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beacon.py
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# Beacon eddy current scanner support
#
# Copyright (C) 2020-2023 Matt Baker <[email protected]>
# Copyright (C) 2020-2023 Lasse Dalegaard <[email protected]>
# Copyright (C) 2023 Beacon <beacon3d.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import threading
import multiprocessing
import subprocess
import os
import importlib
import traceback
import logging
import chelper
import pins
import math
import time
import queue
import struct
import numpy as np
import copy
import collections
import itertools
from numpy.polynomial import Polynomial
from . import manual_probe
from . import probe
from . import bed_mesh
from . import thermistor
from . import adxl345
from .homing import HomingMove
from mcu import MCU, MCU_trsync
from clocksync import SecondarySync
import msgproto
STREAM_BUFFER_LIMIT_DEFAULT = 100
STREAM_TIMEOUT = 1.0
API_DUMP_FIELDS = ["dist", "temp", "pos", "freq", "vel", "time"]
class BeaconProbe:
def __init__(self, config, sensor_id):
self.id = sensor_id
self.printer = printer = config.get_printer()
self.reactor = printer.get_reactor()
self.name = config.get_name()
self.gcode = printer.lookup_object("gcode")
self.speed = config.getfloat("speed", 5.0, above=0.0)
self.lift_speed = config.getfloat("lift_speed", self.speed, above=0.0)
self.backlash_comp = config.getfloat("backlash_comp", 0.5)
self.x_offset = config.getfloat("x_offset", 0.0)
self.y_offset = config.getfloat("y_offset", 0.0)
self.trigger_distance = config.getfloat("trigger_distance", 2.0)
self.trigger_dive_threshold = config.getfloat("trigger_dive_threshold", 1.0)
self.trigger_hysteresis = config.getfloat("trigger_hysteresis", 0.006)
self.z_settling_time = config.getint("z_settling_time", 5, minval=0)
self.default_probe_method = config.getchoice(
"default_probe_method",
{"contact": "contact", "proximity": "proximity"},
"proximity",
)
# If using paper for calibration, this would be .1mm
self.cal_nozzle_z = config.getfloat("cal_nozzle_z", 0.1)
self.cal_floor = config.getfloat("cal_floor", 0.2)
self.cal_ceil = config.getfloat("cal_ceil", 5.0)
self.cal_speed = config.getfloat("cal_speed", 1.0)
self.cal_move_speed = config.getfloat("cal_move_speed", 10.0)
self.autocal_max_speed = config.getfloat("autocal_max_speed", 10)
self.autocal_speed = config.getfloat("autocal_speed", 3)
self.autocal_accel = config.getfloat("autocal_accel", 100)
self.autocal_retract_dist = config.getfloat("autocal_retract_dist", 2)
self.autocal_retract_speed = config.getfloat("autocal_retract_speed", 10)
self.autocal_sample_count = config.getfloat("autocal_sample_count", 3)
self.autocal_tolerance = config.getfloat("autocal_tolerance", 0.008)
self.autocal_max_retries = config.getfloat("autocal_max_retries", 3)
self.contact_latency_min = config.getint("contact_latency_min", 0)
self.contact_sensitivity = config.getint("contact_sensitivity", 0)
self.skip_firmware_version_check = config.getboolean(
"skip_firmware_version_check", False
)
# Load models
self.model = None
self.models = {}
self.model_temp_builder = BeaconTempModelBuilder.load(config)
self.model_temp = None
self.fmin = None
self.default_model_name = config.get("default_model_name", "default")
self.model_manager = ModelManager(self)
# Temperature sensor integration
self.last_temp = 0
self.last_mcu_temp = None
self.measured_min = 99999999.0
self.measured_max = 0.0
self.mcu_temp = None
self.thermistor = None
self.last_sample = None
self.last_received_sample = None
self.last_z_result = 0
self.last_probe_position = (0, 0)
self.last_probe_result = None
self.last_offset_result = None
self.last_poke_result = None
self.last_contact_msg = None
self.hardware_failure = None
self.mesh_helper = BeaconMeshHelper.create(self, config)
self.homing_helper = BeaconHomingHelper.create(self, config)
self.accel_helper = None
self.accel_config = BeaconAccelConfig(config)
self._stream_en = 0
self._stream_timeout_timer = self.reactor.register_timer(self._stream_timeout)
self._stream_callbacks = {}
self._stream_latency_requests = {}
