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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
from __main__ import set_active, set_text
class emc_control:
def __init__(self, emc, listing, error):
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.mdi = 0
self.listing = listing
self.error = error
self.isjogging = [0,0,0,0,0,0,0,0,0]
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):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(1);
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):
if self.masked: return
self.emccommand.mode(self.emc.MODE_MANUAL)
self.emccommand.spindle(-1);
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):
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] * self.jog_velocity)
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:
self.isjogging[axis] = direction
self.emccommand.jog(self.emc.JOG_CONTINUOUS, axis, direction * self.jog_velocity)
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_override(self, f):
if self.masked: return
self.emccommand.feedrate(f/100.0)
def spindle_override(self, s):
if self.masked: return
self.emccommand.spindleoverride(s/100.0)
def max_velocity(self, m):
if self.masked: return
self.emccommand.maxvel(m/60.0)
def reload_tooltable(self, b):
if self.masked: return
self.emccommand.load_tool_table()
def opstop_on(self, b):
if self.masked: return
self.emccommand.set_optional_stop(1)
def opstop_off(self, b):
if self.masked: return
self.emccommand.set_optional_stop(0)
def blockdel_on(self, b):
if self.masked: return
self.emccommand.set_block_delete(1)
def blockdel_off(self, b):
if self.masked: return
self.emccommand.set_block_delete(0)
def abort(self):
self.emccommand.abort()
set_text(self.error, "")
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)
def cycle_start(self):
self.emcstat.poll()
if self.emcstat.paused:
if self.sb:
self.emccommand.auto(self.emc.AUTO_STEP)
else:
self.emccommand.auto(self.emc.AUTO_RESUME)
return
if self.emcstat.interp_state == self.emc.INTERP_IDLE:
self.emccommand.mode(self.emc.MODE_AUTO)
self.emccommand.wait_complete()
if self.sb:
self.emccommand.auto(self.emc.AUTO_STEP)
else:
self.emccommand.auto(self.emc.AUTO_RUN, self.listing.get_startline())
self.listing.clear_startline()
class emc_status:
def __init__(self, gtk, emc, listing, relative, absolute, distance,
dro_table,
error,
estops, machines, override_limit, status,
floods, mists, spindles, prefs, opstop, blockdel):
self.gtk = gtk
self.emc = emc
self.listing = listing
self.relative = relative
self.absolute = absolute
self.distance = distance
self.dro_table = dro_table
self.error = error
self.estops = estops
self.machines = machines
self.override_limit = override_limit
self.status = status
self.floods = floods
self.mists = mists
self.spindles = spindles
self.prefs = prefs
self.opstop = opstop
self.blockdel = blockdel
self.resized_dro = 0
self.mm = 0
self.machine_units_mm=0
self.unit_convert=[1]*9
self.actual = 0
self.emcstat = emc.stat()
self.emcerror = emc.error_channel()
def dro_inch(self, b):
self.mm = 0
def dro_mm(self, b):
self.mm = 1
def set_machine_units(self,u,c):
self.machine_units_mm = u
self.unit_convert = c
def convert_units(self,v,c):
return map(lambda x,y: x*y, v, c)
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 not self.resized_dro:
height = 9
for i in range(9):
if i == 1 and lathe:
continue
if not (am & (1<<i)):
height -= 1
self.dro_table.remove(self.relative[height])
self.dro_table.remove(self.absolute[height])
self.dro_table.remove(self.distance[height])
self.dro_table.resize(height, 3)
self.resized_dro = 1
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(p,self.unit_convert)
relp = self.convert_units(relp,self.unit_convert)
dtg = self.convert_units(dtg,self.unit_convert)
if self.mm:
fmt = "%c:% 10.3f"
else:
fmt = "%c:% 9.4f"
d = 0
if (am & 1):
h = " "
if self.emcstat.homed[0]: h = "*"
if lathe:
set_text(self.relative[d], fmt % ('R', relp[0]))
set_text(self.absolute[d], h + fmt % ('R', p[0]))
set_text(self.distance[d], fmt % ('R', dtg[0]))
d += 1
set_text(self.relative[d], fmt % ('D', relp[0] * 2.0))
set_text(self.absolute[d], " " + fmt % ('D', p[0] * 2.0))
set_text(self.distance[d], fmt % ('D', dtg[0] * 2.0))
else:
set_text(self.relative[d], fmt % ('X', relp[0]))
set_text(self.absolute[d], h + fmt % ('X', p[0]))
set_text(self.distance[d], fmt % ('X', dtg[0]))
d += 1
for i in range(1, 9):
