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__init__.py
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# coding=utf-8
from __future__ import absolute_import
import subprocess
import flask
import requests
import struct
import sys
import os
import re
from math import pi, sqrt, floor
from datetime import datetime
from octoprint.util import ResettableTimer
from octoprint.util.comm import regex_float_pattern, parse_position_line, regex_firmware_splitter
import octoprint.plugin
from .ulendo_autocal.autocal_cfg import *
from .ulendo_autocal.lib.autocal_ismags import get_ismag
from .ulendo_autocal.autocal_exceptions import SignalSyncError, NoSignalError, NoQualifiedSolution, NoVibrationDetected, AutocalInternalServerError
from .ulendo_autocal.lib.autocal_serviceabstraction import autocal_service_solve, autocal_service_guidata, verify_credentials
from .tab_layout import *
from .tab_buttons import *
BYTES_PER_FLOAT = len(struct.pack('f', float(0)))
calibration_keys = ['zv', 'zvd', 'mzv', 'ei', 'ei2h', 'ei3h']
def chunks(l, n): return [l[i:i + n] for i in range(0, len(l), n)]
regex_steps_per_unit = re.compile(
r"X\s*(?P<x>{float})\s*Y\s*(?P<y>{float})\s*Z\s*(?P<z>{float})".format(
float=regex_float_pattern
)
)
regex_ftmcfg_splitter = re.compile(r"(^|\s+)([A-Z][A-Z0-9_]*):")
"""Regex to use for splitting M949 FTMCFG responses."""
AxisRespnsFSMStates = Enum('AxisRespnsFSMStates',
['NONE',
'INIT',
'IDLE',
'HOME',
'GET_AXIS_INFO',
'CENTER',
'SWEEP',
'ANALYZE'])
class AxisRespnsFSMData():
def __init__(self):
self.state = AxisRespnsFSMStates.INIT
self.state_prev = AxisRespnsFSMStates.NONE
self.in_state_time = 0
self.pigpiod_process = None
# States that should get reset
self.accelerometer_process = None
self.axis = None
self.axis_reported_len = None
self.axis_reported_len_recvd = False
self.axis_reported_steps_per_mm = None
self.axis_reported_steps_per_mm_recvd = False
self.axis_last_reported_pos = 0.
self.axis_centering_wait_time = 0.
self.sweep_initiated = False
self.sweep_done_recvd = False
self.accelerometer_stopped = False
self.missed_sample_retry_count = 0
self.printer_requires_additional_homing = False
self.printer_additional_homing_axes = None
class InpShprSolution():
def __init__(self, wc, zt, w_bp, G): self.wc = wc; self.zt = zt; self.w_bp = w_bp; self.G = G
class SweepConfig:
def __init__(self, f0, f1, dfdt, a, step_ti, step_a, dly1_ti, dly2_ti, dly3_ti):
self.f0 = f0; self.f1 = f1; self.dfdt = dfdt; self.a = a
self.step_ti = step_ti; self.step_a = step_a; self.dly1_ti = dly1_ti; self.dly2_ti = dly2_ti; self.dly3_ti = dly3_ti
def as_dict(self): return { "f0": self.f0, "f1": self.f1, "dfdt": self.dfdt, "a": self.a,
"step_ti": self.step_ti, "step_a": self.step_a, "dly1_ti": self.dly1_ti, "dly2_ti": self.dly2_ti, "dly3_ti": self.dly3_ti }
class UlendocaasPlugin(octoprint.plugin.SettingsPlugin,
octoprint.plugin.AssetPlugin,
octoprint.plugin.TemplatePlugin,
octoprint.plugin.SimpleApiPlugin,
octoprint.plugin.StartupPlugin,
octoprint.plugin.WizardPlugin
):
def __init__(self):
self.initialized = False
return
def on_after_startup(self):
self._init()
def _init(self):
# Use this to init stuff dependent on the injected properties (including _logger, used by AxisRespnsFSM)
try:
if self.initialized: return
self.tab_layout = TabLayout()
self.fsm = AxisRespnsFSMData()
self.fsm.state = AxisRespnsFSMStates.IDLE
self.sts_self_test_active = False
self.sts_axis_calibration_active = False
self.sts_axis_verification_active = False
self.sts_acclrmtr_connected = False
self.sts_axis_calibration_axis = None
self.sts_calibration_saved = False
self.active_solution = None
self.active_solution_axis = None
self.active_verification_result = None
self.x_calibration_sent_to_printer = False
self.y_calibration_sent_to_printer = False
self.data_folder = self.get_plugin_data_folder()
self.calibration_vtol = 0.05
self.metadata = {}
if not SIMULATION:
self.tab_layout.is_active_client = self.on_startup_verify_credentials()
with open('/proc/cpuinfo', 'rb') as f:
model = f.read().strip()
split_line = re.split(b'\n', model)
for line in split_line:
if re.match(b'Serial', line): self.metadata['BOARDCPUSERIAL'] = re.split(b'Serial\t\t: ', line)[1].decode('utf-8')
if re.match(b'Model', line): self.metadata['BOARDMODEL'] = re.split(b'Model\t\t: ', line)[1].decode('utf-8')
self.initialized = True
except Exception as e:
self.handle_calibration_service_exceptions(e)
return
def on_startup_verify_credentials(self):
org_id, access_id, machine_id = self.get_credentials()
check_status = verify_credentials(org_id, access_id, machine_id, self)
return check_status
def send_printer_command(self, cmd):
if SIMULATION:
if VERBOSE > 1: self._logger.info('SIMULATION sending command to printer: ' + cmd)
return
self._printer.commands(cmd)
# WizardPlugin mixin
def is_wizard_required(self):
access_id_unset = self._settings.get(["ACCESSID"]) is None
org_id_unset = self._settings.get(["ORG"]) is None
machine_id_unset = self._settings.get(["MACHINEID"]) is None
machine_name_unset = self._settings.get(["MACHINENAME"]) is None
return access_id_unset and org_id_unset and machine_id_unset and machine_name_unset
# (DEBUG) to test wizard since it only shows up once per version
# OctoPrint will only display such wizard dialogs to the user which belong to plugins that
# report True in their is_wizard_required() method and
# have not yet been shown to the user in the version currently being reported by the get_wizard_version() method
# def get_wizard_version(self):
# return int(datetime.now().timestamp())
##~~ AssetPlugin mixin
def get_assets(self):
