Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
628
lib/python/gladevcp/hal_actions.py
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628
lib/python/gladevcp/hal_actions.py
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#!/usr/bin/env python3
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# vim: sts=4 sw=4 et
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# GladeVcp actions
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#
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# Copyright (c) 2010 Pavel Shramov <shramov@mexmat.net>
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 2 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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import gi
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gi.require_version("Gtk","3.0")
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from gi.repository import Gtk
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from gi.repository import GObject
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from gi.repository import GLib
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import os
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import time
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import re, string
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from .hal_widgets import _HalWidgetBase
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import linuxcnc
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from gladevcp.core import Status as GStat
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import hal
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from gladevcp.core import Info, Action
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INFO = Info()
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ACTION = Action()
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_ = lambda x: x
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class _EMCStaticHolder:
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def __init__(self):
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# Delay init...
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self.linuxcnc = None
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self.stat = None
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self.gstat = None
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def get(self):
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if not self.linuxcnc:
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self.linuxcnc = linuxcnc.command()
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if not self.gstat:
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self.gstat = GStat()
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return self.linuxcnc, self.gstat.stat, self.gstat
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class _EMCStatic:
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holder = _EMCStaticHolder()
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def get(self):
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return self.holder.get()
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class _EMC_ActionBase(_HalWidgetBase):
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_gproperties = {'name': (GObject.TYPE_STRING, 'Name', 'Action name', "",
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GObject.ParamFlags.READWRITE|GObject.ParamFlags.CONSTRUCT)
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}
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linuxcnc_static = _EMCStatic()
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def _hal_init(self):
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self.linuxcnc, self.stat, self.gstat = self.linuxcnc_static.get()
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self._stop_emission = False
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# if 'NO_FORCE_HOMING' is true, MDI commands are allowed before homing.
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inifile = os.environ.get('INI_FILE_NAME', '/dev/null')
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ini = linuxcnc.ini(inifile)
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self.no_f_home = ini.getbool("TRAJ", "NO_FORCE_HOMING", fallback=False)
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def machine_on(self):
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self.stat.poll()
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return self.stat.task_state > linuxcnc.STATE_OFF
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def is_auto_mode(self):
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self.stat.poll()
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print(self.stat.task_mode, linuxcnc.MODE_AUTO)
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return self.stat.task_mode == linuxcnc.MODE_AUTO
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def is_file_loaded(self):
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self.stat.poll()
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print("file name:",self.stat.file)
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if self.stat.file:
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return True
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else:
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return False
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def is_all_homed(self):
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self.stat.poll()
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homed_count = 0
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for i,h in enumerate(self.stat.homed):
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#Don't worry about joint to axis mapping
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if h: homed_count +=1
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if homed_count == self.stat.joints:
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return True
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return False
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def no_home_required(self):
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return self.no_f_home
