reorganise project

cnc/hal_virtual.py

@@ -0,0 +1,90 @@
+import logging
+import time
+
+from pulses import PulseGeneratorLinear
+from config import *
+from coordinates import Coordinates
+
+""" This is virtual device class which is very useful for debugging.
+    It checks PulseGenerator with some tests.
+"""
+
+
+def init():
+    """ Initialize GPIO pins and machine itself, including calibration if
+        needed. Do not return till all procedure is completed.
+    """
+    logging.info("initialize hal")
+
+
+def spindle_control(percent):
+    """ Spindle control implementation.
+    :param percent: Spindle speed in percent.
+    """
+    logging.info("spindle control: {}%".format(percent))
+
+
+def move_linear(delta, velocity):
+    """ Move head to specified position
+    :param delta: Coordinated object, delta position in mm
+    :param velocity: velocity in mm per min
+    """
+    logging.info("move {} with velocity {}".format(delta, velocity))
+    ix = iy = iz = 0
+    generator = PulseGeneratorLinear(delta, velocity)
+    lx, ly, lz = None, None, None
+    dx, dy, dz = 0, 0, 0
+    mx, my, mz = 0, 0, 0
+    st = time.time()
+    for tx, ty, tz in generator:
+        if tx is not None:
+            if tx > mx:
+                mx = tx
+            tx = int(round(tx * 1000000))
+            ix += 1
+            if lx is not None:
+                dx = tx - lx
+                assert dx > 0, "negative or zero time delta detected for x"
+            lx = tx
+        else:
+            dx = None
+        if ty is not None:
+            if ty > my:
+                my = ty
+            ty = int(round(ty * 1000000))
+            iy += 1
+            if ly is not None:
+                dy = ty - ly
+                assert dy > 0, "negative or zero time delta detected for y"
+            ly = ty
+        else:
+            dy = None
+        if tz is not None:
+            if tz > mz:
+                mz = tz
+            tz = int(round(tz * 1000000))
+            iz += 1
+            if lz is not None:
+                dz = tz - lz
+                assert dz > 0, "negative or zero time delta detected for z"
+            lz = tz
+        else:
+            dz = None
+        # very verbose, uncomment on demand
+        # logging.debug("Iteration {} is {} {} {}".format(max(ix, iy, iz), tx, ty, tz))
+        f = list(x for x in (tx, ty, tz) if x is not None)
+        assert f.count(f[0]) == len(f), "fast forwarded pulse detected"
+    pt = time.time()
+    assert ix / STEPPER_PULSES_PER_MM == abs(delta.x), "x wrong number of pulses"
+    assert iy / STEPPER_PULSES_PER_MM == abs(delta.y), "y wrong number of pulses"
+    assert iz / STEPPER_PULSES_PER_MM == abs(delta.z), "z wrong number of pulses"
+    assert max(mx, my, mz) <= generator.total_time_s(), "interpolation time or pulses wrong"
+    logging.debug("Did {}, {}, {} iterations".format(ix, iy, iz))
+    logging.info("prepared in " + str(round(pt - st, 2)) \
+                 + "s, estimated " + str(round(generator.total_time_s(), 2)) + "s")
+
+
+def join():
+    """ Wait till motors work.
+    """
+    logging.info("hal join()")