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Feature / Global Axes and Framework for Enhanced Motion Control (open…
…pnp#1035) * First implementation round. GCodeDriver Axis management is still redundantly in there. * Reworked Drivers to flat list. * Machine Setup Panel Tabs per class restoring and out of bounds bugfix. * Work in progress, backup commit. * Add * Axes and Transformations' Wizards implemented. Reorganized into own axis package. Wrestle with WindowBuilder. * First time tests run successful. GcodeDriver still partially running on its own (redundant) Axis mapping. * Testing and refining migration with examples. * Resolved openpnp#998 merging issues. * Cosmetics. * Created new AxesLocation for Controller side. Reworked all Transformations. * Made tests run with AxesLocation. * Testing: First steps towards "simulated imperfection". * Tested using NullDriver. * Added simulated Homing Error corrected by Visual Homing * Added simulated non-squareness corrected by Linear Axis Non-Squareness Transformation * Added simulated vibration to test Camera Settle * Added simulated camera noise to test Camera Settle * Added simulated nozzle runout to test Runout Compensation No Unit yet. * Restrict image transfer to the area of the source image, to fix some wrapping-around when going beyond the image margin. * Backup commit. * Factored OpenCvUtils.createFootprintTemplate() out for use outside of stages. * SimulationModeMachine can now check pick and place Locations by inspecting the ImageCamera view at the location. * Sub-pixel rendering etc. * Refined the NullMotionPlanner and various stuff. * Fix the camera view rotation jog to work with and respect mapped axes. * MotionPlanner first implementation. Before MappedAxes refactoring. * Reworked: no MappedAxes. Axis limits. Rotation wrap-around. * Added solver. * Better description and simpler formula. Getting the hang of this. * More cosmetics * Backup commit. * Backup commit. * Added motion solver test. Does not work (yet). * Backup commit * Backup commit before solver remove. * Removed tnc solver. Almost completed profile solver cases. * Backup commit * Changed profile solver to rudimentary secant method. * Solver seems to work now. * Backup commit * New region solver. * Tests augmented. * Before reworking path solver. * Backup before reworking path solving/half sided profiles. * Finish without trying to implement advanced motion planning. Cleanup and better comments. * Better comments. * Removed unnecessary (whitespace) changes etc. Better comments. * Self code review bugfixes. * Constant acceleration profiles. Optionally test an imperfect machine in the SampleJobTest. * Simplify Motion and MotionOption. Implement analytical constant acceleration profile solving for symmetric cases. Lots of cosmetics. * Testing on the machine with GcodeDriver: refinements and bugfixes. * Test bugfix.
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93 changes: 93 additions & 0 deletions
93
src/main/java/org/openpnp/gui/support/AxesComboBoxModel.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| /* | ||
| * Copyright (C) 2020 <mark@makr.zone> | ||
| * inspired and based on work | ||
| * Copyright (C) 2011 Jason von Nieda <jason@vonnieda.org> | ||
| * | ||
| * This file is part of OpenPnP. | ||
| * | ||
| * OpenPnP is free software: you can redistribute it and/or modify it under the terms of the GNU | ||
| * General Public License as published by the Free Software Foundation, either version 3 of the | ||
| * License, or (at your option) any later version. | ||
| * | ||
| * OpenPnP is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even | ||
| * the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| * Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License along with OpenPnP. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| * | ||
| * For more information about OpenPnP visit http://openpnp.org | ||
| */ | ||
|
|
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| package org.openpnp.gui.support; | ||
|
|
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| import java.beans.PropertyChangeEvent; | ||
| import java.beans.PropertyChangeListener; | ||
| import java.util.ArrayList; | ||
| import java.util.Collections; | ||
| import java.util.Comparator; | ||
|
|
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| import javax.swing.DefaultComboBoxModel; | ||
|
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| import org.openpnp.model.Configuration; | ||
| import org.openpnp.spi.Axis; | ||
| import org.openpnp.spi.base.AbstractMachine; | ||
|
|
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| @SuppressWarnings({"serial", "rawtypes"}) | ||
| public class AxesComboBoxModel extends DefaultComboBoxModel implements PropertyChangeListener { | ||
| private Comparator<Axis> comparator = new Comparator<Axis>() { | ||
| @Override | ||
| public int compare(Axis o1, Axis o2) { | ||
| return o1.getName().compareTo(o2.getName()); | ||
| } | ||
| }; | ||
| final private boolean addEmpty; | ||
| final private Class<? extends Axis> types; | ||
| final private AbstractMachine machine; | ||
| private Axis.Type axisType; | ||
|
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| public AxesComboBoxModel(AbstractMachine machine, Class<? extends Axis> types, Axis.Type axisType, boolean addEmpty) { | ||
| this.machine = machine; | ||
| this.addEmpty = addEmpty; | ||
| this.types = types; | ||
| this.axisType = axisType; | ||
| if (machine != null) { // we're not in Window Builder Design Mode | ||
| addAllElements(); | ||
| machine.addPropertyChangeListener("axes", this); | ||
| } | ||
| } | ||
|
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| private void addAllElements() { | ||
