Warning, you are running a stock firmware that is not up to date. This version may not work correctly with this version of WebControl.
" + + "Please, click Actions->Upgrade Stock Firmware to update the controller to the latest WebControl-compatible code.
" + +"WebControl:"+str(float(self.data.stockFirmwareVersion))+", Controller:"+str(tmpVersion)+"
" + ) + elif tmpVersion > float(self.data.stockFirmwareVersion): + self.data.ui_queue1.put("Alert", "Alert", + "Warning, you are running a stock firmware that is newer than what is included in WebControl. This version may not work correctly with this version of WebControl.
" + +"WebControl:"+str(float(self.data.stockFirmwareVersion))+", Controller:"+str(tmpVersion)+"
" + ) + # 50 <= x < 100 implies holey calibration firmware + if tmpVersion >= 50 and tmpVersion < 100: + if self.data.holeyFirmwareVersion is not None: + if tmpVersion < float(self.data.holeyFirmwareVersion): + self.data.ui_queue1.put("Alert", "Alert", + "Warning, you are running a Holey Calibration firmware that is not up to date. This version may not work correctly with this version of WebControl.
" + + "Please, click Actions->Upgrade Holey Firmware to update the controller to the latest WebControl-compatible code.
" + +"WebControl:"+str(float(self.data.holeyFirmwareVersion))+", Controller:"+str(tmpVersion)+"
" + ) + elif tmpVersion > float(self.data.holeyFirmwareVersion): + self.data.ui_queue1.put("Alert", "Alert", + "Warning, you are running a Holey Calibration firmware that is newer than what is included in WebControl. This version may not work correctly with this version of WebControl.
" + "WebControl:"+str(float(self.data.holeyFirmwareVersion))+", Controller:"+str(tmpVersion)+"
" + ) + # x >= 100 implies optical calibration firmware + if tmpVersion >= 100: + if self.data.customFirmwareVersion is not None: + if tmpVersion < float(self.data.customFirmwareVersion): + self.data.ui_queue1.put("Alert", "Alert", + "Warning, you are running a custom firmware that is not" + + " up to date. This version may not work correctly with" + + " this version of WebControl.
" + + "Please, click Actions->Upgrade Custom Firmware to" + + " update the controller to the latest" + + " WebControl-compatible code.
" + + "WebControl:" + + str(float(self.data.customFirmwareVersion)) + + ", Controller:"+str(tmpVersion)+"
" + ) + elif tmpVersion > float(self.data.customFirmwareVersion): + self.data.ui_queue1.put("Alert", "Alert", + "Warning, you are running a custom firmware that is " + + "newer than what is included in WebControl. This version" + + " may not work correctly with this version of WebControl." + + "
WebControl:" + + str(float(self.data.customFirmwareVersion)) + + ", Controller:" + str(tmpVersion)+"
" + ) + + elif message == "ok\r\n": + pass # displaying all the 'ok' messages clutters up the display + + ### + ### Velocity PID Testing Processing + ### Watch for messages and log data + ### + elif message[0:26] == "--PID Velocity Test Stop--": + self.data.actions.velocityPIDTestRun("stop", "") + elif self.data.inPIDVelocityTest: + self.data.actions.velocityPIDTestRun("running", message) + elif message[0:27] == "--PID Velocity Test Start--": + self.data.actions.velocityPIDTestRun("start", "") + ### + ### Positional PID Testing Processing + ### Watch for messages and log data + ### + elif message[0:26] == "--PID Position Test Stop--": + self.data.actions.positionPIDTestRun("stop", "") + elif self.data.inPIDPositionTest: + self.data.actions.positionPIDTestRun("running", message) + elif message[0:27] == "--PID Position Test Start--": + self.data.actions.positionPIDTestRun("start", "") + + else: + # Just send it to the UIProcessor for processing. + self.data.ui_controller_queue.put(message) + diff --git a/Background/webcamVideoStream.py b/Background/webcamVideoStream.py index d0101739..dff3157f 100644 --- a/Background/webcamVideoStream.py +++ b/Background/webcamVideoStream.py @@ -1,41 +1,189 @@ -from threading import Thread -import cv2 +from DataStructures.makesmithInitFuncs import MakesmithInitFuncs +import threading +#import cv2 +import time +import base64 -class WebcamVideoStream: +class WebcamVideoStream(MakesmithInitFuncs): + th = None + lastCameraRead = 0 + stopped = True + suspended = False + stream = None + height = 640 + width = 480 + fps = 5 + videoSize = "640x480" + cameraSleep = 0.01 + debugCamera = False + def __init__(self, src=0): # initialize the video camera stream and read the first frame # from the stream - self.stream = cv2.VideoCapture(src) - (self.grabbed, self.frame) = self.stream.read() + #self.stream = cv2.VideoCapture(src) + + + #(self.grabbed, self.frame) = self.stream.read() # initialize the variable used to indicate if the thread should # be stopped - self.stopped = False + #self.stopped = True + #self.suspended = False print("Camera initialized") - def start(self): + def getSettings(self, src=0): + cameraOff = False + #if self.stream is None: + #self.stream = cv2.VideoCapture(src) + #self.setVideoSize() + #self.setFPS() + #cameraOff = True + # if debugging, print camera values + ''' + if self.debugCamera: + self.data.console_queue.put("CAP_PROP_POS_MSEC=" + str(self.stream.get(cv2.CAP_PROP_POS_MSEC))) + self.data.console_queue.put("CAP_PROP_POS_FRAMES=" + str(self.stream.get(cv2.CAP_PROP_POS_FRAMES))) + self.data.console_queue.put("CAP_PROP_POS_AVI_RATIO=" + str(self.stream.get(cv2.CAP_PROP_POS_AVI_RATIO))) + self.data.console_queue.put("CAP_PROP_FRAME_WIDTH=" + str(self.stream.get(cv2.CAP_PROP_FRAME_WIDTH))) + self.data.console_queue.put("CAP_PROP_FRAME_HEIGHT=" + str(self.stream.get(cv2.CAP_PROP_FRAME_HEIGHT))) + self.data.console_queue.put("CAP_PROP_FPS=" + str(self.stream.get(cv2.CAP_PROP_FPS))) + self.data.console_queue.put("CAP_PROP_FOURCC=" + str(self.stream.get(cv2.CAP_PROP_FOURCC))) + self.data.console_queue.put("CAP_PROP_FRAME_COUNT=" + str(self.stream.get(cv2.CAP_PROP_FRAME_COUNT))) + self.data.console_queue.put("CAP_PROP_FORMAT=" + str(self.stream.get(cv2.CAP_PROP_FORMAT))) + self.data.console_queue.put("CAP_PROP_MODE=" + str(self.stream.get(cv2.CAP_PROP_MODE))) + self.data.console_queue.put("CAP_PROP_BRIGHTNESS=" + str(self.stream.get(cv2.CAP_PROP_BRIGHTNESS))) + self.data.console_queue.put("CAP_PROP_CONTRAST=" + str(self.stream.get(cv2.CAP_PROP_CONTRAST))) + self.data.console_queue.put("CAP_PROP_SATURATION=" + str(self.stream.get(cv2.CAP_PROP_SATURATION))) + self.data.console_queue.put("CAP_PROP_HUE=" + str(self.stream.get(cv2.CAP_PROP_HUE))) + self.data.console_queue.put("CAP_PROP_GAIN=" + str(self.stream.get(cv2.CAP_PROP_GAIN))) + self.data.console_queue.put("CAP_PROP_EXPOSURE=" + str(self.stream.get(cv2.CAP_PROP_EXPOSURE))) + self.data.console_queue.put("CAP_PROP_CONVERT_RGB=" + str(self.stream.get(cv2.CAP_PROP_CONVERT_RGB))) + self.data.console_queue.put("CAP_PROP_RECTIFICATION=" + str(self.stream.get(cv2.CAP_PROP_RECTIFICATION))) + self.data.console_queue.put("CAP_PROP_ISO_SPEED=" + str(self.stream.get(cv2.CAP_PROP_ISO_SPEED))) + self.data.console_queue.put("CAP_PROP_BUFFERSIZE=" + str(self.stream.get(cv2.CAP_PROP_BUFFERSIZE))) + + if cameraOff: + self.stream.release() + self.stream = None + ''' + + def start(self, src = 0): # start the thread to read frames from the video stream + return self + ''' + following is unreachable + print("Starting camera thread") - Thread(target=self.update, args=()).start() - print("Camera thread started") + if self.stream is None: + self.stream = cv2.VideoCapture(src) + (self.grabbed, self.frame) = self.stream.read() + + #self.setVideoSize() + #self.setFPS() + + if self.stopped == True: + self.stopped = False + self.th = threading.Thread(target=self.update) + self.th.daemon = True + self.th.start() + print("Camera thread started") + #self.data.ui_queue.put("Action:updateCamera_on") + self.data.ui_queue1.put("Action", "updateCamera", "on") + else: + print("Camera already started") return self + ''' def update(self): # keep looping infinitely until the thread is stopped + return + ''' while True: + time.sleep(self.cameraSleep) + if not self.data.continuousCamera or time.time()-self.lastCameraRead < 20: + (self.grabbed, self.frame) = self.stream.read() + self.suspended = False + else: + if self.suspended == False: + #self.data.ui_queue.put("Action:updateCamera_off") + self.data.ui_queue1.put("Action", "updateCamera", "off") + self.suspended=True # if the thread indicator variable is set, stop the thread if self.stopped: + self.stream.release() + self.stream = None + #self.data.ui_queue.put("Action:updateCamera_off") + self.data.ui_queue1.put("Action", "updateCamera", "off") return - # otherwise, read the next frame from the stream - (self.grabbed, self.frame) = self.stream.read() + #if self.frame is not None: + #small = cv2.resize(self.frame, (256,192)) + #imgencode = cv2.imencode(".png",small )[1] + #stringData = base64.b64encode(imgencode).decode() + #self.data.cameraImage = stringData + #self.data.cameraImageUpdated = True + ''' def read(self): # return the frame most recently read - print("Reading camera frame") + #print("Reading camera frame") + return None + ''' + if self.suspended: + (self.grabbed, self.frame) = self.stream.read() + self.suspended = False + #self.data.ui_queue.put("Action:updateCamera_on") + self.data.ui_queue1.put("Action", "updateCamera", "on") + self.lastCameraRead = time.time() + + if self.stopped: + self.start() return self.frame + ''' def stop(self): # indicate that the thread should be stopped print("Stopping camera") self.stopped = True + + def status(self): + if self.stopped: + return("stopped") + if self.suspended: + return("suspended") + return("running") + + def changeSetting(self, key, value): + return + ''' + if key == 'fps' and value != self.fps: + self.fps = value + if self.stream is not None: + self.setFPS() + if key == 'videoSize' and value != self.videoSize: + self.videoSize = value + if self.stream is not None: + self.setVideoSize() + if key == 'cameraSleep' and value != self.cameraSleep: + if value<1: + print("changing sleep interval") + self.cameraSleep = value + if self.stream is not None: + self.stopped = True + self.stream.join() + self.start() + ''' + + def setFPS(self): + return + #self.stream.set(cv2.CAP_PROP_FPS, self.fps) + + def setVideoSize(self): + return + width = 640 + height = 480 + if self.videoSize == '1024x768': + width = 1024 + height = 768 + #self.stream.set(cv2.CAP_PROP_FRAME_HEIGHT, height) + #self.stream.set(cv2.CAP_PROP_FRAME_WIDTH, width) diff --git a/Background/scheduler.py b/Boards/__init__.py similarity index 100% rename from Background/scheduler.py rename to Boards/__init__.py diff --git a/Boards/boardManager.py b/Boards/boardManager.py new file mode 100644 index 00000000..38aea373 --- /dev/null +++ b/Boards/boardManager.py @@ -0,0 +1,293 @@ +from DataStructures.makesmithInitFuncs import MakesmithInitFuncs +from Boards.boards import Board +import math +import base64 +import numpy as np +from scipy.spatial import ConvexHull, convex_hull_plot_2d + +class BoardManager(MakesmithInitFuncs): + ''' + This class implements the management of various boards (workpieces) that are tracked. + Each board is stored as a separate file containing both description, dimensions, makeup of board as well + as an array (1-inch resolution) of what parts of the board have been cut. + ''' + currentBoard = None + + def __init__(self): + # can't do much because data hasn't been initialized yet + pass + + def initializeNewBoard(self): + ''' + Create a new board and initialize it to the size of the bed. Default to 0.75 inches thick + :return: + ''' + self.currentBoard = Board() + bedWidth = round(float(self.data.config.getValue("Maslow Settings", "bedWidth"))/25.4, 2) + bedHeight = round(float(self.data.config.getValue("Maslow Settings", "bedHeight"))/25.4, 2) + + self.currentBoard.updateBoardInfo("-", "-", bedHeight, bedWidth, 0.75, 0, 0, "inches") + # this creates the necessary compressed data files to avoid None errors. + self.currentBoard.compressCutData() + + def getCurrentBoard(self): + ''' + Returns current board + :return: + ''' + return self.currentBoard + + def getCurrentBoardFilename(self): + ''' + Returns current board filename + :return: + ''' + return self.currentBoard.boardFilename + + def editBoard(self, result): + ''' + Updates the board information with data from the form. + :param result: + :return: + ''' + try: + if self.currentBoard.updateBoardInfo(result["boardID"], result["material"], result["height"], + result["width"], result["thickness"], result["centerX"], + result["centerY"], result["units"]): + # send update to the UI clients + self.data.ui_queue1.put("Action", "boardUpdate", "") + return True + else: + return False + except Exception as e: + self.data.console_queue.put(str(e)) + return False + + def saveBoard(self, fileName, directory): + ''' + Saves the board data. File format is one line of board data in json format and one line of cut data in + compressed and base64 encoded format. + :param fileName: filename to use + :param directory: directory to save file + :return: + ''' + if fileName is "": # Blank the g-code if we're loading "nothing" + return False + if directory is "": + return False + try: + fileToWrite = directory + "/" + fileName + file = open(fileToWrite, "w+") + print(fileToWrite) + self.currentBoard.setFilename(fileName) + boardData = self.currentBoard.getBoardInfoJSON() + file.write(boardData+'\n') + boardCutData = self.currentBoard.getCompressedCutData() + boardCutData = base64.b64encode(boardCutData) + boardCutData = boardCutData.decode('utf-8') + file.write(boardCutData) + file.write('\n') + print("Closing File") + file.close() + except Exception as e: + self.data.console_queue.put(str(e)) + self.data.console_queue.put("Board Save File Error") + self.data.ui_queue1.put("Alert", "Alert", "Cannot save board.") + return