# Two stage example Virtual Machine file # moves get set in Main # usb port needs to be set in initInterfaces # Nadya Peek Dec 2014 #------IMPORTS------- from pygestalt import nodes from pygestalt import interfaces from pygestalt import machines from pygestalt import functions from pygestalt.machines import elements from pygestalt.machines import kinematics from pygestalt.machines import state from pygestalt.utilities import notice from pygestalt.publish import rpc #remote procedure call dispatcher import time import io import math import serial import random import datetime import telepot import Queue def bot_parse_command(cmd): if len(cmd) != 2: return None if cmd[0].lower() not in ['x', 'o']: return None if cmd[0].upper() != bot_get_turn(): return None if not cmd[1].isdigit(): return None if int(cmd[1]) <= 0: return None if int(cmd[1]) > 9: return None return cmd[0].upper(), int(cmd[1]) def bot_printable_grid(): global tris return str('Grid:' + '\n' + ' '.join(tris[0:3]) + '\n' + ' '.join(tris[3:6]) + '\n' + ' '.join(tris[6:9])) def bot_play(sym, cell): global tris global turn if tris[cell] == '-': tris[cell] = sym turn = not turn return True else: return False def bot_reset(): global tris global turn tris = list('-' * 9) turn = True def bot_get_turn(): global turn if turn: return 'X' else: return 'O' def bot_handle(msg): global q global turn chat_id = msg['chat']['id'] command = msg['text'] print('Got command: ' + str(bot_parse_command(command))) cmd = bot_parse_command(command) if cmd is not None: if bot_play(cmd[0], cmd[1]-1): q.put([str(cmd[0]), cmd[1]]) mybot.sendMessage(chat_id, bot_printable_grid()) else: mybot.sendMessage(chat_id, 'Cell already taken!') mybot.sendMessage(chat_id, bot_printable_grid()) elif command == '/grid': mybot.sendMessage(chat_id, bot_printable_grid()) elif command == '/new': bot_reset() mybot.sendMessage(chat_id, "Ready for a new game") else: mybot.sendMessage(chat_id, "invalid command") mybot.sendMessage(chat_id, 'Now it\'s ' + bot_get_turn() + ' turn.') class serialMagnet: ser_port = "/dev/ttyACM0" ser_speed = 9600 ser = None def __init__(self): self.ser = serial.Serial(self.ser_port, self.ser_speed) self.off() self.off() def on(self): self.ser.write(b"1") def off(self): self.ser.write(b"2") #------VIRTUAL MACHINE------ class virtualMachine(machines.virtualMachine): def initInterfaces(self): if self.providedInterface: self.fabnet = self.providedInterface #providedInterface is defined in the virtualMachine class. else: self.fabnet = interfaces.gestaltInterface('FABNET', interfaces.serialInterface(baudRate = 115200, interfaceType = 'ftdi', portName = '/dev/ttyUSB0')) def initControllers(self): self.xAxisNode = nodes.networkedGestaltNode('X Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.yAxisNode = nodes.networkedGestaltNode('Y Axis', self.fabnet, filename = '086-005a.py', persistence = self.persistence) self.xyNode = nodes.compoundNode(self.xAxisNode, self.yAxisNode) def initCoordinates(self): self.position = state.coordinate(['mm', 'mm']) def initKinematics(self): self.xAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(True)]) self.yAxis = elements.elementChain.forward([elements.microstep.forward(4), elements.stepper.forward(1.8), elements.leadscrew.forward(8), elements.invert.forward(False)]) self.stageKinematics = kinematics.direct(2) #direct drive on all axes def initFunctions(self): self.move = functions.move(virtualMachine = self, virtualNode = self.xyNode, axes = [self.xAxis, self.yAxis], kinematics = self.stageKinematics, machinePosition = self.position,planner = 'null') self.jog = functions.jog(self.move) #an incremental wrapper for the move function pass def initLast(self): #self.machineControl.setMotorCurrents(aCurrent = 0.8, bCurrent = 0.8, cCurrent = 0.8) #self.xNode.setVelocityRequest(0) #clear velocity on