367 lines
14 KiB
Python
367 lines
14 KiB
Python
############################
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# **** IMPORT SECTION **** #
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############################
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import sys
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import os
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import linuxcnc
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from qtpy import QtCore, QtWidgets, QtGui
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from qtvcp.widgets.mdi_line import MDILine as MDI_WIDGET
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from qtvcp.widgets.gcode_editor import GcodeEditor as GCODE
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from qtvcp.widgets.stylesheeteditor import StyleSheetEditor as SSE
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from qtvcp.lib.keybindings import Keylookup
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from qtvcp.core import Status, Action, Info, Qhal
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# Set up logging
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from qtvcp import logger
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LOG = logger.getLogger(__name__)
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# Set the log level for this module
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#LOG.setLevel(logger.INFO) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL
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###########################################
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# **** instantiate libraries section **** #
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###########################################
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KEYBIND = Keylookup()
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STATUS = Status()
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ACTION = Action()
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INFO = Info()
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STYLEEDITOR = SSE()
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QHAL = Qhal()
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###################################
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# **** HANDLER CLASS SECTION **** #
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###################################
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class HandlerClass:
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########################
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# **** INITIALIZE **** #
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########################
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# widgets allows access to widgets from the qtvcp files
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# at this point the widgets and hal pins are not instantiated
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def __init__(self, halcomp,widgets,paths):
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self.w = widgets
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self.PATHS = paths
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self.current_mode = (None,None)
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self._last_count = 0
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##########################################
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# Special Functions called from QTSCREEN
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##########################################
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# at this point:
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# the widgets are instantiated.
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# the HAL pins are built but HAL is not set ready
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def initialized__(self):
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KEYBIND.add_call('Key_F12','on_keycall_F12')
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self.pin_mpg_in = QHAL.newpin('mpg-in',QHAL.HAL_S32, QHAL.HAL_IN)
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self.pin_mpg_in.value_changed.connect(lambda s: self.external_mpg(s))
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self.pin_cycle_start_in = QHAL.newpin('cycle-start-in',QHAL.HAL_BIT, QHAL.HAL_IN)
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self.pin_cycle_start_in.value_changed.connect(lambda s: self.cycleStart(s))
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self.pin_abort = QHAL.newpin('abort',QHAL.HAL_BIT, QHAL.HAL_IN)
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self.pin_abort.value_changed.connect(lambda s: self.abort(s))
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self.wheel_x = QHAL.newpin('jogwheel.x-enable',QHAL.HAL_BIT, QHAL.HAL_OUT)
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self.wheel_y = QHAL.newpin('jogwheel.y-enable',QHAL.HAL_BIT, QHAL.HAL_OUT)
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self.wheel_z = QHAL.newpin('jogwheel.z-enable',QHAL.HAL_BIT, QHAL.HAL_OUT)
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self.jog_increment = QHAL.newpin('jogwheel.increment',QHAL.HAL_FLOAT, QHAL.HAL_OUT)
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STATUS.connect('feed-override-changed', lambda w, data: self.w.pushbutton_fo.setText('FO {0:.0f}%'.format(data)))
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STATUS.connect('rapid-override-changed', lambda w, data: self.w.pushbutton_ro.setText('RO {0:.0f}%'.format(data)))
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STATUS.connect('spindle-override-changed', lambda w, data: self.w.pushbutton_so.setText('SO {0:.0f}%'.format(data)))
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STATUS.connect('jogincrement-changed', lambda w, incr,label:self.updateIncrementPin(incr))
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if self.w.PREFS_:
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try:
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value = self.w.PREFS_.getpref('DRO_Font', '', str, 'CUSTOM_FORM_ENTRIES')
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if value != '':
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font = QtGui.QFont()
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font.fromString(value)
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self.setDROFont(font)
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except:
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pass
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try:
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value = self.w.PREFS_.getpref('DRO_Color', '', str, 'CUSTOM_FORM_ENTRIES')
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if value != '':
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self.setDROColor(value)
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except:
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pass
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def processed_key_event__(self,receiver,event,is_pressed,key,code,shift,cntrl):
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# when typing in MDI, we don't want keybinding to call functions
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# so we catch and process the events directly.
