#!/usr/bin/env python
# vim: sts=4 sw=4 et
# This is a component of EMC
# probe.py Copyright 2010 Michael Haberler
#
#
# 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
'''
gladevcp probe demo example
Michael Haberler 11/2010
'''
import os,sys
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
import hal
import hal_glib
import gtk
import glib
import emc
debug = 0
class EmcInterface(object):
def __init__(self):
try:
emcIniFile = emc.ini(os.environ['INI_FILE_NAME'])
emc.nmlfile = os.path.join(os.path.dirname(os.environ['INI_FILE_NAME']), emcIniFile.find("EMC", "NML_FILE"))
self.s = emc.stat();
self.c = emc.command()
except Exception, msg:
print "cant initialize EmcInterface: %s - EMC not running?" %(msg)
def running(self,do_poll=True):
if do_poll: self.s.poll()
return self.s.task_mode == emc.MODE_AUTO and self.s.interp_state != emc.INTERP_IDLE
def manual_ok(self,do_poll=True):
if do_poll: self.s.poll()
if self.s.task_state != emc.STATE_ON: return False
return self.s.interp_state == emc.INTERP_IDLE
def ensure_mode(self,m, *p):
'''
If emc is not already in one of the modes given, switch it to the first mode
example:
ensure_mode(emc.MODE_MDI)
ensure_mode(emc.MODE_AUTO, emc.MODE_MDI)
'''
self.s.poll()
if self.s.task_mode == m or self.s.task_mode in p: return True
if self.running(do_poll=False): return False
self.c.mode(m)
self.c.wait_complete()
return True
def active_codes(self):
self.s.poll()
return self.s.gcodes
def get_current_system(self):
for i in self.active_codes():
if i >= 540 and i <= 590:
return i/10 - 53
elif i >= 590 and i <= 593:
return i - 584
return 1
def mdi_command(self,command, wait=True):
#ensure_mode(emself.c.MODE_MDI)
self.c.mdi(command)
if wait: self.c.wait_complete()
def emc_status(self):
'''
return tuple (task mode, task state, exec state, interp state) as strings
'''
self.s.poll()
task_mode = ['invalid', 'MANUAL', 'AUTO', 'MDI'][self.s.task_mode]
task_state = ['invalid', 'ESTOP', 'ESTOP_RESET', 'OFF', 'ON'][self.s.task_state]
exec_state = ['invalid', 'ERROR', 'DONE',
'WAITING_FOR_MOTION',
'WAITING_FOR_MOTION_QUEUE',
'WAITING_FOR_IO',
'WAITING_FOR_PAUSE',
'WAITING_FOR_MOTION_AND_IO',
'WAITING_FOR_DELAY',
'WAITING_FOR_SYSTEM_CMD' ][self.s.exec_state]
interp_state = ['invalid', 'IDLE', 'READING', 'PAUSED', 'WAITING'][self.s.interp_state]
return (task_mode, task_state, exec_state, interp_state)
class HandlerClass:
def on_manual_mode(self,widget,data=None):
if self.e.ensure_mode(emc.MODE_MANUAL):
print "switched to manual mode"
else:
print "cant switch to manual in this state"
def on_mdi_mode(self,widget,data=None):
if self.e.ensure_mode(emc.MODE_MDI):
print "switched to MDI mode"
else:
print "cant switch to MDI in this state"
def _query_emc_status(self,data=None):
(task_mode, task_state, exec_state, interp_state) = self.e.emc_status()
self.builder.get_object('task_mode').set_label("Task mode: " + task_mode)
self.builder.get_object('task_state').set_label("Task state: " + task_state)
self.builder.get_object('exec_state').set_label("Exec state: " + exec_state)
self.builder.get_object('interp_state').set_label("Interp state: " + interp_state)
return True
def on_probe(self,widget,data=None):
label = widget.get_label()
axis = ord(label[0].lower()) - ord('x')
direction = 1.0
if label[1] == '-':
direction = -1.0
self.e.s.poll()
self.start_feed = self.e.s.settings[1]
# determine system we are touching off - 1...g54 etc
self.current_system = self.e.get_current_system()
# remember current abs or rel mode - g91
self.start_relative = (910 in self.e.active_codes())
self.previous_mode = self.e.s.task_mode
if self.e.s.task_state != emc.STATE_ON:
print "machine not turned on"
return
if not self.e.s.homed[axis]:
print "%s axis not homed" %(chr(axis + ord('X')))
return
if self.e.running(do_poll=False):
print "cant do that now - intepreter running"
return
self.e.ensure_mode(emc.MODE_MDI)
self.e.mdi_command("#<_Probe_System> = %d " % (self.current_system ),wait=False)
self.e.mdi_command("#<_Probe_Axis> = %d " % (axis),wait=False)
self.e.mdi_command("#<_Probe_Speed> = %s " % (self.builder.get_object('probe_feed').get_value()),wait=False)
self.e.mdi_command("#<_Probe_Diameter> = %s " % (self.builder.get_object('probe_diameter').get_value() ),wait=False)
self.e.mdi_command("#<_Probe_Distance> = %s " % (self.builder.get_object('probe_travel').get_value() * direction),wait=False)
self.e.mdi_command("#<_Probe_Retract> = %s " % (self.builder.get_object('retract').get_value() * direction * -1.0),wait=False)
self.e.mdi_command("O<probe> call",wait=False)
self.e.mdi_command('F%f' % (self.start_feed),wait=False)
self.e.mdi_command('G91' if self.start_relative else 'G90',wait=False)
# self.e.ensure_mode(self.previous_mode)
def on_destroy(self,obj,data=None):
self.ini.save_state(self)
def on_restore_defaults(self,button,data=None):
'''
example callback for 'Reset to defaults' button
currently unused
'''
self.ini.create_default_ini()
self.ini.restore_state(self)
def __init__(self, halcomp,builder,useropts):
self.halcomp = halcomp
self.builder = builder
self.ini_filename = __name__ + '.ini'
self.defaults = { IniFile.vars: dict(),
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(), hal_only=False,output_only = True))
}
self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
self.ini.restore_state(self)
self.e = EmcInterface()
glib.timeout_add_seconds(1, self._query_emc_status)
def get_handlers(halcomp,builder,useropts):
global debug
for cmd in useropts:
exec cmd in globals()
set_debug(debug)
return [HandlerClass(halcomp,builder,useropts)]