Improve timing and add new schedules
This commit is contained in:
Jan Goette
parent
10ec878664
commit
cfa6e8b6e1
1 changed files with 301 additions and 73 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 +74,100 @@ 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 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 create_fine_schedule(na1=32, na2=8):
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# grids
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for h in [0.0, 1.0, 2.0, 3.0, 5.0, 10.0, 20.0]:
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for a in [0, 15, 30, 45]:
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for rn, min_c in [(range(-20, 21, 2), 0), (range(-50, 50, 5), 21)]:
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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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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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if abs(dx) >= min_c or abs(dy) >= min_c:
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yield dx, dy, a, h
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# radial schedule
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for h in [0.0, 1.0, 2.0, 5.0]:
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for a2 in range(na2):
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a2_rad = 2*math.pi/na2 * a2
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yield 0, 0, math.degrees(a2_rad), h
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for r in [1.0, 2.0, 3.0, 5.0]:
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for a2 in range(na2):
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for a1 in range(na1):
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a1_rad = 2*math.pi/na1 * a1
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a2_rad = 2*math.pi/na2 * a2
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x, y = -r*math.sin(a1_rad), r*math.cos(a1_rad)
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yield x, y, math.degrees(a2_rad+a1_rad), h
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def create_rotation_schedule(na=36, h=1):
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for a in range(na):
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a_rad = 2*math.pi/na*a
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for x in range(-30, 31):
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yield x, 0, math.degrees(a_rad), h
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for y in range(-30, 31):
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yield 0, y, math.degrees(a_rad), h
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def create_displaced_rotation_schedule(na=72, h=1):
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for a in range(na):
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a_rad = 2*math.pi/na*a
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yield 0, 0, math.degrees(a_rad), h
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for r in range(1, 5):
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for a2 in range(na):
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a2_rad = 2*math.pi/na*a2
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x, y = -r*math.sin(a2_rad), r*math.cos(a2_rad)
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yield x, y, math.degrees(a_rad), h
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def create_radial_schedule(na1=8, na2=40):
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for h in [0.0, 1.0, 2.0, 5.0]:
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for r in [0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 8.0, 10.0, 12.0]:
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for a1 in range(na1):
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for a2 in range(na2):
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a1_rad = 2*math.pi/na1 * a1
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a2_rad = 2*math.pi/na2 * a2
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x, y = r*math.sin(a1_rad), r*math.cos(a1_rad)
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yield x, y, math.degrees(a2_rad+a1_rad), 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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@ -112,112 +196,256 @@ 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, safety_height=0):
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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.safety_height = safety_height
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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', headers=self.auth_headers, json={
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'command': 'jog',
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'absolute': False,
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'speed': 2000, # mm / min
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'z': 10,
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})
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time.sleep(2)
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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=1000, vertical_speed_mm_per_min=300, delay=True):
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last_x, last_y, last_z = self.current_pos
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if last_x is not None and last_y is not None and last_z is not None and\
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self.safety_height > 0 and (z is None or z == last_z) and last_z < self.safety_height and\
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math.dist((last_x, last_y), (x or last_x, y or last_y)) > 0.5:
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self._move(None, None, last_z + self.safety_height, speed_mm_per_min, vertical_speed_mm_per_min, delay=False)
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self._move(x, y, None, speed_mm_per_min, vertical_speed_mm_per_min, delay=delay)
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self._move(None, None, last_z, speed_mm_per_min, vertical_speed_mm_per_min, delay=delay)
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return
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else:
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self._move(x, y, z, speed_mm_per_min, vertical_speed_mm_per_min, delay=delay)
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def _move(self, x=None, y=None, z=None, speed_mm_per_min=2000, vertical_speed_mm_per_min=300, delay=True):
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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_y
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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 delay:
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if z != last_z and last_z is not None:
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t = 0.2 + abs(z - last_z) / vertical_speed_mm_per_min * 60
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time.sleep(t)
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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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d = math.dist((x, y), (last_x, last_y))
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t = 0.2 + d / speed_mm_per_min * 60
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time.sleep(t)
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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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self.last_angle = None
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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) % 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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if self.last_angle != pos:
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if self.last_angle is None:
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time.sleep(2)
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else:
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time.sleep(abs(self.last_angle - pos)/4096 * 2)
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self.last_angle = pos
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return
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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('--zero-height', type=float, default=0.0, help='Servo zero height offset in mm. Positive values increase distance.')
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@click.option('--safety-height', type=float, default=0.0, help='Height to move longer distances at.')
