Scheduling WIP
This commit is contained in:
jaseg
parent
10ec878664
commit
7f62fa7ff1
1 changed files with 194 additions and 75 deletions
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@ -1,15 +1,18 @@
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#!/usr/bin/env python3
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import itertools
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import sqlite3
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import traceback
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from dataclasses import dataclass
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from pathlib import Path
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import time
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import math
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import requests
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import tqdm
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import click
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import pyvisa
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rm = pyvisa.ResourceManager()
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@dataclass
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class Token:
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@ -71,19 +74,41 @@ class LXIWrapper:
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return res.strip()
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def create_schedule(off_x, off_y):
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for h in [1.0, 1.5, 2.0, 3.0, 5.0, 10.0, 15.0, 20.0, 30.0]:
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for rn in [range(0, 20, 2), range(20, 40, 5), range(40, 60, 10)]:
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rn = list(rn)
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def create_schedule():
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for h in [0.0, 0.5, 1.0, 1.5, 2.0, 3.0, 5.0, 10.0, 15.0, 20.0, 30.0]:
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for a in [0, 90, 180]:
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for p, q in [(1, 1), (1, -1), (-1, 1), (-1, -1)]:
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for dx in rn:
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for dy in rn:
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for a in angles:
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yield off_x+p*dx, off_y+q*dy, 0.0, h
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for a in range(0, 360, 5):
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for dy in rn:
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yield off_x, off_y+dy, a, h
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for rn, min_c in [(range(0, 20, 2), 0), (range(0, 40, 5), 20), (range(0, 60, 10), 40)]:
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rn = list(rn)
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for dx in rn:
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for dy in rn:
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if dx >= min_c or dy >= min_c:
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yield p*dx, q*dy, a, h
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#for a in range(0, 360, 5):
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# for dy in rn:
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# yield 0, dy, a, h
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def optimize_schedule(schedule):
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schedule = sorted((a, h, x, y) for x, y, a, h in schedule)
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for (a, h), chunk in itertools.groupby(schedule, key=lambda x: x[:2]):
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xy = {(x, y) for a, h, x, y in schedule}
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cur_x, cur_y = sorted(xy, key=lambda coord: math.hypot(*coord))[-1]
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while True:
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yield cur_x, cur_y, a, h
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xy.remove((cur_x, cur_y))
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if not xy:
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break
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keyfunc = lambda coord: math.dist((cur_x*1.1, cur_y), (coord[0]*1.1, coord[1]))
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nearest = sorted(xy, key=keyfunc)
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out = []
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for x in nearest:
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if keyfunc(x) > 1.1*keyfunc(nearest[0]):
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break
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out.append(x)
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cur_x, cur_y = sorted(out, key=lambda coord: math.hypot(*coord))[-1]
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def print_scan(ctx, param, value):
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@ -112,113 +137,207 @@ def comma_range(ctx, param, value):
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class Octoprint:
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def __init__(self, ip):
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def __init__(self, ip, api_key=None):
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self.ip = ip
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if api_key is None:
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self.auth_headers = {}
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else:
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self.auth_headers = {'X-Api-Key': api_key}
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requests.post(f'http://{self.ip}/api/connection', json={
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'command': 'connect',
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})
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}, headers=self.auth_headers)
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self.current_pos = (None, None, None)
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def home(self):
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requests.post(f'http://{self.ip}/api/printer/printhead', json={
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'command': 'home',
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})
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'speed': 2000,
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'axes': ['x', 'y', 'z'],
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}, headers=self.auth_headers)
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self.current_pos = (None, None, None)
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time.sleep(30)
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def move(self, x, y, z):
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requests.post(f'http://{self.ip}/api/printer/printhead', json={