self._stream_buffer = []
self._stream_buffer_count = 0
self._stream_buffer_limit = STREAM_BUFFER_LIMIT_DEFAULT
self._stream_buffer_limit_new = self._stream_buffer_limit
self._stream_samples_queue = queue.Queue()
self._stream_flush_event = threading.Event()
self._log_stream = None
self._data_filter = AlphaBetaFilter(
config.getfloat("filter_alpha", 0.5),
config.getfloat("filter_beta", 0.000001),
)
self.trapq = None
self.mod_axis_twist_comp = None
self.get_z_compensation_value = lambda pos: 0.0
mainsync = printer.lookup_object("mcu")._clocksync
self._mcu = MCU(config, SecondarySync(self.reactor, mainsync))
orig_stats = self._mcu.stats
def beacon_mcu_stats(eventtime):
show, value = orig_stats(eventtime)
value += " " + self._extend_stats()
return show, value
self._mcu.stats = beacon_mcu_stats
printer.add_object("mcu " + self.name, self._mcu)
self.cmd_queue = self._mcu.alloc_command_queue()
self._endstop_shared = BeaconEndstopShared(self)
self.mcu_probe = BeaconEndstopWrapper(self)
self.mcu_contact_probe = BeaconContactEndstopWrapper(self, config)
self._current_probe = "proximity"
self.beacon_stream_cmd = None
self.beacon_set_threshold = None
self.beacon_home_cmd = None
self.beacon_stop_home_cmd = None
self.beacon_nvm_read_cmd = None
self.beacon_contact_home_cmd = None
self.beacon_contact_query_cmd = None
self.beacon_contact_stop_home_cmd = None
self.beacon_contact_set_latency_min_cmd = None
self.beacon_contact_set_sensitivity_cmd = None
# Register z_virtual_endstop
register_as_probe = config.getboolean(
"register_as_probe", sensor_id.is_unnamed()
)
if register_as_probe:
printer.lookup_object("pins").register_chip("probe", self)
# Register event handlers
printer.register_event_handler("klippy:connect", self._handle_connect)
printer.register_event_handler("klippy:shutdown", self.force_stop_streaming)
self._mcu.register_config_callback(self._build_config)
self._mcu.register_response(self._handle_beacon_data, "beacon_data")
self._mcu.register_response(self._handle_beacon_status, "beacon_status")
self._mcu.register_response(self._handle_beacon_contact, "beacon_contact")
# Register webhooks
self._api_dump = APIDumpHelper(
printer,
lambda: self.streaming_session(self._api_dump_callback, latency=50),
lambda stream: stream.stop(),
None,
)
sensor_id.register_endpoint("beacon/status", self._handle_req_status)
sensor_id.register_endpoint("beacon/dump", self._handle_req_dump)
# Register gcode commands
sensor_id.register_command(
"BEACON_STREAM", self.cmd_BEACON_STREAM, desc=self.cmd_BEACON_STREAM_help
)
sensor_id.register_command(
"BEACON_QUERY", self.cmd_BEACON_QUERY, desc=self.cmd_BEACON_QUERY_help
)
sensor_id.register_command(
"BEACON_CALIBRATE",
self.cmd_BEACON_CALIBRATE,
desc=self.cmd_BEACON_CALIBRATE_help,
)
sensor_id.register_command(
"BEACON_ESTIMATE_BACKLASH",
self.cmd_BEACON_ESTIMATE_BACKLASH,
desc=self.cmd_BEACON_ESTIMATE_BACKLASH_help,
)
sensor_id.register_command("PROBE", self.cmd_PROBE, desc=self.cmd_PROBE_help)
sensor_id.register_command(
"PROBE_ACCURACY", self.cmd_PROBE_ACCURACY, desc=self.cmd_PROBE_ACCURACY_help
)
sensor_id.register_command(
"Z_OFFSET_APPLY_PROBE",
self.cmd_Z_OFFSET_APPLY_PROBE,
desc=self.cmd_Z_OFFSET_APPLY_PROBE_help,
)
sensor_id.register_command(
"BEACON_POKE", self.cmd_BEACON_POKE, desc=self.cmd_BEACON_POKE_help
)
sensor_id.register_command(
"BEACON_AUTO_CALIBRATE",
self.cmd_BEACON_AUTO_CALIBRATE,
desc=self.cmd_BEACON_AUTO_CALIBRATE_help,
)
sensor_id.register_command(
"BEACON_OFFSET_COMPARE",
self.cmd_BEACON_OFFSET_COMPARE,
desc=self.cmd_BEACON_OFFSET_COMPARE_help,
)
if sensor_id.is_unnamed():
self._hook_probing_gcode(config, "z_tilt", "Z_TILT_ADJUST")
self._hook_probing_gcode(config, "quad_gantry_level", "QUAD_GANTRY_LEVEL")
self._hook_probing_gcode(config, "screws_tilt_adjust", "SCREWS_TILT_ADJUST")
self._hook_probing_gcode(config, "delta_calibrate", "DELTA_CALIBRATE")
# Event handlers
def _handle_connect(self):
self.phoming = self.printer.lookup_object("homing")
self.mod_axis_twist_comp = self.printer.lookup_object(
"axis_twist_compensation", None
)
if self.mod_axis_twist_comp:
