autocal layout first design

2026-09-20 21:15:39 +08:00
parent 07d7c3bad6
commit e276b5de0f
92 changed files with 18071 additions and 64 deletions
@@ -0,0 +1,179 @@
+"""AutoCal's preference schema and storage.
+
+The shared store keys off whatever schema it is handed, so AutoCal gets its own
+key set rather than inheriting the studio's camera/plot/3D keys. The values here
+are the ones an operator would otherwise retype at every start-up.
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+from orisys_app_shared import prefs as _prefs
+from orisys_app_shared.paths import preference_path
+
+from .motion.service import PLATFORM_AXES
+from .motion.units import DEFAULT_ACCEL, DEFAULT_SPEED, DEFAULT_UNITS
+
+#: Connection modes, in the order the combo offers them.
+CONNECTION_MODES = ("eth", "com", "pci", "local", "demo")
+
+#: Addresses the controller is normally reached on, tried first by a scan.
+DEFAULT_CONTROLLER_IPS = ("192.168.0.11", "127.0.0.1")
+
+#: Grid modes the sequence profile offers (workflow P5).
+SURFACE_MODES = ("flat", "curved")
+
+#: Point visiting orders (workflow P5).
+POINT_ORDERS = ("row", "serpentine", "distance")
+
+#: The design target is a well-lit bench, so light is the default; dark stays
+#: selectable for a dim room.
+DEFAULT_THEME = "light"
+
+
+def _default_sequence_profile() -> dict[str, Any]:
+    """The point-generation and run parameters of workflow P5.
+
+    One profile is global for now; named, saved sequences come with the runner.
+    The numbers are starting points an operator confirms at the bench, not
+    measured values — in particular ``home_mode``-style unknowns are left at 0 so
+    nothing is silently inherited from another machine.
+    """
+    return {
+        # --- grid shape
+        "mode": "flat",
+        "pitch_mm": 2.0,
+        "margin_mm": 1.0,
+        "radius_mm": 0.0,
+        # --- motion
+        "clear_height_mm": 5.0,
+        "approach_speed_mm_s": 2.0,
+        "press_speed_mm_s": 0.5,
+        "press_depth_mm": 0.2,
+        "dwell_s": 0.5,
+        # --- measurement
+        "settle_window_s": 0.5,
+        "repeats": 3,
+        # --- order
+        "order": "serpentine",
+    }
+
+
+def _default_safety_limits() -> dict[str, float]:
+    """Workflow P0: the limits that must have a value before anything moves.
+
+    ``0`` means "not set" for the ones where a real value is required, and the
+    app reports that at the P0 gate rather than treating it as unlimited.
+    """
+    return {
+        "max_travel_mm": 100.0,
+        "max_descent_mm": 10.0,
+        "max_press_depth_mm": 1.0,
+        "follow_error_mm": 0.5,
+        #: How far the axis may descend looking for contact before the run is
+        #: aborted (workflow P7, no-contact abort).
+        "contact_search_mm": 3.0,
+    }
+
+
+def _default_sensor_setup() -> dict[str, Any]:
+    """Workflow P3/P4: what is under test, what touches it, and the transform.
+
+    ``sensor_to_platform`` stays empty until the transform is established by
+    probing known features; the residual travels with it so a re-fixtured sensor
+    cannot silently reuse a stale transform.
+    """
+    return {
+        "sensor_type": "box",
+        "config_ref": "",
+        "geometry_id": "",
+        #: Which axis presses, and the probe tip offset from the platform's
+        #: reference point. Empty offset means "not set", which blocks P5.
+        "press_axis": 2,
+        "probe_tip_offset_mm": [0.0, 0.0, 0.0],
+        "probe_tip_set": False,
+        #: 4x4 row-major sensor -> platform transform, plus how well it fitted.
+        "sensor_to_platform": [],
+        "transform_residual_mm": 0.0,
+        "transform_feature_count": 0,
+    }
+
+
+def _default_axis_params() -> dict[str, dict[str, float | int]]:
+    """One parameter block per platform axis.
+
+    ``home_mode`` starts at 0, which is **not** a valid CiA-402 homing mode:
+    the operator must choose one for the drive in front of them rather than
+    inherit a number from another machine. The reference program pre-filled 17,
+    which is a specific drive's mode, so it is deliberately not copied here.
+    """
+    return {
+        str(axis): {
+            "units": DEFAULT_UNITS,
+            "speed": DEFAULT_SPEED,
+            "accel": DEFAULT_ACCEL,
+            "creep": 10.0,
+            "home_mode": 0,
+            "home_high": 50.0,
+            "home_low": 10.0,
+            "home_offset": 0.0,
+        }
+        for axis in range(PLATFORM_AXES)
+    }
+
+
+def default_preferences() -> dict[str, Any]:
+    """AutoCal's default preference document."""
+    return {
+        "language": "zh_CN",
+        "theme": DEFAULT_THEME,
+        "window_geometry": None,
+        "connection": {
+            "mode": "eth",
+            "ip": DEFAULT_CONTROLLER_IPS[0],
+            "com_id": 0,
+            "card_num": 0,
+            "local_string": "0",
+        },
+        # Remembered so "download the BAS program" is one click after the first
+        # time, instead of re-picking the file every session.
+        "bas_path": "",
+        #: Displayed millimetres are derived from this; it is a bench-measured
+        #: constant, not a calibrated length (see motion/units.py).
+        "units_per_mm": DEFAULT_UNITS,
+        "state_poll_ms": 100,
+        "axis_params": _default_axis_params(),
+        #: {node, index, subindex, type} of the last SDO read/written, so the
+        #: operator can repeat a drive-setting check quickly.
+        "sdo_last": {"node": 0, "index": 24704, "subindex": 0, "type": 0},
+        "rtex_last": {"axis": 0, "parameter": 0},
+        "show_diagnostics": False,
+        # --- workflow blocks (see apps/autocal/docs/workflow.md) --------------
+        #: P0: limits enforced from P2 onward.
+        "safety_limits": _default_safety_limits(),
+        #: P3/P4: sensor under test, probe tip, sensor<->platform transform.
+        "sensor_setup": _default_sensor_setup(),
+        #: P5: grid generation and run parameters.
+        "sequence_profile": _default_sequence_profile(),
+    }
+
+
+def load_preferences() -> dict[str, Any]:
+    """Stored preferences with AutoCal's defaults filling the gaps."""
+    prefs = _prefs.load_preferences(default_preferences())
+    # A stored document from an older build may miss a newly added axis block.
+    axis_params = prefs.setdefault("axis_params", {})
+    for axis, values in _default_axis_params().items():
+        axis_params.setdefault(axis, values)
+    return prefs
+
+
+def save_preferences(prefs: dict[str, Any]) -> Path:
+    return _prefs.save_preferences(prefs, default_preferences())
+
+
+def path() -> Path:
+    """Where AutoCal's ``preference.json`` lives (for the About box)."""
+    return preference_path()