HTTP_ADDR = '0.0.0.0'
import os
-from tornado import web, ioloop
+from tornado import web, ioloop, escape
from sockjs.tornado import SockJSRouter, SockJSConnection
import json
import serial
import multiprocessing
import time
+import select
import inevent
from inevent.Constants import *
"verbose": False
}
+
+with open('http/config-template.json', 'r') as f:
+ config_template = json.load(f)
+
+
state = {}
clients = []
output_queue = multiprocessing.Queue()
+def encode_cmd(index, value, spec):
+ if spec['type'] == 'enum': value = spec['values'].index(value)
+ elif spec['type'] == 'bool': value = 1 if value else 0
+ elif spec['type'] == 'percent': value /= 100.0
+
+ cmd = '${}{}={}'.format(index, spec['code'], value)
+ input_queue.put(cmd + '\n')
+ #print(cmd)
+
+
+def encode_config_category(index, config, category):
+ for key, spec in category.items():
+ if key in config:
+ encode_cmd(index, config[key], spec)
+
+
+def encode_config(index, config, tmpl):
+ for category in tmpl.values():
+ encode_config_category(index, config, category)
+
+
+def update_config(config):
+ # Motors
+ tmpl = config_template['motors']
+ for index in range(len(config['motors'])):
+ encode_config(index + 1, config['motors'][index], tmpl)
+
+ # Axes
+ tmpl = config_template['axes']
+ axes = 'xyzabc'
+ for axis in axes:
+ if not axis in config['axes']: continue
+ encode_config(axis, config['axes'][axis], tmpl)
+
+ # Switches
+ tmpl = config_template['switches']
+ for index in range(len(config['switches'])):
+ encode_config_category(index + 1, config['switches'][index], tmpl)
+
+ # Spindle
+ tmpl = config_template['spindle']
+ encode_config_category('', config['spindle'], tmpl)
+
+
+
+class APIHandler(web.RequestHandler):
+ def prepare(self):
+ self.json = {}
+
+ if self.request.body:
+ try:
+ self.json = escape.json_decode(self.request.body)
+ except ValueError:
+ self.send_error(400, message = 'Unable to parse JSON.')
+
+
+ def set_default_headers(self):
+ self.set_header('Content-Type', 'application/json')
+
+
+ def write_error(self, status_code, **kwargs):
+ e = {}
+ e['message'] = str(kwargs['exc_info'][1])
+ e['code'] = status_code
+
+ self.write_json(e)
+
+
+ def write_json(self, data):
+ self.write(json.dumps(data))
+
+
+class LoadHandler(APIHandler):
+ def send_file(self, path):
+ with open(path, 'r') as f:
+ self.write_json(json.load(f))
+
+ def get(self):
+ try:
+ self.send_file('config.json')
+ except Exception as e:
+ print(e)
+ self.send_file('http/default-config.json')
+
+
+class SaveHandler(APIHandler):
+ def post(self):
+ with open('config.json', 'w') as f:
+ json.dump(self.json, f)
+
+ update_config(self.json)
+ print('Saved config')
+ self.write_json('ok')
+
+
+
class SerialProcess(multiprocessing.Process):
def __init__(self, input_queue, output_queue):
multiprocessing.Process.__init__(self)
self.sp.flushInput()
while True:
+ fds = [self.input_queue._reader.fileno(), self.sp]
+ ready = select.select(fds, [], [], 0.25)[0]
+
# look for incoming tornado request
if not self.input_queue.empty():
data = self.input_queue.get()
self.writeSerial(data)
# look for incoming serial data
- if (self.sp.inWaiting() > 0):
+ if self.sp.inWaiting() > 0:
data = self.readSerial()
# send it back to tornado
self.output_queue.put(data)
-# check the queue for pending messages, and rely that to all connected clients
+# check the queue for pending messages, and relay them to all connected clients
def checkQueue():
while not output_queue.empty():
try:
handlers = [
+ (r'/api/load', LoadHandler),
+ (r'/api/save', SaveHandler),
(r'/(.*)', web.StaticFileHandler,
{'path': os.path.join(DIR, 'http/'),
"default_filename": "index.html"}),
def __iter__(self):
- """
+ """s
Required to make this class an iterator
"""
return self
title Buildbotics Controller - Web interface
- link(rel="stylesheet",
- href="http://yui.yahooapis.com/pure/0.6.0/pure-min.css")
+ link(rel="stylesheet", href="/css/pure-min.css")
//if lte IE 8
link(rel="stylesheet", href="css/side-menu-old-ie.css")
// [if gt IE 8] <!
