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Wang Dequan
291
lib/python/gladevcp/hal_gremlin.py
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291
lib/python/gladevcp/hal_gremlin.py
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#!/usr/bin/env python3
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# vim: sts=4 sw=4 et
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# GladeVcp Widgets
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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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#
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# 2014 Steffen Noack
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# add property 'mouse_btn_mode'
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# 0 = default: left rotate, middle move, right zoom
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# 1 = left zoom, middle move, right rotate
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# 2 = left move, middle rotate, right zoom
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# 3 = left zoom, middle rotate, right move
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# 4 = left move, middle zoom, right rotate
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# 5 = left rotate, middle zoom, right move
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# 2015 Moses McKnight introduced mode 6
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# 6 = left move, middle zoom, right zoom (no rotate - for 2D plasma machines or lathes)
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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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import os
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import linuxcnc
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import gremlin
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import rs274.glcanon
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import gcode
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if __name__ == "__main__":
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from hal_actions import _EMC_ActionBase
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else:
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from .hal_actions import _EMC_ActionBase
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from gladevcp.core import Status as GStat
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def get_linuxcnc_ini_file():
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"""find LinuxCNC INI file with pgrep"""
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import subprocess
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ps = subprocess.Popen('ps -C linuxcncsvr --no-header -o args'.split(),
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stdout=subprocess.PIPE
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)
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p,e = ps.communicate()
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if ps.returncode:
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print(_('\nhal_gremlin: cannot find INI file\n'))
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return None
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ans = p.split()[p.split().index('-ini')+1]
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return ans
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class HAL_Gremlin(gremlin.Gremlin, _EMC_ActionBase):
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__gtype_name__ = "HAL_Gremlin"
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__gsignals__ = {
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'line-clicked': (GObject.SignalFlags.RUN_FIRST, GObject.TYPE_NONE, (GObject.TYPE_INT,)),
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'gcode_error': (GObject.SignalFlags.RUN_FIRST, GObject.TYPE_NONE, (GObject.TYPE_STRING,)),
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}
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__gproperties__ = {
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'view' : ( GObject.TYPE_STRING, 'View type', 'Default view: p, x, y, y2, z, z2',
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'p', GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'enable_dro' : ( GObject.TYPE_BOOLEAN, 'Enable DRO', 'Show DRO on graphics',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'metric_units' : ( GObject.TYPE_BOOLEAN, 'Use Metric Units', 'Show DRO in metric or imperial units',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'use_relative' : ( GObject.TYPE_BOOLEAN, 'Show Relative', 'Show DRO relative to active system or machine origin',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'use_commanded' : ( GObject.TYPE_BOOLEAN, 'Show Commanded', 'Show commanded or actual position',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_extents_option' : ( GObject.TYPE_BOOLEAN, 'Show Extents', 'Show machine extents',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_limits' : ( GObject.TYPE_BOOLEAN, 'Show limits', 'Show machine limits',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_live_plot' : ( GObject.TYPE_BOOLEAN, 'Show live plot', 'Show machine plot',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_velocity' : ( GObject.TYPE_BOOLEAN, 'Show tool speed', 'Show tool velocity',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_program' : ( GObject.TYPE_BOOLEAN, 'Show program', 'Show program',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_rapids' : ( GObject.TYPE_BOOLEAN, 'Show rapids', 'Show rapid moves',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_tool' : ( GObject.TYPE_BOOLEAN, 'Show tool', 'Show tool',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_dtg' : ( GObject.TYPE_BOOLEAN, 'Show DTG', 'Show Distance To Go',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'show_lathe_radius' : ( GObject.TYPE_BOOLEAN, 'Show Lathe Radius', 'Show X axis in Radius',
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False, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'grid_size' : ( GObject.TYPE_FLOAT, 'Grid Size', 'Grid Size',
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0, 100, 0, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'use_joints_mode' : ( GObject.TYPE_BOOLEAN, 'Use joints mode', 'Use joints mode',
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False, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'use_default_controls' : ( GObject.TYPE_BOOLEAN, 'Use Default Mouse Controls', 'Use Default Mouse Controls',
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True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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'mouse_btn_mode' : ( GObject.TYPE_INT, 'Mouse Button Mode',
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('Mousebutton assignment, l means left, m middle, r right \n'
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'0 = default: l-rotate, m-move, r-zoom \n'
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'1 = l-zoom, m-move, r-rotate\n'
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'2 = l-move, m-rotate, r-zoom\n'
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'3 = l-zoom, m-rotate, r-move\n'
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'4 = l-move, m-zoom, r-rotate\n'
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'5 = l-rotate, m-zoom, r-move\n'
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'6 = l-move, m-zoom, r-zoom'),
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0, 6, 0, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT),
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}
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__gproperties = __gproperties__
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def __init__(self, *a, **kw):
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GObject.GObject.__init__(self)
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ini_filename = os.environ.get('INI_FILE_NAME')
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if ini_filename is None:
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ini_filename = get_linuxcnc_ini_file()
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if ini_filename is not None:
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os.putenv('INI_FILE_NAME',ini_filename)
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os.environ['INI_FILE_NAME'] = ini_filename
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os.chdir(os.path.dirname(ini_filename))
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if not ini_filename:
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self.lathe_option = False
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self.initialised = False
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return
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inifile = linuxcnc.ini(ini_filename)
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gremlin.Gremlin.__init__(self, inifile)
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self._reload_filename = None
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self.gstat = GStat()
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self.gstat.connect('file-loaded', self.fileloaded)
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self.gstat.connect('reload-display', self.reloadfile)
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self.init_glcanondraw(
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trajcoordinates=self.inifile.find('TRAJ','COORDINATES'),
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kinsmodule=self.inifile.find('KINS','KINEMATICS'))
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self.show()
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def reloadfile(self,w):
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try:
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self.fileloaded(None,self._reload_filename)
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except:
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pass
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self.gstat.emit('graphics-gcode-properties',self.gcode_properties)
