#!/usr/bin/python3 """Copyright (C) 2020 Scott Alford, scottalford75@gmail.com Modified for use with QtDragon by Jim Sloot(persei802@gmail.com) This program is free software; you can redistribute it and/or modify it under the terms of the GNU 2 General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA """ import sys import os import time import numpy as np try: from scipy.interpolate import griddata except Exception as e: print(e,'Is python3-scipy installed?') from enum import Enum, IntEnum, unique import linuxcnc import hal update = 0.05 # this is how often the z external offset value is updated based on current x & y position @unique class States(Enum): START = 1 IDLE = 2 LOADMAP = 3 RUNNING = 4 RESET = 5 STOP = 6 @unique class Methods(IntEnum): CUBIC = 0 LINEAR = 1 NEAREST = 2 class Compensation: def __init__(self): self.scale = 0.001 self.filename = "probe_points.txt" def loadMap(self): # data coordinates and values self.data = np.loadtxt(self.filename, dtype = float, delimiter = " ", usecols = (0, 1, 2)) self.x_data = np.around(self.data[:, 0], 1) self.y_data = np.around(self.data[:, 1], 1) self.z_data = self.data[:, 2] # get the x and y, min and max values from the data self.xMin = int(np.min(self.x_data)) self.xMax = int(np.max(self.x_data)) self.yMin = int(np.min(self.y_data)) self.yMax = int(np.max(self.y_data)) # target grid to interpolate to, 1 grid per mm self.xSteps = (self.xMax-self.xMin) + 1 self.ySteps = (self.yMax-self.yMin) + 1 self.x = np.linspace(self.xMin, self.xMax, self.xSteps) self.y = np.linspace(self.yMin, self.yMax, self.ySteps) self.xi, self.yi = np.meshgrid(self.x, self.y) if self.h.method == int(Methods.CUBIC): method = 'cubic' elif self.h.method == int(Methods.LINEAR): method = 'linear' elif self.h.method == int(Methods.NEAREST): method = 'nearest' else: method = 'cubic' print("ERROR: z_level_compensation: HAL pin interpolation \ method {} not recognised (outside 0-2). Defaulting to cubic(0).".format(self.h.method)) # interpolate, zi has all the offset values but need to be transposed self.zi = griddata((self.x_data, self.y_data), self.z_data, (self.xi, self.yi), method = method) self.zi = np.transpose(self.zi) def compensate(self): x = self.h['x-pos'] - self.stat.g5x_offset[0] y = self.h['y-pos'] - self.stat.g5x_offset[1] # get nearest integer position self.xpos = int(round(x)) self.ypos = int(round(y)) # clamp the range self.xpos = self.xMin if self.xpos < self.xMin else self.xMax if self.xpos > self.xMax else self.xpos self.ypos = self.yMin if self.ypos < self.yMin else self.yMax if self.ypos > self.yMax else self.ypos # location in the offset map array self.Xn = self.xpos - self.xMin self.Yn = self.ypos - self.yMin # get the nearest compensation offset and convert to counts (s32) with a scale (float) # Requested offset == counts * scale zo = self.zi[self.Xn, self.Yn] compensation = int(zo / self.scale) return compensation def run(self): self.h = hal.component("z_level_compensation") self.h.newpin("enable-in", hal.HAL_BIT, hal.HAL_IN) self.h.newpin("scale", hal.HAL_FLOAT, hal.HAL_OUT) self.h.newpin("counts", hal.HAL_S32, hal.HAL_OUT) self.h.newpin("clear", hal.HAL_BIT, hal.HAL_IN) self.h.newpin("x-pos", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("y-pos", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("z-pos", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("fade-height", hal.HAL_FLOAT, hal.HAL_IN) self.h.newpin("method", hal.HAL_S32, hal.HAL_IN) self.h.ready() self.stat = linuxcnc.stat() currentState = States.START prevState = States.STOP fadeHeight = self.h["fade-height"] try: while True: time.sleep(update) # get linuxcnc task_state status for machine on / off transitions try: self.stat.poll() except: continue if currentState == States.START: if currentState != prevState: prevState = currentState # do start-up tasks prevMapTime = 0 self.h["counts"] = 0 currentState = States.IDLE elif currentState == States.IDLE: if currentState != prevState: prevState = currentState # stay in IDLE state until compensation is enabled if self.h["enable-in"]: currentState = States.LOADMAP elif currentState == States.LOADMAP: if currentState != prevState: prevState = currentState mapTime = os.path.getmtime(self.filename) if mapTime != prevMapTime: self.loadMap() prevMapTime = mapTime currentState = States.RUNNING elif currentState == States.RUNNING: if currentState != prevState: prevState = currentState if self.h["enable-in"]: zPos = self.h["z-pos"] if fadeHeight == 0: compScale = 1 elif zPos < fadeHeight: compScale = (fadeHeight - zPos)/fadeHeight if compScale > 1: compScale = 1 else: compScale = 0 if self.stat.task_state == linuxcnc.STATE_ON: # get the compensation if machine power is on, else set to 0 # otherwise we lose compensation eoffset if machine power is cycled # when compensation is enabled compensation = self.compensate() self.h["counts"] = compensation * compScale self.h["scale"] = self.scale else: self.h["counts"] = 0 else: currentState = States.RESET elif currentState == States.RESET: if currentState != prevState: prevState = currentState # reset the eoffsets counts register so we don't accumulate self.h["counts"] = 0 # toggle the clear output self.h["clear"] = 1; time.sleep(0.1) self.h["clear"] = 0; currentState = States.IDLE except KeyboardInterrupt: raise SystemExit comp = Compensation() comp.run()