Testing: First steps towards "simulated imperfection".

src/main/java/org/openpnp/machine/reference/camera/ImageCamera.java

@@ -29,7 +29,10 @@
 import org.openpnp.CameraListener;
 import org.openpnp.gui.support.Wizard;
 import org.openpnp.machine.reference.ReferenceCamera;
+import org.openpnp.machine.reference.ReferenceMachine;
 import org.openpnp.machine.reference.camera.wizards.ImageCameraConfigurationWizard;
+import org.openpnp.machine.reference.driver.NullDriver;
+import org.openpnp.model.Configuration;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
 import org.openpnp.spi.PropertySheetHolder;
@@ -128,7 +131,10 @@ public synchronized BufferedImage internalCapture() {
 
         Graphics gFrame = frame.getGraphics();
 
-        Location location = getLocation();
+        Location location = getLocation()
+                .convertToUnits(LengthUnit.Millimeters);
+        location = NullDriver.simulateImperfectLocation(location, getLooking());
+
         double locationX = location.getX();
         double locationY = location.getY();
 

src/main/java/org/openpnp/machine/reference/camera/SimulatedUpCamera.java

@@ -13,13 +13,16 @@
 import org.openpnp.CameraListener;
 import org.openpnp.gui.support.Wizard;
 import org.openpnp.machine.reference.ReferenceCamera;
+import org.openpnp.machine.reference.ReferenceMachine;
 import org.openpnp.machine.reference.camera.wizards.SimulatedUpCameraConfigurationWizard;
+import org.openpnp.machine.reference.driver.NullDriver;
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Footprint;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
 import org.openpnp.model.Part;
 import org.openpnp.spi.Head;
+import org.openpnp.spi.Machine;
 import org.openpnp.spi.Nozzle;
 import org.openpnp.spi.PropertySheetHolder;
 import org.openpnp.util.Utils2D;
@@ -70,12 +73,12 @@ public BufferedImage internalCapture() {
                 location.getY() - phyHeight / 2, phyWidth, phyHeight);
 
         // determine if there are any nozzles within our bounds and if so render them
-        for (Head head : Configuration.get()
-                                      .getMachine()
-                                      .getHeads()) {
+        for (Head head :  Configuration.get()
+                .getMachine().getHeads()) {
             for (Nozzle nozzle : head.getNozzles()) {
                 Location l = nozzle.getLocation()
                                    .convertToUnits(LengthUnit.Millimeters);
+                l = NullDriver.simulateImperfectLocation(l, getLooking());
                 if (phyBounds.contains(l.getX(), l.getY())) {
                     drawNozzle(g, nozzle);
                 }
@@ -97,9 +100,10 @@ private void drawNozzle(Graphics2D g, Nozzle nozzle) {
 
         // Draw the nozzle
         // Get nozzle offsets from camera
-        Location offsets = nozzle.getLocation()
-                .convertToUnits(units)
-                .subtractWithRotation(getLocation());
+        Location l = nozzle.getLocation()
+                .convertToUnits(LengthUnit.Millimeters);
+        l = NullDriver.simulateImperfectLocation(l, getLooking());    
+        Location offsets = l.subtractWithRotation(getLocation());
 
         // Create a nozzle shape
         fillShape(g, new Ellipse2D.Double(-0.5, -0.5, 1, 1), Color.green, unitsPerPixel, offsets, false);

src/main/java/org/openpnp/machine/reference/driver/NullDriver.java

@@ -20,31 +20,25 @@
 package org.openpnp.machine.reference.driver;
 
 import java.io.IOException;
-import java.util.HashMap;
 
-import javax.swing.Action;
-import javax.swing.Icon;
-
-import org.openpnp.gui.support.PropertySheetWizardAdapter;
 import org.openpnp.gui.support.Wizard;
 import org.openpnp.machine.reference.ReferenceActuator;
 import org.openpnp.machine.reference.ReferenceDriver;
-import org.openpnp.machine.reference.ReferenceHead;
 import org.openpnp.machine.reference.ReferenceHeadMountable;
 import org.openpnp.machine.reference.ReferenceMachine;
-import org.openpnp.machine.reference.ReferenceNozzle;
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Configuration;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
 import org.openpnp.model.MappedAxes;
-import org.openpnp.spi.Head;
-import org.openpnp.spi.Machine;
+import org.openpnp.spi.Axis;
+import org.openpnp.spi.Camera.Looking;
+import org.openpnp.spi.ControllerAxis;
 import org.openpnp.spi.Movable.MoveToOption;
-import org.openpnp.spi.PropertySheetHolder;
 import org.openpnp.spi.base.AbstractDriver;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Attribute;
+import org.simpleframework.xml.Element;
 
