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axis.py
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axis.py
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#!/usr/bin/env python3
# This is a component of AXIS, a front-end for LinuxCNC
# Copyright 2004, 2005, 2006, 2007, 2008, 2009
# Jeff Epler <jepler@unpythonic.net> and Chris Radek <chris@timeguy.com>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
# import pdb
import sys, os
import string
from OpenGL.GL import *
from OpenGL.GLU import *
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
sys.path.insert(0, os.path.join(BASE, "lib", "python"))
# otherwise, on hardy the user is shown spurious "[application] closed
# unexpectedly" messages but denied the ability to actually "report [the]
# problem"
sys.excepthook = sys.__excepthook__
import gettext;
import array, time, atexit, tempfile, shutil, errno, select, re, getopt
import traceback
import tkinter as Tkinter
import _thread
gettext.install("linuxcnc", localedir=os.path.join(BASE, "share", "locale"))
# Print Tk errors to stdout. python.org/sf/639266
OldTk = Tkinter.Tk
class Tk(OldTk):
def __init__(self, *args, **kw):
OldTk.__init__(self, *args, **kw)
self.tk.createcommand('tkerror', self.tkerror)
def tkerror(self, arg):
print("TCL error in asynchronous code:")
print(self.tk.call("set", "errorInfo"))
Tkinter.Tk = Tk
RTLD_NOW, RTLD_GLOBAL = 0x1, 0x100 # XXX portable?
old_flags = sys.getdlopenflags()
sys.setdlopenflags(RTLD_NOW | RTLD_GLOBAL);
import gcode
sys.setdlopenflags(old_flags)
from rs274.OpenGLTk import *
from rs274.interpret import StatMixin
from rs274.glcanon import GLCanon, GlCanonDraw
from hershey import Hershey
from propertywindow import properties
import rs274.options
import nf
import locale
import bwidget
from math import hypot, atan2, sin, cos, pi, sqrt
import linuxcnc
from glnav import *
if "AXIS_NO_HAL" in os.environ:
hal_present = 0;
else:
hal_present = 1;
if hal_present == 1:
import hal
import configparser
cp = configparser.ConfigParser
class AxisPreferences(cp):
types = {
bool: cp.getboolean,
float: cp.getfloat,
int: cp.getint,
str: cp.get,
repr: lambda self,section,option: eval(cp.get(self,section,option)),
}
def __init__(self):
cp.__init__(self)
self.fn = os.path.expanduser("~/.axis_preferences")
self.read(self.fn)
def getpref(self, option, default=False, type=bool):
m = self.types.get(type)
if type == repr and len(default) == 0: default=""
try:
o = m(self, "DEFAULT", option)
except Exception as detail:
if default != "": print(detail)
self.set("DEFAULT", option, default)
self.write(open(self.fn, "w"))
o = default
return o
def putpref(self, option, value, type=bool):
self.set("DEFAULT", option, str(value))
self.write(open(self.fn, "w"))
if sys.argv[1] != "-ini":
raise SystemExit("-ini must be first argument")
inifile = linuxcnc.ini(sys.argv[2])
ap = AxisPreferences()
os.system("xhost -SI:localuser:gdm -SI:localuser:root > /dev/null 2>&1")
root_window = Tkinter.Tk(className="Axis")
dpi_value = root_window.winfo_fpixels('1i')
root_window.tk.call('tk', 'scaling', '-displayof', '.', dpi_value / 72.0)
root_window.withdraw()
nf.start(root_window)
nf.makecommand(root_window, "_", _)
rs274.options.install(root_window)
root_window.tk.call("set", "version", linuxcnc.version)
try:
root_window.tk.call("set","::MAX_JOINTS" ,linuxcnc.MAX_JOINTS)
root_window.tk.call("set","::MAX_AXIS" ,linuxcnc.MAX_AXIS)
root_window.tk.call("set","::STATE_ESTOP" ,linuxcnc.STATE_ESTOP)
root_window.tk.call("set","::STATE_ESTOP_RESET" ,linuxcnc.STATE_ESTOP_RESET)
root_window.tk.call("set","::STATE_OFF" ,linuxcnc.STATE_OFF)
root_window.tk.call("set","::STATE_ON" ,linuxcnc.STATE_ON)
root_window.tk.call("set","::TASK_MODE_MANUAL" ,linuxcnc.MODE_MANUAL)
root_window.tk.call("set","::TASK_MODE_MDI" ,linuxcnc.MODE_MDI)
root_window.tk.call("set","::TASK_MODE_AUTO" ,linuxcnc.MODE_AUTO)
root_window.tk.call("set","::INTERP_IDLE" ,linuxcnc.INTERP_IDLE)
root_window.tk.call("set","::INTERP_READING" ,linuxcnc.INTERP_READING)
root_window.tk.call("set","::INTERP_PAUSED" ,linuxcnc.INTERP_PAUSED)
root_window.tk.call("set","::INTERP_WAITING" ,linuxcnc.INTERP_WAITING)
root_window.tk.call("set","::TRAJ_MODE_FREE" ,linuxcnc.TRAJ_MODE_FREE)
root_window.tk.call("set","::KINEMATICS_IDENTITY",linuxcnc.KINEMATICS_IDENTITY)
nf.source_lib_tcl(root_window,"axis.tcl")
except TclError:
print(root_window.tk.call("set", "errorInfo"))
raise
def General_Halt():
text = _("Do you really want to close LinuxCNC?")