# Define your plugin's asset files to automatically include in the
# core UI here.
return {
"js": ["js/ulendocaas.js",
"js/plotly.js"
],
"css": ["css/ulendocaas.css"
]
# "less": ["less/ulendocaas.less"]
}
def send_client_acclrmtr_data(self):
self.send_client_acclrmtr_data_TMR.cancel()
if self.acclrmtr_data_file is None:
if os.path.isfile(os.path.join(self.data_folder, 'data', 'tmp' + self.fsm.axis + 'fild')):
self.acclrmtr_data_file = open(os.path.join(self.data_folder, 'data', 'tmp' + self.fsm.axis + 'fild'), 'rb')
else:
bytes = self.acclrmtr_data_file.read()
num_floats_to_unpack = len(bytes)//BYTES_PER_FLOAT
self.acclrmtr_data_count += num_floats_to_unpack
unpacked = struct.unpack('f'*num_floats_to_unpack, bytes[:num_floats_to_unpack*BYTES_PER_FLOAT])
self.acclrmtr_live_data_y.extend(list(unpacked))
self.acclrmtr_live_data_y = self.acclrmtr_live_data_y[-ACCLRMTR_LIVE_VIEW_NUM_SAMPLES:]
if self.sts_acclrmtr_active:
self.send_client_acclrmtr_data_TMR = ResettableTimer(ACCLRMTR_LIVE_VIEW_RATE_SEC, self.send_client_acclrmtr_data)
self.send_client_acclrmtr_data_TMR.start()
else:
if self.acclrmtr_data_file is not None:
self.acclrmtr_data_file.close()
self.acclrmtr_data_file = None
acclrmtr_live_data_x = list(range(ACCLRMTR_LIVE_VIEW_NUM_SAMPLES))
acclrmtr_live_data_x = [(T_DFLT*ACCLRMTR_LIVE_VIEW_DOWNSAMPLE_FACTOR)*(self.acclrmtr_data_count + xi) for xi in acclrmtr_live_data_x]
data = dict(
type='acclrmtr_live_data',
values_x=acclrmtr_live_data_x,
values_y=self.acclrmtr_live_data_y
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def send_client_layout_status(self):
data = dict(
type = 'layout_status_1',
acclrmtr_connect_btn_disabled = self.tab_layout.acclrmtr_connect_btn.disabled,
acclrmtr_connect_btn_state = self.tab_layout.acclrmtr_connect_btn.state.name,
calibrate_x_axis_btn_disabled = self.tab_layout.calibrate_x_axis_btn.disabled,
calibrate_x_axis_btn_state = self.tab_layout.calibrate_x_axis_btn.state.name,
calibrate_y_axis_btn_disabled = self.tab_layout.calibrate_y_axis_btn.disabled,
calibrate_y_axis_btn_state = self.tab_layout.calibrate_y_axis_btn.state.name,
select_zv_btn_disabled = self.tab_layout.select_zv_cal_btn.disabled,
select_zv_btn_state = self.tab_layout.select_zv_cal_btn.state.name,
select_zvd_btn_disabled = self.tab_layout.select_zvd_cal_btn.disabled,
select_zvd_btn_state = self.tab_layout.select_zvd_cal_btn.state.name,
select_mzv_btn_disabled = self.tab_layout.select_mzv_cal_btn.disabled,
select_mzv_btn_state = self.tab_layout.select_mzv_cal_btn.state.name,
select_ei_btn_disabled = self.tab_layout.select_ei_cal_btn.disabled,
select_ei_btn_state = self.tab_layout.select_ei_cal_btn.state.name,
select_ei2h_btn_disabled = self.tab_layout.select_ei2h_cal_btn.disabled,
select_ei2h_btn_state = self.tab_layout.select_ei2h_cal_btn.state.name,
select_ei3h_btn_disabled = self.tab_layout.select_ei3h_cal_btn.disabled,
select_ei3h_btn_state = self.tab_layout.select_ei3h_cal_btn.state.name,
load_calibration_btn_disabled = self.tab_layout.load_calibration_btn.disabled,
save_calibration_btn_disabled = self.tab_layout.save_calibration_btn.disabled,
load_calibration_btn_state = self.tab_layout.load_calibration_btn.state.name,
save_calibration_btn_state = self.tab_layout.save_calibration_btn.state.name,
clear_session_btn_disabled = self.tab_layout.clear_session_btn.disabled,
vtol_slider_visible = self.tab_layout.vtol_slider_visible,
is_active_client = self.tab_layout.is_active_client,
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def send_client_clear_calibration_result(self):
for calibration_key in calibration_keys:
calibration_btn = getattr(self.tab_layout, 'select_' + calibration_key + '_cal_btn')
calibration_btn.state = CalibrationSelectionButtonStates.NOTSELECTED
self.update_tab_layout()
data = dict(
type = 'clear_calibration_result'
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def send_client_clear_verification_result(self):
data = dict(
type = 'clear_verification_result'
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def update_tab_layout(self):
busy = self.sts_self_test_active or self.sts_axis_calibration_active or self.sts_axis_verification_active
# Button enable/disable
if busy:
# Disable all buttons
btn_names = [a for a in self.tab_layout.__dict__ if '_btn' in a]