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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('--octoprint', required=True, help='IP of octoprint instance')
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@click.option('--schedule', default='grid', type=click.Choice(['grid', 'radial', 'fine', 'rotation', 'displaced_rotation']), help='Schedule type to use')
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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, zero_height, home, adjust, load, comment, database, resume, schedule, safety_height):
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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, schedule_type 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, safety_height)
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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, delay=False)
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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, delay=False)
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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, delay=False)
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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, delay=False)
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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, delay=False)
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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, delay=False)
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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)
|
||||
print(f'Step size: {step_sizes[step_size_index]}')
|
||||
case 'q':
|
||||
break
|
||||
print()
|
||||
|
||||
resume_tuples = []
|
||||
if resume:
|
||||
for run_id in resume.split(','):
|
||||
resume_tuples += db.execute('SELECT x, y, r, h FROM measurements WHERE run_id=?', (int(run_id),)).fetchall()
|
||||
print(f'Resuming previous run after {len(resume_tuples)} measurements')
|
||||
resume_tuples = set(resume_tuples)
|
||||
|
||||
mm_v_in = LXIWrapper(input_voltage)
|
||||
mm_v_out = LXIWrapper(output_voltage)
|
||||
frequency = mm_v_in.q_measure_frequency() / 1e3
|
||||
print(f'Input frequency is {frequency:.3f} kHz')
|
||||
|
||||
cur = db.cursor()
|
||||
cur.execute('INSERT INTO runs (x, y, comment) VALUES (?, ?, ?)', (x, y, comment))
|
||||
cur.execute('INSERT INTO runs (x, y, tx_tile, rx_tile, load_resistor_ohms, frequency_khz, schedule_type, comment) VALUES (?, ?, ?, ?, ?, ?, ?, ?)', (x, y, tx_tile, rx_tile, load, frequency, schedule, comment))
|
||||
db.commit()
|
||||
run_id = cur.lastrowid
|
||||
|
||||
mm_v = LXIWrapper(voltage)
|
||||
mm_i = LXIWrapper(current)
|
||||
print(f'Multimeter connected, system version: {mm.q_system_version()}')
|
||||
print(f'Multimeter for input voltage connected, system version: {mm_v_in.q_system_version()}')
|
||||
print(f'Multimeter for output voltage connected, system version: {mm_v_out.q_system_version()}')
|
||||
print('Running measurements...')
|
||||
|
||||
for x, y, a, h in tqdm.tqdm(list(create_schedule(x, y)), desc=f'Run ID {run_id}'):
|
||||
servo.move(a)
|
||||
octoprint.move(x, y, h)
|
||||
voltage = mm_v.q_measure_voltage_ac(mm_v.auto, mm_v.max)
|
||||
current = mm_i.q_measure_current_ac(mm_i.auto, mm_i.max)
|
||||
tqdm.write(f'Last measurement: {voltage:12.9f} V / {current:12.9f} A')
|
||||
db.execute('INSERT INTO measurements (run_id, x, y, r, h, value) VALUES (?, ?, ?, ?, ?, ?, ?)', (run_id, x, y, a, h, voltage, current))
|
||||
if schedule == 'grid':
|
||||
schedule = create_schedule()
|
||||
elif schedule == 'radial':
|
||||
schedule = create_radial_schedule()
|
||||
elif schedule == 'fine':
|
||||
schedule = create_fine_schedule()
|
||||
elif schedule == 'rotation':
|
||||
schedule = create_rotation_schedule()
|
||||
elif schedule == 'displaced_rotation':
|
||||
schedule = create_displaced_rotation_schedule()
|
||||
else:
|
||||
raise ValueError()
|
||||
|
||||
schedule = [foo for foo in schedule if foo not in resume_tuples]
|
||||
off_x, off_y = x, y
|
||||
for x, y, a, h in tqdm.tqdm(list(schedule), desc=f'Run ID {run_id}'):
|
||||
servo.set_angle(a+zero_angle)
|
||||
octoprint.move(off_x+x, off_y+y, h+zero_height)
|
||||
v_in = mm_v_in.q_measure_voltage_ac(mm_v_in.auto, mm_v_in.max)
|
||||
v_out = mm_v_out.q_measure_voltage_ac(mm_v_out.auto, mm_v_out.max)
|
||||
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')
|
||||
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))
|
||||
db.commit()
|
||||
|
||||
cur = db.cursor()
|
||||
cur.execute('UPDATE runs SET end_time=DATETIME("now") WHERE run_id=?', (run_id,))
|
||||
db.commit()
|
||||
|
||||
rm = pyvisa.ResourceManager()
|
||||
|
||||
if __name__ == '__main__':
|
||||
cli()
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue