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First commit for Little Printer #27, but also starts to fix some issu…
…es with a race condition #35
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Sketchbots/sw/robotcontrol/src/draw_machines/LittlePrinter/DrawMachine.js
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| /* | ||
| Copyright 2013 Google Inc | ||
| Licensed under the Apache License, Version 2.0 (the "License"); | ||
| you may not use this file except in compliance with the License. | ||
| You may obtain a copy of the License at | ||
| http://www.apache.org/licenses/LICENSE-2.0 | ||
| Unless required by applicable law or agreed to in writing, software | ||
| distributed under the License is distributed on an "AS IS" BASIS, | ||
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| See the License for the specific language governing permissions and | ||
| limitations under the License. | ||
| */ | ||
| require('mootools'); | ||
| var ConfigParams = require('../../ConfigParams').ConfigParams; | ||
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| var Canvas = require('canvas') | ||
| , Image = Canvas.Image | ||
| , fs = require('fs'); | ||
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| ////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
| ///// DrawMachine | ||
| ///// Coverts Draw commands into steps for the motion controller. | ||
| ////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
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| exports.DrawMachine = new Class({ | ||
| Implements: [Events, Options, process.EventEmitter], | ||
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| /** | ||
| * This class is required to emit only these events: | ||
| * 'sensorError' - if there is a downstream error which means that sensor values are unreliable or unavailable | ||
| * 'robotConnectedToMotionController' - when we have a successful connection between robot and motion controller | ||
| * 'turntableMotionComplete' - when the draw machine has finished moving the turntable (e.g. to wipe the sand) | ||
| * 'robotAtHome' - when the draw machine's robotics are in their home position | ||
| * 'readyForPicture' - when the draw machine is in a state where it is appropriate to capture an image of the current drawing | ||
| * 'robotCalibrated' - when the draw machine has finished its self-calibration routine | ||
| * 'timeEstimate' - when the draw machine has a new or updated estimate on the time that its current drawing will be complete. The payload of the event should be the time estimate, expressed as a Unix timestamp. | ||
| * 'drawingComplete' - when the draw machine is done with the current drawing | ||
| * | ||
| */ | ||
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| options: {}, | ||
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| /* | ||
| * public variables | ||
| * | ||
| */ | ||
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| buff_type: new Array(), //will contain an array of integers, one element for each slot in the current command buffer; each element in the array will have one of these values: 0=point, 1=line, 2=bezier | ||
| buff_vel: new Array(), //will contain an array of numbers, one element for each slot in the current command buffer; each element is the velocity of one command | ||
| buff_acc: new Array(), //will contain an array of numbers, one element for each slot in the current command buffer; each element is the acceleration of one command | ||
| buff_dist: new Array(), //will contain an array of numbers, one element for each slot in the current command buffer; each element is the distance parameter of one command | ||
| buff_cart: [ | ||
| new Array(), //buf_cart[0] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the X coordinate for the target point of that command | ||
| new Array(), //buf_cart[1] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the Y coordinate for the target point of that command | ||
| new Array(), //buf_cart[2] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the Z coordinate ("lift" or position of the drawing machine's tool above the sand) for the target point of that command | ||
| ], | ||
| buff_control: [ | ||
| new Array(), //buff_control[0] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the X1 coordinate for the control point of that command (see buff_type) | ||
| new Array(), //buff_control[1] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the Y1 coordinate for the control point of that command (see buff_type) | ||
| new Array(), //buff_control[2] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the X2 coordinate for the control point of that command (see buff_type) | ||
| new Array(), //buff_control[3] will contain an array of numbers, one element for each slot in the current command buffer; each element contains the Y2 coordinate for the control point of that command (see buff_type) | ||
| ], | ||
| maxBufferIndex: 0, //an integer indicating the maximum populated index for all of the buff_* variables | ||
| currentBufferIndex: 0, //an integer indicating the read position in the command buffer (this should always be <= maxBufferIndex) | ||
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| /* | ||
| * public functions | ||
| * | ||
| */ | ||
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| /** | ||
| * initialize the DrawMachine class. Do not set up machine communication here. This is for state initialization. | ||
| * | ||
| */ | ||
| initialize: function(options){ | ||
| this.setOptions(options); | ||
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| this.BUFFER_SIZE = 3000; | ||
| this.maxBufferIndex = 0; | ||
| this.currentBufferIndex = 0; | ||
| this.buff_vel = new Array(this.BUFFER_SIZE); | ||
| this.buff_acc = new Array(this.BUFFER_SIZE); | ||
| this.buff_dist = new Array(this.BUFFER_SIZE); | ||
| this.buff_cart = new Array(3); | ||
| this.buff_cart[0] = new Array(this.BUFFER_SIZE); | ||
| this.buff_cart[1] = new Array(this.BUFFER_SIZE); | ||
| this.buff_cart[2] = new Array(this.BUFFER_SIZE); | ||
| this.buff_control = new Array(3); | ||
| this.buff_control[0] = new Array(this.BUFFER_SIZE); | ||
| this.buff_control[1] = new Array(this.BUFFER_SIZE); | ||
| this.buff_control[2] = new Array(this.BUFFER_SIZE); | ||
| this.buff_control[3] = new Array(this.BUFFER_SIZE); | ||
| this.buff_type = new Array(this.BUFFER_SIZE); | ||
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| //Do NOT initialize communication with the machine here | ||
