############################ # **** IMPORT SECTION **** # ############################ import sys import os import linuxcnc from qtpy import QtCore, QtWidgets from qtvcp.widgets.mdi_line import MDILine as MDI_WIDGET from qtvcp.widgets.gcode_editor import GcodeEditor as GCODE from qtvcp.lib.keybindings import Keylookup from qtvcp.lib.toolbar_actions import ToolBarActions from qtvcp.widgets.stylesheeteditor import StyleSheetEditor as SSE from qtvcp.core import Status, Action, Info # Set up logging from qtvcp import logger LOG = logger.getLogger(__name__) # Set the log level for this module #LOG.setLevel(logger.INFO) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL ########################################### # **** instantiate libraries section **** # ########################################### KEYBIND = Keylookup() STATUS = Status() ACTION = Action() INFO = Info() ################################### # **** HANDLER CLASS SECTION **** # ################################### class HandlerClass: ######################## # **** INITIALIZE **** # ######################## # widgets allows access to widgets from the qtvcp files # at this point the widgets and hal pins are not instantiated def __init__(self, halcomp,widgets,paths): self.hal = halcomp self.w = widgets self.PATHS = paths self.STYLEEDITOR = SSE(widgets,paths) self.picked_line = None STATUS.connect('general',self.return_value) STATUS.connect('graphics-line-selected', self.set_picked_line) ########################################## # Special Functions called from QTSCREEN ########################################## # at this point: # the widgets are instantiated. # the HAL pins are built but HAL is not set ready def initialized__(self): KEYBIND.add_call('Key_F12','on_keycall_F12') def processed_key_event__(self,receiver,event,is_pressed,key,code,shift,cntrl): # when typing in MDI, we don't want keybinding to call functions # so we catch and process the events directly. # We do want ESC, F1 and F2 to call keybinding functions though if code not in(QtCore.Qt.Key_Escape,QtCore.Qt.Key_F1 ,QtCore.Qt.Key_F2, QtCore.Qt.Key_F3,QtCore.Qt.Key_F5,QtCore.Qt.Key_F5): # search for the top widget of whatever widget received the event # then check if it's one we want the keypress events to go to flag = False receiver2 = receiver while receiver2 is not None and not flag: if isinstance(receiver2, QtWidgets.QDialog): flag = True break if isinstance(receiver2, MDI_WIDGET): flag = True break if isinstance(receiver2, GCODE): flag = False break receiver2 = receiver2.parent() if flag: if isinstance(receiver2, GCODE): # if in manual do our keybindings - otherwise # send events to gcode widget if STATUS.is_man_mode() == False: if is_pressed: receiver.keyPressEvent(event) event.accept() return True elif is_pressed: receiver.keyPressEvent(event) event.accept() return True else: event.accept() return True if event.isAutoRepeat():return True # ok if we got here then try keybindings function calls # KEYBINDING will call functions from handler file as # registered by KEYBIND.add_call(KEY,FUNCTION) above return KEYBIND.manage_function_calls(self,event,is_pressed,key,shift,cntrl) ######################## # callbacks from STATUS # ######################## # process the STATUS return message for run-from-line def return_value(self, obj, message): num = message['RETURN'] code = bool(message['ID'] == '_RunFromLine_') name = bool(message['NAME'] == 'CALCULATOR') if num is not None and code and name: ACTION.RUN(int(num)) def set_picked_line(self, obj, line): self.picked_line = line ####################### # callbacks from form # ####################### def full_screen(self, state): if state: self.w.stackedWidget_0.setCurrentIndex(1) self.w.widgetswitcher.show_id_widget(1) else: self.w.stackedWidget_0.setCurrentIndex(0) self.w.widgetswitcher.show_id_widget(0) def slow_jog_slider_changed(self, rate): if self.w.pbtn_jog_rate_slow.isChecked(): ACTION.SET_JOG_RATE(rate) def fast_jog_slider_changed(self, rate): if self.w.pbtn_jog_rate_fast.isChecked(): ACTION.SET_JOG_RATE(rate) def set_slow_rate(self, state): if state: ACTION.SET_JOG_RATE(self.w.scrb_jog_linear_slow.value()) def set_fast_rate(self, state): if state: ACTION.SET_JOG_RATE(self.w.scrb_jog_linear_fast.value()) def run_from_line_clicked(self): mess = {'NAME':'CALCULATOR','ID':'_RunFromLine_', 'PRELOAD':self.picked_line, 'TITLE':'Run From Line Dialog'} ACTION.CALL_DIALOG('dialog-request', mess) ##################### # general functions # ##################### # keyboard jogging from key binding calls # double the rate if fast is true def kb_jog(self, state, joint, direction, fast = False, linear = True): if not STATUS.is_man_mode() or not STATUS.machine_is_on(): return if linear: distance = STATUS.get_jog_increment() rate = STATUS.get_jograte()/60 else: distance = STATUS.get_jog_increment_angular() rate = STATUS.get_jograte_angular()/60 if state: if fast: rate = rate * 2 ACTION.JOG(joint, direction, rate, distance) else: ACTION.JOG(joint, 0, 0, 0) ##################### # KEY BINDING CALLS # ##################### # Machine control def on_keycall_ESTOP(self,event,state,shift,cntrl): if state: ACTION.SET_ESTOP_STATE(STATUS.estop_is_clear()) def on_keycall_POWER(self,event,state,shift,cntrl): if state: ACTION.SET_MACHINE_STATE(not STATUS.machine_is_on()) def on_keycall_HOME(self,event,state,shift,cntrl): if state: if STATUS.is_all_homed(): ACTION.SET_MACHINE_UNHOMED(-1) else: ACTION.SET_MACHINE_HOMING(-1) def on_keycall_ABORT(self,event,state,shift,cntrl): if state: if STATUS.stat.interp_state == linuxcnc.INTERP_IDLE: self.w.close() else: ACTION.ABORT() # Linear Jogging def on_keycall_XPOS(self,event,state,shift,cntrl): self.kb_jog(state, 0, 1, shift) def on_keycall_XNEG(self,event,state,shift,cntrl): self.kb_jog(state, 0, -1, shift) def on_keycall_YPOS(self,event,state,shift,cntrl): self.kb_jog(state, 1, 1, shift) def on_keycall_YNEG(self,event,state,shift,cntrl): self.kb_jog(state, 1, -1, shift) def on_keycall_ZPOS(self,event,state,shift,cntrl): self.kb_jog(state, 2, 1, shift) def on_keycall_ZNEG(self,event,state,shift,cntrl): self.kb_jog(state, 2, -1, shift) def on_keycall_APOS(self,event,state,shift,cntrl): pass #self.kb_jog(state, 3, 1, shift, False) def on_keycall_ANEG(self,event,state,shift,cntrl): pass #self.kb_jog(state, 3, -1, shift, linear=False) def on_keycall_F12(self,event,state,shift,cntrl): if state: self.STYLEEDITOR.load_dialog() ########################### # **** closing event **** # ########################### ############################## # required class boiler code # ############################## def __getitem__(self, item): return getattr(self, item) def __setitem__(self, item, value): return setattr(self, item, value) ################################ # required handler boiler code # ################################ def get_handlers(halcomp,widgets,paths): return [HandlerClass(halcomp,widgets,paths)]