if hasattr(self.mod_axis_twist_comp, "get_z_compensation_value"):
self.get_z_compensation_value = (
lambda pos: self.mod_axis_twist_comp.get_z_compensation_value(pos)
)
else:
def _update_compensation(pos):
cpos = list(pos)
self.mod_axis_twist_comp._update_z_compensation_value(cpos)
return cpos[2] - pos[2]
self.get_z_compensation_value = _update_compensation
if self.model is None:
self.model = self.models.get(self.default_model_name, None)
def _check_mcu_version(self):
if self.skip_firmware_version_check:
return ""
updater = os.path.join(self.id.tracker.home_dir(), "update_firmware.py")
if not os.path.exists(updater):
logging.info(
"Could not find Beacon firmware update script, won't check for update."
)
return ""
serialport = self._mcu._serialport
parent_conn, child_conn = multiprocessing.Pipe()
def do():
try:
output = subprocess.check_output(
[updater, "check", serialport], universal_newlines=True
)
child_conn.send((False, output.strip()))
except Exception:
child_conn.send((True, traceback.format_exc()))
child_conn.close()
child = multiprocessing.Process(target=do)
child.daemon = True
child.start()
eventtime = self.reactor.monotonic()
while child.is_alive():
eventtime = self.reactor.pause(eventtime + 0.1)
(is_err, result) = parent_conn.recv()
child.join()
parent_conn.close()
if is_err:
logging.info("Executing Beacon update script failed: %s", result)
elif result != "":
self.gcode.respond_raw("!! " + result + "\n")
pconfig = self.printer.lookup_object("configfile")
try:
pconfig.runtime_warning(result)
except AttributeError:
logging.info(result)
return result
return ""
def _build_config(self):
version_info = self._check_mcu_version()
try:
self.beacon_stream_cmd = self._mcu.lookup_command(
"beacon_stream en=%u", cq=self.cmd_queue
)
self.beacon_set_threshold = self._mcu.lookup_command(
"beacon_set_threshold trigger=%u untrigger=%u", cq=self.cmd_queue
)
self.beacon_home_cmd = self._mcu.lookup_command(
"beacon_home trsync_oid=%c trigger_reason=%c trigger_invert=%c",
cq=self.cmd_queue,
)
self.beacon_stop_home_cmd = self._mcu.lookup_command(
"beacon_stop_home", cq=self.cmd_queue
)
self.beacon_nvm_read_cmd = self._mcu.lookup_query_command(
"beacon_nvm_read len=%c offset=%hu",
"beacon_nvm_data bytes=%*s offset=%hu",
cq=self.cmd_queue,
)
self.beacon_contact_home_cmd = self._mcu.lookup_command(
"beacon_contact_home trsync_oid=%c trigger_reason=%c trigger_type=%c",
cq=self.cmd_queue,
)
self.beacon_contact_query_cmd = self._mcu.lookup_query_command(
"beacon_contact_query",
"beacon_contact_state triggered=%c detect_clock=%u",
cq=self.cmd_queue,
)
self.beacon_contact_stop_home_cmd = self._mcu.lookup_command(
"beacon_contact_stop_home",
cq=self.cmd_queue,
)
try:
self.beacon_contact_set_latency_min_cmd = self._mcu.lookup_command(
"beacon_contact_set_latency_min latency_min=%c",
cq=self.cmd_queue,
)
except msgproto.error:
pass
try:
self.beacon_contact_set_sensitivity_cmd = self._mcu.lookup_command(
"beacon_contact_set_sensitivity sensitivity=%c",
cq=self.cmd_queue,
)
except msgproto.error:
pass
constants = self._mcu.get_constants()
self._mcu_freq = self._mcu._mcu_freq
self.inv_adc_max = 1.0 / constants.get("ADC_MAX")
self.temp_smooth_count = constants.get("BEACON_ADC_SMOOTH_COUNT")
self.thermistor = thermistor.Thermistor(10000.0, 0.0)
self.thermistor.setup_coefficients_beta(25.0, 47000.0, 4101.0)
self.toolhead = self.printer.lookup_object("toolhead")
self.trapq = self.toolhead.get_trapq()
self.mcu_temp = BeaconMCUTempHelper.build_with_nvm(self)
self.model_temp = self.model_temp_builder.build_with_nvm(self)
if self.model_temp:
self.fmin = self.model_temp.fmin
if self.model is None:
self.model = self.models.get(self.default_model_name, None)
if self.model:
self._apply_threshold()
if self.beacon_stream_cmd is not None:
self.beacon_stream_cmd.send([1 if self._stream_en else 0])
if self._stream_en:
curtime = self.reactor.monotonic()
self.reactor.update_timer(
self._stream_timeout_timer, curtime + STREAM_TIMEOUT
)
else:
self.reactor.update_timer(
self._stream_timeout_timer, self.reactor.NEVER
)
if constants.get("BEACON_HAS_ACCEL", 0) == 1:
