/**
* This file is part of VisiCut.
* Copyright (C) 2011 Thomas Oster <thomas.oster@rwth-aachen.de>
* RWTH Aachen University - 52062 Aachen, Germany
*
* VisiCut is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* VisiCut is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with VisiCut. If not, see <http://www.gnu.org/licenses/>.
**/
package com.t_oster.liblasercut.drivers;
import com.t_oster.liblasercut.BlackWhiteRaster;
import com.t_oster.liblasercut.IllegalJobException;
import com.t_oster.liblasercut.LaserCutter;
import com.t_oster.liblasercut.LaserJob;
import com.t_oster.liblasercut.LaserProperty;
import com.t_oster.liblasercut.ProgressListener;
import com.t_oster.liblasercut.Raster3dPart;
import com.t_oster.liblasercut.RasterPart;
import com.t_oster.liblasercut.VectorCommand;
import com.t_oster.liblasercut.VectorPart;
import com.t_oster.liblasercut.platform.Point;
import com.t_oster.liblasercut.platform.Util;
import java.io.BufferedInputStream;
import java.io.BufferedOutputStream;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.PipedInputStream;
import java.io.PipedOutputStream;
import java.io.PrintStream;
import java.io.UnsupportedEncodingException;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.util.Arrays;
import java.util.LinkedList;
import java.util.List;
import java.util.Locale;
import org.apache.commons.net.tftp.TFTP;
import org.apache.commons.net.tftp.TFTPClient;
/**
* This class implements a driver for the LAOS Lasercutter board.
* Currently it supports the simple code and the G-Code, which may be used in
* the future.
*
* @author Thomas Oster <thomas.oster@rwth-aachen.de>
*/
public class LaosCutter extends LaserCutter
{
private static final String SETTING_HOSTNAME = "Hostname / IP";
private static final String SETTING_PORT = "Port";
private static final String SETTING_GCODE = "Use GCode (yes/no)";
private static final String SETTING_BEDWIDTH = "Laserbed width";
private static final String SETTING_BEDHEIGHT = "Laserbed height";
private static final String SETTING_FLIPX = "X axis goes right to left (yes/no)";
private static final String SETTING_MMPERSTEP = "mm per Step (for SimpleMode)";
private static final String SETTING_TFTP = "Use TFTP instead of TCP";
@Override
public String getModelName()
{
return "LAOS";
}
protected boolean useTftp = true;
/**
* Get the value of useTftp
*
* @return the value of useTftp
*/
public boolean isUseTftp()
{
return useTftp;
}
/**
* Set the value of useTftp
*
* @param useTftp new value of useTftp
*/
public void setUseTftp(boolean useTftp)
{
this.useTftp = useTftp;
}
protected boolean flipXaxis = false;
/**
* Get the value of flipXaxis
*
* @return the value of flipXaxis
*/
public boolean isFlipXaxis()
{
return flipXaxis;
}
/**
* Set the value of flipXaxis
*
* @param flipXaxis new value of flipXaxis
*/
public void setFlipXaxis(boolean flipXaxis)
{
this.flipXaxis = flipXaxis;
}
protected boolean simpleMode = true;
/**
* Get the value of simpleMode
*
* @return the value of simpleMode
*/
public boolean isSimpleMode()
{
return simpleMode;
}
/**
* Set the value of simpleMode
*
* @param simpleMode new value of simpleMode
*/
public void setSimpleMode(boolean simpleMode)
{
this.simpleMode = simpleMode;
}
protected String hostname = "192.168.1.111";
/**
* Get the value of hostname
*
* @return the value of hostname
*/
public String getHostname()
{
return hostname;
}
/**
* Set the value of hostname
*
* @param hostname new value of hostname
*/
public void setHostname(String hostname)