for btn_name in btn_names:
btn = getattr(self.tab_layout, btn_name)
btn.disabled = True
self.tab_layout.vtol_slider_visible = False
else:
self.tab_layout.acclrmtr_connect_btn.disabled = False
self.tab_layout.clear_session_btn.disabled = False
if self.sts_acclrmtr_connected:
self.tab_layout.calibrate_x_axis_btn.disabled = False
self.tab_layout.calibrate_y_axis_btn.disabled = False
if self.active_solution is not None:
for calibration_key in calibration_keys:
calibration_btn = getattr(self.tab_layout, 'select_' + calibration_key + '_cal_btn')
calibration_btn.disabled = False
else:
for calibration_key in calibration_keys:
calibration_btn = getattr(self.tab_layout, 'select_' + calibration_key + '_cal_btn')
calibration_btn.state = CalibrationSelectionButtonStates.NOTSELECTED
if self.get_selected_calibration_type() in ['ei', 'ei2h', 'ei3h']:
self.tab_layout.vtol_slider_visible = True
else:
self.tab_layout.vtol_slider_visible = False
if self.get_selected_calibration_type() is not None and self.sts_acclrmtr_connected:
self.tab_layout.load_calibration_btn.disabled = False
else:
self.tab_layout.load_calibration_btn.disabled = True
if (self.active_solution_axis == 'x' and self.x_calibration_sent_to_printer) or \
(self.active_solution_axis == 'y' and self.y_calibration_sent_to_printer):
self.tab_layout.save_calibration_btn.disabled = False
else:
self.tab_layout.save_calibration_btn.disabled = True
# Button states
if self.sts_self_test_active:
self.tab_layout.acclrmtr_connect_btn.state = AcclrmtrConnectButtonStates.CONNECTING
if self.sts_acclrmtr_connected:
self.tab_layout.acclrmtr_connect_btn.state = AcclrmtrConnectButtonStates.CONNECTED
else:
if not self.sts_self_test_active: self.tab_layout.acclrmtr_connect_btn.state = AcclrmtrConnectButtonStates.NOTCONNECTED
if self.x_calibration_sent_to_printer:
self.tab_layout.calibrate_x_axis_btn.state = CalibrateAxisButtonStates.CALIBRATIONAPPLIED
elif not self.sts_axis_calibration_active and self.active_solution_axis == 'x':
self.tab_layout.calibrate_x_axis_btn.state = CalibrateAxisButtonStates.CALIBRATIONREADY
elif self.sts_axis_calibration_active and self.sts_axis_calibration_axis == 'x':
self.tab_layout.calibrate_x_axis_btn.state = CalibrateAxisButtonStates.CALIBRATING
else:
self.tab_layout.calibrate_x_axis_btn.state = CalibrateAxisButtonStates.NOTCALIBRATED
if self.y_calibration_sent_to_printer:
self.tab_layout.calibrate_y_axis_btn.state = CalibrateAxisButtonStates.CALIBRATIONAPPLIED
elif not self.sts_axis_calibration_active and self.active_solution_axis == 'y':
self.tab_layout.calibrate_y_axis_btn.state = CalibrateAxisButtonStates.CALIBRATIONREADY
elif self.sts_axis_calibration_active and self.sts_axis_calibration_axis == 'y':
self.tab_layout.calibrate_y_axis_btn.state = CalibrateAxisButtonStates.CALIBRATING
else:
self.tab_layout.calibrate_y_axis_btn.state = CalibrateAxisButtonStates.NOTCALIBRATED
if self.sts_axis_verification_active:
self.tab_layout.load_calibration_btn.state = LoadCalibrationButtonStates.LOADING
elif (self.active_solution_axis == 'x' and self.x_calibration_sent_to_printer) or \
(self.active_solution_axis == 'y' and self.y_calibration_sent_to_printer):
self.tab_layout.load_calibration_btn.state = LoadCalibrationButtonStates.LOADED
else:
self.tab_layout.load_calibration_btn.state = LoadCalibrationButtonStates.NOTLOADED
if self.sts_calibration_saved:
self.tab_layout.save_calibration_btn.state = SaveCalibrationButtonStates.SAVED
else:
self.tab_layout.save_calibration_btn.state = SaveCalibrationButtonStates.NOTSAVED
self.send_client_layout_status()
def send_client_popup(self, type, title, message, hide=True):
data = dict(
type='popup',
popup=type, # TODO: this is confusing
title=title,
message=message,
hide=hide
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def send_client_prompt_popup(self, title, message):
data = dict(
type='prompt_popup',
title=title,
message=message
)
self.awaiting_prompt_popup_reply = True
self.prompt_popup_response = None
self._plugin_manager.send_plugin_message(self._identifier, data)
def fsm_update(self):
if VERBOSE > 1: self._logger.info(f'FSM update: {self.fsm.state}')
if self.fsm.state != self.fsm.state_prev:
self.fsm.in_state_time = 0.