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# We do want ESC, F1 and F2 to call keybinding functions though
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if code not in(QtCore.Qt.Key_Escape,QtCore.Qt.Key_F1 ,QtCore.Qt.Key_F2,
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QtCore.Qt.Key_F3,QtCore.Qt.Key_F5,QtCore.Qt.Key_F5):
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# search for the top widget of whatever widget received the event
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# then check if it's one we want the keypress events to go to
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flag = False
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receiver2 = receiver
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while receiver2 is not None and not flag:
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if isinstance(receiver2, QtWidgets.QDialog):
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flag = True
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break
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if isinstance(receiver2, MDI_WIDGET):
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flag = True
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break
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if isinstance(receiver2, GCODE):
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flag = True
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break
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receiver2 = receiver2.parent()
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if flag:
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if isinstance(receiver2, GCODE):
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# if in manual do our keybindings - otherwise
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# send events to gcode widget
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if STATUS.is_man_mode() == False:
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if is_pressed:
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receiver.keyPressEvent(event)
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event.accept()
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return True
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elif is_pressed:
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receiver.keyPressEvent(event)
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event.accept()
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return True
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else:
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event.accept()
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return True
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if event.isAutoRepeat():return True
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# ok if we got here then try keybindings function calls
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# KEYBINDING will call functions from handler file as
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# registered by KEYBIND.add_call(KEY,FUNCTION) above
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return KEYBIND.manage_function_calls(self,event,is_pressed,key,shift,cntrl)
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########################
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# callbacks from STATUS #
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########################
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def updateIncrementPin(self, incr):
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self.jog_increment.set(incr)
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#######################
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# callbacks from form #
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#######################
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def updateJogState(self):
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state = self.w.pushbutton_jog.isChecked()
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selected = None
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if state:
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ACTION.SET_MANUAL_MODE()
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if STATUS.is_joint_mode():
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selected = STATUS.get_selected_joint()
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for temp in INFO.AVAILABLE_JOINTS:
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axis = "xyzabcuvw"[temp]
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if selected == temp:
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self['wheel_{}'.format(axis)].set(True)
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else:
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self['wheel_{}'.format(axis)].set(False)
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else:
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selected = STATUS.get_selected_axis()
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for temp in INFO.AVAILABLE_AXES:
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if selected == temp:
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self['wheel_{}'.format(temp.lower())].set(True)
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else:
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self['wheel_{}'.format(temp.lower())].set(False)
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def colorDialog(self):
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color = QtWidgets.QColorDialog.getColor()
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self.setDROColor(color.name())
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def fontDialog(self):
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font, ok = QtWidgets.QFontDialog.getFont(self.w.dro_label_1.font())
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if ok:
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self.setDROFont(font)
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def togglePointer(self, data):
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ACTION.HIDE_POINTER(data)
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#####################
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# general functions #
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#####################
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def setDROFont(self, font):
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for i in range(1,10):
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self.w['dro_label_{}'.format(i)].setFont(font)
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def setDROColor(self, color):
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for i in range(1,10):
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self.w['dro_label_{}'.format(i)].setStyleSheet("QWidget { color: %s}" % color)
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def abort(self, state):
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if not state:
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return
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if STATUS.stat.interp_state == linuxcnc.INTERP_IDLE:
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self.w.close()
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else:
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ACTION.ABORT()
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def cycleStart(self, state):
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print(state, self.current_mode)
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if state:
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tab = self.w.mainTab.currentWidget()
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if tab in( self.w.tab_auto, self.w.tab_graphics):
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print('start cycle!', self.w.gcode_editor.get_line())
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ACTION.RUN(line=0)
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elif tab == self.w.tab_files:
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print('load program')
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self.w.filemanager.load()
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elif tab == self.w.tab_mdi:
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print('run MDI')
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self.w.mditouchy.run_command()
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# MPG scrolling of program or MDI history
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def external_mpg(self, count):
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diff = count - self._last_count
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if self.w.pushbutton_scroll.isChecked():
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if self.w.mainTab.currentWidget() == self.w.tab_auto:
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self.w.gcode_editor.jump_line(diff)
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elif self.w.mainTab.currentWidget() == self.w.tab_files:
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if diff <0:
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self.w.filemanager.down()
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else:
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self.w.filemanager.up()
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elif self.w.mainTab.currentWidget() == self.w.tab_graphics:
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if self.w.panV.isChecked():
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ACTION.ADJUST_GRAPHICS_PAN(0,diff)
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elif self.w.panH.isChecked():
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ACTION.ADJUST_GRAPHICS_PAN(diff,0)
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elif self.w.rotate.isChecked():
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ACTION.ADJUST_GRAPHICS_ROTATE(diff,diff)
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elif self.w.zoom.isChecked():
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if diff <0:
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ACTION.SET_GRAPHICS_VIEW('zoom-in')
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else:
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ACTION.SET_GRAPHICS_VIEW('zoom-OUT')
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elif self.w.pushbutton_fo.isChecked():
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scaled = (STATUS.stat.feedrate * 100 + diff)
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if scaled <0 :scaled = 0
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elif scaled > INFO.MAX_FEED_OVERRIDE:scaled = INFO.MAX_FEED_OVERRIDE
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ACTION.SET_FEED_RATE(scaled)
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elif self.w.pushbutton_ro.isChecked():
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scaled = (STATUS.stat.rapidrate * 100 + diff)
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if scaled <0 :scaled = 0
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elif scaled > 100:scaled = 100
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ACTION.SET_RAPID_RATE(scaled)
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elif self.w.pushbutton_so.isChecked():
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scaled = (STATUS.stat.spindle[0]['override'] * 100 + diff)
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if scaled < INFO.MIN_SPINDLE_OVERRIDE:scaled = INFO.MIN_SPINDLE_OVERRIDE
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elif scaled > INFO.MAX_SPINDLE_OVERRIDE:scaled = INFO.MAX_SPINDLE_OVERRIDE
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ACTION.SET_SPINDLE_RATE(scaled)
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self._last_count = count
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# keyboard jogging from key binding calls
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# double the rate if fast is true
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def kb_jog(self, state, joint, direction, fast = False, linear = True):
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if not STATUS.is_man_mode() or not STATUS.machine_is_on():
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return
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if linear:
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distance = STATUS.get_jog_increment()
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rate = STATUS.get_jograte()/60
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else:
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distance = STATUS.get_jog_increment_angular()
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rate = STATUS.get_jograte_angular()/60
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if state:
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if fast:
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rate = rate * 2
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ACTION.JOG(joint, direction, rate, distance)
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else:
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# incremental jogging?