{
this.hostname = hostname;
}
protected int port = 69;
/**
* Get the value of port
*
* @return the value of port
*/
public int getPort()
{
return port;
}
/**
* Set the value of port
*
* @param port new value of port
*/
public void setPort(int port)
{
this.port = port;
}
protected double mmPerStep = 0.001;
/**
* Get the value of mmPerStep
*
* @return the value of mmPerStep
*/
public double getMmPerStep()
{
return mmPerStep;
}
/**
* Set the value of mmPerStep
*
* @param mmPerStep new value of mmPerStep
*/
public void setMmPerStep(double mmPerStep)
{
this.mmPerStep = mmPerStep;
}
private int px2steps(double px, double dpi)
{
return (int) (Util.px2mm(px, dpi) / this.mmPerStep);
}
private byte[] generateVectorGCode(VectorPart vp, int resolution) throws UnsupportedEncodingException
{
ByteArrayOutputStream result = new ByteArrayOutputStream();
PrintStream out = new PrintStream(result, true, "US-ASCII");
int power = 100;
int speed = 50;
int frequency = 500;
double focus = 0;
//reset saved values, so the first ones get verbosed
this.currentPower = -1;
this.currentSpeed = -1;
this.currentFrequency = -1;
for (VectorCommand cmd : vp.getCommandList())
{
switch (cmd.getType())
{
case MOVETO:
move(out, cmd.getX(), cmd.getY(), resolution);
break;
case LINETO:
line(out, cmd.getX(), cmd.getY(), power, speed, frequency, resolution);
break;
case SETPOWER:
power = cmd.getPower();
break;
case SETFOCUS:
if (this.isSimpleMode())
{
out.printf(Locale.US, "2 %d\n", (int) Util.mm2px(cmd.getFocus(), resolution));
}
else
{
focus = cmd.getFocus();
}
break;
case SETSPEED:
speed = cmd.getSpeed();
break;
case SETFREQUENCY:
frequency = cmd.getFrequency();
break;
}
}
return result.toByteArray();
}
private void move(PrintStream out, int x, int y, int resolution)
{
if (this.isSimpleMode())
{
out.printf("0 %d %d\n", px2steps(isFlipXaxis() ? Util.mm2px(bedWidth, resolution) - x : x, resolution), px2steps(y, resolution));
}
else
{
out.printf(Locale.US, "G0 X%f Y%f\n", Util.px2mm(isFlipXaxis() ? Util.mm2px(bedWidth, resolution) - x : x, resolution), Util.px2mm(y, resolution));
}
}
private int currentPower = -1;
private int currentSpeed = -1;
private int currentFrequency = -1;
private void line(PrintStream out, int x, int y, int power, int speed, int frequency, int resolution)
{
if (this.isSimpleMode())
{
if (currentPower != power)
{
out.printf("7 101 %d\n", power * 100);
currentPower = power;
}
if (currentSpeed != speed)
{
out.printf("7 100 %d\n", speed * 100);
currentSpeed = speed;
}
if (currentFrequency != frequency)
{
out.printf("7 102 %d\n", frequency);
currentFrequency = frequency;
}
out.printf("1 %d %d\n", px2steps(isFlipXaxis() ? Util.mm2px(bedWidth, resolution) - x : x, resolution), px2steps(y, resolution));
}
else
{//Frequency???
out.printf(Locale.US, "G1 X%f Y%f E%d F%d\n", Util.px2mm(isFlipXaxis() ? Util.mm2px(bedWidth, resolution) - x : x, resolution), Util.px2mm(y, resolution), power, speed);
}
}
private byte[] generatePseudoRaster3dGCode(Raster3dPart rp, int resolution) throws UnsupportedEncodingException
{
ByteArrayOutputStream result = new ByteArrayOutputStream();
PrintStream out = new PrintStream(result, true, "US-ASCII");
boolean dirRight = true;
for (int raster = 0; raster < rp.getRasterCount(); raster++)
{
Point rasterStart = rp.getRasterStart(raster);
LaserProperty prop = rp.getLaserProperty(raster);
//Set focus
if (this.isSimpleMode())
{
out.printf(Locale.US, "2 %d\n", (int) Util.mm2px(prop.getFocus(), resolution));
}
else
{
//TODO: Focus in GCode????
