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gmoccapy.py
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gmoccapy.py
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#!/usr/bin/env python3
# -*- coding:UTF-8 -*-
"""
A GUI for LinuxCNC based on gladevcp and Python
Based on the design of moccagui from Tom
and with a lot of code from gscreen from Chris Morley
and with the help from Michael Haberler
and Chris Morley and some more
Copyright 2012 / 2017 Norbert Schechner
nieson@web.de
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 gi
gi.require_version('Gtk', '3.0')
gi.require_version('Gdk', '3.0')
from gi.repository import Gtk
from gi.repository import Gdk
from gi.repository import GdkPixbuf
from gi.repository import GLib
import traceback # needed to launch traceback errors
import hal # base hal class to react to hal signals
import hal_glib # needed to make our own hal pins
import sys # handle system calls
import os # needed to get the paths and directories
import atexit # needed to register child's to be closed on closing the GUI
import subprocess # to launch onboard and other processes
import tempfile # needed only if the user click new in edit mode to open a new empty file
import linuxcnc # to get our own error system
import locale # for setting the language of the GUI
import gettext # to extract the strings to be translated
from collections import OrderedDict # needed for proper jog button arrangement
from time import strftime # needed for the clock in the GUI
#from Gtk._Gtk import main_quit
# Throws up a dialog with debug info when an error is encountered
def excepthook(exc_type, exc_obj, exc_tb):
try:
w = app.widgets.window1
except KeyboardInterrupt:
sys.exit()
except NameError:
w = None
lines = traceback.format_exception(exc_type, exc_obj, exc_tb)
message ="Found an error!\nThe following information may be useful in troubleshooting:\n\n" + "".join(lines)
LOG.error(message)
m = Gtk.MessageDialog(parent = w,
modal = True ,
destroy_with_parent = True,
message_type = Gtk.MessageType.ERROR,
text = message,
buttons = Gtk.ButtonsType.OK,)
m.show()
m.run()
m.destroy()
sys.excepthook = excepthook
# constants
# # gmoccapy #"
_RELEASE = " 3.4.8"
_INCH = 0 # imperial units are active
_MM = 1 # metric units are active
# set names for the tab numbers, its easier to understand the code
# Bottom Button Tabs
_BB_MANUAL = 0
_BB_MDI = 1
_BB_AUTO = 2
_BB_HOME = 3
_BB_TOUCH_OFF = 4
_BB_SETUP = 5
_BB_EDIT = 6
_BB_TOOL = 7
_BB_LOAD_FILE = 8
#_BB_HOME_JOINTS will not be used, we will reorder the notebooks to get the correct page shown
# Default button size for bottom buttons
_DEFAULT_BB_SIZE = (90, 56)
_TEMPDIR = tempfile.gettempdir() # Now we know where the tempdir is, usually /tmp
# set up paths to files
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
LIBDIR = os.path.join(BASE, "lib", "python")
sys.path.insert(0, LIBDIR)
# set up paths to files, part two
CONFIGPATH = os.environ['CONFIG_DIR']
DATADIR = os.path.join(BASE, "share", "gmoccapy")
IMAGEDIR = os.path.join(DATADIR, "images")
XMLNAME = os.path.join(DATADIR, "gmoccapy.glade")
THEMEDIR = "/usr/share/themes"
USERTHEMEDIR = os.path.join(os.path.expanduser("~"), ".themes")
LOCALEDIR = os.path.join(BASE, "share", "locale")
ICON_THEME_DIR = os.path.join(DATADIR, "icons")
USER_ICON_THEME_DIR = os.path.join(os.path.expanduser("~"), ".icons")
DEFAULT_ICON_THEME = "classic"
DEFAULT_GCODE_THEME = "classic"
# path to TCL for external programs eg. halshow
TCLPATH = os.environ['LINUXCNC_TCL_DIR']
# the ICONS should must exist in the icon theme
ALERT_ICON = "dialog_warning"
INFO_ICON = "dialog_information"
class gmoccapy(object):
def __init__(self, argv):
# prepare for translation / internationalisation
locale.setlocale(locale.LC_ALL, '')
locale.bindtextdomain("gmoccapy", LOCALEDIR)
gettext.install("gmoccapy", localedir=LOCALEDIR)
# CSS styling
css = b"""
button {
padding: 0;
}
#gcode_edit {
padding: 3px;
margin: 1px;
}
/* #__jog_incr_buttons *:checked {
background: rgba(230,230,50,0.8);
} */
#jog_incr_buttons *:active, #jog_buttons *:active {
background: rgba(230,230,50,0.8);
}
#eb_program_label, #eb_blockheight_label {
background: rgba(0,0,0,1);
}
"""
screen = Gdk.Screen.get_default()
provider = Gtk.CssProvider()
provider.load_from_data(css)
style_context = Gtk.StyleContext()
style_context.add_provider_for_screen(screen, provider, Gtk.STYLE_PROVIDER_PRIORITY_APPLICATION)
# needed components to communicate with hal and linuxcnc
self.halcomp = hal.component("gmoccapy")
self.command = linuxcnc.command()
self.stat = linuxcnc.stat()
self.error_channel = linuxcnc.error_channel()
# initial poll, so all is up to date
self.stat.poll()
self.error_channel.poll()
self.builder = Gtk.Builder()
# translation of the glade file will be done with
self.builder.set_translation_domain("gmoccapy")
self.builder.add_from_file(XMLNAME)
self.widgets = widgets.Widgets(self.builder)
self.initialized = False # will be set True after the window has been shown and all
