894d989445
Adds a second machine class (small fan-shaped reach arm) alongside the CR-10/AxiDraw rectangular-bed plotters, so wet signatures can be produced while away from the home station. ink_signature_plotter.py: - PlotterConfig gains dialect (marlin|lineus) + name; new LineUsConfig (native units, pen height = per-move Z, reach annulus from shoulder pivot). - Named machine profiles (cr10 default, axidraw, lineus) via load_profile(). - bed_mm_to_lineus_units(), check_reach() (annulus for lineus, rectangle for marlin), compute_jig_offset_for_box() (solves jig from the ACTUAL fitted ink extent so a wide cell line doesn't over-constrain a small arm). - emit_gcode() dispatches to emit_marlin_gcode()/emit_lineus_gcode(). - send_lineus(): WiFi TCP 1337 (NUL-terminated, ok-acked) or USB serial, dry_run=True default (same gating as the CR-10 path). ink_signature_cli.py: --profile, --solve-jig (auto-applies jig offset), --lineus-host/--lineus-usb, reach-check that refuses to --plot out-of-reach on Line-us. Tests: 43 checks (was 30) covering profiles, reach check, jig solve, lineus emitter, dry-run sender. Docs updated with profiles + portable workflow.
869 lines
34 KiB
Python
869 lines
34 KiB
Python
"""Pen-plotter ink-signature pipeline: captured strokes -> G-code (and preview).
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The Standard (no-login) CMS filing path requires an ORIGINAL ink signature on
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paper ("Stamped, faxed or copied signatures will not be accepted"). To produce a
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genuine wet-ink signature from a signature captured online, we redraw the
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provider's own stroke paths onto the printed form with a pen mounted on a 3-axis
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motion system (a Creality CR-10 V2 here, but any Marlin/GRBL machine works).
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This module is HARDWARE-INDEPENDENT and fully testable without a plotter:
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strokes (normalized 0..1) <- esign_records.signature_vector
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| fit into the signature anchor box (PDF points)
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v
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paper-space coordinates (mm) <- via PlotterConfig (bed origin + jig)
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+--> emit_gcode() -> Marlin/GRBL G-code for the CR-10 (Z = pen lift)
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+--> render_preview_svg()/_overlay_pdf() -> verify the strokes land on
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the cert line WITHOUT any hardware (this is our correctness test)
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Coordinate frames
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-----------------
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* Capture box: signature pad canvas, origin top-left, x/y in [0,1].
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* PDF: points, origin bottom-left (matches reportlab + our signature anchors).
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* Plotter bed: millimetres, origin at the machine's homed corner (front-left for
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a CR-10). A paper jig fixes the sheet at a known offset from that corner, so
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PDF (0,0) of the sheet maps to (jig_x_mm, jig_y_mm) on the bed.
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The signature anchor box (x, y, w, h, page_w, page_h in PDF points) tells us
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exactly where on the page the signature must land — the same anchors the digital
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stamper consumes. We fit the captured strokes into that box (preserving aspect),
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then translate everything into bed mm using the jig offset.
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"""
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from __future__ import annotations
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import io
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import math
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from dataclasses import dataclass, field
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from typing import Any
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PT_PER_INCH = 72.0
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MM_PER_INCH = 25.4
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PT_TO_MM = MM_PER_INCH / PT_PER_INCH # 0.352777...
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@dataclass(frozen=True)
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class PlotterConfig:
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"""Physical configuration of the pen plotter + paper jig.
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Defaults target a Creality CR-10 V2 (300x300x400 bed) with a US-Letter sheet
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held by a corner jig at the front-left of the bed. Tune jig_x_mm / jig_y_mm
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and pen heights during calibration with the test-box routine.
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Two control dialects are supported:
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- "marlin" (default): Marlin/GRBL G-code in millimetres, pen up/down via Z
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or M280 servo. For the CR-10 and AxiDraw-class machines.
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- "lineus": the Line-us palm-size drawing arm. It speaks its own GCode in
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its OWN units over a small, fan-shaped reach envelope, with the
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pen height encoded as Z in each G01. See LineUsConfig.
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The internal geometry pipeline always works in millimetres; the emitter for
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each dialect converts at the end.
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"""
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# Control dialect: "marlin" or "lineus".
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dialect: str = "marlin"
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# Human label for the profile (e.g. "cr10", "axidraw", "lineus").
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name: str = "cr10"
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# Where PDF (0,0) — the sheet's bottom-left corner — sits on the bed, in mm
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# from the machine's homed origin.
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jig_x_mm: float = 20.0
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jig_y_mm: float = 20.0
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# Pen Z heights (mm). pen_down should be the height at which the pen touches
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# paper; with a spring-loaded holder a small over-press is safe.
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pen_up_mm: float = 3.0
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pen_down_mm: float = 0.0
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# Feed rates (mm/min).
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travel_feed: float = 3000.0 # pen-up moves
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draw_feed: float = 1200.0 # pen-down (drawing) moves
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z_feed: float = 600.0 # pen raise/lower
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# Bed safety envelope (mm). Emitter raises if a point would exceed these.
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bed_max_x_mm: float = 300.0
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bed_max_y_mm: float = 300.0
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# Resampling: drop points closer than this (mm) to keep G-code compact and
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# the pen smooth.