if not root_window.tk.call("nf_dialog", ".error", _("Confirm Close"), text, "warning", 1, _("Yes"), _("No")):
root_window.destroy()
root_window.protocol("WM_DELETE_WINDOW", General_Halt)
program_start_line = 0
program_start_line_last = -1
lathe = 0
mdi_history_max_entries = 1000
mdi_history_save_filename =\
inifile.find('DISPLAY', 'MDI_HISTORY_FILE') or "~/.axis_mdi_history"
feedrate_blackout = 0
rapidrate_blackout = 0
spindlerate_blackout = 0
maxvel_blackout = 0
jogincr_index_last = 1
mdi_history_index= -1
resume_inhibit = 0
continuous_jog_in_progress = False
cjogindices = []
help1 = [
("F1", _("Emergency stop")),
("F2", _("Turn machine on")),
("", ""),
("X", _("Activate first axis")),
("Y", _("Activate second axis")),
("Z", _("Activate third axis")),
("A", _("Activate fourth axis")),
("` or 0,1..8", _("Activate first through ninth joint")),
("", _("if joints radiobuttons visible")),
("`,1..9,0", _("Set Feed Override from 0% to 100%")),
("", _("if axes radiobuttons visible")),
(_(", and ."), _("Select jog speed")),
(_("< and >"), _("Select angular jog speed")),
(_("I, Shift-I"), _("Select jog increment")),
("C", _("Continuous jog")),
(_("Home"), _("Send active joint home")),
(_("Ctrl-Home"), _("Home all joints")),
(_("Shift-Home"), _("Zero G54 offset for active axis")),
(_("End"), _("Set G54 offset for active axis")),
(_("Ctrl-End"), _("Set tool offset for loaded tool")),
("-, =", _("Jog active axis or joint")),
(";, '", _("Select Max velocity")),
("", ""),
(_("Left, Right"), _("Jog first axis or joint")),
(_("Up, Down"), _("Jog second axis or joint")),
(_("Pg Up, Pg Dn"), _("Jog third axis or joint")),
(_("Shift+above jogs"), _("Jog at traverse speed")),
("[, ]", _("Jog fourth axis or joint")),
("", ""),
("D", _("Toggle between Drag and Rotate mode")),
(_("Left Button"), _("Pan, rotate or select line")),
(_("Shift+Left Button"), _("Rotate or pan")),
(_("Right Button"), _("Zoom view")),
(_("Wheel Button"), _("Rotate view")),
(_("Rotate Wheel"), _("Zoom view")),
(_("Ctrl+Left Button"), _("Zoom view")),
]
help2 = [
("F3", _("Manual control")),
("F5", _("Code entry (MDI)")),
(_("Ctrl-M"), _("Clear MDI history")),
(_("Ctrl-H"), _("Copy selected MDI history elements")),
("", _("to clipboard")),
(_("Ctrl-Shift-H"), _("Paste clipboard to MDI history")),
("L", _("Override Limits")),
("", ""),
("O", _("Open program")),
(_("Ctrl-R"), _("Reload program")),
(_("Ctrl-S"), _("Save G-code as")),
("R", _("Run program")),
("T", _("Step program")),
("P", _("Pause program")),
("S", _("Resume program")),
("ESC", _("Stop running program, or")),
("", _("stop loading program preview")),
("", ""),
("F7", _("Toggle mist")),
("F8", _("Toggle flood")),
("B", _("Spindle brake off")),
(_("Shift-B"), _("Spindle brake on")),
("F9", _("Turn spindle clockwise")),
("F10", _("Turn spindle counterclockwise")),
("F11", _("Turn spindle more slowly")),
("F12", _("Turn spindle more quickly")),
(_("Ctrl-K"), _("Clear live plot")),
("V", _("Cycle among preset views")),
("F4", _("Cycle among preview, DRO, and user tabs")),
("@", _("toggle Actual/Commanded")),
("#", _("toggle Relative/Machine")),
(_("Ctrl-Space"), _("Clear notifications")),
(_("Alt-F, M, V"), _("Open a Menu")),
]
def install_help(app):
keys = nf.makewidget(app, Frame, '.keys.text')
fixed = app.tk.call("linuxcnc::standard_fixed_font")
for i in range(len(help1)):
a, b = help1[i]
Label(keys, text=a, font=fixed, padx=4, pady=0, highlightthickness=0).grid(row=i, column=0, sticky="w")
Label(keys, text=b, padx=4, pady=0, highlightthickness=0).grid(row=i, column=1, sticky="w")
for i in range(len(help2)):
a, b = help2[i]