logging.info("Enabling Beacon accelerometer")
if self.accel_helper is None:
self.accel_helper = BeaconAccelHelper(
self, self.accel_config, constants
)
else:
self.accel_helper.reinit(constants)
except msgproto.error as e:
if version_info != "":
raise msgproto.error(version_info + "\n\n" + str(e))
raise
def _extend_stats(self):
parts = [
"coil_temp=%.1f" % (self.last_temp,),
"refs=%d" % (self._stream_en,),
]
if self.last_mcu_temp is not None:
(mcu_temp, supply_voltage) = self.last_mcu_temp
parts.append("mcu_temp=%.2f" % (mcu_temp,))
parts.append("supply_voltage=%.3f" % (supply_voltage,))
return " ".join(parts)
def _api_dump_callback(self, sample):
tmp = [sample.get(key, None) for key in API_DUMP_FIELDS]
self._api_dump.buffer.append(tmp)
# Virtual endstop
def setup_pin(self, pin_type, pin_params):
if pin_type != "endstop" or pin_params["pin"] != "z_virtual_endstop":
raise pins.error("Probe virtual endstop only useful as endstop pin")
if pin_params["invert"] or pin_params["pullup"]:
raise pins.error("Can not pullup/invert probe virtual endstop")
return self.mcu_probe
# Probe interface
def multi_probe_begin(self):
self._start_streaming()
def multi_probe_end(self):
self._stop_streaming()
def get_offsets(self):
if self._current_probe == "contact":
return 0, 0, 0
else:
return self.x_offset, self.y_offset, self.trigger_distance
def get_lift_speed(self, gcmd=None):
if gcmd is not None:
return gcmd.get_float("LIFT_SPEED", self.lift_speed, above=0.0)
return self.lift_speed
def run_probe(self, gcmd):
method = gcmd.get("PROBE_METHOD", self.default_probe_method).lower()
self._current_probe = method
if method == "proximity":
return self._run_probe_proximity(gcmd)
elif method == "contact":
self._start_streaming()
try:
return self._run_probe_contact(gcmd)
finally:
self._stop_streaming()
else:
raise gcmd.error("Invalid PROBE_METHOD, valid choices: proximity, contact")
def _move_to_probing_height(self, speed):
target = self.trigger_distance
top = target + self.backlash_comp
cur_z = self.toolhead.get_position()[2]
if cur_z < top:
self.toolhead.manual_move([None, None, top], speed)
self.toolhead.manual_move([None, None, target], speed)
self.toolhead.wait_moves()
def _run_probe_proximity(self, gcmd):
if self.model is None:
raise self.printer.command_error("No Beacon model loaded")
speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.0)
allow_faulty = gcmd.get_int("ALLOW_FAULTY_COORDINATE", 0) != 0
toolhead = self.printer.lookup_object("toolhead")
curtime = self.reactor.monotonic()
if "z" not in toolhead.get_status(curtime)["homed_axes"]:
raise self.printer.command_error("Must home before probe")
self._start_streaming()
try:
return self._probe(speed, allow_faulty=allow_faulty)
finally:
self._stop_streaming()
def _probing_move_to_probing_height(self, speed):
curtime = self.reactor.monotonic()
status = self.toolhead.get_kinematics().get_status(curtime)
pos = self.toolhead.get_position()
pos[2] = status["axis_minimum"][2]
try:
self.phoming.probing_move(self.mcu_probe, pos, speed)
self._sample_printtime_sync(self.z_settling_time)
except self.printer.command_error as e:
reason = str(e)
if "Timeout during probing move" in reason:
reason += probe.HINT_TIMEOUT
raise self.printer.command_error(reason)
def _probe(self, speed, num_samples=10, allow_faulty=False):
target = self.trigger_distance
tdt = self.trigger_dive_threshold
(dist, samples) = self._sample(5, num_samples)
x, y = samples[0]["pos"][0:2]
if self._is_faulty_coordinate(x, y, True):
msg = "Probing within a faulty area"
if not allow_faulty:
raise self.printer.command_error(msg)
else:
self.gcode.respond_raw("!! " + msg + "\n")
if dist > target + tdt:
# If we are above the dive threshold right now, we'll need to
# do probing move and then re-measure
self._probing_move_to_probing_height(speed)
(dist, samples) = self._sample(self.z_settling_time, num_samples)
elif math.isinf(dist) and dist < 0:
# We were below the valid range of the model
msg = "Attempted to probe with Beacon below calibrated model range"
raise self.printer.command_error(msg)
elif self.toolhead.get_position()[2] < target - tdt:
