326 lines
12 KiB
Python
326 lines
12 KiB
Python
"""Hardware-free Rayforge binary driver registration proof.
|
|
|
|
This is deliberately not a controller implementation. It has no discovery
|
|
specification, transport, USB import, or machine I/O.
|
|
"""
|
|
|
|
import hashlib
|
|
import json
|
|
import math
|
|
import struct
|
|
from typing import Any
|
|
|
|
from rayforge.core.hooks import hookimpl
|
|
from rayforge.machine import driver as driver_registry
|
|
from rayforge.machine.driver import NoDeviceDriver
|
|
from rayforge.pipeline.encoder.base import (
|
|
EncodedOutput,
|
|
MachineCodeOpMap,
|
|
OpsEncoder,
|
|
)
|
|
|
|
|
|
class OfflineJCZEncoder(OpsEncoder):
|
|
"""Encode Rayforge Ops to a deterministic, transport-free JCZ trace."""
|
|
|
|
FIELD_MM = 110.0
|
|
SYNTHETIC_PROFILE_ID = "synthetic-jpt-mopa-110-v1"
|
|
|
|
OPCODES = {
|
|
"jump": 0x8001,
|
|
"end_of_list": 0x8002,
|
|
"laser_on_point": 0x8003,
|
|
"mark": 0x8005,
|
|
"jump_speed": 0x8006,
|
|
"frequency": 0x801B,
|
|
"power": 0x8012,
|
|
"mark_speed": 0x800C,
|
|
"pulse_width": 0x8026,
|
|
"ready": 0x8051,
|
|
}
|
|
|
|
LIST_RECORD_SIZE = 12
|
|
LIST_BUFFER_SIZE = 0xC00
|
|
LIST_RECORD_CAPACITY = LIST_BUFFER_SIZE // LIST_RECORD_SIZE
|
|
STATE_ORDER = (
|
|
"pulse_width",
|
|
"jump_speed",
|
|
"frequency",
|
|
"power",
|
|
"mark_speed",
|
|
)
|
|
|
|
def __init__(
|
|
self,
|
|
profile_id: str = SYNTHETIC_PROFILE_ID,
|
|
expected_profile_id: str = SYNTHETIC_PROFILE_ID,
|
|
) -> None:
|
|
self.profile_id = profile_id
|
|
self.expected_profile_id = expected_profile_id
|
|
|
|
def _validate_profile(self) -> None:
|
|
if self.profile_id != self.expected_profile_id:
|
|
raise ValueError(
|
|
"profile mismatch: encoder refuses to produce a JCZ trace"
|
|
)
|
|
|
|
@staticmethod
|
|
def _record(command: int, *values: int) -> bytes:
|
|
words = (command, *values, 0, 0, 0, 0, 0)[:6]
|
|
if any(not 0 <= value <= 0xFFFF for value in words):
|
|
raise ValueError("JCZ command word is outside the unsigned 16-bit range")
|
|
return struct.pack("<6H", *words)
|
|
|
|
def _encode_records(self, trace: list[dict[str, Any]]) -> list[bytes]:
|
|
records = []
|
|
last_x = 0x8000
|
|
last_y = 0x8000
|
|
for item in trace:
|
|
command = item["command"]
|
|
if command == "job_start":
|
|
continue
|
|
if command == "ready":
|
|
records.append(self._record(self.OPCODES[command]))
|
|
elif command == "job_end":
|
|
records.append(self._record(self.OPCODES["end_of_list"]))
|
|
elif command == "pulse_width":
|
|
records.append(
|
|
self._record(
|
|
self.OPCODES[command], round(item["nanoseconds"])
|
|
)
|
|
)
|
|
elif command == "frequency":
|
|
records.append(
|
|
self._record(
|
|
self.OPCODES[command], item["balor_qswitch_period"]
|
|
)
|
|
)
|
|
elif command in ("power", "mark_speed", "jump_speed"):
|
|
records.append(
|
|
self._record(self.OPCODES[command], item["balor_word"])
|
|
)
|
|
elif command in ("jump", "mark"):
|
|
x = item["x"]
|
|
y = item["y"]
|
|
distance = min(0xFFFF, int(math.hypot(x - last_x, y - last_y)))
|
|
records.append(self._record(self.OPCODES[command], x, y, 0, distance))
|
|
last_x, last_y = x, y
|
|
elif command == "laser_on_point":
|
|
records.append(
|
|
self._record(self.OPCODES[command], item["balor_10us_units"])
|
