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New probe dialog working

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This commit is contained in:
David Carley
2022-07-10 02:00:45 -07:00
parent bc161fcd3d
commit de665cac4d
11 changed files with 320 additions and 330 deletions
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133
src/py/bbctrl/Mach.py
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@@ -1,30 +1,3 @@
################################################################################
# #
# This file is part of the Buildbotics firmware. #
# #
# Copyright (c) 2015 - 2018, Buildbotics LLC #
# All rights reserved. #
# #
# This file ("the software") is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General Public License, #
# version 2 as published by the Free Software Foundation. You should #
# have received a copy of the GNU General Public License, version 2 #
# along with the software. If not, see <http://www.gnu.org/licenses/>. #
# #
# The software is distributed in the hope that it will be useful, but #
# WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
# Lesser General Public License for more details. #
# #
# You should have received a copy of the GNU Lesser General Public #
# License along with the software. If not, see #
# <http://www.gnu.org/licenses/>. #
# #
# For information regarding this software email: #
# "Joseph Coffland" <joseph@buildbotics.com> #
# #
################################################################################
import bbctrl
from bbctrl.Comm import Comm
import bbctrl.Cmd as Cmd
@@ -74,6 +47,7 @@ and check your motor cabling. See the "Motor Faults" table on the "Indicators" \
for more information.\
'''
def overrides(interface_class):
def overrider(method):
if not method.__name__ in dir(interface_class):
@@ -102,7 +76,6 @@ class Mach(Comm):
super().reboot()
def _get_state(self): return self.ctrl.state.get('xx', '')
def _is_estopped(self): return self._get_state() == 'ESTOPPED'
def _is_holding(self): return self._get_state() == 'HOLDING'
@@ -110,19 +83,18 @@ class Mach(Comm):
def _get_pause_reason(self): return self.ctrl.state.get('pr', '')
def _get_cycle(self): return self.ctrl.state.get('cycle', 'idle')
def _is_paused(self):
if not self._is_holding() or self.unpausing: return False
if not self._is_holding() or self.unpausing:
return False
return self._get_pause_reason() in (
'User pause', 'Program pause', 'Optional pause')
def _set_cycle(self, cycle): self.ctrl.state.set('cycle', cycle)
def _begin_cycle(self, cycle):
current = self._get_cycle()
if current == cycle: return # No change
if current == cycle:
return # No change
if current != 'idle':
raise Exception('Cannot enter %s cycle while in %s cycle' %
@@ -132,14 +104,12 @@ class Mach(Comm):
# if current == 'idle' or (cycle == 'jogging' and self._is_paused()):
self._set_cycle(cycle)
def process_log(self, log):
# When a probe has failed, we have to e-stop or things
# end up in a bad state, where positions and offsets are incorrect
if log['msg'] == 'Switch not found':
self.estop()
def _update(self, update):
# Detect motor faults
for motor in range(4):
@@ -153,12 +123,12 @@ class Mach(Comm):
# Handle EStop
if state_changed and state == 'ESTOPPED':
self.planner.reset(stop = False)
self.planner.reset(stop=False)
# Exit cycle if state changed to READY
if (state_changed and self._get_cycle() != 'idle' and
self._is_ready() and not self.planner.is_busy() and
not super().is_active()):
not super().is_active()):
self.planner.position_change()
self._set_cycle('idle')
@@ -187,7 +157,6 @@ class Mach(Comm):
(pr == 'Optional pause' and not op))):
self._unpause()
def _unpause(self):
pause_reason = self._get_pause_reason()
self.mlog.info('Unpause: ' + pause_reason)
@@ -196,36 +165,31 @@ class Mach(Comm):
self.planner.stop()
self.ctrl.state.set('line', 0)
else: self.planner.restart()
else:
self.planner.restart()
super().i2c_command(Cmd.UNPAUSE)
self.unpausing = True
def _i2c_block(self, block):
super().i2c_command(block[0], block = block[1:])
super().i2c_command(block[0], block=block[1:])
def _i2c_set(self, name, value): self._i2c_block(Cmd.set(name, value))
