Vismach - The easist example

zz912
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20 Mar 2023 11:15 #267132 by zz912

Vismach - The easist example was created by zz912

Hello,

I am trying make something "Hello to world" for Vismach.

#imports
from vismach import *
import hal
#create the HAL component and pins
comp = hal.component("vismach-example")
comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
#create the floor, tool and work
floor = Box(-50, -50, -3, 50, 50, 0)
work = Capture()
tooltip = Capture()

#Build and assemble the model
part1 = Collection([Box(-6,-3,94,6,3,100)])
#part1 = Color([1,1,1,1],[part1])
#part1 = HalRotate([part1],comp,"joint0",360,0,0,1)
#part1 = Translate([part1],-1,49,0)

#create a top-level model
model = Collection([part1])
#Start the visualization
main(model, tooltip, work, 100)

but it returns:

halcmd: loadusr vismach-example
halcmd: Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python3.7/tkinter/__init__.py", line 1705, in __call__
    return self.func(*args)
  File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/rs274/OpenGLTk.py", line 374, in tkExpose
    self.tkRedraw()
  File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/rs274/OpenGLTk.py", line 351, in tkRedraw
    self.redraw()
  File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/vismach.py", line 820, in redraw
    view2work = invert(self.work2view.t)
  File "/home/zdenek/linuxcnc/linuxcnc-2.9_2023-03-15/lib/python/vismach.py", line 668, in invert
    inv[0][1],inv[1][0] = inv[1][0],inv[0][1]
IndexError: list index out of range

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Aciera
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20 Mar 2023 18:24 - 20 Mar 2023 18:25 #267174 by Aciera

Replied by Aciera on topic Vismach - The easist example

part1 = Collection([Box(-6,-3,94,6,3,100)])

model = Collection([part1])

If I am not mistaken the 'Collection' function expects two or more list entries while you pass only one item

[edit]
Maybe try:

part1 = Box(-6,-3,94,6,3,100)

model = part1

Last edit: 20 Mar 2023 18:25 by Aciera.

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zz912
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21 Mar 2023 07:46 #267210 by zz912

Replied by zz912 on topic Vismach - The easist example

I changed it:

#!/usr/bin/env python3

#imports
from vismach import *
import hal

#create the HAL component and pins
comp = hal.component("vismach-example")
comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
#create the floor, tool and work
floor = Box(-50, -50, -3, 50, 50, 0)
work = Capture()
tooltip = Capture()

#Build and assemble the model
part1 = Box(-6,-3,94,6,3,100)

#create a top-level model
model = part1
#Start the visualization
main(model, tooltip, work, 100)

But it returns the same thing.

It's weird that lineardelta.py and others Vismach work.
When I started building the new Vismach, I started trimming lineardelta.py. Fortunately after deleting many lines it stopped working.

So I wanted to do it the other way around and I exited this example and it also fails.
linuxcnc.org/docs/2.9/html/gui/vismach.h..._of_a_vismach_script

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zz912
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21 Mar 2023 08:03 #267211 by zz912

Replied by zz912 on topic Vismach - The easist example

It wooooorrkkkksssss !!!

#!/usr/bin/env python3

#imports
from vismach import *
import hal

#create the HAL component and pins
comp = hal.component("vismach-example")
comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
comp.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
#create the floor, tool and work
floor = Box(-50, -50, -3, 50, 50, 0)
work = Capture()
tooltip = Capture()

#Build and assemble the model
part1 = Box(-6,-3,94,6,3,100)

#create a top-level model
model = Collection([part1, floor, tooltip, work])
#Start the visualization
main(model, tooltip, work, 100)

"model" must contain "tooltip, work"

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Aciera
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21 Mar 2023 09:42 #267218 by Aciera

Replied by Aciera on topic Vismach - The easist example

Yes the model must contain 'work' and 'tooltip'. Note though that usually you would not add the two to the same body. Here is an example:

#!/usr/bin/env python3

#imports
from vismach import *
import hal

#create the HAL component and pins
comp = hal.component("vismach-example")
comp.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
comp.ready()

#create the floor, tool and work
tooltip = Capture()
tool = CylinderZ(0, 1, 20, 1)
tool = Color([1,0,0,0],[tool])
tool = Collection([tooltip, tool])
tool = Translate([tool],0,0,150)

work = Capture()
part = Box(-50, -50, 0, 50, 50, 100)
part = Collection([work, part])

#create a top-level model
model = Collection([tool, part])
#Start the visualization
#main(model, tooltip, work)
main(model, tooltip, work, 400)

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zz912
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21 Mar 2023 10:43 #267221 by zz912

Replied by zz912 on topic Vismach - The easist example

So far I manage to create what I need.