- var faURL = "//maxcdn.bootstrapcdn.com/font-awesome"
link(rel="stylesheet" href=faURL + "/4.5.0/css/font-awesome.min.css")
- link(href='//fonts.googleapis.com/css?family=Audiowide' rel='stylesheet'
- type='text/css')
- link(rel='stylesheet' href='//yui.yahooapis.com/pure/0.6.0/pure-min.css')
+ link(href="//fonts.googleapis.com/css?family=Audiowide" rel="stylesheet"
+ type="text/css")
- link(rel='stylesheet' href='/css/style-' + css_hash + '.css')
+ link(rel="stylesheet" href="/css/style-" + css_hash + ".css")
- body
+ body(v-cloak)
#layout
a#menuLink.menu-link(href="#menu"): span
script(src="//code.jquery.com/jquery-1.11.3.min.js")
script(src="//cdn.jsdelivr.net/vue/1.0.17/vue.js")
script(src="js/sockjs.min.js")
- script(src="js/gauge.min.js")
- script(src="js/fd-slider.min.js")
script(src='/js/assets-' + js_hash + '.js')
script#admin-view-template(type="text/x-template")
- button.pure-button.pure-button-primary(@click="backup") Backup configuration
- button.pure-button.pure-button-primary(@click="restore") Restore configuration
- button.pure-button.pure-button-primary(@click="upgrade") Upgrade firmware
+ h2 Backup configuration
+ button.pure-button.pure-button-primary(@click="backup") Backup
+
+ h2 Restore configuration
+ button.pure-button.pure-button-primary(@click="restore") Restore
+
+ h2 Reset to default configuration
+ button.pure-button.pure-button-primary(@click="reset") Reset
+
+ h2 Check for new firmware
+ button.pure-button.pure-button-primary(@click="check") Check
+
+ h2 Upgrade firmware
+ button.pure-button.pure-button-primary(@click="upgrade") Upgrade
script#status-view-template(type="text/x-template")
- table
+ h2 Jog
+ table.jog
tr
- td
- td: button(@click="jog('y', 1)") Y+
- td
- td: button(@click="jog('z', 1)") Z+
- td: button(@click="jog('a', 1)") A+
+ td: button.pure-button(@click="jog('x', 1)") X+
+ td: button.pure-button(@click="jog('y', 1)") Y+
+ td: button.pure-button(@click="jog('z', 1)") Z+
+ td: button.pure-button(@click="jog('a', 1)") A+
tr
- td: button(@click="jog('x', -1)") -X
- td
- td: button(@click="jog('x', 1)") X+
- tr
- td
- td: button(@click="jog('y', -1)") -Y
- td
- td: button(@click="jog('z', -1)") Z-
- td: button(@click="jog('a', -1)") A-
+ td: button.pure-button(@click="jog('x', -1)") X-
+ td: button.pure-button(@click="jog('y', -1)") Y-
+ td: button.pure-button(@click="jog('z', -1)") Z-
+ td: button.pure-button(@click="jog('a', -1)") A-
- h2 Velocity {{state.vel}}
+ h2 Velocity {{state.v}}
h2 Step {{step}}
table.axes
tr
th Axis
th Position
- th Step
th Flags
- th Current
th StallGuard
each axis in ['x', 'y', 'z']
tr.axis
th.name #{axis}
- td {{state.pos#{axis}}}
- td {{state.dstep#{axis}}}
- td {{state.dflags#{axis}}}
- td
- | {{state.dcur#{axis} | percent}}
- gauge(:value="state.dcur#{axis} * 32", :min="1", :max="32")
- input(type="range" min=1 max=32 v-model="current#{axis}")
- td
- gauge(:value="state.sguard#{axis}", :min="0", :max="511")
+ td {{state.#{axis}p}}
+ td {{state.#{axis}sf}}
+ td {{state.#{axis}sgv}}
.pure-control-group(:class="name")
label(:for="name") {{name}}
- select(v-if="template.type == 'enum'", v-model="model",
+ select(v-if="template.type == 'enum' || template.values", v-model="model",
:id="name", @change="change")
option(v-for="opt in template.values", :value="opt") {{opt}}
v-model="model", :id="name", @change="change")
input(v-if="template.type == 'float'", v-model="model", number,
- :min="template.min", :max="template.max", step="any", type="number",
- :id="name", @change="change")
+ :min="template.min", :max="template.max", :step="template.step || 'any'",