Label(keys, text=a, font=fixed, padx=4, pady=0, highlightthickness=0).grid(row=i, column=3, sticky="w")
Label(keys, text=b, padx=4, pady=0, highlightthickness=0).grid(row=i, column=4, sticky="w")
Label(keys, text=" ").grid(row=0, column=2)
def joints_mode():
return s.motion_mode == linuxcnc.TRAJ_MODE_FREE
def set_motion_teleop(value):
if running(): return
# 1:teleop, 0: joint
vars.teleop_mode.set(value)
c.teleop_enable(value)
c.wait_complete()
s.poll()
def parse_color(c):
if c == "": return (1,0,0)
return tuple([i/65535. for i in root_window.winfo_rgb(c)])
def to_internal_units(pos, unit=None):
if unit is None:
unit = s.linear_units
lu = (unit or 1) * 25.4
lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu]
return [a/b for a, b in zip(pos, lus)]
def to_internal_linear_unit(v, unit=None):
if unit is None:
unit = s.linear_units
lu = (unit or 1) * 25.4
return v/lu
def from_internal_units(pos, unit=None):
if unit is None:
unit = s.linear_units
lu = (unit or 1) * 25.4
lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu]
return [a*b for a, b in zip(pos, lus)]
def from_internal_linear_unit(v, unit=None):
if unit is None:
unit = s.linear_units
lu = (unit or 1) * 25.4
return v*lu
def masked_axes_count():
ct = 0
for i in range(linuxcnc.MAX_JOINTS):
if s.axis_mask & (1<<i): ct +=1
return ct
class Notification(Tkinter.Frame):
def __init__(self, master):
self.widgets = []
self.cache = []
Tkinter.Frame.__init__(self, master)
def clear(self,iconname=None):
if iconname:
cpy = self.widgets[:]
for i, item in enumerate(cpy):
frame,icon,text,button,iname = item
if iname == "icon_std_" + iconname:
self.remove(cpy[i])
else:
while self.widgets:
self.remove(self.widgets[0])
def clear_one(self):
if self.widgets:
self.remove(self.widgets[0])
def add(self, iconname, message):
self.place(relx=1, rely=1, y=-20, anchor="se")
iconname_image = self.tk.call("load_image", "std_" + iconname)
close = self.tk.call("load_image", "close", "notification-close")
if len(self.widgets) > 10:
self.remove(self.widgets[0])
if self.cache:
frame, icon, text, button, discard = self.cache.pop()
icon.configure(image=iconname_image)
text.configure(text=message)
widgets = frame, icon, text, button, iconname_image
else:
frame = Tkinter.Frame(self)
icon = Tkinter.Label(frame, image=iconname_image)
text = Tkinter.Label(frame, text=message, wraplength=300, justify="left")
button = Tkinter.Button(frame, image=close)
widgets = frame, icon, text, button, iconname_image
text.pack(side="left")
icon.pack(side="left")
button.pack(side="left")
button.configure(command=lambda: self.remove(widgets))
frame.pack(side="top", anchor="e")
self.widgets.append(widgets)
if iconname == "error":
comp["error"] = True
def remove(self, widgets):
self.widgets.remove(widgets)
if len(self.cache) < 10:
widgets[0].pack_forget()
self.cache.append(widgets)
else:
widgets[0].destroy()
if len(self.widgets) == 0:
self.place_forget()
if self._remaining_error_count() == 0:
comp["error"] = False
def _remaining_error_count(self):
""" Returns the count of remaining error messages """
count = 0
for i, item in enumerate(self.widgets):
frame, icon, text, button, iname = item
if iname == "icon_std_error":
count += 1
return count
def soft_limits():
def fudge(x):
if abs(x) > 1e99: return 0
return x
ax = s.axis
return (
to_internal_units([fudge(ax[i]['min_position_limit']) for i in range(3)]),
to_internal_units([fudge(ax[i]['max_position_limit']) for i in range(3)]))
class MyOpengl(GlCanonDraw, Opengl):
def __init__(self, *args, **kw):
self.after_id = None
self.motion_after = None
self.perspective = False