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def move(self, x=None, y=None, z=None, speed_mm_per_min=2000, vertical_speed_mm_per_min=300):
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last_x, last_y, last_z = self.current_pos
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d = {
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'command': 'jog',
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'x': x,
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'y': y,
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'z': z,
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'absolute': True,
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'speed': 20,
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})
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'speed': speed_mm_per_min, # mm / min
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}
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if x is not None:
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d['x'] = x
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else:
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x = last_x
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if y is not None:
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d['y'] = y
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else:
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y = last_x
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if z is not None:
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d['z'] = z
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else:
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z = last_z
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requests.post(f'http://{self.ip}/api/printer/printhead', json=d, headers=self.auth_headers)
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if z != last_z and last_z is not None:
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time.sleep(abs(z - last_z) / vertical_speed_mm_per_min * 60)
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elif (x, y) != (last_x, last_y) and last_x is not None and last_y is not None:
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time.sleep(math.dist((x, y), (last_x, last_y)) / speed_mm_per_min * 60)
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self.current_pos = (x, y, z)
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class Servo:
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def __init__(self, ip):
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self.last_traceback = None
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self.ip = ip
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def set_angle(self, angle):
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pass
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def set_angle(self, angle, speed=65534, acc=255):
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pos = round(angle/360 * 4096)
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for _ in range(100):
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try:
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requests.get(f'http://{self.ip}/pos?pos={pos}l&speed={speed}&acc={acc}')
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return None
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except Exception as e:
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tb = traceback.format_exception(e)
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if tb != self.last_traceback:
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self.last_traceback = tb
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print('Error sending command to servo:')
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print(tb)
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else:
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print('Error sending command to servo: (One more instance of the last exception)')
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time.sleep(2)
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@click.command()
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@click.option('--scan', is_flag=True, callback=print_scan, expose_value=False, is_eager=True)
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@click.option('-x', type=float, default=0, help='Tile zero X coordinate (mm)')
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@click.option('-y', type=float, default=0, help='Tile zero Y coordinate (mm)')
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@click.option('-x', type=float, default=360, help='Tile zero X coordinate (mm)')
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@click.option('-y', type=float, default=360, help='Tile zero Y coordinate (mm)')
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@click.option('--zero-angle', type=float, default=343.0, help='Servo zero angle in degree')
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@click.option('--comment', help='Add comment to measurement run')
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@click.option('--database', type=click.Path(dir_okay=False, path_type=Path), default='tile_measurements.sqlite3')
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@click.option('--tile', type=int, required=True, help='Tile number of current measurement')
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@click.option('--voltage', required=True, help='IP of voltage measurement multimeter')
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@click.option('--current', required=True, help='IP of current measurement multimeter')
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@click.option('--home/--no-home', default=True, help='Wheter to home the printer before starting')
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@click.option('--adjust/--no-adjust', default=True, help='Prompt for interactive XYZ/R adjustment before starting')
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@click.option('--tx-tile', type=int, required=True, help='Tile number of transmit (top) tile of current measurement')
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@click.option('--rx-tile', type=int, required=True, help='Tile number of receive (bottom) tile of current measurement')
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@click.option('--input-voltage', required=True, help='IP of input voltage measurement multimeter')
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@click.option('--output-voltage', required=True, help='IP of output voltage measurement multimeter')
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@click.option('--load', required=True, help='Value of load resistor in Ohms')
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@click.option('--frequency', required=True, help='Stimulation frequency in Kilohertz')
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@click.option('--octoprint', required=True, help='IP of octoprint instance')
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@click.option('--octoprint-api-key', help='API key of octoprint instance. Optional.')