# basic settings has been finished, so we avoid some actions
# because we cause click or toggle events when initializing
# widget states.
self.start_line = 0 # needed for start from line
self.active_gcodes = [] # this are the formatted G-code values
self.active_mcodes = [] # this are the formatted M-code values
self.gcodes = [] # this are the unformatted G-code values to check if an update is required
self.mcodes = [] # this are the unformatted M-code values to check if an update is required
self.distance = 0 # This global will hold the jog distance
self.tool_change = False # this is needed to get back to manual mode after a tool change
self.load_tool = False # We use this avoid mode switching on reloading the tool on start up of the GUI
self.macrobuttons = [] # The list of all macros defined in the INI file
self.fo_counts = 0 # need to calculate difference in counts to change the feed override slider
self.so_counts = 0 # need to calculate difference in counts to change the spindle override slider
self.jv_counts = 0 # need to calculate difference in counts to change the jog_vel slider
self.ro_counts = 0 # need to calculate difference in counts to change the rapid override slider
self.spindle_override = 1 # holds the feed override value and is needed to be able to react to halui pin
self.feed_override = 1 # holds the spindle override value and is needed to be able to react to halui pin
self.rapidrate = 1 # holds the rapid override value and is needed to be able to react to halui pin
self.incr_rbt_list = [] # we use this list to add hal pin to the button later
self.jog_increments = [] # This holds the increment values
self.unlock = False # this value will be set using the hal pin unlock settings
# needed to display the labels
self.system_list = ("0", "G54", "G55", "G56", "G57", "G58", "G59", "G59.1", "G59.2", "G59.3")
self.dro_size = 28 # The size of the DRO, user may want them bigger on bigger screen
self.axisnumber_four = "" # we use this to get the number of the 4-th axis
self.axisletter_four = None # we use this to get the letter of the 4-th axis
self.axisnumber_five = "" # we use this to get the number of the 5-th axis
self.axisletter_five = None # we use this to get the letter of the 5-th axis
self.notification = notification.Notification() # Our own message system
self.notification.connect("message_deleted", self._on_message_deleted)
self.last_key_event = None, 0 # needed to avoid the auto repeat function of the keyboard
self.all_homed = False # will hold True if all axis are homed
self.faktor = 1.0 # needed to calculate velocities
self.xpos = 40 # The X Position of the main Window
self.ypos = 30 # The Y Position of the main Window
self.width = 980 # The width of the main Window
self.height = 750 # The height of the main Window
self.gcodeerror = "" # we need this to avoid multiple messages of the same error
self.file_changed = False
self.widgets.hal_action_saveas.connect("saved-as", self.saved_as)
self.lathe_mode = None # we need this to check if we have a lathe config
self.backtool_lathe = False
self.diameter_mode = False
# the default theme = System Theme we store here to be able to go back to that one later
self.default_theme = Gtk.Settings.get_default().get_property("gtk-theme-name")
self.icon_theme = Gtk.IconTheme()
self.icon_theme.append_search_path(ICON_THEME_DIR)
self.icon_theme.append_search_path(USER_ICON_THEME_DIR)
self.dialogs = dialogs.Dialogs()
self.dialogs.connect("play_sound", self._on_play_sound)
# check the arguments given from the command line (Ini file)
self.user_mode = False
self.logofile = None
for index, arg in enumerate(argv):
LOG.debug("{0} = {1}".format(index, arg))
if arg == "-user_mode":
self.user_mode = True
self.widgets.tbtn_setup.set_sensitive(False)
LOG.debug(_("user mode selected"))
if arg == "-logo":
self.logofile = str(argv[ index + 1 ])
LOG.debug(_("logo entry found = {0}").format(self.logofile))
self.logofile = self.logofile.strip("\"\'")
if not os.path.isfile(self.logofile):
self.logofile = None
message = _("Logofile entry found, but could not be converted to path.")
