#!/usr/bin/python # Copyright (C) 2009-2012 # Jeff Epler <jepler@unpythonic.net>, # Pavel Shramov <psha@kamba.psha.org.ru>, # Chris Morley <chrisinnanaimo@hotmail.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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA import gtk import gtk.gtkgl.widget import gtk.gdkgl import gtk.gdk import glnav import gobject import pango import rs274.glcanon import rs274.interpret import linuxcnc import gcode import time import re import tempfile import shutil import os import sys import thread from minigl import * class DummyProgress: def nextphase(self, unused): pass def progress(self): pass class StatCanon(rs274.glcanon.GLCanon, rs274.interpret.StatMixin): def __init__(self, colors, geometry, lathe_view_option, stat, random): rs274.glcanon.GLCanon.__init__(self, colors, geometry) rs274.interpret.StatMixin.__init__(self, stat, random) self.progress = DummyProgress() self.lathe_view_option = lathe_view_option def is_lathe(self): return self.lathe_view_option def change_tool(self, pocket): rs274.glcanon.GLCanon.change_tool(self,pocket) rs274.interpret.StatMixin.change_tool(self,pocket) class Gremlin(gtk.gtkgl.widget.DrawingArea, glnav.GlNavBase, rs274.glcanon.GlCanonDraw): rotation_vectors = [(1.,0.,0.), (0., 0., 1.)] def __init__(self, inifile): display_mode = ( gtk.gdkgl.MODE_RGB | gtk.gdkgl.MODE_DEPTH | gtk.gdkgl.MODE_DOUBLE ) glconfig = gtk.gdkgl.Config(mode=display_mode) gtk.gtkgl.widget.DrawingArea.__init__(self, glconfig) glnav.GlNavBase.__init__(self) def C(s): a = self.colors[s + "_alpha"] s = self.colors[s] return [int(x * 255) for x in s + (a,)] self.inifile = inifile self.logger = linuxcnc.positionlogger(linuxcnc.stat(), C('backplotjog'), C('backplottraverse'), C('backplotfeed'), C('backplotarc'), C('backplottoolchange'), C('backplotprobing'), self.get_geometry() ) thread.start_new_thread(self.logger.start, (.01,)) rs274.glcanon.GlCanonDraw.__init__(self, linuxcnc.stat(), self.logger) self.current_view = 'z' self.select_primed = None self.connect_after('realize', self.realize) self.connect('configure_event', self.reshape) self.connect('map_event', self.map) self.connect('expose_event', self.expose) self.connect('motion-notify-event', self.motion) self.connect('button-press-event', self.pressed) self.connect('button-release-event', self.select_fire) self.connect('scroll-event', self.scroll) self.add_events(gtk.gdk.POINTER_MOTION_MASK) self.add_events(gtk.gdk.POINTER_MOTION_HINT_MASK) self.add_events(gtk.gdk.BUTTON_MOTION_MASK) self.add_events(gtk.gdk.BUTTON_PRESS_MASK) self.add_events(gtk.gdk.BUTTON_RELEASE_MASK) self.fingerprint = () self.lat = 0 self.minlat = -90 self.maxlat = 90 self.highlight_line = None self.program_alpha = False self.use_joints_mode = False self.use_commanded = True self.show_limits = True self.show_extents_option = True self.show_live_plot = True self.show_velocity = True self.metric_units = True self.show_program = True self.show_rapids = True self.use_relative = True self.show_tool = True self.show_dtg = True temp = inifile.find("DISPLAY", "LATHE") self.lathe_option = bool(temp == "1" or temp == "True" or temp == "true" ) self.show_offsets = False self.a_axis_wrapped = inifile.find("AXIS_3", "WRAPPED_ROTARY") self.b_axis_wrapped = inifile.find("AXIS_4", "WRAPPED_ROTARY") self.c_axis_wrapped = inifile.find("AXIS_5", "WRAPPED_ROTARY") live_axis_count = 0 for i,j in enumerate("XYZABCUVW"): if self.stat.axis_mask & (1<<i) == 0: continue live_axis_count += 1 self.num_joints = int(inifile.find("TRAJ", "JOINTS") or live_axis_count) def activate(self): glcontext = gtk.gtkgl.widget_get_gl_context(self) gldrawable = gtk.gtkgl.widget_get_gl_drawable(self) return gldrawable and glcontext and gldrawable.gl_begin(glcontext) def swapbuffers(self): gldrawable = gtk.gtkgl.widget_get_gl_drawable(self) gldrawable.swap_buffers() def deactivate(self): gldrawable = gtk.gtkgl.widget_get_gl_drawable(self) gldrawable.gl_end() def winfo_width(self): return self.width def winfo_height(self): return self.height def reshape(self, widget, event): self.width = event.width self.height = event.height def expose(self, widget=None, event=None): if not self.initialised: return if self.perspective: self.redraw_perspective() else: self.redraw_ortho() return True def _redraw(self): self.expose() def clear_live_plotter(self): self.logger.clear() def map(self, *args): gobject.timeout_add(50, self.poll) def poll(self): s = self.stat try: s.poll() except: return fingerprint = (self.logger.npts, self.soft_limits(), s.actual_position, s.joint_actual_position, s.homed, s.g5x_offset, s.g92_offset, s.limit, s.tool_in_spindle, s.motion_mode, s.current_vel) if fingerprint != self.fingerprint: self.fingerprint = fingerprint self.queue_draw() # return self.visible return True @rs274.glcanon.with_context def realize(self, widget): self.set_current_view() s = self.stat try: s.poll() except: return self._current_file = None self.font_base, width, linespace = \ glnav.use_pango_font('courier bold 16', 0, 128) self.font_linespace = linespace self.font_charwidth = width rs274.glcanon.GlCanonDraw.realize(self) if s.file: self.load() def set_current_view(self): if self.current_view not in ['x', 'y', 'z', 'p']: return return getattr(self, 'set_view_%s' % self.current_view)() def load(self,filename = None): s = self.stat s.poll() if not filename and s.file: filename = s.file elif not filename and not s.file: return td = tempfile.mkdtemp() self._current_file = filename try: random = int(self.inifile.find("EMCIO", "RANDOM_TOOLCHANGER") or 0) canon = StatCanon(self.colors, self.get_geometry(),self.lathe_option, s, random) parameter = self.inifile.find("RS274NGC", "PARAMETER_FILE") temp_parameter = os.path.join(td, os.path.basename(parameter or "linuxcnc.var")) if parameter: shutil.copy(parameter, temp_parameter) canon.parameter_file = temp_parameter unitcode = "G%d" % (20 + (s.linear_units == 1)) initcode = self.inifile.find("RS274NGC", "RS274NGC_STARTUP_CODE") or "" result, seq = self.load_preview(filename, canon, unitcode, initcode) if result > gcode.MIN_ERROR: self.report_gcode_error(result, seq, filename) finally: shutil.rmtree(td) self.set_current_view() def get_program_alpha(self): return self.program_alpha def get_num_joints(self): return self.num_joints def get_geometry(self): temp = self.inifile.find("DISPLAY", "GEOMETRY") if temp: geometry = re.split(" *(-?[XYZABCUVW])", temp.upper()) self.geometry = "".join(reversed(geometry)) else: self.geometry = 'XYZ' return self.geometry def get_joints_mode(self): return self.use_joints_mode def get_show_commanded(self): return self.use_commanded def get_show_extents(self): return self.show_extents_option def get_show_limits(self): return self.show_limits def get_show_live_plot(self): return self.show_live_plot def get_show_machine_speed(self): return self.show_velocity def get_show_metric(self): return self.metric_units def get_show_program(self): return self.show_program def get_show_rapids(self): return self.show_rapids def get_show_relative(self): return self.use_relative def get_show_tool(self): return self.show_tool def get_show_distance_to_go(self): return self.show_dtg def get_view(self): view_dict = {'x':0, 'y':1, 'z':2, 'p':3} return view_dict.get(self.current_view, 3) def is_lathe(self): return self.lathe_option def get_current_tool(self): for i in self.stat.tool_table: if i[0] == self.stat.tool_in_spindle: return i def get_highlight_line(self): return self.highlight_line def get_a_axis_wrapped(self): return self.a_axis_wrapped def get_b_axis_wrapped(self): return self.b_axis_wrapped def get_c_axis_wrapped(self): return self.c_axis_wrapped def get_font_info(self): return self.font_charwidth, self.font_linespace, self.font_base def get_show_offsets(self): return self.show_offsets def select_prime(self, x, y): self.select_primed = x, y @rs274.glcanon.with_context def select_fire(self, widget, event): if not self.select_primed: return x, y = self.select_primed self.select_primed = None self.select(x, y) def select_cancel(self, widget=None, event=None): self.select_primed = None def pressed(self, widget, event): button1 = event.button == 1 button2 = event.button == 2 button3 = event.button == 3 if button1: self.select_prime(event.x, event.y) self.recordMouse(event.x, event.y) elif button2: self.recordMouse(event.x, event.y) elif button3: if event.type == gtk.gdk._2BUTTON_PRESS: self.clear_live_plotter() else: self.startZoom(event.y) def motion(self, widget, event): button1 = event.state & gtk.gdk.BUTTON1_MASK button2 = event.state & gtk.gdk.BUTTON2_MASK button3 = event.state & gtk.gdk.BUTTON3_MASK shift = event.state & gtk.gdk.SHIFT_MASK cancel = bool(self.lathe_option and not self.current_view == 'p') if button1 and self.select_primed: x, y = self.select_primed distance = max(abs(event.x - x), abs(event.y - y)) if distance > 8: self.select_cancel() if button1 and not self.select_primed: if shift: self.translateOrRotate(event.x, event.y) elif not cancel: self.rotateOrTranslate(event.x, event.y) elif button2: self.translateOrRotate(event.x, event.y) elif button3: self.continueZoom(event.y) def scroll(self, widget, event): if event.direction == gtk.gdk.SCROLL_UP: self.zoomin() elif event.direction == gtk.gdk.SCROLL_DOWN: self.zoomout() def report_gcode_error(self, result, seq, filename): error_str = gcode.strerror(result) sys.stderr.write("G-Code error in " + os.path.basename(filename) + "\n" + "Near line " + str(seq) + " of\n" + filename + "\n" + error_str + "\n")