207 lines
6.8 KiB
Python
207 lines
6.8 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
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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
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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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STYLEEDITOR = SSE()
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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.hal = halcomp
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self.w = widgets
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self.PATHS = paths
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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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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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#######################
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# callbacks from form #
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#######################
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#####################
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# general functions #
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#####################
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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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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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self.cmnd.abort()
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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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pass
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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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pass
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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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##############################
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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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