354 modules/printengine.pl
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#!/usr/bin/perl
#print engine to be called by SLAcer.js and other printer services orstandalone from command line
#Copyright 2016 Robert Koeppl, Fablab Leoben robert.koeppl@fablab-leoben.at
#http://www.fablab-leoben.at
#http://www.github.com/fablab-leoben
#released under the GPL v2
#this piece of software is provided with absolutely no warranty
#use at your own risk
#configuration is stored in printengine.cfg, do not use hardcoded configuration in ths perl script, that is bad practice.
#definition of libraries and modules to include
use warnings;
use strict;
use Getopt::Std;
use Getopt::Long;
use feature qw(say);
use Config::Simple;
use File::Which;
use Sys::Mmap;
use Graphics::Framebuffer;
use Time::HiRes;
use Archive::Zip;
use IO::File ;
use File::Spec::Functions qw(splitpath);
use File::Path qw(mkpath);
use File::Path 'rmtree';
use Device::SerialPort;
use Slurp;
#import configuration from configuration file
our $cfg = new Config::Simple();
$cfg->read("printengine.cfg");

#asign config values from config file to values in script
my $log_file = $cfg->param("log_file");
my $temporary_folder=$cfg->param("temporary_folder");
my $logging_enabled=$cfg->param("logging_enabled");
my $controllerboard=$cfg->param("controllerboard");
my $steps_per_mm=$cfg->param("steps_per_mm");
my $projector_type=$cfg->param("projector_type");
my $projector_usb_device=$cfg->param("projector_usb_device");
my $endstop_Z_max=$cfg->param("endstop_Z_max");
my $endstop_Z_max_type=$cfg->param("endstop_Z_max_type");
my $endstop_Z_min=$cfg->param("endstop_Z_min");
my $endstop_Z_min_type=$cfg->param("endstop_Z_min_type");
my $wiper=$cfg->param("wiper");
my $door_contact=$cfg->param("door_contact");
my $X_pixels=$cfg->param("X_pixels");
my $Y_pixels=$cfg->param("Y_pixels");
my $Z_speed=$cfg->param("Z_speed");
my $Z_max_speed=$cfg->param("Z_max_speed");
my $Z_Autocal=$cfg->param("Z_Autocal");
my $overshoot=$cfg->param("overshoot");
my $testrun_capable=$cfg->param("testrun_capable");
my $testrun_color=$cfg->param("testrun_color");
my $prodrun_color=$cfg->param("prodrun_color");
my $vat_heatable=$cfg->param("vat_heatable");
my $vat_target_temperature=$cfg->param("vat_target_temperature");
my $check_vat_presence=$cfg->param("check_vat_presence");
my $virtual_terminal=$cfg->param("virtual_terminal");
my $display_software=$cfg->param("display_software");
my $display_device=$cfg->param("display_device");
my $pin_zmin=$cfg->param("pin_zmin");
my $pin_zmax=$cfg->param("pin_zmax");
my $pin_door=$cfg->param("pin_door");
my $pin_step_Z=$cfg->param("pin_step_Z");
my $pin_enable_Z=$cfg->param("pin_enable_Z");
my $pin_direction_Z=$cfg->param("pin_direction_Z");
my $pin_trigger_pre=$cfg->param("pin_trigger_pre");
my $pin_trigger_post=$cfg->param("pin_trigger_post");
my $pin_enable_wiper=$cfg->param("pin_enable_wiper");
my $pin_dir_wiper=$cfg->param("pin_dir_wiper");
my $pin_step_wiper=$cfg->param("pin_step_wiper");
my $pin_wiper_max=$cfg->param("pin_wiper_max");
my $pin_wiper_min=$cfg->param("pin_wiper_min");
my $pin_vat_heater=$cfg->param("pin_vat_heater");
my $pin_vat_temperature=$cfg->param("pin_vat_temperature");
my $pin_vat_presence=$cfg->param("pin_vat_presence");
my $arduinotty=$cfg->param("arduinotty");
my $arduinottybaudrate=$cfg->param("arduinottybaudrate");
#asign additional variables
my $picturesarchive;
my $archivesource;
GetOptions("picturesarchive=s"=>\$picturesarchive, "archivesource=s"=>\$archivesource);#read pictures archive from command line option
my $layer_height;
my $exposure_time;
my $resin_settling_time;
my $cfg2;
#
#
#activate logging to logfile
if ($logging_enabled eq "TRUE")
{
unless (defined $log_file and length $log_file){
die "logging enabled but no logfile defined\n";}
open my $log_fh, ">", $log_file;
}
#basic sanity checks to determine whether or not the configuration is complete and makes at least some sense
#check if the parameters and pins needed for the features enabled are configured
unless (defined $steps_per_mm and length $steps_per_mm){
die "No steps per mm for Z Axis defined\n";}
unless (defined $overshoot and length $overshoot){
die "No overshoot for Z Axis defined\n";}
unless (defined $temporary_folder and length $temporary_folder){
die "No temporary folder defined\n";}
unless (defined $controllerboard and length $controllerboard){
die "No controllerboard defined\n";}
unless (defined $projector_type and length $projector_type){
die "No projector type defined\n";}
unless (defined $display_device and length $display_device){
die "No display device defined\n";}
unless (defined $X_pixels and length $X_pixels){
die "No pixels in X direction defined\n";}
unless (defined $Y_pixels and length $Y_pixels){
die "No pixels in Y direction defined\n";}
unless (defined $Z_speed and length $Z_speed){
die "No Z speed defined\n";}
unless (defined $Z_max_speed and length $Z_max_speed){
die "No Z max speed defined\n";}
unless (defined $prodrun_color and length $prodrun_color){
die "No production run color defined\n";}
if ($check_vat_presence eq "TRUE")
{
unless (defined $pin_vat_presence and length $pin_vat_presence )
{
die "Vat presence pin definition missing\n";}
}
if ($door_contact eq "TRUE")
{
unless (defined $pin_door and length $pin_door )
{
die "door pin not defined\n";}
}
if ($testrun_capable eq "TRUE")
{
unless (defined $testrun_color and length $testrun_color )
{
die "Z max endstops definition incomplete\n";}
}
if ($endstop_Z_max eq "TRUE")
{
unless (defined $endstop_Z_max_type and length $endstop_Z_max_type and
defined $pin_zmax and length $pin_zmax )
{
die "Z max endstops definition incomplete\n";}
}
if ($endstop_Z_min eq "TRUE")
{
unless (defined $endstop_Z_min_type and length $endstop_Z_min_type and
defined $pin_zmin and length $pin_zmin )
{
die "Z min endstops definition incomplete\n";}
}
if ($Z_Autocal eq "TRUE")
{
unless ($endstop_Z_max eq "TRUE" and $endstop_Z_min eq "TRUE" and
defined $endstop_Z_max_type and length $endstop_Z_max_type and
defined $pin_zmax and length $pin_zmax and
defined $endstop_Z_min_type and length $endstop_Z_min_type and
defined $pin_zmin and length $pin_zmin)
{
die "Z endstops definition incomplete for autotune of Z axis Length\n";}
}
if ($wiper eq "TRUE")
{
unless (defined $pin_enable_wiper and length $pin_enable_wiper and
defined $pin_step_wiper and length $pin_step_wiper and
defined $pin_dir_wiper and length $pin_dir_wiper and
defined $pin_zmin and length $pin_zmin and
defined $pin_wiper_max and length $pin_wiper_max and
defined $pin_wiper_min and length $pin_wiper_min
)
{
die "pin definition incomplete for wiper usage\n";}
}
if ($vat_heatable eq "TRUE")
{
unless (defined $vat_target_temperature and length $vat_target_temperature and
defined $pin_vat_heater and length $pin_vat_heater and
defined $pin_vat_temperature and length $pin_vat_temperature)
{
die "Vat temperature or heater parameters are configured incompletely\n";}
}