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def safe_handler(self, f):
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def _f(self, *a, **kw):
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if self._stop_emission:
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return
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return f(self, *a, **kw)
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return _f
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def set_active_safe(self, active):
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self._stop_emission = True
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self.set_active(active)
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self._stop_emission = False
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def do_get_property(self, property):
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name = property.name.replace('-', '_')
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if name == 'name':
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return self.get_name()
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elif name == 'label':
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return self.get_label()
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elif name == 'tooltip':
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return self.get_tooltip()
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elif name == 'stock_id':
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return self.get_stock_id()
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else:
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raise AttributeError("Unknown property: %s" % property.name)
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def do_set_property(self, property, value):
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name = property.name.replace('-', '_')
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if name == 'name':
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if value:
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self.set_name(value)
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elif name == 'label':
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self.set_label(value)
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elif name == 'tooltip':
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self.set_tooltip(value)
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elif name == 'stock_id':
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self.set_stock_id(value)
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else:
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raise AttributeError("Unknown property: %s" % property.name)
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return True
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class _EMC_Action(Gtk.Action, _EMC_ActionBase):
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__gproperties__ = _EMC_ActionBase._gproperties
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def __init__(self, name=None):
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Gtk.Action.__init__(self, None, None, None, None)
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self._stop_emission = False
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self.connect('activate', self.safe_handler(self.on_activate))
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def set_active_safe(self, a): return #XXX: Override set_active with nop
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def on_activate(self, w):
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return True
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class _EMC_ToggleAction(Gtk.ToggleAction, _EMC_ActionBase):
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__gproperties__ = _EMC_ActionBase._gproperties
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def __init__(self, name=None):
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Gtk.ToggleAction.__init__(self, None, None, None, None)
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self._stop_emission = False
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self.connect('toggled', self.safe_handler(self.on_toggled))
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# XXX: Override nop in _EMC_Action
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set_active_safe = _EMC_ActionBase.set_active_safe
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def on_toggled(self, w):
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return True
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class _EMC_RadioAction(Gtk.RadioAction, _EMC_ToggleAction):
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__gproperties__ = _EMC_ToggleAction._gproperties
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def __init__(self, name=None):
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Gtk.RadioAction.__init__(self, None, None, None, None, 0)
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self._stop_emission = False
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self.connect('toggled', self.safe_handler(self.on_toggled))
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def on_toggled(self, w):
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if not w.get_active():
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return
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return self.on_activate(w)
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class EMC_Stat(GStat, _EMC_ActionBase):
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__gtype_name__ = 'EMC_Stat'
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def __init__(self):
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super(GStat, self).__init__()
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def _hal_init(self):
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pass
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def _action(klass, f, *a, **kw):
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class _C(_EMC_Action):
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__gtype_name__ = klass
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def on_activate(self, w):
