_2['max-jerk'] = motor_2_backup["max-jerk"]
|
||||
motor_2['step-angle'] = motor_2_backup["step-angle"]
|
||||
motor_2['travel-per-rev'] = motor_2_backup["travel-per-rev"]
|
||||
log.info("Motor Y : {}".format(motor_2 ))
|
||||
log.info("Motor Y : {}".format(motor_2_backup))
|
||||
motor_2["axis"] = "Y" if is_rotary_active else "A"
|
||||
motor_1["max-velocity"] *= 2 if is_rotary_active else 0.5
|
||||
|
||||
if is_rotary_active:
|
||||
for key in rotary_config.keys():
|
||||
motor_2[key] = motor_2_backup[key]
|
||||
else:
|
||||
log.info("enter else is_axis_A")
|
||||
motor_2_backup['min-soft-limit'] = motor_2['min-soft-limit']
|
||||
motor_2_backup['max-soft-limit'] = motor_2['max-soft-limit']
|
||||
motor_2_backup['max-velocity'] = motor_2["max-velocity"]
|
||||
motor_2_backup['max-accel'] = motor_2["max-accel"]
|
||||
motor_2_backup['max-jerk'] = motor_2["max-jerk"]
|
||||
motor_2_backup['step-angle'] = motor_2["step-angle"]
|
||||
motor_2_backup['travel-per-rev'] = motor_2["travel-per-rev"]
|
||||
motor_2['min-soft-limit'] = -720
|
||||
motor_2['max-soft-limit'] = 720
|
||||
motor_2['max-velocity'] = 100
|
||||
motor_2['max-accel'] = 500
|
||||
motor_2['max-jerk'] = 750
|
||||
motor_2['step-angle'] = 0.25714
|
||||
motor_2['travel-per-rev'] = 360
|
||||
log.info("Motor A : {}".format(motor_2) )
|
||||
log.info("Motor A : {}".format(motor_2_backup))
|
||||
for key in rotary_config.keys():
|
||||
motor_2_backup[key] = motor_2[key]
|
||||
|
||||
for key, value in rotary_config.items():
|
||||
motor_2[key] = value
|
||||
|
||||
log.info('731::config_data: {}'.format(config_data))
|
||||
|
||||
config.save(config_data)
|
||||
|
||||
|
||||
@@ -243,66 +243,35 @@
|
||||
|
||||
"motors-backup": {
|
||||
"type": "list",
|
||||
"index": "0123",
|
||||
"default": [{ "axis": "X" }, { "axis": "Y" }, { "axis": "Z" }, { "axis": "A" }],
|
||||
"template": {
|
||||
"min-soft-limit": {
|
||||
"type": "float",
|
||||
"unit": "mm",
|
||||
"iunit": "in",
|
||||
"scale": 25.4,
|
||||
"default": 0
|
||||
},
|
||||
"max-soft-limit": {
|
||||
"type": "float",
|
||||
"unit": "mm",
|
||||
"iunit": "in",
|
||||
"scale": 25.4,
|
||||
"default": 0
|
||||
},
|
||||
"max-velocity": {
|
||||
"type": "float",
|
||||
"min": 0,
|
||||
"unit": "m/min",
|
||||
"iunit": "IPM",
|
||||
"scale": 0.0254,
|
||||
"default": 5,
|
||||
"code": "vm"
|
||||
"default": 5
|
||||
},
|
||||
"max-accel": {
|
||||
"type": "float",
|
||||
"min": 0,
|
||||
"unit": "km/min²",
|
||||
"iunit": "g-force",
|
||||
"scale": 35.304,
|
||||
"default": 10,
|
||||
"code": "am"
|
||||
"default": 10
|
||||
},
|
||||
"max-jerk": {
|
||||
"type": "float",
|
||||
"min": 0,
|
||||
"unit": "km/min³",
|
||||
"iunit": "g/min",
|
||||
"scale": 35.304,
|
||||
"default": 50,
|
||||
"code": "jm"
|
||||
"default": 50
|
||||
},
|
||||
"step-angle": {
|
||||
"type": "float",
|
||||
"min": 0,
|
||||
"max": 360,
|
||||
"step": 0.1,
|
||||
"unit": "degrees",
|
||||
"default": 1.8,
|
||||
"code": "sa"
|
||||
"default": 1.8
|
||||
},
|
||||
"travel-per-rev": {
|
||||
"type": "float",
|
||||
"unit": "mm",
|
||||
"iunit": "in",
|
||||
"scale": 25.4,
|
||||
"default": 5,
|
||||
"code": "tr"
|
||||
"default": 5
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
Reference in New Issue
Block a user