#!/usr/bin/env python3 # Rolf Redford, Nov 2018 # modded for qtvcp Chris Morley 2020 import sys import hal from .qt_vismach import * # ---------------------------------------------------------------------------------------------------------------------------------- Starting and defining # model is built in metric # if using a imperial config need to scale movement METRIC = 1 IMPERIAL = 25.4 MODEL_SCALING = IMPERIAL # used for diameter for versions less than 2.8. # it gives us way to access variable values from vismach script. # import linuxcnc # s = linuxcnc.stat() # s.poll() # Here is where we define pins that linuxcnc will send # data to, in order to make movements. # We will need 5 pins, 3 for motion and 2 for tool stats. # tooldiameter isn't really used but if you are using 2.8 you can make couple changes # in this file, and uncomment last line in HAL file. # add joints. Mill has 3. # c = hal.component("3axis-tutorial-test") # tells loadusr pins is ready # c.ready() # we are not using a component but the original code requires a variable c = None # Used for tool cylinder # it will be updated in shape and length by function below. toolshape = CylinderZ(0) toolshape = Color([1, .5, .5, .5], [toolshape]) # updates tool cylinder shape. class HalToolCylinder(CylinderZ): def __init__(self, comp, *args): # get machine access so it can # change itself as it runs # specifically tool cylinder in this case. CylinderZ.__init__(self, *args) self.comp = c def coords(self): # update data - not needed if using 2.8 and self.comp["tooldiameter"] # 2.7 does not have direct pin for diameter so this is workaround. commented out code is direct way to do it. # s.poll() # 2.8 don't need this, comment out if using 2.8. # get diameter and divide by 2 to get radius. # rad = ( s.tool_table[s.tool_in_spindle].diameter ) # 2.7 workaround try: dia = (hal.get_value('halui.tool.diameter') * MODEL_SCALING) except: dia = 0 rad = dia / 2 # change to rad # this instantly updates tool model but tooltip doesn't move till - # tooltip, the drawing point will NOT move till g43h(tool number) is called, however. # Tool will "crash" if h and tool length does not match. try: leng = hal.get_value('motion.tooloffset.z') * MODEL_SCALING except: leng = 0 # Update tool length when g43h(toolnumber) is called, otherwise stays at 0 or previous size. # commented out as I prefer machine to show actual tool size right away. # leng = self.comp["toollength"] return (-leng, rad, 0, rad) # ---------------------------------------------------------------------------------------------------------------------------------- # Concept of machine design # The model follows logical tree design - picture the tree, with branch and smaller branches off it # if you move the larger branch, smaller branches will move with it, but if you move smaller branch larger will not. # # Machine design follows that conceptal design, so for example if you move X, it can move on its own, but if you move Y, # it will also move X assembly, as it is attached to Y assembly. # so for this machine, tree looks like this: # model # | # |---frame # | | # | |---base # | | # | |---column # | | # | |---top # | # | # |---yassembly # | | # | | # | |---xassembly # | | | # | | | # | | |---xbase # | | | # | | |---work # | | # | | # | |---ybase # | # | # |---zassembly # | # | # |---zframe # | | # | |---zbody # | | # | |---spindle # | # | # |---toolassembly # | # |---cat30 # | # |---tool # | # |---tooltip # | # |---(tool cylinder function) # As you can see, lowest parts must exist first before it can be grouped with others into assembly. # So you build upwards from lowest point in tree and assembly them together. # Same is applicable for any design of machine. Look at machine arm example and you will see that it starts # with tip and adds to larger part of arm then it finally groups with base. # ---------------------------------------------------------------------------------------------------------------------------------- # Starting with fixed frame # start creating base itself, floor and column for z. box is centered on 0,0,0 base = BoxCentered(200, 560, 20) # translate it so top of base is at zero base = Translate([base], 0, 0, -10) # column, attached to base on side. # Box() accepts extents # ie -100 to 100 is 200 wide, and rightmost is at -100 on coord. # Box(x rightmost, y futherest, z lowest, x leftmost, y nearest, z highest) column = Box(-60, -260, 0, 60, -200, 400) # add block on top # not really needed, but I like how it looks with it. # bare column looks little bit strange for some reason. top = Box(-80, -280, 400, 80, -160, 440) # now fuse it into "frame" frame = Collection([base, column, top]) # color it grayish frame = Color([.8, .8, .8, 1], [frame]) # ---------------------------------------------------------------------------------------------------------------------------------- # Moving parts section # Start with X, Y then finally Z with tool and spindle. # X table addition xbase = BoxCentered(1000, 200, 30) # let's color it blue xbase = Color([0, 0, 1, 1], [xbase]) # Move table so top is at zero for now, # so work (default 0,0,0) is on top of table. xbase = Translate([xbase], 