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refactoring

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This commit is contained in:
Nikolay Khabarov
2017-06-12 00:52:11 +03:00
parent 0fe98f4cca
commit 98bf7e914e
23 changed files with 448 additions and 405 deletions
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cnc/gmachine.py
+30 -27
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@@ -1,13 +1,10 @@
from __future__ import division
import time
import logging
import math
import cnc.logging_config as logging_config
from cnc import hal
from cnc.coordinates import Coordinates
from cnc.enums import *
from cnc.config import *
from cnc.pulses import *
from cnc.coordinates import *
class GMachineException(Exception):
@@ -53,6 +50,7 @@ class GMachine(object):
self._absoluteCoordinates = True
self._plane = PLANE_XY
# noinspection PyMethodMayBeStatic
def _spindle(self, spindle_speed):
hal.join()
hal.spindle_control(100.0 * spindle_speed / SPINDLE_MAX_RPM)
@@ -60,7 +58,8 @@ class GMachine(object):
def __check_delta(self, delta):
pos = self._position + delta
if not pos.is_in_aabb(Coordinates(0.0, 0.0, 0.0, 0.0),
Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM, 0)):
Coordinates(TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM, 0)):
raise GMachineException("out of effective area")
def _move_linear(self, delta, velocity):
@@ -78,7 +77,8 @@ class GMachine(object):
# save position
self._position = self._position + delta
def __quarter(self, pa, pb):
@staticmethod
def __quarter(pa, pb):
if pa >= 0 and pb >= 0:
return 1
if pa < 0 and pb >= 0:
@@ -88,7 +88,7 @@ class GMachine(object):
if pa >= 0 and pb < 0:
return 4
def __adjust_circle(self, da, db, ra, rb, dir, pa, pb, ma, mb):
def __adjust_circle(self, da, db, ra, rb, direction, pa, pb, ma, mb):
r = math.sqrt(ra * ra + rb * rb)
if r == 0:
raise GMachineException("circle radius is zero")
@@ -108,7 +108,7 @@ class GMachine(object):
q = sq
pq = q
for _ in range(0, 4):
if dir == CW:
if direction == CW:
q -= 1
else:
q += 1
@@ -120,7 +120,7 @@ class GMachine(object):
break
is_raise = False
if (pq == 1 and q == 4) or (pq == 4 and q == 1):
is_raise = (pa + ra + r > ma)
is_raise = (pa + ra + r > ma)
elif (pq == 1 and q == 2) or (pq == 2 and q == 1):
is_raise = (pb + rb + r > mb)
elif (pq == 2 and q == 3) or (pq == 3 and q == 2):
@@ -145,22 +145,25 @@ class GMachine(object):
# get delta vector and put it on circle
circle_end = Coordinates(0, 0, 0, 0)
if self._plane == PLANE_XY:
circle_end.x, circle_end.y = self.__adjust_circle(delta.x, delta.y,
radius.x, radius.y, direction,
self._position.x, self._position.y,
TABLE_SIZE_X_MM, TABLE_SIZE_Y_MM)
circle_end.x, circle_end.y = \
self.__adjust_circle(delta.x, delta.y, radius.x, radius.y,
direction, self._position.x,
self._position.y, TABLE_SIZE_X_MM,
TABLE_SIZE_Y_MM)
circle_end.z = delta.z
elif self._plane == PLANE_YZ:
circle_end.y, circle_end.z = self.__adjust_circle(delta.y, delta.z,
radius.y, radius.z, direction,
self._position.y, self._position.z,
TABLE_SIZE_Y_MM, TABLE_SIZE_Z_MM)
circle_end.y, circle_end.z = \
self.__adjust_circle(delta.y, delta.z, radius.y, radius.z,
direction, self._position.y,
self._position.z, TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM)
circle_end.x = delta.x
elif self._plane == PLANE_ZX:
circle_end.z, circle_end.x = self.__adjust_circle(delta.z, delta.x,
radius.z, radius.x, direction,
self._position.z, self._position.x,
TABLE_SIZE_Z_MM, TABLE_SIZE_X_MM)
circle_end.z, circle_end.x = \
self.__adjust_circle(delta.z, delta.x, radius.z, radius.x,
direction, self._position.z,
self._position.x, TABLE_SIZE_Z_MM,
TABLE_SIZE_X_MM)
circle_end.y = delta.y
circle_end.e = delta.e
circle_end = circle_end.round(1.0 / STEPPER_PULSES_PER_MM_X,
@@ -168,8 +171,8 @@ class GMachine(object):
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E)
logging.info("Moving circularly {} {} {} with radius {}"
" and velocity {}".
format(self._plane, circle_end, direction, radius, velocity))
" and velocity {}".format(self._plane, circle_end,
direction, radius, velocity))
gen = PulseGeneratorCircular(circle_end, radius, self._plane, direction,
velocity)
hal.move(gen)
@@ -227,7 +230,7 @@ class GMachine(object):
else:
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
coord = self._position + delta
# coord = self._position + delta
velocity = gcode.get('F', self._velocity)
spindle_rpm = gcode.get('S', self._spindle_rpm)
pause = gcode.get('P', self._pause)
@@ -274,14 +277,14 @@ class GMachine(object):
self._local = self._position - \
gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
elif c == 'M3': # spinle on
elif c == 'M3': # spindle on
self._spindle(spindle_rpm)
elif c == 'M5': # spindle off
self._spindle(0)
elif c == 'M2' or c == 'M30': # program finish, reset everything.
self.reset()
elif c == 'M111': # enable debug
logging.getLogger().setLevel(logging.DEBUG)
logging_config.debug_enable()
elif c is None: # command not specified(for example, just F was passed)
pass
else: