232 lines
6.4 KiB
Python
232 lines
6.4 KiB
Python
#!/usr/bin/env python2
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"""Copyright (C) 2020 Scott Alford, scottalford75@gmail.com
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Copyright (C) 2022-2024 Carl Klemm, carl@uvos.xyz
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU 2 General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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"""
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import sys
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import os.path
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import numpy as np
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from scipy.interpolate import griddata
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from enum import Enum, unique
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import linuxcnc
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import hal
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import time
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# this is how often the z external offset value is updated based on current x & y position
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update = 0.025
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safeOffset = 20
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@unique
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class States(Enum):
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START = 1
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IDLE = 2
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LOADMAP = 3
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RUNNING = 4
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RESET = 5
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STOP = 6
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class Compensation:
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def __init__(self):
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self.comp = {}
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if len(sys.argv) < 2:
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print("ERROR! No input file name specified!")
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sys.exit()
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self.filename = sys.argv[1]
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self.method = sys.argv[2]
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# default to cubic if not specified
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if self.method == "":
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self.methond = "cubic"
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def loadMap(self):
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# data coordinates and values
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self.data = np.loadtxt(self.filename, dtype=float, delimiter=" ", usecols=(0, 1, 2))
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self.x_data = np.around(self.data[:, 0], 1)
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self.y_data = np.around(self.data[:, 1], 1)
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self.z_data = self.data[:, 2]
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# get the x and y, min and max values from the data
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self.xMin = int(np.min(self.x_data))
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self.xMax = int(np.max(self.x_data))
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self.yMin = int(np.min(self.y_data))
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self.yMax = int(np.max(self.y_data))
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print(" xMin = ", self.xMin)
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print(" xMax = ", self.xMax)
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print(" yMin = ", self.yMin)
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print(" yMax = ", self.yMax)
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# target grid to interpolate to, 1 grid per mm
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self.xSteps = (self.xMax - self.xMin) + 1
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self.ySteps = (self.yMax - self.yMin) + 1
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self.x = np.linspace(self.xMin, self.xMax, self.xSteps)
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self.y = np.linspace(self.yMin, self.yMax, self.ySteps)
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self.xi, self.yi = np.meshgrid(self.x, self.y)
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print(" xSteps = ", self.xSteps)
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print(" ySteps = ", self.ySteps)
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print(" x = ", self.x)
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# interpolate, zi has all the offset values but need to be transposed
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self.zi = griddata((self.x_data, self.y_data), self.z_data, (self.xi, self.yi), method=self.method)
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self.zi = np.transpose(self.zi)
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def compensate(self):
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# get our nearest integer position
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self.xpos = int(round(self.h['x-pos']))
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self.ypos = int(round(self.h['y-pos']))
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zo = safeOffset
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if self.xpos >= self.xMin and self.xpos <= self.xMax and self.ypos >= self.yMin and self.ypos <= self.yMax:
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self.Xn = self.xpos - self.xMin
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self.Yn = self.ypos - self.yMin
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zo = self.zi[self.Xn, self.Yn]
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if np.isnan(zo):
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zo = safeOffset
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self.scale = 0.001
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compensation = int(zo / self.scale)
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return compensation
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def run(self):
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self.h = hal.component("compensation")
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self.h.newpin("enable-in", hal.HAL_BIT, hal.HAL_IN)
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self.h.newpin("enable-out", hal.HAL_BIT, hal.HAL_OUT)
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self.h.newpin("scale", hal.HAL_FLOAT, hal.HAL_IN)
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self.h.newpin("counts", hal.HAL_S32, hal.HAL_OUT)
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self.h.newpin("clear", hal.HAL_BIT, hal.HAL_IN)
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self.h.newpin("x-pos", hal.HAL_FLOAT, hal.HAL_IN)
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self.h.newpin("y-pos", hal.HAL_FLOAT, hal.HAL_IN)
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self.h.newpin("z-pos", hal.HAL_FLOAT, hal.HAL_IN)
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self.h.newpin("fade-height", hal.HAL_FLOAT, hal.HAL_IN)
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self.h.ready()
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s = linuxcnc.stat()
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currentState = States.START
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prevState = States.STOP
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try:
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while True:
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time.sleep(update)
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# get linuxcnc task_state status for machine on / off transitions
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s.poll()
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if currentState == States.START:
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if currentState != prevState:
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print("\nCompensation entering START state")
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prevState = currentState
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# do start-up tasks
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print(" %s last modified: %s" % (self.filename, time.ctime(os.path.getmtime(self.filename))))
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prevMapTime = 0
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self.h["counts"] = 0
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# transition to IDLE state
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currentState = States.IDLE
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elif currentState == States.IDLE:
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if currentState != prevState:
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print("\nCompensation entering IDLE state")
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prevState = currentState
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# stay in IDLE state until compensation is enabled
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if self.h["enable-in"]:
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currentState = States.LOADMAP
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elif currentState == States.LOADMAP:
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if currentState != prevState:
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print("\nCompensation entering LOADMAP state")
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prevState = currentState
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mapTime = os.path.getmtime(self.filename)
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if mapTime != prevMapTime:
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self.loadMap()
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print(" Compensation map loaded")
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prevMapTime = mapTime
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# transition to RUNNING state
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currentState = States.RUNNING
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elif currentState == States.RUNNING:
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if currentState != prevState:
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print("\nCompensation entering RUNNING state")
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prevState = currentState
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if self.h["enable-in"]:
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# enable external offsets
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self.h["enable-out"] = 1
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fadeHeight = self.h["fade-height"]
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zPos = self.h["z-pos"]
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if fadeHeight == 0:
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compScale = 1
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elif zPos < fadeHeight:
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compScale = (fadeHeight - zPos) / fadeHeight
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if compScale > 1:
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compScale = 1
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else:
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compScale = 0
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if s.task_state == linuxcnc.STATE_ON:
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# get the compensation if machine power is on, else set to 0
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# otherwise we loose compensation eoffset if machine power is cycled
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# when copensation is enable
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compensation = self.compensate()
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self.h["counts"] = compensation * compScale
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self.h["scale"] = self.scale
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else:
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self.h["counts"] = 0
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else:
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# transition to RESET state
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currentState = States.RESET
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elif currentState == States.RESET:
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if currentState != prevState:
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print("\nCompensation entering RESET state")
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prevState = currentState
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# reset the eoffsets counts register so we don't accumulate
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self.h["counts"] = 0
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# toggle the clear output
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self.h["clear"] = 1
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time.sleep(0.1)
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self.h["clear"] = 0
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# disable external offsets
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# self.h["enable-out"] = 0
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# transition to IDLE state
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currentState = States.IDLE
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except KeyboardInterrupt:
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raise SystemExit
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comp = Compensation()
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comp.run()
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