@overrides(Comm)
def comm_next(self):
if self.planner.is_running() and not self._is_holding():
return self.planner.next()
@overrides(Comm)
def comm_error(self):
self.planner.reset()
@overrides(Comm)
def connect(self):
self.planner.reset()
super().connect()
def _query_var(self, cmd):
equal = cmd.find('=')
if equal == -1:
@@ -234,21 +198,26 @@ class Mach(Comm):
else:
name, value = cmd[1:equal], cmd[equal + 1:]
if value.lower() == 'true': value = True
elif value.lower() == 'false': value = False
if value.lower() == 'true':
value = True
elif value.lower() == 'false':
value = False
else:
try:
value = float(value)
except: pass
except:
pass
self.ctrl.state.config(name, value)
def mdi(self, cmd, with_limits = True):
def mdi(self, cmd, with_limits=True):
try:
if not len(cmd): return
if cmd[0] == '$': self._query_var(cmd)
elif cmd[0] == '\\': super().queue_command(cmd[1:])
if not len(cmd):
return
if cmd[0] == '$':
self._query_var(cmd)
elif cmd[0] == '\\':
super().queue_command(cmd[1:])
else:
self._begin_cycle('mdi')
self.planner.mdi(cmd, with_limits)
@@ -260,18 +229,18 @@ class Mach(Comm):
def set(self, code, value):
super().queue_command('${}={}'.format(code, value))
def jog(self, axes):
self._begin_cycle('jogging')
self.planner.position_change()
super().queue_command(Cmd.jog(axes))
def home(self, axis, position = None):
def home(self, axis, position=None):
state = self.ctrl.state
if axis is None: axes = 'zxyabc' # TODO This should be configurable
else: axes = '%c' % axis
if axis is None:
axes = 'zxyabc' # TODO This should be configurable
else:
axes = '%c' % axis
for axis in axes:
enabled = state.is_axis_enabled(axis)
@@ -291,7 +260,8 @@ class Mach(Comm):
continue
if mode == 'manual':
if position is None: raise Exception('Position not set')
if position is None:
raise Exception('Position not set')
self.mdi('G28.3 %c%f' % (axis, position))
continue
@@ -299,56 +269,63 @@ class Mach(Comm):
self.mlog.info('Homing %s axis' % axis)
self._begin_cycle('homing')
if mode.startswith('stall-'): procedure = stall_homing_procedure
else: procedure = axis_homing_procedure
if mode.startswith('stall-'):
procedure = stall_homing_procedure
else:
procedure = axis_homing_procedure
gcode = procedure % {'axis': axis}
self.planner.mdi(gcode, False)
super().resume()
def unhome(self, axis): self.mdi('G28.2 %c0' % axis)
def estop(self): super().estop()
def clear(self):
if self._is_estopped():
self.planner.reset()
super().clear()
def fake_probe_contact(self):
self._i2c_set('pt', 2)
self.ctrl.state.set('pw', 0)
self.timer = self.ctrl.ioloop.call_later(0.5, self.clear_fake_probe_contact)
def clear_fake_probe_contact(self):
self._i2c_set('pt', 1)
self.ctrl.state.set('pw', 1)
def start(self):
filename = self.ctrl.state.get('selected', '')
if not filename: return
if not filename:
return
self._begin_cycle('running')
self.planner.load(filename)
super().resume()
def step(self):
raise Exception('NYI') # TODO
if self._get_cycle() != 'running': self.start()
else: super().i2c_command(Cmd.UNPAUSE)
raise Exception('NYI') # TODO
if self._get_cycle() != 'running':
self.start()
else:
super().i2c_command(Cmd.UNPAUSE)
def stop(self):
if self._get_state() != 'jogging': self.stopping = True
if self._get_state() != 'jogging':
self.stopping = True
super().i2c_command(Cmd.STOP)
def pause(self): super().pause()
def pause(self): super().pause()
def unpause(self):
if self._is_paused():
self.ctrl.state.set('optional_pause', False)
self._unpause()
def optional_pause(self, enable = True):
def optional_pause(self, enable=True):
self.ctrl.state.set('optional_pause', enable)
def set_position(self, axis, position):
axis = axis.lower()
state = self.ctrl.state
@@ -367,17 +344,13 @@ class Mach(Comm):
state.set(axis + 'p', target)
super().queue_command(Cmd.set_axis(axis, target))
def override_feed(self, override):
self._i2c_set('fo', int(1000 * override))
def override_speed(self, override):
self._i2c_set('so', int(1000 * override))
def modbus_read(self, addr): self._i2c_block(Cmd.modbus_read(addr))
def modbus_write(self, addr, value):
self._i2c_block(Cmd.modbus_write(addr, value))