# We are below the probing target height, we'll move to the
# correct height and take a new sample.
self._move_to_probing_height(speed)
(dist, samples) = self._sample(self.z_settling_time, num_samples)
pos = samples[0]["pos"]
self.gcode.respond_info(
"probe at %.3f,%.3f,%.3f is z=%.6f" % (pos[0], pos[1], pos[2], dist)
)
return [pos[0], pos[1], pos[2] + target - dist]
def _run_probe_contact(self, gcmd):
self.toolhead.wait_moves()
speed = gcmd.get_float(
"PROBE_SPEED", self.autocal_speed, above=0.0, maxval=self.autocal_max_speed
)
lift_speed = self.get_lift_speed(gcmd)
sample_count = gcmd.get_int("SAMPLES", self.autocal_sample_count, minval=1)
retract_dist = gcmd.get_float(
"SAMPLE_RETRACT_DIST", self.autocal_retract_dist, minval=1
)
tolerance = gcmd.get_float(
"SAMPLES_TOLERANCE", self.autocal_tolerance, above=0.0
)
max_retries = gcmd.get_int(
"SAMPLES_TOLERANCE_RETRIES", self.autocal_max_retries, minval=0
)
samples_result = gcmd.get("SAMPLES_RESULT", "mean")
drop_n = gcmd.get_int("SAMPLES_DROP", 0, minval=0)
retries = 0
samples = []
posxy = self.toolhead.get_position()[:2]
self.mcu_contact_probe.activate_gcode.run_gcode_from_command()
try:
while len(samples) < sample_count:
pos = self._probe_contact(speed)
self.toolhead.manual_move(posxy + [pos[2] + retract_dist], lift_speed)
if drop_n > 0:
drop_n -= 1
continue
samples.append(pos[2])
spread = max(samples) - min(samples)
if spread > tolerance:
if retries >= max_retries:
raise gcmd.error("Probe samples exceed sample_tolerance")
gcmd.respond_info("Probe samples exceed tolerance. Retrying...")