False + return True + + def loadBoard(self, fileName): + ''' + Load the board data. File format is one line of board data in json format and one line of cut data in + compressed and base64 encoded format. + :param fileName: filename to load + :param directory: directory to load file from + :return: + ''' + if fileName is "": # Blank the g-code if we're loading "nothing" + return False + try: + file = open(fileName, "r") + print(fileName) + lines = file.readlines() + self.currentBoard.updateBoardInfoJSON(lines[0]) + # make sure got at least 2 lines... + if len(lines) > 1: + loadedCutData = base64.b64decode(lines[1].encode('utf-8')) + self.currentBoard.updateCompressedCutData(loadedCutData) + print("Closing File") + file.close() + self.data.ui_queue1.put("Action", "boardUpdate", "") + except Exception as e: + self.data.console_queue.put(str(e)) + self.data.console_queue.put("Board Open File Error") + self.data.ui_queue1.put("Alert", "Alert", "Cannot open board.") + return False + return True + + def processGCode(self): + ''' + Using the gcode in memory, mark the areas in the array that the gcode passes through at a height less than 0. + :return: + ''' + boardWidth = self.currentBoard.width + boardHeight = self.currentBoard.height + boardLeftX = self.currentBoard.centerX - boardWidth/2 + boardRightX = self.currentBoard.centerX + boardWidth / 2 + boardTopY = self.currentBoard.centerY + boardWidth/2 + boardBottomY = self.currentBoard.centerY - boardWidth / 2 + + # calculate the extents of the array and its offset. + pointsX = math.ceil(boardWidth) + pointsY = math.ceil(boardHeight) + offsetX = pointsX / 2 - self.currentBoard.centerX + offsetY = pointsY / 2 - self.currentBoard.centerY + + if self.data.units == "MM": + scale = 1/25.4 + else: + scale = 1 + homeX = self.data.gcodeShift[0]*scale + homeY = self.data.gcodeShift[1]*scale + + + # initialize an array + cutPoints = [False for i in range( pointsX * pointsY )] + + # process gcode + for line in self.data.gcodeFile.line3D: + if line.type == "circle": + if line.points[0][0] + homeX >= boardLeftX and line.points[0][0] + homeX <= boardRightX and line.points[0][1] + homeY >= boardBottomY and line.points[0][1] + homeY <= boardTopY and line.points[0][2] < 0: + pointx = self.constrain(round(line.points[0][0] + offsetX + homeX), 0, pointsX) + pointy = self.constrain(round(line.points[0][1] + offsetY + homeY), 0, pointsY) + cutPoints[pointx + pointy * pointsX] = True + #cutPoints[int(line.points[0][0] + offsetX) + int(line.points[0][1] + offsetY) * pointsX] = True + else: + for x in range(len(line.points)): + if x != len(line.points)-1: + x0 = line.points[x][0]+homeX + y0 = line.points[x][1]+homeY + z0 = line.points[x][2] + + x1 = line.points[x+1][0]+homeX + y1 = line.points[x+1][1]+homeY + z1 = line.points[x+1][2] + + lineLength = math.sqrt( (x0-x1) ** 2 + (y0-y1) ** 2 + (z0-z1) ** 2) + if lineLength > 0.25: + for l in range(int(lineLength*4)+1): + xa = x0 + (x1 - x0) / (lineLength * 4) * l + ya = y0 + (y1 - y0) / (lineLength * 4) * l + za = z0 + (z1 - z0) / (lineLength * 4) * l + if za < 0: + if xa >= boardLeftX and xa <= boardRightX and ya >= boardBottomY and ya <= boardTopY: + pointx = self.constrain(round(xa + offsetX), 0, pointsX) + pointy = self.constrain(round(ya + offsetY), 0, pointsY) + cutPoints[pointx + pointy * pointsX] = True + #cutPoints[round(xa + offsetX) + round(ya + offsetY) * pointsX] = True + + else: + if line.points[x][2] < 0: + if line.points[x][0] + homeX >= boardLeftX and line.points[x][0] + homeX <= boardRightX and line.points[x][1] + homeY >= boardBottomY and line.points[x][1] + homeX <= boardTopY: + pointx = self.constrain(round(line.points[x][0] + offsetX + homeX), 0, pointsX) + pointy = self.constrain(round(line.points[x][1] + offsetY + homeY), 0, pointsY) + cutPoints[pointx + pointy * pointsX] = True + if line.points[x+1][2] < 0: + if line.points[x+1][0] + homeX >= boardLeftX and line.points[x+1][0] + homeX <= boardRightX and line.points[x+1][1] + homeY >= boardBottomY and line.points[x+1][1] + homeY <= boardTopY: + pointx = self.constrain(round(line.points[x+1][0] + offsetX + homeX), 0, pointsX) + pointy = self.constrain(round(line.points[x+1][1] + offsetY + homeY), 0, pointsY) + cutPoints[pointx + pointy * pointsX] = True + + + else: + if line.points[x][2] < 0: + if line.points[x][0] + homeX >= boardLeftX and line.points[x][0] + homeX <= boardRightX and line.points[x][1] + homeY >= boardBottomY and line.points[x][1] + homeY <= boardTopY: + pointx = self.constrain(round(line.points[x][0] + offsetX + homeX), 0, pointsX) + pointy = self.constrain(round(line.points[x][1] + offsetY + homeY), 0, pointsY) + cutPoints[pointx + pointy * pointsX] = True + + # send this array to the current board for updating + self.currentBoard.updateCutPoints(cutPoints) + # update the UI clients. + self.data.ui_queue1.put("Action", "boardUpdate", "") + return True + + def clearBoard(self): + ''' + Clear the current board cut data + :return: + ''' + self.currentBoard.clearCutPoints() + # update the UI clients. + self.data.ui_queue1.put("Action", "boardUpdate", "") + return True + + def constrain(self, value, lower, upper): + ''' + Helper routine to constrain values + :param value: value to be constrained + :param lower: lower limit + :param upper: upper limit + :return: + ''' + if value < lower: + return lower + if value > upper-1: + return upper-1 + return value + + def trimBoard(self, result): + ''' + Processes message from form to trim the board cut data. + :param result: + :return: + ''' + trimTop = round(float(result["trimTop"]), 3) + trimBottom = round(float(result["trimBottom"]), 3) + trimLeft = round(float(result["trimLeft"]), 3) + trimRight = round(float(result["trimRight"]), 3) + units = result["units"] + retval = self.currentBoard.trimBoard(trimTop, trimBottom, trimLeft, trimRight, units) + self.data.ui_queue1.put("Action", "boardUpdate", "") + return retval + + ''' + old stuff not used anymore.. keeping it around for a bit + # Todo: delete when done with + def processGCode(self): + #points = np.random.rand(30,2) + points = self.data.gcodeFile.getLinePoints() + #try: + index = 0 + + for line in points: + #print(line) + point = np.zeros(2) + #print(point) + point[0] = line[0] + point[1] = line[1] + #print(point) + if index == 0: + npoints = [point] + else: + npoints = np.append(npoints, [point], axis=0) + index += 1 + #print(npoints) + hull = ConvexHull(npoints) + print("here0") + cutPoints = [] + for vertex in hull.vertices: + cutPoints.append([hull.points[vertex][0],hull.points[vertex][1],0]) + print("here1") + self.currentBoard.updateCutPoints(cutPoints) + self.data.ui_queue1.put("Action", "boardUpdate", "") + #except Exception as e: + # self.data.console_queue.put(str(e)) + # self.data.console_queue.put("Gcode Processing Error") + # self.data.ui_queue1.put("Alert", "Alert", "Cannot process gcode.") + # return False + + return True + ''' + + diff --git a/Boards/boards.py b/Boards/boards.py new file mode 100644 index 00000000..a15a73fc --- /dev/null +++ b/Boards/boards.py @@ -0,0 +1,237 @@ +import json +import gzip +import io +import math + + +class Board(): + ''' + Class is the generalization of a board that tracks board information including areas that have been cut. Resolution + is 1-inch squares. + ''' + def __init__(self): + # can't do much because data hasn't been initialized yet + pass + + width = 0 + height = 0 + thickness = 0 + centerX = 0 + centerY = 0 + + boardID = "Undefined" + material = "Undefined" + boardFilename = "" + + ### + # old, not sure is used + # todo: delete boardPoints and cutPoints2 if not used + boardPoints = [] + cutPoints2 = [] + ### + + cutPoints = [] + pointsPerInch = 1 + compressedCutData = "" + + def updateBoardInfo(self, boardID, material, height, width, thickness, centerX, centerY, units): + ''' + Updates the cut data + :param boardID: Name give to board, as entered by user + :param material: Type of material of board, as entered by user + :param height: height of board, stored in inches but entered as defined by units + :param width: width of board, stored in inches but entered as defined by units + :param thickness: thickness of board, stored in inches but entered as defined by units + :param centerX: X-coordinate of center of board, stored in inches but entered as defined by units + :param centerY: Y-coordinate of center of board, stored in inches but entered as defined by units + :param units: units the measurements are provided in. + :return: + ''' + + try: + scale = 1 + if units == "mm": + scale = 25.4 + self.width = round(float(width)/scale, 2) + self.height = round(float(height)/scale, 2) + self.thickness = round(float(thickness)/scale, 2) + self.centerX = round(float(centerX)/scale, 2) + self.centerY = round(float(centerY)/scale, 2) + self.boardID = boardID + self.material = material + return True + except Exception as e: + print(e) + return False + + def updateCutPoints(self, data): + ''' + Using array received from board manager, updates cut data and recompresses. + :param data: + :return: + ''' + if len(self.cutPoints) == 0: + #if cutdata isn't an array yet, then use the cut data (i.e., no existing data) + self.cutPoints = data + else: + # existing cut data exists, so add this data + for x in range(len(self.cutPoints)): + # if the data in data is cut (True) then make the data in cutPoints true as well.. i.e., performs + # an OR operation + if data[x]: + self.cutPoints[x] = True + # call to compress the cut data. + self.compressCutData() + + def trimBoard(self, trimTop, trimBottom, trimLeft, trimRight, units): + ''' + Trims portion of the board and updates cutdata + :param trimTop: Amount to trim off top, units as defined in units + :param trimBottom: Amount to trim off bottom, units as defined in units + :param trimLeft: Amount to trim off left, units as defined in units + :param trimRight: Amount to trim off left, units as defined in units + :param units: units of trim measurements + :return: + ''' + # adjust for correct units (i.e., convert to inches and round to 2 decimal points) + scale = 1 + if units == "mm": + scale = 25.4 + trimTop = round(float(trimTop)/scale, 2) + trimBottom = round(float(trimBottom) / scale, 2) + trimLeft = round(float(trimLeft) / scale, 2) + trimRight = round(float(trimRight) / scale, 2) + + # determine the new array extents + aPointsX = math.ceil(self.width) + aPointsY = math.ceil(self.height) + bPointsX = math.ceil(self.width - trimLeft - trimRight) + bPointsY = math.ceil(self.height - trimTop - trimBottom) + + # create a new cut array + bCutPoints = [False for i in range( bPointsX * bPointsY )] + + ''' + print(aPointsX) + print(aPointsY) + print(bPointsX) + print(bPointsY) + print(trimTop) + print(trimBottom) + print(trimLeft) + print(trimRight) + ''' + # if cutPoints are found... + if (len(self.cutPoints)!=0): + # iterate through new array and translate to old cut array points and assign matrix values. + for x in range(bPointsX): + for y in range(bPointsY): + ax = x + int(trimLeft) + ay = y + int(trimBottom) + ib = x+y*bPointsX + ia = ax+ay*aPointsX + #print(str(ib) +", "+ str(ia)) + bCutPoints[ib] = self.cutPoints[ia] + # assign cutPoints to new array + self.cutPoints = bCutPoints + # update dimensions + self.height = self.height - trimTop - trimBottom + self.width = self.width - trimLeft - trimRight + # compress data + self.compressCutData() + return True + + def setFilename(self, data): + ''' + Sets the filename of the board + :param data: + :return: + ''' + self.boardFilename = data + + def getPoints(self): + ''' + Don't think this is used. + todo: remove if not needed + :return: + ''' + return self.boardPoints + + def getCutPoints(self): + ''' + Returns uncompressed cut point data + :return: + ''' + return self.cutPoints + + def getCompressedCutData(self): + ''' + returns compressed cut point data + :return: + ''' + return self.compressedCutData + + def getBoardInfoJSON(self): + ''' + Returns board information formatted as a json + :return: + ''' + tstr = json.dumps({"width": self.width, "height": self.height, "thickness": self.thickness, "centerX": self.centerX, "centerY": self.centerY, "boardID":self.boardID, "material":self.material, "fileName":self.boardFilename}) + return tstr + + def updateBoardInfoJSON(self, data): + ''' + updates board data from a json + :param data: + :return: + ''' + boardData = json.loads(data) + self.width = boardData["width"] + self.height = boardData["height"] + self.thickness = boardData["thickness"] + self.centerX = boardData["centerX"] + self.centerY = boardData["centerY"] + self.boardID = boardData["boardID"] + self.material = boardData["material"] + self.boardFilename = boardData["fileName"] + + def compressCutData(self): + ''' + Compresses cut data using gzip + :return: + ''' + tstr = json.dumps(self.cutPoints) + out = io.BytesIO() + with gzip.GzipFile(fileobj=out, mode="w") as f: + f.write(tstr.encode()) + self.compressedCutData = out.getvalue() + + def getUnCompressedCutDataJSON(self): + ''' + returns uncompressed cut data in json format. + Not sure is used anymore + todo: delete if not needed + :return: + ''' + tstr = json.dumps(self.cutPoints) + return tstr + + def updateCompressedCutData(self, data): + ''' + Updates the compressed cut data using data, uncompresses it and assigns it to cutPoints. Used in loading + a board + :param data: + :return: + ''' + self.compressedCutData = data + mem = io.BytesIO(data) + f = gzip.GzipFile(fileobj=mem, mode="rb") + self.cutPoints = json.loads(f.read().decode()) + + def clearCutPoints(self): + ''' + clears the cut points and compressed cut data + :return: + ''' + self.cutPoints = [] + self.compressedCutData = None \ No newline at end of file diff --git a/Connection/nonVisibleWidgets.py b/Connection/nonVisibleWidgets.py index b5b09bd4..95cbdc98 100644 --- a/Connection/nonVisibleWidgets.py +++ b/Connection/nonVisibleWidgets.py @@ -1,12 +1,24 @@ +import sys +import distro +import os +import platform from DataStructures.makesmithInitFuncs import MakesmithInitFuncs from Connection.serialPort import SerialPort from File.gcodeFile import GCodeFile from File.importFile import ImportFile from Actions.actions import Actions from Actions.triangularCalibration import TriangularCalibration -from Actions.opticalCalibration import OpticalCalibration +from Actions.holeyCalibration import HoleyCalibration +from Actions.HoleySimulationKinematics import Kinematics as HoleyKinematics +from Actions.gpioActions import GPIOActions from Background.messageProcessor import MessageProcessor - +from Background.WebMCPProcessor import WebMCPProcessor +from Background.WebMCPProcessor import ConsoleProcessor +from Background.webcamVideoStream import WebcamVideoStream +from Boards.boardManager import BoardManager +from ReleaseManager.releaseManager import ReleaseManager +from HelpManager.helpManager import HelpManager +#from GCodeOptimizer.gcodeOptimizer import GCodeOptimizer class NonVisibleWidgets(MakesmithInitFuncs): """ @@ -21,8 +33,17 @@ class NonVisibleWidgets(MakesmithInitFuncs): importFile = ImportFile() actions = Actions() triangularCalibration = TriangularCalibration() - opticalCalibration = OpticalCalibration() + holeyCalibration = HoleyCalibration() + holeyKinematics = HoleyKinematics() messageProcessor = MessageProcessor() + mcpProcessor = WebMCPProcessor() + consoleProcessor = ConsoleProcessor() + camera = WebcamVideoStream() + gpioActions = GPIOActions() + boardManager = BoardManager() + releaseManager = ReleaseManager() + helpManager = HelpManager() + #gcodeOptimizer = GCodeOptimizer() def setUpData(self, data): """ @@ -43,12 +64,75 @@ def setUpData(self, data): data.importFile = self.importFile data.actions = self.actions data.triangularCalibration = self.triangularCalibration - data.opticalCalibration = self.opticalCalibration + data.holeyCalibration = self.holeyCalibration + data.holeyKinematics = self.holeyKinematics data.messageProcessor = self.messageProcessor + data.mcpProcessor = self.mcpProcessor + data.consoleProcessor = self.consoleProcessor + data.camera = self.camera + data.gpioActions = self.gpioActions + data.boardManager = self.boardManager + data.releaseManager = self.releaseManager + data.helpManager = self.helpManager + #data.gcodeOptimizer = self.gcodeOptimizer + + if hasattr(sys, '_MEIPASS'): + data.platform = "PYINSTALLER" + data.platformHome = sys._MEIPASS + + data.pyInstallPlatform = platform.system().lower() + + if data.pyInstallPlatform == "windows": + if platform.machine().endswith('64'): + data.pyInstallPlatform = "win64" + if platform.machine().endswith('32'): + data.pyInstallPlatform = "win32" + + if data.pyInstallPlatform == "linux": + _platform = distro.linux_distribution()[0].lower() + print("##") + print(_platform) + print("##") + if _platform.find("raspbian") != -1: + data.pyInstallPlatform = 'rpi' + print("----") + print(data.pyInstallPlatform) + + + if getattr(sys, 'frozen', False): + if hasattr(sys, '_MEIPASS'): + if sys._MEIPASS.find("_MEI") == -1: + data.pyInstallType = "singledirectory" + else: + data.pyInstallType = "singlefile" + else: + data.pyInstallType = "singledirectory" + + print(data.pyInstallType) + print("----") + self.serialPort.setUpData(data) self.gcodeFile.setUpData(data) self.importFile.setUpData(data) self.actions.setUpData(data) self.triangularCalibration.setUpData(data) - self.opticalCalibration.setUpData(data) + self.holeyCalibration.setUpData(data) + self.holeyKinematics.setUpData(data) self.messageProcessor.setUpData(data) + self.mcpProcessor.setUpData(data) + self.consoleProcessor.setUpData(data) + self.camera.setUpData(data) + self.camera.getSettings() + self.gpioActions.setUpData(data) + self.gpioActions.setup() + self.boardManager.setUpData(data) + self.boardManager.initializeNewBoard() + self.releaseManager.setUpData(data) + self.helpManager.setUpData(data) + #self.gcodeOptimizer.setUpData(data) + + #set up kinematics with current settings + self.holeyKinematics.initializeSettings() + #self.camera.start() + + diff --git a/Connection/serialPort.py b/Connection/serialPort.py index d4473f59..17471475 100644 --- a/Connection/serialPort.py +++ b/Connection/serialPort.py @@ -7,7 +7,7 @@ import threading import schedule import time - +import json class SerialPort(MakesmithInitFuncs): """ @@ -17,6 +17,7 @@ class SerialPort(MakesmithInitFuncs): The actual connection is run in a separate thread by an instance of a SerialPortThread object. """ + serialPortRequest = "" # COMports = ListProperty(("Available Ports:", "None")) @@ -33,8 +34,7 @@ def setPort(self, port): Defines which port the machine is attached to """ - print("update ports") - print(port) + self.data.console_queue.put(port) self.data.comport = port def connect(self, *args): @@ -57,14 +57,29 @@ def connect(self, *args): def openConnection(self, *args): # This function opens the thread which handles the input from the serial port - # It only needs to be run once, it is run by connecting to the machine - # print("Attempting to open connection to controller") if not self.data.connectionStatus: - # self.data.message_queue is the queue which handles passing CAN messages between threads - # print "serialport.self.app.logger="+str(self.app.logger) + #self.data.ui_queue.put( + # "Action: connectionStatus:_" + json.dumps({'status': 'disconnected', 'port': 'none'}) + #) # the "_" facilitates the parse + self.data.ui_queue1.put("Action", "connectionStatus", + {'status': 'disconnected', 'port': 'none', 'fakeServoStatus': self.data.fakeServoStatus}) x = SerialPortThread() x.data = self.data self.th = threading.Thread(target=x.getmessage) self.th.daemon = True self.th.start() + else: + self.data.ui_queue1.put("Action", "connectionStatus", + {'status': 'connected', 'port': self.data.comport, 'fakeServoStatus': self.data.fakeServoStatus}) + #self.data.ui_queue.put( + # "Action: connectionStatus:_" + json.dumps({'status': 'connected', 'port': self.data.comport}) + #) # the "_" facilitates the parse + + def closeConnection(self): + self.serialPortRequest = "requestToClose" + + def getConnectionStatus(self): + return self.serialPortRequest + + diff --git a/Connection/serialPortThread.py b/Connection/serialPortThread.py index e0ed2756..441fc588 100644 --- a/Connection/serialPortThread.py +++ b/Connection/serialPortThread.py @@ -3,6 +3,8 @@ import serial import time from collections import deque +import json +import re class SerialPortThread(MakesmithInitFuncs): @@ -24,111 +26,234 @@ class SerialPortThread(MakesmithInitFuncs): bufferSize = 126 # The total size of the arduino buffer bufferSpace = bufferSize # The amount of space currently available in the buffer lengthOfLastLineStack = deque() - + weAreBufferingLines = 0 # Minimum time between lines sent to allow Arduino to cope # could be smaller (0.02) however larger number doesn't seem to impact performance MINTimePerLine = 0.05 - def _write(self, message, isQuickCommand=False): - # message = message + 'L' + str(len(message) + 1 + 2 + len(str(len(message))) ) + serialInstance = None + def _write(self, message, isQuickCommand=False): + ''' + Sends messages to controller. No change from what I can tell from ground control + :param message: + :param isQuickCommand: + :return: + ''' taken = time.time() - self.lastWriteTime if taken < self.MINTimePerLine: # wait between sends - # self.data.logger.writeToLog("Sleeping: " + str( taken ) + "\n") time.sleep(self.MINTimePerLine) # could use (taken - MINTimePerLine) message = message + "\n" - # message = message.encode() - print("Sending: " + str(message)) - - self.bufferSpace = self.bufferSpace - len( - message - ) # shrink the available buffer space by the length of the line - - self.machineIsReadyForData = False - - # if this is a quick message sent as soon as the button is pressed (like stop) then put it on the right side of the queue - # because it is the first message sent, otherwise put it at the end (left) because it is the last message sent - if isQuickCommand: - if message[0] == "!": - # if we've just sent a stop command, the buffer is now empty on the arduino side - self.lengthOfLastLineStack.clear() - self.bufferSpace = self.bufferSize - len(message) - self.lengthOfLastLineStack.append(len(message)) + + if len(message) > 1: + self.data.console_queue.put("Sending: " + str(message).rstrip('\n')) + + self.bufferSpace = self.bufferSpace - len( + message + ) # shrink the available buffer space by the length of the line + + self.machineIsReadyForData = False + + # if this is a quick message sent as soon as the button is pressed (like stop) then put it on the right side of the queue + # because it is the first message sent, otherwise put it at the end (left) because it is the last message sent + if isQuickCommand: + if message[0] == "!": + # if we've just sent a stop command, the buffer is now empty on the arduino side + self.lengthOfLastLineStack.clear() + self.bufferSpace = self.bufferSize - len(message) + self.lengthOfLastLineStack.append(len(message)) + else: + self.lengthOfLastLineStack.append(len(message)) else: - self.lengthOfLastLineStack.append(len(message)) + self.lengthOfLastLineStack.appendleft(len(message)) + + ''' + Monitor gcode for positioning mode change requests + ''' + positioningMode = None + findG90 = message.rfind("G90") + findG91 = message.rfind("G91") + + if findG90 != -1 and findG91 != -1: + if findG90 > findG91: + positioningMode = 0 + else: + positioningMode = 1 + else: + if findG90 != -1: + positioningMode = 0 + if findG91 != -1: + positioningMode = 1 + + message = message.encode() + + ''' + try sending message + ''' + try: + self.serialInstance.write(message) + # Update positioning mode after message has been sent. + # In 'try' block to maintain state integrity if message send fails. + if (positioningMode is not None): + self.data.positioningMode = positioningMode + #print("Set positioning mode: " + str(positioningMode)) + self.data.logger.writeToLog("Sent: " + str(message.decode())) + except: + self.data.console_queue.put("write issue") + self.data.logger.writeToLog("Send FAILED: " + str(message.decode())) + + self.lastWriteTime = time.time() else: - self.lengthOfLastLineStack.appendleft(len(message)) - - message = message.encode() - try: - self.serialInstance.write(message) - self.data.logger.writeToLog("Sent: " + str(message)) - except: - print("write issue") - self.data.logger.writeToLog("Send FAILED: " + str(message)) - - self.lastWriteTime = time.time() + self.data.console_queue.put("Skipping: " + str(message).rstrip('\n')) def _getFirmwareVersion(self): + ''' + Send command to have controller report details + :return: + ''' self.data.gcode_queue.put("B05 ") def _setupMachineUnits(self): + ''' + Send command to put controller in correct units state. + :return: + ''' if self.data.units == "INCHES": self.data.gcode_queue.put("G20 ") else: self.data.gcode_queue.put("G21 ") + def _requestSettingsUpdate(self): + ''' + Send command to have controller report settings + :return: + ''' + self.data.gcode_queue.put("$$") + def sendNextLine(self): """ Sends the next line of gcode to the machine """ if self.data.gcodeIndex < len(self.data.gcode): - if self.data.uploadFlag: - self._write(self.data.gcode[self.data.gcodeIndex]) + line = self.data.gcode[self.data.gcodeIndex] + # filter comments from line + filtersparsed = re.sub(r'\(([^)]*)\)', '', line) # replace mach3 style gcode comments with newline + line = re.sub(r';([^\n]*)?', '',filtersparsed) # replace standard ; initiated gcode comments with newline + # check if command is going to be issued that pauses the controller. + self.managePause(line) + self.manageToolChange(line) + if not line.isspace(): # if all spaces, don't send. likely a comment. + # put gcode home shift here.. only if in absolute mode (G90) + if self.data.positioningMode == 0: + line = self.data.gcodeFile.moveLine(line) + self._write(line) + # if there is a units change, then update the UI client so position messages are processed correctly. + if line.find("G20") != -1: + if self.data.units != "INCHES": + self.data.actions.updateSetting("toInches", 0, True) # value = doesn't matter + if line.find("G21") != -1: + if self.data.units != "MM": + self.data.actions.updateSetting("toMM", 0, True) # value = doesn't matter + # send a gcode update to UI client. + self.data.actions.sendGCodePositionUpdate(self.data.gcodeIndex) + # track current target Z-Axis position + z = re.search("Z(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", line) + if z: + self.data.currentZTarget = float(z.groups()[0]) + #self.data.currentZTargetUnits = self.data.units + + # increment gcode index + if self.data.gcodeIndex + 1 < len(self.data.gcode): + self.data.gcodeIndex = self.data.gcodeIndex + 1 + else: + self.data.uploadFlag = 0 + self.data.gcodeIndex = 0 + self.data.console_queue.put("Gcode Ended") + + def managePause(self, line): + if line.find("M0 ") != -1 or line.find("M00") != -1 or line.find("M1 ") != -1 or line.find("M01") != -1: + print("found M command for pause") + self.data.uploadFlag = -1 + self.data.pausedUnits = self.data.units + self.data.ui_queue1.put("Action", "setAsResume", "") + + def manageToolChange(self, line): + if line.find("M6 ") != -1 or line.find("M06") != -1: + # if this is a different tool, the controller will respond with a 'Tool Change:' and pause. + # if this is a the same tool as the controller is currently tracking, it will continue on. + # first, determine the tool being called for... + toolNumber = int(self.extractGcodeValue(line, 'T', 0)) + print(toolNumber) + print(self.data.currentTool) + # so, in the first case... + if toolNumber != self.data.currentTool: + # set uploadFlag to -1 to turn off