| if (machine != null) { // we're not in Window Builder Design Mode | ||
| ArrayList<Axis> axes = null; | ||
| axes = new ArrayList<>(machine.getAxes()); | ||
| Collections.sort(axes, comparator); | ||
| for (Axis axis : axes) { | ||
| if (types.isInstance(axis)) { | ||
| if (axisType == null || axisType == axis.getType()) { | ||
| addElement(axis.getName()); | ||
| } | ||
| } | ||
| } | ||
| if (addEmpty) { | ||
| addElement(new String()); | ||
| } | ||
| } | ||
| } | ||
|
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| public Axis.Type getAxisType() { | ||
| return axisType; | ||
| } | ||
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| public void setAxisType(Axis.Type axisType) { | ||
| this.axisType = axisType; | ||
| removeAllElements(); | ||
| addAllElements(); | ||
| } | ||
|
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| @Override | ||
| public void propertyChange(PropertyChangeEvent evt) { | ||
| removeAllElements(); | ||
| addAllElements(); | ||
| } | ||
| } |
63 changes: 63 additions & 0 deletions
63
src/main/java/org/openpnp/gui/support/DriversComboBoxModel.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| /* | ||
| * Copyright (C) 2020 <mark@makr.zone> | ||
| * inspired and based on work | ||
| * Copyright (C) 2011 Jason von Nieda <jason@vonnieda.org> | ||
| * | ||
| * This file is part of OpenPnP. | ||
| * | ||
| * OpenPnP is free software: you can redistribute it and/or modify it under the terms of the GNU | ||
| * General Public License as published by the Free Software Foundation, either version 3 of the | ||
| * License, or (at your option) any later version. | ||
| * | ||
| * OpenPnP is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even | ||
| * the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| * Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License along with OpenPnP. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| * | ||
| * For more information about OpenPnP visit http://openpnp.org | ||
| */ | ||
|
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| package org.openpnp.gui.support; | ||
|
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| import java.beans.PropertyChangeEvent; | ||
| import java.beans.PropertyChangeListener; | ||
|
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| import javax.swing.DefaultComboBoxModel; | ||
|
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| import org.openpnp.spi.Driver; | ||
| import org.openpnp.spi.base.AbstractMachine; | ||
|
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| @SuppressWarnings({"serial", "rawtypes"}) | ||
| public class DriversComboBoxModel extends DefaultComboBoxModel implements PropertyChangeListener { | ||
| final private AbstractMachine machine; | ||
| final private boolean addEmpty; | ||
|
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| public DriversComboBoxModel(AbstractMachine machine, boolean addEmpty) { | ||
| this.machine = machine; | ||
| this.addEmpty = addEmpty; | ||
| addAllElements(); | ||
| if (machine != null) { // we're not in Window Builder Design Mode | ||
| this.machine.addPropertyChangeListener("drivers", this); | ||
| } | ||
| } | ||
|
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| private void addAllElements() { | ||
| if (machine == null) { | ||
| return;// we're in Window Builder Design Mode | ||
| } | ||
| for (Driver driver : machine.getDrivers()) { | ||
| addElement(driver.getName()); | ||
| } | ||
| if (addEmpty) { | ||
| addElement(new String()); | ||
| } | ||
| } | ||
|
|
||
| @Override | ||
| public void propertyChange(PropertyChangeEvent evt) { | ||
| removeAllElements(); | ||
| addAllElements(); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| /* | ||
| * Copyright (C) 2019 <mark@makr.zone> | ||
| * | ||
| * This file is part of OpenPnP. | ||
| * | ||
| * OpenPnP is free software: you can redistribute it and/or modify it under the terms of the GNU | ||
| * General Public License as published by the Free Software Foundation, either version 3 of the | ||
| * License, or (at your option) any later version. | ||
| * | ||
| * OpenPnP is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even | ||
| * the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| * Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License along with OpenPnP. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| * | ||
| * For more information about OpenPnP visit http://openpnp.org | ||
| */ | ||
|
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| package org.openpnp.gui.support; | ||
|
|
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| import java.util.List; | ||
|
|
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| import org.jdesktop.beansbinding.Converter; | ||
| import org.openpnp.model.Named; | ||
|
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| public class NamedConverter<NamedType extends Named> extends Converter<NamedType, String> { | ||
| final List<NamedType> pool; | ||
|
|
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| public NamedConverter(List<NamedType> pool) { | ||
| super(); | ||
| this.pool = pool; | ||
| } | ||
|
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| @Override | ||
| public String convertForward(NamedType named) { | ||
| if (named == null) { | ||
| return ""; | ||
| } | ||
| else { | ||
| return named.getName(); | ||
| } | ||
| } | ||
|
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| @Override | ||
| public NamedType convertReverse(String s) { | ||
| for (NamedType named : pool) { | ||
| if (named.getName().equals(s)) { | ||
| return named; | ||
| } | ||
| } | ||
| return null; | ||
| } | ||
| } |
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