if ($controllerboard eq "BBB") #if the Board is set to be a Beagle Bone Black, we need to check if it actually is one
{
say "Beagle Bone Black selected, checking board type! - check command still missing";
unless (defined $pin_trigger_post and length $pin_trigger_post and defined $pin_trigger_pre and length $pin_trigger_pre){
die "trigger pin definition incomplete\n";}
}
elsif ($controllerboard eq "raspiarduinoramps"){
say "Raspberry PI with Arduino selected, checking board type! - check command still missing";
unless (defined $arduinotty and length $arduinotty and defined $arduinottybaudrate and length $arduinottybaudrate){
die "trigger pin definition incomplete\n";}
}
else {
say "unknown controller type $controllerboard , please review your configuration, get in touch with developers or fork the code on Github and contribute the code to use the new printer"
;
die "unknown board in configuration!\n";
}
if ($projector_type eq "Lightcrafter4500")
{
unless (defined $projector_usb_device and length $projector_usb_device){
die "No projector USB device defined\n";}
}
else {
say "unknown projector type $projector_type , please review your configuration, get in touch with developers or fork the code on Github and contribute the code to use the new printer"
;
die "unknown projector in configuration!\n";
}

if ($display_software eq "fbi") #ckeck for configured Software to send Pictures to the projector
{
my $display_software_path= which "fbi";
unless (defined $display_software_path and length $display_software_path){
die "configured display software not found\n";}
unless (defined $display_device and length $display_device){
die "display devicde not configured\n";}
unless (defined $virtual_terminal and length $virtual_terminal){
die "virtual terminal not configured\n";}
}
elsif ($display_software eq "builtin")
{
unless (defined $display_device and length $display_device){
die "display device not configured\n";}
}

else { #if the configured Display software matches none of the supported packages, die
say "unknown display software $display_software , please review your configuration, get in touch with developers or fork the code on Github and contribute the code to use the new printer"
;
die "unknown display software in configuration!\n";
}
#uncompresse archive to temporary folder
unless (defined $temporary_folder and length $temporary_folder){
die "No temporary folder defined\n";}
rmtree([ "$temporary_folder"]) or die "$!: for directory $temporary_folder\n";
unless (-d $temporary_folder) {
mkpath($temporary_folder) or die "Couldn't mkdir $temporary_folder: $!";}
my $port = Device::SerialPort->new($arduinotty);