+ type="number", :id="name", @change="change")
- input(v-if="template.type == 'int'", v-model="model", number,
- :min="template.min", :max="template.max", type="number",
- :id="name", @change="change")
+ input(v-if="template.type == 'int' && !template.values", v-model="model",
+ number, :min="template.min", :max="template.max", type="number",
+ :id="name", @change="change")
input(v-if="template.type == 'string'", v-model="model",
type="text", :id="name", @change="change")
textarea(v-if="template.type == 'text'", v-model="model",
:id="name", @change="change")
+ span.range(v-if="template.type == 'percent'")
+ input(type="range", v-model="model", :id="name", number, min="0",
+ max="100", step="1", @change="change")
+ | {{model}}
+
label.units {{template.unit}}
methods: {
backup: function () {
+ alert('Not yet implemented');
},
restore: function () {
+ alert('Not yet implemented');
+ },
+
+
+ reset: function () {
+ alert('Not yet implemented');
+ },
+
+
+ check: function () {
+ alert('Not yet implemented');
+ },
+
+
+ upgrade: function () {
+ alert('Not yet implemented');
}
}
}
--- /dev/null
+'use strict'
+
+
+function api_cb(method, url, data, config) {
+ config = $.extend({
+ type: method,
+ url: '/api/' + url,
+ dataType: 'json'
+ }, config);
+
+ if (typeof data == 'object') {
+ config.data = JSON.stringify(data);
+ config.contentType = 'application/json; charset=utf-8';
+ }
+
+ var d = $.Deferred();
+
+ $.ajax(config).success(function (data, status, xhr) {
+ d.resolve(data, status, xhr);
+
+ }).error(function (xhr, status, error) {
+ var text = xhr.responseText;
+ try {text = $.parseJSON(xhr.responseText)} catch(e) {}
+ d.reject(text, xhr, status, error);
+ console.debug('API Error: ' + url + ': ' + text);
+ })
+
+ return d.promise();
+}
+
+
+module.exports = {
+ get: function (url, config) {
+ return api_cb('GET', url, undefined, config);
+ },
+
+
+ put: function(url, data, config) {
+ return api_cb('PUT', url, data, config);
+ },
+
+
+ post: function(url, data, config) {
+ return api_cb('POST', url, data, config);
+ },
+
+
+ 'delete': function (url, config) {
+ return api_cb('DELETE', url, undefined, config);
+ }
+}
'use strict'
+var api = require('./api');
+
module.exports = new Vue({
el: 'body',
$.get('/config-template.json').success(function (data, status, xhr) {
this.template = data;
- $.get('/default-config.json').success(function (data, status, xhr) {
+ api.get('load').done(function (data) {
this.config = data;
this.parse_hash();
methods: {
parse_hash: function () {
var hash = location.hash.substr(1);
+
+ if (!hash.trim().length) {
+ location.hash = 'status';
+ return;
+ }
+
var parts = hash.split(':');
if (parts.length == 2) this.index = parts[1];
save: function () {
- this.modified = false;
+ api.post('save', this.config).done(function (data) {
+ this.modified = false;
+ }.bind(this)).fail(function (xhr, status) {
+ alert('Save failed: ' + status + ': ' + xhr.responseText);
+ });
}
}
})
return {
axes: 'xyza',
state: {
- dcurx: 1, dcury: 1, dcurz: 1, dcura: 1
- //sguardx: 1, sguardy: 1, sguardz: 1, sguarda: 1
+ xpl: 1, ypl: 1, zpl: 1, apl: 1
},
step: 10
}
},
- components: {
- gauge: require('./gauge')
- },
-
-
- watch: {
- currentx: function (value) {this.current('x', value);},
- currenty: function (value) {this.current('y', value);},
- currentz: function (value) {this.current('z', value);},
- currenta: function (value) {this.current('a', value);}
- },
-
-
ready: function () {
this.sock = new SockJS('//' + window.location.host + '/ws');
this.$set('state.' + key, data[key]);
for (var axis of ['x', 'y', 'z', 'a'])
- if (key == 'dcur' + axis &&