else:
self.fsm.in_state_time += FSM_UPDATE_RATE_SEC
if self.fsm.state == AxisRespnsFSMStates.INIT:
if self.fsm.state_prev != AxisRespnsFSMStates.INIT:
self.fsm_on_INIT_entry()
else:
self.fsm_on_INIT_during(); return
elif self.fsm.state == AxisRespnsFSMStates.IDLE:
if self.fsm.state_prev != AxisRespnsFSMStates.IDLE:
self.fsm_on_IDLE_entry()
else:
self.fsm_on_IDLE_during(); return
elif self.fsm.state == AxisRespnsFSMStates.HOME:
if self.fsm.state_prev != AxisRespnsFSMStates.HOME:
self.fsm_on_HOME_entry()
else:
self.fsm_on_HOME_during(); return
elif self.fsm.state == AxisRespnsFSMStates.CENTER:
if self.fsm.state_prev != AxisRespnsFSMStates.CENTER:
self.fsm_on_CENTER_entry()
else:
self.fsm_on_CENTER_during(); return
elif self.fsm.state == AxisRespnsFSMStates.GET_AXIS_INFO:
if self.fsm.state_prev != AxisRespnsFSMStates.GET_AXIS_INFO:
self.fsm_on_GET_AXIS_INFO_entry()
else:
self.fsm_on_GET_AXIS_INFO_during(); return
elif self.fsm.state == AxisRespnsFSMStates.SWEEP:
if self.fsm.state_prev != AxisRespnsFSMStates.SWEEP:
self.fsm_on_SWEEP_entry()
else:
self.fsm_on_SWEEP_during(); return
elif self.fsm.state == AxisRespnsFSMStates.ANALYZE:
if self.fsm.state_prev != AxisRespnsFSMStates.ANALYZE:
self.fsm_on_ANALYZE_entry()
else:
self.fsm_on_ANALYZE_during(); return
self.fsm.state_prev = self.fsm.state
def fsm_update_and_manage_tmr(self):
self.fsm_update_TMR.cancel()
self.fsm_update()
# Routine is not finished.
if self.fsm.state is not AxisRespnsFSMStates.IDLE:
self.fsm_update_TMR = ResettableTimer(FSM_UPDATE_RATE_SEC, self.fsm_update_and_manage_tmr)
self.fsm_update_TMR.start()
def acclrmtr_self_test_monitor_for_end(self):
# Monitor for process end... any blocking, like using subprocess.wait() will not allow animations to update
if hasattr(self, 'fsm_update_TMR'): self.fsm_update_TMR.cancel() # TODO: this is hacky, manage this object better
if self.acclrmtr_self_test_process.poll() is None:
self.fsm_update_TMR = ResettableTimer(FSM_UPDATE_RATE_SEC, self.acclrmtr_self_test_monitor_for_end)
self.fsm_update_TMR.start()
else:
self.sts_acclrmtr_active = False
if VERBOSE > 1: self._logger.info(f'external process (self-test) done with code: {self.acclrmtr_self_test_process.returncode}')
self._plugin_manager.send_plugin_message(self._identifier, dict(type="status", msg="self-test-done", code=self.acclrmtr_self_test_process.returncode))
self.sts_self_test_active = False
if (self.acclrmtr_self_test_process.returncode == 0):
self.sts_acclrmtr_connected = True
elif (self.acclrmtr_self_test_process.returncode == 5):
self.sts_acclrmtr_connected = False
self.send_client_popup(type='error', title='Accelerometer Error', message='Accelerometer self-test failed. Try another device.')
elif (self.acclrmtr_self_test_process.returncode != 0):
self.sts_acclrmtr_connected = False
self.send_client_popup(type='error', title='Accelerometer Error', message='Connecting to the accelerometer failed. Check hardware and wiring.')
self.update_tab_layout()
def get_selected_calibration_type(self):
type = None
for calibration_key in calibration_keys:
calibration_btn = getattr(self.tab_layout, 'select_' + calibration_key + '_cal_btn')
if calibration_btn.state == CalibrationSelectionButtonStates.SELECTED: type = calibration_key
return type
def send_client_verification_result(self):
# Get selected calibration type
type = self.get_selected_calibration_type()
if type is None:
if VERBOSE: self._logger.error("Can't send result without a calibration selected!")