 /**
  * An example of the simplest possible driver that can support multiple heads. This driver maintains
@@ -56,12 +50,31 @@ public class NullDriver extends AbstractDriver implements ReferenceDriver {
     @Attribute(required = false)
     private double feedRateMmPerMinute = 5000;
 
+    /**
+     * The simulated non-squareness is applied to what the simulated cameras see.
+     * Works on ImageCamera and SimulatedUpCamera
+     */
+    @Attribute(required = false)
+    private double simulatedNonSquarenessFactor;
+
+    /**
+     * The simulated home offsets are applied to what the simulated cameras see.
+     * This works like G92.
+     * Works on ImageCamera and SimulatedUpCamera
+     */
+    @Element(required = false)
+    private Location homingOffsets = new Location(LengthUnit.Millimeters);
+
+    @Element(required = false)
+    private Location simulatedRunout = new Location(LengthUnit.Millimeters, 0.1, 0.02, 0, 0);
+
     private boolean enabled;
 
     @Override
     public void home(ReferenceMachine machine, MappedAxes mappedAxes) throws Exception {
         Logger.debug("home()");
         checkEnabled();
+        homingOffsets = new Location(LengthUnit.Millimeters);
         mappedAxes.setLocation(new AxesLocation());
     }
 
@@ -70,6 +83,17 @@ public void home(ReferenceMachine machine, MappedAxes mappedAxes) throws Excepti
     public void resetLocation(ReferenceMachine machine, MappedAxes mappedAxes, AxesLocation location)
             throws Exception {
         Logger.debug("resetLocation("+location+")");
+        AxesLocation offsets = location.subtract(mappedAxes.getLocation());
+        double x = 0, y = 0;
+        for (ControllerAxis axis : mappedAxes.getAxes()) {
+            if (axis.getType() == Axis.Type.X) {
+                x = offsets.getCoordinate(axis) + homingOffsets.getX();
+            }
+            else if (axis.getType() == Axis.Type.Y) {
+                y = offsets.getCoordinate(axis) + homingOffsets.getY();
+            }
+        }
+        homingOffsets = new Location(AxesLocation.getUnits(), x, y, 0, 0);
         mappedAxes.setLocation(location);
     }
 
@@ -108,7 +132,7 @@ public void moveTo(ReferenceHeadMountable hm, MappedAxes mappedAxes, AxesLocatio
      */
     protected void simulateMovement(ReferenceHeadMountable hm, MappedAxes mappedAxes, AxesLocation location, AxesLocation hl,
             double speed) throws Exception {
-        AxesLocation delta = hl.subtract(location);
+        AxesLocation delta = location.subtract(hl);
         double distanceLinear = delta.distanceLinear();
         double distanceRotational = delta.distanceRotational();
         double timeLinear = distanceLinear / (feedRateMmPerMinute/60.0 * speed);
@@ -119,15 +143,15 @@ protected void simulateMovement(ReferenceHeadMountable hm, MappedAxes mappedAxes
         double dt;
         do {
             double t = (System.currentTimeMillis() - t0)*0.001;
-            dt = Math.min(1.0, (t-t0)/time);
+            dt = Math.min(1.0, t/time);
             AxesLocation l = hl.add(delta.multiply(dt));
             mappedAxes.setLocation(l);
 
             // Provide live updates to the Machine as the move progresses.
             ((ReferenceMachine) Configuration.get().getMachine())
                     .fireMachineHeadActivity(hm.getHead());
             try {
-                Thread.sleep(100);
+                Thread.sleep(1);
             }
             catch (Exception e) {
 