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print(klass)
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f(self, *a, **kw)
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return _C
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EMC_Action_ESTOP = _action('EMC_Action_ESTOP', lambda s: s.linuxcnc.state(linuxcnc.STATE_ESTOP))
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EMC_Action_ESTOP_RESET = _action('EMC_Action_ESTOP_RESET', lambda s: s.linuxcnc.state(linuxcnc.STATE_ESTOP_RESET))
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EMC_Action_ON = _action('EMC_Action_ON', lambda s: s.linuxcnc.state(linuxcnc.STATE_ON))
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EMC_Action_OFF = _action('EMC_Action_OFF', lambda s: s.linuxcnc.state(linuxcnc.STATE_OFF))
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class EMC_ToggleAction_ESTOP(_EMC_ToggleAction):
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__gtype_name__ = 'EMC_ToggleAction_ESTOP'
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def _hal_init(self):
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_EMC_ToggleAction._hal_init(self)
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self.set_active_safe(True)
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self.gstat.connect('state-estop', lambda w: self.set_active_safe(True))
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self.gstat.connect('state-estop-reset', lambda w: self.set_active_safe(False))
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def on_toggled(self, w):
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if self.get_active():
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print('Issuing ESTOP')
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self.linuxcnc.state(linuxcnc.STATE_ESTOP)
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else:
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print('Issuing ESTOP RESET')
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self.linuxcnc.state(linuxcnc.STATE_ESTOP_RESET)
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class EMC_ToggleAction_Power(_EMC_ToggleAction):
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__gtype_name__ = 'EMC_ToggleAction_Power'
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def _hal_init(self):
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_EMC_ToggleAction._hal_init(self)
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self.set_active_safe(False)
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self.set_sensitive(False)
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self.gstat.connect('state-on', lambda w: self.set_active_safe(True))
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self.gstat.connect('state-off', lambda w: self.set_active_safe(False))
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self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
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self.gstat.connect('state-estop-reset', lambda w: self.set_sensitive(True))
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def on_toggled(self, w):
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if self.get_active():
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print('Issuing ON')
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self.linuxcnc.state(linuxcnc.STATE_ON)
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else:
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print('Issuing OFF')
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self.linuxcnc.state(linuxcnc.STATE_OFF)
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class EMC_RadioAction_ESTOP(_EMC_RadioAction):
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__gtype_name__ = 'EMC_RadioAction_ESTOP'
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def _hal_init(self):
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_EMC_RadioAction._hal_init(self)
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self.set_active_safe(True)
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self.gstat.connect('state-estop', lambda w: self.set_active_safe(True))
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def on_activate(self, w):
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self.linuxcnc.state(linuxcnc.STATE_ESTOP)
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class EMC_RadioAction_ESTOP_RESET(_EMC_RadioAction):
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__gtype_name__ = 'EMC_RadioAction_ESTOP_RESET'
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def _hal_init(self):
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_EMC_RadioAction._hal_init(self)
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self.set_active_safe(False)
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self.gstat.connect('state-estop-reset', lambda w: self.set_active_safe(True))
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def on_activate(self, w):
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self.linuxcnc.state(linuxcnc.STATE_ESTOP_RESET)
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class EMC_RadioAction_ON(_EMC_RadioAction):
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__gtype_name__ = 'EMC_RadioAction_ON'
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def _hal_init(self):
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_EMC_RadioAction._hal_init(self)
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self.set_active_safe(True)
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self.gstat.connect('state-on', lambda w: self.set_active_safe(True))
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self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
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self.gstat.connect('state-estop-reset', lambda w: self.set_sensitive(True))
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def on_activate(self, w):
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self.linuxcnc.state(linuxcnc.STATE_ON)
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class EMC_RadioAction_OFF(_EMC_RadioAction):
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__gtype_name__ = 'EMC_RadioAction_OFF'
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def _hal_init(self):