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min_segment_mm: float = 0.3
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# Pen-up/down via BLTouch/servo instead of Z (set servo_pen=True to emit
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# M280 deploy/stow instead of G1 Z moves — useful if you mount the pen to a
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# servo or repurpose the BLTouch as the actuator).
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servo_pen: bool = False
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servo_index: int = 0
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servo_down_angle: int = 10
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servo_up_angle: int = 90
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# Line-us mapping (only used when dialect == "lineus").
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lineus: "LineUsConfig | None" = None
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@dataclass(frozen=True)
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class LineUsConfig:
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"""Maps bed millimetres to the Line-us arm's native coordinate space.
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The Line-us is a small 2-link arm that draws with a real pen. It accepts
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GCode (G01 X Y Z, G28 home) but in its OWN units over a fan-shaped reach,
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NOT millimetres, and the pen height is the Z value in each move (low Z =
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pen down, high Z = pen up). Its usable area is roughly a half-disc in front
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of the shoulder pivot.
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We model the reachable area as: distance from the shoulder pivot (in Line-us
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units) must lie within [reach_min, reach_max], and we affine-map bed mm to
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Line-us units with a uniform scale + origin. Because the work area is small,
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the paper jig must place the signature cell inside reach — check_reach()
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verifies this BEFORE plotting and the jig calculator helps position the form.
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Defaults follow the documented Line-us envelope (X ~700..1775, Y ~-1000..1000,
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Z pen 0=down .. 1000=up). units_per_mm is the conversion derived from the
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arm's ~A6 usable width.
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"""
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units_per_mm: float = 13.0 # Line-us units per millimetre on the page
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origin_x_units: float = 1000.0 # Line-us X where the jig's bed-origin sits
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origin_y_units: float = 0.0 # Line-us Y where the jig's bed-origin sits
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pen_down_z: int = 0 # Z value for pen on paper
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pen_up_z: int = 1000 # Z value for pen lifted
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# Reach envelope, measured from the shoulder pivot at Line-us (0,0), in units.
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shoulder_x_units: float = 0.0
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shoulder_y_units: float = 0.0
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reach_min_units: float = 700.0
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reach_max_units: float = 2000.0
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feed: int = 0 # Line-us ignores F; kept for parity
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@dataclass
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class PlannedStroke:
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"""A single pen-down polyline in bed mm (one continuous pen contact)."""
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points_mm: list[tuple[float, float]] = field(default_factory=list)
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# ── Built-in machine profiles ────────────────────────────────────────────────
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#
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# Named presets so the home CR-10 and a portable Line-us are both first-class.
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# Geometry/jig values are starting points; calibrate per device with --test-box.
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def _profile_cr10() -> PlotterConfig:
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"""Home station: Creality CR-10 V2 with a corner jig (Marlin, Z pen-lift)."""
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return PlotterConfig(dialect="marlin", name="cr10")
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def _profile_axidraw() -> PlotterConfig:
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"""Portable A4 pen plotter (AxiDraw/iDraw class): Marlin/GRBL with a servo lift."""
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return PlotterConfig(
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dialect="marlin", name="axidraw",
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bed_max_x_mm=210.0, bed_max_y_mm=297.0,
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servo_pen=True, servo_up_angle=70, servo_down_angle=30,
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jig_x_mm=10.0, jig_y_mm=10.0,
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)
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def _profile_lineus() -> PlotterConfig:
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"""Pocket station: Line-us folding pen-arm (own GCode/units, small reach).
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The arm's reach is small, so the jig must place the signature cell in the
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sweet spot — use compute_jig_offset_for_box() (the CLI --solve-jig does this)
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to get jig_x_mm/jig_y_mm for a given form before plotting.
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"""
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return PlotterConfig(
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dialect="lineus", name="lineus",
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# mm bookkeeping is still used internally; reach is enforced in Line-us units.
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bed_max_x_mm=150.0, bed_max_y_mm=150.0,
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jig_x_mm=0.0, jig_y_mm=0.0,
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lineus=LineUsConfig(),
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)
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PROFILES: dict[str, "callable[[], PlotterConfig]"] = {
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"cr10": _profile_cr10,
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"axidraw": _profile_axidraw,
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"lineus": _profile_lineus,
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}
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def load_profile(name: str) -> PlotterConfig:
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"""Return a PlotterConfig for a named profile (cr10 | axidraw | lineus)."""
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key = (name or "cr10").lower()
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if key not in PROFILES:
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raise ValueError(f"unknown plotter profile '{name}'; choices: {sorted(PROFILES)}")
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return PROFILES[key]()
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# ── Geometry: strokes (0..1) -> fitted PDF points -> bed mm ──────────────────
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def _vector_bbox(strokes: list[list[dict]]) -> tuple[float, float, float, float]:
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"""Bounding box (minx, miny, maxx, maxy) of normalized strokes."""
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xs = [p["x"] for s in strokes for p in s]
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ys = [p["y"] for s in strokes for p in s]
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if not xs:
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return 0.0, 0.0, 1.0, 1.0
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return min(xs), min(ys), max(xs), max(ys)
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def fit_strokes_to_box(
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vector: dict,
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box: dict,
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*,
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h_pad_frac: float = 0.04,
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v_pad_frac: float = 0.12,
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baseline_lift_pt: float = 1.5,
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) -> list[list[tuple[float, float]]]:
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"""Fit normalized capture strokes into the anchor box, in PDF points.
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Returns a list of strokes; each stroke is a list of (x_pt, y_pt) with the
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PDF convention (origin bottom-left). Aspect ratio is preserved, the ink is
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left-aligned and rests just above the box bottom (the signature rule), and
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the capture's top-left origin is flipped to PDF's bottom-left.
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"""
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strokes = (vector or {}).get("strokes") or []
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if not strokes:
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return []
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minx, miny, maxx, maxy = _vector_bbox(strokes)
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src_w = max(maxx - minx, 1e-6)
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src_h = max(maxy - miny, 1e-6)
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bx, by = float(box["x"]), float(box["y"])
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bw, bh = float(box["w"]), float(box["h"])
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avail_w = bw * (1.0 - 2 * h_pad_frac)
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avail_h = bh * (1.0 - 2 * v_pad_frac)
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# Scale to fit, preserving aspect ratio.
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scale = min(avail_w / src_w, avail_h / src_h)
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drawn_w = src_w * scale
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drawn_h = src_h * scale
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# Left-aligned within the box; bottom-anchored just above the rule.
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off_x = bx + bw * h_pad_frac
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off_y = by + baseline_lift_pt + (avail_h - drawn_h) * 0.0 # rest on baseline
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out: list[list[tuple[float, float]]] = []
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for s in strokes:
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pts: list[tuple[float, float]] = []
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for p in s:
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nx = (p["x"] - minx) * scale
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ny = (p["y"] - miny) * scale
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x_pt = off_x + nx
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# Flip Y: capture origin is top-left, PDF origin is bottom-left.
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y_pt = off_y + (drawn_h - ny)
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pts.append((x_pt, y_pt))
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if pts:
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out.append(pts)
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return out
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def pdf_points_to_bed_mm(
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strokes_pt: list[list[tuple[float, float]]],
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cfg: PlotterConfig,
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) -> list[PlannedStroke]:
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"""Translate fitted PDF-point strokes into bed millimetres via the jig offset."""
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planned: list[PlannedStroke] = []
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for s in strokes_pt:
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mm = [
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(cfg.jig_x_mm + x_pt * PT_TO_MM, cfg.jig_y_mm + y_pt * PT_TO_MM)
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for (x_pt, y_pt) in s
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]
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mm = _resample(mm, cfg.min_segment_mm)
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if mm:
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planned.append(PlannedStroke(points_mm=mm))
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return planned
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def _resample(points: list[tuple[float, float]], min_seg_mm: float) -> list[tuple[float, float]]:
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"""Drop points closer than min_seg_mm to the previous kept point."""
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if not points:
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return []
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kept = [points[0]]
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for p in points[1:]:
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lx, ly = kept[-1]
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if math.hypot(p[0] - lx, p[1] - ly) >= min_seg_mm:
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kept.append(p)
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if len(kept) == 1 and len(points) > 1:
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kept.append(points[-1])
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return kept
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def plan_signature(vector: dict, box: dict, cfg: PlotterConfig) -> list[PlannedStroke]:
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"""Full geometry pipeline: normalized strokes + anchor box -> bed-mm strokes."""
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fitted = fit_strokes_to_box(vector, box)
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return pdf_points_to_bed_mm(fitted, cfg)
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# ── Line-us coordinate mapping + reach checking ──────────────────────────────
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#
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# The Line-us arm has a small, fan-shaped reach. Bed-mm coordinates (the same
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# internal representation every dialect uses) are affine-mapped to Line-us units
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# with a uniform scale + origin, then reach-checked against the shoulder pivot.
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def bed_mm_to_lineus_units(x_mm: float, y_mm: float, lu: LineUsConfig) -> tuple[float, float]:
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"""Map a bed-mm point to Line-us native units."""
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return (
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lu.origin_x_units + x_mm * lu.units_per_mm,
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lu.origin_y_units + y_mm * lu.units_per_mm,
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)
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def _lineus_reach_ok(ux: float, uy: float, lu: LineUsConfig) -> bool:
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"""True if a Line-us-unit point lies within the arm's reach annulus."""
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d = math.hypot(ux - lu.shoulder_x_units, uy - lu.shoulder_y_units)
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return lu.reach_min_units <= d <= lu.reach_max_units
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def check_reach(planned: list[PlannedStroke], cfg: PlotterConfig) -> dict:
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"""Verify EVERY planned point is reachable by the configured machine.
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For "lineus" this checks the fan-shaped reach annulus; for "marlin" it checks
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the rectangular bed envelope. Returns a report dict:
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{ ok, dialect, total_points, out_of_reach, first_bad, min_d, max_d }
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Call this BEFORE plotting so a tiny machine never tries to draw where it
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cannot reach (which would distort the signature).