sending more lines (after this one) + # -1 means it was set by an M command + print("found M command") + self.data.uploadFlag = -1 + self.data.currentTool = toolNumber + self.data.pausedUnits = self.data.units + ## new stuff + #self.data.quick_queue.put("~") + #self.data.ui_queue1.put("Action", "setAsResume", "") + ## end new stuff + + # now, the issue is that if the controller gets reset, then the tool number will revert to 0.. so + # on serial port connect/reconnect, reinitialize tool number to 0 + + # but in the second case, just continue on.. + + ## new stuff + #self.data.quick_queue.put("~") + #self.data.ui_queue1.put("Action", "setAsResume", "") + ## end new stuff + + def closeConnection(self): + ''' + Closes the serial connection and updates the status. Needed for firmware upgrades. + :return: + ''' + if self.serialInstance is not None: + self.serialInstance.close() + self.data.serialPort.serialPortRequest = "Closed" + print("connection closed at serialPortThread") + else: + print("serial Instance is none??") + return - # increment gcode index - if self.data.gcodeIndex + 1 < len(self.data.gcode): - self.data.gcodeIndex = self.data.gcodeIndex + 1 - else: - self.data.uploadFlag = 0 - self.data.gcodeIndex = 0 - print("Gcode Ended") def getmessage(self): - # opens a serial connection called self.serialInstance + ''' + Opens a serial connection called self.serialInstance + Processes all the messages from controller. + :return: + ''' # check for serial version being > 3 if float(serial.VERSION[0]) < 3: - self.data.ui_queue.put( - "Pyserial version 3.x is needed, version " + self.data.ui_queue1.put("Alert", "Incompability Detected", + "Pyserial version 3.x is needed, but version " + serial.VERSION + " is installed" ) - weAreBufferingLines = bool( - int(self.data.config.getValue("Maslow Settings", "bufferOn")) - ) + self.weAreBufferingLines = bool(int(self.data.config.getValue("Maslow Settings", "bufferOn")) ) try: - print("connecting") self.data.comport = self.data.config.getValue("Maslow Settings", "COMport") + connectMessage = "Trying to connect to controller on " +self.data.comport + self.data.console_queue.put(connectMessage) self.serialInstance = serial.Serial( self.data.comport, 57600, timeout=0.25 ) # self.data.comport is the com port which is opened except: - print(self.data.comport + " is unavailable or in use") - # self.data.ui_queue.put("\n" + self.data.comport + " is unavailable or in use") + #self.data.console_queue.put(self.data.comport + " is unavailable or in use") pass else: - print("\r\nConnected on port " + self.data.comport + "\r\n") - self.data.ui_queue.put( - "\r\nConnected on port " + self.data.comport + "\r\n" - ) - print("\r\nConnected on port " + self.data.comport + "\r\n") - gcode = "" - msg = "" - subReadyFlag = True + self.data.console_queue.put("\r\nConnected on port " + self.data.comport + "\r\n") + self.data.ui_queue1.put("Action", "connectionStatus", {'status': 'connected', 'port': self.data.comport, 'fakeServoStatus': self.data.fakeServoStatus}) + self.data.ui_queue1.put("TextMessage", "", "Connected on port " + self.data.comport) self.serialInstance.parity = ( serial.PARITY_ODD @@ -139,13 +264,12 @@ def getmessage(self): self.serialInstance.parity = serial.PARITY_NONE self.serialInstance.open() - # print "port open?:" - # print self.serialInstance.isOpen() self.lastMessageTime = time.time() self.data.connectionStatus = 1 - self._getFirmwareVersion() self._setupMachineUnits() + self._requestSettingsUpdate() + self.data.currentTool = 0 # This is necessary since the controller will have reset tool to zero. while True: @@ -153,28 +277,32 @@ def getmessage(self): # ------------------------------------------------------------------------------------- lineFromMachine = "" + # check to see if the serail port needs to be closed (for firmware upgrade) + if self.data.serialPort.serialPortRequest == "requestToClose": + print("processing request to close") + self.closeConnection() + # do not change status just yet... + return + try: if self.serialInstance.in_waiting > 0: + # the need for the .decode() at the end MIGHT be a python3 thing. ground control doesn't have + # it. lineFromMachine = self.serialInstance.readline().decode() - # lineFromMachine = lineFromMachine.encode('utf-8') self.lastMessageTime = time.time() self.data.message_queue.put(lineFromMachine) except: pass # Check if a line has been completed - if lineFromMachine == "ok\r\n" or ( - len(lineFromMachine) >= 6 and lineFromMachine[0:6] == "error:" - ): + if lineFromMachine == "ok\r\n" or (len(lineFromMachine) >= 6 and lineFromMachine[0:6] == "error:"): self.machineIsReadyForData = True - if ( - bool(self.lengthOfLastLineStack) is True - ): # if we've sent lines to the machine - self.bufferSpace = ( - self.bufferSpace + self.lengthOfLastLineStack.pop() - ) # free up that space in the buffer - - # Write to the machine if ready + if bool(self.lengthOfLastLineStack) is True: # if we've sent lines to the machine + # free up that space in the buffer + self.bufferSpace = (self.bufferSpace + self.lengthOfLastLineStack.pop()) + + + # Write to the machine if ready # ------------------------------------------------------------------------------------- # send any emergency instructions to the machine if there are any @@ -183,46 +311,101 @@ def getmessage(self): self._write(command, True) # send regular instructions to the machine if there are any - if self.bufferSpace == self.bufferSize and self.machineIsReadyForData: + #print("bSpace="+str(self.bufferSpace)+", bSize="+str(self.bufferSize)+", ready="+str(self.machineIsReadyForData)) + if self.bufferSpace == self.bufferSize: if self.data.gcode_queue.empty() != True: - command = self.data.gcode_queue.get_nowait() + " " - self._write(command) - - # Send the next line of gcode to the machine if we're running a program. Will send lines to buffer if there is space - # and the feature is turned on - if weAreBufferingLines: - try: - if self.bufferSpace > len( - self.data.gcode[self.data.gcodeIndex] - ): # if there is space in the buffer keep sending lines + if self.machineIsReadyForData: + command = self.data.gcode_queue.get_nowait()# + " " + # filter out comments + # replace mach3 style gcode comments with newline + filtersparsed = re.sub(r'\(([^)]*)\)', '', command) + # replace standard ; initiated gcode comments with '' + command = re.sub(r';([^\n]*)?', '', filtersparsed) + # if there's something left.. + if len(command) != 0: + command = command + " " + self.manageToolChange(command) + self._write(command) + # if units have changed, update settings and notify UI clients to stay in sync + if command.find("G20") != -1: + if self.data.units != "INCHES": + self.data.actions.updateSetting("toInches", 0, True) # value = doesn't matter + if command.find("G21") != -1: + if self.data.units != "MM": + self.data.actions.updateSetting("toMM", 0, True) # value = doesn't matter + # send updated gcode position to UI clients + self.data.actions.sendGCodePositionUpdate(self.data.gcodeIndex, recalculate=True) + # Send the next line of gcode to the machine if we're running a program and uploadFlag is enabled. Will + # send lines to buffer if there is space and the feature is turned on + # Also, don't send if there's still data in gcode_queue. + if self.data.uploadFlag == 1 and len(self.data.gcode) > 0 and self.data.gcode_queue.empty(): + if self.weAreBufferingLines: + try: + # todo: clean this up because the line gets filtered twice.. once to make sure its not too + # long, and the second in the sendNextLine command.. bit redundant. + line = self.data.gcode[self.data.gcodeIndex] + # replace mach3 style gcode comments with newline + filtersparsed = re.sub(r'\(([^)]*)\)', '', line) + # replace standard ; initiated gcode comments with newline + line = re.sub(r';([^\n]*)?', '', filtersparsed) + # if there is space in the buffer send line + if self.bufferSpace > len(line): + self.sendNextLine() + except IndexError: + self.data.console_queue.put("index error when reading gcode") + # we don't want the whole serial thread to close if the gcode can't be sent because of an + # index error (file deleted...etc) + else: + if (self.bufferSpace == self.bufferSize and self.machineIsReadyForData ): + # if the receive buffer is empty and the machine has acked the last line complete... self.sendNextLine() - except IndexError: - print( - "index error when reading gcode" - ) # we don't want the whole serial thread to close if the gcode can't be sent because of an index error (file deleted...etc) - else: - if ( - self.bufferSpace == self.bufferSize - and self.machineIsReadyForData - ): # if the receive buffer is empty and the machine has acked the last line complete - self.sendNextLine() - # Check for serial connection loss + # Check for serial connection loss # ------------------------------------------------------------------------------------- - if time.time() - self.lastMessageTime > 2: - print("Connection Timed Out") - self.data.ui_queue.put("Connection Timed Out\n") - if self.data.uploadFlag: - self.data.ui_queue.put( - "Message: USB connection lost. This has likely caused the machine to loose it's calibration, which can cause erratic behavior. It is recommended to stop the program, remove the sled, and perform the chain calibration process. Press Continue to override and proceed with the cut." - ) + if time.time() - self.lastMessageTime > 5: + self.data.console_queue.put("Connection Timed Out") + if self.data.uploadFlag > 0: + self.data.ui_queue1.put("Alert", "Connection Lost", + "Message: USB connection lost. This has likely caused the machine to loose it's calibration, which can cause erratic behavior. It is recommended to stop the program, remove the sled, and perform the chain calibration process. Press Continue to override and proceed with the cut.") else: - self.data.ui_queue.put( - "It is possible that the serial port selected is not the one used by the Maslow's Arduino,\nor that the firmware is not loaded on the Arduino." - ) + self.data.ui_queue1.put("SendAlarm", "Alarm: Connection Failed or Invalid Firmware", "") self.data.connectionStatus = 0 self.serialInstance.close() return - # Sleep between passes to save CPU - time.sleep(0.001) + if self.data.requestSerialClose: + # close down the serial port. + self.data.requestSerialClose = False + self.data.connectionStatus = 0 + self.serialInstance.close() + + time.sleep(0.01) + + def extractGcodeValue(self, readString, target, defaultReturn): + # Reads a string and returns the value of number following the target character. + # if no number is found, defaultReturn is returned + + begin = readString.find(target) + end = self.findEndOfNumber(readString, begin + 1) + numberAsString = readString[begin + 1: end] + try: + numberAsFloat = float(numberAsString) + except: + return defaultReturn + + if begin == -1: + return defaultReturn + else: + return numberAsFloat + + def findEndOfNumber(self, textString, index): + # Return the index of the last digit of the number beginning at the index passed in + + i = index + while i < len(textString): + if textString[i].isdigit() or textString[i] == '.': + i = i + 1 + else: + return i + return i + diff --git a/DataStructures/data.py b/DataStructures/data.py index 24d88134..c678f4ce 100644 --- a/DataStructures/data.py +++ b/DataStructures/data.py @@ -1,6 +1,7 @@ from time import time from DataStructures.logger import Logger from DataStructures.loggingQueue import LoggingQueue +from DataStructures.uiQueue import UIQueue from config.config import Config import queue @@ -22,11 +23,41 @@ class Data: # Gcodes contains all of the lines of gcode in the opened file clients = [] gcode = [] - version = "1.23" + gcodeFileUnits = "INCHES" + sentCustomGCode = "" + compressedGCode = None + compressedGCode3D = None + + version = "1.27" + stockFirmwareVersion = None + customFirmwareVersion = None + holeyFirmwareVersion = None + controllerFirmwareVersion = 0 + ''' + interpreter version + if using a compiler newer than 3.5, use the newer string format methods without %'s + ''' + pythonVersion35 = False + + ''' + Version Updater + ''' + lastChecked = -1 + pyInstallCurrentVersion = 0.9335 + pyInstallUpdateAvailable = False + pyInstallUpdateBrowserUrl = "" + pyInstallUpdateVersion = 0 + pyInstallPlatform = "rpi" + pyInstallType = "singlefile" + pyInstallInstalledPath = "" + + # all of the available COM ports comPorts = [] # This defines which COM port is used comport = "" + # stores value to indicate whether or not fake_servo is enabled + fakeServoStatus = False # The index of the next unread line of Gcode gcodeIndex = 0 # Index of changes in z @@ -36,12 +67,20 @@ class Data: # holds the address of the g-code file so that the gcode can be refreshed gcodeFile = "" importFile = "" + # holds the current gcode x,y,z position + currentGcodePost = [0.0, 0.0, 0.0] # the current position of the cutting head currentpos = [0.0, 0.0, 0.0] target = [0.0, 0.0, 0.0] units = "MM" + # Gcode positioning mode: + # 0 = G90 (Absolute) + # 1 = G91 (Relative) + positioningMode = 0 tolerance = 0.5 gcodeShift = [0.0, 0.0] # the amount that the gcode has been shifted + currentTool = 0 # current tool.. upon startup, 0 is the same value as what the controller would have. + currentZTarget = 0 # current target for Z-Axis move. Need to track so if user pauses, we can move back to that spot. message = "" # used to update the client logger = Logger() # the module which records the machines behavior to review later config = Config() @@ -57,21 +96,49 @@ class Data: # sets a flag if the gcode is being uploaded currently uploadFlag = 0 previousUploadStatus = 0 + manualZAxisAdjust = False # this is used to determine the first time the position is received from the machine firstTimePosFlag = 0 # report if the serial connection is open connectionStatus = 0 # is