Cura/gui/tools/pidDebugger.py

   1 from __future__ import absolute_import
   2 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
   3
   4 import wx
   5 import time
   6
   7 from Cura.util import machineCom
   8
   9 class debuggerWindow(wx.Frame):
  10         def __init__(self, parent):
  11                 super(debuggerWindow, self).__init__(parent, title='Cura - PID Debugger')
  12
  13                 self.machineCom = None
  14                 self.machineCom = machineCom.MachineCom(callbackObject=self)
  15                 self.coolButton = wx.Button(self, -1, '0C')
  16                 self.heatupButton = wx.Button(self, -1, '200C')
  17                 self.heatupButton2 = wx.Button(self, -1, '260C')
  18                 self.heatupButton3 = wx.Button(self, -1, '300C')
  19                 self.fanOn = wx.Button(self, -1, 'Fan ON')
  20                 self.fanOn50 = wx.Button(self, -1, 'Fan ON 50%')
  21                 self.fanOff = wx.Button(self, -1, 'Fan OFF')
  22                 self.graph = temperatureGraph(self)
  23                 self.targetTemp = 0
  24                 self.pValue = wx.TextCtrl(self, -1, '0')
  25                 self.iValue = wx.TextCtrl(self, -1, '0')
  26                 self.dValue = wx.TextCtrl(self, -1, '0')
  27
  28                 self.sizer = wx.GridBagSizer(0, 0)
  29                 self.SetSizer(self.sizer)
  30                 self.sizer.Add(self.graph, pos=(0, 0), span=(1, 8), flag=wx.EXPAND)
  31                 self.sizer.Add(self.coolButton, pos=(1, 0), flag=wx.EXPAND)
  32                 self.sizer.Add(self.heatupButton, pos=(1, 1), flag=wx.EXPAND)
  33                 self.sizer.Add(self.heatupButton2, pos=(1, 2), flag=wx.EXPAND)
  34                 self.sizer.Add(self.heatupButton3, pos=(1, 3), flag=wx.EXPAND)
  35                 self.sizer.Add(self.fanOn, pos=(1, 4), flag=wx.EXPAND)
  36                 self.sizer.Add(self.fanOn50, pos=(1, 5), flag=wx.EXPAND)
  37                 self.sizer.Add(self.fanOff, pos=(1, 6), flag=wx.EXPAND)
  38                 self.sizer.Add(self.pValue, pos=(2, 0), flag=wx.EXPAND)
  39                 self.sizer.Add(self.iValue, pos=(2, 1), flag=wx.EXPAND)
  40                 self.sizer.Add(self.dValue, pos=(2, 2), flag=wx.EXPAND)
  41                 self.sizer.AddGrowableCol(7)
  42                 self.sizer.AddGrowableRow(0)
  43
  44                 wx.EVT_CLOSE(self, self.OnClose)
  45                 self.Bind(wx.EVT_BUTTON, lambda e: self.setTemp(0), self.coolButton)
  46                 self.Bind(wx.EVT_BUTTON, lambda e: self.setTemp(200), self.heatupButton)
  47                 self.Bind(wx.EVT_BUTTON, lambda e: self.setTemp(260), self.heatupButton2)
  48                 self.Bind(wx.EVT_BUTTON, lambda e: self.setTemp(300), self.heatupButton3)
  49                 self.Bind(wx.EVT_BUTTON, lambda e: self.machineCom.sendCommand('M106'), self.fanOn)
  50                 self.Bind(wx.EVT_BUTTON, lambda e: self.machineCom.sendCommand('M106 S128'), self.fanOn50)
  51                 self.Bind(wx.EVT_BUTTON, lambda e: self.machineCom.sendCommand('M107'), self.fanOff)
  52                 self.Bind(wx.EVT_TEXT, self.updatePID, self.pValue)
  53                 self.Bind(wx.EVT_TEXT, self.updatePID, self.iValue)
  54                 self.Bind(wx.EVT_TEXT, self.updatePID, self.dValue)
  55
  56                 self.Layout()
  57                 self.Fit()
  58
  59         def updatePID(self, e):
  60                 try:
  61                         p = float(self.pValue.GetValue())
  62                         i = float(self.iValue.GetValue())
  63                         d = float(self.dValue.GetValue())
  64                 except:
  65                         return
  66                 self.machineCom.sendCommand("M301 P%f I%f D%f" % (p, i, d))
  67
  68         def setTemp(self, temp):
  69                 self.targetTemp = temp
  70                 self.machineCom.sendCommand("M104 S%d" % (temp))
  71
  72         def OnClose(self, e):
  73                 self.machineCom.close()
  74                 self.Destroy()
  75
  76         def mcLog(self, message):
  77                 pass
  78
  79         def mcTempUpdate(self, temp, bedTemp, targetTemp, bedTargetTemp):
  80                 pass
  81
  82         def mcStateChange(self, state):
  83                 if self.machineCom is not None and self.machineCom.isOperational():
  84                         self.machineCom.sendCommand("M503\n")
  85                         self.machineCom.sendCommand("M503\n")
  86
  87         def mcMessage(self, message):
  88                 if 'PIDDEBUG' in message:
  89                         #echo: PIDDEBUG 0: Input 40.31 Output 0.00 pTerm 0.00 iTerm 0.00 dTerm 0.00
  90                         message = message.strip().split()
  91                         temperature = float(message[message.index("Input")+1])
  92                         heater_output = float(message[message.index("Output")+1])
  93                         pTerm = float(message[message.index("pTerm")+1])
  94                         iTerm = float(message[message.index("iTerm")+1])
  95                         dTerm = float(message[message.index("dTerm")+1])
  96
  97                         self.graph.addPoint(temperature, heater_output, pTerm, iTerm, dTerm, self.targetTemp)
  98                 elif 'M301' in message:
  99                         for m in message.strip().split():
 100                                 if m[0] == 'P':
 101                                         wx.CallAfter(self.pValue.SetValue, m[1:])
 102                                 if m[0] == 'I':
 103                                         wx.CallAfter(self.iValue.SetValue, m[1:])
 104                                 if m[0] == 'D':
 105                                         wx.CallAfter(self.dValue.SetValue, m[1:])
 106
 107         def mcProgress(self, lineNr):
 108                 pass
 109
 110         def mcZChange(self, newZ):
 111                 pass
 112
 113 class temperatureGraph(wx.Panel):
 114         def __init__(self, parent):
 115                 super(temperatureGraph, self).__init__(parent)
 116
 117                 self.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground)
 118                 self.Bind(wx.EVT_SIZE, self.OnSize)
 119                 self.Bind(wx.EVT_PAINT, self.OnDraw)
 120
 121                 self.lastDraw = time.time() - 1.0
 122                 self.points = []
 123                 self.backBuffer = None
 124                 self.SetMinSize((320, 200))
 125                 self.addPoint(0,0,0,0,0,0)
 126
 127         def OnEraseBackground(self, e):
 128                 pass
 129
 130         def OnSize(self, e):
 131                 if self.backBuffer is None or self.GetSize() != self.backBuffer.GetSize():
 132                         self.backBuffer = wx.EmptyBitmap(*self.GetSizeTuple())
 133                         self.UpdateDrawing(True)
 134
 135         def OnDraw(self, e):
 136                 dc = wx.BufferedPaintDC(self, self.backBuffer)
 137
 138         def _drawBackgroundForLine(self, dc, color, f):
 139                 w, h = self.GetSizeTuple()
 140                 color = wx.Pen(color)
 141                 dc.SetPen(color)
 142                 x0 = 0
 143                 v0 = 0
 144                 for p in self.points:
 145                         x1 = int(w - (self.now - p[0]) * self.timeScale)
 146                         value = f(p)
 147                         for x in xrange(x0, x1 + 1):
 148                                 v = float(x - x0) / float(x1 - x0 + 1) * (value - v0) + v0
 149                                 dc.DrawLine(x, h, x, h - (v * h / 300))
 150                         v0 = value
 151                         x0 = x1 + 1
 152
 153         def _drawLine(self, dc, color, f):
 154                 w, h = self.GetSizeTuple()
 155                 color = wx.Pen(color)
 156                 dc.SetPen(color)
 157                 x0 = 0
 158                 v0 = 0
 159                 for p in self.points:
 160                         x1 = int(w - (self.now - p[0]) * self.timeScale)
 161                         value = f(p)
 162                         dc.DrawLine(x0, h - (v0 * h / 300), x1, h - (value * h / 300), )
 163                         dc.DrawPoint(x1, h - (value * h / 300), )
 164                         v0 = value
 165                         x0 = x1 + 1
 166
 167         def UpdateDrawing(self, force=False):
 168                 now = time.time()
 169                 self.timeScale = 10
 170                 self.now = now
 171                 if not force and now - self.lastDraw < 0.1:
 172                         return
 173                 self.lastDraw = now
 174                 dc = wx.MemoryDC()
 175                 dc.SelectObject(self.backBuffer)
 176                 dc.Clear()
 177                 dc.SetFont(wx.SystemSettings.GetFont(wx.SYS_SYSTEM_FONT))
 178                 w, h = self.GetSizeTuple()
 179                 bgLinePen = wx.Pen('#A0A0A0')
 180
 181                 #Draw the background up to the current temperatures.
 182                 self._drawBackgroundForLine(dc, '#FFD0D0', lambda p: p[1])#temp
 183                 self._drawBackgroundForLine(dc, '#D0D0FF', lambda p: p[3])#pTerm
 184                 self._drawBackgroundForLine(dc, '#D0FFD0', lambda p: abs(p[5]))#dTerm
 185
 186                 #Draw the grid
 187                 for x in xrange(w, 0, -5 * self.timeScale):
 188                         dc.SetPen(bgLinePen)
 189                         dc.DrawLine(x, 0, x, h)
 190                 tmpNr = 0
 191                 for y in xrange(h - 1, 0, -h * 50 / 300):
 192                         dc.SetPen(bgLinePen)
 193                         dc.DrawLine(0, y, w, y)
 194                         dc.DrawText(str(tmpNr), 0, y - dc.GetFont().GetPixelSize().GetHeight())
 195                         tmpNr += 50
 196                 dc.DrawLine(0, 0, w, 0)
 197                 dc.DrawLine(0, 0, 0, h)
 198                 if len(self.points) > 10:
 199                         tempAvg = 0.0
 200                         heaterAvg = 0.0
 201                         for n in xrange(0, 10):
 202                                 tempAvg += self.points[-n-1][1]
 203                                 heaterAvg += self.points[-n-1][2]
 204                         dc.DrawText("Temp: %d Heater: %d" % (tempAvg / 10, heaterAvg * 100 / 255 / 10), 0, 0)
 205
 206                 #Draw the main lines
 207                 self._drawLine(dc, '#404040', lambda p: p[6])#target
 208                 self._drawLine(dc, '#40FFFF', lambda p: p[3])#pTerm
 209                 self._drawLine(dc, '#FF40FF', lambda p: p[4])#iTerm
 210                 self._drawLine(dc, '#FFFF40', lambda p: p[5])#dTerm
 211                 self._drawLine(dc, '#4040FF', lambda p: -p[5])#dTerm
 212                 self._drawLine(dc, '#FF4040', lambda p: p[1])#temp
 213                 self._drawLine(dc, '#40FF40', lambda p: p[2])#heater
 214
 215                 del dc
 216                 self.Refresh(eraseBackground=False)
 217                 self.Update()
 218
 219                 if len(self.points) > 0 and (time.time() - self.points[0][0]) > (w + 20) / self.timeScale:
 220                         self.points.pop(0)
 221
 222         def addPoint(self, temperature, heater_output, pTerm, iTerm, dTerm, targetTemp):
 223                 self.points.append([time.time(), temperature, heater_output, pTerm, iTerm, dTerm, targetTemp])
 224                 wx.CallAfter(self.UpdateDrawing)