|
)
|
|
elif command == "offline_probe":
|
|
continue
|
|
else:
|
|
raise ValueError(f"cannot packetize semantic command: {command}")
|
|
return records
|
|
|
|
def _controller_list_trace(
|
|
self, trace: list[dict[str, Any]]
|
|
) -> list[dict[str, Any]]:
|
|
if not trace or trace[0]["command"] != "job_start":
|
|
raise ValueError("JCZ list must start with job_start")
|
|
if trace[-1]["command"] != "job_end":
|
|
raise ValueError("JCZ list must end with job_end")
|
|
|
|
states: dict[str, dict[str, Any]] = {}
|
|
body: list[dict[str, Any]] = []
|
|
motion_seen = False
|
|
for item in trace[1:-1]:
|
|
command = item["command"]
|
|
if command in self.STATE_ORDER:
|
|
if motion_seen:
|
|
raise ValueError(
|
|
"JCZ state change after motion is not supported"
|
|
)
|
|
if command in states:
|
|
raise ValueError(f"duplicate JCZ state command: {command}")
|
|
states[command] = item
|
|
else:
|
|
motion_seen = True
|
|
body.append(item)
|
|
|
|
missing = [name for name in self.STATE_ORDER if name not in states]
|
|
if missing:
|
|
raise ValueError(f"missing required JCZ state: {', '.join(missing)}")
|
|
return (
|
|
[{"command": "ready"}]
|
|
+ [states[name] for name in self.STATE_ORDER]
|
|
+ body
|
|
+ [trace[-1]]
|
|
)
|
|
|
|
def _pack_list_buffers(self, records: list[bytes]) -> list[bytes]:
|
|
if not records:
|
|
return []
|
|
end_record = self._record(self.OPCODES["end_of_list"])
|
|
buffers = []
|
|
for offset in range(0, len(records), self.LIST_RECORD_CAPACITY):
|
|
chunk = records[offset : offset + self.LIST_RECORD_CAPACITY]
|
|
if len(chunk) < self.LIST_RECORD_CAPACITY:
|
|
chunk = chunk + [end_record] * (
|
|
self.LIST_RECORD_CAPACITY - len(chunk)
|
|
)
|
|
packet = b"".join(chunk)
|
|
if len(packet) != self.LIST_BUFFER_SIZE:
|
|
raise AssertionError("JCZ list buffer is not exactly 0xC00 bytes")
|
|
buffers.append(packet)
|
|
return buffers
|
|
|
|
@classmethod
|
|
def _coordinate(cls, value_mm: float) -> int:
|
|
if not 0.0 <= value_mm <= cls.FIELD_MM:
|
|
raise ValueError("coordinate is outside the synthetic 110 mm field")
|
|
return round(value_mm * 65535.0 / cls.FIELD_MM)
|
|
|
|
def encode(self, ops: Any, *args, **kwargs) -> EncodedOutput:
|
|
del args, kwargs
|
|
self._validate_profile()
|
|
if ops is None:
|
|
trace = [{"command": "offline_probe"}]
|
|
op_count = 0
|
|
else:
|
|
trace = []
|
|
for command in ops.to_dict()["commands"]:
|
|
kind = command["type"]
|
|
if kind in ("JOB_START", "JOB_END"):
|
|
trace.append({"command": kind.lower()})
|
|
elif kind == "SET_POWER":
|
|
fraction = float(command["power"])
|
|
if not 0.0 <= fraction <= 1.0:
|
|
raise ValueError("power must be between 0 and 1")
|
|
trace.append(
|
|
{
|
|
"command": "power",
|
|
"fraction": fraction,
|
|
"balor_word": round(fraction * 0xFFF),
|
|
}
|
|
)
|
|
elif kind in ("SET_FEED_RATE", "SET_RAPID_RATE"):
|
|
speed_mm_s = float(command["speed"]) / 60.0
|
|
trace.append(
|
|
{
|
|
"command": (
|
|
"mark_speed"
|
|
if kind == "SET_FEED_RATE"
|
|
else "jump_speed"
|
|
),
|
|
"mm_per_s": speed_mm_s,
|
|
"balor_word": int(
|
|
speed_mm_s * (65535.0 / self.FIELD_MM) / 1000.0
|
|
),
|
|
}
|
|
)
|
|
elif kind == "SET_FREQUENCY":
|
|
frequency_hz = float(command["frequency"])
|
|
if frequency_hz <= 0:
|
|
