sandTable/software/sandtable/ui.py

"""Jog panel: a small web page (http://127.0.0.1:8765) to home, jog and calibrate the table.

Keeps the USB connection open the whole time, so the Uno doesn't restart between moves.
Start it with `python3 -m sandtable ui`.
"""
import json
import threading
import time
import webbrowser
from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer

from .grbl import RT_HOLD, RT_JOG_CANCEL, GrblError

PAGE = r"""<!doctype html>
<html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1">
<title>Gyre - Jog</title>
<style>
:root{--bg:#f6f4ef;--card:#fff;--ink:#222;--mute:#666;--line:#ddd;--acc:#2f6f5e;--stop:#c0392b}
@media (prefers-color-scheme:dark){:root{--bg:#1b1c1e;--card:#26282b;--ink:#eee;--mute:#aaa;--line:#3a3d41;--acc:#5fb49c}}
body{margin:0;background:var(--bg);color:var(--ink);font:16px/1.4 system-ui,sans-serif}
main{max-width:720px;margin:0 auto;padding:16px}
h1{font-size:20px;margin:4px 0 12px}
.card{background:var(--card);border:1px solid var(--line);border-radius:10px;padding:14px;margin-bottom:12px}
.row{display:flex;flex-wrap:wrap;gap:8px;align-items:center}
.stat{display:grid;grid-template-columns:repeat(4,1fr);gap:8px}
.stat div{background:var(--bg);border-radius:8px;padding:8px}
.stat b{display:block;font-size:22px;font-variant-numeric:tabular-nums}
.stat span{font-size:12px;color:var(--mute)}
button{font:inherit;padding:10px 14px;border-radius:8px;border:1px solid var(--line);background:var(--card);color:var(--ink);cursor:pointer;min-width:64px}
button:hover{border-color:var(--acc)}
button.main{background:var(--acc);color:#fff;border-color:var(--acc)}
button.stop{background:var(--stop);color:#fff;border-color:var(--stop);font-weight:700;width:100%;padding:16px;font-size:18px}
.lbl{width:90px;color:var(--mute)}
input{font:inherit;width:90px;padding:8px;border-radius:6px;border:1px solid var(--line);background:var(--bg);color:var(--ink)}
.msg{min-height:1.4em;color:var(--mute);font-size:14px}
.err{color:var(--stop)}
small{color:var(--mute)}
</style></head><body><main>
<h1>Gyre: jog &amp; calibrate</h1>
<div class="card"><div class="stat">
 <div><span>State</span><b id="state">-</b></div>
 <div><span>Rho (mm)</span><b id="rho">-</b></div>
 <div><span>Theta (deg)</span><b id="theta">-</b></div>
 <div><span>Home switch</span><b id="sw">-</b></div>
</div><p class="msg" id="msg"></p></div>

<div class="card"><button class="stop" onclick="post('stop')">STOP</button></div>

<div class="card">
 <div class="row"><button class="main" onclick="post('home')">Home rho</button>
  <button onclick="post('unlock')">Unlock</button>
  <small id="homed">not homed since connecting</small></div>
</div>

<div class="card">
 <div class="row"><span class="lbl">Rho</span>
  <button onclick="jog('Y',-10)">&minus;10 mm</button><button onclick="jog('Y',-0.5)">&minus;0.5</button>
  <button onclick="jog('Y',0.5)">+0.5</button><button onclick="jog('Y',10)">+10 mm</button></div>
 <p><small>+ moves the magnet outward. An inward jog stops by itself when it presses the home switch; nothing stops it at the outer end, so watch the carriage there.</small></p>
 <div class="row"><span class="lbl">Theta</span>
  <button onclick="jog('X',-90)">&minus;90&deg;</button><button onclick="jog('X',-10)">&minus;10&deg;</button>
  <button onclick="jog('X',-0.5)">&minus;0.5&deg;</button><button onclick="jog('X',0.5)">+0.5&deg;</button>
  <button onclick="jog('X',10)">+10&deg;</button><button onclick="jog('X',90)">+90&deg;</button></div>
 <p><small>+ turns the arm counter-clockwise, seen from above.</small></p>
</div>

