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# Touchy is Copyright (c) 2009 Chris Radek <chris@timeguy.com>
#
# Touchy 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.
#
# Touchy 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 math
class emc_control:
def __init__(self, emc):
self.emc = emc
self.emcstat = emc.stat()
self.emccommand = emc.command()
self.masked = 0;
self.sb = 0;
self.jog_velocity = 100.0/60.0
self.angular_jog_velocity = 3600/60
self.mdi = 0
self.isjogging = [0,0,0,0,0,0,0,0,0]
self.restart_line_number = self.restart_reset_line = 0
def mask(self):
# updating toggle button active states dumbly causes spurious events
self.masked = 1
def mdi_active(self, m):
self.mdi = m
def unmask(self):
self.masked = 0
def mist_on(self, b):
if self.masked: return
self.emccommand.mist(1)
def mist_off(self, b):
if self.masked: return
self.emccommand.mist(0)
def flood_on(self, b):
if self.masked: return
self.emccommand.flood(1)
def flood_off(self, b):
if self.masked: return
self.emccommand.flood(0)
def estop(self, b):
if self.masked: return
self.emccommand.state(self.emc.STATE_ESTOP)
def estop_reset(self, b):
if self.masked: return
self.emccommand.state(self.emc.STATE_ESTOP_RESET)
def machine_off(self, b):
if self.masked: return
self.emccommand.state(self.emc.STATE_OFF)
def machine_on(self, b):
if self.masked: return
self.emccommand.state(self.emc.STATE_ON)
def home_all(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.home(-1)
def unhome_all(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.unhome(-1)
def home_selected(self, axis):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.home(axis)
def unhome_selected(self, axis):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.unhome(axis)
def jogging(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
def override_limits(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.override_limits()
def spindle_forward(self, b, rpm=100):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(1,rpm);
def spindle_off(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(0);
def spindle_reverse(self, b, rpm=100):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(-1,rpm);
def spindle_faster(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(self.emc.SPINDLE_INCREASE)
def spindle_slower(self, b):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(self.emc.SPINDLE_DECREASE)
def continuous_jog_velocity(self, velocity,angular=None):
if velocity == None:
rate = self.angular_jog_velocity = angular / 60.0
else:
rate = self.jog_velocity = velocity / 60.0
for i in range(9):
if self.isjogging[i]:
self.emccommand.jog(self.emc.JOG_CONTINUOUS, i, self.isjogging[i] * rate)
def continuous_jog(self, axis, direction):
if self.masked: return
if direction == 0:
self.isjogging[axis] = 0
self.emccommand.jog(self.emc.JOG_STOP, axis)
else:
if axis in (3,4,5):
rate = self.angular_jog_velocity
else:
rate = self.jog_velocity
self.isjogging[axis] = direction
self.emccommand.jog(self.emc.JOG_CONTINUOUS, axis, direction * rate)
def incremental_jog(self, axis, direction, distance):
if self.masked: return
self.isjogging[axis] = direction
if axis in (3,4,5):
rate = self.angular_jog_velocity
else:
rate = self.jog_velocity
self.emccommand.jog(self.emc.JOG_INCREMENT, axis, direction * rate, distance)
self.isjogging[axis] = 0
def quill_up(self):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.wait_complete()
self.emccommand.jog(self.emc.JOG_CONTINUOUS, 2, 100)
def feed_hold(self, data):
if self.masked: return
self.emccommand.set_feed_hold(data)
def feed_override(self, f):
if self.masked: return
self.emccommand.feedrate(f)
def spindle_override(self, s):
if self.masked: return
self.emccommand.spindleoverride(s)
def max_velocity(self, m):
if self.masked: return
self.emccommand.maxvel(m)
def reload_tooltable(self, b):
if self.masked: return
self.emccommand.load_tool_table()
def opstop(self, data):
if self.masked: return
self.emccommand.set_optional_stop(data)
def blockdel(self, data):
if self.masked: return
self.emccommand.set_block_delete(data)
def abort(self):
self.emccommand.abort()
def single_block(self, s):
self.sb = s
self.emcstat.poll()
if self.emcstat.queue > 0 or self.emcstat.paused:
# program or mdi is running
if s:
self.emccommand.auto(self.emc.AUTO_PAUSE)
else:
self.emccommand.auto(self.emc.AUTO_RESUME)