samples = []
retries += 1
if samples_result == "median":
return posxy + [median(samples)]
else:
return posxy + [float(np.mean(samples))]
finally:
self.mcu_contact_probe.deactivate_gcode.run_gcode_from_command()
def _probe_contact(self, speed):
self.toolhead.get_last_move_time()
self._sample_async()
start_pos = self.toolhead.get_position()
hmove = HomingMove(self.printer, [(self.mcu_contact_probe, "contact")])
pos = start_pos[:]
pos[2] = -2
try:
epos = hmove.homing_move(pos, speed, probe_pos=True)[:3]
except self.printer.command_error as e:
if self.printer.is_shutdown():
reason = "Probing failed due to printer shutdown"
else:
reason = str(e)
if "Timeout during probing move" in reason:
reason += probe.HINT_TIMEOUT
raise self.printer.command_error(reason)
epos[2] += self.get_z_compensation_value(pos)
self.gcode.respond_info(
"probe at %.3f,%.3f is z=%.6f" % (epos[0], epos[1], epos[2])
)
return epos[:3]
# Accelerometer interface
def start_internal_client(self):
if not self.accel_helper:
msg = "This Beacon has no accelerometer"
raise self.printer.command_error(msg)
return self.accel_helper.start_internal_client()
# Calibration routines
def _start_calibration(self, gcmd):
allow_faulty = gcmd.get_int("ALLOW_FAULTY_COORDINATE", 0) != 0
nozzle_z = gcmd.get_float("NOZZLE_Z", self.cal_nozzle_z)
if gcmd.get("SKIP_MANUAL_PROBE", None) is not None:
kin = self.toolhead.get_kinematics()
kin_spos = {
s.get_name(): s.get_commanded_position() for s in kin.get_steppers()
}
kin_pos = kin.calc_position(kin_spos)
if self._is_faulty_coordinate(kin_pos[0], kin_pos[1]):
msg = "Calibrating within a faulty area"
if not allow_faulty:
raise gcmd.error(msg)
else:
gcmd.respond_raw("!! " + msg + "\n")
self._calibrate(gcmd, kin_pos, nozzle_z, False)
else:
curtime = self.printer.get_reactor().monotonic()
kin_status = self.toolhead.get_status(curtime)
if "xy" not in kin_status["homed_axes"]:
raise self.printer.command_error("Must home X and Y before calibration")
kin_pos = self.toolhead.get_position()
if self._is_faulty_coordinate(kin_pos[0], kin_pos[1]):
msg = "Calibrating within a faulty area"
if not allow_faulty:
raise gcmd.error(msg)
else:
gcmd.respond_raw("!! " + msg + "\n")
forced_z = False
if "z" not in kin_status["homed_axes"]:
self.toolhead.get_last_move_time()
pos = self.toolhead.get_position()
pos[2] = (
kin_status["axis_maximum"][2]
- 2.0
- gcmd.get_float("CEIL", self.cal_ceil)
)
self.compat_toolhead_set_position_homing_z(self.toolhead, pos)
forced_z = True
def cb(kin_pos):
return self._calibrate(gcmd, kin_pos, nozzle_z, forced_z)
manual_probe.ManualProbeHelper(self.printer, gcmd, cb)
def _calibrate(self, gcmd, kin_pos, cal_nozzle_z, forced_z, is_auto=False):
if kin_pos is None:
if forced_z:
kin = self.toolhead.get_kinematics()
self.compat_kin_note_z_not_homed(kin)
return
gcmd.respond_info("Beacon calibration starting")
cal_floor = gcmd.get_float("FLOOR", self.cal_floor)
cal_ceil = gcmd.get_float("CEIL", self.cal_ceil)
cal_speed = gcmd.get_float("DESCEND_SPEED", self.cal_speed)
move_speed = gcmd.get_float("MOVE_SPEED", self.cal_move_speed)
model_name = gcmd.get("MODEL_NAME", "default")
toolhead = self.toolhead
toolhead.wait_moves()
# Move coordinate system to nozzle location
self.toolhead.get_last_move_time()
curpos = toolhead.get_position()
curpos[2] = cal_nozzle_z
toolhead.set_position(curpos)
# Move over to probe coordinate and pull out backlash
curpos[2] = cal_ceil + self.backlash_comp
toolhead.manual_move(curpos, move_speed) # Up
curpos[0] -= self.x_offset
curpos[1] -= self.y_offset
toolhead.manual_move(curpos, move_speed) # Over
curpos[2] = cal_ceil
toolhead.manual_move(curpos, move_speed) # Down
toolhead.wait_moves()
samples = []
def cb(sample):
samples.append(sample)
# Descend while sampling
toolhead.flush_step_generation()
try:
self._start_streaming()
self._sample_printtime_sync(50)
with self.streaming_session(cb):
self._sample_printtime_sync(50)
toolhead.dwell(0.250)
curpos[2] = cal_floor
toolhead.manual_move(curpos, cal_speed)
toolhead.flush_step_generation()
self._sample_printtime_sync(50)
finally:
self._stop_streaming()
# Fit the sampled data
z_offset = [s["pos"][2] for s in samples]