message += "\n" + _("The file path should not contain any spaces")
LOG.warning(message)
# check if the user want a Logo (given as command line argument)
if self.logofile:
self.widgets.img_logo.set_from_file(self.logofile)
self.widgets.img_logo.show()
page2 = self.widgets.ntb_jog_JA.get_nth_page(2)
self.widgets.ntb_jog_JA.reorder_child(page2, 0)
page1 = self.widgets.ntb_jog_JA.get_nth_page(1)
self.widgets.ntb_jog_JA.reorder_child(page1, -1)
# Our own class to get information from INI the file we use this way, to be sure
# to get a valid result, as the checks are done in that module
self._get_ini_data()
self._get_pref_data()
self.tool_measure_OK = self._check_toolmeasurement()
# make all widgets we create dynamically
self._make_DRO()
self._make_ref_axis_button()
self._make_touch_button()
self._make_jog_increments()
self._make_jog_button()
if not self.trivial_kinematics:
# we need joint jogging button
self._make_joints_button()
self._arrange_joint_button()
self._make_macro_button()
# if we have a lathe, we need to rearrange some stuff
# we will do that in a separate function
if self.lathe_mode:
self._make_lathe()
else:
self.widgets.rbt_view_y2.hide()
# X Offset is not necessary on a mill
self.widgets.lbl_tool_offset_x.hide()
self.widgets.lbl_offset_x.hide()
self.widgets.btn_tool_touchoff_x.hide()
self.widgets.lbl_hide_tto_x.show()
self._arrange_dro()
self._arrange_jog_button()
self._make_hal_pins()
self._init_user_messages()
# set the title of the window, to show the release
self.widgets.window1.set_title("gmoccapy for LinuxCNC {0}".format(_RELEASE))
self.widgets.lbl_version.set_label("<b>gmoccapy\n{0}</b>".format(_RELEASE))
panel = gladevcp.makepins.GladePanel(self.halcomp, XMLNAME, self.builder, None)
self.halcomp.ready()
self.builder.connect_signals(self)
# this are settings to be done before window show
self._init_preferences()
# finally show the window
self.widgets.window1.show()
self._init_dynamic_tabs()
self._init_tooleditor()
self._init_themes()
self._init_icon_themes()
self._init_sourceview_themes()
self._init_audio()
self._init_gremlin()
self._init_kinematics_type()
self._init_hide_cursor()
self._init_hide_tooltips()
self._init_offsetpage()
self._init_keybindings()
self._init_IconFileSelection()
self._init_keyboard()
# now we initialize the file to load widget
self._init_file_to_load()
self._show_offset_tab(False)
self._show_tooledit_tab(False)
self._show_iconview_tab(False)
# those two containers are disabled by default to allow fullscreen
# with smaller display resolutions
self.widgets["hbx_upper"].show()
self.widgets["ntb_button"].show()
# the velocity settings
self.widgets.adj_spindle_bar_min.set_value(self.min_spindle_rev)
self.widgets.adj_spindle_bar_max.set_value(self.max_spindle_rev)
self.widgets.spindle_feedback_bar.set_property("min", float(self.min_spindle_rev))
self.widgets.spindle_feedback_bar.set_property("max", float(self.max_spindle_rev))
# Popup Messages position and size
self.widgets.adj_x_pos_popup.set_value(self.prefs.getpref("x_pos_popup", 45, float))
self.widgets.adj_y_pos_popup.set_value(self.prefs.getpref("y_pos_popup", 55, float))
self.widgets.adj_width_popup.set_value(self.prefs.getpref("width_popup", 250, float))
self.widgets.adj_max_messages.set_value(self.prefs.getpref("max_messages", 10, float))
self.widgets.fontbutton_popup.set_font(self.prefs.getpref("message_font", "sans 10", str))
self.widgets.chk_use_frames.set_active(self.prefs.getpref("use_frames", True, bool))