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_EMC_RadioAction._hal_init(self)
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self.set_active_safe(False)
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self.gstat.connect('state-off', lambda w: self.set_active_safe(True))
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self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
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self.gstat.connect('state-estop-reset', lambda w: self.set_sensitive(True))
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def on_activate(self, w):
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self.linuxcnc.state(linuxcnc.STATE_OFF)
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def running(s, do_poll=True):
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if do_poll: s.poll()
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return s.task_mode == linuxcnc.MODE_AUTO and s.interp_state != linuxcnc.INTERP_IDLE
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def ensure_mode(s, c, *modes):
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s.poll()
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if not modes: return False
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if s.task_mode in modes: return True
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if running(s, do_poll=False): return False
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c.mode(modes[0])
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c.wait_complete()
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return True
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class EMC_Action_Python(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Python'
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command = GObject.property(type=str, default='', nick='Python Command')
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is_homed = GObject.property(type=bool, default=True, nick='Must Be Homed',
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blurb='Machine Must be homed for widgets to be sensitive to input')
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is_on = GObject.property(type=bool, default=True, nick='Must Be On',
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blurb='Machine Must be On for widgets to be sensitive to input')
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is_idle = GObject.property(type=bool, default=True, nick='Must Be Idle',
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blurb='Machine Must be Idle for widgets to be sensitive to input')
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requires_manual = GObject.property(type=bool, default=False, nick='Preset Manual Mode',
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blurb='Preset Manual Mode before command')
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requires_mdi = GObject.property(type=bool, default=False, nick='Preset MDI Mode',
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blurb='Preset MDI Mode before command')
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requires_auto = GObject.property(type=bool, default=False, nick='Preset Auto Mode',
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blurb='Preset Auto Mode before command')
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def _hal_init(self):
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_EMC_Action._hal_init(self)
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self.set_sensitive(False)
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self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
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if self.is_on:
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self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
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if self.is_homed:
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self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on() and ( self.is_all_homed() or self.no_home_required() ) ))
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else:
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self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on()) )
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if self.is_idle:
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self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
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if self.is_homed:
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self.gstat.connect('all-homed', lambda w: self.set_sensitive(self.machine_on()))
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def on_activate(self, w):
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self._globalParameter = { 'EXT':self._panel_instance.get_handler_obj(),
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'GSTAT':self.gstat,'CMD':self.linuxcnc,'STAT':self.stat,
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'ACTION':ACTION, 'HAL':hal, 'INFO':INFO}
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self._localsParameter = {'dir': dir, 'self': self,'linuxcnc':linuxcnc}
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if self.requires_manual:
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_MAN)
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elif self.requires_mdi:
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_MDI)
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elif self.requires_auto:
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_AUTO)
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exec(self.command, self._globalParameter, self._localsParameter)
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class EMC_Action_Run(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Run'
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program_start_line = GObject.property(type=int, default=0, minimum=0, nick='Restart line',
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blurb='Restart line number-Usually 0 - program start')
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reset_line = GObject.property(type=int, default=0, minimum=0, nick='Restart line after restarting once',