0, 0, -15) # now create work which would be defined by Linuxcnc. # I suspect we would need to define shape but not enough is known. # for now just create an point that would be bottom center of stock. work = Capture() # group work and xbase together so they move together. xassembly = Collection([xbase, work]) # work is now defined and grouped, and default at 0,0,0, or # currently on top of x part table. # so we move table group upwards, taking work with it. xassembly = Translate([xassembly], 0, 0, 35) # Must define part motion before it becomes part of collection. # Must have arguments, object itself, c (defined above), then finally scale from the pin to x y z. # since this moves solely on X axis, only x is 1, rest is zero. # you could use fractions for say axis that moves in compound like arm for example # but this machine is very simple, so all axis will be purely full on axis and zero on other axis. xassembly = HalTranslate([xassembly], c, "joint.0.pos-fb", MODEL_SCALING, 0, 0, direct=1) # Y assembly creation ybase = BoxCentered(200, 200, 10) # colorize it green so we can see it separate from frame. ybase = Color([0, 1, 0, 1], [ybase]) # don't define translation for this one, as y also moves X table. # translating this would move itself alone. You want it to move X parts also. # X table is moved by Y base, so we have to make X child of Y. # now define collection of ybase and xassembly. yassembly = Collection([ybase, xassembly]) # define its motion first before translate. yassembly = HalTranslate([yassembly], c, "joint.1.pos-fb", 0, MODEL_SCALING, 0, direct=1) # Now that translate is locked with part, # move it upwards so its on frame base. yassembly = Translate([yassembly], 0, 0, 5) # spindle head # define small cylinder where tool will be attached to. # It is shallow, basically exposed end of "cat30" toolholder. # let's pretend machine uses cat30. cat30 = CylinderZ(0, 30, 20, 40) # cone wider top smaller bottom # color it red, as in danger, tool! cat30 = Color([1, 0, 0, 1], [cat30]) # Define tool and grab such model information from linuxcnc # tooltip is initially in vismach "world" 0,0,0. # what it does is place where line drawing is in world, so # you can see where machine think tip of tool is. # first capture it, so we can use it and move it to where # defined end of tool is. tooltip = Capture() # Now that we have tooltip, let's attach it to cylinder function (see above) # it creates cylinder then translates tooltip to end of it. tool = Collection([ Translate([HalTranslate([tooltip], c, "motion.tooloffset.z", 0, 0, -MODEL_SCALING, direct=1)], 0, 0, 0), HalToolCylinder(toolshape) ]) # Since tool is defined, lets attach it to cat30 # Group cat30 and tooltip toolassembly = Collection([cat30, tool]) # now that tool is properly attached, we can move it # and tool will "move" with it now. # BUT we need to build rest of head in such way that TOP of head is defined as Z zero. # Move it so it attaches to bottom of spindle body. toolassembly = Translate([toolassembly], 0, 0, -120) # Start building Z assembly head, including spindle and support # top is at zero as I want top to be defined as Z home top. spindle = CylinderZ(-100, 60, 0, 60) # top is at zero # define rest of head using Box zbody = Box(-30, -200, 0, 30, 0, -100) # fuse into z assembly zframe = Collection([zbody, spindle]) # color it yellow zframe = Color([1, 1, 0, 1], [zframe]) # Now that all parts are created, let's group it and finally make Z motion zassembly = Collection([zframe, toolassembly]) # define Z motion zassembly = HalTranslate([zassembly], c, "joint.2.pos-fb", 0, 0, MODEL_SCALING, direct=1) # Now that motion is defined, # we can now move it to Z home position. zassembly = Translate([zassembly], 0, 0, 400) # ---------------------------------------------------------------------------------------------------------------------------------- # Getting it all together and finishing model # Assembly everything into single model. # xassembly is already included into yassembly so don't need to include it. model = Collection([frame, yassembly, zassembly]) # Finally, call main() with parameter to let linuxcnc know. # parameter list: # final model name must include all parts you want to use # tooltip (special for tool tip inclusuion) # work (special for work part inclusion) # size of screen (bigger means more zoomed out to show more of machine) # last 2 is where view point source is. # main(model, tooltip, work, 600, lat=-75, lon=215) # we want to embed with qtvcp so build a window to display # the model class Window(QWidget): def __init__(self): super(Window, self).__init__() self.glWidget = GLWidget() v = self.glWidget v.set_latitudelimits(-180, 180) world = Capture() v.model = Collection([model, world]) size = 600 v.distance = size * 3 v.near = size * 0.01 v.far = size * 10.0 v.tool2view = tooltip v.world2view = world v.work2view = work mainLayout = QHBoxLayout() mainLayout.addWidget(self.glWidget) self.setLayout(mainLayout) # but it you call this directly it should work too if __name__ == '__main__': from PyQt5.QtWidgets import (QApplication, QWidget) app = QApplication(sys.argv) window = Window() window.show() sys.exit(app.exec_())