# should the tool in spindle be reloaded on startup?
self.widgets.chk_reload_tool.set_active(self.prefs.getpref("reload_tool", True, bool))
# and the rest of the widgets
self.widgets.rbt_manual.set_active(True)
self.widgets.ntb_jog.set_current_page(0)
opt_blocks = self.prefs.getpref("blockdel", False, bool)
self.widgets.tbtn_optional_blocks.set_active(opt_blocks)
self.command.set_block_delete(opt_blocks)
#optional_stops = self.prefs.getpref( "opstop", False, bool )
#self.widgets.tbtn_optional_stops.set_active( optional_stops )
#self.command.set_optional_stop( optional_stops )
self.widgets.chk_show_dro.set_active(self.prefs.getpref("enable_dro", False, bool))
self.widgets.chk_show_offsets.set_active(self.prefs.getpref("show_offsets", False, bool))
self.widgets.chk_show_dtg.set_active(self.prefs.getpref("show_dtg", False, bool))
self.widgets.chk_show_offsets.set_sensitive(self.widgets.chk_show_dro.get_active())
self.widgets.chk_show_dtg.set_sensitive(self.widgets.chk_show_dro.get_active())
self.widgets.cmb_mouse_button_mode.set_active(self.prefs.getpref("mouse_btn_mode", 4, int))
self.widgets.tbtn_view_tool_path.set_active(self.prefs.getpref("view_tool_path", True, bool))
self.widgets.tbtn_view_dimension.set_active(self.prefs.getpref("view_dimension", True, bool))
view = self.prefs.getpref("view", "p", str)
self.widgets["rbt_view_{0}".format(view)].set_active(True)
self.widgets.gremlin.set_property("view", view)
# get if run from line should be used
rfl = self.prefs.getpref("run_from_line", "no_run", str)
# and set the corresponding button active
self.widgets["rbtn_{0}_from_line".format(rfl)].set_active(True)
if rfl == "no_run":
self.widgets.btn_from_line.set_sensitive(False)
else:
self.widgets.btn_from_line.set_sensitive(True)
# get the way to unlock the setting
unlock = self.prefs.getpref("unlock_way", "use", str)
# and set the corresponding button active
self.widgets["rbt_{0}_unlock".format(unlock)].set_active(True)
# if Hal pin should be used, only set the button active, if the pin is high
if unlock == "hal" and not self.halcomp["unlock-settings"]:
self.widgets.tbtn_setup.set_sensitive(False)
# check if the user want to display preview window instead of offsetpage widget
state = self.prefs.getpref("show_preview_on_offset", False, bool)
if state:
self.widgets.rbtn_show_preview.set_active(True)
else:
self.widgets.rbtn_show_offsets.set_active(True)
# check if keyboard shortcuts should be used and set the chkbox widget
self.widgets.chk_use_kb_shortcuts.set_active(self.prefs.getpref("use_keyboard_shortcuts",
False, bool))
# check the highlighting type
# the following would load the python language
# self.widgets.gcode_view.set_language("python")
LANGDIR = os.path.join(BASE, "share", "Gtksourceview-2.0", "language-specs")
file_path = os.path.join(LANGDIR, "gcode.lang")
if os.path.isfile(file_path):
LOG.info("Gcode.lang found")
self.widgets.gcode_view.set_language("gcode", LANGDIR)
# set the user colors and digits of the DRO
self.widgets.abs_colorbutton.set_rgba(self._get_RGBA_color(self.abs_color))
self.widgets.rel_colorbutton.set_rgba(self._get_RGBA_color(self.rel_color))
self.widgets.dtg_colorbutton.set_rgba(self._get_RGBA_color(self.dtg_color))
self.widgets.homed_colorbtn.set_rgba(self._get_RGBA_color(self.homed_color))
self.widgets.unhomed_colorbtn.set_rgba(self._get_RGBA_color(self.unhomed_color))
self.widgets.adj_dro_digits.set_value(self.dro_digits)
# the adjustment change signal will set the dro_digits correct, so no extra need here.
self.widgets.chk_toggle_readout.set_active(self.toggle_readout)
self.widgets.adj_start_spindle_RPM.set_value(self.spindle_start_rpm)
self.widgets.gcode_view.set_sensitive(False)
self.widgets.ntb_user_tabs.remove_page(0)
# call the function to change the button status
# so every thing is ready to start
widgetlist = ["rbt_manual", "rbt_mdi", "rbt_auto", "btn_homing", "btn_touch", "btn_tool",
"ntb_jog", "ntb_jog_JA", "vbtb_jog_incr", "hbox_jog_vel",
"spc_feed", "btn_feed_100", "rbt_forward", "btn_index_tool",
"rbt_reverse", "rbt_stop", "tbtn_flood", "tbtn_mist", "btn_change_tool",
"btn_select_tool_by_no", "btn_spindle_100", "spc_rapid", "spc_spindle",
