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driver.py
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driver.py
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from scipy import array
from time import sleep
import sys
import logging
log=logging.getLogger('optimize')
from config import *
# typewriter pos:
# [feed, carriage, wheel]
# costs for moving each f,c,w one unit
feed, carriage, wheel=range(3)
# type alphabet (non printable chars will be ignored)
wheeltypes=",.ersaioctmlhpnbfgukvdyzqxjw/%1324567809${|}#>~<\x7f\x80\x81@!]^[`R'Q_OJG?D\"C-FE=BV&YATLSPZ*X+K)H(UIN;W:M"
# number of types
ntypes=len(wheeltypes)
# for each feed, carriage, wheel movement
cost=array([30,12,2], int) * [1,1,1]
class SimulatedPrinter:
def __init__(self, X=78, Y=30, quiet=False, outfile=sys.stdout):
log.info("New simulated printer [%d, %d]" % (X, Y))
self.X, self.Y=X, Y
self.quiet=quiet
self.zero()
self.outfile=outfile
def __del__(self):
self.outfile.close()
def do(self, action):
f, c, w=action
char=wheeltypes[w]
try:
self.sheet[f][c]=char
except:
print "out of range", f, c, w, self.X, self.Y
raise
if not self.quiet:
print>>self.outfile, "%3d %3d %3d %c" % (f, c, w, char)
for l in self.sheet:
print>>self.outfile, l
print>>self.outfile
self.outfile.flush()
sleep(.01)
def zero(self):
log.info("Zeroing printer.")
self.sheet=[bytearray(" "*self.X) for i in range(self.Y)]
def eject_page(self):
log.info("Page %s done." % [self.X, self.Y])
class AMTWriter:
def __init__(self, port="/dev/ttyACM0", reset=True):
# number of steps for one char movement
# each axis
# feed, carriage, wheel
self.step_multipliers=[-30,12,2]
self.pos=array([0,0,0], int)
from serial import Serial
self.ser=Serial(port, 115200, timeout=30)
self.ser.flushInput()
if reset:
self.reset()
self.zero()
def eject_page(self):
self.do([70, 0, 0], False)
def zero(self):
self.do([self.pos[feed],
0,
self.pos[wheel]], False)
self.pos=array([0,0,0], int)
def reset(self):
self.exchange("r")
def status(self):
self.ser.write("x")
status=self.ser.readline()[:-3]
#print "status", repr(status)
return [int(s) for s in status.split()]
def exchange(self, msg):
#print "->", repr(msg)
self.ser.write(str(msg))
resp=self.ser.readline()
#print "response", repr(resp)
assert resp == ".\r\n"
def set_steps(self, n):
self.exchange("0")
n-=1
for i, r in enumerate([1000, 100, 10, 1]):
while n>=r:
self.exchange("8765"[i])
n-=r
def do(self, action, strike=True):
from scipy import int16
delta=array(action-self.pos, int16)
delta*=self.step_multipliers
if delta[wheel]>ntypes/2:
delta[wheel]=-self.step_multipliers[wheel]*ntypes+delta[wheel]
if delta[wheel]<-ntypes/2:
delta[wheel]=self.step_multipliers[wheel]*ntypes+delta[wheel]
#print delta
cmd=bytearray("a\x00\x00\x00\x00\x00\x00")
if strike:
cmd[0]='A'
cmd[1:3]=delta[ feed] & 0xff, (delta[ feed] &0xff00)>>8
cmd[3:5]=delta[carriage] & 0xff, (delta[ carriage] &0xff00)>>8
cmd[5:7]=delta[ wheel] & 0xff, (delta[ wheel] &0xff00)>>8
self.exchange(cmd)
self.pos=array(action, int)
#sleep(.2)
def do_(self, action, strike=True):
self.do_([action[0], self.pos[1], self.pos[2]], False)
self.do_([self.pos[0], action[1], self.pos[2]], False)
self.do_([self.pos[0], self.pos[1], action[2] ], True)
from threading import Thread, RLock
class PrintingThread(Thread):
def __init__(self, printer, cmds):
log.info("New printing thread, printer %s, len %d" %
(printer, len(cmds)))
self.cmds=cmds
self.printer=printer
self.lock=RLock()
self.state=0
Thread.__init__(self)
def run(self):
printer=self.printer
printer.zero()
from time import time, sleep
from os import path
#wait=time()
#log.info("Waiting for load page button.")
#while path.getmtime(job_dir+"load_new_page")<wait:
# sleep(1.0)
#log.info("Load page button press detected. Starting to print.")
for i, step in enumerate(self.cmds):
printer.do(step)
self.lock.acquire()
self.state=i
self.lock.release()
printer.eject_page()
def progress(self):
self.lock.acquire()
res=self.state
self.lock.release()
return res/float(len(self.cmds)-1)