dune-weaver/dune_weaver_flask/modules/core/pattern_manager.py

import os
import threading
import time
import random
import logging
from datetime import datetime
from tqdm import tqdm
from dune_weaver_flask.modules.serial import serial_manager
from dune_weaver_flask.modules.core.state import state
from math import pi

# Configure logging
logger = logging.getLogger(__name__)

# Global state
THETA_RHO_DIR = './patterns'
CLEAR_PATTERNS = {
    "clear_from_in":  "./patterns/clear_from_in.thr",
    "clear_from_out": "./patterns/clear_from_out.thr",
    "clear_sideway":  "./patterns/clear_sideway.thr"
}
os.makedirs(THETA_RHO_DIR, exist_ok=True)

def list_theta_rho_files():
    files = []
    for root, _, filenames in os.walk(THETA_RHO_DIR):
        for file in filenames:
            relative_path = os.path.relpath(os.path.join(root, file), THETA_RHO_DIR)
            files.append(relative_path)
    logger.debug(f"Found {len(files)} theta-rho files")
    return files

def parse_theta_rho_file(file_path):
    """Parse a theta-rho file and return a list of (theta, rho) pairs."""
    coordinates = []
    try:
        logger.debug(f"Parsing theta-rho file: {file_path}")
        with open(file_path, 'r') as file:
            for line in file:
                line = line.strip()
                if not line or line.startswith("#"):
                    continue
                try:
                    theta, rho = map(float, line.split())
                    coordinates.append((theta, rho))
                except ValueError:
                    logger.warning(f"Skipping invalid line: {line}")
                    continue
    except Exception as e:
        logger.error(f"Error reading file: {e}")
        return coordinates

    # Normalization Step
    if coordinates:
        first_theta = coordinates[0][0]
        normalized = [(theta - first_theta, rho) for theta, rho in coordinates]
        coordinates = normalized
        logger.debug(f"Parsed {len(coordinates)} coordinates from {file_path}")

    return coordinates

def get_clear_pattern_file(clear_pattern_mode, path=None):
    """Return a .thr file path based on pattern_name."""
    if not clear_pattern_mode or clear_pattern_mode == 'none':
        return
    logger.info("Clear pattern mode: " + clear_pattern_mode)
    if clear_pattern_mode == "random":
        return random.choice(list(CLEAR_PATTERNS.values()))

    if clear_pattern_mode == 'adaptive':
        _, first_rho = parse_theta_rho_file(path)[0]
        if first_rho < 0.5:
            return CLEAR_PATTERNS['clear_from_out']
        else:
            return random.choice([CLEAR_PATTERNS['clear_from_in'], CLEAR_PATTERNS['clear_sideway']])
    else:
        return CLEAR_PATTERNS[clear_pattern_mode]

def schedule_checker(schedule_hours):
    """Pauses/resumes execution based on a given time range."""
    if not schedule_hours:
        return

    start_time, end_time = schedule_hours
    now = datetime.now().time()

    if start_time <= now < end_time:
        if state.pause_requested:
            logger.info("Starting execution: Within schedule")
            serial_manager.update_machine_position()
        state.pause_requested = False
        with state.pause_condition:
            state.pause_condition.notify_all()
    else:
        if not state.pause_requested:
            logger.info("Pausing execution: Outside schedule")
        state.pause_requested = True
        serial_manager.update_machine_position()
        threading.Thread(target=wait_for_start_time, args=(schedule_hours,), daemon=True).start()

def wait_for_start_time(schedule_hours):
    """Keep checking every 30 seconds if the time is within the schedule to resume execution."""
    start_time, end_time = schedule_hours

    while state.pause_requested:
        now = datetime.now().time()
        if start_time <= now < end_time:
            logger.info("Resuming execution: Within schedule")
            state.pause_requested = False
            with state.pause_condition:
                state.pause_condition.notify_all()
            break
        else:
            time.sleep(30)
            
            
def interpolate_path(theta, rho):
    # Adding soft limit to reduce hardware sound
    soft_limit_threshold = 0.01
    if rho < soft_limit_threshold:
        rho = soft_limit_threshold
    elif rho > (1-soft_limit_threshold):
        rho = (1-soft_limit_threshold)
    
    delta_theta = theta - state.current_theta
    delta_rho = rho - state.current_rho
    # x_increment = delta_theta / (2 * pi) * 100
    x_increment = delta_theta / (4 * pi) * 100
    y_increment = delta_rho * 100/5
    
    offset = x_increment * (3200/5750/5) # Total angular steps = 16000 / gear ratio = 10 / angular steps = 5750
    y_increment += offset
    
    new_x_abs = state.machine_x + x_increment
    new_y_abs = state.machine_y + y_increment
    