}
for (int line = 0; line < rp.getRasterHeight(raster); line++)
{
Point lineStart = rasterStart.clone();
lineStart.y += line;
List<Byte> bytes = rp.getRasterLine(raster, line);
//remove heading zeroes
while (bytes.size() > 0 && bytes.get(0) == 0)
{
bytes.remove(0);
lineStart.x += 1;
}
//remove trailing zeroes
while (bytes.size() > 0 && bytes.get(bytes.size() - 1) == 0)
{
bytes.remove(bytes.size() - 1);
}
if (bytes.size() > 0)
{
if (dirRight)
{
//move to the first nonempyt point of the line
move(out, lineStart.x, lineStart.y, resolution);
byte old = bytes.get(0);
for (int pix = 0; pix < bytes.size(); pix++)
{
if (bytes.get(pix) != old)
{
if (old == 0)
{
move(out, lineStart.x + pix, lineStart.y, resolution);
}
else
{
line(out, lineStart.x + pix - 1, lineStart.y, prop.getPower() * (0xFF & old) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
move(out, lineStart.x + pix, lineStart.y, resolution);
}
old = bytes.get(pix);
}
}
//last point is also not "white"
line(out, lineStart.x + bytes.size() - 1, lineStart.y, prop.getPower() * (0xFF & bytes.get(bytes.size() - 1)) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
}
else
{
//move to the last nonempty point of the line
move(out, lineStart.x + bytes.size() - 1, lineStart.y, resolution);
byte old = bytes.get(bytes.size() - 1);
for (int pix = bytes.size() - 1; pix >= 0; pix--)
{
if (bytes.get(pix) != old || pix == 0)
{
if (old == 0)
{
move(out, lineStart.x + pix, lineStart.y, resolution);
}
else
{
line(out, lineStart.x + pix + 1, lineStart.y, prop.getPower() * (0xFF & old) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
move(out, lineStart.x + pix, lineStart.y, resolution);
}
old = bytes.get(pix);
}
}
//last point is also not "white"
line(out, lineStart.x, lineStart.y, prop.getPower() * (0xFF & bytes.get(0)) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
}
}
dirRight = !dirRight;
}
}
return result.toByteArray();
}
private byte[] generatePseudoRasterGCode(RasterPart rp, int resolution) throws UnsupportedEncodingException
{
ByteArrayOutputStream result = new ByteArrayOutputStream();
PrintStream out = new PrintStream(result, true, "US-ASCII");
boolean dirRight = true;
for (int raster = 0; raster < rp.getRasterCount(); raster++)
{
Point rasterStart = rp.getRasterStart(raster);
LaserProperty prop = rp.getLaserProperty(raster);
//Set focus
if (this.isSimpleMode())
{
out.printf(Locale.US, "2 %d\n", (int) Util.mm2px(prop.getFocus(), resolution));
}
else
{
//TODO: Focus in GCode????
}
for (int line = 0; line < rp.getRasterHeight(raster); line++)
{
Point lineStart = rasterStart.clone();
lineStart.y += line;
//Convert BlackWhite line into line of 0 and 255 bytes
BlackWhiteRaster bwr = rp.getImages()[raster];
List<Byte> bytes = new LinkedList<Byte>();
boolean lookForStart = true;
for (int x = 0; x < bwr.getWidth(); x++)
{
if (lookForStart)
{
if (bwr.isBlack(x, line))
{
lookForStart = false;
bytes.add((byte) 255);
}
else
{
lineStart.x += 1;
}
}
else
{
bytes.add(bwr.isBlack(x, line) ? (byte) 255 : (byte) 0);
}
}
//remove trailing zeroes
while (bytes.size() > 0 && bytes.get(bytes.size() - 1) == 0)
{
bytes.remove(bytes.size() - 1);
}
if (bytes.size() > 0)
{
if (dirRight)
{
//move to the first nonempyt point of the line
move(out, lineStart.x, lineStart.y, resolution);
byte old = bytes.get(0);
for (int pix = 0; pix < bytes.size(); pix++)
{
if (bytes.get(pix) != old)
{
if (old == 0)
{
move(out, lineStart.x + pix, lineStart.y, resolution);
}
else
{