# make sure linuxcnc is in AUTO mode
# if Linuxcnc is paused then pushing cycle start will step the program
# else the program starts from restart_line_number
# after restarting it resets the restart_line_number to 0.
# You must explicitily set a different restart line each time
def cycle_start(self):
if self.emcstat.task_mode != self.emc.MODE_AUTO:
self.emccommand.mode(self.emc.MODE_AUTO)
self.emccommand.wait_complete()
self.emcstat.poll()
if self.emcstat.paused:
self.emccommand.auto(self.emc.AUTO_STEP)
return
if self.emcstat.interp_state == self.emc.INTERP_IDLE:
print self.restart_line_number
self.emccommand.auto(self.emc.AUTO_RUN, self.restart_line_number)
self.restart_line_number = self.restart_reset_line
# This restarts the program at the line specified directly (without cyscle start push)
def re_start(self,line):
self.emccommand.mode(self.emc.MODE_AUTO)
self.emccommand.wait_complete()
self.emccommand.auto(self.emc.AUTO_RUN, line)
self.restart_line_number = self.restart_reset_line
# set the restart line, you can the either restart directly
# or restart on the cycle start button push
# see above.
# reset option allows one to change the default restart after it next restarts
# eg while a restart dialog is open, always restart at the line it says
# when the dialog close change the line and reset both to zero
def set_restart_line (self,line,reset=0):
self.restart_line_number = line
self.restart_reset_line = reset
def set_manual_mode(self):
self.emcstat.poll()
if self.emcstat.task_mode != self.emc.MODE_MANUAL:
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.wait_complete()
def set_mdi_mode(self):
self.emcstat.poll()
if self.emcstat.task_mode != self.emc.MODE_MDI:
self.emccommand.mode(self.emc.MODE_MDI)
self.emccommand.wait_complete()
def set_auto_mode(self):
self.emcstat.poll()
if self.emcstat.task_mode != self.emc.MODE_AUTO:
self.emccommand.mode(self.emc.MODE_AUTO)
self.emccommand.wait_complete()
def get_mode(self):
self.emcstat.poll()
return self.emcstat.task_mode
class emc_status:
def __init__(self, data, emc):
self.data = data
self.emc = emc
self.resized_dro = 0
self.mm = 0
self.machine_units_mm=0
self.unit_convert=[1]*9
self.actual = 1
self.emcstat = emc.stat()
self.emcerror = emc.error_channel()
def get_feedrate(self):
return self.emcstat.feedrate
def get_spindlerate(self):
return self.emcstat.spindlerate
def get_maxvelocity(self):
return self.emcstat.maxvelocity
def dro_inch(self, b):
self.mm = self.data.dro_units = 0
def dro_mm(self, b):
self.mm = self.data.dro_units = 1
def set_machine_units(self,u,c):
self.machine_units_mm = self.data.machine_units = u
self.unit_convert = c
# This holds the conversion multiplicand of all 9 axes
# angular axes are always 1 - They are not converted.
def convert_units_list(self,v):
c = self.unit_convert
return map(lambda x,y: x*y, v, c)