"btn_tool_touchoff_x", "btn_tool_touchoff_z"
]
#
self._sensitize_widgets(widgetlist, False)
# if limit switch active, activate ignore-checkbox
if any(self.stat.limit):
self.widgets.ntb_jog.set_sensitive(True)
# this must be done last, otherwise we will get wrong values
# because the window is not fully realized
self._init_notification()
# since the main loop is needed to handle the UI and its events, blocking calls like sleep()
# will block the UI as well, so everything goes through event handlers (aka callbacks)
# The GLib.timeout_add() function sets a function to be called at regular intervals
# the time between calls to the function, in milliseconds
# CYCLE_TIME = time, in milliseconds, that display will sleep between polls
cycle_time = self.get_ini_info.get_cycle_time()
GLib.timeout_add( cycle_time, self._periodic ) # time between calls to the function, in milliseconds
# This allows sourcing an user defined file
rcfile = "~/.gmoccapyrc"
user_command_file = self.get_ini_info.get_user_command_file()
if user_command_file:
rcfile = user_command_file
rcfile = os.path.expanduser(rcfile)
if os.path.exists(rcfile):
try:
exec(compile(open(rcfile, "rb").read(), rcfile, 'exec'))
except:
tb = traceback.format_exc()
LOG.error(tb)
self.notification.add_message(_("Error in ") + rcfile + "\n" \
+ _("Please check the console output."), ALERT_ICON)
# Custom css file, e.g.:
# button:checked {
# background: rgba(230,230,50,0.8);
# }
css_file = "~/.gmoccapy_css"
user_css_file = self.get_ini_info.get_user_css_file()
if user_css_file:
css_file = user_css_file
css_file = os.path.expanduser(css_file)
if os.path.exists(css_file):
provider_custom = Gtk.CssProvider()
try:
provider_custom.load_from_path(css_file)
style_context.add_provider_for_screen(screen, provider_custom, Gtk.STYLE_PROVIDER_PRIORITY_APPLICATION)
except:
tb = traceback.format_exc()
LOG.error(tb)
self.notification.add_message(_("Error in ") + css_file + "\n" \
+ _("Please check the console output."), ALERT_ICON)
def _get_ini_data(self):
self.get_ini_info = getiniinfo.GetIniInfo()
# get the axis list from INI
self.axis_list = self.get_ini_info.get_axis_list()
# get the joint axis relation from INI
self.joint_axis_dic, self.double_axis_letter = self.get_ini_info.get_joint_axis_relation()
# if it's a lathe config, set the tool editor style
self.lathe_mode = self.get_ini_info.get_lathe()
if self.lathe_mode:
# we do need to know also if we have a backtool lathe
self.backtool_lathe = self.get_ini_info.get_backtool_lathe()
# check if the user want actual or commanded for the DRO
self.dro_actual = self.get_ini_info.get_position_feedback_actual()
# the given Jog Increments
self.jog_increments = self.get_ini_info.get_increments()
# check if NO_FORCE_HOMING is used in INI
self.no_force_homing = self.get_ini_info.get_no_force_homing()
# do we use a identity kinematics or do we have to distinguish
# JOINT and Axis modes?
self.trivial_kinematics = self.get_ini_info.get_trivial_kinematics()
units = self.get_ini_info.get_machine_units()
if units == "mm" or units == "cm":
self.metric = True
else:
self.metric = False
self.no_force_homing = self.get_ini_info.get_no_force_homing()
# get the values for the sliders
self.rabbit_jog = self.get_ini_info.get_jog_vel()
self.jog_rate_max = self.get_ini_info.get_max_jog_vel()
self.min_ang_vel = self.get_ini_info.get_min_ang_jog_vel()
self.default_ang_vel = self.get_ini_info.get_default_ang_jog_vel()
self.max_ang_vel = self.get_ini_info.get_max_ang_jog_vel()
self.spindle_override_max = self.get_ini_info.get_max_spindle_override()
self.spindle_override_min = self.get_ini_info.get_min_spindle_override()
self.feed_override_max = self.get_ini_info.get_max_feed_override()
self.dro_actual = self.get_ini_info.get_position_feedback_actual()
def _get_pref_data(self):
self.prefs = preferences.preferences(self.get_ini_info.get_preference_file_path())
# the size and digits of the DRO
# set default values according to the machine units
digits = 3
if self.stat.linear_units != _MM:
digits = 4
self.dro_digits = self.prefs.getpref("dro_digits", digits, int)
self.dro_size = self.prefs.getpref("dro_size", 28, int)