+ if (key == axis + 'pl' &&
typeof this.$get('current' + axis) == 'undefined')
this.$set('current' + axis, (32 * data[key]).toFixed());
}
jog: function (axis, dir) {
- var pos = this.state['pos' + axis] + dir * this.step;
- this.sock.send('g0' + axis + pos);
+ this.sock.send('g91 g0' + axis + (dir * this.step));
},
current: function (axis, value) {
var x = value / 32.0;
- if (this.state['dcur' + axis] == x) return;
+ if (this.state[axis + 'pl'] == x) return;
var data = {};
- data['dcur' + axis] = x;
+ data[axis + 'pl'] = x;
this.send(data);
}
},
{
+ "motors": {
+ "general": {
+ "motor-map": {
+ "type": "enum",
+ "values": ["x", "y", "z", "a", "b", "c"],
+ "default": "x",
+ "code": "ma"
+ },
+ "step-angle": {
+ "type": "float",
+ "min": 0,
+ "max": 360,
+ "step": 0.1,
+ "unit": "degrees",
+ "default": 1.8,
+ "code": "sa"
+ },
+ "travel-per-rev": {
+ "type": "float",
+ "unit": "mm",
+ "default": 3.175,
+ "code": "tr"
+ },
+ "microsteps": {
+ "type": "int",
+ "values": [1, 2, 4, 8, 16, 32, 64, 128, 256],
+ "unit": "per full step",
+ "default": 16,
+ "code": "mi"
+ },
+ "polarity": {
+ "type": "enum",
+ "values": ["normal", "reversed"],
+ "default": "normal",
+ "code": "po"
+ }
+ },
+
+ "power": {
+ "power-mode": {
+ "type": "enum",
+ "values": ["disabled", "always-on", "in-cycle", "when-moving"],
+ "default": "in-cycle",
+ "code": "pm"
+ },
+ "power-level": {
+ "type": "percent",
+ "unit": "%",
+ "default": 80,
+ "code": "pl"
+ },
+ "stallguard": {
+ "type": "percent",
+ "unit": "%",
+ "default": 70,
+ "code": "sg"
+ }
+ }
+ },
+
"axes": {
"motion": {
"mode": {
"type": "enum",
- "values": ["standard", "radius", "disabled"],
- "default": "disabled"
+ "values": ["disabled", "standard", "inhibited", "radius"],
+ "default": "disabled",
+ "code": "am"
},
"max-velocity": {
"type": "float",
"min": 0,
"unit": "mm/min",
- "default": 16000
+ "default": 16000,
+ "code": "vm"
},
"max-feedrate": {
"type": "float",
"min": 0, "unit":
"mm/min",
- "default": 16000
+ "default": 16000,
+ "code": "fr"
},
"max-jerk": {
"type": "float",
"min": 0,
- "unit": "km/min^3",
- "default": 20
+ "unit": "mm/min³",
+ "default": 20,
+ "code": "jm"
},
"junction-deviation": {
"type": "float",
"min": 0,
"unit": "mm",
- "default": 0.05
+ "default": 0.05,
+ "code": "jd"
}
},
"min-soft-limit": {
"type": "float",
"unit": "mm",
- "default": 0
+ "default": 0,
+ "code": "tn"
},
"max-soft-limit": {
"type": "float",
"unit": "mm",
- "default": 150
+ "default": 150,
+ "code": "tm"
},
"min-switch": {
"type": "int",
"unit": "id",
"min": 0,
"max": 8,
- "default": 0
+ "default": 0,
+ "code": "sn"
},
"max-switch": {
"type": "int",
"unit": "id",
"min": 0,
"max": 8,
- "default": 0
+ "default": 0,
+ "code": "sx"
}
},
"max-homing-jerk": {
"type": "float",
"min": 0,
- "unit": "km/min^3",
- "default": 40
+ "unit": "mm/min³",
+ "default": 40,
+ "code": "jh"
},
"search-velocity": {
"type": "float",
"min": 0,
"unit": "mm/min",
- "default": 500
+ "default": 500,
+ "code": "sv"
},
"latch-velocity": {
"type": "float",
"min": 0,
"unit": "mm/min",
- "default": 100
+ "default": 100,
+ "code": "lv"
},
"latch-backoff": {
"type": "float",
"min": 0,
"unit": "mm",
- "default": 5
+ "default": 5,
+ "code": "lb"
},
"zero-backoff": {
"type": "float",
"min": 0,
"unit": "mm",
- "default": 1
- }
- }
- },
-
- "motors": {
- "general": {
- "axis-mapping": {
- "type": "enum",
- "values": ["x", "y", "z", "a", "b", "c"],
- "default": "x"
- },
- "step-angle": {
- "type": "float",
- "unit": "degrees",
- "default": 1.8
- },
- "travel-per-rev": {
- "type": "float",
- "unit": "mm",
- "default": 3.175
- },
- "microsteps": {
- "type": "int",
