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koppi-cnc-engraving-comp.py
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koppi-cnc-engraving-comp.py
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#!/usr/bin/env python
"""Copyright (C) 2009 Nick Drobchenko, [email protected]
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU 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 logging
work_thread = 0.05 # update pins every [sec]
# koppi-cnc:
# probe "o<koppi_cnc_comp> call [0] [0] [220] [220] [10] [10] [100] [10] [1.5] [-3]"
logging.basicConfig(stream=sys.stderr, level=logging.ERROR)
#logging.basicConfig(stream=sys.stderr, level=logging.DEBUG)
# prepare height map
class Compensation :
def __init__(self) :
logging.debug("init")
self.comp = {}
self.x_coords = []
self.y_coords = []
if len(sys.argv)<2:
logging.error("No input file name specified. Exiting.")
sys.exit()
self.range_x,self.range_y, self.len_x,self.len_y = [],[], 0,0
self.filename = sys.argv[1]
logging.debug("filename = %s" % (self.filename))
self.reset()
logging.debug("get_comp(10,10) = %f" % (self.get_comp(10,10)))
def reset(self) :
logging.debug("reset")
f = open(self.filename,"r")
probe_lines = f.readlines()
logging.debug("probe_lines = %d" % (len(probe_lines)))
self.comp = {}
self.x_coords = []
self.y_coords = []
for line in probe_lines :
coords = [float(i) for i in line.split()]
x,y,z = coords[0:3]
x,y = int(round(x,0)), int(round(y,0))
if x not in self.comp : self.comp[x] = {}
self.comp[x][y] = z
if not x in self.x_coords : self.x_coords.append(x)
if not y in self.y_coords : self.y_coords.append(y)
self.x_coords.sort()
self.y_coords.sort()
logging.debug("x_coords: %s" % (self.x_coords))
logging.debug("y_coords: %s" % (self.y_coords))
# check map integrity, map should be rectangular!
for x in self.x_coords :
for y in self.y_coords :
if not x in self.comp or not y in self.comp[x] :
logging.error("Map should be rectangular. Can't find point %s,%s"%(x,y))
sys.exit()
else:
logging.debug("%d,%d in self.comp" % (x,y))
self.len_x = len(self.x_coords)
self.range_x = range(self.len_x)
self.len_y = len(self.y_coords)
self.range_y = range(self.len_y)
#print self.x_coords
#for x in self.comp :
# print x, " ",self.comp[x]
#print self.len_x, self.len_y
logging.debug("ok")
self.error = True
def get_comp(self,x,y) :
mx = x
my = y
x = max(self.x_coords[0],min(self.x_coords[-1],x))
y = max(self.y_coords[0],min(self.y_coords[-1],y))
i = 0
while i<self.len_x :
if self.x_coords[i]>x : break
i+=1
j = 0
while j<self.len_y :
if self.y_coords[j]>y : break
j+=1
if i==self.len_x : i -= 1
if j==self.len_y : j -= 1
x2=self.x_coords[i]
y2=self.y_coords[j]
if i<self.len_x:
x1 = self.x_coords[max(0,i-1)]
else:
x1 = x2
if j<self.len_y:
y1 = self.y_coords[max(0,j-1)]
else:
y1 = y2
# now make bilinear interpolation of the points
if x1 != x2 :
z1 = ((x2-x)*self.comp[x1][y1] + (x-x1)*self.comp[x2][y1])/(x2-x1)
z2 = ((x2-x)*self.comp[x1][y2] + (x-x1)*self.comp[x2][y2])/(x2-x1)
else:
z1 = self.comp[x1][y1]
z2 = self.comp[x1][y2]
if y1 != y2 :
z1 = ((y2-y)*z1 + (y-y1)*z2)/(y2-y1)
logging.debug("%4.2f,%4.2f %4.2f,%4.2f %4.2f" % (mx,my,x,y,z1))
return z1
def run(self) :
import hal, time
h = hal.component("compensation")
h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
h.newpin("x-map", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("y-map", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("reset", hal.HAL_BIT, hal.HAL_IN)
h.newpin("error", hal.HAL_BIT, hal.HAL_OUT)
# ok, lets we are ready, lets go
h.ready()
last_reset = h["reset"]
try:
while 1:
try:
time.sleep(work_thread)
if h["enable"] :
x=h['x-map']
y=h['y-map']
h["out"]=self.get_comp(x,y)
else :
h["out"]=0
if h["reset"] and not last_reset:
self.reset()
last_reset = h["reset"]
except KeyboardInterrupt :
raise SystemExit
except :
h["error"] = False
else :
h["error"] = True
except KeyboardInterrupt:
raise SystemExit
comp = Compensation()
comp.run()