| //instead do that in createRobot() | ||
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| //TODO - other initialization | ||
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| this.zero(); //always call this at the end of initialize() | ||
| }, | ||
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| /** | ||
| * causes the internal representation of the machine to be created. Put your communication initialization in here. | ||
| * Should eventually cause a 'robotConnectedToMotionController' event | ||
| * | ||
| */ | ||
| createRobot: function() { | ||
| //TODO - set up a connection to the machine | ||
| console.log("LITTLE PRINTER CONNECTED") | ||
| this.emit('robotConnectedToMotionController'); | ||
| }, | ||
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| /** | ||
| * causes the machine to rotate its turntable. | ||
| * Should eventually cause a 'turntableMotionComplete' event | ||
| * | ||
| */ | ||
| moveTurntable: function() { | ||
| //TODO - move the turntable | ||
| console.log('turntableMotionComplete') | ||
| this.emit('turntableMotionComplete'); | ||
| }, | ||
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| /** | ||
| * causes the machine to completely reset its state, the meaning of which is machine-specific. | ||
| */ | ||
| reset: function() { | ||
| //TODO - reset the machine | ||
| console.log('reset') | ||
| this.zero(); | ||
| this.goHome(); | ||
| }, | ||
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| /** | ||
| * causes the machine to return to its home position. | ||
| * Should eventually cause a 'robotAtHome' event | ||
| * | ||
| */ | ||
| goHome: function() { | ||
| console.log('robotAtHome:', this); | ||
| this.emit('robotAtHome'); | ||
| return | ||
| }, | ||
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| /** | ||
| * Causes the machine to start drawing. | ||
| * Should eventually cause 'timeEstimate', and 'drawingComplete' events, in that order | ||
| * | ||
| */ | ||
| start: function() { | ||
| //TODO - start drawing | ||
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| console.log("LITTLE PRINTER: Start") | ||
| this._simulateMachineEvent('timeEstimate', 1000, (new Date().getTime()/1000) + 60); //simulate 60 second drawings | ||
| var canvas = new Canvas(640, 480); | ||
| var ctx = canvas.getContext('2d'); | ||
| var scale = 10 | ||
| ctx.fillStyle = "#fff"; | ||
| ctx.fillRect(0, 0, 640, 480); | ||
| ctx.save(); | ||
| ctx.fillStyle = "#000000"; | ||
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| var minX = 100000, maxX = 0 | ||
| var minY = 100000, maxY = 0; | ||
| for(var i = 0; i < this.maxBufferIndex; i++) { | ||
| var x = parseFloat(this.buff_cart[0][i]); | ||
| var y = parseFloat(this.buff_cart[1][i]); | ||
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| if(x < minX) minX = x; | ||
| if(y < minY) minY = y; | ||
| if(x > maxX) maxX = x; | ||
| if(y > maxY) maxY = y; | ||
| } | ||
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| var scaleX = 640 / (maxX - minX); | ||
| var scaleY = 480 / (maxY - minY); | ||
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| var xOffset = 0; | ||
| if(minX < 0) | ||
| xOffset = -minX; | ||
| else | ||
| xOffset = minX; | ||
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| var yOffset = 0; | ||
| if(minY < 0) | ||
| yOffset = minY; | ||
| else | ||
| yOffset = -minY; | ||
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| for(var i = 0; i < this.maxBufferIndex; i++) { | ||
| var x = parseFloat(this.buff_cart[0][i]); | ||
| var y = parseFloat(this.buff_cart[1][i]); | ||
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| var xD = Math.floor(((x + xOffset) / (maxX - minX)) * 640) | ||
| var yD = Math.floor( ((y + yOffset)/ (maxY - minY)) * 480) | ||
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| ctx.fillRect(xD , yD, 2, 2); | ||
| } | ||
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| var that = this; | ||
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| canvas.toBuffer(function(err, buf){ | ||
| if (err) throw err; | ||
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| var uri = canvas.toDataURL("image/png"); | ||
| var htmlstring = '<html><body><h1>Web Lab</h1><img style="width:640px; height: 480px<img src="' + uri +'"></body></html>'; | ||
| console.log(htmlstring) | ||
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| that.emit('drawingComplete'); | ||
| that.emit('readyForPicture'); | ||
| }); | ||
| }, | ||
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| /** | ||
| * zeros out the software state of the machine to assume that it is at its home position. | ||
| * IMPORTANT: This is about state inside node ONLY. This should NOT move the machine! | ||
| * | ||
| */ | ||
| zero: function() { | ||
| //TODO - zero the machine state | ||
| }, | ||
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| /** | ||
| * Calibrates the machine, the meaning of which is machine-specific. | ||
| * Eventually should cause a 'robotCalibrated' event | ||
| * | ||
| */ | ||
| calibrate: function() { | ||
| console.log('robotCalibrated') | ||
| this.emit('robotCalibrated'); | ||
| }, | ||
|
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| /** | ||
| * indicates that the machine should do "initial" calibration, which could be more involved than subsequent calibration. | ||
| * If the machine does nothing different on initial or subsequent calibration, then this function should just call calibrate() | ||
| * See calibrate(). | ||
| * Eventually should cause a 'robotCalibrated' event | ||
| * | ||
| */ | ||
| doInitialCalibration: function(){ | ||
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| this.calibrate(); | ||
| }, | ||
|
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| /** | ||
| * Causes the machine to perform a partial wipe, usually done right after calibration completes. | ||
| * Should eventually cause a 'turntableMotionComplete' event. | ||
| * | ||
| */ | ||
| partialWipe: function(){ | ||
| //TODO - perform partial wipe | ||
| this.emit('turntableMotionComplete'); | ||
| }, | ||
|
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| /* | ||
| * private functions | ||
| * | ||
| */ | ||
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| _simulateMachineEvent: function(eventName, delay, obj) { | ||
| if (!delay) delay = 1000; | ||
| if (!obj) obj = null; | ||
| setTimeout( function() { this.emit(eventName, obj); }.bind(this), delay); | ||
| }, | ||
| }); |