line(out, lineStart.x + pix - 1, lineStart.y, prop.getPower() * (0xFF & old) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
move(out, lineStart.x + pix, lineStart.y, resolution);
}
old = bytes.get(pix);
}
}
//last point is also not "white"
line(out, lineStart.x + bytes.size() - 1, lineStart.y, prop.getPower() * (0xFF & bytes.get(bytes.size() - 1)) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
}
else
{
//move to the last nonempty point of the line
move(out, lineStart.x + bytes.size() - 1, lineStart.y, resolution);
byte old = bytes.get(bytes.size() - 1);
for (int pix = bytes.size() - 1; pix >= 0; pix--)
{
if (bytes.get(pix) != old || pix == 0)
{
if (old == 0)
{
move(out, lineStart.x + pix, lineStart.y, resolution);
}
else
{
line(out, lineStart.x + pix + 1, lineStart.y, prop.getPower() * (0xFF & old) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
move(out, lineStart.x + pix, lineStart.y, resolution);
}
old = bytes.get(pix);
}
}
//last point is also not "white"
line(out, lineStart.x, lineStart.y, prop.getPower() * (0xFF & bytes.get(0)) / 255, prop.getSpeed(), prop.getFrequency(), resolution);
}
}
dirRight = !dirRight;
}
}
return result.toByteArray();
}
private byte[] generateInitializationCode() throws UnsupportedEncodingException
{
ByteArrayOutputStream result = new ByteArrayOutputStream();
PrintStream out = new PrintStream(result, true, "US-ASCII");
if (!this.isSimpleMode())
{
out.print("G28\n");//move to origin
out.print("G21\n");//units to mm
out.print("M106\n");//ventilaton on
out.print("M151 100\n");//air pressure on
}
return result.toByteArray();
}
private byte[] generateShutdownCode() throws UnsupportedEncodingException
{
ByteArrayOutputStream result = new ByteArrayOutputStream();
PrintStream out = new PrintStream(result, true, "US-ASCII");
//back to origin and shutdown
if (this.isSimpleMode())
{
//out.printf("0 0 0\n");
//Set focus to 0
out.printf(Locale.US, "2 %d\n", 0);
}
else
{
out.printf(Locale.US, "G0 X%f Y%f\n", 0, 0);
out.print("G28\n");
out.print("M107\n");
out.print("M151 0\n");
out.print("M0\n");
//TODO: Set focus to 0 in GCod??
}
return result.toByteArray();
}
@Override
public void sendJob(LaserJob job, ProgressListener pl) throws IllegalJobException, Exception
{
pl.progressChanged(this, 0);
this.currentFrequency = -1;
this.currentPower = -1;
this.currentSpeed = -1;
BufferedOutputStream out;
ByteArrayOutputStream buffer = null;
if (!useTftp)
{
pl.taskChanged(this, "connecting");
Socket connection = new Socket();
connection.connect(new InetSocketAddress(hostname, port), 3000);
out = new BufferedOutputStream(connection.getOutputStream());
pl.taskChanged(this, "sending");
}
else
{
buffer = new ByteArrayOutputStream();
out = new BufferedOutputStream(buffer);
pl.taskChanged(this, "buffering");
}
out.write(this.generateInitializationCode());
pl.progressChanged(this, 20);
if (job.contains3dRaster())
{
out.write(this.generatePseudoRaster3dGCode(job.getRaster3dPart(), job.getResolution()));
}
pl.progressChanged(this, 40);
if (job.containsRaster())
{
out.write(this.generatePseudoRasterGCode(job.getRasterPart(), job.getResolution()));
}
pl.progressChanged(this, 60);
if (job.containsVector())
{
out.write(this.generateVectorGCode(job.getVectorPart(), job.getResolution()));
}
pl.progressChanged(this, 80);
out.write(this.generateShutdownCode());
out.close();
if (this.isUseTftp())
{
pl.taskChanged(this, "connecting");
TFTPClient tftp = new TFTPClient();
tftp.setDefaultTimeout(60000);
//open a local UDP socket
tftp.open();
pl.taskChanged(this, "sending");
