Henrik Muehe
6d4c51bd49
ExternalAxis exposes the auxcnc-driven ESP stepper as motor 4 (a
synthetic, host-only motor that gplan sees but the AVR doesn't). The
result is a virtual A axis that is fully integrated with the planner:
G1 A25 F1500 schedules a coordinated S-curve and the ESP runs the
exact same 7-segment trajectory the AVR would have run if A were a
real motor.
- ExternalAxis.py: synthetic-motor state, S-curve LINE block forward
to the ESP, soft-limit enforcement, option-(b) homing (user A=0
at the home limit).
- State: walk motors 0..4 in find_motor; clear both homed and h on
reset; expose synthetic motor vars.
- axis-vars.js: motor-4 guard so the JS computed axis bindings don't
throw when motor 4 has no entry in config.motors; resolve motor_id
for the synthetic axis by scanning state['4an'].
- Ctrl: instantiate ExternalAxis after AuxAxis, share the axis_letter
setting, wire AuxAxis state observer.
- Web: route /api/aux/{home,jog,move} through ExternalAxis when it
is enabled so the DRO and synthetic-motor flags stay in sync.
212 lines
7.9 KiB
Python
212 lines
7.9 KiB
Python
#!/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 os
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import sys
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import signal
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import tornado
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import argparse
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import datetime
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from pkg_resources import Requirement, resource_filename
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# Trace must be imported before the rest of bbctrl so its monotonic
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# anchor is the earliest reasonable point and so import-time costs of
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# heavy submodules (camotics gplan.so, sockjs, tornado, etc.) are
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# attributable in /api/diag/timing.
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import bbctrl.Trace as Trace
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Trace.mark('imports.bbctrl.start')
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from bbctrl.RequestHandler import RequestHandler
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from bbctrl.APIHandler import APIHandler
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from bbctrl.FileHandler import FileHandler
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from bbctrl.Config import Config
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from bbctrl.LCD import LCD, LCDPage
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from bbctrl.Mach import Mach
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from bbctrl.Web import Web
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from bbctrl.Jog import Jog
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from bbctrl.Ctrl import Ctrl
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from bbctrl.Pwr import Pwr
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from bbctrl.I2C import I2C
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from bbctrl.Planner import Planner
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from bbctrl.Preplanner import Preplanner
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from bbctrl.State import State
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from bbctrl.Comm import Comm
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from bbctrl.CommandQueue import CommandQueue
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from bbctrl.MainLCDPage import MainLCDPage
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from bbctrl.IPLCDPage import IPLCDPage
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from bbctrl.Camera import Camera, VideoHandler
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from bbctrl.AVR import AVR
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from bbctrl.AVREmu import AVREmu
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from bbctrl.IOLoop import IOLoop
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from bbctrl.MonitorTemp import MonitorTemp
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from bbctrl.Hooks import Hooks
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from bbctrl.AuxAxis import AuxAxis
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from bbctrl.ExternalAxis import ExternalAxis
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import bbctrl.Cmd as Cmd
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import bbctrl.v4l2 as v4l2
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import bbctrl.Log as log
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import bbctrl.ObjGraph as ObjGraph
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Trace.mark('imports.bbctrl.end')
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ctrl = None
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def get_resource(path):
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return resource_filename(Requirement.parse('bbctrl'), 'bbctrl/' + path)
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def on_exit(sig = 0, func = None):
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global ctrl
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print('Exit handler triggered: signal = %d', sig)
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if ctrl is not None:
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ctrl.close()
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ctrl = None
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sys.exit(0)
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def time_str():
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return datetime.datetime.now().strftime('%Y%m%d-%H:%M:%S')
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class Debugger:
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def __init__(self, ioloop, freq = 60 * 15, depth = 100):
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self.ioloop = ioloop
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self.freq = freq
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self.depth = depth
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self._callback()
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def _callback(self):
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with open('bbctrl-debug-%s.log' % time_str(), 'w') as log:
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def line(name):
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log.write('==== ' + name + ' ' + '=' * (74 - len(name)) + '\n')
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line('Common')
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ObjGraph.show_most_common_types(limit = self.depth, file = log)
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log.write('\n')
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line('Growth')
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ObjGraph.show_growth(limit = self.depth, file = log)
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log.write('\n')
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line('New IDs')
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ObjGraph.get_new_ids(limit = self.depth, file = log)
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log.flush()
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self.ioloop.call_later(self.freq, self._callback)
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def parse_args():
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parser = argparse.ArgumentParser(
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description = 'Buildbotics Machine Controller')
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parser.add_argument('-p', '--port', default = 80,
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type = int, help = 'HTTP port')
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parser.add_argument('-a', '--addr', metavar = 'IP', default = '0.0.0.0',
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help = 'HTTP address to bind')
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parser.add_argument('-s', '--serial', default = '/dev/ttyAMA0',
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help = 'Serial device')
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parser.add_argument('-b', '--baud', default = 230400, type = int,
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help = 'Serial baud rate')
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parser.add_argument('--i2c-port', default = 1, type = int,
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help = 'I2C port')
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parser.add_argument('--lcd-addr', default = [0x27, 0x3f], type = int,
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help = 'LCD I2C address')
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parser.add_argument('--avr-addr', default = 0x2b, type = int,
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help = 'AVR I2C address')
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parser.add_argument('--pwr-addr', default = 0x60, type = int,
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help = 'Power AVR I2C address')
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parser.add_argument('-v', '--verbose', action = 'store_true',
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help = 'Verbose output')
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parser.add_argument('-l', '--log', metavar = "FILE",
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help = 'Set a log file')
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parser.add_argument('--disable-camera', action = 'store_true',
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help = 'Disable the camera')
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parser.add_argument('--width', default = 640, type = int,
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help = 'Camera width')
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parser.add_argument('--height', default = 480, type = int,
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help = 'Camera height')
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parser.add_argument('--fps', default = 15, type = int,
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help = 'Camera frames per second')
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parser.add_argument('--camera-clients', default = 4,
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help = 'Maximum simultaneous camera clients')
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parser.add_argument('--demo', action = 'store_true',
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help = 'Enter demo mode')
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parser.add_argument('--debug', default = 0, type = int,
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help = 'Enable debug mode and set frequency in seconds')
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parser.add_argument('--fast-emu', action = 'store_true',
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help = 'Enter demo mode')
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parser.add_argument('--client-timeout', default = 5 * 60, type = int,
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help = 'Demo client timeout in seconds')
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return parser.parse_args()
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def run():
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global ctrl
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Trace.mark('run.enter')
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args = parse_args()
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Trace.mark('args.parsed')
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# Set signal handler
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signal.signal(signal.SIGTERM, on_exit)
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# Create ioloop
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ioloop = tornado.ioloop.IOLoop.current()
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Trace.mark('ioloop.created')
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# Set ObjGraph signal handler
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if args.debug: Debugger(ioloop, args.debug)
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# Start server
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with Trace.span('web.init'):
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web = Web(args, ioloop)
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Trace.mark('listen', port=args.port, addr=args.addr)
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# Notify systemd we are ready (no-op when not under systemd).
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Trace.sd_notify('READY=1\nSTATUS=listening on %s:%d\n' %
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(args.addr, args.port))
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try:
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ioloop.start()
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except KeyboardInterrupt: on_exit()
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if __name__ == '__main__': run()
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