# This converts the given data units if the current display mode (self.mm)
# is not the same as the machine's basic units.
# It converts with the multiplicand of joint 0
def convert_units(self,data):
if self.mm != self.machine_units_mm:
return self.unit_convert[0] * data
else:
return data
def get_linear_units(self):
return self.emcstat.linear_units
def dro_commanded(self, b):
self.actual = 0
def dro_actual(self, b):
self.actual = 1
def get_current_tool(self):
self.emcstat.poll()
return self.emcstat.tool_in_spindle
def get_current_system(self):
self.emcstat.poll()
g = self.emcstat.gcodes
for i in g:
if i >= 540 and i <= 590:
return i/10 - 53
elif i >= 590 and i <= 593:
return i - 584
return 1
def periodic(self):
self.emcstat.poll()
am = self.emcstat.axis_mask
lathe = not (self.emcstat.axis_mask & 2)
dtg = self.emcstat.dtg
if self.actual:
p = self.emcstat.actual_position
else:
p = self.emcstat.position
x = p[0] - self.emcstat.g5x_offset[0] - self.emcstat.tool_offset[0]
y = p[1] - self.emcstat.g5x_offset[1] - self.emcstat.tool_offset[1]
z = p[2] - self.emcstat.g5x_offset[2] - self.emcstat.tool_offset[2]
a = p[3] - self.emcstat.g5x_offset[3] - self.emcstat.tool_offset[3]
b = p[4] - self.emcstat.g5x_offset[4] - self.emcstat.tool_offset[4]
c = p[5] - self.emcstat.g5x_offset[5] - self.emcstat.tool_offset[5]
u = p[6] - self.emcstat.g5x_offset[6] - self.emcstat.tool_offset[6]
v = p[7] - self.emcstat.g5x_offset[7] - self.emcstat.tool_offset[7]
w = p[8] - self.emcstat.g5x_offset[8] - self.emcstat.tool_offset[8]
if self.emcstat.rotation_xy != 0:
t = math.radians(-self.emcstat.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.emcstat.g92_offset[0]
y -= self.emcstat.g92_offset[1]
z -= self.emcstat.g92_offset[2]
a -= self.emcstat.g92_offset[3]
b -= self.emcstat.g92_offset[4]
c -= self.emcstat.g92_offset[5]
u -= self.emcstat.g92_offset[6]
v -= self.emcstat.g92_offset[7]
w -= self.emcstat.g92_offset[8]
relp = [x, y, z, a, b, c, u, v, w]
if self.mm != self.machine_units_mm:
p = self.convert_units_list(p)
relp = self.convert_units_list(relp)
dtg = self.convert_units_list(dtg)
for letter in self.data.axis_list:
count = "xyzabcuvws".index(letter)
self.data["%s_is_homed"% letter] = self.emcstat.homed[count]
self.data["%s_abs"% letter] = p[count]
self.data["%s_rel"% letter] = relp[count]
self.data["%s_dtg"% letter] = dtg[count]
# active G codes
temp = []; active_codes = []
for i in sorted(self.emcstat.gcodes[1:]):
if i == -1: continue
if i % 10 == 0:
temp.append("%d" % (i/10))
else:
temp.append("%d.%d" % (i/10, i%10))
ipr = False
for num,i in enumerate(temp):
if num == 8:active_codes.append("\n")
active_codes.append("G"+i)
if i == '95': ipr = True
self.data.IPR_mode = ipr
self.data.active_gcodes = active_codes
# M codes
temp = []; active_codes = []
for i in sorted(self.emcstat.mcodes[1:]):
if i == -1: continue
temp.append("%d" % i)
for i in (temp):
active_codes.append("M"+i)
self.data.active_mcodes = active_codes
feed_str = "%.3f" % self.emcstat.settings[1]
if feed_str.endswith(".000"): feed_str = feed_str[:-4]
self.data.active_feed_command = feed_str
self.data.active_spindle_command = "%.0f" % self.emcstat.settings[2]
# estop status
self.data.estopped = self.emcstat.task_state == self.emc.STATE_ESTOP
# spindle
self.data.spindle_dir = self.emcstat.spindle_direction
self.data.spindle_speed = abs(self.emcstat.spindle_speed)
self.data.spindle_override = self.emcstat.spindlerate
# other
self.data.tool_in_spindle = self.emcstat.tool_in_spindle
self.data.flood = self.emcstat.flood
self.data.mist = self.emcstat.mist
self.data.machine_on = self.emcstat.task_state == self.emc.STATE_ON
self.data.or_limits = self.emcstat.axis[0]['override_limits']
self.data.feed_hold = self.emcstat.feed_hold_enabled
self.data.feed_override = self.emcstat.feedrate
self.data.velocity_override = self.emcstat.max_velocity / self.data._maxvelocity
self.data.file = self.emcstat.file
self.data.last_line = self.data.motion_line
self.data.motion_line = self.emcstat.motion_line
self.data.line = self.emcstat.current_line
self.data.id = self.emcstat.id
self.data.dtg = self.emcstat.distance_to_go
self.data.velocity = self.convert_units(self.emcstat.current_vel) * 60.0
self.data.delay = self.emcstat.delay_left
if self.emcstat.pocket_prepped == -1:
self.data.preppedtool = None
else:
self.data.preppedtool = self.emcstat.tool_table[self.emcstat.pocket_prepped].id
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