But I absolutely do not understand what the tooltip and work is good for.

In manual is only:

```
main(model, tooltip, work, size=10, hud=0, rotation_vectors=None, lat=0, lon=0)
```
This is the command that makes it all happen, creates the display etc.
- model should be a collection that contains all the machine parts.
- tooltip and work need to be created by
```
Capture()
```
  to visualize their motion in the back plot.
  See
```
scaragui.py
```
  for an example of how to connect the tool tip to a tool and the tool to the model.
- Either rotation_vectors or latitude/longitude can be used to set the original viewpoint and it is advisable to do as the default initial viewpoint is rather unhelpfully from immediately overhead.
- size sets the extent of the volume visualized in the initial view.
- hud refers to a head-up display of axis positions.

I can integrate the tooltip into my code, but it doesn't do anything.

#!/usr/bin/env python3

#imports
from vismach import *
import hal

X0 = -300

#create the HAL component and pins
c = hal.component("tripteron-gui")
c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)

#create the floor, tool and work
floor = Box(-500, -100, -3, 500, 100, 0)
work = Capture()
tooltip = Capture()

#define colour
red = (1,.5,.5,0)
green = (.5,1,.5,0)
blue = (.5,.5,1,0)


#Build and assemble the model
carriage0 = Collection([Box(-30,-20,-3,30,20,3)])
carriage0 = Color(red,[carriage0])
carriage0 = Translate([carriage0],-100+X0,0,-5)
carriage0 = HalTranslate([carriage0], c, "joint0", 1, 0, 0)

carriage1 = Collection([Box(-30,-20,-3,30,20,3)])
carriage1 = Color(green,[carriage1])
carriage1 = Translate([carriage1],100+X0,-50,-5)
carriage1 = HalTranslate([carriage1], c, "joint1", 1, 0, 0)

carriage2 = Collection([Box(-30,-20,-3,30,20,3)])
carriage2 = Color(blue,[carriage2])
carriage2 = Translate([carriage2],100+X0,50,-5)
carriage2 = HalTranslate([carriage2], c, "joint2", 1, 0, 0)

head = Collection([
    tooltip,
    Box(-30,-30,0,30,30,-30)])
head = Translate([head],X0,0,-100)


#create a top-level model
model = Collection([floor, carriage0, carriage1, carriage2, head, tooltip, work])
#Start the visualization
main(model, tooltip, work, 1200, lat=-120, lon=30)

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Aciera
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21 Mar 2023 12:17 #267224 by Aciera

Replied by Aciera on topic Vismach - The easist example

As I understand it, 'tooltip' and 'work' are used by OpenGL for it's matrix transformations. The Backplot line in vismach shows the movment of the tooltip in reference to the work. This of course is only visible when there is a connection to a running linuxcnc instance with halpins.

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zz912
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21 Mar 2023 12:27 #267225 by zz912

Replied by zz912 on topic Vismach - The easist example

The problem is that 'tooltip' and 'work' do not create any HALpins. Look at the screenshot of my screen that I gave above.

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Aciera
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21 Mar 2023 13:17 - 21 Mar 2023 13:18 #267228 by Aciera

Replied by Aciera on topic Vismach - The easist example

Why would you expect 'tooltip' and 'work' to create halpins? They are only for the vismach model internals.

Last edit: 21 Mar 2023 13:18 by Aciera.

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zz912
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21 Mar 2023 16:39 #267236 by zz912

Replied by zz912 on topic Vismach - The easist example

Because you wrote:

This of course is only visible when there is a connection to a running linuxcnc instance with halpins.

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Vismach - The easist example

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