the calibration process currently underway 0 -> false calibrationInProcess = False - + inPIDVelocityTest = False + inPIDPositionTest = False + PIDVelocityTestVersion = 0 + PIDPositionTestVersion = 0 + GPIOButtonService = False + clidisplay = False # if you have a local RPI display + wiiPendantPresent = False # has user set wiimote as active? + wiiPendantConnected = False # is the wiimote BT connected? + sledMoving = False # for LED light status + zMoving = False + #gcode position flags for imported gcode to show outer bouding box + gcode_x_min = 2000 + gcode_x_max = -2000 + gcode_y_min = 1000 + gcode_y_max = -1000 + gcode_z_min = 20 + gcode_z_max = -20 + moveDistance = 10 # CHECK UNITS!! + """ Pointers to Objects """ serialPort = None # this is a pointer to the program serial port object + requestSerialClose = False # this is used to request the serialThread to gracefully close the port triangularCalibration = None # points to the triangular calibration object + holeyCalibration = None # points to the triangular calibration object opticalCalibration = None # points to the optical calibration object opticalCalibrationImage = None # stores the current image opticalCalibrationImageUpdated = False # stores whether its been updated or not + opticalCalibrationTestImage = None # stores the current image + opticalCalibrationTestImageUpdated = False # stores whether its been updated or not + cameraImage = None + cameraImageUpdated = False + continuousCamera = False + gpioActions = None + boardManager = None """ Colors @@ -91,11 +158,18 @@ class Data: zPopupUnits = None zStepSizeVal = 0.1 + """ Queues """ message_queue = LoggingQueue(logger) - ui_queue = queue.Queue() + ui_controller_queue = queue.Queue() + ui_queue1 = UIQueue() + alog_streamer_queue = queue.Queue(1000) # used for sending log to client screen.. limit to 1000 "items" + log_streamer_queue = queue.Queue(1000) # used for sending log to client screen.. limit to 1000 "items" + console_queue = queue.Queue() # used for printing to terminal + mcp_queue = queue.Queue () # used for sending messages to WebMCP(if enabled) + webMCPActive = False # start false until WebMCP connects gcode_queue = queue.Queue() quick_queue = queue.Queue() @@ -105,11 +179,57 @@ class Data: xval = 0.0 yval = 0.0 zval = 0.0 + xval_prev = -99990.0 + yval_prev = -99990.0 + zval_prev = -99990.0 + + leftError = 0.0 + rightError = 0.0 + leftError_prev = -99999.0 + rightError_prev = -99999.9 + + """ + Chain lengths as reported by controller + """ + leftChain = 1610 + rightChain = 1610 + + """ + Sled position computed from controller reported chain lengths + """ + computedX = 0 + computedY = 0 + + """ + Buffer size as reported by controller + """ + bufferSize = 127 + pausedzval = 0.0 + pausedPositioningMode = 0 + pausedUnits = "INCHES" + + """ + GCode Position Values + """ previousPosX = 0.0 previousPosY = 0.0 previousPosZ = 0.0 + """ + Board data + """ + currentBoard = None + + + shutdown = False + + hostAddress = "-" + platform = "RPI" + platformHome = "" + + + def __init__(self): """ diff --git a/DataStructures/logger.py b/DataStructures/logger.py index ef3fc43f..32e7445f 100644 --- a/DataStructures/logger.py +++ b/DataStructures/logger.py @@ -7,24 +7,76 @@ from DataStructures.makesmithInitFuncs import MakesmithInitFuncs import threading +import os +import time +import datetime +from pathlib import Path from app import app, socketio + class Logger(MakesmithInitFuncs): errorValues = [] recordingPositionalErrors = False clients = [] + logStartTime = 0 messageBuffer = "" amessageBuffer = "" - - # clear the old log file - with open("log.txt", "a") as logFile: - logFile.truncate() - - with open("alog.txt", "a") as logFile: - logFile.truncate() + idler = 0 + suspendLogging = False + lastALogWrite = 0 + lastLogWrite = 0 + loggingTimeout = -1 + + def __init__(self): + print("Initializing Logger") + self.home = str(Path.home()) + # clear the old log file + if not os.path.isdir(self.home + "/.WebControl"): + print("creating " + self.home + "/.WebControl directory") + os.mkdir(self.home + "/.WebControl") + print(self.home+"/.WebControl/"+"log.txt") + with open(self.home+"/.WebControl/"+"log.txt", "a") as logFile: + logFile.truncate() + + with open(self.home+"/.WebControl/"+"alog.txt", "a") as logFile: + logFile.truncate() + + self.logStartTime = time.time() + dateTime = datetime.datetime.fromtimestamp(self.logStartTime).strftime('%Y-%m-%d %H:%M:%S') + self.amessageBuffer = "+++++\n"+dateTime+"\n+++++\n".format(self.logStartTime) + self.messageBuffer = "+++++\n"+dateTime+"\n+++++\n".format(self.logStartTime) + self.idler = time.time() + self.lastALogWrite = self.idler + self.lastLogWrite = self.idler + + def resetIdler(self): + self.idler = time.time() + + def getLoggerState(self): + ''' + Returns the state of the logger + :return: + ''' + return self.suspendLogging + + def setLoggingTimeout(self, timeOut): + self.loggingTimeout = timeOut + + def addToMessageBuffer(self, message): + self.messageBuffer += message + if self.data.log_streamer_queue.full(): + self.data.log_streamer_queue.get_nowait() + self.data.log_streamer_queue.put_nowait(message) + + def addToaMessageBuffer(self, message): + self.amessageBuffer += message + + if self.data.alog_streamer_queue.full(): + self.data.alog_streamer_queue.get_nowait() + self.data.alog_streamer_queue.put_nowait(message) def writeToLog(self, message): @@ -36,47 +88,96 @@ def writeToLog(self, message): way slow """ + if self.loggingTimeout == -1: #get setting for suspend time + self.loggingTimeout = self.data.config.get("WebControl Settings", "loggingTimeout") + currentTime = time.time() + logTime = "{:0.2f}".format(currentTime-self.logStartTime) + dateTime = datetime.datetime.fromtimestamp(currentTime).strftime('%Y-%m-%d %H:%M:%S') + if self.loggingTimeout > 0 and self.data.uploadFlag <= 0 and currentTime-self.idler > self.loggingTimeout: + if not self.suspendLogging: + self.addToMessageBuffer(logTime + ": " + "Logging suspended due to user idle time > "+str(self.loggingTimeout)+" seconds\n") + self.suspendLogging = True + else: + if self.suspendLogging: + self.addToMessageBuffer(logTime + ": " + "Logging resumed due to user activity\n") + self.suspendLogging = False + if message[0] != "<" and message[0] != "[": try: - self.amessageBuffer = self.amessageBuffer + message - self.messageBuffer = self.messageBuffer + message + tmessage = message.rstrip('\r\n') + self.addToaMessageBuffer(logTime+": " + tmessage+"\n") + if not self.suspendLogging: + self.addToMessageBuffer(logTime+": " + tmessage+"\n") except: pass else: try: - self.messageBuffer = self.messageBuffer + message + if not self.suspendLogging: + tmessage = message.rstrip('\r\n') + self.addToMessageBuffer(logTime+": "+ tmessage+"\n") except: pass - if len(self.messageBuffer) > 0: - t = threading.Thread( - target=self.writeToFile, args=(self.messageBuffer, True, "write") - ) - t.daemon = True - t.start() - self.messageBuffer = "" - - if len(self.amessageBuffer) > 0: - t = threading.Thread( - target=self.writeToFile, args=(self.amessageBuffer, False, "write") - ) - t.daemon = True - t.start() - self.amessageBuffer = "" + if len(self.messageBuffer) > 500 or currentTime-self.lastLogWrite > 15: + if self.messageBuffer != "": #doing it this way will flush out the buffer when in idle state. + t = threading.Thread( + target=self.writeToFile, args=(self.messageBuffer, True, "write") + ) + t.daemon = True + t.start() + self.messageBuffer = "" + self.lastLogWrite = currentTime + + if len(self.amessageBuffer) > 500 or currentTime-self.lastALogWrite > 15: + if self.amessageBuffer != "": + t = threading.Thread( + target=self.writeToFile, args=(self.amessageBuffer, False, "write") + ) + t.daemon = True + t.start() + self.amessageBuffer = "" + self.lastALogWrite = currentTime def writeToFile(self, toWrite, log, *args): """ Write to the log file """ if log is True: - with open("log.txt", "a") as logFile: + with open(self.home+"/.WebControl/"+"log.txt", "a") as logFile: logFile.write(toWrite) else: - with open("alog.txt", "a") as logFile: + with open(self.home+"/.WebControl/"+"alog.txt", "a") as logFile: logFile.write(toWrite) return + def deleteLogFiles(self): + """ + Delete log files + """ + success1 = False + for x in range(0, 1000): + try: + os.remove(self.home+"/.WebControl/"+"log.txt") + success1 = True + break + except: + success1 = False + + success2 = False + for x in range(0, 1000): + try: + os.remove(self.home+"/.WebControl/"+"alog.txt") + success2 = True + break + except: + success2 = False + + if success1 and success2: + return True + else: + return False + def writeErrorValueToLog(self, error): """ @@ -109,7 +210,7 @@ def endRecordingAvgError(self): Stops recording error values. """ - print("stopping to record") + self.data.console_queue.put("stopping to record") self.recordingPositionalErrors = False def reportAvgError(self): @@ -120,7 +221,7 @@ def reportAvgError(self): """ avg = sum(self.errorValues) / len(self.errorValues) - self.data.ui_queue.put( + self.data.ui_controller_queue.put( "Message: The average feedback system error was: " + "%.2f" % avg + "mm" ) diff --git a/DataStructures/uiQueue.py b/DataStructures/uiQueue.py new file mode 100644 index 00000000..b095699d --- /dev/null +++ b/DataStructures/uiQueue.py @@ -0,0 +1,43 @@ +""" + +This module provides a simple addition to the Queue, which is that it logs +puts to the Queue immediately. + +""" + +from queue import Queue +import json + + +class UIQueue(Queue): + def __init__(self): + super(UIQueue, self).__init__() + + def put(self, command, message, dictionary): + ''' + This is an attempt to standardize on the communications format. There's probably a fair amount of work that + should go into updating this. The concept is that there are three elements: + :param command: The type/command of the message + :param message: The actual message + :param dictionary: Values/Arguments that accompany the message + :return: + Some times things don't come across correctly, particularly text messages from the controller. need to work + on this and document it better. + All three of the elements get converted into a single json string for insertion into the queue + ''' + #if command == "TextMessage" or command == "Alert": + # data = dictionary # these are text lines, so no need to jsonify + #else: + try: + # convert the dictionary to a json + data = json.dumps(dictionary) + except Exception as e: + print("####") + print(e) + print("####") + + # convert the command, message, and jsonified dictionary into a json + msg = json.dumps({"command": command, "message": message, "data": data}) + + # put in uiqueue + return super(UIQueue, self).put(msg) diff --git a/Dockerfile b/Dockerfile index 20ebcdb3..3f88cc62 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,8 +1,7 @@ -FROM python:3.5.6-slim-stretch +FROM arm32v7/python:3.5.6-slim-stretch as builder # Install dependencies needed for building and running OpenCV -RUN apt-get update -RUN apt-get install -y --no-install-recommends \ +RUN apt-get update && apt-get install -y --no-install-recommends \ # to build and install unzip wget sed \ build-essential cmake pkg-config \ @@ -17,12 +16,15 @@ RUN apt-get install -y --no-install-recommends \ # libtbb2 libtbb-dev \ # for gevent libevent-dev \ + # for numpy (installs libf77blas.so.3) + libatlas-base-dev \ # cleanup && rm -rf /var/lib/apt/lists/* \ && apt-get -y autoremove # OpenCV dependency -RUN pip install numpy +RUN pip install numpy==1.16.2 +RUN pip install scipy==1.3.1 # Build OpenCV ADD tools/download_build_install_opencv.sh /download_build_install_opencv.sh @@ -30,15 +32,93 @@ RUN chmod +x /download_build_install_opencv.sh && /download_build_install_opencv # Get other python dependencies ADD requirements.txt /requirements.txt -# Remove opencv from requirements (use the compiled one) -RUN sed -i '/opencv-python.*/d' /requirements.txt -RUN pip install -r /requirements.txt +# Remove opencv, scipy and numpy from requirements (since they're already installed) +RUN sed -i '/opencv-python.*/d' /requirements.txt && sed -i '/scipy.*/d' /requirements.txt && sed -i '/numpy.*/d' /requirements.txt +# TODO: Maybe we can cache wheel files outside this container, for more granular reuse when requiremnts.txt changes +RUN pwd +RUN apt-get update && apt-get install -y --no-install-recommends python-dev libffi-dev +RUN pip install -r /requirements.txt + +# Download and compile the Arduino firmware +# Generates the firmware as /firmware/.pioenvs/megaatmega2560/firmware.hex +# PlatformIO doesn't support python3 yet, so also install python2 :/ +# See also: https://github.com/platformio/platformio-core/issues/895 +RUN apt-get update \ + && apt-get install -y --no-install-recommends python2.7 python-pip python-setuptools python-wheel git \ + && pip2 install -U platformio \ + && pio platform install --with-package framework-arduino atmelavr \ + && pio lib -g install "Servo" + + +ARG madgrizzle_firmware_repo=https://github.com/madgrizzle/Firmware.git +ARG madgrizzle_firmware_sha=bf4350ffd9bc154832505fc0125abd2c4c04dba7 +#ARG madgrizzle_firmware_sha=95f7d4b5c431dec162d2e2eec7c6e42530298c4b +RUN git clone $madgrizzle_firmware_repo firmware/madgrizzle \ + && cd firmware/madgrizzle \ + && git checkout $madgrizzle_firmware_sha \ + && pio run -e megaatmega2560 \ + && mkdir build \ + && mv .pio/build/megaatmega2560/firmware.hex build/$madgrizzle_firmware_sha-$(sed -n -e 's/^.*VERSIONNUMBER //p' cnc_ctrl_v1/Maslow.h).hex +ARG maslowcnc_firmware_repo=https://github.com/MaslowCNC/Firmware.git +ARG maslowcnc_firmware_sha=e1e0d020fff1f4f7c6b403a26a85a16546b7e15b +RUN git clone $maslowcnc_firmware_repo firmware/maslowcnc \ + && cd firmware/maslowcnc \ + && git checkout $maslowcnc_firmware_sha \ + && pio run -e megaatmega2560 \ + && mkdir build \ + && mv .pio/build/megaatmega2560/firmware.hex build/$maslowcnc_firmware_sha-$(sed -n -e 's/^.