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def fileloaded(self,w,f):
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self._reload_filename=f
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try:
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self._load(f)
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except AttributeError as detail:
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#AttributeError: 'NoneType' object has no attribute 'gl_end'
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print('hal_gremlin: continuing after',detail)
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self.gstat.emit('graphics-gcode-properties',self.gcode_properties)
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def do_get_property(self, property):
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name = property.name.replace('-', '_')
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if name == 'view':
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return self.current_view
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elif name in list(self.__gproperties.keys()):
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return getattr(self, name)
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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 == 'view':
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view = value.lower()
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if self.lathe_option:
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if view not in ['p','y','y2']:
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return False
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elif view not in ['p', 'x', 'y', 'z', 'z2']:
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return False
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self.current_view = view
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if self.initialised:
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self.set_current_view()
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elif name == 'enable_dro':
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self.enable_dro = value
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elif name == 'metric_units':
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self.metric_units = value
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elif name in list(self.__gproperties.keys()):
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setattr(self, name, value)
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else:
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raise AttributeError('unknown property %s' % property.name)
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self.queue_draw()
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return True
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# This overrides glcannon.py method so we can change the DRO
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def dro_format(self,s,spd,dtg,limit,homed,positions,axisdtg,g5x_offset,g92_offset,tlo_offset):
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if self.metric_units:
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format = "% 6s:% 9.3f"
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if self.show_dtg:
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droformat = " " + format + " DTG %1s:% 9.3f"
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else:
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droformat = " " + format
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offsetformat = "% 5s %1s:% 9.3f G92 %1s:% 9.3f"
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rotformat = "% 5s %1s:% 9.3f"
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else:
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format = "% 6s:% 9.4f"
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if self.show_dtg:
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droformat = " " + format + " DTG %1s:% 9.4f"
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else:
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droformat = " " + format
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offsetformat = "% 5s %1s:% 9.4f G92 %1s:% 9.4f"
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rotformat = "% 5s %1s:% 9.4f"
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diaformat = " " + format
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posstrs = []
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droposstrs = []
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for i in range(9):
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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posstrs.append(format % (a, positions[i]))
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if self.show_dtg:
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droposstrs.append(droformat % (a, positions[i], a, axisdtg[i]))
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else:
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droposstrs.append(droformat % (a, positions[i]))
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droposstrs.append("")
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for i in range(9):
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index = s.g5x_index
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if index<7:
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label = "G5%d" % (index+3)
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else:
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label = "G59.%d" % (index-6)
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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droposstrs.append(offsetformat % (label, a, g5x_offset[i], a, g92_offset[i]))
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droposstrs.append(rotformat % (label, 'R', s.rotation_xy))
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droposstrs.append("")
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for i in range(9):
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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droposstrs.append(rotformat % ("TLO", a, tlo_offset[i]))
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# if its a lathe only show radius or diameter as per property
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if self.is_lathe():
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posstrs[0] = ""
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if self.show_lathe_radius:
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posstrs.insert(1, format % ("Rad", positions[0]))
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else:
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posstrs.insert(1, format % ("Dia", positions[0]*2.0))
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droposstrs[0] = ""
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if self.show_dtg:
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if self.show_lathe_radius:
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droposstrs.insert(1, droformat % ("Rad", positions[0], "R", axisdtg[0]))
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else:
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droposstrs.insert(1, droformat % ("Dia", positions[0]*2.0, "D", axisdtg[0]*2.0))
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else:
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if self.show_lathe_radius:
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droposstrs.insert(1, droformat % ("Rad", positions[0]))
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else:
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droposstrs.insert(1, diaformat % ("Dia", positions[0]*2.0))
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if self.show_velocity:
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posstrs.append(format % ("Vel", spd))
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pos=0
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for i in range(9):
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if s.axis_mask & (1<<i): pos +=1
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if self.is_lathe:
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pos +=1
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droposstrs.insert(pos, " " + format % ("Vel", spd))
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if self.show_dtg:
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posstrs.append(format % ("DTG", dtg))
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return limit, homed, posstrs, droposstrs
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# Override gremlin's / glcannon.py function so we can emit a GObject signal
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def update_highlight_variable(self,line):
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self.highlight_line = line
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if line == None:
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line = -1
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self.emit('line-clicked', line)
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def realize(self, widget):
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gremlin.Gremlin.realize(self, widget)
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@rs274.glcanon.with_context
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def _load(self, filename):
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return self.load(filename)
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def report_gcode_error(self, result, seq, filename):
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error_str = gcode.strerror(result)
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errortext = "G-Code error in " + os.path.basename(filename) + "\n" + "Near line " \
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+ str(seq) + " of\n" + filename + "\n" + error_str + "\n"
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print(errortext)
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self.emit("gcode-error", errortext)
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