# the colors of the DRO
self.abs_color = self.prefs.getpref("abs_color", "#0000FF", str) # blue
self.rel_color = self.prefs.getpref("rel_color", "#000000", str) # black
self.dtg_color = self.prefs.getpref("dtg_color", "#FFFF00", str) # yellow
self.homed_color = self.prefs.getpref("homed_color", "#00FF00", str) # green
self.unhomed_color = self.prefs.getpref("unhomed_color", "#FF0000", str) # red
# do we want gremlin dro ?
self.enable_gremlin_dro = self.prefs.getpref("enable_dro", False, bool)
# the scale to be applied to the counts of the hardware mpg wheel, to avoid to much turning
self.scale_jog_vel = self.prefs.getpref("scale_jog_vel", self.jog_rate_max / 100, float)
self.scale_spindle_override = self.prefs.getpref("scale_spindle_override", 1, float)
self.scale_feed_override = self.prefs.getpref("scale_feed_override", 1, float)
self.scale_rapid_override = self.prefs.getpref("scale_rapid_override", 1, float)
# the velocity settings
self.min_spindle_rev = self.prefs.getpref("spindle_bar_min", 0.0, float)
self.max_spindle_rev = self.prefs.getpref("spindle_bar_max", 6000.0, float)
self.turtle_jog_factor = self.prefs.getpref('turtle_jog_factor', 20, int)
self.hide_turtle_jog_button = self.prefs.getpref("hide_turtle_jog_button", False, bool)
self.unlock_code = self.prefs.getpref("unlock_code", "123", str) # get unlock code
self.toggle_readout = self.prefs.getpref("toggle_readout", True, bool)
# if there is a INI Entry for default spindle speed, we will use that one as default
# but if there is a setting in our preference file, that one will beet the INI entry
default_spindle_speed = self.get_ini_info.get_default_spindle_speed()
self.spindle_start_rpm = self.prefs.getpref( 'spindle_start_rpm', default_spindle_speed, float )
self.kbd_height = self.prefs.getpref("kbd_height", 250, int)
self.kbd_width = self.prefs.getpref("kbd_width", 880, int)
self.kbd_set_height = self.prefs.getpref("kbd_set_height", False, bool)
self.kbd_set_width = self.prefs.getpref("kbd_set_width", False, bool)
###############################################################################
## create widgets dynamically ##
###############################################################################
def _make_DRO(self):
LOG.debug("Entering make_DRO")
LOG.debug("axis_list = {0}".format(self.axis_list))
# we build one DRO for each axis
self.dro_dic = {}
for pos, axis in enumerate(self.axis_list):
joint = self._get_joint_from_joint_axis_dic(axis)
dro = Combi_DRO()
dro.set_joint_no(joint)
dro.set_axis(axis)
dro.change_axisletter(axis.upper())
dro.show()
dro.set_property("name", "Combi_DRO_{0}".format(pos))
dro.set_property("abs_color", self._get_RGBA_color(self.abs_color))
dro.set_property("rel_color", self._get_RGBA_color(self.rel_color))
dro.set_property("dtg_color", self._get_RGBA_color(self.dtg_color))
dro.set_property("homed_color", self._get_RGBA_color(self.homed_color))
dro.set_property("unhomed_color", self._get_RGBA_color(self.unhomed_color))
dro.set_property("actual", self.dro_actual)
dro.connect("clicked", self._on_DRO_clicked)
dro.connect('axis_clicked', self._on_DRO_axis_clicked)
self.dro_dic[dro.get_property("name")] = dro
# print dro.name
def _get_RGBA_color(self, color_str):
color = Gdk.RGBA()
color.parse(color_str)
return Gdk.RGBA(color.red, color.green, color.blue, color.alpha)
def _get_joint_from_joint_axis_dic(self, value):
# if the selected axis is a double axis we will get the joint from the
# master axis, which should end with 0
if value in self.double_axis_letter:
value = value + "0"
return list(self.joint_axis_dic.keys())[list(self.joint_axis_dic.values()).index(value)]
def _make_ref_axis_button(self):
LOG.debug("Entering make ref axis button")
# check if we need axis or joint homing button
if self.trivial_kinematics:
# lets find out, how many axis we got
dic = self.axis_list
name_prefix = "axis"
name_prefix_sg = _("axis")
name_prefix_pl = _("axes")
else:
# lets find out, how many joints we got
dic = self.joint_axis_dic
name_prefix = "joint"
name_prefix_sg = _("joint")
name_prefix_pl = _("joints")
num_elements = len(dic)
# as long as the number of axis is less 6 we can use the standard layout
# we can display 6 axis without the second space label
# and 7 axis if we do not display the first space label either
# if we have more than 7 axis, we need arrows to switch the visible ones
if num_elements < 7:
lbl = self._get_space_label("lbl_space_0")
self.widgets.hbtb_ref.pack_start(lbl,True,True,0)
btn = self._new_button_with_predefined_image(
name="ref_all",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_ref_all
)
btn.set_property("tooltip-text", _("Press to home all {0}").format(name_prefix_pl))
btn.connect("clicked", self._on_btn_home_clicked)
# we use pack_start, so the widgets will be moved from right to left
# and are displayed the way we want
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
if num_elements > 7:
# show the previous arrow to switch visible homing button)
btn = self._new_button_with_predefined_image(
name="previous_button",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_ref_paginate_prev
)
btn.set_property("tooltip-text", _("Press to display previous homing button"))
btn.connect("clicked", self._on_btn_previous_clicked)
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
btn.hide()
# do not use this label, to allow one more axis
if num_elements < 6:
lbl = self._get_space_label("lbl_space_2")
self.widgets.hbtb_ref.pack_start(lbl,True,True,0)
for pos, elem in enumerate(dic):
btn = self._new_button_with_predefined_image(
name=f"home_{name_prefix}_{elem}",
size=_DEFAULT_BB_SIZE,
image_name=f"img_ref_{elem}"
)
btn.set_property("tooltip-text", _("Press to home {0} {1}").format(name_prefix_sg, str(elem).upper()))
btn.connect("clicked", self._on_btn_home_clicked)
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
# if we have more than 7 axis we need to hide some button
if num_elements > 7:
if pos > 5:
btn.hide()
if num_elements > 7:
# show the next arrow to switch visible homing button)
btn = self._new_button_with_predefined_image(
name="next_button",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_ref_paginate_next
)
btn.set_property("tooltip-text", _("Press to display next homing button"))
btn.connect("clicked", self._on_btn_next_clicked)
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
# if there is space left, fill it with space labels
start = self.widgets.hbtb_ref.child_get_property(btn,"position")
for count in range(start + 1 , 8):
lbl = self._get_space_label("lbl_space_{0}".format(count))
self.widgets.hbtb_ref.pack_start(lbl,True,True,0)
btn = self._new_button_with_predefined_image(
name="unref_all",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_unref_all
)
btn.set_property("tooltip-text", _("Press to unhome all {0}").format(name_prefix_pl))
btn.connect("clicked", self._on_btn_unhome_clicked)
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
btn = self._new_button_with_predefined_image(
name="home_back",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_ref_menu_close
)
btn.set_property("tooltip-text", _("Press to return to main button list"))
btn.connect("clicked", self._on_btn_home_back_clicked)
self.widgets.hbtb_ref.pack_start(btn,True,True,0)
self.ref_button_dic = {}
children = self.widgets.hbtb_ref.get_children()
for child in children:
self.ref_button_dic[child.get_property("name")] = child
def _get_space_label(self, name):
lbl = Gtk.Label.new("")
lbl.set_property("name", name)
lbl.set_size_request(*_DEFAULT_BB_SIZE)
lbl.show()
return lbl
def _new_button_with_predefined_image(self, name, size, image = None, image_name = None):
btn = Gtk.Button()
btn.set_size_request(*size)
btn.set_halign(Gtk.Align.CENTER)
btn.set_valign(Gtk.Align.CENTER)
btn.set_property("name", name)
try:
if image:
btn.set_image(image)
elif image_name:
btn.set_image(self.widgets[image_name])
else:
raise ValueError("Either image or image_name must not be None")
except Exception as e:
LOG.warning(f"Error creating button with predefined image: {e}")
missing_image = Gtk.Image()
# TODO: Deprecated
missing_image.set_from_stock(Gtk.STOCK_MISSING_IMAGE, Gtk.IconSize.BUTTON)
btn.set_image(missing_image)
btn.show_all()
return btn
def _get_button_with_image(self, name, filepath, icon_name):
LOG.debug("get button with image")
image = Gtk.Image()
image.set_size_request(72,48)
btn = Gtk.Button.new()
btn.set_size_request(*_DEFAULT_BB_SIZE)
btn.set_halign(Gtk.Align.CENTER)
btn.set_valign(Gtk.Align.CENTER)
btn.set_property("name", name)
try:
if filepath:
pixbuf = GdkPixbuf.Pixbuf.new_from_file_at_size(filepath, 48, 48)
image.set_from_pixbuf(pixbuf)
else:
image.set_from_icon_name(icon_name, Gtk.IconSize.DIALOG)
btn.add(image)
except Exception as e:
LOG.error(e)
message = _("could not resolve the image path '{0}' given for button '{1}'".format(filepath, name))
LOG.error(message)
image.set_from_icon_name("image-missing", Gtk.IconSize.DIALOG)
btn.add(image)
btn.show_all()
return btn
def _remove_button(self, dic, box):
for child in dic:
box.remove(dic[child])
def _on_btn_next_clicked(self, widget):
# remove all buttons from container
self._remove_button(self.ref_button_dic, self.widgets.hbtb_ref)
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["ref_all"], True, True, 0)
self.ref_button_dic["ref_all"].show()
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["previous_button"], True, True, 0)
self.ref_button_dic["previous_button"].show()
start = len(self.axis_list) - 6
end = len(self.axis_list)
# now put the needed widgets in the container
for axis in self.axis_list[start : end]:
name = "home_axis_{0}".format(axis.lower())
self.ref_button_dic[name].show()
self.widgets.hbtb_ref.pack_start(self.ref_button_dic[name], True, True, 0)
self._put_unref_and_back()
def _on_btn_next_touch_clicked(self, widget):
self._remove_button(self.touch_button_dic, self.widgets.hbtb_touch_off)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["edit_offsets"],True,True,0)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["previous_button"],True,True,0)
self.touch_button_dic["previous_button"].show()
start = len(self.axis_list) - 5
end = len(self.axis_list)
# now put the needed widgets in the container
for axis in self.axis_list[start : end]:
name = "touch_{0}".format(axis.lower())
self.touch_button_dic[name].show()
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic[name], True, True, 0)
self._put_set_active_and_back()
def _on_btn_next_macro_clicked(self, widget):
# remove all buttons from container
self._remove_button(self.macro_dic, self.widgets.hbtb_MDI)
self.widgets.hbtb_MDI.pack_start(self.macro_dic["previous_button"],True,True,0)
self.macro_dic["previous_button"].show()
end = len(self.macro_dic) - 3 # reduced by next, previous and keyboard
start = end - 8
# now put the needed widgets in the container
for pos in range(start, end):
name = "macro_{0}".format(pos)
self.widgets.hbtb_MDI.pack_start(self.macro_dic[name], True, True, 0)
self.macro_dic[name].show()
self.widgets.hbtb_MDI.pack_start(self.macro_dic["keyboard"],True,True,0)
self.macro_dic["keyboard"].show()
def _on_btn_previous_clicked(self, widget):
LOG.debug("previous")
self._remove_button(self.ref_button_dic, self.widgets.hbtb_ref)
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["ref_all"], True, True, 0)
self.ref_button_dic["ref_all"].show()
start = 0
end = 6
# now put the needed widgets in the container
for axis in self.axis_list[start : end]:
name = "home_axis_{0}".format(axis.lower())
self.ref_button_dic[name].show()
self.widgets.hbtb_ref.pack_start(self.ref_button_dic[name], True, True, 0)
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["next_button"], True, True, 0)
self.ref_button_dic["next_button"].show()
self._put_unref_and_back()
def _on_btn_previous_touch_clicked(self, widget):
self._remove_button(self.touch_button_dic, self.widgets.hbtb_touch_off)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["edit_offsets"],True,True,0)
if self.tool_measure_OK:
end = 4
else:
end = 5
start = 0
# now put the needed widgets in the container
for axis in self.axis_list[start : end]:
name = "touch_{0}".format(axis.lower())
self.touch_button_dic[name].show()
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic[name], True, True, 0)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["next_button"],True,True,0)
self.touch_button_dic["next_button"].show()
if self.tool_measure_OK:
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["block_height"],True,True,0)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["zero_offsets"],True,True,0)
self._put_set_active_and_back()
def _on_btn_previous_macro_clicked(self, widget):
# remove all buttons from container
self._remove_button(self.macro_dic, self.widgets.hbtb_MDI)
start = 0
end = 8
# now put the needed widgets in the container
for pos in range(start, end):
name = "macro_{0}".format(pos)
self.widgets.hbtb_MDI.pack_start(self.macro_dic[name], True, True, 0)
self.macro_dic[name].show()
self.widgets.hbtb_MDI.pack_start(self.macro_dic["next_button"],True,True,0)
self.macro_dic["next_button"].show()
self.widgets.hbtb_MDI.pack_start(self.macro_dic["keyboard"],True,True,0)
self.macro_dic["keyboard"].show()
def _put_set_active_and_back(self):
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["zero_offsets"], True, True, 0)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["set_active"], True, True, 0)
self.widgets.hbtb_touch_off.pack_start(self.touch_button_dic["touch_back"], True, True, 0)
def _put_unref_and_back(self):
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["unref_all"], True, True, 0)
self.widgets.hbtb_ref.pack_start(self.ref_button_dic["home_back"], True, True, 0)
def _make_touch_button(self):
LOG.debug("Entering make touch button")
dic = self.axis_list
num_elements = len(dic)
end = 7
if self.tool_measure_OK:
# we will have 3 buttons on the right side
end -= 1
lbl = Gtk.Label.new(_("edit\noffsets"))
lbl.set_visible(True)
lbl.set_justify(Gtk.Justification.CENTER)
btn = Gtk.ToggleButton.new()
btn.set_size_request(*_DEFAULT_BB_SIZE)
btn.set_halign(Gtk.Align.CENTER)
btn.set_valign(Gtk.Align.CENTER)
btn.add(lbl)
btn.connect("toggled", self.on_tbtn_edit_offsets_toggled)
btn.set_property("tooltip-text", _("Press to edit the offsets"))
btn.set_property("name", "edit_offsets")
# TODO: Use CSS for this if still needed
# btn.override_background_color(Gtk.StateFlags.ACTIVE, Gdk.RGBA(1.0, 1.0, 0.0, 1.0))
self.widgets.hbtb_touch_off.pack_start(btn,True,True,0)
btn.show()
if num_elements > 6:
# show the previous arrow to switch visible touch button)
btn = self._new_button_with_predefined_image(
name="previous_button",
size=_DEFAULT_BB_SIZE,
image=self.widgets.img_touch_paginate_prev
)
btn.set_property("tooltip-text", _("Press to display previous homing button"))
btn.connect("clicked", self._on_btn_previous_touch_clicked)
self.widgets.hbtb_touch_off.pack_start(btn,True,True,0)
end -= 1
btn.hide()
for pos, axis in enumerate(dic):
btn = self._new_button_with_predefined_image(
name=f"touch_{axis}",
size=_DEFAULT_BB_SIZE,
image_name=f"img_touch_{axis}"
)
btn.set_property("tooltip-text", _("Press to set touch off value for axis {0}").format(axis.upper()))
btn.connect("clicked", self._on_btn_set_value_clicked)
#print("Touch button Name = ",name)
self.widgets.hbtb_touch_off.pack_start(btn,True,True,0)