- "values": [1, 2, 4, 8, 16, 32, 64, 128, 256],
- "unit": "per full step",
- "default": 16
- },
- "polarity": {
- "type": "enum",
- "values": ["normal", "reversed"],
- "default": "normal"
- }
- },
-
- "power": {
- "power-mode": {
- "type": "enum",
- "values": ["always-on", "in-cycle", "when-moving"],
- "default": "in-cycle"
- },
- "power-level": {
- "type": "float",
- "min": 0,
- "max": 100,
- "unit": "%",
- "default": 80
- },
- "stall-guard": {
- "type": "float",
- "min": 0,
- "max": 100,
- "unit": "%",
- "default": 70
- },
- "cool-step": {
- "type": "bool",
- "default": true
+ "default": 1,
+ "code": "zb"
}
}
},
"spindle": {
- "max-speed": {
+ "spindle-type": {
+ "type": "enum",
+ "values": ["RS485", "PWM"],
+ "default": "RS485",
+ "code": "st"
+ },
+ "spin-polarity": {
+ "type": "enum",
+ "values": ["normal", "reversed"],
+ "default": "normal",
+ "code": "sp"
+ },
+ "max-spin": {
"type": "float",
"unit": "RPM",
"min": 0,
- "default": 10000
- },
- "type": {
- "type": "enum",
- "values": ["RS485", "PWM"],
- "default": "RS485"
+ "default": 10000,
+ "code": "ss"
},
- "min-pulse-width": {
+ "spin-min-pulse": {
"type": "float",
"unit": "ms",
- "default": 20
+ "default": 20,
+ "code": "np"
},
- "max-pulse-width": {
+ "spin-max-pulse": {
"type": "float",
"unit": "ms",
- "default": 100
+ "default": 100,
+ "code": "mp"
},
- "polarity": {
- "type": "enum",
- "values": ["normal", "reversed"],
- "default": "normal"
- },
- "ramp-up-velocity": {
+ "spin-up-velocity": {
"type": "float",
- "unit": "rev/min^2",
+ "unit": "rev/min²",
"min": 0,
- "default": 48000
+ "default": 48000,
+ "code": "su"
},
- "ramp-down-velocity": {
+ "spin-down-velocity": {
"type": "float",
- "unit": "rev/min^2",
+ "unit": "rev/min²",
"min": 0,
- "default": 48000
+ "default": 48000,
+ "code": "sd"
}
},
"type": {
"type": "enum",
"values": ["normally-open", "normally-closed"],
- "default": "normally-closed"
+ "default": "normally-closed",
+ "code": "sw"
}
},
"gcode": {
- "preamble": {"type": "text"},
- "tool-change": {"type": "text"},
- "epilogue": {"type": "text"}
+ "preamble": {
+ "type": "text",
+ "default": "G21 (Operate in millimeters)\nG90 (Absolute distance mode)\nG17 (Select XY plane)\nG40 (Radius compensation off)\nG49 (Tool length compensation off)\nG61 (Exact path mode)\n"
+ },
+ "tool-change": {
+ "type": "text",
+ "default": "M6 (Tool change)\n"
+ },
+ "epilogue": {
+ "type": "text",
+ "default": "M2 (End program)\n"
+ }
}
}
--- /dev/null
+/*!
+Pure v0.6.0
+Copyright 2014 Yahoo! Inc. All rights reserved.
+Licensed under the BSD License.
+https://github.com/yahoo/pure/blob/master/LICENSE.md
+*/
+/*!
+normalize.css v^3.0 | MIT License | git.io/normalize
+Copyright (c) Nicolas Gallagher and Jonathan Neal
+*/
+/*! normalize.css v3.0.2 | MIT License | git.io/normalize */html{font-family:sans-serif;-ms-text-size-adjust:100%;-webkit-text-size-adjust:100%}body{margin:0}article,aside,details,figcaption,figure,footer,header,hgroup,main,menu,nav,section,summary{display:block}audio,canvas,progress,video{display:inline-block;vertical-align:baseline}audio:not([controls]){display:none;height:0}[hidden],template{display:none}a{background-color:transparent}a:active,a:hover{outline:0}abbr[title]{border-bottom:1px dotted}b,strong{font-weight:700}dfn{font-style:italic}h1{font-size:2em;margin:.67em 0}mark{background:#ff0;color:#000}small{font-size:80%}sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}sup{top:-.5em}sub{bottom:-.25em}img{border:0}svg:not(:root){overflow:hidden}figure{margin:1em 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projects / bbctrl-firmware / commitdiff