Opengl.__init__(self, *args, **kw)
GlCanonDraw.__init__(self, s, None)
self.bind('<Button-1>', self.select_prime, add=True)
self.bind('<ButtonRelease-1>', self.select_fire, add=True)
self.bind('<Button1-Motion>', self.select_cancel, add=True)
self.highlight_line = None
self.select_event = None
self.select_buffer_size = 100
self.select_primed = None
self.last_position = None
self.last_homed = None
self.last_origin = None
self.last_rotation_xy = None
self.last_tool = None
self.last_tool_offset = None
self.last_limits = None
self.set_eyepoint(5.)
self.get_resources()
self.realize()
self.init_glcanondraw(trajcoordinates=trajcoordinates,
kinsmodule=kinsmodule)
def getRotateMode(self):
return vars.rotate_mode.get()
def get_font_info(self):
return coordinate_charwidth, coordinate_linespace, fontbase
def get_resources(self):
self.colors = dict(GlCanonDraw.colors)
for c in list(self.colors.keys()):
if isinstance(c, tuple):
c, d = c
elif c.endswith("_alpha"):
d = "Alpha"
else:
d = "Foreground"
option_value = self.option_get(c, d)
if option_value:
if d == "Alpha":
self.colors[c] = float(option_value)
else:
self.colors[c] = parse_color(option_value)
x = float(self.option_get("tool_light_x", "Float"))
y = float(self.option_get("tool_light_y", "Float"))
z = float(self.option_get("tool_light_z", "Float"))
dist = (x**2 + y**2 + z**2) ** .5
self.light_position = (x/dist, y/dist, z/dist, 0)
def select_prime(self, event):
self.select_primed = event
def select_cancel(self, event):
if self.select_primed and (event.x != self.select_primed.x or event.y != self.select_primed.y):
self.select_primed = None
def select_fire(self, event):
if self.select_primed: self.queue_select(event)
def queue_select(self, event):
self.select_event = event
self.tkRedraw()
def deselect(self, event):
self.set_highlight_line(None)
def select(self, event):
GlCanonDraw.select(self, event.x, event.y)
def get_joints_mode(self): return joints_mode()
def get_current_tool(self): return current_tool
def is_lathe(self): return lathe
def get_show_commanded(self): return vars.display_type.get()
def get_show_rapids(self): return vars.show_rapids.get()
def get_geometry(self): return geometry
def is_foam(self): return foam
def get_num_joints(self): return num_joints
def get_program_alpha(self): return vars.program_alpha.get()
def get_a_axis_wrapped(self): return a_axis_wrapped
def get_b_axis_wrapped(self): return b_axis_wrapped
def get_c_axis_wrapped(self): return c_axis_wrapped
def set_current_line(self, line):
if line == vars.running_line.get(): return
t.tag_remove("executing", "0.0", "end")
if line is not None and line > 0:
vupdate(vars.running_line, line)
if vars.highlight_line.get() <= 0:
t.see("%d.0" % (line+2))
t.see("%d.0" % line)
t.tag_add("executing", "%d.0" % line, "%d.end" % line)
else:
vupdate(vars.running_line, 0)
def get_highlight_line(self):
return vars.highlight_line.get()
def set_highlight_line(self, line):
if line == self.get_highlight_line(): return
GlCanonDraw.set_highlight_line(self, line)
t.tag_remove("sel", "0.0", "end")
if line is not None and line > 0:
t.see("%d.0" % (line+2))
t.see("%d.0" % line)
t.tag_add("sel", "%d.0" % line, "%d.end" % line)
vupdate(vars.highlight_line, line)
else:
vupdate(vars.highlight_line, -1)
def tkRedraw(self, *dummy):
if self.after_id:
# May need to upgrade to an instant redraw
self.after_cancel(self.after_id)
self.after_id = self.after_idle(self.actual_tkRedraw)
def redraw_soon(self, *dummy):
if self.after_id: return
self.after_id = self.after(50, self.actual_tkRedraw)
def tkRedraw_perspective(self, *dummy):
"""Cause the opengl widget to redraw itself."""
