mirror of
https://github.com/sinseman44/PyCNC.git
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129 lines
4.2 KiB
Python
129 lines
4.2 KiB
Python
from __future__ import division
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import logging
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import time
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from cnc.pulses import PulseGeneratorLinear, PulseGeneratorCircular
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from cnc.config import *
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from cnc.coordinates import Coordinates
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""" This is virtual device class which is very useful for debugging.
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It checks PulseGenerator with some tests.
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"""
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def init():
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""" Initialize GPIO pins and machine itself, including calibration if
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needed. Do not return till all procedure is completed.
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"""
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logging.info("initialize hal")
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def spindle_control(percent):
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""" Spindle control implementation.
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:param percent: Spindle speed in percent.
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"""
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logging.info("spindle control: {}%".format(percent))
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def move(generator):
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""" Move head to specified position.
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:param generator: PulseGenerator object.
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"""
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delta = generator.delta()
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ix = iy = iz = ie = 0
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lx, ly, lz, le = None, None, None, None
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dx, dy, dz, de = 0, 0, 0, 0
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mx, my, mz, me = 0, 0, 0, 0
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cx, cy, cz, ce = 0, 0, 0, 0
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dirx, diry, dirz, dire = 1, 1, 1, 1
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st = time.time()
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direction_found = False
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for dir, tx, ty, tz, te in generator:
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if dir:
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direction_found = True
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dirx, diry, dirz, dire = tx, ty, tz, te
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if isinstance(generator, PulseGeneratorLinear):
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assert (tx < 0 and delta.x < 0) or (tx > 0 and delta.x > 0) \
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or delta.x == 0
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assert (ty < 0 and delta.y < 0) or (ty > 0 and delta.y > 0) \
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or delta.y == 0
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assert (tz < 0 and delta.z < 0) or (tz > 0 and delta.z > 0) \
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or delta.z == 0
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assert (te < 0 and delta.e < 0) or (te > 0 and delta.e > 0) \
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or delta.e == 0
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continue
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if tx is not None:
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if tx > mx:
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mx = tx
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tx = int(round(tx * 1000000))
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ix += dirx
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cx += 1
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if lx is not None:
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dx = tx - lx
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assert dx > 0, "negative or zero time delta detected for x"
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lx = tx
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else:
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dx = None
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if ty is not None:
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if ty > my:
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my = ty
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ty = int(round(ty * 1000000))
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iy += diry
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cy += 1
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if ly is not None:
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dy = ty - ly
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assert dy > 0, "negative or zero time delta detected for y"
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ly = ty
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else:
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dy = None
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if tz is not None:
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if tz > mz:
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mz = tz
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tz = int(round(tz * 1000000))
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iz += dirz
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cz += 1
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if lz is not None:
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dz = tz - lz
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assert dz > 0, "negative or zero time delta detected for z"
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lz = tz
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else:
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dz = None
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if te is not None:
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if te > me:
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me = te
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te = int(round(te * 1000000))
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ie += dire
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ce += 1
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if le is not None:
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de = te - le
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assert de > 0, "negative or zero time delta detected for e"
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le = te
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else:
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de = None
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# very verbose, uncomment on demand
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# logging.debug("Iteration {} is {} {} {} {}".format(max(ix, iy, iz, ie), tx, ty, tz, te))
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f = list(x for x in (tx, ty, tz, te) if x is not None)
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assert f.count(f[0]) == len(f), "fast forwarded pulse detected"
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pt = time.time()
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assert direction_found, "direction not found"
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assert ix / STEPPER_PULSES_PER_MM_X == delta.x, "x wrong number of pulses"
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assert iy / STEPPER_PULSES_PER_MM_Y == delta.y, "y wrong number of pulses"
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assert iz / STEPPER_PULSES_PER_MM_Z == delta.z, "z wrong number of pulses"
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assert ie / STEPPER_PULSES_PER_MM_E == delta.e, "e wrong number of pulses"
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assert max(mx, my, mz, me) <= generator.total_time_s(), "interpolation time or pulses wrong"
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logging.debug("Moved {}, {}, {}, {} iterations".format(ix, iy, iz, ie))
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logging.info("prepared in " + str(round(pt - st, 2)) \
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+ "s, estimated " + str(round(generator.total_time_s(), 2)) + "s")
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def join():
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""" Wait till motors work.
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"""
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logging.info("hal join()")
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def deinit():
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""" De-initialise.
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"""
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logging.info("hal deinit()")
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