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"""
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pts = [(x, y) for s in planned for (x, y) in s.points_mm]
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total = len(pts)
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if cfg.dialect == "lineus":
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lu = cfg.lineus or LineUsConfig()
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bad = 0
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first_bad: tuple[float, float] | None = None
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dists: list[float] = []
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for (x_mm, y_mm) in pts:
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ux, uy = bed_mm_to_lineus_units(x_mm, y_mm, lu)
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d = math.hypot(ux - lu.shoulder_x_units, uy - lu.shoulder_y_units)
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dists.append(d)
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if not (lu.reach_min_units <= d <= lu.reach_max_units):
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bad += 1
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if first_bad is None:
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first_bad = (round(x_mm, 2), round(y_mm, 2))
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return {
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"ok": bad == 0,
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"dialect": "lineus",
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"total_points": total,
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"out_of_reach": bad,
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"first_bad": first_bad,
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"min_d": round(min(dists), 1) if dists else None,
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"max_d": round(max(dists), 1) if dists else None,
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"reach": [lu.reach_min_units, lu.reach_max_units],
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}
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# marlin: rectangular bed
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bad = 0
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first_bad = None
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for (x, y) in pts:
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if x < 0 or y < 0 or x > cfg.bed_max_x_mm or y > cfg.bed_max_y_mm:
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bad += 1
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if first_bad is None:
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first_bad = (round(x, 2), round(y, 2))
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return {
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"ok": bad == 0,
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"dialect": "marlin",
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"total_points": total,
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"out_of_reach": bad,
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"first_bad": first_bad,
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"bed": [cfg.bed_max_x_mm, cfg.bed_max_y_mm],
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}
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def compute_jig_offset_for_box(
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box: dict,
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cfg: PlotterConfig,
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*,
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vector: dict | None = None,
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margin_units: float = 50.0,
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) -> dict:
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"""For a small machine, find a jig offset that brings the signature into reach.
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The signature box (PDF points) defines where ink must land on the sheet. On a
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small arm we cannot reach an arbitrary page location, so we slide the paper
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(i.e. choose jig_x_mm/jig_y_mm) until the signature sits in the sweet spot of
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the reach annulus. This returns the recommended jig offset (mm) plus whether
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the whole signature then fits.
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When ``vector`` is given, we solve + reach-check against the ACTUAL fitted ink
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extent (left-aligned, sub-cell) rather than the full cell rectangle. A full
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cell line (e.g. CMS-855 spans ~422pt) is far wider than the real signature, so
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using the ink extent is both more correct and far more likely to fit a small
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arm. When ``vector`` is None we fall back to the whole-cell corners.
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Strategy: aim the CENTRE of the (ink or cell) bbox at the mid-radius of the
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reach annulus, straight ahead of the shoulder (uy = shoulder_y). Solve for the
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jig offset that places it there, then reach-check the bbox corners.
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"""
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if cfg.dialect != "lineus":
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return {"ok": True, "note": "Reach is rectangular; no jig solve needed.",
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"jig_x_mm": cfg.jig_x_mm, "jig_y_mm": cfg.jig_y_mm}
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lu = cfg.lineus or LineUsConfig()
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# Determine the target bbox (PDF points): the actual ink extent if we have the
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# vector, otherwise the full cell.
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if vector and (vector.get("strokes")):
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fitted = fit_strokes_to_box(vector, box)
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ink_pts = [p for s in fitted for p in s]
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if ink_pts:
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bx = min(p[0] for p in ink_pts)
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by = min(p[1] for p in ink_pts)
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bw = max(p[0] for p in ink_pts) - bx
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bh = max(p[1] for p in ink_pts) - by
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else:
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bx, by = float(box["x"]), float(box["y"])
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bw, bh = float(box["w"]), float(box["h"])
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else:
|
|
bx, by = float(box["x"]), float(box["y"])
|
|
bw, bh = float(box["w"]), float(box["h"])
|
|
|
|
# Centre of the target bbox in PDF points -> the bed-mm point we want at the
|
|
# annulus mid-radius, directly ahead of the shoulder.
|
|
cx_pt = bx + bw / 2.0
|
|
cy_pt = by + bh / 2.0
|
|
cx_mm_in_sheet = cx_pt * PT_TO_MM
|
|
cy_mm_in_sheet = cy_pt * PT_TO_MM
|
|
|
|
mid_r = (lu.reach_min_units + lu.reach_max_units) / 2.0
|
|
target_ux = lu.shoulder_x_units + mid_r
|
|
target_uy = lu.shoulder_y_units
|
|
|
|
# We need: origin + (jig + sheet_offset)*units_per_mm = target_units.
|
|
# => jig_mm = (target_units - origin_units)/units_per_mm - sheet_offset_mm
|
|
new_jig_x = (target_ux - lu.origin_x_units) / lu.units_per_mm - cx_mm_in_sheet
|
|
new_jig_y = (target_uy - lu.origin_y_units) / lu.units_per_mm - cy_mm_in_sheet
|
|
|
|
test_cfg = _replace_cfg(cfg, jig_x_mm=new_jig_x, jig_y_mm=new_jig_y)
|
|
# Reach-check: against the real fitted ink if we have it, else the cell corners.
|
|
if vector and (vector.get("strokes")):
|
|
check_planned = plan_signature(vector, box, test_cfg)
|
|
else:
|
|
corners_pt = [(bx, by), (bx + bw, by), (bx + bw, by + bh), (bx, by + bh)]
|
|
check_planned = pdf_points_to_bed_mm([corners_pt], test_cfg)
|
|
rep = check_reach(check_planned, test_cfg)
|
|
|
|
return {
|
|
"ok": rep["ok"],
|
|
"jig_x_mm": round(new_jig_x, 2),
|
|
"jig_y_mm": round(new_jig_y, 2),
|
|
"reach_report": rep,
|
|
"note": (
|
|
"Cell fits in reach with this jig offset."