self.redraw_perspective()
def tkRedraw_ortho(self, *dummy):
"""Cause the opengl widget to redraw itself."""
self.redraw_ortho()
def startRotate(self, event):
if lathe: return
return Opengl.startRotate(self, event)
def tkAutoSpin(self, event):
if lathe: return
return Opengl.tkAutoSpin(self, event)
def tkRotate(self, event):
if lathe: return
Opengl.tkRotate(self, event)
self.perspective = True
widgets.view_z.configure(relief="link")
widgets.view_z2.configure(relief="link")
widgets.view_x.configure(relief="link")
widgets.view_y.configure(relief="link")
widgets.view_p.configure(relief="link")
vars.view_type.set(0)
def tkTranslateOrRotate(self, event):
if self.getRotateMode():
self.tkRotate(event)
else:
self.tkTranslate(event)
def tkRotateOrTranslate(self, event):
if self.getRotateMode():
self.tkTranslate(event)
else:
self.tkRotate(event)
def actual_tkRedraw(self, *dummy):
self.after_id = None
if self.perspective:
self.tkRedraw_perspective()
else:
self.tkRedraw_ortho()
def get_show_program(self): return vars.show_program.get()
def get_show_offsets(self): return vars.show_offsets.get()
def get_show_extents(self): return vars.show_extents.get()
def get_grid_size(self): return vars.grid_size.get()
def get_show_metric(self): return vars.metric.get()
def get_show_live_plot(self): return vars.show_live_plot.get()
def get_show_machine_speed(self): return vars.show_machine_speed.get()
def get_show_distance_to_go(self): return vars.show_distance_to_go.get()
def get_view(self):
x,y,z,p = 0,1,2,3
if str(widgets.view_x['relief']) == "sunken":
view = x
elif (str(widgets.view_y['relief']) == "sunken" or
str(widgets.view_y2['relief']) == "sunken"):
view = y
elif (str(widgets.view_z['relief']) == "sunken" or
str(widgets.view_z2['relief']) == "sunken"):
view = z
else:
view = p
return view
def get_show_relative(self): return vars.coord_type.get()
def get_show_limits(self): return vars.show_machine_limits.get()
def get_show_tool(self): return vars.show_tool.get()
def redraw(self):
if not self.winfo_viewable():
return self.redraw_dro()
if self.select_event:
self.select(self.select_event)
self.select_event = None
GlCanonDraw.redraw(self)
def redraw_dro(self):
self.stat.poll()
limit, homed, posstrs, droposstrs = self.posstrs()
text = widgets.numbers_text
font = "Courier 10 pitch"
if not hasattr(self, 'font_width'):
self.font_width = text.tk.call(
"font", "measure", (font, -100, "bold"), "0")
self.font_vertspace = text.tk.call(
"font", "metrics", (font, -100, "bold"), "-linespace") - 100
self.last_font = None
font_width = self.font_width
font_vertspace = self.font_vertspace
text.delete("0.0", "end")
t = droposstrs[:]
text.insert("end", "\n".join(t))
window_height = text.winfo_height()
window_width = text.winfo_width()
dro_lines = len(droposstrs)
dro_width = len(droposstrs[0]) + 3
# pixels of height required, for "100 pixel" font
req_height = dro_lines * 100 + (dro_lines + 1) * font_vertspace
# pixels of width required, for "100 pixel" font
req_width = dro_width * font_width
height_ratio = float(window_height) / req_height
width_ratio = float(window_width) / req_width
ratio = min(height_ratio, width_ratio)
new_font = -int(100*ratio)
if new_font != self.last_font:
text.configure(font=(font, new_font, "bold"))
self.last_font = new_font
def init():
glDrawBuffer(GL_BACK)
glDisable(GL_CULL_FACE)
glLineStipple(2, 0x5555)
glDisable(GL_LIGHTING)
