import os
import linuxcnc
import hal, hal_glib
import time
from PyQt5 import QtCore, QtWidgets, QtGui
try:
from PyQt5.QtWebKitWidgets import QWebView
except ImportError:
raise Exception("Qtvcp error with qtdragon - is package python-pyqt5.qtwebkit installed?")
from qtvcp.widgets.gcode_editor import GcodeEditor as GCODE
from qtvcp.widgets.mdi_line import MDILine as MDI_WIDGET
from qtvcp.widgets.tool_offsetview import ToolOffsetView as TOOL_TABLE
from qtvcp.widgets.origin_offsetview import OriginOffsetView as OFFSET_VIEW
from qtvcp.widgets.stylesheeteditor import StyleSheetEditor as SSE
from qtvcp.widgets.file_manager import FileManager as FM
from qtvcp.lib.keybindings import Keylookup
from qtvcp.lib.gcodes import GCodes
from qtvcp.lib.toolbar_actions import ToolBarActions
from qtvcp.core import Status, Action, Info
from qtvcp import logger
from shutil import copyfile
LOG = logger.getLogger(__name__)
KEYBIND = Keylookup()
STATUS = Status()
INFO = Info()
ACTION = Action()
TOOLBAR = ToolBarActions()
STYLEEDITOR = SSE()
# constants for tab pages
TAB_MAIN = 9
TAB_FILE = 1
TAB_OFFSETS = 2
TAB_TOOL = 3
TAB_STATUS = 4
TAB_PROBE = 5
TAB_GCODES = 6
TAB_SETUP = 7
TAB_SETTINGS = 8
class HandlerClass:
def __init__(self, halcomp, widgets, paths):
self.h = halcomp
self.w = widgets
self.PATHS = paths
self.gcodes = GCodes()
self.valid = QtGui.QDoubleValidator(-999.999, 999.999, 3)
KEYBIND.add_call('Key_F12','on_keycall_F12')
KEYBIND.add_call('Key_Pause', 'on_keycall_pause')
# some global variables
self.run_time = 0
self.time_tenths = 0
self.timerOn = False
self.home_all = False
self.max_linear_velocity = INFO.MAX_LINEAR_VELOCITY * 60
self.system_list = ["G54","G55","G56","G57","G58","G59","G59.1","G59.2","G59.3"]
self.slow_jog_factor = 10
self.reload_tool = 0
self.last_loaded_program = ""
self.first_turnon = True
self.lineedit_list = ["work_height", "touch_height", "sensor_height",
"laser_x", "laser_y", "sensor_x", "sensor_y",
"search_vel", "probe_vel", "max_probe", "eoffset_count"]
self.onoff_list = ["frame_program", "frame_dro"]
self.auto_list = ["chk_eoffsets", "cmb_gcode_history"]
self.axis_a_list = ["label_axis_a", "dro_axis_a", "action_zero_a", "axistoolbutton_a",
"action_home_a", "widget_jog_angular", "widget_increments_angular",
"a_plus_jogbutton", "a_minus_jogbutton"]
self.html = """
Test page for the download:// scheme
Setup Tab
If you select a file with .html as a file ending, it will be shown here..
