3d printer added

.gitignore

@@ -2,3 +2,10 @@ build/
 log/
 install/
 .vscode/
+3D_Printer/build
+3D_Printer/install
+3D_Printer/log
+3D_printer/src/printer3d_profile_capture/external
+3D_printer/src/printer3d_keyence_profile_capture/src/driver
+3D_printer/src/printer3d_keyence_profile_capture/launch/__pycache__
+3D_printer/src/printer3d_keyence_data_acquisition_test/launch/__pycache__

.pre-commit-config.yaml

@@ -138,7 +138,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.4
     hooks:
       - id: codespell
         args: ['--write-changes']

3D_printer/src/printer3d_driver/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(printer3d_driver)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Install the python module for this package
+# ament_python_install_package(nodes/)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install python scripts
+
+install(
+  PROGRAMS
+    nodes/gcode_monitor_node.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

3D_printer/src/printer3d_driver/nodes/gcode_monitor_node.py

@@ -0,0 +1,146 @@
+#!/usr/bin/env python3
+# Copyright 2023 ICube Laboratory, University of Strasbourg
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+from rclpy.node import Node
+import time
+import serial
+from printer3d_msgs.srv import GcodeCommand
+
+
+def openSerialPort(port, baud):
+    """
+    Handle the opening of the serial port and exit if the port haven't been opened.
+
+    Args:
+    -------
+        port (string): supposed to be "COM" plus the number associated to the
+        baud (int): baudrate of the port communication (commonly 9600, 115200, 250000 ...)
+
+    Returns
+    -------
+        pyserial object: an object allowing to send and receive data through USB
+
+    """
+    print('Opening Serial Port...')
+    try:
+        s = serial.Serial(port, baud)
+        if (s.isOpen() is True):
+            print(port + " has opened successfully.")
+            return s
+        else:
+            print(port + " has failed to open.")
+            exit()
+    except Exception:
+        print("An error occurred while opening " + port)
+        exit()
+
+
+def removeComment(string):
+    """
+    Remove the comments from a gcode line stored as a string.
+
+    Args
+    -------
+        string (string): gcode line with a possible comment inside
+
+    Returns
+    -------
+        string: input string without comment
+
+    """
+    if (string.find(';') == -1):
+        return string
+    else:
+        return string[:string.index(';')]
+
+
+class GcodeMonitorNode(Node):
+    def __init__(self):
+        """Gcodemonitornode class constructor."""
+        super().__init__('printer_gcode_monitor')
+        self.serialPort = openSerialPort('/dev/ttyACM0', 250000)
+        self.serialPort.write(b"\n\n")
+        time.sleep(2)
+        self.gcodeService = self.create_service(GcodeCommand, 'send_gcode', self.execute_gcode_sending)
+
+    def execute_gcode_sending(self, request, response):
+        """
+        Execute this function of the service send_gcode provided by this ROS2 node.
+
+        Args
+        -------
+            request (list of string): list of gcode lines to be sended through the serial communication
+            response (bool): True
+
+        Returns
+        -------
+            bool: True
+
+        """
+        gcode = request.gcode_strings
+        # self.get_logger().info('Executing Gcode')
+        feedback = 0.0
+        self.serialPort.flushInput()
+        self.i = 0
+        self.total = len(gcode)
+        self.increment = 0.0
+
+        for line in gcode:
+            # feedback publication
+            feedback = (self.i/self.total)*100
+            if feedback - self.increment > 1:
+                self.increment = feedback
+
+            # Gcode Sending
+
+            line = removeComment(line)
+            line = line.strip()
+            self.i += 1
+            if (line.isspace() is False and len(line) > 0):
+                if ' E' in line:
+                    self.lastExtrusionSended = float(line.split('E')[1])
+                self.serialPort.write((line + "\n").encode('ascii'))
+                grbl_out = self.serialPort.readline()  # wait for response from printer
+                grbl_out = grbl_out.strip().decode('ascii')
+                while 'ok' not in grbl_out:
+                    grbl_out = self.serialPort.readline()  # wait for response from printer
+                    grbl_out = grbl_out.strip().decode('ascii')
+
+        self.serialPort.write(b"M400\n")
+        grbl_out = self.serialPort.readline()  # wait for response from printer
+        grbl_out = grbl_out.strip().decode('ascii')
+        while 'ok' not in grbl_out:
+            grbl_out = self.serialPort.readline()  # wait for response from printer
+            grbl_out = grbl_out.strip().decode('ascii')
+
+        self.serialPort.write(b"M400\n")
+        grbl_out = self.serialPort.readline()  # wait for response from printer
+        grbl_out = grbl_out.strip().decode('ascii')
+        while 'ok' not in grbl_out:
+            grbl_out = self.serialPort.readline()  # wait for response from printer
+            grbl_out = grbl_out.strip().decode('ascii')
+
+        # self.get_logger().info('gcode sending completely finished')
+        response.validation = True
+
+        return response
+
+
+if __name__ == '__main__':
+    rclpy.init()
+    gcode_monitor_node = GcodeMonitorNode()
+    rclpy.spin(gcode_monitor_node)
+    rclpy.shutdown()

3D_printer/src/printer3d_driver/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>printer3d_driver</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">gulltor</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

3D_printer/src/printer3d_gocator_msgs/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.5)
+project(printer3d_gocator_msgs)
+
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GocatorPTCloud.srv"
+  DEPENDENCIES builtin_interfaces std_msgs sensor_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

3D_printer/src/printer3d_gocator_msgs/package.xml

@@ -0,0 +1,19 @@
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+<name>printer3d_gocator_msgs</name>
+<version>0.0.0</version>
+<description>Messages form communication with GOCATOR systems</description>
+<maintainer email="[email protected]">m.bednarczyk</maintainer>
+<license>TODO: License declaration</license>
+<buildtool_depend>ament_cmake</buildtool_depend>
+<test_depend>ament_lint_auto</test_depend>
+<test_depend>ament_lint_common</test_depend>
+<depend>std_msgs</depend>
+<depend>sensor_msgs</depend>
+<depend>builtin_interfaces</depend>
+<depend>rosidl_default_generators</depend>
+<member_of_group>rosidl_interface_packages</member_of_group>
+<export>
+<build_type>ament_cmake</build_type>
+</export>
+</package>

3D_printer/src/printer3d_gocator_msgs/srv/GocatorPTCloud.srv

@@ -0,0 +1,3 @@
+std_msgs/Empty request
+---
+sensor_msgs/PointCloud2 pcloud

3D_printer/src/printer3d_image_capture/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.5)
+project(printer3d_image_capture)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Install the python module for this package
+# ament_python_install_package(nodes/)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install python scripts
+
+install(
+  PROGRAMS
+    nodes/image_capture_calibration.py
+    nodes/image_capture_node.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()