freq = [s["freq"] for s in samples]
temp = [s["temp"] for s in samples]
inv_freq = [1 / f for f in freq]
poly = Polynomial.fit(inv_freq, z_offset, 9)
temp_median = median(temp)
self.model = BeaconModel(
model_name, self, poly, temp_median, min(z_offset), max(z_offset)
)
self.models[self.model.name] = self.model
self.model.save(self, not is_auto)
self._apply_threshold()
# Dump calibration curve
fn = "/tmp/beacon-calibrate-" + time.strftime("%Y%m%d_%H%M%S") + ".csv"
with open(fn, "w") as f:
f.write("freq,z,temp\n")
for i in range(len(freq)):
f.write("%.5f,%.5f,%.3f\n" % (freq[i], z_offset[i], temp[i]))
gcmd.respond_info(
"Beacon calibrated at %.3f,%.3f from "
"%.3f to %.3f, speed %.2f mm/s, temp %.2fC"
% (curpos[0], curpos[1], cal_floor, cal_ceil, cal_speed, temp_median)
)
# Internal
def _update_thresholds(self, moving_up=False):
self.trigger_freq = self.dist_to_freq(self.trigger_distance, self.last_temp)
self.untrigger_freq = self.trigger_freq * (1 - self.trigger_hysteresis)
def _apply_threshold(self, moving_up=False):
self._update_thresholds()
trigger_c = int(self.freq_to_count(self.trigger_freq))
untrigger_c = int(self.freq_to_count(self.untrigger_freq))
if self.beacon_set_threshold is not None:
self.beacon_set_threshold.send([trigger_c, untrigger_c])
def _register_model(self, name, model):
if name in self.models:
raise self.printer.config_error(
"Multiple Beacon models with samename '%s'" % (name,)
)
self.models[name] = model
def _is_faulty_coordinate(self, x, y, add_offsets=False):
if not self.mesh_helper:
return False
return self.mesh_helper._is_faulty_coordinate(x, y, add_offsets)
def _handle_beacon_status(self, params):
if self.mcu_temp is not None:
self.last_mcu_temp = self.mcu_temp.compensate(
self, params["mcu_temp"], params["supply_voltage"]
)
if self.thermistor is not None:
self.last_temp = self.thermistor.calc_temp(
params["coil_temp"] / self.temp_smooth_count * self.inv_adc_max
)
def _handle_beacon_contact(self, params):
self.last_contact_msg = params
def _hook_probing_gcode(self, config, module, cmd):
if not config.has_section(module):
return
section = config.getsection(module)
mod = self.printer.load_object(section, module)
if mod is None:
return
orig = self.gcode.register_command(cmd, None)
def cb(gcmd):
self._current_probe = gcmd.get(
"PROBE_METHOD", self.default_probe_method
).lower()
return orig(gcmd)
self.gcode.register_command(cmd, cb)
# Streaming mode
def _check_hardware(self, sample):
if not self.hardware_failure:
msg = None
if sample["data"] == 0xFFFFFFF:
msg = "coil is shorted or not connected"
elif self.fmin is not None and sample["freq"] > 1.35 * self.fmin:
msg = "coil expected max frequency exceeded"
if msg:
msg = "Beacon hardware issue: " + msg
self.hardware_failure = msg
logging.error(msg)
if self._stream_en:
self.printer.invoke_shutdown(msg)
else:
self.gcode.respond_raw("!! " + msg + "\n")
elif self._stream_en:
self.printer.invoke_shutdown(self.hardware_failure)
def _clock32_to_time(self, clock):
clock64 = self._mcu.clock32_to_clock64(clock)
return self._mcu.clock_to_print_time(clock64)
def _start_streaming(self):
if self._stream_en == 0 and self.beacon_stream_cmd is not None:
self.beacon_stream_cmd.send([1])
curtime = self.reactor.monotonic()
self.reactor.update_timer(
self._stream_timeout_timer, curtime + STREAM_TIMEOUT
)
self._stream_en += 1
self._data_filter.reset()
self._stream_flush()
def _stop_streaming(self):
self._stream_en -= 1
if self._stream_en == 0:
self.reactor.update_timer(self._stream_timeout_timer, self.reactor.NEVER)
if self.beacon_stream_cmd is not None:
self.beacon_stream_cmd.send([0])
self._stream_flush()
def force_stop_streaming(self):
self.reactor.update_timer(self._stream_timeout_timer, self.reactor.NEVER)
if self.beacon_stream_cmd is not None:
self.beacon_stream_cmd.send([0])
self._stream_flush()
def _stream_timeout(self, eventtime):
if self._stream_flush():
return eventtime + STREAM_TIMEOUT
if not self._stream_en:
return self.reactor.NEVER
if not self.printer.is_shutdown():
msg = "Beacon sensor not receiving data"
logging.error(msg)
self.printer.invoke_shutdown(msg)