# 19200, 81N on the USB ftdi driver
$port->baudrate($arduinottybaudrate);
$port->databits(8);
$port->parity("none");
$port->stopbits(1);

my $zip = Archive::Zip->new($picturesarchive);
$zip->extractTree('',$temporary_folder);



#read filelist from testfolder
my $dir = $temporary_folder;
if ($archivesource eq "slacer") {
$dir = "$temporary_folder/slices";
$cfg2 = new Config::Simple();
$cfg2->read("$temporary_folder/README.txt");
$layer_height=$cfg2->param("layer_height");
$exposure_time=$cfg2->param("exposure_time");
$resin_settling_time=$cfg2->param("resin_settling_time");}
else {
$dir = $temporary_folder;
}
opendir(DIR, $dir) or die $!;
my @pics
= grep {
m/\.png$/ # png files only
&& -f "$dir/$_" # and is a file
} readdir(DIR);
closedir(DIR);
#sort array
my @pics_sorted=sort { length $a <=> length $b||$a cmp $b } @pics;
say "layer_height=$layer_height µm, exposure_time=$exposure_time ms,resin_settling_time=$resin_settling_time ms\n";
my $exposure_time_us=1000*$exposure_time;#conversion to microseconds
my $resin_settling_time_us=1000*$resin_settling_time;#conversion to microseconds
say "layer_height=$layer_height µm, exposure_time=$exposure_time_us µs,resin_settling_time=$resin_settling_time_us µs\n";
sleep 10;
# Home Z-Axis
my @command_list=('G21','G28 Z');
send_commands(@command_list);
sleep 30;

my $z=0;
my $zdelta=$layer_height/1000;
#
#builtin framebuffer access

my $fb = Graphics::Framebuffer->new( FB_DEVICE=>$display_device, SPLASH=>0 );
$fb->clear_screen('OFF');
foreach(@pics_sorted){
#turn on LED -LED is mapped to the Fan, Fan Pin in Firmware has been set to a PWM pin.
my @command_list=('M106 S255');
send_commands(@command_list);
$fb->blit_write(
$fb->load_image(
{

'width' => $X_pixels, # Optional. Resizes to this maximum
# width. It fits the image to this
# size.

'height' => $Y_pixels, # Optional. Resizes to this maximum
# height. It fits the image to this
# size
'scale_type' => 'max',
'center' => $fb->{'CENTER_XY'},
'file' => "$dir/$_" # Usually needs full path
}
)
);
Time::HiRes::usleep("$exposure_time_us");
my @command_list=('M107');
send_commands(@command_list);
$fb->clear_screen('OFF');
$z=$z+$zdelta;
my $ztemp=$z+$overshoot;
my @command_list=("G1 Z $ztemp F $Z_speed","G1 Z $z F $Z_speed");
send_commands(@command_list);
my $zsleep=60*($zdelta+2*$overshoot)/$Z_speed*1000000; #microseconds, conversion from mm/min to mm/s
Time::HiRes::usleep("$zsleep");
Time::HiRes::usleep("$resin_settling_time_us");
}
#home Z axis to retrieve printed parts
my @command_list=('G28 Z');
send_commands(@command_list);

$fb->clear_screen('ON');
##sendcode- adapted and partially rewritten, inspiration taken from http://www.contraptor.org/about


sub send_commands{
my @command_list = @_;

#Open port


while (1) {
# Poll to see if any data is coming in
if ( my $char = $port->lookfor() ) {
$char =~ s/\r//;
print "$char\n";
if( $char =~ m/^(ok|start)$/){
#Send next command
my $next_command = shift @command_list;
print "$next_command\n";
$port->write("$next_command\n");
}else{
print "unknown: $char\n";
}
}
sleep 0.01;
unless(@command_list){last; }
}
}
###end sendcode
exit 0;
47 modules/send.pl
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#!/usr/bin/perl
use Device::SerialPort;
use Time::HiRes qw/sleep/;
use Slurp;

#Slup each file into a command list
my @command_list;
for my $file ( @ARGV ){
push @command_list, split('\n',slurp $file);
}

#If your board autoresets when talked to ( like a Sanguino ), you can uncomment the line bellow to get the machine to home position before sending the actual gcode
#send_commands('G21','G91','G1 X-150 Y-150','G1 X-150 Y-150','G1 X-150 Y-150','G1 X-150 Y-150');

send_commands(@command_list);

sub send_commands{
my @command_list = @_;

#Open port
my $port = Device::SerialPort->new("/dev/ttyACM0");

# 19200, 81N on the USB ftdi driver
$port->baudrate(115200);
$port->databits(8);
$port->parity("none");
$port->stopbits(1);

while (1) {
# Poll to see if any data is coming in
if ( my $char = $port->lookfor() ) {
$char =~ s/\r//;
print "$char\n";
if( $char =~ m/^(ok|start)$/){
#Send next command
my $next_command = shift @command_list;
print "$next_command\n";
$port->write("$next_command\n");
}else{
print "unknown: $char\n";
}
}
sleep 0.01;
unless(@command_list){last; }
}
}