dummy_cnc

plantimager.controller.scanner.dummy_cnc

Dummy CNC Implementation for Plant Imaging Systems.

A simulated CNC controller that mimics the behavior of a real GRBL-based CNC machine without requiring actual hardware. This is useful for development, testing, and demonstration purposes when physical hardware is unavailable.

Key Features: - Simulates all standard CNC operations (movement, homing, positioning) - Implements the AbstractCNC interface for compatibility with scanner code - Adds realistic delays and position noise to mimic real hardware behavior - Provides status reporting and command handling like a real GRBL controller - Enforces position limits and validates movement commands - Thread-safe asynchronous operation support

Usage Examples:

>>> from plantimager.controller.scanner.dummy_cnc import DummyCNC
>>> # Initialize the dummy CNC
>>> cnc = DummyCNC()
>>> # Perform operations just like with a real CNC
>>> cnc.home()
>>> cnc.moveto(100, 100, 45)
>>> x, y, z = cnc.get_position()
>>> print(f"Current position: ({x}, {y}, {z})")
>>> # Async movement
>>> cnc.moveto_async(200, 200, 90)
>>> # Do other things...
>>> cnc.wait()  # Wait for movement to complete

DummyCNC

DummyCNC(x_limits=(0, 740), y_limits=(0, 740), z_limits=(0, 360))

Bases: AbstractCNC

A dummy implementation of CNC machine control for testing purposes.

This class mimics the behavior of the real CNC class without connecting to actual hardware. It simulates basic CNC operations like movement, positioning, and homing.

Attributes:

Name	Type	Description
x_lims	tuple[float, float]	Allowed range for X-axis movement
y_lims	tuple[float, float]	Allowed range for Y-axis movement
z_lims	tuple[float, float]	Allowed range for Z-axis movement (rotational axis)
_position	tuple[float, float, float]	Current position (x, y, z)
_busy	bool	Flag indicating if the CNC is currently moving

Initialize the dummy CNC controller with default axis limits.

Source code in plantimager/controller/scanner/dummy_cnc.py

def __init__(self, x_limits: tuple[float, float] = (0, 740), y_limits: tuple[float, float] = (0, 740),
             z_limits: tuple[float, float] = (0, 360)) -> None:
    """Initialize the dummy CNC controller with default axis limits."""
    super().__init__()
    self.x_lims = x_limits
    self.y_lims = y_limits
    self.z_lims = z_limits
    self._position = (0, 0, 0)  # Initial position
    self._busy = False
    self.has_started = True

    # Simulate initialization delay
    time.sleep(0.2)
    logger.info("Dummy CNC initialized")

x property

x

Get the current X-axis position.

y property

y

Get the current Y-axis position.

z property

z

Get the current Z-axis position.

get_position

get_position()

Get the current XYZ position of the dummy CNC machine.

Returns:

Type	Description
length_mm	Current X-axis position in millimeters
length_mm	Current Y-axis position in millimeters
deg	Current Z-axis position in degrees

Source code in plantimager/controller/scanner/dummy_cnc.py

def get_position(self) -> tuple[length_mm, length_mm, deg]:
    """Get the current XYZ position of the dummy CNC machine.

    Returns
    -------
    length_mm
        Current X-axis position in millimeters
    length_mm
        Current Y-axis position in millimeters
    deg
        Current Z-axis position in degrees
    """
    # Add a small amount of noise to simulate real sensor readings
    noise_x = random.uniform(-0.01, 0.01)
    noise_y = random.uniform(-0.01, 0.01)
    noise_z = random.uniform(-0.01, 0.01)

    return (
        self._position[0] + noise_x,
        self._position[1] + noise_y,
        self._position[2] + noise_z
    )

get_status

get_status()

Simulate querying the current status of the GRBL controller.

Returns:

Type	Description
dict	A dictionary containing simulated status information

Source code in plantimager/controller/scanner/dummy_cnc.py

def get_status(self) -> dict:
    """Simulate querying the current status of the GRBL controller.

    Returns
    -------
    dict
        A dictionary containing simulated status information
    """
    state = "Idle" if not self._busy else "Run"
    return {
        'status': state,
        'position': self._position
    }

home

home()

Simulate performing a homing cycle.

Sets the current position to a starting point near the origin, simulating the behavior of the real CNC homing procedure.

Source code in plantimager/controller/scanner/dummy_cnc.py

def home(self) -> None:
    """Simulate performing a homing cycle.

