Henrik Muehe
da619bd56c
ATC pneumatics in g-code (drop tool / grab tool / release clamp / engage clamp) are expressed as M100..M103. AuxPreprocessor rewrites those into (MSG,HOOK:droptool:) etc on file upload + on planner load + on MDI input, so the Hooks layer (B1) can dispatch them via registered ATC handlers in Ctrl. - AuxPreprocessor.py: regex-based file rewriter, idempotent. - FileHandler: invoke preprocessor on every upload. - Planner.init: also re-preprocess on load (catches files written before this version). - Mach.mdi: same rewrite for ad-hoc MDI input so M101 typed at the console produces a HOOK message. - Ctrl: register the four ATC hooks (droptool/grabtool/release/clamp) with block_unpause + auto_resume so programs using them pause at the right point and resume cleanly. aux_home retained as a legacy alias for older preprocessed files.
206 lines
8.7 KiB
Python
206 lines
8.7 KiB
Python
################################################################################
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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 os
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import time
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import bbctrl
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import bbctrl.Trace as Trace
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class Ctrl(object):
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def __init__(self, args, ioloop, id):
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Trace.mark('ctrl.init.start', id=id or '<default>')
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self.args = args
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self.ioloop = bbctrl.IOLoop(ioloop)
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self.id = id
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self.timeout = None # Used in demo mode
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if id and not os.path.exists(id): os.mkdir(id)
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# Start log
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if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
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else: log_path = args.log
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self.log = bbctrl.log.Log(args, self.ioloop, log_path)
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Trace.mark('ctrl.log_open')
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self.state = bbctrl.State(self)
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self.config = bbctrl.Config(self)
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Trace.mark('ctrl.state_config')
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self.log.get('Ctrl').info('Starting %s' % self.id)
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try:
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with Trace.span('ctrl.avr'):
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if args.demo: self.avr = bbctrl.AVREmu(self)
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else: self.avr = bbctrl.AVR(self)
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with Trace.span('ctrl.i2c'):
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self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
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with Trace.span('ctrl.lcd'):
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self.lcd = bbctrl.LCD(self)
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with Trace.span('ctrl.mach'):
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self.mach = bbctrl.Mach(self, self.avr)
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with Trace.span('ctrl.preplanner'):
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self.preplanner = bbctrl.Preplanner(self)
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if not args.demo:
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with Trace.span('ctrl.jog'):
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self.jog = bbctrl.Jog(self)
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with Trace.span('ctrl.pwr'):
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self.pwr = bbctrl.Pwr(self)
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with Trace.span('ctrl.hooks'):
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self.hooks = bbctrl.Hooks(self)
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with Trace.span('ctrl.aux'):
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self.aux = bbctrl.AuxAxis(self)
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with Trace.span('ctrl.ext_axis'):
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# ExternalAxis exposes the auxcnc ESP stepper as a
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# virtual A axis that gplan handles natively. Created
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# unconditionally so State sees the synthetic motor
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# vars even when aux is disabled (kept inert in that
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# case via ext_axis.enabled).
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axis_letter = self.aux._cfg.get('axis_letter', 'a')
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self.ext_axis = bbctrl.ExternalAxis(
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self, self.aux, axis_letter=axis_letter)
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# Hook AuxAxis post-publish callback so homed flag
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# mirrors into State after homing.
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self.aux.set_state_observer(
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self.ext_axis.refresh_homed)
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self._register_aux_hooks()
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with Trace.span('ctrl.mach.connect'):
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self.mach.connect()
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self.lcd.add_new_page(bbctrl.MainLCDPage(self))
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self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))
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os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()
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Trace.mark('ctrl.init.end')
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Trace.sd_notify('STATUS=ctrl initialized\n')
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except Exception:
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Trace.mark('ctrl.init.error')
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self.log.get('Ctrl').exception('Internal error: Control initialization failed')
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def __del__(self): print('Ctrl deleted')
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def clear_timeout(self):
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if self.timeout is not None: self.ioloop.remove_timeout(self.timeout)
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self.timeout = None
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def set_timeout(self, cb, *args, **kwargs):
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self.clear_timeout()
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t = self.args.client_timeout
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self.timeout = self.ioloop.call_later(t, cb, *args, **kwargs)
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def get_path(self, dir = None, filename = None):
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path = './' + self.id if self.id else '.'
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path = path if dir is None else (path + '/' + dir)
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return path if filename is None else (path + '/' + filename)
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def get_upload(self, filename = None):
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return self.get_path('upload', filename)
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def get_plan(self, filename = None):
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return self.get_path('plans', filename)
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def configure(self):
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# Indirectly configures state via calls to config() and the AVR
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self.config.reload()
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self.state.init()
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def ready(self):
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# This is used to synchronize the start of the preplanner
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self.preplanner.start()
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def _register_aux_hooks(self):
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"""Wire up auxcnc HOOK: events to AuxAxis methods.
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v2: motion hooks (aux/aux_rel/aux_home/aux_setzero) are
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retired now that the W axis is integrated through gplan as
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a virtual A axis (see ExternalAxis). Only the ATC pneumatic
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hooks remain - those are events, not motion.
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For backwards compatibility with files that still contain
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(MSG,HOOK:aux_home:) (e.g. older preprocessed gcode), keep
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an aux_home alias that routes to the standard ext_axis homing
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path."""
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log = self.log.get('AuxAxis')
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def _hook_aux_home(ctx):
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# Legacy: route to the standard external-axis homing.
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if self.ext_axis is not None and self.ext_axis.enabled:
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self.ext_axis.home()
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else:
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self.aux.home()
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def _hook_droptool(ctx): self.aux.atc_droptool()
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def _hook_grabtool(ctx): self.aux.atc_grabtool()
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def _hook_release(ctx): self.aux.atc_release()
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def _hook_clamp(ctx): self.aux.atc_clamp()
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# Legacy alias for older gcode that used aux_home.
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self.hooks.register_internal('aux_home', _hook_aux_home,
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block_unpause=True, auto_resume=True,
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timeout=180)
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# ATC pneumatics. block_unpause + auto_resume so a program
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# using M100/M101/M102/M103 pauses at the right point and
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# resumes once the sequence is done.
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self.hooks.register_internal('droptool', _hook_droptool,
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block_unpause=True, auto_resume=True,
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timeout=60)
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self.hooks.register_internal('grabtool', _hook_grabtool,
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block_unpause=True, auto_resume=True,
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timeout=60)
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self.hooks.register_internal('release', _hook_release,
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block_unpause=True, auto_resume=True,
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timeout=10)
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self.hooks.register_internal('clamp', _hook_clamp,
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block_unpause=True, auto_resume=True,
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timeout=15)
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log.info('Aux hooks registered')
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def close(self):
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self.log.get('Ctrl').info('Closing %s' % self.id)
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self.ioloop.close()
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self.avr.close()
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self.mach.planner.close()
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try: self.ext_axis.close()
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except Exception: pass
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try: self.aux.close()
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except Exception: pass
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