@@ -199,4 +223,60 @@ public void migrateDriver(ReferenceMachine machine) throws Exception {
         machine.addDriver(this);
         createAxisMappingDefaults(machine); 
     }
+
+
+    public double getSimulatedNonSquarenessFactor() {
+        return simulatedNonSquarenessFactor;
+    }
+
+
+    public void setSimulatedNonSquarenessFactor(double simulatedNonSquarenessFactor) {
+        this.simulatedNonSquarenessFactor = simulatedNonSquarenessFactor;
+    }
+
+    public Location getHomingOffsets() {
+        return homingOffsets;
+    }
+
+    public void setHomingOffsets(Location homingOffsets) {
+        this.homingOffsets = homingOffsets;
+    }
+
+    public Location getSimulatedRunout() {
+        return simulatedRunout;
+    }
+
+
+    public void setSimulatedRunout(Location simulatedRunout) {
+        this.simulatedRunout = simulatedRunout;
+    }
+
+
+    /**
+     * Simulates imperfection in a NullDriver. If any other driver is configured this remains ineffective. 
+     * 
+     * @param location The perfect location to be made imperfect.
+     * @param looking 
+     * @return The imperfect location adjusted for non-squareness compensation and a visual homing offset.
+     */
+    public static Location simulateImperfectLocation(Location location, Looking looking) {
+        ReferenceMachine machine = (ReferenceMachine) Configuration.get()
+                .getMachine();
+        if (machine.getDefaultDriver() instanceof NullDriver) {
+            NullDriver driver =  (NullDriver) machine.getDefaultDriver();
+            double simulatedNonSquarenessFactor = driver.getSimulatedNonSquarenessFactor();
+            Location homeOffset = driver.getHomingOffsets();
+            if (looking == Looking.Down) {
+                location = location.subtract(homeOffset);
+            }
+            else if (looking == Looking.Up) {
+                location = location.add(homeOffset);
+                location = location.add(driver.getSimulatedRunout().rotateXy(location.getRotation())); 
+            }
+            location = location.add(new Location(LengthUnit.Millimeters, 
+                    simulatedNonSquarenessFactor*location.getY(), 
+                    0, 0, 0));
+        }
+        return location;
+    }
 }

src/main/java/org/openpnp/machine/reference/wizards/ReferenceHeadConfigurationWizard.java

@@ -130,18 +130,13 @@ private void createUi() {
         visualHomingMethod = new JComboBox(VisualHomingMethod.values());
         visualHomingMethod.addItemListener(new ItemListener() {
             public void itemStateChanged(ItemEvent e) {
-                boolean homingCapture = (visualHomingMethod.getSelectedItem() == VisualHomingMethod.ResetToFiducialLocation);
-                boolean homingFiducial = (visualHomingMethod.getSelectedItem() != VisualHomingMethod.None);
-                captureHomeCoordinatesAction.setEnabled(homingCapture);
-                positionHomeCoordinatesAction.setEnabled(homingCapture);
-                homingFiducialX.setEnabled(homingFiducial);
-                homingFiducialY.setEnabled(homingFiducial);
+                adaptDialog();
             }
         });
         panel.add(visualHomingMethod, "4, 6, 3, 1, fill, default");
 
-        JLabel lblWarningChangingThese = new JLabel("<html>Warning: changing the above settings or physically moving the <br/>\r\nhoming fiducial might break all your captured locations on the machine!<br/>\r\n&nbsp;</html>");
-        lblWarningChangingThese.setForeground(Color.RED);
+        JLabel lblWarningChangingThese = new JLabel("<html><p>\r\n<strong>Important Notice</strong>: the homing fiducial should be mounted \r\nand configured early in the build process, before you start capturing a large number of\r\nlocations for the Machine Setup (nozzle tip changer, feeders etc.) \r\n</p>\r\n<p style=\"color:red\">Each time the above settings are changed or the fiducial physically moved, all the already captured locations in the Machine Setup will be broken. </p></html>");
+        lblWarningChangingThese.setForeground(Color.BLACK);
         panel.add(lblWarningChangingThese, "4, 8, 7, 1");
 
         JLabel lblParkLocation = new JLabel("Park Location");
@@ -317,7 +312,17 @@ public void createBindings() {
         ComponentDecorators.decorateWithAutoSelectAndLengthConversion(minY);
         ComponentDecorators.decorateWithAutoSelectAndLengthConversion(maxX);
         ComponentDecorators.decorateWithAutoSelectAndLengthConversion(maxY);
-
+
+        adaptDialog();
+    }
+
+    protected void adaptDialog() {
+        boolean homingCapture = (visualHomingMethod.getSelectedItem() == VisualHomingMethod.ResetToFiducialLocation);
+        boolean homingFiducial = (visualHomingMethod.getSelectedItem() != VisualHomingMethod.None);
+        captureHomeCoordinatesAction.setEnabled(homingCapture);
+        positionHomeCoordinatesAction.setEnabled(homingCapture);
+        homingFiducialX.setEnabled(homingFiducial);
+        homingFiducialY.setEnabled(homingFiducial);
     }
 
     private static Location getParsedLocation(JTextField textFieldX, JTextField textFieldY) {

src/main/java/org/openpnp/spi/base/AbstractHead.java

@@ -79,7 +79,7 @@ public enum VisualHomingMethod {
     private VisualHomingMethod visualHomingMethod = VisualHomingMethod.None;
 
     @Element(required = false)
-    protected Location homingFiducialLocation;
+    protected Location homingFiducialLocation = new Location(LengthUnit.Millimeters);
 
 
     protected Machine machine;