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blurb='Line number that will be set afterthe next restart. -usually 0 - program start')
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def set_restart_line(self,line,resetline=0):
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self.program_start_line = line
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self.reset_line = resetline
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def on_activate(self, w):
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_AUTO)
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self.linuxcnc.auto(linuxcnc.AUTO_RUN, self.program_start_line)
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self.program_start_line = self.reset_line
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class EMC_Action_Step(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Step'
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def _hal_init(self):
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_EMC_Action._hal_init(self)
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self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
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self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
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self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on()))
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def on_activate(self, w):
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_AUTO)
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self.linuxcnc.auto(linuxcnc.AUTO_STEP)
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class EMC_Action_Pause(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Pause'
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def on_activate(self, w):
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self.stat.poll()
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if self.stat.task_mode != linuxcnc.MODE_AUTO or\
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self.stat.interp_state not in (linuxcnc.INTERP_READING, linuxcnc.INTERP_WAITING):
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return
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_AUTO)
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self.linuxcnc.auto(linuxcnc.AUTO_PAUSE)
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class EMC_Action_Resume(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Resume'
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def on_activate(self, w):
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print("RESUME")
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self.stat.poll()
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if not self.stat.paused:
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return
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if self.stat.task_mode not in (linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI):
|
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return
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ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI)
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self.linuxcnc.auto(linuxcnc.AUTO_RESUME)
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class EMC_Action_Stop(_EMC_Action):
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__gtype_name__ = 'EMC_Action_Stop'
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def on_activate(self, w):
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self.linuxcnc.abort()
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||||
self.linuxcnc.wait_complete()
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||||
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||||
class EMC_ToggleAction_Run(_EMC_ToggleAction, EMC_Action_Run):
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__gtype_name__ = 'EMC_ToggleAction_Run'
|
||||
program_start_line = GObject.property(type=int, default=0, minimum=0, nick='Restart line',
|
||||
blurb='Restart line number-Usually 0 - program start')
|
||||
reset_line = GObject.property(type=int, default=0, minimum=0, nick='Restart line after restarting once',
|
||||
blurb='Line number that will be set afterthe next restart. -usually 0 - program start')
|
||||
def _hal_init(self):
|
||||
_EMC_ToggleAction._hal_init(self)
|
||||
|
||||
self.set_active_safe(False)
|
||||
self.set_sensitive(False)
|
||||
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
|
||||
self.gstat.connect( 'interp-idle', lambda w: self.set_sensitive( self.machine_on() and ( self.is_all_homed() or self.no_home_required() ) and self.is_file_loaded() ) )
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_active_safe(False))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_active_safe(True))
|
||||
self.gstat.connect('all-homed', lambda w: self.set_sensitive( self.machine_on() and self.is_file_loaded() ))
|
||||
self.gstat.connect('file-loaded', self.file_loaded_check)
|
||||
|
||||
def file_loaded_check(self,widget,filename):
|
||||
self.set_sensitive( self.machine_on() and (self.is_all_homed() or self.no_home_required()) )
|
||||
|
||||
def set_restart_line(self,line,resetline=0):
|
||||
self.program_start_line = line
|
||||
self.reset_line = resetline
|
||||
|
||||
def on_toggled(self, w):
|
||||
if self.get_active():
|
||||
return self.on_activate(w)
|
||||
|
||||
class EMC_ToggleAction_Stop(_EMC_ToggleAction, EMC_Action_Stop):
|
||||
__gtype_name__ = "EMC_ToggleAction_Stop"
|
||||
def _hal_init(self):
|
||||
_EMC_ToggleAction._hal_init(self)
|
||||
|
||||
self.set_active_safe(True)
|
||||
self.set_sensitive(False)
|
||||
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_active_safe(True))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(self.machine_on()))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_active_safe(False))
|
||||
|
||||
def on_toggled(self, w):
|
||||
if self.get_active():
|
||||
return self.on_activate(w)
|
||||
|
||||
class EMC_ToggleAction_Pause(_EMC_ToggleAction, EMC_Action_Pause):
|
||||
__gtype_name__ = "EMC_ToggleAction_Pause"
|
||||
def _hal_init(self):
|
||||
_EMC_ToggleAction._hal_init(self)
|
||||
|
||||
self.resume = EMC_Action_Resume()
|
||||
self.resume._hal_init()
|
||||
|
||||