|
|
if rep["ok"]
|
|
else "Cell does NOT fully fit; the machine's reach is too small for this "
|
|
"signature-cell size — reduce the cell or use a larger machine."
|
|
),
|
|
}
|
|
|
|
|
|
def _replace_cfg(cfg: PlotterConfig, **changes: Any) -> PlotterConfig:
|
|
"""Return a copy of cfg with fields overridden (frozen dataclass helper)."""
|
|
from dataclasses import replace
|
|
return replace(cfg, **changes)
|
|
|
|
|
|
# ── G-code emission (Marlin/GRBL) ────────────────────────────────────────────
|
|
|
|
def emit_gcode(planned: list[PlannedStroke], cfg: PlotterConfig) -> str:
|
|
"""Emit machine code for the configured dialect.
|
|
|
|
Dispatches to the Marlin/GRBL emitter (CR-10, AxiDraw) or the Line-us
|
|
emitter. Both consume the same bed-mm planned strokes; the per-dialect
|
|
converter runs at the end.
|
|
"""
|
|
if cfg.dialect == "lineus":
|
|
return emit_lineus_gcode(planned, cfg)
|
|
return emit_marlin_gcode(planned, cfg)
|
|
|
|
|
|
def emit_marlin_gcode(planned: list[PlannedStroke], cfg: PlotterConfig) -> str:
|
|
"""Emit Marlin/GRBL G-code that draws the planned strokes with the pen.
|
|
|
|
Assumes the machine is homed (G28) so (0,0) is the bed corner; the jig offset
|
|
is already baked into the planned coordinates. Pen up/down is done via Z
|
|
moves (default) or a servo/BLTouch M280 (cfg.servo_pen).
|
|
"""
|
|
out: list[str] = []
|
|
w = out.append
|
|
|
|
def pen_up():
|
|
if cfg.servo_pen:
|
|
w(f"M280 P{cfg.servo_index} S{cfg.servo_up_angle} ; pen up")
|
|
w("G4 P150")
|
|
else:
|
|
w(f"G1 Z{cfg.pen_up_mm:.2f} F{cfg.z_feed:.0f} ; pen up")
|
|
|
|
def pen_down():
|
|
if cfg.servo_pen:
|
|
w(f"M280 P{cfg.servo_index} S{cfg.servo_down_angle} ; pen down")
|
|
w("G4 P150")
|
|
else:
|
|
w(f"G1 Z{cfg.pen_down_mm:.2f} F{cfg.z_feed:.0f} ; pen down")
|
|
|
|
over_bed = any(
|
|
x > cfg.bed_max_x_mm or y > cfg.bed_max_y_mm or x < 0 or y < 0
|
|
for s in planned for (x, y) in s.points_mm
|
|
)
|
|
|
|
w("; --- Performance West ink-signature plot ---")
|
|
w("; CR-10 V2 / Marlin (or GRBL); machine assumed homed (G28) before this.")
|
|
if over_bed:
|
|
w("; !! WARNING: some points fall outside the configured bed envelope.")
|
|
w("G21 ; mm")
|
|
w("G90 ; absolute positioning")
|
|
pen_up()
|
|
|
|
for s in planned:
|
|
if not s.points_mm:
|
|
continue
|
|
x0, y0 = s.points_mm[0]
|
|
w(f"G0 X{x0:.3f} Y{y0:.3f} F{cfg.travel_feed:.0f} ; travel to stroke start")
|
|
pen_down()
|
|
for (x, y) in s.points_mm[1:]:
|
|
w(f"G1 X{x:.3f} Y{y:.3f} F{cfg.draw_feed:.0f}")
|
|
pen_up()
|
|
|
|
w("G0 X0 Y0 F{:.0f} ; park".format(cfg.travel_feed))
|
|
w("; --- end plot ---")
|
|
return "\n".join(out) + "\n"
|
|
|
|
|
|
def emit_lineus_gcode(planned: list[PlannedStroke], cfg: PlotterConfig) -> str:
|
|
"""Emit Line-us GCode for the planned strokes.
|
|
|
|
The Line-us speaks a GCode subset in its OWN units, where the pen height is
|
|
the Z value of each move (low Z = down, high Z = up). It acks each command
|
|
with "ok". We convert bed-mm to Line-us units, raise the pen between strokes,
|
|
and emit one G01 per point. A leading comment carries a reach warning if any
|
|
point falls outside the arm's envelope (call check_reach() to gate plotting).
|
|
"""
|
|
lu = cfg.lineus or LineUsConfig()
|
|
out: list[str] = []
|
|
w = out.append
|
|
|
|
def to_units(x_mm: float, y_mm: float) -> tuple[float, float]:
|
|
return bed_mm_to_lineus_units(x_mm, y_mm, lu)
|
|
|
|
report = check_reach(planned, cfg)
|
|
|
|
w("; --- Performance West ink-signature plot (Line-us) ---")
|
|
w("; Line-us native GCode; pen height is the Z value of each move.")