raise ValueError("frequency must be positive")
|
|
trace.append(
|
|
{
|
|
"command": "frequency",
|
|
"hz": frequency_hz,
|
|
"balor_qswitch_period": round(
|
|
20_000_000.0 / frequency_hz
|
|
),
|
|
}
|
|
)
|
|
elif kind == "SET_PULSE_WIDTH":
|
|
width_ns = float(command["pulse_width"])
|
|
if width_ns <= 0:
|
|
raise ValueError("pulse width must be positive")
|
|
trace.append(
|
|
{"command": "pulse_width", "nanoseconds": width_ns}
|
|
)
|
|
elif kind in ("MOVE_TO", "LINE_TO"):
|
|
x, y, _z = command["end"]
|
|
trace.append(
|
|
{
|
|
"command": "jump" if kind == "MOVE_TO" else "mark",
|
|
"x": self._coordinate(float(x)),
|
|
"y": self._coordinate(float(y)),
|
|
}
|
|
)
|
|
elif kind == "DWELL":
|
|
duration_ms = float(command["duration_ms"])
|
|
trace.append(
|
|
{
|
|
"command": "laser_on_point",
|
|
"duration_ms": duration_ms,
|
|
"balor_10us_units": round(duration_ms * 100.0),
|
|
}
|
|
)
|
|
else:
|
|
raise ValueError(f"unsupported Ops command: {kind}")
|
|
op_count = len(trace)
|
|
|
|
controller_trace = [] if ops is None else self._controller_list_trace(trace)
|
|
records = self._encode_records(controller_trace)
|
|
list_buffers = self._pack_list_buffers(records)
|
|
payload = b"".join(records)
|
|
if ops is None:
|
|
payload = json.dumps(
|
|
trace, sort_keys=True, separators=(",", ":")
|
|
).encode("ascii")
|
|
return EncodedOutput(
|
|
text=payload.hex(),
|
|
op_map=MachineCodeOpMap.from_lists(
|
|
[(index, 1) for index in range(op_count)],
|
|
list(range(op_count)),
|
|
),
|
|
driver_data={
|
|
"binary": payload,
|
|
"command_records_hex": [record.hex() for record in records],
|
|
"semantic_trace": trace,
|
|
"controller_list_trace": controller_trace,
|
|
"list_buffers": list_buffers,
|
|
"list_buffer_sha256": [
|
|
hashlib.sha256(packet).hexdigest()
|
|
for packet in list_buffers
|
|
],
|
|
"list_record_capacity": self.LIST_RECORD_CAPACITY,
|
|
"list_buffer_size": self.LIST_BUFFER_SIZE,
|
|
"list_meaningful_record_count": len(records),
|
|
"list_padding_record_count": (
|
|
len(list_buffers) * self.LIST_RECORD_CAPACITY - len(records)
|
|
),
|
|
"transport": None,
|
|
},
|
|
)
|
|
|
|
|
|
class PirateRayJCZNoDeviceDriver(NoDeviceDriver):
|
|
label = "The Pirate Ray JCZ (offline)"
|
|
subtitle = "No discovery or hardware transport"
|
|
uses_gcode = False
|
|
DISCOVERY = None
|
|
|
|
@classmethod
|
|
def create_encoder(cls, machine) -> OpsEncoder:
|
|
del machine
|
|
return OfflineJCZEncoder()
|
|
|
|
|
|
def _register() -> None:
|
|
name = PirateRayJCZNoDeviceDriver.__name__
|
|
if name not in driver_registry.driver_by_classname:
|
|
driver_registry.register_driver(PirateRayJCZNoDeviceDriver)
|
|
|
|
|
|
def _unregister() -> None:
|
|
name = PirateRayJCZNoDeviceDriver.__name__
|
|
registered = driver_registry.driver_by_classname.get(name)
|
|
if registered is PirateRayJCZNoDeviceDriver:
|
|
del driver_registry.driver_by_classname[name]
|
|
driver_registry.drivers[:] = [
|
|
item for item in driver_registry.drivers if item is not registered
|
|
]
|
|
|
|
|
|
# Rayforge currently has no driver registry in call_registration_hooks().
|
|
# Registration therefore has to happen when the worker entry point is loaded.
|
|
_register()
|
|
|
|
|
|
@hookimpl
|
|
def on_unload() -> None:
|
|
_unregister()
|