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#!/usr/bin/env python
# GladeVcp Widget - DRO label widget
# This widgets displays linuxcnc axis position information.
#
# Copyright (c) 2012 Chris Morley
#
# 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.
import sys,os,pango
import math
import linuxcnc
try:
import gobject,gtk
except:
print('GTK not available')
sys.exit(1)
# we put this in a try so there is no error in the glade editor
# linuxcnc is probably not running then
try:
INIPATH = os.environ['INI_FILE_NAME']
except:
pass
class HAL_DRO(gtk.Label):
__gtype_name__ = 'HAL_DRO'
__gproperties__ = {
'display_units_mm' : ( gobject.TYPE_BOOLEAN, 'Display Units', 'Display in metric or not',
False, gobject.PARAM_READWRITE | gobject.PARAM_CONSTRUCT),
'actual' : ( gobject.TYPE_BOOLEAN, 'Actual Position', 'Display Actual or Commanded Position',
True, gobject.PARAM_READWRITE | gobject.PARAM_CONSTRUCT),
'diameter' : ( gobject.TYPE_BOOLEAN, 'Diameter Adjustment', 'Display Position As Diameter',
False, gobject.PARAM_READWRITE | gobject.PARAM_CONSTRUCT),
'mm_text_template' : ( gobject.TYPE_STRING, 'Text template for Metric Units',
'Text template to display. Python formatting may be used for one variable',
"%10.3f", gobject.PARAM_READWRITE|gobject.PARAM_CONSTRUCT),
'imperial_text_template' : ( gobject.TYPE_STRING, 'Text template for Imperial Units',
'Text template to display. Python formatting may be used for one variable',
"%9.4f", gobject.PARAM_READWRITE|gobject.PARAM_CONSTRUCT),
'joint_number' : ( gobject.TYPE_INT, 'Joint Number', '0:X 1:Y 2:Z etc',
0, 8, 0, gobject.PARAM_READWRITE | gobject.PARAM_CONSTRUCT),
'reference_type' : ( gobject.TYPE_INT, 'Reference Type', '0: Absolute 1:Relative 2:Distance-to-go',
0, 2, 0, gobject.PARAM_READWRITE | gobject.PARAM_CONSTRUCT),
}
__gproperties = __gproperties__
def __init__(self, *a, **kw):
gtk.Label.__init__(self, *a, **kw)
self.emc = linuxcnc
self.status = self.emc.stat()
self.display_units_mm=0
self.machine_units_mm=0
self.unit_convert=[1]*9
gobject.timeout_add(100, self.periodic)
try:
self.inifile = self.emc.ini(INIPATH)
# check the ini file if UNITS are set to mm"
# first check the global settings
units=self.inifile.find("TRAJ","LINEAR_UNITS")
if units==None:
# else then the X axis units
units=self.inifile.find("AXIS_0","UNITS")
except:
units = "inch"
if units=="mm" or units=="metric" or units == "1.0":
self.machine_units_mm=1
conversion=[1.0/25.4]*3+[1]*3+[1.0/25.4]*3
else:
self.machine_units_mm=0
conversion=[25.4]*3+[1]*3+[25.4]*3
self.set_machine_units(self.machine_units_mm,conversion)
def do_get_property(self, property):
name = property.name.replace('-', '_')
if name in self.__gproperties.keys():
return getattr(self, name)
else:
raise AttributeError('unknown property %s' % property.name)
def do_set_property(self, property, value):
name = property.name.replace('-', '_')
if name in ('mm_text_template','imperial_text_template'):
try:
v = value % 0.0
except Exception, e:
print "Invalid format string '%s': %s" % (value, e)
return False
if name in self.__gproperties.keys():
setattr(self, name, value)
self.queue_draw()
else:
raise AttributeError('unknown property %s' % property.name)
def periodic(self):
try:
self.status.poll()
absolute,relative,dtg = self.position()
except:
sys = 0
relative = absolute = dtg = [9999.999,0,0,0,0,0,0,0,0]
if self.display_units_mm:
tmpl = lambda s: self.mm_text_template % s
else:
tmpl = lambda s: self.imperial_text_template % s
if self.diameter:
scale = 2.0
else:
scale = 1
if self.reference_type == 0:
self.set_text(tmpl(absolute[self.joint_number]*scale))
elif self.reference_type == 1:
self.set_text(tmpl(relative[self.joint_number]*scale))
elif self.reference_type == 2:
self.set_text(tmpl(dtg[self.joint_number]*scale))
return True
def position(self):
if self.actual:
p = self.status.actual_position
else:
p = self.status.position
dtg = self.status.dtg
x = p[0] - self.status.g5x_offset[0] - self.status.tool_offset[0]
y = p[1] - self.status.g5x_offset[1] - self.status.tool_offset[1]
z = p[2] - self.status.g5x_offset[2] - self.status.tool_offset[2]
a = p[3] - self.status.g5x_offset[3] - self.status.tool_offset[3]
b = p[4] - self.status.g5x_offset[4] - self.status.tool_offset[4]
c = p[5] - self.status.g5x_offset[5] - self.status.tool_offset[5]
u = p[6] - self.status.g5x_offset[6] - self.status.tool_offset[6]
v = p[7] - self.status.g5x_offset[7] - self.status.tool_offset[7]
w = p[8] - self.status.g5x_offset[8] - self.status.tool_offset[8]
if self.status.rotation_xy != 0:
t = math.radians(-self.status.rotation_xy)
xr = x * math.cos(t) - y * math.sin(t)
yr = x * math.sin(t) + y * math.cos(t)
x = xr
y = yr
x -= self.status.g92_offset[0]
y -= self.status.g92_offset[1]
z -= self.status.g92_offset[2]
a -= self.status.g92_offset[3]
b -= self.status.g92_offset[4]
c -= self.status.g92_offset[5]
u -= self.status.g92_offset[6]
v -= self.status.g92_offset[7]
w -= self.status.g92_offset[8]
relp = [x, y, z, a, b, c, u, v, w]
if self.display_units_mm != self.machine_units_mm:
p = self.convert_units(p)
relp = self.convert_units(relp)
dtg = self.convert_units(dtg)
return p,relp,dtg
def set_machine_units(self,u,c):
self.machine_units_mm = u
self.unit_convert = c
def convert_units(self,v):
c = self.unit_convert
return map(lambda x,y: x*y, v, c)
def set_to_inch(self):
self.display_units_mm = 0
def set_to_mm(self):
self.display_units_mm = 1
def set_to_diameter(self):
self.diameter = True
def set_to_radius(self):
self.diameter = False
# for testing without glade editor:
def main():
window = gtk.Dialog("My dialog",
None,
gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
(gtk.STOCK_CANCEL, gtk.RESPONSE_REJECT,
gtk.STOCK_OK, gtk.RESPONSE_ACCEPT))
dro = HAL_DRO()
window.vbox.add(dro)
window.connect("destroy", gtk.main_quit)
window.show_all()
response = window.run()
if response == gtk.RESPONSE_ACCEPT:
print "ok"
else:
print "cancel"
if __name__ == "__main__":
main()
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