    Sets the current position to a starting point near the origin,
    simulating the behavior of the real CNC homing procedure.
    """
    logger.info("Dummy CNC homing...")
    self._busy = True
    # Simulate homing time
    time.sleep(1.5)
    # Set position to a slight offset from zero, simulating a real homing result
    self._position = (20, 20, 0)
    self._busy = False
    logger.info("Dummy CNC homing completed")

moveto

moveto(x, y, z)

Move the dummy CNC machine to specified coordinates and wait until the target position is reached.

Parameters:

Name	Type	Description	Default
x	length_mm	Target position along the X-axis in millimeters	required
y	length_mm	Target position along the Y-axis in millimeters	required
z	deg	Target position along the Z-axis in degrees	required

Raises:

Type	Description
ValueError	If any of the target coordinates are outside the allowed limits

Source code in plantimager/controller/scanner/dummy_cnc.py

def moveto(self, x: length_mm, y: length_mm, z: deg) -> None:
    """Move the dummy CNC machine to specified coordinates and wait until the target position is reached.

    Parameters
    ----------
    x : length_mm
        Target position along the X-axis in millimeters
    y : length_mm
        Target position along the Y-axis in millimeters
    z : deg
        Target position along the Z-axis in degrees

    Raises
    ------
    ValueError
        If any of the target coordinates are outside the allowed limits
    """
    self.moveto_async(x, y, z)
    self.wait()

moveto_async

moveto_async(x, y, z)

Asynchronously move the dummy CNC machine to specified coordinates.

Parameters:

Name	Type	Description	Default
x	length_mm	Target position along the X-axis in millimeters	required
y	length_mm	Target position along the Y-axis in millimeters	required
z	deg	Target position along the Z-axis in degrees	required

Raises:

Type	Description
ValueError	If any of the target coordinates are outside the allowed limits

Source code in plantimager/controller/scanner/dummy_cnc.py

def moveto_async(self, x: length_mm, y: length_mm, z: deg) -> None:
    """Asynchronously move the dummy CNC machine to specified coordinates.

    Parameters
    ----------
    x : length_mm
        Target position along the X-axis in millimeters
    y : length_mm
        Target position along the Y-axis in millimeters
    z : deg
        Target position along the Z-axis in degrees

    Raises
    ------
    ValueError
        If any of the target coordinates are outside the allowed limits
    """
    # Convert to float to ensure compatibility
    x, y, z = float(x), float(y), float(z)

    # Check if the move is within limits
    self._check_move(x, y, z)

    # Set busy flag
    self._busy = True

    # Log the movement
    logger.info(f"Dummy CNC moving to (x={x}, y={y}, z={z})")

    # Start simulated movement in a separate thread
    threading.Thread(
        target=self._simulate_movement,
        args=(x, y, z),
        daemon=True
    ).start()

send_cmd

send_cmd(cmd)

Simulate sending a command to the GRBL controller.

Parameters:

Name	Type	Description	Default
cmd	str	A GRBL-compatible G-code command or system command	required

Returns:

Type	Description
str	Simulated response from the controller

Source code in plantimager/controller/scanner/dummy_cnc.py

def send_cmd(self, cmd: str) -> str:
    """Simulate sending a command to the GRBL controller.

    Parameters
    ----------
    cmd : str
        A GRBL-compatible G-code command or system command

    Returns
    -------
    str
        Simulated response from the controller
    """
    logger.debug(f"Dummy CNC received command: {cmd}")
    # Simulate response delay
    time.sleep(0.1)
    return "ok"

stop

stop()

Stop the dummy CNC and clean up resources.

Source code in plantimager/controller/scanner/dummy_cnc.py

def stop(self) -> None:
    """Stop the dummy CNC and clean up resources."""
    logger.info("Stopping dummy CNC")
    self._busy = False

wait

wait(timeout=60)

Wait for the dummy CNC machine to complete any ongoing operations.

Parameters:

Name	Type	Description	Default
timeout	int	Maximum time to wait in seconds, by default 60	60

Raises:

Type	Description
TimeoutError	If the simulated movement doesn't complete within the timeout

Source code in plantimager/controller/scanner/dummy_cnc.py

def wait(self, timeout: int=60) -> None:
    """Wait for the dummy CNC machine to complete any ongoing operations.

    Parameters
    ----------
    timeout : int, optional
        Maximum time to wait in seconds, by default 60

    Raises
    ------
    TimeoutError
        If the simulated movement doesn't complete within the timeout
    """
    start_time = time.time()

    while self._busy:
        time.sleep(0.1)  # Small delay to prevent CPU overload
        if time.time() - start_time > timeout:
            raise TimeoutError("Timeout waiting for CNC movement to complete")