M144

#!/usr/bin/env python

import os, sys, time, glob
from subprocess import *
from itertools import *
from PIL import Image
from raster_utils import *
from raster_gui import *
import linuxcnc

P, Q = map(lambda x: float(x), sys.argv[1:])

try:
    INI_FILE_NAME = os.environ['INI_FILE_NAME']
except KeyError:
    INI_FILE_NAME = '2x_Laser.ini'

try:
    ini = linuxcnc.ini(INI_FILE_NAME)
except linuxcnc.error:
    fatal('Expected LinuxCNC configuration in %s' % INI_FILE_NAME)

linuxcnc.nmlfile = ini.find('EMC', 'NML_FILE')
if linuxcnc.nmlfile is None:
    fatal('Expected [EMC]NML_FILE in INI')

axis = ini.find('RASTER', 'AXIS')
if axis is None:
    axis = 0

stat = linuxcnc.stat()

# Get the G92 and G5x work offsets so we can translate
stat.poll()
origin = stat.g5x_offset[axis] + stat.g92_offset[axis]

if stat.current_line < 0:
    fatal('cannot execute M144 from MDI')

if False:
    # Unfortunately when M144 is invoked from inside O145 the stat.file
    # is the 145.ngc file rather than the original source.  Previously
    # there was clever code to extract the filename from the comment on
    # the M144 line.
    image_name = get_comment(stat.file, stat.current_line)
    dirname = os.path.dirname(stat.file)
    image_name = os.path.normpath(os.path.join(dirname, image_name))
else:
    IMAGE_PATH = ini.find('RASTER', 'IMAGE_PATH')
    if IMAGE_PATH is None:
	IMAGE_PATH = os.environ['HOME']
    IMAGE_PATH = IMAGE_PATH.split(os.path.pathsep)
    image_name = None
    for dir in IMAGE_PATH:
	images = glob.glob(os.path.join(dir, '*-%u.*' % int(P)))
	if images:
	    image_name = images[0]
    if image_name is None:
	image_name = image_not_found(int(P))
    print 'image = %s' % image_name

if os.fork():
    # parent must wait until child is ready, then exit
    #...
    time.sleep(1)
    sys.exit(0)
else:
    os.setsid()

    streamer = Popen(['halstreamer'], stdin=PIPE)
    stream = streamer.stdin

    image = Image.open(image_name)

    # wait for M145 to send us the image info
    X, Y = recv_params()
    W, ROWS = recv_params()
    XSCANGAP, YSCANGAP = recv_params()

    # program units are 1:inch, 2:mm, while linear_units are 0:inch, 1:mm
    if stat.program_units == 1 and stat.linear_units == 1:
	scale = 25.4
    elif stat.program_units == 2 and stat.linear_units == 0:
	scale = 1/25.4
    else:
	scale = 1
    X *= scale
    Y *= scale
    W *= scale
    #H *= scale
    XSCANGAP *= scale
    YSCANGAP *= scale

    x_mmpd = XSCANGAP
    y_mmpd = YSCANGAP
    origin += X

    pix_w = int(W / x_mmpd)
    pix_h = int(ROWS + 0.5)
    W = pix_w * x_mmpd

    reverse_fudge = 0.0

    print 'rescaling to %u,%u' % (pix_w, pix_h)
    #XXX
    image = image.resize((pix_w, pix_h), Image.BICUBIC).convert('1')
    #image = image.resize((pix_w, pix_h), Image.NEAREST).convert('1')
    image.save('actual.png')
    # XXX possibly rotate based on axis

    pix = list(image.getdata())

    for y in xrange(0,pix_h):
	forward = (y & 1) == 0

	# laser is off until cued for this line:
	if forward:
	    stream.write('0 1 %0.3f\n' % (origin))
	else:
	    stream.write('0 0 %0.3f\n' % (origin + W + x_mmpd))

	row = pix[y * pix_w:(y + 1) * pix_w]
	groups = map(lambda (v,run): (v, len(list(run))), groupby(row))
	if forward:
	    x = 0
	else:
	    groups.reverse()
	    x = pix_w
	for v, run in groups:
	    if (v <= 127):
		# off until we hit start / on until end
		if forward:
		    stream.write('0 0 %0.3f\n' % (origin + x * x_mmpd))
		    stream.write('1 0 %0.3f\n' % (origin + (x + run) * x_mmpd))
		else:
		    stream.write('0 1 %0.3f\n' % (origin + x * x_mmpd + reverse_fudge))
		    stream.write('1 1 %0.3f\n' % (origin + (x - run) * x_mmpd + reverse_fudge))
	    if forward:
		x += run
	    else:
		x -= run

    # finally: laser is off once clearing raster area
    if forward:
	stream.write('0 0 %0.3f\n' % (origin + W + x_mmpd))
    else:
	stream.write('0 1 %0.3f\n' % (origin))

    stream.close()
    streamer.wait()

    print 'DONE!'