h = " "
if self.emcstat.homed[i]: h = "*"
if am & (1<<i):
letter = 'XYZABCUVW'[i]
set_text(self.relative[d], fmt % (letter, relp[i]))
set_text(self.absolute[d], h + fmt % (letter, p[i]))
set_text(self.distance[d], fmt % (letter, dtg[i]))
d += 1
estopped = self.emcstat.task_state == self.emc.STATE_ESTOP
set_active(self.estops['estop'], estopped)
set_active(self.estops['estop_reset'], not estopped)
on = self.emcstat.task_state == self.emc.STATE_ON
set_active(self.machines['on'], on)
set_active(self.machines['off'], not on)
ovl = self.emcstat.axis[0]['override_limits']
set_active(self.override_limit, ovl)
set_text(self.status['file'], self.emcstat.file)
set_text(self.status['file_lines'], "%d" % len(self.listing.program))
set_text(self.status['line'], "%d" % self.emcstat.current_line)
set_text(self.status['id'], "%d" % self.emcstat.id)
set_text(self.status['dtg'], "%.4f" % self.emcstat.distance_to_go)
set_text(self.status['velocity'], "%.4f" % (self.emcstat.current_vel * 60.0))
set_text(self.status['delay'], "%.2f" % self.emcstat.delay_left)
flood = self.emcstat.flood
set_active(self.floods['on'], flood)
set_active(self.floods['off'], not flood)
mist = self.emcstat.mist
set_active(self.mists['on'], mist)
set_active(self.mists['off'], not mist)
spin = self.emcstat.spindle_direction
set_active(self.spindles['forward'], spin == 1)
set_active(self.spindles['off'], spin == 0)
set_active(self.spindles['reverse'], spin == -1)
ol = ""
for i in range(len(self.emcstat.limit)):
if self.emcstat.limit[i]:
ol += "%c " % "XYZABCUVW"[i]
set_text(self.status['onlimit'], ol)
sd = (_("CCW"), _("Stopped"), _("CW"))
set_text(self.status['spindledir'], sd[self.emcstat.spindle_direction+1])
set_text(self.status['spindlespeed'], "%d" % self.emcstat.spindle_speed)
set_text(self.status['spindlespeed2'], "%d" % self.emcstat.spindle_speed)
set_text(self.status['loadedtool'], "%d" % self.emcstat.tool_in_spindle)
if self.emcstat.pocket_prepped == -1:
set_text(self.status['preppedtool'], _("None"))
else:
set_text(self.status['preppedtool'], "%d" % self.emcstat.tool_table[self.emcstat.pocket_prepped].id)
tt = ""
for p, t in zip(range(len(self.emcstat.tool_table)), self.emcstat.tool_table):
if t.id != -1:
tt += "<b>P%02d:</b>T%02d\t" % (p, t.id)
if p == 0: tt += '\n'
set_text(self.status['tooltable'], tt)
set_text(self.status['xyrotation'], "%d" % self.emcstat.rotation_xy)
set_text(self.status['tlo'], "%.4f" % self.emcstat.tool_offset[2])
cs = self.emcstat.g5x_index
if cs<7:
cslabel = "G5%d" % (cs+3)
else:
cslabel = "G59.%d" % (cs-6)
set_text(self.status['label_g5xoffset'], '<b>' + cslabel + '</b>' + ' Offset:');
g5x = ""
g92 = ""
for i in range(len(self.emcstat.g5x_offset)):
letter = "XYZABCUVW"[i]
if self.emcstat.g5x_offset[i] != 0: g5x += "%s%.4f " % (letter, self.emcstat.g5x_offset[i])
if self.emcstat.g92_offset[i] != 0: g92 += "%s%.4f " % (letter, self.emcstat.g92_offset[i])
set_text(self.status['g5xoffset'], g5x);
set_text(self.status['g92offset'], g92);
active_codes = []
for i in self.emcstat.gcodes[1:]:
if i == -1: continue
if i % 10 == 0:
active_codes.append("G%d" % (i/10))
else:
active_codes.append("G%d.%d" % (i/10, i%10))
for i in self.emcstat.mcodes[1:]:
if i == -1: continue
active_codes.append("M%d" % i)
feed_str = "F%.1f" % self.emcstat.settings[1]
if feed_str.endswith(".0"): feed_str = feed_str[:-2]
active_codes.append(feed_str)
active_codes.append("S%.0f" % self.emcstat.settings[2])
set_text(self.status['activecodes'], " ".join(active_codes))
set_active(self.prefs['inch'], self.mm == 0)
set_active(self.prefs['mm'], self.mm == 1)
set_active(self.prefs['actual'], self.actual == 1)
set_active(self.prefs['commanded'], self.actual == 0)
set_active(self.opstop['on'], self.emcstat.optional_stop)
set_active(self.opstop['off'], not self.emcstat.optional_stop)
set_active(self.blockdel['on'], self.emcstat.block_delete)
set_active(self.blockdel['off'], not self.emcstat.block_delete)
if self.emcstat.id == 0 and (self.emcstat.interp_state == self.emc.INTERP_PAUSED or self.emcstat.exec_state == self.emc.EXEC_WAITING_FOR_DELAY):
self.listing.highlight_line(self.emcstat.current_line)
elif self.emcstat.id == 0:
self.listing.highlight_line(self.emcstat.motion_line)
else:
self.listing.highlight_line(self.emcstat.id or self.emcstat.motion_line)
e = self.emcerror.poll()
if e:
kind, text = e
set_text(self.error, text)
|
