import queue import logging from pyaxidraw import axidraw from queue import Queue from threading import Event, Lock from sorteerhoed.Signal import Signal import time class Plotter: def __init__(self, config, eventQ: Queue, runningEvent: Event, scannerLock: Lock): #TODO: scanningEvent -> CentralManagement.isScanning -> prevent plotter move during scan, failsafe self.config = config self.eventQ = eventQ self.q = Queue() self.isRunning = runningEvent self.logger = logging.getLogger("sorteerhoed").getChild("plotter") self.pen_down = False self.plotWidth = self.config['scanner']['width'] / 10 / 2.54 self.plotHeight = self.config['scanner']['height'] / 10 / 2.54 self.xPadding = self.config['scanner']['left_padding'] / 10 / 2.54; self.yPadding = self.config['scanner']['top_padding'] / 10 / 2.54; self.logger.info(f"Paddings x: {self.xPadding} inch y: {self.yPadding} inch") self.scannerLock = scannerLock self.goPark = False self.locked = False self.ad = None def park(self): self.logger.info("Queue to park plotter") self.goPark = True #self.q.put([(1/2.54)/self.plotWidth + 1,0,0]) absPlotWidth = 26.5/2.54 topLeft = absPlotWidth / self.plotWidth #ignore changes in config plotwidth self.q.put([(1/2.54)/absPlotWidth + topLeft,0,0]) def start(self): try: if not self.config['dummy_plotter']: self.ad = axidraw.AxiDraw() self.ad.interactive() # self.ad.plot_path() connected = self.ad.connect() if not connected: raise Exception("Cannot connect to Axidraw") # self.ad.options.units = 1 # set to use centimeters instead of inches self.ad.options.accel = 100; self.ad.options.speed_penup = 100 self.ad.options.speed_pendown = 100 self.ad.options.model = 1 # 2 for A3, 1 for A4 self.ad.moveto(0,0) # plotterWidth = 25 # plotterHeight = 21 else: self.ad = None self.axiDrawCueListener() except Exception as e: self.logger.exception(e) finally: self.logger.warning("Close Axidraw connection") if self.ad: with self.scannerLock: self.ad.moveto(0,0) self.ad.disconnect() self.logger.critical("Clear running Event") # send shutdown signal (if not already set) self.isRunning.clear() def draw_segments(self, segments = []): if not self.locked: # acquire lock if not already done so self.scannerLock.acquire() self.locked = True coordinates = [] for segment in segments: coordinate = [ # mm to cm to inches (segment[0]) * self.plotWidth, (1-segment[1]) * self.plotHeight ] #prevent drawing when not in drwaing area # this is a failsafe for a malicious working or glitching script, as this should also be done in the javascript if self.pen_down: if coordinate[0] < self.xPadding or coordinate[0] > self.xPadding+self.plotWidth or \ coordinate[1] < self.yPadding or coordinate[1] > self.yPadding + self.plotHeight: self.logger.warn(f"Skip drawing for: {coordinates} out of bounds") continue coordinates.append(coordinate) self.logger.debug(f"Plot: {coordinates}") if self.ad: if len(coordinates) < 2: self.logger.info("Plot single point (park?)") self.ad.moveto(coordinates[0][0], coordinates[0][1]) else: self.ad.plan_trajectory(coordinates) # self.ad.moveto(move[0]* plotterWidth, move[1]*plotterHeight) # self.logger.debug(f'handler! {move}') pass def setPenDown(self, pen_state): """ False: pen raised, True: pen_lower """ if pen_state != self.pen_down: self.pen_down = pen_state self.logger.info("Changed pen: {}".format('down' if pen_state else 'up')) if self.ad: if pen_state: self.ad.pen_lower() else: self.ad.pen_raise() return True return False def axiDrawCueListener(self): plotterRan = False segments = [] while self.isRunning.is_set(): # TODO: queue that collects a part of the path data # on a specific limit or on a specific time interval, do the plot # also, changing ad.pen_raise() or ad.pen_lower() trigger a new segment # Plot with ad.plan_trajectory() ?? try: # if no info comes in for .5sec, plot that segment segment = self.q.get(True, .5) #if self.goPark: # print("seg",segment) # change of pen state? draw previous segments! if (segment[2] == 1 and not self.pen_down) or (segment[2] == 0 and self.pen_down) or len(segments) > 150: if len(segments): self.draw_segments(segments) plotterRan = True segments = [] #reset # and change pen positions self.setPenDown(segment[2] == 1) segments.append(segment) except queue.Empty as e: self.logger.debug("Timeout queue.") if len(segments): # segments to plot! self.draw_segments(segments) plotterRan = True segments = [] elif plotterRan: plotterRan = False self.eventQ.put(Signal('plotter.finished')) if self.goPark: self.eventQ.put(Signal('plotter.parked')) if self.locked: self.scannerLock.release() self.locked = False self.goPark = False # else: # time.sleep(.05) # self.logger.debug(f'Plotter move: {move}') self.logger.info("Stopping plotter")