return
ismag = get_ismag(self.active_solution.w_bp, type, self.active_solution.wc, self.active_solution.zt, vtol=self.calibration_vtol)
data = dict(
type = 'verification_result',
w_bp = (self.active_solution.w_bp / 2. / pi).tolist(),
oldG = self.active_solution.G.tolist(),
compensator_mag = ismag.tolist(),
new_mag = (self.active_solution.G * ismag).tolist(),
G = self.active_verification_result.tolist()
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def on_acclrmtr_connect_btn_click(self):
if self.tab_layout.acclrmtr_connect_btn.disabled: return
self.sts_self_test_active = True
self.sts_acclrmtr_connected = False
self.update_tab_layout()
try:
for file in ['tmpxfild', 'tmpyfild', 'tmpzfild', 'tmpxrw', 'tmpyrw', 'tmpzrw']:
if (os.path.isfile(os.path.join(self.data_folder, 'data', file))):
os.remove(os.path.join(self.data_folder, 'data', file))
if not SIMULATION:
self.acclrmtr_self_test_process = subprocess.Popen([sys.executable, os.path.join(os.path.dirname(__file__), 'ulendo_autocal', 'scripts', 'autocal_acclrmtr_selftest.py'), self.data_folder],
stdout=subprocess.PIPE,
stdin=subprocess.PIPE,
stderr=subprocess.PIPE,
)
else:
self.acclrmtr_self_test_process = subprocess.Popen([sys.executable, os.path.join(os.path.dirname(__file__), 'ulendo_autocal', 'scripts', 'autocal_sim_selftest.py'), self.data_folder],
stdin=subprocess.PIPE)
# The self test will display the Z axis data
while not os.path.isfile(os.path.join(self.data_folder, 'data', 'tmpzfild')): pass # wait for process to create the file
self.acclrmtr_data_file = open(os.path.join(self.data_folder, 'data', 'tmpzfild'), 'rb')
self.acclrmtr_live_data_y = [0.]*ACCLRMTR_LIVE_VIEW_NUM_SAMPLES
self.acclrmtr_data_count = 0
self.sts_acclrmtr_active = True
self.send_client_acclrmtr_data_TMR = ResettableTimer(ACCLRMTR_LIVE_VIEW_RATE_SEC, self.send_client_acclrmtr_data)
self.send_client_acclrmtr_data_TMR.start()
self.acclrmtr_self_test_monitor_for_end()
except Exception as e:
self.handle_calibration_service_exceptions(e)
def report_connection_status(self):
connection_string, port, _, _ = self._printer.get_current_connection()
status = 'notconnected'
if (connection_string == "Operational"):
status = 'connected'
self.metadata['CONNECTPORT'] = port
if SIMULATION: status = 'connected'
data = dict(
type = 'printer_connection_status',
status = status
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def on_calibrate_axis_btn_click(self, axis):
if (axis == 'x' and self.tab_layout.calibrate_x_axis_btn.disabled) or \
(axis == 'y' and self.tab_layout.calibrate_y_axis_btn.disabled): return
if not SIMULATION:
connection_string, _, _, _ = self._printer.get_current_connection()
if(connection_string != "Operational"):
self.send_client_popup(type='error', title='Printer not connected.', message='Printer must be connected in order to start calibration.')
return
if self.fsm.state is AxisRespnsFSMStates.IDLE:
self.sts_axis_calibration_active = True
self.sts_axis_calibration_axis = axis
if (axis == 'x'): self.x_calibration_sent_to_printer = False
elif (axis == 'y'): self.y_calibration_sent_to_printer = False
self.active_solution = None
self.active_solution_axis = None
self.update_tab_layout()
self.send_client_clear_calibration_result()
self.send_client_clear_verification_result()
if VERBOSE > 1: self._logger.info(f'calibrate_axis started on axis: {axis}')
self.fsm_update_TMR = ResettableTimer(FSM_UPDATE_RATE_SEC, self.fsm_update_and_manage_tmr)
self.fsm_update_TMR.start()
self.fsm_start(axis)
def on_select_calibration_btn_click(self, type):
selection_changed = False
for calibration_key in calibration_keys:
calibration_btn = getattr(self.tab_layout, 'select_' + calibration_key + '_cal_btn')
if calibration_key == type:
if not calibration_btn.disabled:
selection_changed = calibration_btn.state is not CalibrationSelectionButtonStates.SELECTED
calibration_btn.state = CalibrationSelectionButtonStates.SELECTED
else:
calibration_btn.state = CalibrationSelectionButtonStates.NOTSELECTED
if selection_changed:
if self.active_solution_axis == 'x': self.x_calibration_sent_to_printer = False
elif self.active_solution_axis == 'y': self.y_calibration_sent_to_printer = False
self.sts_calibration_saved = False
self.send_client_clear_verification_result()
self.send_client_calibration_result(type)
self.update_tab_layout()
def send_client_calibration_result(self, type):
ismag = get_ismag(self.active_solution.w_bp, type, self.active_solution.wc, self.active_solution.zt, vtol=self.calibration_vtol)
data = dict(
type = 'calibration_result',
istype = type, # TODO: Confusing.
w_bp = (self.active_solution.w_bp / 2. / pi).tolist(),
G = self.active_solution.G.tolist(),
compensator_mag = ismag.tolist(),
new_mag = (self.active_solution.G * ismag).tolist(),
axis = self.active_solution_axis
)
self._plugin_manager.send_plugin_message(self._identifier, data)
def on_load_calibration_btn_click(self):
if self.tab_layout.load_calibration_btn.disabled: return
type = self.get_selected_calibration_type()
if type is None or self.fsm.state is not AxisRespnsFSMStates.IDLE: # TODO: Check printer is connected
if VERBOSE: self._logger.error(f'Calibration load command conditions not correct.')
return
if VERBOSE > 1: self._logger.info(f'Sending calibration ' + type)
mode_code = ''
if type == 'zv': mode_code = '1'
elif type == 'zvd': mode_code = '2'
elif type == 'zvdd': mode_code = '3'
elif type == 'zvddd': mode_code = '4'
elif type == 'mzv': mode_code = '8'
elif type == 'ei': mode_code = '5'
elif type == 'ei2h': mode_code = '6'
elif type == 'ei3h': mode_code = '7'
frequency_code = ''
zeta_code = ''
vtol_code = ''
if self.active_solution_axis == 'x':
frequency_code = 'A'
zeta_code = 'I'
vtol_code = 'Q'
elif self.active_solution_axis == 'y':
frequency_code = 'B'
zeta_code = 'J'
vtol_code = 'R'
printer_configuration_command = 'M493 ' + self.active_solution_axis.upper() + mode_code + ' ' \
+ frequency_code + f'{self.active_solution.wc/2./pi:0.2f}' + ' ' \
+ zeta_code + f'{self.active_solution.zt:0.4f}'
ei_type = type in ['ei', 'ei2h', 'ei3h']
if ei_type:
printer_configuration_command += ' ' + vtol_code + f'{self.calibration_vtol:0.2f}'
if VERBOSE > 1: self._logger.info(f'Configuring printer with: {printer_configuration_command}')
self.send_client_logger_info('Sent printer: ' + printer_configuration_command \
+ ' (Set the ' + self.active_solution_axis.upper() + ' axis to use ' + type.upper() \
+ f' shaping @ {self.active_solution.wc/2./pi:0.2f}Hz & ζ = {self.active_solution.zt:0.4f}' \
+ (f' & vtol = {self.calibration_vtol:0.2f}).' if ei_type else ').') )
self.send_printer_command(printer_configuration_command)
self.sts_calibration_saved = False
self.sts_axis_verification_active = True
if VERBOSE > 1: self._logger.info(f'verify started on axis: {self.active_solution_axis}')
self.fsm_update_TMR = ResettableTimer(FSM_UPDATE_RATE_SEC, self.fsm_update_and_manage_tmr)
self.fsm_update_TMR.start()
self.fsm_start(self.active_solution_axis)
self.update_tab_layout()
def on_save_calibration_btn_click(self):
if self.tab_layout.save_calibration_btn.disabled: return
self.send_printer_command('M500')
self.sts_calibration_saved = True
self.send_client_logger_info('Sent printer: M500 (settings saved to EEPROM).')
self.send_client_popup(type='info', title='Saved to EEPROM',
message='Settings have been saved to printer.')
self.update_tab_layout()
def on_vtol_slider_update(self, val):
val = float(val)
if (val/100.) != self.calibration_vtol:
if self.get_selected_calibration_type() == 'ei2h':
self.calibration_vtol = max(0.01, val/100.) # 2H EI does not support 0 vtol.
else: self.calibration_vtol = val/100.
if self.active_solution_axis == 'x': self.x_calibration_sent_to_printer = False
elif self.active_solution_axis == 'y': self.y_calibration_sent_to_printer = False
self.sts_calibration_saved = False
self.send_client_clear_verification_result()
self.send_client_calibration_result(self.get_selected_calibration_type())
self.update_tab_layout()
def on_clear_session_btn_click(self):
if self.tab_layout.clear_session_btn.disabled: return
# FSM State Reset
self.fsm_reset()
self.fsm.state = AxisRespnsFSMStates.IDLE
# Plugin Data Reset
self.sts_self_test_active = False
self.sts_axis_calibration_active = False
self.sts_axis_verification_active = False
self.sts_acclrmtr_connected = False
self.sts_axis_calibration_axis = None
self.sts_calibration_saved = False
self.active_solution = None
self.active_solution_axis = None
self.active_verification_result = None
self.x_calibration_sent_to_printer = False
self.y_calibration_sent_to_printer = False
self.update_tab_layout()
def on_prompt_cancel_click(self):
self.awaiting_prompt_popup_reply = False
self.prompt_popup_response = 'cancel'
def on_prompt_proceed_click(self):
self.awaiting_prompt_popup_reply = False
self.prompt_popup_response = 'proceed'
def send_client_logger_info(self, text):
now = datetime.now()
text_w_timestamp = now.strftime("%H:%M:%S") + ' ' + text
data = dict(
type = 'logger_info',
message = text_w_timestamp
)
self._plugin_manager.send_plugin_message(self._identifier, data)
##~~ SimpleApiPlugin mixin
def get_api_commands(self):
return dict(
get_layout_status=[], # TODO: make this request load graphs as well
acclrmtr_connect_btn_click=[],
calibrate_axis_btn_click=['axis'],
select_calibration_btn_click=['type'],
load_calibration_btn_click=[],