|
|
if not report["ok"]:
|
|
w(f"; !! WARNING: {report['out_of_reach']} of {report['total_points']} points "
|
|
f"fall outside the arm reach {report.get('reach')}. Re-jig the form "
|
|
f"(compute_jig_offset_for_box) before plotting.")
|
|
w("G28 ; home the arm")
|
|
# Start pen up at the first stroke's start to avoid a dragging line.
|
|
for s in planned:
|
|
if not s.points_mm:
|
|
continue
|
|
x0, y0 = s.points_mm[0]
|
|
ux0, uy0 = to_units(x0, y0)
|
|
# travel with pen up, then drop pen
|
|
w(f"G01 X{ux0:.0f} Y{uy0:.0f} Z{lu.pen_up_z:d} ; travel to stroke start (pen up)")
|
|
w(f"G01 X{ux0:.0f} Y{uy0:.0f} Z{lu.pen_down_z:d} ; pen down")
|
|
for (x, y) in s.points_mm[1:]:
|
|
ux, uy = to_units(x, y)
|
|
w(f"G01 X{ux:.0f} Y{uy:.0f} Z{lu.pen_down_z:d}")
|
|
# lift pen at end of stroke
|
|
lx, ly = s.points_mm[-1]
|
|
ulx, uly = to_units(lx, ly)
|
|
w(f"G01 X{ulx:.0f} Y{uly:.0f} Z{lu.pen_up_z:d} ; pen up")
|
|
# Park: pen up, return to a safe rest position ahead of the shoulder.
|
|
park_x = lu.shoulder_x_units + (lu.reach_min_units + lu.reach_max_units) / 2.0
|
|
w(f"G01 X{park_x:.0f} Y{lu.shoulder_y_units:.0f} Z{lu.pen_up_z:d} ; park")
|
|
w("; --- end plot ---")
|
|
return "\n".join(out) + "\n"
|
|
|
|
|
|
def emit_test_box_gcode(cfg: PlotterConfig, box: dict) -> str:
|
|
"""Emit G-code that draws the OUTLINE of the signature box (no signature).
|
|
|
|
Use this during calibration: tape a blank sheet in the jig, run this, and
|
|
confirm the rectangle lands exactly on the form's signature line. Adjust
|
|
jig_x_mm/jig_y_mm/pen heights until it does.
|
|
"""
|
|
bx, by = float(box["x"]), float(box["y"])
|
|
bw, bh = float(box["w"]), float(box["h"])
|
|
corners_pt = [(bx, by), (bx + bw, by), (bx + bw, by + bh), (bx, by + bh), (bx, by)]
|
|
planned = pdf_points_to_bed_mm([corners_pt], cfg)
|
|
return emit_gcode(planned, cfg)
|
|
|
|
|
|
# ── Serial sender (Marlin/GRBL over USB) — gated, dry-run safe ───────────────
|
|
|
|
def send_gcode_serial(
|
|
gcode: str,
|
|
port: str = "/dev/ttyUSB0",
|
|
baud: int = 115200,
|
|
*,
|
|
dry_run: bool = True,
|
|
home_first: bool = False,
|
|
line_timeout: float = 30.0,
|
|
) -> dict:
|
|
"""Stream G-code to a Marlin/GRBL controller over USB serial.
|
|
|
|
Defaults to ``dry_run=True`` so it never moves hardware unless explicitly
|
|
enabled — call with dry_run=False only when a sheet is loaded in the jig.
|
|
|
|
Marlin acks each line with "ok"; we wait for it before sending the next line
|
|
(simple, reliable flow control). Returns a summary dict.
|
|
"""
|
|
lines = [ln for ln in (l.strip() for l in gcode.splitlines())
|
|
if ln and not ln.startswith(";")]
|
|
if home_first:
|
|
lines = ["G28"] + lines
|
|
|
|
if dry_run:
|
|
return {
|
|
"sent": False, "dry_run": True, "port": port,
|
|
"lines": len(lines),
|
|
"note": "DRY RUN — no serial I/O. Set dry_run=False to plot.",
|
|
}
|
|
|
|
try:
|
|
import serial # pyserial
|
|
except ImportError as exc: # pragma: no cover
|
|
raise RuntimeError("pyserial is required to send G-code (pip install pyserial)") from exc
|
|
|
|
import time
|
|
ser = serial.Serial(port, baud, timeout=line_timeout)
|
|
try:
|
|
time.sleep(2.0) # board reset on connect
|
|
ser.reset_input_buffer()
|
|
sent = 0
|
|
for ln in lines:
|
|
ser.write((ln + "\n").encode("ascii"))
|
|
ser.flush()
|
|
# Wait for the controller's "ok" ack.
|
|
deadline = time.time() + line_timeout
|
|
while time.time() < deadline:
|
|
resp = ser.readline().decode("ascii", "ignore").strip().lower()
|
|
if resp.startswith("ok") or resp.startswith("done"):
|
|
break
|
|
if resp.startswith("error") or resp.startswith("!!"):
|
|
raise RuntimeError(f"controller error on '{ln}': {resp}")
|
|
sent += 1
|
|
return {"sent": True, "dry_run": False, "port": port, "lines": sent}
|
|
finally:
|
|
ser.close()
|
|
|
|
|
|
def send_lineus(
|
|
gcode: str,
|
|
*,
|
|
host: str = "line-us.local",
|
|
tcp_port: int = 1337,
|
|
serial_port: str | None = None,
|
|
baud: int = 115200,
|
|
dry_run: bool = True,
|
|
line_timeout: float = 30.0,
|
|
) -> dict:
|
|
"""Send Line-us GCode over WiFi (TCP 1337) or USB serial.