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@click.option('--resume', help='Resume one or more previous runs')
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@click.option('--servo', required=True, help='IP of servo control board')
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def cli(voltage, current, octoprint, servo, tile, x, y, comment, database):
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def cli(input_voltage, output_voltage, octoprint, octoprint_api_key, servo, rx_tile, tx_tile, x, y, zero_angle, home, adjust, load, frequency, comment, database, resume):
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db = sqlite3.connect(database)
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db.execute('CREATE TABLE IF NOT EXISTS runs (start_time TEXT DEFAULT CURRENT_TIMESTAMP, end_time TEXT DEFAULT NULL, run_id INTEGER PRIMARY KEY, tile INTEGER, x REAL, y REAL, comment TEXT)')
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db.execute('CREATE TABLE IF NOT EXISTS measurements (timestamp TEXT DEFAULT CURRENT_TIMESTAMP, run_id INTEGER, x REAL, y REAL, r REAL, h REAL, voltage REAL, current REAL, FOREIGN KEY (run_id) REFERENCES runs)')
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db.execute('CREATE TABLE IF NOT EXISTS runs (start_time TEXT DEFAULT CURRENT_TIMESTAMP, end_time TEXT DEFAULT NULL, run_id INTEGER PRIMARY KEY, rx_tile INTEGER, tx_tile INTEGER, x REAL, y REAL, load_resistor_ohms REAL, frequency_khz REAL, comment TEXT)')
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db.execute('CREATE TABLE IF NOT EXISTS measurements (timestamp TEXT DEFAULT CURRENT_TIMESTAMP, run_id INTEGER, x REAL, y REAL, r REAL, h REAL, input_voltage REAL, output_voltage REAL, FOREIGN KEY (run_id) REFERENCES runs)')
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octoprint = Octoprint(octoprint)
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octoprint = Octoprint(octoprint, octoprint_api_key)
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servo = Servo(servo)
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print('Homing printer...')
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octoprint.home()
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if home:
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octoprint.home()
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octoprint.move(x=x, y=y, z=10)
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print('Done.')
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print()
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print('Please move the printer to its home position using the arrow keys. Cycle step sizes with [w] and [s].')
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step_sizes = [0.25, 1, 5, 10, 25]
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step_size_index = len(step_sizes)-1
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h = 3 # height for zero position adjustment
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while True:
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print('Command: ', end='')
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match click.getchar():
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case '\x1b[D': # left arrow
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x -= step_sizes[step_size_index]
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print('At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x, y, h)
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case '\x1b[C': # right arrow
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x += step_sizes[step_size_index]
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print('At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x, y, h)
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case '\x1b[B': # down arrow
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y -= step_sizes[step_size_index]
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print('At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x, y, h)
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case '\x1b[A': # up arrow
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y += step_sizes[step_size_index]
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print('At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x, y, h)
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case 'w':
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step_size_index = (step_size_index+1) % len(step_sizes)
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print('Step size: {step_sizes[step_size_index]}')
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case 's':
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step_size_index = (step_size_index-1) % len(step_sizes)
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print('Step size: {step_sizes[step_size_index]}')
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case '\n':
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break
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h = 10 # height for zero position adjustment
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print('Homing servo...')
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servo.set_angle(zero_angle)
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print('done.')
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print()
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if adjust:
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print('Please move the printer to its home position using the arrow keys. Cycle step sizes with [w] and [s]. Raise/lower bed with [r] (raise) / [f] (lower). Adjust zero angle with [t] and [g]. Finish with [q].')