save_calibration_btn_click=[],
vtol_slider_update=['val'],
get_connection_status=[],
start_over_btn_click=[],
clear_session_btn_click=[],
prompt_cancel_click=[],
prompt_proceed_click=[],
on_settings_close_verify_credentials=[],
)
def on_api_command(self, command, data):
if command == 'get_layout_status': self.send_client_layout_status()
elif command == 'acclrmtr_connect_btn_click': self.on_acclrmtr_connect_btn_click()
elif command == 'calibrate_axis_btn_click': self.on_calibrate_axis_btn_click(data['axis'])
elif command == 'select_calibration_btn_click': self.on_select_calibration_btn_click(data['type'])
elif command == 'load_calibration_btn_click': self.on_load_calibration_btn_click()
elif command == 'save_calibration_btn_click': self.on_save_calibration_btn_click()
elif command == 'vtol_slider_update': self.on_vtol_slider_update(data['val'])
elif command == 'get_connection_status': self.report_connection_status()
elif command == 'clear_session_btn_click': self.on_clear_session_btn_click()
elif command == 'prompt_cancel_click': self.on_prompt_cancel_click()
elif command == 'prompt_proceed_click': self.on_prompt_proceed_click()
elif command == 'on_settings_close_verify_credentials': return self.on_settings_close_verify_credentials()
def on_settings_close_verify_credentials(self):
org_id, access_id, machine_id = self.get_credentials()
check_status = verify_credentials(org_id, access_id, machine_id, self)
self.tab_layout.is_active_client = check_status
self.update_tab_layout()
return flask.jsonify(license_status=check_status)
def get_credentials(self):
org_id = self._settings.get(["ORG"])
access_id = self._settings.get(["ACCESSID"])
machine_id = self._settings.get(["MACHINEID"])
return org_id, access_id, machine_id
##~~ Hooks
def proc_rx(self, comm_instance, line, *args, **kwargs):
if VERBOSE > 2: self._logger.info(f'Got line from printer: {line}')
if not self.initialized: return line
if 'M494' in line:
if 'FTMCFG' in line:
split_line = regex_ftmcfg_splitter.split(line.strip())[
1:
] # first entry is empty start of trimmed string
result = {}
for _, key, value in chunks(split_line, 3):
result[key] = value.strip()
if self.fsm.state == AxisRespnsFSMStates.GET_AXIS_INFO:
if key == self.fsm.axis.upper() + '_MAX_LENGTH':
self.fsm.axis_reported_len_recvd = True
self.fsm.axis_reported_len = float(result[key])
self.metadata['FTMCFG'] = result
if VERBOSE > 1: self._logger.info('Metadata updated:')
if VERBOSE > 1: self._logger.info(self.metadata)
elif 'profile ran to completion' in line:
if self.fsm.state == AxisRespnsFSMStates.SWEEP:
self.fsm.sweep_done_recvd = True
if VERBOSE > 1: self._logger.info(f'Got sweep done message')
elif self.fsm.state == AxisRespnsFSMStates.CENTER and (self.fsm.axis.upper() + ':') in line:
self.fsm.axis_last_reported_pos = parse_position_line(line)[self.fsm.axis]
if VERBOSE > 1: self._logger.info(f'Got reported position = {self.fsm.axis_last_reported_pos}')
elif 'NAME:' in line or line.startswith('NAME.'):
split_line = regex_firmware_splitter.split(line.strip())[
1:
] # first entry is empty start of trimmed string
result = {}
for _, key, value in chunks(split_line, 3):
result[key] = value.strip()
if result.get('FIRMWARE_NAME') is not None:
self.metadata['FIRMWARE'] = result
if VERBOSE > 1: self._logger.info('Metadata updated:')
if VERBOSE > 1: self._logger.info(self.metadata)
elif 'M92' in line:
match = regex_steps_per_unit.search(line)
if match is not None:
result = {
"x": float(match.group("x")),
"y": float(match.group("y")),
"z": float(match.group("z")),
}
self.fsm.axis_reported_steps_per_mm = result[self.fsm.axis]
self.fsm.axis_reported_steps_per_mm_recvd = True
self.metadata['STEPSPERUNIT'] = str(result)
if VERBOSE > 1: self._logger.info('Metadata updated:')
if VERBOSE > 1: self._logger.info(self.metadata)
elif self.fsm.state == AxisRespnsFSMStates.CENTER and 'echo:Home' in line and 'First' in line:
split_line_0 = re.split(r"echo:Home ", line.strip())
split_line_1 = re.split(r" First", split_line_0[1].strip())
self.fsm.printer_requires_additional_homing = True
self.fsm.printer_additional_homing_axes = split_line_1[0]
return line
# TODO:
def get_update_information(self):