<div class="card">
 <b>Calibrate</b>
 <p><small>Move a known amount with the buttons above, measure what really happened, and enter both. The new steps value is written to the Uno.</small></p>
 <div class="row"><span class="lbl">Rho</span>
  commanded <input id="rc" value="20"> mm, measured <input id="rm" placeholder="mm">
  <button onclick="cal('$101','rc','rm')">Apply</button></div>
 <div class="row" style="margin-top:8px"><span class="lbl">Theta</span>
  commanded <input id="tc" value="360"> deg, measured <input id="tm" placeholder="deg">
  <button onclick="cal('$100','tc','tm')">Apply</button></div>
 <p class="msg">Now: rho <b id="s101">-</b> steps/mm, theta <b id="s100">-</b> steps/deg</p>
</div>
</main>
<script>
async function post(path, body){
  const r = await fetch('/api/'+path, {method:'POST', headers:{'Content-Type':'application/json'}, body: JSON.stringify(body||{})});
  const j = await r.json(); show(j.msg, !j.ok); return j;
}
function jog(axis, d){ post('jog', {axis, d}); }
function cal(key, c, m){
  const cmd = parseFloat(document.getElementById(c).value), meas = parseFloat(document.getElementById(m).value);
  if(!(cmd>0) || !(meas>0)){ show('enter both numbers', true); return; }
  post('calibrate', {key, commanded: cmd, measured: meas});
}
function show(t, bad){ const e = document.getElementById('msg'); e.textContent = t||''; e.className = 'msg' + (bad?' err':''); }
async function tick(){
  try{
    const s = await (await fetch('/api/status')).json();
    document.getElementById('state').textContent = s.state;
    document.getElementById('rho').textContent = s.rho.toFixed(2);
    document.getElementById('theta').textContent = s.theta.toFixed(1);
    const other = (s.pins||'').replace('Y','');
    document.getElementById('sw').textContent = (s.switch ? 'pressed' : 'open') + (other ? ' (other inputs on: ' + other + ')' : '');
    document.getElementById('homed').textContent = s.homed ? 'homed: rho is measured from the centre' : 'not homed since connecting';
    document.getElementById('s101').textContent = s.steps['$101']||'-';
    document.getElementById('s100').textContent = s.steps['$100']||'-';
    if(s.error) show(s.error, true);
  }catch(e){ document.getElementById('state').textContent = 'offline'; }
  setTimeout(tick, 300);
}
tick();
</script></body></html>
"""


def _log(msg):
    try:
        from .web import log
        log(msg)
    except Exception:
        print(msg, flush=True)


def open_usb(cfg):
    """Find the Uno and open it, for reconnecting. Raises OSError with a plain message."""
    import serial
    from serial.tools import list_ports
    from .cli import USB_IDS
    dev = cfg['serial']['port']
    if not dev or dev == 'auto':
        cands = [p.device for p in list_ports.comports() if p.vid in USB_IDS]
        if not cands:
            raise OSError('the Uno is not connected: plug in its USB cable (it reconnects by itself)')
        dev = cands[0]
    try:
        return serial.Serial(dev, cfg['serial']['baud'], timeout=0.02, write_timeout=2)
    except Exception as e:
        if getattr(e, 'errno', None) == 13 or 'Permission denied' in str(e):
            raise OSError(f'no permission for {dev}: run  sudo chmod a+rw {dev}  (it reconnects by itself)')
        raise OSError(f'cannot open {dev}: {e}')


class Panel:
    def __init__(self, ctrl, cfg, connected=True, opener=open_usb):
        self.c = ctrl
        self.cfg = cfg
        self.lock = threading.Lock()      # one serial conversation at a time
        self.homed = False
        self.error = ''
        self.steps = {}
        self.busy = ''
        self.jog_in = False                # the last jog moved rho inward, toward the switch
        self.connected = connected
        self.opener = opener
        self._next_try = 0.0
        if connected:
            with self.lock:
                self._read_steps()
        else:
            self.error = 'the Uno is not connected: plug in its USB cable (it reconnects by itself)'
        threading.Thread(target=self._poll, daemon=True).start()

    def lost(self, e):
        """The USB link dropped: forget the position and start trying to reconnect."""
        _log(f'USB connection lost: {e!r}')
        self.connected = False
        self.homed = False
        self.error = f'USB connection lost ({e}). Plug the Uno back in; the page reconnects by itself.'
        try:
            self.c.port.close()
        except Exception:
            pass

    def _reconnect(self):
        if time.monotonic() < self._next_try:
            return
        self._next_try = time.monotonic() + 2.0
        try:
            self.c.reopen(self.opener(self.cfg))
            self.c.query()
            self._read_steps()
        except Exception as e:
            self.error = str(e)
            return
        self.connected = True
        self.error = ''
        _log('USB connection back')

    def _read_steps(self):
        s = self.c.settings()
        self.steps = {k: s.get(k, '') for k in ('$100', '$101')}

    def _poll(self):
        while True:
            fast = False
            if self.lock.acquire(timeout=0.05):
                try:
                    if not self.connected:
                        self._reconnect()
                    else:
                        st = self.c.query()
                        fast = st.state == 'Jog'
                        if fast and self.jog_in and 'Y' in st.pins:
                            # inward jog reached the home switch: stop before the carriage hits the end stop
                            self.c.realtime(RT_JOG_CANCEL)
                            self.jog_in = False
                            self.error = 'inward jog stopped: the home switch is pressed'
                except OSError as e:        # pyserial's errors are OSErrors: the cable came out
                    self.lost(e)
                except Exception as e:      # keep the page alive; show the problem
                    if str(e) != self.error:
                        _log(f'panel: {e}')
                    self.error = str(e)
                finally:
                    self.lock.release()
            time.sleep(0.05 if fast else 0.25)

    def status(self):
        st = self.c.status
        state = 'Motors off' if st.state == 'Sleep' else st.state + (':' + st.sub if st.sub else '')
        return {'state': 'Disconnected' if not self.connected else self.busy or state,
                'connected': self.connected,
                'theta': st.wpos[0], 'rho': st.wpos[1], 'switch': 'Y' in st.pins, 'pins': st.pins,
                'homed': self.homed, 'steps': self.steps, 'error': self.error}

