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#!/usr/bin/env python
#
# This is stepconf, a graphical configuration editor for LinuxCNC
# Copyright 2007 Jeff Epler <jepler@unpythonic.net>
# stepconf 1.1 revamped by Chris Morley 2014
#
# 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
#
# This builds the INI file from the collected data.
#
import os
import time
class INI:
def __init__(self,app):
# access to:
self.d = app.d # collected data
global SIG
SIG = app._p # private data (signals names)
self.a = app # The parent, stepconf
def write_inifile(self, base):
if self.d.axes == 2:
maxvel = max(self.d.xmaxvel, self.d.zmaxvel)
else:
maxvel = max(self.d.xmaxvel, self.d.ymaxvel, self.d.zmaxvel)
hypotvel = (self.d.xmaxvel**2 + self.d.ymaxvel**2 + self.d.zmaxvel**2) **.5
defvel = min(maxvel, max(.1, maxvel/10.))
filename = os.path.join(base, self.d.machinename + ".ini")
file = open(filename, "w")
print >>file, _("# Generated by stepconf 1.1 at %s") % time.asctime()
print >>file, _("# If you make changes to this file, they will be")
print >>file, _("# overwritten when you run stepconf again")
print >>file
print >>file, "[EMC]"
print >>file, "MACHINE = %s" % self.d.machinename
print >>file, "DEBUG = 0"
print >>file
print >>file, "[DISPLAY]"
print >>file, "DISPLAY = axis"
print >>file, "EDITOR = gedit"
print >>file, "POSITION_OFFSET = RELATIVE"
print >>file, "POSITION_FEEDBACK = ACTUAL"
print >>file, "ARCDIVISION = 64"
print >>file, "GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in"
print >>file, "MAX_FEED_OVERRIDE = 1.2"
print >>file, "MIN_SPINDLE_OVERRIDE = 0.5"
print >>file, "MAX_SPINDLE_OVERRIDE = 1.2"
print >>file, "DEFAULT_LINEAR_VELOCITY = %.2f" % defvel
print >>file, "MIN_LINEAR_VELOCITY = 0"
print >>file, "MAX_LINEAR_VELOCITY = %.2f" % maxvel
if self.d.axes == 1:
defvel = min(60, self.d.amaxvel/10.)
print >>file, "DEFAULT_ANGULAR_VELOCITY = %.2f" % defvel
print >>file, "MIN_ANGULAR_VELOCITY = 0"
print >>file, "MAX_ANGULAR_VELOCITY = %.2f" % self.d.amaxvel
print >>file, "INTRO_GRAPHIC = linuxcnc.gif"
print >>file, "INTRO_TIME = 5"
print >>file, "PROGRAM_PREFIX = %s" % os.path.expanduser("~/linuxcnc/nc_files")
if self.d.units:
print >>file, "INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm"
else:
print >>file, "INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in"
if self.d.pyvcp:
print >>file, "PYVCP = custompanel.xml"
if self.d.axes == 2:
print >>file, "LATHE = 1"
print >>file
print >>file, "[FILTER]"
print >>file, "PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image"
print >>file, "PROGRAM_EXTENSION = .py Python Script"
print >>file, "png = image-to-gcode"
print >>file, "gif = image-to-gcode"
print >>file, "jpg = image-to-gcode"
print >>file, "py = python"
print >>file
print >>file, "[TASK]"
print >>file, "TASK = milltask"
print >>file, "CYCLE_TIME = 0.010"
print >>file
print >>file, "[RS274NGC]"
print >>file, "PARAMETER_FILE = linuxcnc.var"
base_period = self.ideal_period()
print >>file
print >>file, "[EMCMOT]"
print >>file, "EMCMOT = motmod"
print >>file, "COMM_TIMEOUT = 1.0"
print >>file, "COMM_WAIT = 0.010"
print >>file, "BASE_PERIOD = %d" % base_period
print >>file, "SERVO_PERIOD = 1000000"
print >>file
print >>file, "[HAL]"
if self.d.halui:
print >>file,"HALUI = halui"
print >>file, "HALFILE = %s.hal" % self.d.machinename
if self.d.customhal:
print >>file, "HALFILE = custom.hal"
print >>file, "POSTGUI_HALFILE = custom_postgui.hal"
if self.d.halui:
print >>file
print >>file, "[HALUI]"
print >>file, _("# add halui MDI commands here (max 64) ")
print >>file
print >>file, "[TRAJ]"
if self.d.axes == 1:
print >>file, "AXES = 4"
print >>file, "COORDINATES = X Y Z A"
elif self.d.axes == 0:
print >>file, "AXES = 3"
print >>file, "COORDINATES = X Y Z"
else:
print >>file, "AXES = 3"
print >>file, "COORDINATES = X Z"
if self.d.units:
print >>file, "LINEAR_UNITS = mm"
else:
print >>file, "LINEAR_UNITS = inch"
print >>file, "ANGULAR_UNITS = degree"
print >>file, "CYCLE_TIME = 0.010"
print >>file, "DEFAULT_VELOCITY = %.2f" % defvel
print >>file, "MAX_VELOCITY = %.2f" % maxvel
print >>file
print >>file, "[EMCIO]"
print >>file, "EMCIO = io"
print >>file, "CYCLE_TIME = 0.100"
print >>file, "TOOL_TABLE = tool.tbl"
all_homes = self.a.home_sig("x") and self.a.home_sig("z")
if self.d.axes != 2: all_homes = all_homes and self.a.home_sig("y")
if self.d.axes == 4: all_homes = all_homes and self.a.home_sig("a")
self.write_one_axis(file, 0, "x", "LINEAR", all_homes)
if self.d.axes != 2:
self.write_one_axis(file, 1, "y", "LINEAR", all_homes)
self.write_one_axis(file, 2, "z", "LINEAR", all_homes)
if self.d.axes == 1:
self.write_one_axis(file, 3, "a", "ANGULAR", all_homes)
file.close()
self.d.add_md5sum(filename)
#******************
# HELPER FUNCTIONS
#******************
def write_one_axis(self, file, num, letter, type, all_homes):
order = "1203"
def get(s): return self.d[letter + s]
scale = get("scale")
vel = min(get("maxvel"), self.ideal_maxvel(scale))
print >>file
print >>file, "[AXIS_%d]" % num
print >>file, "TYPE = %s" % type
print >>file, "HOME = %s" % get("homepos")
print >>file, "MAX_VELOCITY = %s" % vel
print >>file, "MAX_ACCELERATION = %s" % get("maxacc")
print >>file, "STEPGEN_MAXACCEL = %s" % (1.25 * get("maxacc"))
print >>file, "SCALE = %s" % scale
if num == 3:
print >>file, "FERROR = 1"
print >>file, "MIN_FERROR = .25"
elif self.d.units:
print >>file, "FERROR = 1"
print >>file, "MIN_FERROR = .25"
else:
print >>file, "FERROR = 0.05"
print >>file, "MIN_FERROR = 0.01"
# linuxcnc doesn't like having home right on an end of travel,
# so extend the travel limit by up to .01in or .1mm
minlim = get("minlim")
maxlim = get("maxlim")
home = get("homepos")
if self.d.units: extend = .001
else: extend = .01
minlim = min(minlim, home - extend)
maxlim = max(maxlim, home + extend)
print >>file, "MIN_LIMIT = %s" % minlim
print >>file, "MAX_LIMIT = %s" % maxlim
inputs = self.a.build_input_set()
thisaxishome = set((SIG.ALL_HOME, SIG.ALL_LIMIT_HOME, "home-" + letter, "min-home-" + letter,
"max-home-" + letter, "both-home-" + letter))
# no need to set HOME_IGNORE_LIMITS when ALL_LIMIT_HOME, HAL logic will do the trick
ignore = set(("min-home-" + letter, "max-home-" + letter,
"both-home-" + letter))
homes = bool(inputs & thisaxishome)
if homes:
print >>file, "HOME_OFFSET = %f" % get("homesw")
print >>file, "HOME_SEARCH_VEL = %f" % get("homevel")
latchvel = get("homevel") / abs(get("homevel"))
if get("latchdir"): latchvel = -latchvel
# set latch velocity to one step every two servo periods
# to ensure that we can capture the position to within one step
latchvel = latchvel * 500 / get("scale")
# don't do the latch move faster than the search move
if abs(latchvel) > abs(get("homevel")):
latchvel = latchvel * (abs(get("homevel"))/abs(latchvel))
print >>file, "HOME_LATCH_VEL = %f" % latchvel
if inputs & ignore:
print >>file, "HOME_IGNORE_LIMITS = YES"
if all_homes:
print >>file, "HOME_SEQUENCE = %s" % order[num]
else:
print >>file, "HOME_OFFSET = %s" % get("homepos")
def hz(self, axname):
steprev = self.d[axname+"steprev"]
microstep = self.d[axname+"microstep"]
pulleynum = self.d[axname+"pulleynum"]
pulleyden = self.d[axname+"pulleyden"]
leadscrew = self.d[axname+"leadscrew"]
maxvel = self.d[axname+"maxvel"]
if self.d.units or axname == 'a': leadscrew = 1./leadscrew
pps = leadscrew * steprev * microstep * (pulleynum/pulleyden) * maxvel
return abs(pps)
def minperiod(self, steptime=None, stepspace=None, latency=None):
if steptime is None: steptime = self.d.steptime
if stepspace is None: stepspace = self.d.stepspace
if latency is None: latency = self.d.latency
if self.a.doublestep(steptime):
return max(latency + steptime + stepspace + 5000, 4*steptime)
else:
return latency + max(steptime, stepspace)
def maxhz(self):
return 1e9 / self.minperiod()
def ideal_period(self):
xhz = self.hz('x')
yhz = self.hz('y')
zhz = self.hz('z')
ahz = self.hz('a')
if self.d.axes == 1:
pps = max(xhz, yhz, zhz, ahz)
elif self.d.axes == 0:
pps = max(xhz, yhz, zhz)
else:
pps = max(xhz, zhz)
if self.a.doublestep():
base_period = 1e9 / pps
else:
base_period = .5e9 / pps
if base_period > 100000: base_period = 100000
if base_period < self.minperiod(): base_period = self.minperiod()
return int(base_period)
def ideal_maxvel(self, scale):
if self.a.doublestep():
return abs(.95 * 1e9 / self.ideal_period() / scale)
else:
return abs(.95 * .5 * 1e9 / self.ideal_period() / scale)
# Boiler code
def __getitem__(self, item):
return getattr(self, item)
def __setitem__(self, item, value):
return setattr(self, item, value)
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