    # dynamic_speed = compute_dynamic_speed(rho, max_speed=state.speed)
    
    serial_manager.send_grbl_coordinates(round(new_x_abs, 3), round(new_y_abs,3), state.speed)
    state.current_theta = theta
    state.current_rho = rho
    state.machine_x = new_x_abs
    state.machine_y = new_y_abs
    
def pause_execution():
    logger.info("Pausing pattern execution")
    with state.pause_condition:
        state.pause_requested = True
    return True

def resume_execution():
    logger.info("Resuming pattern execution")
    with state.pause_condition:
        state.pause_requested = False
        state.pause_condition.notify_all()
    return True
    
def reset_theta():
    logger.info('Resetting Theta')
    state.current_theta = 0
    serial_manager.update_machine_position()

def set_speed(new_speed):
    state.speed = new_speed
    logger.info(f'Set new state.speed {new_speed}')

def run_theta_rho_file(file_path, schedule_hours=None):
    """Run a theta-rho file by sending data in optimized batches with tqdm ETA tracking."""
    if not file_path:
        return
    coordinates = parse_theta_rho_file(file_path)
    total_coordinates = len(coordinates)

    if total_coordinates < 2:
        logger.warning("Not enough coordinates for interpolation")
        state.current_playing_file = None
        state.execution_progress = None
        return

    state.execution_progress = (0, total_coordinates, None)

    stop_actions()

    with serial_manager.serial_lock:
        state.current_playing_file = file_path
        state.execution_progress = (0, 0, None)
        state.stop_requested = False
        logger.info(f"Starting pattern execution: {file_path}")
        logger.info(f"t: {state.current_theta}, r: {state.current_rho}")
        reset_theta()
        with tqdm(total=total_coordinates, unit="coords", desc=f"Executing Pattern {file_path}", dynamic_ncols=True, disable=None) as pbar:
            for i, coordinate in enumerate(coordinates):
                theta, rho = coordinate
                if state.stop_requested:
                    logger.info("Execution stopped by user after completing the current batch")
                    break

                with state.pause_condition:
                    while state.pause_requested:
                        logger.info("Execution paused...")
                        state.pause_condition.wait()

                schedule_checker(schedule_hours)
                interpolate_path(theta, rho)
                
                if i != 0:
                    pbar.update(1)
                    estimated_remaining_time = pbar.format_dict['elapsed'] / i * total_coordinates
                    state.execution_progress = (i, total_coordinates, estimated_remaining_time)

        serial_manager.check_idle()

    state.current_playing_file = None
    state.execution_progress = None
    logger.info("Pattern execution completed")

def run_theta_rho_files(file_paths, pause_time=0, clear_pattern=None, run_mode="single", shuffle=False, schedule_hours=None):
    """Run multiple .thr files in sequence with options."""
    state.stop_requested = False
    
    # Set initial playlist state
    state.playlist_mode = run_mode
    state.current_playlist_index = 0
    
    if shuffle:
        random.shuffle(file_paths)
        logger.info("Playlist shuffled")

    while True:
        for idx, path in enumerate(file_paths):
            logger.info(f"Upcoming pattern: {path}")
            state.current_playlist_index = idx
            schedule_checker(schedule_hours)
            if state.stop_requested:
                logger.info("Execution stopped before starting next pattern")
                state.current_playlist = None
                state.current_playlist_index = None
                state.playlist_mode = None
                return

            if clear_pattern:
                if state.stop_requested:
                    logger.info("Execution stopped before running the next clear pattern")
                    state.current_playlist = None
                    state.current_playlist_index = None
                    state.playlist_mode = None
                    return

                clear_file_path = get_clear_pattern_file(clear_pattern, path)
                logger.info(f"Running clear pattern: {clear_file_path}")
                run_theta_rho_file(clear_file_path, schedule_hours)

            if not state.stop_requested:
                
                logger.info(f"Running pattern {idx + 1} of {len(file_paths)}: {path}")
                run_theta_rho_file(path, schedule_hours)

            if idx < len(file_paths) - 1:
                if state.stop_requested:
                    logger.info("Execution stopped before running the next clear pattern")
                    return
                if pause_time > 0:
                    logger.debug(f"Pausing for {pause_time} seconds")
                    time.sleep(pause_time)

        if run_mode == "indefinite":
            logger.info("Playlist completed. Restarting as per 'indefinite' run mode")
            if pause_time > 0:
                logger.debug(f"Pausing for {pause_time} seconds before restarting")
                time.sleep(pause_time)
            if shuffle:
                random.shuffle(file_paths)
                logger.info("Playlist reshuffled for the next loop")
            continue
        else:
            logger.info("Playlist completed")
            state.current_playlist = None
            state.current_playlist_index = None
            state.playlist_mode = None
            break
    logger.info("All requested patterns completed (or stopped)")

def stop_actions(clear_playlist = False):
    """Stop all current actions."""
    with state.pause_condition:
        state.pause_requested = False
        state.stop_requested = True
        state.current_playing_file = None
        state.execution_progress = None
        state.is_clearing = False
        if clear_playlist:
            # Clear playlist state
            state.current_playlist = None
            state.current_playlist_index = None
            state.playlist_mode = None
        state.pause_condition.notify_all()
        serial_manager.update_machine_position()

def get_status():
    """Get the current execution status."""
    # Update state.is_clearing based on current file
    if state.current_playing_file in CLEAR_PATTERNS.values():
        state.is_clearing = True
    else:
        state.is_clearing = False

    return {
        "ser_port": serial_manager.get_port(),
        "stop_requested": state.stop_requested,
        "pause_requested": state.pause_requested,
        "current_playing_file": state.current_playing_file,
        "execution_progress": state.execution_progress,
        "current_playing_index": state.current_playlist_index,
        "current_playlist": state.current_playlist,
        "is_clearing": state.is_clearing
    }