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if joint in (3,4,5,'A','B','C'): # angualar axis
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if STATUS.get_jog_increment_angular() != 0: return
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elif STATUS.get_jog_increment() != 0: return
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# otherwise stop jogging when key released
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ACTION.JOG(joint, 0, 0, 0)
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#####################
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# KEY BINDING CALLS #
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#####################
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# Machine control
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def on_keycall_ESTOP(self,event,state,shift,cntrl):
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if state:
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ACTION.SET_ESTOP_STATE(STATUS.estop_is_clear())
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def on_keycall_POWER(self,event,state,shift,cntrl):
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if state:
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ACTION.SET_MACHINE_STATE(not STATUS.machine_is_on())
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def on_keycall_HOME(self,event,state,shift,cntrl):
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if state:
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if STATUS.is_all_homed():
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ACTION.SET_MACHINE_UNHOMED(-1)
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else:
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ACTION.SET_MACHINE_HOMING(-1)
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def on_keycall_ABORT(self,event,state,shift,cntrl):
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if state:
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if STATUS.stat.interp_state == linuxcnc.INTERP_IDLE:
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self.w.close()
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else:
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ACTION.ABORT()
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# Function keys
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def on_keycall_F12(self,event,state,shift,cntrl):
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if state:
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STYLEEDITOR.load_dialog()
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# Linear Jogging
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def on_keycall_XPOS(self,event,state,shift,cntrl):
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self.kb_jog(state, 0, 1, shift)
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def on_keycall_XNEG(self,event,state,shift,cntrl):
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self.kb_jog(state, 0, -1, shift)
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def on_keycall_YPOS(self,event,state,shift,cntrl):
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self.kb_jog(state, 1, 1, shift)
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def on_keycall_YNEG(self,event,state,shift,cntrl):
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self.kb_jog(state, 1, -1, shift)
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def on_keycall_ZPOS(self,event,state,shift,cntrl):
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self.kb_jog(state, 2, 1, shift)
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def on_keycall_ZNEG(self,event,state,shift,cntrl):
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self.kb_jog(state, 2, -1, shift)
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def on_keycall_APOS(self,event,state,shift,cntrl):
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if 'A' in INFO.AVAILABLE_AXES:
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self.kb_jog(state, 3, 1, shift, False)
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def on_keycall_ANEG(self,event,state,shift,cntrl):
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if 'A' in INFO.AVAILABLE_AXES:
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self.kb_jog(state, 3, -1, shift, linear=False)
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###########################
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# **** closing event **** #
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###########################
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def closing_cleanup__(self):
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if self.w.PREFS_:
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self.w.PREFS_.putpref('DRO_Font', self.w.dro_label_1.font().toString(), str, 'CUSTOM_FORM_ENTRIES')
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color = self.w.dro_label_1.palette().color(QtGui.QPalette.Foreground).name()
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self.w.PREFS_.putpref('DRO_Color', color, str, 'CUSTOM_FORM_ENTRIES')
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##############################
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# required class boiler code #
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##############################
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def __getitem__(self, item):
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return getattr(self, item)
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def __setitem__(self, item, value):
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return setattr(self, item, value)
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################################
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# required handler boiler code #
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################################
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def get_handlers(halcomp,widgets,paths):
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return [HandlerClass(halcomp,widgets,paths)]
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