glClearColor(0,0,0,0)
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
def toggle_perspective(e):
o.perspective = not o.perspective
o.tkRedraw()
def select_line(event):
i = t.index("@%d,%d" % (event.x, event.y))
i = int(i.split('.')[0])
o.set_highlight_line(i)
o.tkRedraw()
return "break"
def release_select_line(event):
o.set_highlight_line(None)
o.set_current_line(None)
o.tkRedraw()
return "break"
def select_prev(event):
if o.highlight_line is None:
i = o.last_line
else:
i = max(1, o.highlight_line - 1)
o.set_highlight_line(i)
o.tkRedraw()
def select_next(event):
if o.highlight_line is None:
i = 1
else:
i = min(o.last_line, o.highlight_line + 1)
o.set_highlight_line(i)
o.tkRedraw()
def scroll_up(event):
t.yview_scroll(-2, "units")
def scroll_down(event):
t.yview_scroll(2, "units")
current_tool = None
def vupdate(var, val):
try:
if var.get() == val: return
except ValueError:
pass
var.set(val)
class LivePlotter:
def __init__(self, window):
self.win = window
window.live_plot_size = 0
self.after = None
self.error_after = None
self.running = BooleanVar(window)
self.running.set(False)
self.lastpts = -1
self.last_speed = -1
self.last_limit = None
self.last_motion_mode = None
self.last_joint_position = None
self.notifications_clear = False
self.notifications_clear_info = False
self.notifications_clear_error = False
def start(self):
if self.running.get(): return
if not os.path.exists(linuxcnc.nmlfile):
return False
try:
self.stat = linuxcnc.stat()
except linuxcnc.error:
return False
self.last_task_mode = self.stat.task_mode
self.last_motion_mode = self.stat.motion_mode
def C(s):
a = o.colors[s + "_alpha"]
s = o.colors[s]
return [int(x * 255) for x in s + (a,)]
self.logger = linuxcnc.positionlogger(linuxcnc.stat(),
C('backplotjog'),
C('backplottraverse'),
C('backplotfeed'),
C('backplotarc'),
C('backplottoolchange'),
C('backplotprobing'),
geometry, foam
)
o.after_idle(lambda: _thread.start_new_thread(self.logger.start, (.01,)))
global feedrate_blackout, rapidrate_blackout, spindlerate_blackout, maxvel_blackout
feedrate_blackout=rapidrate_blackout=spindlerate_blackout=maxvel_blackout=time.time()+1
self.running.set(True)
def stop(self):
if not self.running.get(): return
if hasattr(self, 'stat'): del self.stat
if self.after is not None:
self.win.after_cancel(self.after)
self.after = None
if self.error_after is not None:
self.win.after_cancel(self.error_after)
self.error_after = None
self.logger.stop()
self.running.set(True)
def error_task(self):
error = e.poll()
while error:
kind, text = error
if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
icon = "error"
else:
icon = "info"
notifications.add(icon, text)
error = e.poll()
self.error_after = self.win.after(200, self.error_task)
def update(self):
if not self.running.get():
return
try:
self.stat.poll()
except linuxcnc.error as detail:
print("error", detail)
del self.stat
return
global continuous_jog_in_progress,cjogindices
if continuous_jog_in_progress and not manual_tab_visible():
jjogmode = get_jog_mode()
for idx in cjogindices:
c.jog(linuxcnc.JOG_STOP, jjogmode,idx)
continuous_jog_in_progress = 0
cjogindices = []
if ( (self.stat.motion_mode == linuxcnc.TRAJ_MODE_COORD)
and (self.stat.task_mode == linuxcnc.MODE_MANUAL)
):
set_motion_teleop(1)
if ( (self.stat.motion_mode == linuxcnc.TRAJ_MODE_TELEOP)
and not vars.teleop_mode.get() ):
vars.teleop_mode.set(1)
# With joints_axes support and jogging while mdi
# (ref: emctaskmain.cc:allow_while_idle_type())
# behavior is better without changing tabs upon detecting
# a task_mode change.
# Restore behavior with this local var: enable_tab_change
enable_tab_change = False
if ( enable_tab_change
and (self.stat.task_mode != self.last_task_mode)):
if (self.stat.task_mode == linuxcnc.MODE_MANUAL):
root_window.tk.eval(pane_top + ".tabs raise manual")
if (self.stat.task_mode == linuxcnc.MODE_MDI):
root_window.tk.eval(pane_top + ".tabs raise mdi")
if (self.stat.task_mode == linuxcnc.MODE_AUTO):
# not sure if anything needs to be done for this
pass
self.last_task_mode = self.stat.task_mode
self.after = self.win.after(update_ms, self.update)
self.win.set_current_line(self.stat.motion_id or self.stat.motion_line)
speed = self.stat.current_vel
limits = soft_limits()
if ( self.stat.tool_offset != o.last_tool_offset
or self.stat.tool_in_spindle != o.last_tool):
o.redraw_dro()
if (self.logger.npts != self.lastpts
or limits != o.last_limits
or self.stat.actual_position != o.last_position
or self.stat.joint_actual_position != o.last_joint_position
or self.stat.homed != o.last_homed
or self.stat.g5x_offset != o.last_g5x_offset
or self.stat.g92_offset != o.last_g92_offset
or self.stat.g5x_index != o.last_g5x_index
or self.stat.rotation_xy != o.last_rotation_xy
or self.stat.limit != o.last_limit
or self.stat.tool_offset != o.last_tool_offset
or self.stat.tool_in_spindle != o.last_tool
or self.stat.motion_mode != self.last_motion_mode
or abs(speed - self.last_speed) > .01):
o.redraw_soon()
o.last_limits = limits
o.last_limit = self.stat.limit
o.last_homed = self.stat.homed
o.last_position = self.stat.actual_position
o.last_g5x_offset = self.stat.g5x_offset
o.last_g92_offset = self.stat.g92_offset
o.last_g5x_index = self.stat.g5x_index
o.last_rotation_xy = self.stat.rotation_xy
self.last_motion_mode = self.stat.motion_mode
o.last_tool = self.stat.tool_in_spindle
o.last_tool_offset = self.stat.tool_offset
o.last_joint_position = self.stat.joint_actual_position
self.last_speed = speed
self.lastpts = self.logger.npts
root_window.update_idletasks()
vupdate(vars.exec_state, self.stat.exec_state)
vupdate(vars.interp_state, self.stat.interp_state)
vupdate(vars.queued_mdi_commands, self.stat.queued_mdi_commands)
if hal_present == 1:
notifications_clear = comp["notifications-clear"]
if self.notifications_clear != notifications_clear:
self.notifications_clear = notifications_clear
if self.notifications_clear:
notifications.clear()
notifications_clear_info = comp["notifications-clear-info"]
if self.notifications_clear_info != notifications_clear_info:
self.notifications_clear_info = notifications_clear_info
if self.notifications_clear_info:
notifications.clear("info")
notifications_clear_error = comp["notifications-clear-error"]
if self.notifications_clear_error != notifications_clear_error:
self.notifications_clear_error = notifications_clear_error
if self.notifications_clear_error:
notifications.clear("error")
now_resume_inhibit = comp["resume-inhibit"]
global resume_inhibit
if resume_inhibit != now_resume_inhibit:
resume_inhibit = now_resume_inhibit
if resume_inhibit:
root_window.tk.call("pause_image_override")
else:
root_window.tk.call("pause_image_normal")
vupdate(vars.task_mode, self.stat.task_mode)
vupdate(vars.task_state, self.stat.task_state)
vupdate(vars.task_paused, self.stat.task_paused)
vupdate(vars.taskfile, self.stat.file)
vupdate(vars.interp_pause, self.stat.paused)
vupdate(vars.mist, self.stat.mist)
vupdate(vars.flood, self.stat.flood)
vupdate(vars.brake, self.stat.spindle[0]['brake'])
vupdate(vars.spindledir, self.stat.spindle[0]['direction'])
vupdate(vars.motion_mode, self.stat.motion_mode)