return self.reactor.NEVER
def request_stream_latency(self, latency):
next_key = 0
if self._stream_latency_requests:
next_key = max(self._stream_latency_requests.keys()) + 1
new_limit = STREAM_BUFFER_LIMIT_DEFAULT
self._stream_latency_requests[next_key] = latency
min_requested = min(self._stream_latency_requests.values())
if min_requested < new_limit:
new_limit = min_requested
if new_limit < 1:
new_limit = 1
self._stream_buffer_limit_new = new_limit
return next_key
def drop_stream_latency_request(self, key):
self._stream_latency_requests.pop(key, None)
new_limit = STREAM_BUFFER_LIMIT_DEFAULT
if self._stream_latency_requests:
min_requested = min(self._stream_latency_requests.values())
if min_requested < new_limit:
new_limit = min_requested
if new_limit < 1:
new_limit = 1
self._stream_buffer_limit_new = new_limit
def streaming_session(self, callback, completion_callback=None, latency=None):
return StreamingHelper(self, callback, completion_callback, latency)
def _stream_flush_message(self, msg):
last = None
for sample in msg:
(clock, data) = sample
temp = self.last_temp
if self.model_temp is not None and not (-40 < temp < 180):
msg = (
"Beacon temperature sensor faulty(read %.2f C),"
" disabling temperature compensation" % (temp,)
)
logging.error(msg)
self.gcode.respond_raw("!! " + msg + "\n")
self.model_temp = None
if temp:
self.measured_min = min(self.measured_min, temp)
self.measured_max = max(self.measured_max, temp)
clock = self._mcu.clock32_to_clock64(clock)
time = self._mcu.clock_to_print_time(clock)
self._data_filter.update(time, data)
data_smooth = self._data_filter.value()
freq = self.count_to_freq(data_smooth)
dist = self.freq_to_dist(freq, temp)
pos, vel = self._get_trapq_position(time)
if pos is not None:
if dist is not None:
dist -= self.get_z_compensation_value(pos)
last = sample = {
"temp": temp,
"clock": clock,
"time": time,
"data": data,
"data_smooth": data_smooth,
"freq": freq,
"dist": dist,
}
if pos is not None:
sample["pos"] = pos
sample["vel"] = vel
self._check_hardware(sample)
if len(self._stream_callbacks) > 0:
for cb in list(self._stream_callbacks.values()):
cb(sample)
if last is not None:
last = last.copy()
dist = last["dist"]
if dist is None or np.isinf(dist) or np.isnan(dist):
del last["dist"]
self.last_received_sample = last
def _stream_flush(self):
self._stream_flush_event.clear()
updated_timer = False
while True:
try:
samples = self._stream_samples_queue.get_nowait()
updated_timer = False
for sample in samples:
if not updated_timer:
curtime = self.reactor.monotonic()
self.reactor.update_timer(
self._stream_timeout_timer, curtime + STREAM_TIMEOUT
)
updated_timer = True
self._stream_flush_message(sample)
except queue.Empty:
return updated_timer
def _stream_flush_schedule(self):
force = self._stream_en == 0 # When streaming is disabled, let all through
if self._stream_buffer_limit_new != self._stream_buffer_limit:
force = True
self._stream_buffer_limit = self._stream_buffer_limit_new
if not force and self._stream_buffer_count < self._stream_buffer_limit:
return
self._stream_samples_queue.put_nowait(self._stream_buffer)
self._stream_buffer = []
self._stream_buffer_count = 0
if self._stream_flush_event.is_set():
return
self._stream_flush_event.set()
self.reactor.register_async_callback(lambda e: self._stream_flush())
def _handle_beacon_data(self, params):
if self.trapq is None:
return
buf = bytearray(params["data"])
sample_count = params["samples"]
start_clock = params["start_clock"]
delta_clock = (
params["delta_clock"] / (sample_count - 1) if sample_count > 1 else 0
)
samples = []
data = 0
for i in range(0, sample_count):
if buf[0] & 0x80 == 0:
delta = ((buf[0] & 0x7F) << 8) + buf[1]
data = data + delta - ((buf[0] & 0x40) << 9)
buf = buf[2:]
else:
data = (buf[0] & 0x7F) << 24 | buf[1] << 16 | buf[2] << 8 | buf[3]
buf = buf[4:]
clock = start_clock + int(round(i * delta_clock))
samples.append((clock, data))
self._stream_buffer.append(samples)
self._stream_buffer_count += len(samples)
self._stream_flush_schedule()
def _get_trapq_position(self, print_time):
ffi_main, ffi_lib = chelper.get_ffi()
data = ffi_main.new("struct pull_move[1]")