nodes. Eventually this will be put in the motion planner on initialization to match state. pass def publish(self): #self.publisher.addNodes(self.machineControl) pass def getPosition(self): return {'position':self.position.future()} def setPosition(self, position = [None]): self.position.future.set(position) def setSpindleSpeed(self, speedFraction): #self.machineControl.pwmRequest(speedFraction) pass def move(machine, dxy, axis=None): x_axis = machine.xAxisNode y_axis = machine.yAxisNode ggg = machine.move(dxy, 0) x_status = x_axis.spinStatusRequest() y_status = y_axis.spinStatusRequest() while x_status['stepsRemaining'] > 0 or y_status['stepsRemaining'] > 0: time.sleep(0.001) x_status = x_axis.spinStatusRequest() y_status = y_axis.spinStatusRequest() #def move(axis, dxy): # machine.move(dxy, 0) # status = machine.xAxisNode.spinStatusRequest() # # This checks to see if the move is done. # while status['stepsRemaining'] > 0: # time.sleep(0.001) # status = machine.xAxisNode.spinStatusRequest() def set_origin(machine): x_axis = machine.xAxisNode y_axis = machine.yAxisNode myaxes = ['X', 'Y'] motors = {'X': x_axis, 'Y': y_axis} pos = {'X': 0, 'Y': 1} for ax in myaxes: while True: msg = "Move " + ax + " of n steps (0 to set " + ax + " origin): " try: curr_pos = machine.getPosition()['position'] steps = [0, 0] s = int(raw_input(msg)) if s == 0: machine.setPosition([0, 0]) move(machine, steps, motors[ax]) break else: steps[pos[ax]] = s delta = [curr_pos[0]+steps[0], curr_pos[1]+steps[1]] #print(steps, delta) move(machine, delta, motors[ax]) except ValueError: pass def goto_cell(machine, cell): cell_size = 66 safe_dist = 12 n = cell - 1 move_y = n // 3 move_x = n % 3 move(stages, [0, 0]) move(stages, [-safe_dist, -safe_dist]) move(stages, [move_x * cell_size - safe_dist, -safe_dist]) move(stages, [move_x * cell_size - safe_dist, move_y * cell_size - safe_dist]) move(stages, [move_x * cell_size, move_y * cell_size]) def goback_from_cell(machine, cell): cell_size = 66 safe_dist = 12 n = cell - 1 move_y = n // 3 move_x = n % 3 move(stages, [move_x * cell_size - safe_dist, move_y * cell_size - safe_dist]) move(stages, [move_x * cell_size - safe_dist, -safe_dist]) move(stages, [-safe_dist, -safe_dist]) move(stages, [0, 0]) def draw_into_cell(machine, cell, magnet, sign): box = 33 #35 is perfect l = int(box * math.sqrt(2) / 2) r = box / math.sqrt(2) angles = [i/100.0 for i in range(0, int(math.pi*2*100), 10)] circle = [[r-r*math.cos(alfa), r-r*math.sin(alfa)] for alfa in angles] circle.insert(0, [0, 0]) circle.append([0, 0]) cross = [[0, 0], [l, l], [2*l, 2*l], [l, l], [0, 2*l], [l, l], [2*l, 0], [l, l], [0, 0]] if sign == "X": goto_cell(machine, cell) magnet.on() time.sleep(1) cp = machine.getPosition()['position'] cell_zero = [int(cp[0]), int(cp[1])] for m in cross: move(stages, [cell_zero[0]+m[0], cell_zero[1]+m[1]]) magnet.off() time.sleep(1) goback_from_cell(machine, cell) elif sign == "O": goto_cell(machine, cell) magnet.on() time.sleep(1) cp = machine.getPosition()['position'] cell_zero = [int(cp[0]), int(cp[1])] for m in circle: move(stages, [cell_zero[0]+m[0], cell_zero[1]+m[1]]) magnet.off() time.sleep(1) goback_from_cell(machine, cell) tris = [] turn = True q = Queue.Queue() #------IF RUN DIRECTLY FROM TERMINAL------ if __name__ == '__main__': stages = virtualMachine(persistenceFile = "test.vmp") magnet = serialMagnet() #stages.xyNode.setMotorCurrent(0.7) stages.xyNode.setVelocityRequest(5) # Goto XY origin and optionaly set new origin move(stages, [0, 0]) set_origin(stages) bot_reset() mybot = telepot.Bot('#### you secret key ####') mybot.message_loop(bot_handle) print('I am listening ...') try: while True: if not q.empty(): remote_cmd = q.get() draw_into_cell(stages, remote_cmd[1], magnet, remote_cmd[0]) q.task_done() time.sleep(0.5) finally: # Goto XY origin move(stages, [0, 0])