vupdate(vars.optional_stop, self.stat.optional_stop)
vupdate(vars.block_delete, self.stat.block_delete)
if time.time() > spindlerate_blackout:
vupdate(vars.spindlerate, int(100 * self.stat.spindle[0]['override'] + .5))
if time.time() > feedrate_blackout:
vupdate(vars.feedrate, int(100 * self.stat.feedrate + .5))
if time.time() > rapidrate_blackout:
vupdate(vars.rapidrate, int(100 * self.stat.rapidrate + .5))
if time.time() > maxvel_blackout:
m = to_internal_linear_unit(self.stat.max_velocity)
if vars.metric.get(): m = m * 25.4
vupdate(vars.maxvel_speed, float(int(600 * m)/10.0))
root_window.tk.call("update_maxvel_slider")
vupdate(vars.override_limits, self.stat.joint[0]['override_limits'])
on_any_limit = 0
for l in self.stat.limit:
if l:
on_any_limit = True
break
vupdate(vars.on_any_limit, on_any_limit)
global current_tool
current_tool = self.stat.tool_table[0]
if current_tool:
tool_data = {'tool': current_tool[0], 'zo': current_tool[3], 'xo': current_tool[1], 'dia': current_tool[10]}
if current_tool is None:
vupdate(vars.tool, _("Unknown tool %d") % self.stat.tool_in_spindle)
elif tool_data['tool'] == 0 or tool_data['tool'] == -1:
vupdate(vars.tool, _("No tool"))
elif current_tool.xoffset == 0 and not lathe:
vupdate(vars.tool, _("Tool %(tool)d, offset %(zo)g, diameter %(dia)g") % tool_data)
else:
vupdate(vars.tool, _("Tool %(tool)d, zo %(zo)g, xo %(xo)g, dia %(dia)g") % tool_data)
active_codes = []
for i in self.stat.gcodes[1:]:
if i == -1: continue
if i % 10 == 0:
active_codes.append("G%d" % (i/10))
else:
active_codes.append("G%(ones)d.%(tenths)d" % {'ones': i/10, 'tenths': i%10})
for i in self.stat.mcodes[1:]:
if i == -1: continue
active_codes.append("M%d" % i)
feed_str = "F%.1f" % self.stat.settings[1]
if feed_str.endswith(".0"): feed_str = feed_str[:-2]
active_codes.append(feed_str)
active_codes.append("S%.0f" % self.stat.settings[2])
codes = " ".join(active_codes)
widgets.code_text.configure(state="normal")
widgets.code_text.delete("0.0", "end")
widgets.code_text.insert("end", codes)
widgets.code_text.configure(state="disabled")
# disable jog radiobutton for extrajoints that are homed
# since control is transferred to joint.N.posthome-cmd
for jno in range(num_joints - self.stat.num_extrajoints, num_joints):
jname = tabs_manual+".joints.joint"+str(jno)
#print jno,num_joints,num_extrajoints,s.homed[jno],jname
if s.homed[jno]: state="disabled"
else: state="normal"
root_window.call(jname,"configure","-state",state)
user_live_update()
def clear(self):
self.logger.clear()
o.redraw_soon()
def running(do_poll=True):
if do_poll: s.poll()
return ( (s.task_mode == linuxcnc.MODE_AUTO or s.task_mode == linuxcnc.MODE_MDI)
and s.interp_state != linuxcnc.INTERP_IDLE)
def manual_tab_visible():
page = root_window.tk.call(widgets.tabs, "raise")
return page == "manual"
def manual_ok(do_poll=True):
"""warning: deceptive function name.
This function returns TRUE when not running a program, i.e., when a user-
initiated action (whether an MDI command or a jog) is acceptable.
This means this function returns True when the mdi tab is visible."""
if do_poll: s.poll()
if s.task_state != linuxcnc.STATE_ON: return False
if running(): return 0
return s.interp_state == linuxcnc.INTERP_IDLE or (s.task_mode == linuxcnc.MODE_MDI and s.queued_mdi_commands < vars.max_queued_mdi_commands.get())
# If LinuxCNC is not already in one of the modes given, switch it to the
# first (task) mode MANUAL,MDI,AUTO
def ensure_mode(m, *p):
s.poll()
if s.task_mode == m or s.task_mode in p: return True
c.mode(m) # task_mode
c.wait_complete()
s.poll()
return True
class DummyProgress:
def update(self, count): pass
def nextphase(self, count): pass
def done(self): pass
class Progress: