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#!/usr/bin/env python
# vim: sts=4 sw=4 et
import _hal, hal, gobject
import linuxcnc
class GPin(gobject.GObject, hal.Pin):
__gtype_name__ = 'GPin'
__gsignals__ = {'value-changed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ())}
REGISTRY = []
UPDATE = False
def __init__(self, *a, **kw):
gobject.GObject.__init__(self)
hal.Pin.__init__(self, *a, **kw)
self._item_wrap(self._item)
self._prev = None
self.REGISTRY.append(self)
self.update_start()
def update(self):
tmp = self.get()
if tmp != self._prev:
self.emit('value-changed')
self._prev = tmp
@classmethod
def update_all(self):
if not self.UPDATE:
return
kill = []
for p in self.REGISTRY:
try:
p.update()
except:
kill.append(p)
print "Error updating pin %s; Removing" % p
for p in kill:
self.REGISTRY.remove(p)
return self.UPDATE
@classmethod
def update_start(self, timeout=100):
if GPin.UPDATE:
return
GPin.UPDATE = True
gobject.timeout_add(timeout, self.update_all)
@classmethod
def update_stop(self, timeout=100):
GPin.UPDATE = False
class GComponent:
def __init__(self, comp):
if isinstance(comp, GComponent):
comp = comp.comp
self.comp = comp
def newpin(self, *a, **kw): return GPin(_hal.component.newpin(self.comp, *a, **kw))
def getpin(self, *a, **kw): return GPin(_hal.component.getpin(self.comp, *a, **kw))
def exit(self, *a, **kw): return self.comp.exit(*a, **kw)
def __getitem__(self, k): return self.comp[k]
def __setitem__(self, k, v): self.comp[k] = v
class _GStat(gobject.GObject):
__gsignals__ = {
'state-estop': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'state-estop-reset': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'state-on': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'state-off': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'homed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, (gobject.TYPE_STRING,)),
'all-homed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'not-all-homed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, (gobject.TYPE_STRING,)),
'mode-manual': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'mode-auto': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'mode-mdi': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'interp-run': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'interp-idle': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'interp-paused': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'interp-reading': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'interp-waiting': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'file-loaded': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, (gobject.TYPE_STRING,)),
'reload-display': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, ()),
'line-changed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, (gobject.TYPE_INT,)),
'tool-in-spindle-changed': (gobject.SIGNAL_RUN_FIRST, gobject.TYPE_NONE, (gobject.TYPE_INT,)),
}
STATES = { linuxcnc.STATE_ESTOP: 'state-estop'
, linuxcnc.STATE_ESTOP_RESET: 'state-estop-reset'
, linuxcnc.STATE_ON: 'state-on'
, linuxcnc.STATE_OFF: 'state-off'
}
MODES = { linuxcnc.MODE_MANUAL: 'mode-manual'
, linuxcnc.MODE_AUTO: 'mode-auto'
, linuxcnc.MODE_MDI: 'mode-mdi'
}
INTERP = { linuxcnc.INTERP_WAITING: 'interp-waiting'
, linuxcnc.INTERP_READING: 'interp-reading'
, linuxcnc.INTERP_PAUSED: 'interp-paused'
, linuxcnc.INTERP_IDLE: 'interp-idle'
}
def __init__(self, stat = None):
gobject.GObject.__init__(self)
self.stat = stat or linuxcnc.stat()
self.old = {}
try:
self.stat.poll()
self.merge()
except:
pass
gobject.timeout_add(100, self.update)
def merge(self):
self.old['state'] = self.stat.task_state
self.old['mode'] = self.stat.task_mode
self.old['interp']= self.stat.interp_state
self.old['file'] = self.stat.file
self.old['line'] = self.stat.motion_line
self.old['homed'] = self.stat.homed
self.old['tool-in-spindle'] = self.stat.tool_in_spindle
def update(self):
try:
self.stat.poll()
except:
# Reschedule
return True
old = dict(self.old)
self.merge()
state_old = old.get('state', 0)
state_new = self.old['state']
if not state_old:
if state_new > linuxcnc.STATE_ESTOP:
self.emit('state-estop-reset')
else:
self.emit('state-estop')
self.emit('state-off')
self.emit('interp-idle')
if state_new != state_old:
if state_old == linuxcnc.STATE_ON and state_new < linuxcnc.STATE_ON:
self.emit('state-off')
self.emit(self.STATES[state_new])
if state_new == linuxcnc.STATE_ON:
old['mode'] = 0
old['interp'] = 0
mode_old = old.get('mode', 0)
mode_new = self.old['mode']
if mode_new != mode_old:
self.emit(self.MODES[mode_new])
interp_old = old.get('interp', 0)
interp_new = self.old['interp']
if interp_new != interp_old:
if not interp_old or interp_old == linuxcnc.INTERP_IDLE:
print "Emit", "interp-run"
self.emit('interp-run')
self.emit(self.INTERP[interp_new])
file_old = old.get('file', None)
file_new = self.old['file']
if file_new != file_old:
self.emit('file-loaded', file_new)
line_old = old.get('line', None)
line_new = self.old['line']
if line_new != line_old:
self.emit('line-changed', line_new)
tool_old = old.get('tool-in-spindle', None)
tool_new = self.old['tool-in-spindle']
if tool_new != tool_old:
self.emit('tool-in-spindle-changed', tool_new)
# if the homed status has changed
# check number of homed axes against number of available axes
# if they are equal send the all-homed signal
# else not-all-homed (with a string of unhomed joint numbers)
# if a joint is homed send 'homed' (with a string of homed joint numbers)
homed_old = old.get('homed', None)
homed_new = self.old['homed']
if homed_new != homed_old:
axis_count = count = 0
unhomed = homed = ""
for i,h in enumerate(homed_new):
if h:
count +=1
homed += str(i)
if self.stat.axis_mask & (1<<i) == 0: continue
axis_count += 1
if not h:
unhomed += str(i)
if count:
self.emit('homed',homed)
if count == axis_count:
self.emit('all-homed')
else:
self.emit('not-all-homed',unhomed)
return True
class GStat(_GStat):
_instance = None
def __new__(cls, *args, **kwargs):
if not cls._instance:
cls._instance = _GStat.__new__(cls, *args, **kwargs)
return cls._instance
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