################################################################################
# #
# 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 . #
# #
# 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 #
# . #
# #
# For information regarding this software email: #
# "Joseph Coffland" #
# #
################################################################################
import os
import time
import bbctrl
import bbctrl.Trace as Trace
class Ctrl(object):
def __init__(self, args, ioloop, id):
Trace.mark('ctrl.init.start', id=id or '')
self.args = args
self.ioloop = bbctrl.IOLoop(ioloop)
self.id = id
self.timeout = None # Used in demo mode
if id and not os.path.exists(id): os.mkdir(id)
# Start log
if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
else: log_path = args.log
self.log = bbctrl.log.Log(args, self.ioloop, log_path)
Trace.mark('ctrl.log_open')
self.state = bbctrl.State(self)
self.config = bbctrl.Config(self)
Trace.mark('ctrl.state_config')
self.log.get('Ctrl').info('Starting %s' % self.id)
try:
with Trace.span('ctrl.avr'):
if args.demo: self.avr = bbctrl.AVREmu(self)
else: self.avr = bbctrl.AVR(self)
with Trace.span('ctrl.i2c'):
self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
with Trace.span('ctrl.lcd'):
self.lcd = bbctrl.LCD(self)
with Trace.span('ctrl.mach'):
self.mach = bbctrl.Mach(self, self.avr)
with Trace.span('ctrl.preplanner'):
self.preplanner = bbctrl.Preplanner(self)
if not args.demo:
with Trace.span('ctrl.jog'):
self.jog = bbctrl.Jog(self)
with Trace.span('ctrl.pwr'):
self.pwr = bbctrl.Pwr(self)
with Trace.span('ctrl.hooks'):
self.hooks = bbctrl.Hooks(self)
with Trace.span('ctrl.aux'):
self.aux = bbctrl.AuxAxis(self)
self._register_aux_hooks()
with Trace.span('ctrl.mach.connect'):
self.mach.connect()
self.lcd.add_new_page(bbctrl.MainLCDPage(self))
self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))
os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()
Trace.mark('ctrl.init.end')
Trace.sd_notify('STATUS=ctrl initialized\n')
except Exception:
Trace.mark('ctrl.init.error')
self.log.get('Ctrl').exception('Internal error: Control initialization failed')
def __del__(self): print('Ctrl deleted')
def clear_timeout(self):
if self.timeout is not None: self.ioloop.remove_timeout(self.timeout)
self.timeout = None
def set_timeout(self, cb, *args, **kwargs):
self.clear_timeout()
t = self.args.client_timeout
self.timeout = self.ioloop.call_later(t, cb, *args, **kwargs)
def get_path(self, dir = None, filename = None):
path = './' + self.id if self.id else '.'
path = path if dir is None else (path + '/' + dir)
return path if filename is None else (path + '/' + filename)
def get_upload(self, filename = None):
return self.get_path('upload', filename)
def get_plan(self, filename = None):
return self.get_path('plans', filename)
def configure(self):
# Indirectly configures state via calls to config() and the AVR
self.config.reload()
self.state.init()
def ready(self):
# This is used to synchronize the start of the preplanner
self.preplanner.start()
def _register_aux_hooks(self):
"""Wire up the auxcnc HOOK: events to AuxAxis methods."""
log = self.log.get('AuxAxis')
def _hook_move(ctx):
data = (ctx.get('data') or '').strip()
if not data:
raise Exception('aux hook missing target')
self.aux.move_abs_mm(float(data))
def _hook_move_rel(ctx):
data = (ctx.get('data') or '').strip()
if not data:
raise Exception('aux_rel hook missing delta')
self.aux.move_rel_mm(float(data))
def _hook_home(ctx):
self.aux.home()
def _hook_setzero(ctx):
data = (ctx.get('data') or '').strip()
mm = float(data) if data else 0.0
self.aux.set_position_mm(mm)
def _hook_droptool(ctx): self.aux.atc_droptool()
def _hook_grabtool(ctx): self.aux.atc_grabtool()
def _hook_release(ctx): self.aux.atc_release()
def _hook_clamp(ctx): self.aux.atc_clamp()
self.hooks.register_internal('aux', _hook_move,
block_unpause=True, auto_resume=True)
self.hooks.register_internal('aux_rel', _hook_move_rel,
block_unpause=True, auto_resume=True)
self.hooks.register_internal('aux_home', _hook_home,
block_unpause=True, auto_resume=True,
timeout=180)
self.hooks.register_internal('aux_setzero', _hook_setzero,
block_unpause=True, auto_resume=True)
# ATC pneumatics. block_unpause + auto_resume so a program
# using M6 - implemented as (MSG,HOOK:droptool:) etc - pauses
# at the right point and resumes once the sequence is done.
self.hooks.register_internal('droptool', _hook_droptool,
block_unpause=True, auto_resume=True,
timeout=60)
self.hooks.register_internal('grabtool', _hook_grabtool,
block_unpause=True, auto_resume=True,
timeout=60)
self.hooks.register_internal('release', _hook_release,
block_unpause=True, auto_resume=True,
timeout=10)
self.hooks.register_internal('clamp', _hook_clamp,
block_unpause=True, auto_resume=True,
timeout=15)
log.info('Aux hooks registered')
def close(self):
self.log.get('Ctrl').info('Closing %s' % self.id)
self.ioloop.close()
self.avr.close()
self.mach.planner.close()
try: self.aux.close()
except Exception: pass