*VERSIONNUMBER //p' cnc_ctrl_v1/Maslow.h).hex +RUN pwd +ARG holey_firmware_repo=https://github.com/madgrizzle/Firmware.git +ARG holey_firmware_sha=950fb23396171cbd456c2d4149455cc45f5e6bc3 +RUN git clone $holey_firmware_repo firmware/holey \ + && cd firmware/holey \ + && git checkout $holey_firmware_sha \ + && pio run -e megaatmega2560 \ + && mkdir build \ + && mv .pio/build/megaatmega2560/firmware.hex build/$holey_firmware_sha-$(sed -n -e 's/^.*VERSIONNUMBER //p' cnc_ctrl_v1/Maslow.h).hex -# Remove no-longer-needed gevent compilation libraries -RUN apt-get purge -y --auto-remove --allow-remove-essential gcc libevent-dev wget unzip sed -# Copy the source ADD . /WebControl +# Clean up the /WebControl dir a bit to slim it down +# TODO: Is there a more automatic way to do this? +RUN rm -rf /WebControl/.venv && rm -rf /WebControl/.git +# Pre-compile the pyc files (for faster Docker image startup) +RUN python --version && python -m compileall /WebControl + + +FROM arm32v7/python:3.5.6-slim-stretch + +# Pip wheels compiled in the builder +COPY --from=builder /root/.cache /root/.cache +# requirements.txt with opencv, scipy and numpy removed +COPY --from=builder /requirements.txt /requirements.txt +# Required shared libraries +COPY --from=builder /usr/local/lib/python3.5/site-packages/cv2.cpython-35m-arm-linux-gnueabihf.so /usr/local/lib/python3.5/site-packages/cv2.cpython-35m-arm-linux-gnueabihf.so +COPY --from=builder /usr/lib/libf77blas.so /usr/lib/libf77blas.so +COPY --from=builder /usr/lib/libf77blas.so.3 /usr/lib/libf77blas.so.3 +COPY --from=builder /usr/lib/libcblas.so.3 /usr/lib/libcblas.so.3 +COPY --from=builder /usr/lib/libatlas.so.3 /usr/lib/libatlas.so.3 +COPY --from=builder /usr/lib/libblas.so.3 /usr/lib/libblas.so.3 +COPY --from=builder /usr/lib/arm-linux-gnueabihf/libgfortran.so.3 /usr/lib/arm-linux-gnueabihf/libgfortran.so.3 +COPY --from=builder /usr/lib/liblapack.so.3 /usr/lib/liblapack.so.3 + +RUN pip install numpy==1.16.2 && pip install scipy==1.3.1 && pip install -r /requirements.txt && rm -rf /root/.cache + + +# Install avrdude +# TODO: to speed up incremental docker builds, we can probably do this in the builder image if we can figure out +# which files we need to copy over +RUN apt-get update && apt-get install -y --no-install-recommends \ + avrdude \ + && rm -rf /var/lib/apt/lists/* \ + && apt-get -y autoremove +# Copy in the pre-compiled firmware +COPY --from=builder /firmware/madgrizzle/build/* /firmware/madgrizzle/ +COPY --from=builder /firmware/holey/build/* /firmware/holey/ +COPY --from=builder /firmware/maslowcnc/build/* /firmware/maslowcnc/ + +# Copy the pre-compiled source from the builder +COPY --from=builder /WebControl /WebControl WORKDIR /WebControl EXPOSE 5000/tcp diff --git a/File/gcodeFile.py b/File/gcodeFile.py index a5a8376d..a134945a 100644 --- a/File/gcodeFile.py +++ b/File/gcodeFile.py @@ -5,6 +5,8 @@ import json import re import math +import gzip +import io class Line: @@ -13,17 +15,20 @@ def __init__(self): self.color = None self.dashed = False self.type = None + self.radius = None + self.command = None class GCodeFile(MakesmithInitFuncs): isChanged = False canvasScaleFactor = 1 # scale from mm to pixels INCHES = 1.0 - MILLIMETERS = 1.0 / 25.4 + MILLIMETERS = 1.0/25.4 xPosition = 0 yPosition = 0 zPosition = 0 + truncate = -1 #do this to truncate after shift of home position lineNumber = 0 # the line number currently being processed @@ -34,32 +39,100 @@ class GCodeFile(MakesmithInitFuncs): maxNumberOfLinesToRead = 300000 filename = "" - line = [] + line3D = [] + ''' + prependString is defined here so it can be persistent across each 'moveOneLine'. That way, if a gcode line + does not contain a valid gcode, it uses the previous line's gcode. Thanks to @amantalion for discovering the + glitch. https://github.com/madgrizzle/WebControl/issues/78 + ''' + prependString = "" - def serializeGCode(self): - sendStr = json.dumps([ob.__dict__ for ob in self.data.gcodeFile.line]) + + def serializeGCode3D(self): + sendStr = json.dumps([ob.__dict__ for ob in self.data.gcodeFile.line3D]) return sendStr - def loadUpdateFile(self): - filename = self.data.gcodeFile.filename - # print(filename) - del self.line[:] - if filename is "": # Blank the g-code if we're loading "nothing" - self.data.gcode = "" + def saveFile(self, fileName, directory): + if fileName is "": # Blank the g-code if we're loading "nothing" + return False + if directory is "": return False - try: - filterfile = open(filename, "r") + homeX = float(self.data.config.getValue("Advanced Settings", "homeX")) + homeY = float(self.data.config.getValue("Advanced Settings", "homeY")) + fileToWrite = directory + "/" + fileName + gfile = open(fileToWrite, "w+") + print(fileToWrite) + for line in self.data.gcode: + gfile.write(line+'\n') + #gfile = open(directory+fileName, "w+") + #gfile.writelines(map(lambda s: s+ '\n', self.data.gcode)) + print("Closing File") + gfile.close() + except Exception as e: + self.data.console_queue.put(str(e)) + self.data.console_queue.put("Gcode File Error") + self.data.ui_queue1.put("Alert", "Alert", "Cannot save gcode file.") + self.data.gcodeFile.filename = "" + return False + return True + + def loadUpdateFile(self, gcode=""): + print("At loadUpdateFile") + gcodeLoad = False + if gcode=="": + gcodeLoad = True + if self.data.units == "MM": + self.canvasScaleFactor = self.MILLIMETERS + print("units in mm") + else: + self.canvasScaleFactor = self.INCHES + print("units inches") + self.data.clidisplay = self.data.config.getValue("Maslow Settings", "clidisplay") + print ("clidisplay is ", self.data.clidisplay) + if (self.data.clidisplay): + self.data.gcode_x_min = 2000 + self.data.gcode_x_max = -2000 + self.data.gcode_y_min = 1000 + self.data.gcode_y_max = -1000 + self.data.gcode_z_min = 20 + self.data.gcode_z_max = -20 + print("reset gcode coordinates") + if gcode == "": + filename = self.data.gcodeFile.filename + self.data.gcodeShift[0] = round(float(self.data.config.getValue("Advanced Settings", "homeX")),4) + self.data.gcodeShift[1] = round(float(self.data.config.getValue("Advanced Settings", "homeY")),4) + del self.line3D[:] + if filename is "": # Blank the g-code if we're loading "nothing" + self.data.gcode = "" + return False + + try: + filterfile = open(filename, "r") + except Exception as e: + self.data.console_queue.put(str(e)) + self.data.console_queue.put("Gcode File Error") + self.data.ui_queue1.put("Alert", "Alert", "Cannot open gcode file.") + self.data.gcodeFile.filename = "" + return False rawfilters = filterfile.read() - filtersparsed = re.sub( - r"\(([^)]*)\)", "\n", rawfilters - ) # replace mach3 style gcode comments with newline + filterfile.close() # closes the filter save file + else: + del self.line3D[:] + rawfilters = gcode + + try: + if True: #this is just for testing R removal + filtersparsed = rawfilters #get rid of this if above is uncommented) + ''' filtersparsed = re.sub( r";([^\n]*)\n", "\n", filtersparsed ) # replace standard ; initiated gcode comments with newline + ''' + #print(filtersparsed) filtersparsed = re.sub(r"\n\n", "\n", filtersparsed) # removes blank lines filtersparsed = re.sub( - r"([0-9])([GXYZIJFTM]) *", "\\1 \\2", filtersparsed + r"([0-9])([GXYZIJFTMR]) *", "\\1 \\2", filtersparsed ) # put spaces between gcodes filtersparsed = re.sub(r" +", " ", filtersparsed) # condense space runs value = self.data.config.getValue("Advanced Settings", "truncate") @@ -69,57 +142,157 @@ def loadUpdateFile(self): filtersparsed = re.sub( r"([+-]?\d*\.\d{1," + digits + "})(\d*)", r"\g<1>", filtersparsed ) # truncates all long floats to 4 decimal places, leaves shorter floats - filtersparsed = re.split( - "\n", filtersparsed - ) # splits the gcode into elements to be added to the list - filtersparsed = [ - x + " " for x in filtersparsed - ] # adds a space to the end of each line - filtersparsed = [x.lstrip() for x in filtersparsed] + self.truncate = int(digits) + else: + self.truncate = -1 + filtersparsed = re.split("\n", filtersparsed) # splits the gcode into elements to be added to the list + filtersparsed = [x.lstrip() for x in filtersparsed] # remove leading spaces + filtersparsed = [x + " " for x in filtersparsed] # adds a space to the end of each line filtersparsed = [x.replace("X ", "X") for x in filtersparsed] filtersparsed = [x.replace("Y ", "Y") for x in filtersparsed] filtersparsed = [x.replace("Z ", "Z") for x in filtersparsed] filtersparsed = [x.replace("I ", "I") for x in filtersparsed] filtersparsed = [x.replace("J ", "J") for x in filtersparsed] filtersparsed = [x.replace("F ", "F") for x in filtersparsed] + filtersparsed = [x.replace("R ", "R") for x in filtersparsed] + #print (filtersparsed) + #((\%)|((?P
+## Notice
+
+Webcontrol will be moving all releases to a pyinstaller created executable, including for the Raspberry Pi. I will try to create a pre-built image for the RPI, but until then you will need to install a copy of raspbian on an SD card, update it for SSH and network access, then download webcontrol and set it to run automatically (if you chose).
+
+### Windows 10 and Linux Single-File Releases
+
+For Windows 10 and Linux (Debian-based, such as Ubuntu) machines, users can download the latest single-file release, extract it, and run webcontrol. As a single-file release, it is completely portable and does not require an installation. The file unpacks itself into a temporary directory and runs. If you have a very slow computer, it might take a while to unpack. In that case, it is recommended to use the single-directory release which extracts into a single directory containing unpacked files. Startup is much quicker using single-directory releases versus a single-file release.
+
+Check out the release page at:
+
+[https://github.com/madgrizzle/WebControl/releases](https://github.com/madgrizzle/WebControl/releases)
+
+### Raspberry Pi (3B+ & Zero W)
+
+For Raspberry Pi's, single-directory releases are your best option. It can take up to a minute to unpack a single-file release on a Raspberry Pi 3B+. Single-directory releases unpack the files into the directory so startup is much quicker. Both the Raspberry Pi 3B+ and Zero W have been tested to work with webcontrol. Other versions likely would also. I recommend the 3B+ if you are trying to decide.
+
+Check out the release page at:
+
+[https://github.com/madgrizzle/WebControl/releases](https://github.com/madgrizzle/WebControl/releases)
+
+## Built With
+
+* [Flask](http://flask.pocoo.org/) - The web framework used
+* [Flask-Socketio](https://github.com/miguelgrinberg/Flask-SocketIO) - Websocket integration for communications with browser clients
+* [Bootstrap4](https://getbootstrap.com/) - Front-end component library
+* [Jinja2](http://jinja.pocoo.org/) - Template engine for web page generation
+* [Feather.js](https://feathericons.com/) - Only icon library I could find that had diagonal arrows.. works well to boot.
+* [OpenCV](https://github.com/skvark/opencv-python) - Library for computer vision to implement optical calibration
+* [Numpy](http://www.numpy.org) - Library for math routines used with optical calibration
+* [Scipy](http://www.scipy.org) - Another library for math routines used with optical calibration
+* [Imutils](https://github.com/jrosebr1/imutils) - Adrian Rosebrock's library used with optical calibration
+* [Schedule](https://github.com/dbader/schedule) - Library used to schedule checking connection with arduino
+* [Ground Control](https://github.com/maslowcnc/groundcontrol) - Much of this was adapted from the Kivy-based Ground Control
+
+
+## Developing
+
+### Virtualenv
+
+You can use virtualenv to set up a local development environment for running the code without installing packages in the system Python installation.
+
+ # Create a virtual environment
+ virtualenv -p python3 .venv
+ # Activate the virtual environment
+ source .venv/bin/activate
+ # Install the prerequisites
+ pip install -r requirements.txt
+
+When running on the Pi, you'll also need some extra dependencies and will need to build OpenCV from source. See the Dockerfile for details. (TODO: add instructions here)
+
+Then you can run the code with.
+
+ python main.py
+
+The server will then be available at http://localhost:5000
+
+### Automatic code formatting
+
+This project uses [black](https://github.com/ambv/black) to automatically format python code. To run the autoformatter, simply install black locally with `pip`.
+
+ pip install black
+
+Subsequently, you can just run `black .` to format all files in the current directory.
+
+ black .
+
+If you don't have python3.6+ locally (to be able to run `black`), you can run `black` in a Docker container.
+
+ docker run -v $(pwd):/code johnboiles/python-black .
+
+### IDE
+
+[Pycharm Community Edition](https://www.jetbrains.com/pycharm/download) is a free, well-featured Python IDE.
+
+With the [File Watchers](https://plugins.jetbrains.com/plugin/7177-file-watchers) and [BlackPycharm](https://plugins.jetbrains.com/plugin/10563-black-pycharm) plugins you can set up your editor to automatically format your code on save. Then you never have to think about code formatting again :tada:
+
+## Contributing
+
+Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c63ec426) for details on our code of conduct, and the process for submitting pull requests to us.
+
+## Versioning
+
+Added to TODO list?
+
+## Authors
+
+* **Madgrizzle** - *Initial work* - [madgrizzle](https://github.com/madgrizzle)
+* **John Boiles** - *Docker Expert* - [johnboiles](https://github.com/johnboiles)
+* **Tinker** - *UI Improvements/Bug Fixer/Etc.* - [gb0101010101](https://github.com/gb0101010101)
+
+See also the list of [contributors](https://github.com/your/project/contributors) who participated in this project.