    # ---------------------------------------------------------- actions
    def jog(self, axis, d):
        axis = 'X' if axis == 'X' else 'Y'
        d = max(-360.0, min(360.0, float(d)))
        feed = 1200 if axis == 'X' else 600       # 20 deg/s, 10 mm/s
        with self.lock:
            st = self.c.query()
            if st.state == 'Sleep':                 # motors switched off after a design: wake them
                self.c.unlock()
                st = self.c.query()
            if st.state == 'Alarm':
                return False, 'alarm: press Unlock first'
            inward = axis == 'Y' and d < 0
            if inward and 'Y' in st.pins:
                return False, 'the home switch is pressed: rho can only move outward (+) from here'
            self.error = ''
            self.jog_in = inward
            self.c.command(f'$J=G91 G21 {axis}{d:.3f} F{feed}')
        return True, f'jog {"theta" if axis == "X" else "rho"} {d:+g}'

    def home(self):
        if not self.lock.acquire(timeout=1):
            return False, 'busy'
        try:
            self.busy = 'Homing'
            self.jog_in = False
            self.c.abort = False
            self.c.home_rho(self.cfg, log=lambda m: None)
            self.homed = True
            self.error = ''
            return True, 'homed'
        except GrblError as e:
            self.homed = False
            return False, str(e)
        finally:
            self.busy = ''
            self.lock.release()

    def stop(self):
        # real-time bytes go straight out, even while another request holds the lock
        self.c.abort = True
        self.c.realtime(RT_JOG_CANCEL)
        self.c.realtime(RT_HOLD)
        with self.lock:
            self.c.stop()                   # waits for the stop, clears the queue, keeps the position
        return True, 'stopped'

    def unlock(self):
        with self.lock:
            self.c.unlock()                         # also wakes the motors after a design
            self.c.command('$X')
        return True, 'unlocked'

    def calibrate(self, key, commanded, measured):
        if key not in ('$100', '$101'):
            return False, 'bad setting'
        with self.lock:
            old = float(self.c.settings().get(key, '0'))
            new = old * float(commanded) / float(measured)
            if not 0.2 * old < new < 5 * old:
                return False, f'that would change {key} from {old:g} to {new:.3f}; check the numbers'
            self.c.command(f'{key}={new:.3f}')
            self._read_steps()
        what = 'rho steps/mm' if key == '$101' else 'theta steps/deg'
        return True, (f'{what}: {old:g} -> {new:.3f}. Saved on the Uno. Home again, then copy it into '
                      f'sandtable.toml so `setup` keeps it.')


def serve(ctrl, cfg, port=8765, open_browser=True):
    panel = Panel(ctrl, cfg)

    class H(BaseHTTPRequestHandler):
        def log_message(self, *a):
            pass

        def _send(self, code, body, ctype='application/json'):
            data = body.encode() if isinstance(body, str) else body
            self.send_response(code)
            self.send_header('Content-Type', ctype)
            self.send_header('Content-Length', str(len(data)))
            self.end_headers()
            self.wfile.write(data)

        def do_GET(self):
            if self.path in ('/', '/index.html'):
                self._send(200, PAGE, 'text/html; charset=utf-8')
            elif self.path == '/api/status':
                self._send(200, json.dumps(panel.status()))
            else:
                self._send(404, '{}')

        def do_POST(self):
            n = int(self.headers.get('Content-Length') or 0)
            body = json.loads(self.rfile.read(n) or b'{}')
            act = self.path.rsplit('/', 1)[-1]
            try:
                if act == 'jog':
                    ok, msg = panel.jog(body.get('axis'), body.get('d', 0))
                elif act == 'home':
                    ok, msg = panel.home()
                elif act == 'stop':
                    ok, msg = panel.stop()
                elif act == 'unlock':
                    ok, msg = panel.unlock()
                elif act == 'calibrate':
                    ok, msg = panel.calibrate(body.get('key'), body.get('commanded'), body.get('measured'))
                else:
                    ok, msg = False, 'unknown action'
            except Exception as e:
                ok, msg = False, str(e)
            self._send(200, json.dumps({'ok': ok, 'msg': msg}))

    srv = ThreadingHTTPServer(('127.0.0.1', port), H)
    url = f'http://127.0.0.1:{port}'
    print(f'Jog panel at {url}  (Ctrl-C here to quit)', flush=True)
    if open_browser:
        try:
            webbrowser.open(url)
        except Exception:
            pass
    try:
        srv.serve_forever()
    except KeyboardInterrupt:
        pass
    finally:
        srv.server_close()