# Define the configuration for your plugin to use with the Software Update
# Plugin here. See https://docs.octoprint.org/en/master/bundledplugins/softwareupdate.html
# for details.
return {
"ulendocaas": {
"displayName": "Ulendo Calibration Plugin",
"displayVersion": self._plugin_version,
# version check: github repository
"type": "github_release",
"user": "S2AUlendo",
"repo": "UlendoCaas",
"current": self._plugin_version,
# update method: pip
"pip": "https://github.com/S2AUlendo/UlendoCaaS/archive/{target_version}.zip",
}
}
def handle_calibration_service_exceptions(self, e):
try: raise e
except requests.exceptions.Timeout:
self.send_client_popup(type='error', title='Timed out connecting to Ulendo server.',
message=f'Timed out connecting to the Ulendo server af'\
'ter {SERVICE_TIMEOUT_THD} seconds.', hide=False)
except (requests.exceptions.HTTPError,
requests.exceptions.ConnectionError,
requests.exceptions.RequestException):
self.send_client_popup(type='error', title='Error connecting to Ulendo server.',
message='Got an error while connecting to the Ulendo s'\
'erver. If you are connected to the internet, it could'\
' be a problem with the service. Try again later.', hide=False)
except NoSignalError:
self.send_client_popup(type='error', title='Weak signal detected.',
message='Could not calibrate due to a weak signal. Is '\
'the accelerometer mounted on the correct axis and in '\
'the correct orientation?', hide=False)
except SignalSyncError:
self.send_client_popup(type='error', title='Signal detection issue.',
message='Could not calibrate due to a signal detection'\
' issue. Is the accelerometer mounted on the correct a'\
'xis and in the correct orientation?', hide=False)
except NoVibrationDetected:
self.send_client_popup(type='info', title='No vibration detected.',
message='No vibration on the axis was detected -- shap'\
'ing on this axis has been disabled, but you may wish '\
'to use the same shaper as the other axis. Contact Ule'\
'ndo for more details.', hide=False) # TODO: automate or provide a guide
self.send_printer_command('M493 S1 ' + self.fsm.axis.upper() + '0')
except (NoQualifiedSolution, AutocalInternalServerError):
self.send_client_popup(type='error', title='Internal Ulendo error.',
message='An internal Ulendo error occured. This cannot'\
' be solved at this time.', hide=False)
except Exception:
self.send_client_popup(type='error', title='Unknown error.',
message=str(e), hide=False)
#
# FSM State Logic
#
def fsm_reset(self, reset_for_retry=False):
self.fsm.accelerometer_process = None
self.fsm.axis_reported_len = None
self.fsm.axis_reported_len_recvd = False
self.fsm.axis_reported_steps_per_mm = None
self.fsm.axis_reported_steps_per_mm_recvd = False
self.fsm.axis_last_reported_pos = 0.
self.fsm.axis_centering_wait_time = 0.
self.fsm.sweep_initiated = False
self.fsm.sweep_done_recvd = False
self.fsm.accelerometer_stopped = False
self.fsm.printer_requires_additional_homing = False
if not reset_for_retry:
self.fsm.axis = None
self.fsm.missed_sample_retry_count = 0
def fsm_on_INIT_entry(self): return
def fsm_on_INIT_during(self): self.fsm.state = AxisRespnsFSMStates.IDLE; return
def fsm_on_IDLE_entry(self): return
def fsm_on_IDLE_during(self): return
def fsm_on_HOME_entry(self):
global GET_AXIS_INFO_TIMEOUT
if not self.sts_axis_verification_active:
self.send_printer_command('M493 S1 ' + self.fsm.axis.upper() + '0')
for file in ['tmpxfild', 'tmpyfild', 'tmpzfild', 'tmpxrw', 'tmpyrw', 'tmpzrw']:
if (os.path.isfile(os.path.join(self.data_folder, 'data', file))):
os.remove(os.path.join(self.data_folder, 'data', file))
if self.fsm.printer_requires_additional_homing:
if (not self._settings.get(["home_axis_before_calibration"])):
self.send_client_popup(type='error', title='Homing Configuration Error',
message='Your printer wants homing to occur before it can accept \
movement commands, but homing before calibration is disa\
bled in settings. Re-enable the setting and try again.')
self.fsm_kill()
else:
self.send_client_prompt_popup(title='Printer Homing Confirm',
message='Your printer wants to home the ' +
self.fsm.printer_additional_homing_axes + ' axes before \
moving. Verify motion is clear and proceed.')
GET_AXIS_INFO_TIMEOUT = 45 # Temporarily prevent an error during a longer homing. TODO: properly monitor busy response
else:
if (self._settings.get(["home_axis_before_calibration"])):
self.send_printer_command('G28 ' + self.fsm.axis.upper())
def fsm_on_HOME_during(self):
if self.fsm.printer_requires_additional_homing:
if self.awaiting_prompt_popup_reply: return
else:
if self.prompt_popup_response == 'cancel':
self.fsm_kill(); return
if self.prompt_popup_response == 'proceed':
self.send_printer_command('G28 ' + self.fsm.printer_additional_homing_axes)
self.fsm.printer_requires_additional_homing = False
self.fsm.state = AxisRespnsFSMStates.GET_AXIS_INFO
def fsm_on_GET_AXIS_INFO_entry(self):
self.send_printer_command('M494')
self.send_printer_command('M92')
self.send_client_popup(type='info', title='Calibrating',
message='Initiating calibration sweep procedure...')
def fsm_on_GET_AXIS_INFO_during(self):
if self.fsm.in_state_time > GET_AXIS_INFO_TIMEOUT:
self.sts_axis_calibration_active = False
self.sts_axis_verification_active = False
self.send_client_popup(type='error', title='Axis Info. Error',
message='Couldn\'t get information about the axis. Is the firmware compatible?')
self.fsm_kill()
else:
if self.fsm.axis_reported_len_recvd:
if (self._settings.get(["home_axis_before_calibration"])):
self.fsm.state = AxisRespnsFSMStates.CENTER
else: self.fsm.state = AxisRespnsFSMStates.SWEEP