+
+## License
+
+See [LICENSE](https://github.com/madgrizzle/WebControl/blob/master/LICENSE)
diff --git a/gcode/flag4-a.nc b/gcode/flag4-a.nc
deleted file mode 100644
index 3468aba9..00000000
--- a/gcode/flag4-a.nc
+++ /dev/null
@@ -1,4695 +0,0 @@
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diff --git a/gcode/flag5-a-optimized.nc b/gcode/flag5-a-optimized.nc
deleted file mode 100644
index 12bbfbe5..00000000
--- a/gcode/flag5-a-optimized.nc
+++ /dev/null
@@ -1,3361 +0,0 @@
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-
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-
-(profile 3)
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diff --git a/gcode/testsquare.nc b/gcode/testsquare.nc
deleted file mode 100644
index 59613079..00000000
--- a/gcode/testsquare.nc
+++ /dev/null
@@ -1,18 +0,0 @@
-0:(Generated by PartKam Version 0.05)
-1:
-2:G20 G90 G40
-3:
-4:(follow path 1)
-5:G0 Z0.1
-6:T0 M6
-7:G17
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-12:G1 X9.675 Y6.8438
-13:G1 X4.675 Y5.8438
-14:G1 X4.675 Y0.8438
-15:G0 Z0.1
-16:M5
-17:M30
diff --git a/gcode/testsquare1.nc b/gcode/testsquare1.nc
deleted file mode 100644
index 9c423f87..00000000
--- a/gcode/testsquare1.nc
+++ /dev/null
@@ -1,22 +0,0 @@
-(Generated by PartKam Version 0.05)
-
-G20 G90 G40
-
-(profile 1)
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diff --git a/holeyrequirements.txt b/holeyrequirements.txt
new file mode 100644
index 00000000..c014a5ff
--- /dev/null
+++ b/holeyrequirements.txt
@@ -0,0 +1,22 @@
+Click==7.0
+Flask==1.0.2
+Flask-Mobility==0.1.1
+Flask-SocketIO==3.0.2
+gevent==1.3.7
+greenlet==0.4.15
+itsdangerous==0.24
+Jinja2>=2.10.1
+MarkupSafe==1.0
+numpy==1.16.2
+scipy==1.3.1
+opencv-python==3.4.3.18
+pyserial==3.4
+python-engineio==2.3.2
+python-socketio==2.0.0
+schedule==0.5.0
+six==1.11.0
+Werkzeug==0.14.1
+psutil
+gpiozero
+
+
diff --git a/main-onedir.spec b/main-onedir.spec
new file mode 100644
index 00000000..7698cec6
--- /dev/null
+++ b/main-onedir.spec
@@ -0,0 +1,34 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+block_cipher = None
+
+
+a = Analysis(['main.py'],
+ pathex=['C:\\Windows\\System32\\downlevel', 'C:\\Users\\john\\PycharmProjects\\WebControl'],
+ binaries=[],
+ datas=[('templates', 'templates'), ('firmware','firmware'), ('static', 'static'), ('tools', 'tools'), ('docs','docs'), ('defaultwebcontrol.json', '.')],
+ hiddenimports=['flask', 'flask-misaka', 'clr', 'gevent', 'gevent-websocket', 'engineio.async_gevent', 'distro', 'markdown'],
+ excludes=[],
+ win_no_prefer_redirects=False,
+ win_private_assemblies=False,
+ cipher=block_cipher,
+ noarchive=False)
+pyz = PYZ(a.pure, a.zipped_data,
+ cipher=block_cipher)
+exe = EXE(pyz,
+ a.scripts,
+ [],
+ exclude_binaries=True,
+ name='webcontrol',
+ debug=False,
+ strip=False,
+ upx=True,
+ console=True,
+ icon = 'webcontrolicon_256px.ico' )
+coll = COLLECT(exe,
+ a.binaries,
+ a.zipfiles,
+ a.datas,
+ strip=False,
+ upx=True,
+ name='main')
diff --git a/main.py b/main.py
index 24b3f291..fc440063 100644
--- a/main.py
+++ b/main.py
@@ -1,50 +1,84 @@
# main.py
from app import app, socketio
from gevent import monkey
+import webbrowser
+import socket
+import math
+import os
+import subprocess
+import sys
monkey.patch_all()
+
+
import schedule
import time
import threading
import json
-from flask import Flask, jsonify, render_template, current_app, request, flash
+from flask import Flask, jsonify, render_template, current_app, request, flash, Response, send_file, send_from_directory
from flask_mobility.decorators import mobile_template
from werkzeug import secure_filename
from Background.UIProcessor import UIProcessor # do this after socketio is declared
+from Background.LogStreamer import LogStreamer # do this after socketio is declared
+from Background.WebMCPProcessor import WebMCPProcessor
+from Background.WebMCPProcessor import ConsoleProcessor
from DataStructures.data import Data
from Connection.nonVisibleWidgets import NonVisibleWidgets
+from WebPageProcessor.webPageProcessor import WebPageProcessor
+
from os import listdir
from os.path import isfile, join
-
+import sys
app.data = Data()
app.nonVisibleWidgets = NonVisibleWidgets()
app.nonVisibleWidgets.setUpData(app.data)
app.data.config.computeSettings(None, None, None, True)
+app.data.config.parseFirmwareVersions()
+version = sys.version_info # this is for python newer than 3.5
+if version[:2] > (3, 5):
+ app.data.pythonVersion35 = False # set data flag
+ print("Using routines for Python > 3.5")
+else:
+ app.data.pythonVersion35 = True # set data flag
+ print("Using routines for Python == 3.5")
app.data.units = app.data.config.getValue("Computed Settings", "units")
+app.data.tolerance = app.data.config.getValue("Computed Settings", "tolerance")
+app.data.distToMove = app.data.config.getValue("Computed Settings", "distToMove")
+app.data.distToMoveZ = app.data.config.getValue("Computed Settings", "distToMoveZ")
+app.data.unitsZ = app.data.config.getValue("Computed Settings", "unitsZ")
app.data.comport = app.data.config.getValue("Maslow Settings", "COMport")
-if app.data.units == "INCHES":
- scale = 1.0
-else:
- scale = 25.4
app.data.gcodeShift = [
- float(app.data.config.getValue("Advanced Settings", "homeX")) / scale,
- float(app.data.config.getValue("Advanced Settings", "homeY")) / scale,
+ float(app.data.config.getValue("Advanced Settings", "homeX")),
+ float(app.data.config.getValue("Advanced Settings", "homeY")),
]
+
+version = sys.version_info
+
+if version[:2] > (3, 5):
+ app.data.pythonVersion35 = False
+ print("Using routines for Python > 3.5")
+else:
+ app.data.pythonVersion35 = True
+ print("Using routines for Python == 3.5")
+
+app.data.firstRun = False
# app.previousPosX = 0.0
# app.previousPosY = 0.0
app.UIProcessor = UIProcessor()
+app.webPageProcessor = WebPageProcessor(app.data)
+app.LogStreamer = LogStreamer()
-## this runs the scheduler to check for connections
+## this defines the schedule for running the serial port open connection
def run_schedule():
while 1:
schedule.run_pending()
time.sleep(1)
-
+## this runs the scheduler to check for connections
app.th = threading.Thread(target=run_schedule)
app.th.daemon = True
app.th.start()
@@ -54,38 +88,265 @@ def run_schedule():
app.th1.daemon = True
app.th1.start()
-# write settings file to disk:
-# from settings import settings
-# settings = settings.getJSONSettings()
-# with open('webcontrol.json', 'w') as outfile:
-# json.dump(settings,outfile, sort_keys=True, indent=4, ensure_ascii=False)
+## this runs the thread that sends debugging messages to the terminal and webmcp (if active)
+app.th2 = threading.Thread(target=app.data.consoleProcessor.start)
+app.th2.daemon = True
+app.th2.start()
-# read settings file from disk:
+## uithread set to None.. will be activated upon first websocket connection from browser
+app.uithread = None
+## uithread set to None.. will be activated upon first websocket connection from webmcp
+app.mcpthread = None
+
+## logstreamerthread set to None.. will be activated upon first websocket connection from log streamer browser
+app.logstreamerthread = None
+
+def web_input_command(cmd, source):
+ if (len(cmd) > 2): # pull off the distance if it is there
+ distance = cmd[2] # distance is the third list element
+ else:
+ distance = 0 # if it isn't then put a 0 value in so no error is thrown
+ message = 'none'
+ if ('gcode' in cmd): # gcode commands found in gpioactions like start the gcode file cut, pause current cut, resume from pause, stop the cut, move sled home
+ print ('gcode selected')
+ if ('startRun' in cmd):
+ print ('start gcode ',source, ' requested')
+ app.data.actions.processAction({"data":{"command":"startRun","arg":"","arg1":""}})
+ message = {"data":{source:"started"}}
+ elif ('pauseRun' in cmd):
+ if (app.data.uploadFlag == 1):
+ print ('pause gcode ',source, ' requested')
+ app.data.actions.processAction({"data":{"command":"pauseRun","arg":"","arg1":""}})
+ message = {"data":{source:"paused"}}
+ elif (app.data.uploadFlag == 2):
+ print ('continue gcode ', source, ' requested')
+ app.data.actions.processAction({"data":{"command":"resumeRun","arg":"","arg1":""}})
+ message = {"data":{source:"resumed"}}
+ else:
+ print("not running - no pause")
+ message = {"data":{source:"No Pause - not running"}}
+ elif (cmd[1] == 'resumeRun'):
+ print ('continue gcode ',source, ' requested')
+ app.data.actions.processAction({"data":{"command":"resumeRun","arg":"","arg1":""}})
+ message = {"data":{source:"resumed"}}
+ elif (cmd[1] == 'stopRun'):
+ print ('stop gcode', source, ' requested')
+ app.data.actions.processAction({"data":{"command":"stopRun","arg":"","arg1":""}})
+ message = {"data":{source:"stopped"}}
+ elif('home' in cmd):
+ print (source, ' says go home')
+ app.data.actions.processAction({"data":{"command":"home","arg":"","arg1":""}})
+ message = {"data":{source:"movetoHome"}}
+ else:
+ print(cmd, " Invalid command")
+ message = {"data":{"gcode":"NONE selected"}}
+ if ('zAxis' in cmd): # this command set works with the z axis
+ print ('zaxis selected ', source)
+ if('raise' in cmd):
+ print (source, ' zaxis', distance, 'raise')
+ app.data.actions.processAction({"data":{"command":"moveZ","arg":"raise","arg1":distance}})
+ message = {"data":{source:"raise"}}
+ elif('lower' in cmd):
+ print (source, ' zaxis', distance, 'lower')
+ app.data.actions.processAction({"data":{"command":"moveZ","arg":"lower","arg1":distance}})
+ message = {"data":{source:"Lower"}}
+ elif('stopZ' in cmd ):
+ print (source, ' zaxis stop ', source)
+ app.data.actions.processAction({"data":{"command":"stopZ","arg":"","arg1":""}})
+ message = {"data":{source:"stopZ"}}
+ elif('defineZ0' in cmd):
+ print ('new Z axis zero point via ', source)
+ app.data.actions.processAction({"data":{"command":"defineZ0","arg":"","arg1":""}})
+ message = {"data":{source:"defineZ"}} # this command set will move or change the sled
+ else:
+ print(cmd, " Invalid command")
+ message = {"data":{source:" NONE selected"}}
+ if ('sled' in cmd or 'move' in cmd):
+ if('up' in cmd):
+ print (source, ' move', distance, 'up')
+ app.data.actions.processAction({"data":{"command":"move","arg":"up","arg1":distance}})
+ message = {"data":{source:"up"}}
+ elif('down' in cmd):
+ print (source, ' move', distance, 'down')
+ app.data.actions.processAction({"data":{"command":"move","arg":"down","arg1":distance}})
+ message = {"data":{source:"down"}}
+ elif('left' in cmd):
+ print (source, ' move', distance, 'left')
+ app.data.actions.processAction({"data":{"command":"move","arg":"left","arg1":distance}})
+ message = {"data":{source:"left"}}
+ elif('right' in cmd):
+ print (source, ' move', distance, 'right')
+ app.data.actions.processAction({"data":{"command":"move","arg":"right","arg1":distance}})
+ message = {"data":{source:"right"}}
+ elif('home' in cmd):
+ print ('go home via ', source)
+ app.data.actions.processAction({"data":{"command":"home","arg":"","arg1":""}})
+ message = {"data":{source:"movetoHome"}}
+ elif('defineHome' in cmd):
+ print ('new home set via ', source, ' to ', app.data.xval ,', ', app.data.yval)
+ app.data.actions.processAction({"data":{"command":"defineHome","arg":app.data.xval,"arg1":app.data.yval}})
+ message = {"data":{source:"NewHome"}}
+ else:
+ print(cmd, " Invalid command")
+ message = {"data":{"sled":"NONE selected"}}
+ if ('system' in cmd): # this command set will adjust the system including pendant connection status and system power
+ print ('system selected via ', source)
+ if ('exit' in cmd):
+ print("system shutdown requested")
+ if (app.data.uploadFlag == 0):
+ os._exit(0)
+ else:
+ app.data.actions.processAction({"data":{"command":"stopRun","arg":"","arg1":""}})
+ print("denied: running code. Code stopped near try again")
+ message = {"data":{"system":"shutdownAttempt"}}
+ elif ('connected' in cmd):
+ print("wiimote connected")
+ message = {"data":{"system":"Connect"}}
+ app.data.wiiPendantConnected = True
+ elif ('disconnect' in cmd):
+ print("wiimote disconnect")
+ app.data.wiiPendantConnected = False
+ message = {"data":{"system":"Disconnect"}}
+ else:
+ print(cmd, " Invalid command")
+ message = {"data":{"system":"NONE selected"}}
+ return(message)
@app.route("/")
@mobile_template("{mobile/}")
def index(template):
- # print template
- current_app._get_current_object()
- thread = socketio.start_background_task(
- app.UIProcessor.start, current_app._get_current_object()
- )
- thread.start()
- if not app.data.connectionStatus:
- app.data.serialPort.openConnection()
+ app.data.logger.resetIdler()
+ macro1Title = (app.data.config.getValue("Maslow Settings", "macro1_title"))[:6]
+ macro2Title = (app.data.config.getValue("Maslow Settings", "macro2_title"))[:6]
if template == "mobile/":
- return render_template("frontpage_mobile.html")
+ return render_template("frontpage3d_mobile.html", modalStyle="modal-lg", macro1_title=macro1Title, macro2_title=macro2Title)
else:
- return render_template("frontpage.html")
+ return render_template("frontpage3d.html", modalStyle="mw-100 w-75", macro1_title=macro1Title, macro2_title=macro2Title)
+
+@app.route('/GPIO', methods=['PUT', 'GET'])
+def remote_function_call():
+ '''
+ MaslowButton.py starts as a separate python process if the maslow setting flag is true
+ The GPIO is for raspberry pi general purpoe input/output such as button and LED hardware physically attached to the raspberry pi
+ When those buttons are pressed, the seaparate process issues an HTTP/PUT request and this method handles it. The /LED section below sends information for LEDs
+ '''
+ if (request.method == "PUT"):
+ print ("button function call")
+ message = {"data":{"gpio":"selected"}}
+ result = request.data
+ result = result.decode('utf-8')
+ resultlist = result.split(':')
+ print ('resultlist', resultlist)
+ message = web_input_command(resultlist, "button")
+ print(message)
+ resp = jsonify(message)
+ resp.status_code = 200 # or whatever the correct number should be
+ return (resp)
+
+ if (request.method == "GET"):
+ setValues = app.data.config.getJSONSettingSection("GPIO Settings")
+ return (jsonify(setValues))
+
+@app.route('/LED', methods=['PUT','GET'])
+def getLEDinfo():
+ '''
+ The MaslowButton.py has provisions for an on-system display.
+ This is the LED method responds MaslowButton.py requests via HTTP/GET
+ and processses the repeated inquiry every 2-5 seconds.