|
|
|
|
The Line-us connects over its own TCP socket (sends a "hello"/greeting on
|
|
connect) OR over USB serial, and acks each command with "ok". Defaults to
|
|
``dry_run=True`` so it never moves the arm unless explicitly enabled.
|
|
|
|
Pass serial_port to use USB instead of WiFi.
|
|
"""
|
|
lines = [ln for ln in (l.strip() for l in gcode.splitlines())
|
|
if ln and not ln.startswith(";")]
|
|
|
|
if dry_run:
|
|
return {
|
|
"sent": False, "dry_run": True,
|
|
"transport": "serial" if serial_port else "tcp",
|
|
"target": serial_port or f"{host}:{tcp_port}",
|
|
"lines": len(lines),
|
|
"note": "DRY RUN — no I/O. Set dry_run=False to plot.",
|
|
}
|
|
|
|
import time
|
|
|
|
def _wait_ok(read_line) -> None:
|
|
deadline = time.time() + line_timeout
|
|
while time.time() < deadline:
|
|
resp = read_line().decode("ascii", "ignore").strip().lower()
|
|
if resp.startswith("ok"):
|
|
return
|
|
if resp.startswith("error") or resp.startswith("!!"):
|
|
raise RuntimeError(f"Line-us error: {resp}")
|
|
raise RuntimeError("Line-us ack timeout")
|
|
|
|
if serial_port:
|
|
try:
|
|
import serial # pyserial
|
|
except ImportError as exc: # pragma: no cover
|
|
raise RuntimeError("pyserial required for USB (pip install pyserial)") from exc
|
|
ser = serial.Serial(serial_port, baud, timeout=line_timeout)
|
|
try:
|
|
time.sleep(2.0)
|
|
ser.reset_input_buffer()
|
|
sent = 0
|
|
for ln in lines:
|
|
ser.write((ln + "\n").encode("ascii"))
|
|
ser.flush()
|
|
_wait_ok(ser.readline)
|
|
sent += 1
|
|
return {"sent": True, "dry_run": False, "transport": "serial",
|
|
"target": serial_port, "lines": sent}
|
|
finally:
|
|
ser.close()
|
|
|
|
# WiFi: raw TCP socket.
|
|
import socket
|
|
sock = socket.create_connection((host, tcp_port), timeout=line_timeout)
|
|
sock.settimeout(line_timeout)
|
|
buf = b""
|
|
|
|
def _readline() -> bytes:
|
|
nonlocal buf
|
|
while b"\x00" not in buf and b"\n" not in buf:
|
|
chunk = sock.recv(256)
|
|
if not chunk:
|
|
break
|
|
buf += chunk
|
|
# Line-us terminates responses with a NUL byte.
|
|
sep = b"\x00" if b"\x00" in buf else b"\n"
|
|
if sep in buf:
|
|
line, _, buf = buf.partition(sep)
|
|
return line
|
|
line, buf = buf, b""
|
|
return line
|
|
|
|
try:
|
|
_readline() # consume the connect greeting
|
|
sent = 0
|
|
for ln in lines:
|
|
sock.sendall(ln.encode("ascii") + b"\x00")
|
|
_wait_ok(_readline)
|
|
sent += 1
|
|
return {"sent": True, "dry_run": False, "transport": "tcp",
|
|
"target": f"{host}:{tcp_port}", "lines": sent}
|
|
finally:
|
|
sock.close()
|
|
|
|
|
|
# ── Preview rendering (verify WITHOUT hardware) ──────────────────────────────
|
|
|
|
def render_preview_svg(
|
|
planned: list[PlannedStroke],
|
|
cfg: PlotterConfig,
|
|
*,
|
|
show_bed: bool = True,
|
|
) -> str:
|
|
"""Render the planned pen path as an SVG in bed mm (origin bottom-left).
|
|
|
|
Pen-down strokes are solid; pen-up travels are dashed grey. Lets us eyeball
|
|
the toolpath without a plotter.
|
|
"""
|
|
W = cfg.bed_max_x_mm
|
|
H = cfg.bed_max_y_mm
|
|
parts = [
|
|
f'<svg xmlns="http://www.w3.org/2000/svg" width="{W}mm" height="{H}mm" '
|
|
f'viewBox="0 0 {W} {H}">',
|
|
# Flip Y so bottom-left origin reads naturally.
|
|
f'<g transform="translate(0,{H}) scale(1,-1)">',
|
|
]
|
|
if show_bed:
|
|
parts.append(f'<rect x="0" y="0" width="{W}" height="{H}" fill="#fff" stroke="#ccc" stroke-width="0.5"/>')
|
|
|
|
prev_end: tuple[float, float] | None = None
|
|
for s in planned:
|
|
if not s.points_mm:
|
|
continue
|
|
if prev_end is not None:
|
|
x0, y0 = s.points_mm[0]
|
|
parts.append(
|
|
f'<line x1="{prev_end[0]:.2f}" y1="{prev_end[1]:.2f}" '
|
|
f'x2="{x0:.2f}" y2="{y0:.2f}" stroke="#bbb" stroke-width="0.2" '
|
|
f'stroke-dasharray="1,1"/>'
|
|
)
|
|
d = "M " + " L ".join(f"{x:.2f},{y:.2f}" for (x, y) in s.points_mm)
|
|
parts.append(f'<path d="{d}" fill="none" stroke="#10243f" stroke-width="0.6" stroke-linecap="round" stroke-linejoin="round"/>')
|
|
prev_end = s.points_mm[-1]
|
|
|
|
parts.append("</g></svg>")
|
|
return "\n".join(parts)
|
|
|
|
|
|
def render_signature_on_pdf(
|
|
pdf_bytes: bytes,
|
|
vector: dict,
|
|
anchors: list[dict],
|
|
*,
|
|
signer_field: str | None = None,
|
|
) -> bytes:
|
|
"""Stamp the VECTOR strokes onto the PDF at the anchor box(es).
|
|
|
|
This is the digital twin of what the pen will draw — same geometry path as
|
|
the plotter — so a visual diff against the real plotted sheet (or just an
|
|
eyeball of this PDF) proves the toolpath lands on the cert line. Returns a
|
|
flattened signed PDF.
|
|
"""
|
|
from pypdf import PdfReader, PdfWriter
|
|
from reportlab.pdfgen import canvas as rl_canvas
|
|
|
|
reader = PdfReader(io.BytesIO(pdf_bytes))
|
|
writer = PdfWriter()
|
|
|
|
# Group anchors by page.
|
|
by_page: dict[int, list[dict]] = {}
|
|
for a in anchors:
|
|
if signer_field and a.get("field") != signer_field:
|
|
continue
|
|
by_page.setdefault(int(a.get("page", 0)), []).append(a)
|
|
|
|
for i, page in enumerate(reader.pages):
|
|
page_anchors = by_page.get(i)
|
|
if page_anchors:
|
|
mb = page.mediabox
|
|
pw = float(mb.width)
|
|
ph = float(mb.height)
|
|
buf = io.BytesIO()
|
|
c = rl_canvas.Canvas(buf, pagesize=(pw, ph))
|
|
c.setStrokeColorRGB(0.06, 0.14, 0.25)
|
|
c.setLineWidth(1.3)
|
|
c.setLineCap(1)
|
|
c.setLineJoin(1)
|
|
for box in page_anchors:
|
|
# Scale anchor from authored page size to this page size.
|
|
sx = pw / (box.get("page_w") or pw)
|
|
sy = ph / (box.get("page_h") or ph)
|
|
scaled = {
|
|
"x": box["x"] * sx, "y": box["y"] * sy,
|
|
"w": box["w"] * sx, "h": box["h"] * sy,
|
|
}
|
|
for stroke in fit_strokes_to_box(vector, scaled):
|
|
if len(stroke) < 2:
|
|
continue
|
|
path = c.beginPath()
|
|
path.moveTo(*stroke[0])
|
|
for pt in stroke[1:]:
|
|
path.lineTo(*pt)
|
|
c.drawPath(path, stroke=1, fill=0)
|
|
c.save()
|
|
buf.seek(0)
|
|
overlay = PdfReader(buf)
|
|
page.merge_page(overlay.pages[0])
|
|
writer.add_page(page)
|
|
|
|
out = io.BytesIO()
|
|
writer.write(out)
|
|
return out.getvalue()
|
|
|
|
|
|
if __name__ == "__main__": # local demo: synth a signature, plan, preview, gcode
|
|
import json
|
|
# Synthetic cursive-ish signature (a few strokes), normalized 0..1.
|
|
def wave(n, x0, x1, y0, amp, ph):
|
|
return [{"x": x0 + (x1 - x0) * k / (n - 1),
|
|
"y": y0 + amp * math.sin(2 * math.pi * (k / (n - 1) * 2) + ph),
|
|
"t": k * 8} for k in range(n)]
|
|
vector = {"v": 1, "w": 600, "h": 160, "strokes": [
|
|
wave(40, 0.08, 0.45, 0.55, 0.18, 0.0),
|
|
wave(40, 0.50, 0.92, 0.55, 0.15, 1.2),
|
|
]}
|
|
box = {"field": "signer", "page": 4, "x": 64.0, "y": 471.0, "w": 402.0, "h": 19.0,
|
|
"page_w": 612.0, "page_h": 792.0}
|
|
|
|
cfg = PlotterConfig()
|
|
planned = plan_signature(vector, box, cfg)
|
|
print(f"planned strokes: {len(planned)}; points: {sum(len(s.points_mm) for s in planned)}")
|
|
with open("/tmp/ink_preview.svg", "w") as f:
|
|
f.write(render_preview_svg(planned, cfg))
|
|
gcode = emit_gcode(planned, cfg)
|
|
with open("/tmp/ink_signature.gcode", "w") as f:
|
|
f.write(gcode)
|
|
print("wrote /tmp/ink_preview.svg and /tmp/ink_signature.gcode")
|
|
print("first 12 gcode lines:")
|
|
print("\n".join(gcode.splitlines()[:12]))
|