ByteArrayInputStream bain = new ByteArrayInputStream(buffer.toByteArray());
tftp.sendFile(job.getName()+".lgc", TFTP.BINARY_MODE, bain, this.getHostname(), this.getPort());
tftp.close();
bain.close();
pl.taskChanged(this, "sent.");
}
pl.progressChanged(this, 100);
}
private List<Integer> resolutions;
@Override
public List<Integer> getResolutions()
{
if (resolutions == null)
{
//TODO: Calculate possible resolutions
//according to mm/step
resolutions = Arrays.asList(new Integer[]
{
500
});
}
return resolutions;
}
protected double bedWidth = 600;
/**
* Get the value of bedWidth
*
* @return the value of bedWidth
*/
@Override
public double getBedWidth()
{
return bedWidth;
}
/**
* Set the value of bedWidth
*
* @param bedWidth new value of bedWidth
*/
public void setBedWidth(double bedWidth)
{
this.bedWidth = bedWidth;
}
protected double bedHeight = 300;
/**
* Get the value of bedHeight
*
* @return the value of bedHeight
*/
@Override
public double getBedHeight()
{
return bedHeight;
}
/**
* Set the value of bedHeight
*
* @param bedHeight new value of bedHeight
*/
public void setBedHeight(double bedHeight)
{
this.bedHeight = bedHeight;
}
private List<String> settingAttributes;
@Override
public List<String> getSettingAttributes()
{
if (settingAttributes == null)
{
settingAttributes = new LinkedList<String>();
settingAttributes.add(SETTING_HOSTNAME);
settingAttributes.add(SETTING_PORT);
//settingAttributes.add(SETTING_GCODE);
settingAttributes.add(SETTING_BEDWIDTH);
settingAttributes.add(SETTING_BEDHEIGHT);
settingAttributes.add(SETTING_FLIPX);
settingAttributes.add(SETTING_MMPERSTEP);
settingAttributes.add(SETTING_TFTP);
}
return settingAttributes;
}
@Override
public String getSettingValue(String attribute)
{
if (SETTING_HOSTNAME.equals(attribute))
{
return this.getHostname();
}
else if (SETTING_FLIPX.equals(attribute))
{
return this.isFlipXaxis() ? "yes" : "no";
}
else if (SETTING_PORT.equals(attribute))
{
return "" + this.getPort();
}
else if (SETTING_GCODE.equals(attribute))
{
return this.isSimpleMode() ? "no" : "yes";
}
else if (SETTING_BEDWIDTH.equals(attribute))
{
return "" + this.getBedWidth();
}
else if (SETTING_BEDHEIGHT.equals(attribute))
{
return "" + this.getBedHeight();
}
else if (SETTING_MMPERSTEP.equals(attribute))
{
return "" + this.getMmPerStep();
}
else if (SETTING_TFTP.equals(attribute))
{
return this.isUseTftp() ? "yes" : "no";
}
return null;
}
@Override
public void setSettingValue(String attribute, String value)
{
if (SETTING_HOSTNAME.equals(attribute))
{
this.setHostname(value);
}
else if (SETTING_PORT.equals(attribute))
{
this.setPort(Integer.parseInt(value));
}
else if (SETTING_GCODE.equals(attribute))
{
this.setSimpleMode(!"yes".equals(value));
}
else if (SETTING_FLIPX.equals(attribute))
{
this.setFlipXaxis("yes".equals(value));
}
else if (SETTING_BEDWIDTH.equals(attribute))
{
this.setBedWidth(Double.parseDouble(value));
}
else if (SETTING_BEDHEIGHT.equals(attribute))
{
this.setBedHeight(Double.parseDouble(value));
}
else if (SETTING_MMPERSTEP.equals(attribute))
{
this.setMmPerStep(Double.parseDouble(value));
}
else if (SETTING_TFTP.contains(attribute))
{
this.setUseTftp("yes".equals(value));
}
}
@Override
public int estimateJobDuration(LaserJob job)
{
return 10000;
}
@Override
public LaserCutter clone()
{
LaosCutter clone = new LaosCutter();
clone.hostname = hostname;
clone.port = port;
clone.simpleMode = simpleMode;
clone.bedHeight = bedHeight;
clone.bedWidth = bedWidth;
clone.flipXaxis = flipXaxis;
clone.mmPerStep = mmPerStep;
clone.useTftp = useTftp;
return clone;
}
}