+ Upload flag signifies system state as running, paused, or stopped,
+ Moving flag indicates a stopped cut condition, but the sled is moving
+ zmove is the z axis moving
+ '''
+ if (request.method == 'GET'):
+ try:
+ message = {"data":{"index": str(app.data.gcodeIndex), \
+ "flag": str(app.data.uploadFlag), \
+ "moving": str(app.data.sledMoving), \
+ "zMove": str(app.data.zMoving), \
+ "wiiPendantPresent": str(app.data.config.getValue("Maslow Settings","wiiPendantPresent")), \
+ "wiiconnected" : str(int(app.data.wiiPendantConnected)), \
+ "clidisplay" : str(app.data.config.getValue("Maslow Settings","clidisplay")), \
+ "sled_location_X": str(app.data.xval), \
+ "sled_location_y": str(app.data.yval), \
+ #"sled_location_z": str(app.data.zval), \
+ #This part works
+ "home_location_x": str(app.data.config.getValue("Advanced Settings","homeX")), \
+ "home_location_y": str(app.data.config.getValue("Advanced Settings","homeY")), \
+ #this part does not work
+ "gcode_max_x": str(app.data.gcode_x_max), \
+ "gcode_min_x": str(app.data.gcode_x_min), \
+ "gcode_max_y": str(app.data.gcode_y_max), \
+ "gcode_min_y": str(app.data.gcode_y_min)}} #assemble json string
+ #print(message)
+ resp = jsonify(message) # java script object notation convrsion of the message
+ resp.status_code = 200
+ return (resp) # send the message
+ except:
+ message = jsonify({"data":{"error":"no data"}}) # on error, respond with something rather than nothing
+ resp = jsonify(message)
+ resp.status_code = 404 # or whatever the correct number should be
+ return (resp)
+
+@app.route('/pendant', methods=['PUT', 'GET'])
+def WiiMoteInput():
+ '''
+ This is for the raspberry pi
+ The MaslowButton.py runs as a separate MaslowPendant.py process
+ that interacts with this function via HTTP/PUT
+ and this routine interprets those commands from the wii to move Maslow
+ '''
+ print ("pendant function call")
+ result = request.data #pull off the data parameters
+ #print (result)
+ result = result.decode('utf-8') # convert the binary data into text
+ resultlist = result.split(':') #take the input and cut it up into list pieces
+ print (resultlist)
+ message = web_input_command(resultlist, "wii")
+ print(message)
+ resp = jsonify(message)
+ resp.status_code = 200
+ return (resp)
+
+@app.route("/controls")
+@mobile_template("/controls/{mobile/}")
+def controls(template):
+ app.data.logger.resetIdler()
+ macro1Title = (app.data.config.getValue("Maslow Settings", "macro1_title"))[:6]
+ macro2Title = (app.data.config.getValue("Maslow Settings", "macro2_title"))[:6]
+ if template == "/controls/mobile/":
+ return render_template("frontpage3d_mobilecontrols.html", modalStyle="modal-lg", isControls=True, macro1_title=macro1Title, macro2_title=macro2Title)
+ else:
+ return render_template("frontpage3d.html", modalStyle="mw-100 w-75", macro1_title=macro1Title, macro2_title=macro2Title)
+
+@app.route("/text")
+@mobile_template("/text/{mobile/}")
+def text(template):
+ app.data.logger.resetIdler()
+ macro1Title = (app.data.config.getValue("Maslow Settings", "macro1_title"))[:6]
+ macro2Title = (app.data.config.getValue("Maslow Settings", "macro2_title"))[:6]
+ if template == "/text/mobile":
+ return render_template("frontpageText_mobile.html", modalStyle="modal-lg", isControls=True, macro1_title=macro1Title, macro2_title=macro2Title)
+ else:
+ return render_template("frontpageText.html", modalStyle="mw-100 w-75", macro1_title=macro1Title, macro2_title=macro2Title)
+
+@app.route("/logs")
+@mobile_template("/logs/{mobile/}")
+def logs(template):
+ print("here")
+ app.data.logger.resetIdler()
+ if template == "/logs/mobile/":
+ return render_template("logs.html")
+ else:
+ return render_template("logs.html")
@app.route("/maslowSettings", methods=["POST"])
def maslowSettings():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
app.data.config.updateSettings("Maslow Settings", result)
- # setValues = app.data.config.getJSONSettingSection("Maslow Settings")
message = {"status": 200}
resp = jsonify(message)
resp.status_code = 200
@@ -94,6 +355,7 @@ def maslowSettings():
@app.route("/advancedSettings", methods=["POST"])
def advancedSettings():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
app.data.config.updateSettings("Advanced Settings", result)
@@ -105,6 +367,7 @@ def advancedSettings():
@app.route("/webControlSettings", methods=["POST"])
def webControlSettings():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
app.data.config.updateSettings("WebControl Settings", result)
@@ -114,12 +377,84 @@ def webControlSettings():
return resp
+@app.route("/cameraSettings", methods=["POST"])
+def cameraSettings():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ result = request.form
+ app.data.config.updateSettings("Camera Settings", result)
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+
+@app.route("/gpioSettings", methods=["POST"])
+def gpioSettings():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ result = request.form
+ app.data.config.updateSettings("GPIO Settings", result)
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ # restart button service here
+ # this button service resets the button maps for the updated gpio pins
+ print("restarting maslow button service")
+ try:
+ subprocess.run(['sudo','/usr/local/etc/MaslowButtonRestart.sh'])
+ print("restarted maslow button service")
+ except:
+ print("error restarting button service")
+ return resp
+
@app.route("/uploadGCode", methods=["POST"])
def uploadGCode():
+ app.data.logger.resetIdler()
if request.method == "POST":
- f = request.files["file"]
- app.data.gcodeFile.filename = "gcode/" + secure_filename(f.filename)
- f.save(app.data.gcodeFile.filename)
+ result = request.form
+ directory = result["selectedDirectory"]
+ #print(directory)
+ f = request.files.getlist("file[]")
+ print(f)
+ home = app.data.config.getHome()
+ app.data.config.setValue("Computed Settings", "lastSelectedDirectory", directory)
+
+ if len(f) > 0:
+ firstFile = f[0]
+ for file in f:
+ app.data.gcodeFile.filename = home + "/.WebControl/gcode/" + directory + "/" + secure_filename(
+ file.filename)
+ file.save(app.data.gcodeFile.filename)
+ app.data.gcodeFile.filename = home + "/.WebControl/gcode/" + directory + "/" + secure_filename(firstFile.filename)
+ returnVal = app.data.gcodeFile.loadUpdateFile()
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+
+
+@app.route("/openGCode", methods=["POST"])
+def openGCode():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ f = request.form["selectedGCode"]
+ app.data.console_queue.put("selectedGcode="+str(f))
+ tDir = f.split("/")
+ app.data.config.setValue("Computed Settings","lastSelectedDirectory",tDir[0])
+ home = app.data.config.getHome()
+ app.data.gcodeFile.filename = home+"/.WebControl/gcode/" + f
+ app.data.config.setValue("Maslow Settings", "openFile", tDir[1])
returnVal = app.data.gcodeFile.loadUpdateFile()
if returnVal:
message = {"status": 200}
@@ -132,13 +467,72 @@ def uploadGCode():
resp.status_code = 500
return resp
-
-@app.route("/openGCode", methods=["POST"])
-def openGCode():
+@app.route("/saveGCode", methods=["POST"])
+def saveGCode():
+ app.data.logger.resetIdler()
if request.method == "POST":
- f = request.form["selectedGCode"]
- app.data.gcodeFile.filename = "gcode/" + f
+ print(request.form)
+ f = request.form["fileName"]
+ d = request.form["selectedDirectory"]
+ app.data.console_queue.put("selectedGcode="+f)
+ app.data.config.setValue("Computed Settings", "lastSelectedDirectory",d)
+ home = app.data.config.getHome()
+ returnVal = app.data.gcodeFile.saveFile(f, home+"/.WebControl/gcode/"+d)
+ '''
+ tDir = f.split("/")
+ app.data.config.setValue("Computed Settings","lastSelectedDirectory",tDir[0])
+ home = app.data.config.getHome()
+ app.data.gcodeFile.filename = home+"/.WebControl/gcode/" + f
+ app.data.config.setValue("Maslow Settings", "openFile", tDir[1])
returnVal = app.data.gcodeFile.loadUpdateFile()
+ '''
+ if returnVal:
+ app.data.config.setValue("Maslow Settings", "openFile", f)
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+
+@app.route("/openBoard", methods=["POST"])
+def openBoard():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ f = request.form["selectedBoard"]
+ app.data.console_queue.put("selectedBoard="+str(f))
+ tDir = f.split("/")
+ app.data.config.setValue("Computed Settings","lastSelectedBoardDirectory",tDir[0])
+ home = app.data.config.getHome()
+ app.data.gcodeFile.filename = home+"/.WebControl/boards/" + f
+ app.data.config.setValue("Maslow Settings", "openBoardFile", tDir[1])
+ returnVal = app.data.boardManager.loadBoard(home+"/.WebControl/boards/"+f)
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+
+@app.route("/saveBoard", methods=["POST"])
+def saveBoard():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ print(request.form)
+ f = request.form["fileName"]
+ d = request.form["selectedDirectory"]
+ app.data.console_queue.put("selectedBoard="+f)
+ app.data.config.setValue("Computed Settings", "lastSelectedBoardDirectory",d)
+ home = app.data.config.getHome()
+ returnVal = app.data.boardManager.saveBoard(f, home+"/.WebControl/boards/"+d)
+ app.data.config.setValue("Maslow Settings", "openBoardFile", f)
if returnVal:
message = {"status": 200}
resp = jsonify(message)
@@ -153,9 +547,11 @@ def openGCode():
@app.route("/importFile", methods=["POST"])
def importFile():
+ app.data.logger.resetIdler()
if request.method == "POST":
f = request.files["file"]
- secureFilename = "imports\\" + secure_filename(f.filename)
+ home = app.data.config.getHome()
+ secureFilename = home+"/.WebControl/imports/" + secure_filename(f.filename)
f.save(secureFilename)
returnVal = app.data.importFile.importGCini(secureFilename)
if returnVal:
@@ -169,9 +565,67 @@ def importFile():
resp.status_code = 500
return resp
+@app.route("/importFileWCJSON", methods=["POST"])
+def importFileJSON():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ f = request.files["file"]
+ home = app.data.config.getHome()
+ secureFilename = home + "/.WebControl/imports/" + secure_filename(f.filename)
+ f.save(secureFilename)
+ returnVal = app.data.importFile.importWebControlJSON(secureFilename)
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+
+@app.route("/importRestoreWebControl", methods=["POST"])
+def importRestoreWebControl():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ f = request.files["file"]
+ home = app.data.config.getHome()
+ secureFilename = home + "/" + secure_filename(f.filename)
+ f.save(secureFilename)
+ returnVal = app.data.actions.restoreWebControl(secureFilename)
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
+
+@app.route("/sendGCode", methods=["POST"])
+def sendGcode():
+ app.data.logger.resetIdler()
+ #print(request.form)#["gcodeInput"])
+ if request.method == "POST":
+ returnVal = app.data.actions.sendGCode(request.form["gcode"].rstrip())
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify("success")
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
@app.route("/triangularCalibration", methods=["POST"])
def triangularCalibration():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
motorYoffsetEst, rotationRadiusEst, chainSagCorrectionEst, cut34YoffsetEst = app.data.actions.calibrate(
@@ -197,9 +651,38 @@ def triangularCalibration():
resp.status_code = 500
return resp
+@app.route("/holeyCalibration", methods=["POST"])
+def holeyCalibration():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ result = request.form
+ motorYoffsetEst, distanceBetweenMotors, leftChainTolerance, rightChainTolerance, calibrationError = app.data.actions.holeyCalibrate(
+ result
+ )
+ # print(returnVal)
+ if motorYoffsetEst:
+ message = {
+ "status": 200,
+ "data": {
+ "motorYoffset": motorYoffsetEst,
+ "distanceBetweenMotors": distanceBetweenMotors,
+ "leftChainTolerance": leftChainTolerance,
+ "rightChainTolerance": rightChainTolerance,
+ "calibrationError": calibrationError
+ },
+ }
+ resp = jsonify(message)
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify(message)
+ resp.status_code = 500
+ return resp
@app.route("/opticalCalibration", methods=["POST"])
def opticalCalibration():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
message = {"status": 200}
@@ -215,6 +698,7 @@ def opticalCalibration():
@app.route("/quickConfigure", methods=["POST"])
def quickConfigure():
+ app.data.logger.resetIdler()
if request.method == "POST":
result = request.form
app.data.config.updateQuickConfigure(result)
@@ -223,278 +707,295 @@ def quickConfigure():
resp.status_code = 200
return resp
+@app.route("/editGCode", methods=["POST"])
+def editGCode():
+ app.data.logger.resetIdler()
+ #print(request.form["gcode"])
+ if request.method == "POST":
+ returnVal = app.data.actions.updateGCode(request.form["gcode"].rstrip())
+ if returnVal:
+ message = {"status": 200}
+ resp = jsonify("success")
+ resp.status_code = 200
+ return resp
+ else:
+ message = {"status": 500}
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
+@app.route("/downloadDiagnostics", methods=["GET"])
+def downloadDiagnostics():
+ app.data.logger.resetIdler()
+ if request.method == "GET":
+ returnVal = app.data.actions.downloadDiagnostics()
+ if returnVal != False:
+ print(returnVal)
+ return send_file(returnVal, as_attachment=True)
+ else:
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
+@app.route("/backupWebControl", methods=["GET"])
+def backupWebControl():
+ app.data.logger.resetIdler()
+ if request.method == "GET":
+ returnVal = app.data.actions.backupWebControl()
+ if returnVal != False:
+ print(returnVal)
+ return send_file(returnVal)
+ else:
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
+
+@app.route("/editBoard", methods=["POST"])
+def editBoard():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ returnVal = app.data.boardManager.editBoard(request.form)
+ if returnVal:
+ resp = jsonify("success")
+ resp.status_code = 200
+ return resp
+ else:
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
+@app.route("/trimBoard", methods=["POST"])
+def trimBoard():
+ app.data.logger.resetIdler()
+ if request.method == "POST":
+ returnVal = app.data.boardManager.trimBoard(request.form)
+ if returnVal:
+ resp = jsonify("success")
+ resp.status_code = 200
+ return resp
+ else:
+ resp = jsonify("failed")
+ resp.status_code = 500
+ return resp
+
+@app.route("/assets/