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while True:
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print('Command: ', end='')
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match click.getchar():
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case '\x1b[D': # left arrow
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x -= step_sizes[step_size_index]
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print(f'At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x=x)
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case '\x1b[C': # right arrow
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x += step_sizes[step_size_index]
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print(f'At ({x:6.2f}, {y:6.2f})')
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octoprint.move(x=x)
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case '\x1b[B': # down arrow
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y -= step_sizes[step_size_index]
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print(f'At ({x:6.2f}, {y:6.2f})')
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octoprint.move(y=y)
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case '\x1b[A': # up arrow
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y += step_sizes[step_size_index]
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print(f'At ({x:6.2f}, {y:6.2f})')
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octoprint.move(y=y)
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case 'r':
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h -= step_sizes[step_size_index]
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print(f'At {h=:6.2f}')
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octoprint.move(z=h)
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case 'f':
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h += step_sizes[step_size_index]
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print(f'At {h=:6.2f}')
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octoprint.move(z=h)
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case 't':
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zero_angle += step_sizes[step_size_index]
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zero_angle %= 360.0
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print(f'At {zero_angle=:6.2f}')
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servo.set_angle(zero_angle)
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case 'g':
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zero_angle -= step_sizes[step_size_index]
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zero_angle %= 360.0
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print(f'At {zero_angle=:6.2f}')
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servo.set_angle(zero_angle)
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case 'w':
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step_size_index = (step_size_index+1) % len(step_sizes)
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print(f'Step size: {step_sizes[step_size_index]}')
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case 's':
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step_size_index = (step_size_index-1) % len(step_sizes)
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print(f'Step size: {step_sizes[step_size_index]}')
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case 'q':
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break
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print()
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resume_tuples = []
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if resume:
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for run_id in resume.split(','):
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resume_tuples += db.execute('SELECT x, y, r, h FROM measurements WHERE run_id=?', (int(run_id),)).fetchall()
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print(f'Resuming previous run after {len(resume_tuples)} measurements')
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resume_tuples = set(resume_tuples)
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cur = db.cursor()
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cur.execute('INSERT INTO runs (x, y, comment) VALUES (?, ?, ?)', (x, y, comment))
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cur.execute('INSERT INTO runs (x, y, tx_tile, rx_tile, load_resistor_ohms, frequency_khz, comment) VALUES (?, ?, ?, ?, ?, ?, ?)', (x, y, tx_tile, rx_tile, load, frequency, comment))
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db.commit()
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run_id = cur.lastrowid
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mm_v = LXIWrapper(voltage)
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mm_i = LXIWrapper(current)
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print(f'Multimeter connected, system version: {mm.q_system_version()}')
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mm_v_in = LXIWrapper(input_voltage)
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mm_v_out = LXIWrapper(output_voltage)
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print(f'Multimeter for input voltage connected, system version: {mm_v_in.q_system_version()}')
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print(f'Multimeter for output voltage connected, system version: {mm_v_out.q_system_version()}')
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print('Running measurements...')
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for x, y, a, h in tqdm.tqdm(list(create_schedule(x, y)), desc=f'Run ID {run_id}'):
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servo.move(a)
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octoprint.move(x, y, h)
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voltage = mm_v.q_measure_voltage_ac(mm_v.auto, mm_v.max)
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current = mm_i.q_measure_current_ac(mm_i.auto, mm_i.max)
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tqdm.write(f'Last measurement: {voltage:12.9f} V / {current:12.9f} A')
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db.execute('INSERT INTO measurements (run_id, x, y, r, h, value) VALUES (?, ?, ?, ?, ?, ?, ?)', (run_id, x, y, a, h, voltage, current))
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off_x, off_y = x, y
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for x, y, a, h in tqdm.tqdm(optimize_schedule(create_schedule()), desc=f'Run ID {run_id}'):
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if (x, y, a, h) in resume_tuples:
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continue
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servo.set_angle(a+zero_angle)
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octoprint.move(off_x+x, off_y+y, h)
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v_in = mm_v_in.q_measure_voltage_ac(mm_v_in.auto, mm_v_in.max)
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v_out = mm_v_out.q_measure_voltage_ac(mm_v_out.auto, mm_v_out.max)
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tqdm.tqdm.write(f'[{x=:6.2f} {y=:6.2f} {h=:6.2f} {a=:6.2f}]: {v_in=:12.9f} V / {v_out=:12.9f} V')
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cur.execute('INSERT INTO measurements (run_id, x, y, r, h, input_voltage, output_voltage) VALUES (?, ?, ?, ?, ?, ?, ?)', (run_id, x, y, a, h, v_in, v_out))
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db.commit()
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rm = pyvisa.ResourceManager()
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if __name__ == '__main__':
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cli()
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