self.set_active_safe(True)
|
||||
self.set_sensitive(False)
|
||||
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_active_safe(False))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(self.machine_on()))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_active_safe(False))
|
||||
self.gstat.connect('interp-paused', lambda w: self.set_active_safe(True))
|
||||
self.gstat.connect('interp-waiting', lambda w: self.set_active_safe(False))
|
||||
|
||||
def on_toggled(self, w):
|
||||
if self.get_active():
|
||||
return self.on_activate(w)
|
||||
else:
|
||||
return self.resume.on_activate(self.resume)
|
||||
|
||||
class HalTemplate(string.Template):
|
||||
idpattern = '[_a-z][-._a-z0-9]*'
|
||||
|
||||
class FloatComp:
|
||||
def __init__(self, comp):
|
||||
self.comp = comp
|
||||
def __getitem__(self, k):
|
||||
v = float(self.comp[k])
|
||||
return "%f" % v
|
||||
|
||||
class EMC_Action_MDI(_EMC_Action):
|
||||
__gtype_name__ = 'EMC_Action_MDI'
|
||||
command = GObject.property(type=str, default='', nick='MDI Command')
|
||||
|
||||
def _hal_init(self):
|
||||
_EMC_Action._hal_init(self)
|
||||
self.set_sensitive(False)
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on() and ( self.is_all_homed() or self.no_home_required() ) ))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('all-homed', lambda w: self.set_sensitive(self.machine_on()))
|
||||
|
||||
def on_activate(self, w):
|
||||
ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_MDI)
|
||||
template = HalTemplate(self.command)
|
||||
cmd = template.substitute(FloatComp(self.hal))
|
||||
self.linuxcnc.mdi(cmd)
|
||||
|
||||
class EMC_ToggleAction_MDI(_EMC_ToggleAction, EMC_Action_MDI):
|
||||
__gtype_name__ = 'EMC_ToggleAction_MDI'
|
||||
__gsignals__ = {
|
||||
'mdi-command-start': (GObject.SignalFlags.RUN_FIRST, GObject.TYPE_NONE, ()),
|
||||
'mdi-command-stop': (GObject.SignalFlags.RUN_FIRST, GObject.TYPE_NONE, ()),
|
||||
}
|
||||
command = GObject.property(type=str, default='', nick='MDI Command')
|
||||
|
||||
def _hal_init(self):
|
||||
_EMC_ToggleAction._hal_init(self)
|
||||
EMC_Action_MDI._hal_init(self)
|
||||
|
||||
def on_toggled(self, w):
|
||||
if not self.get_active():
|
||||
return
|
||||
self.set_sensitive(False)
|
||||
self.emit('mdi-command-start')
|
||||
self.on_activate(w)
|
||||
GLib.timeout_add(100, self.wait_complete)
|
||||
|
||||
def wait_complete(self):
|
||||
if self.linuxcnc.wait_complete(0) in [-1, linuxcnc.RCS_EXEC]:
|
||||
return True
|
||||
self.emit('mdi-command-stop')
|
||||
self.set_active_safe(False)
|
||||
self.set_sensitive(self.machine_on())
|
||||
return False
|
||||
|
||||
class EMC_Action_UnHome(_EMC_Action):
|
||||
__gtype_name__ = 'EMC_Action_Unhome'
|
||||
axis = GObject.property(type=int, default=-1, minimum=-1, nick='Axis',
|
||||
blurb='Axis to unhome. -1 to unhome all')
|
||||
def _hal_init(self):
|
||||
_EMC_Action._hal_init(self)
|
||||
self.set_sensitive(False)
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on()))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
|
||||
|
||||
def on_activate(self, w):
|
||||
ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_MANUAL)
|
||||
self.linuxcnc.teleop_enable(False)
|
||||
self.linuxcnc.unhome(self.axis)
|
||||
|
||||
def prompt_areyousure(type, message, secondary=None):
|
||||
dialog = Gtk.MessageDialog(parent=None,
|
||||
modal=True,
|
||||
message_type=type,
|
||||
text=message)
|
||||
dialog.add_buttons(Gtk.STOCK_YES, Gtk.ResponseType.YES,
|
||||
Gtk.STOCK_NO, Gtk.ResponseType.NO)
|
||||
dialog.set_keep_above(True)
|
||||
if secondary:
|
||||
dialog.format_secondary_text(secondary)
|
||||
r = dialog.run()
|
||||
dialog.destroy()
|
||||
return r == Gtk.ResponseType.YES
|
||||
|
||||
class EMC_Action_Home(_EMC_Action):
|
||||
__gtype_name__ = 'EMC_Action_Home'
|
||||
axis = GObject.property(type=int, default=-1, minimum=-1, nick='Axis',
|
||||
blurb='Axis to home. -1 to home all')
|
||||
confirm_homed = GObject.property(type=bool, default=False, nick='Confirm rehoming',
|
||||
blurb='Ask user if axis is already homed')
|
||||
def _hal_init(self):
|
||||
_EMC_Action._hal_init(self)
|
||||
self.set_sensitive(False)
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on()))
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
|
||||
|
||||
def homed(self):
|
||||
if self.axis != -1:
|
||||
return self.stat.homed[self.axis]
|
||||
for i,h in enumerate(self.stat.homed):
|
||||
if h and self.stat.axis_mask & (1<<i):
|
||||
return True
|
||||
|
||||
def on_activate(self, w):
|
||||
#if not manual_ok(): return
|
||||
ensure_mode(self.stat, self.linuxcnc, linuxcnc.MODE_MANUAL)
|
||||
if self.confirm_homed and self.homed():
|
||||
if not prompt_areyousure(Gtk.MessageType.WARNING,
|
||||
_("Axis is already homed, are you sure you want to re-home?")):
|
||||
return
|
||||
self.linuxcnc.teleop_enable(False)
|
||||
self.linuxcnc.home(self.axis)
|
||||
|
||||
|
||||
class State_Sensitive_Table(Gtk.Table, _EMC_ActionBase):
|
||||
__gtype_name__ = "State_Sensitive_Table"
|
||||
is_homed = GObject.property(type=bool, default=True, nick='Must Be Homed',
|
||||
blurb='Machine Must be homed for widgets to be sensitive to input')
|
||||
is_on = GObject.property(type=bool, default=True, nick='Must Be On',
|
||||
blurb='Machine Must be On for widgets to be sensitive to input')
|
||||
is_idle = GObject.property(type=bool, default=True, nick='Must Be Idle',
|
||||
blurb='Machine Must be Idle for widgets to be sensitive to input')
|
||||
|
||||
def _hal_init(self):
|
||||
_EMC_ActionBase._hal_init(self)
|
||||
self.set_sensitive(False)
|
||||
self.gstat.connect('state-estop', lambda w: self.set_sensitive(False))
|
||||
if self.is_on:
|
||||
self.gstat.connect('state-off', lambda w: self.set_sensitive(False))
|
||||
if self.is_homed:
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on() and ( self.is_all_homed() or self.no_home_required() ) ))
|
||||
else:
|
||||
self.gstat.connect('interp-idle', lambda w: self.set_sensitive(self.machine_on()) )
|
||||
if self.is_idle:
|
||||
self.gstat.connect('interp-run', lambda w: self.set_sensitive(False))
|
||||
if self.is_homed:
|
||||
self.gstat.connect('all-homed', lambda w: self.set_sensitive(self.machine_on()))
|
||||
Reference in New Issue
Block a user