QtDragon Documentation link
""" %(os.path.join(paths.IMAGEDIR,'lcnc_swoop.png'))
STATUS.connect('general', self.dialog_return)
STATUS.connect('state-on', lambda w: self.enable_onoff(True))
STATUS.connect('state-off', lambda w: self.enable_onoff(False))
STATUS.connect('mode-manual', lambda w: self.enable_auto(True))
STATUS.connect('mode-mdi', lambda w: self.enable_auto(True))
STATUS.connect('mode-auto', lambda w: self.enable_auto(False))
STATUS.connect('gcode-line-selected', lambda w, line: self.set_start_line(line))
STATUS.connect('hard-limits-tripped', self.hard_limit_tripped)
STATUS.connect('interp-idle', lambda w: self.set_start_line(0))
STATUS.connect('program-pause-changed', lambda w, state: self.w.spindle_pause.setEnabled(state))
STATUS.connect('user-system-changed', self.user_system_changed)
STATUS.connect('file-loaded', self.file_loaded)
STATUS.connect('homed', self.homed)
STATUS.connect('all-homed', self.all_homed)
STATUS.connect('not-all-homed', self.not_all_homed)
STATUS.connect('periodic', lambda w: self.update_runtimer())
STATUS.connect('command-running', lambda w: self.start_timer())
STATUS.connect('command-stopped', lambda w: self.stop_timer())
def class_patch__(self):
self.old_fman = FM.load
FM.load = self.load_code
def initialized__(self):
self.init_pins()
self.init_preferences()
self.init_widgets()
self.w.stackedWidget_log.setCurrentIndex(0)
self.w.stackedWidget.setCurrentIndex(0)
self.w.stackedWidget_dro.setCurrentIndex(0)
self.w.spindle_pause.setEnabled(False)
self.w.btn_dimensions.setChecked(True)
self.w.page_buttonGroup.buttonClicked.connect(self.main_tab_changed)
self.w.filemanager.onUserClicked()
self.w.filemanager_usb.onMediaClicked()
# hide widgets for A axis if not present
if "A" not in INFO.AVAILABLE_AXES:
for i in self.axis_a_list:
self.w[i].hide()
self.w.lbl_increments_linear.setText("INCREMENTS")
# set validators for lineEdit widgets
for val in self.lineedit_list:
self.w['lineEdit_' + val].setValidator(self.valid)
#############################
# SPECIAL FUNCTIONS SECTION #
#############################
def init_pins(self):
# spindle control pins
pin = self.h.newpin("spindle_amps", hal.HAL_FLOAT, hal.HAL_IN)
hal_glib.GPin(pin).connect("value_changed", self.spindle_pwr_changed)
pin = self.h.newpin("spindle_volts", hal.HAL_FLOAT, hal.HAL_IN)
hal_glib.GPin(pin).connect("value_changed", self.spindle_pwr_changed)
pin = self.h.newpin("spindle_fault", hal.HAL_U32, hal.HAL_IN)
hal_glib.GPin(pin).connect("value_changed", self.spindle_fault_changed)
pin = self.h.newpin("modbus-errors", hal.HAL_U32, hal.HAL_IN)
hal_glib.GPin(pin).connect("value_changed", self.mb_errors_changed)
# external offset control pins
self.h.newpin("eoffset_enable", hal.HAL_BIT, hal.HAL_OUT)
self.h.newpin("eoffset_clear", hal.HAL_BIT, hal.HAL_OUT)
self.h.newpin("eoffset_count", hal.HAL_S32, hal.HAL_OUT)
pin = self.h.newpin("eoffset_value", hal.HAL_FLOAT, hal.HAL_IN)
hal_glib.GPin(pin).connect("value_changed", self.eoffset_changed)
def init_preferences(self):
if not self.w.PREFS_:
self.add_status("CRITICAL - no preference file found, enable preferences in screenoptions widget")
return
self.last_loaded_program = self.w.PREFS_.getpref('last_loaded_file', None, str,'BOOK_KEEPING')
self.reload_tool = self.w.PREFS_.getpref('Tool to load', 0, int,'CUSTOM_FORM_ENTRIES')
self.w.lineEdit_laser_x.setText(str(self.w.PREFS_.getpref('Laser X', 100, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_laser_y.setText(str(self.w.PREFS_.getpref('Laser Y', -20, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_sensor_x.setText(str(self.w.PREFS_.getpref('Sensor X', 10, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_sensor_y.setText(str(self.w.PREFS_.getpref('Sensor Y', 10, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_work_height.setText(str(self.w.PREFS_.getpref('Work Height', 20, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_touch_height.setText(str(self.w.PREFS_.getpref('Touch Height', 40, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_sensor_height.setText(str(self.w.PREFS_.getpref('Sensor Height', 40, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_search_vel.setText(str(self.w.PREFS_.getpref('Search Velocity', 40, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_probe_vel.setText(str(self.w.PREFS_.getpref('Probe Velocity', 10, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_max_probe.setText(str(self.w.PREFS_.getpref('Max Probe', 10, float, 'CUSTOM_FORM_ENTRIES')))
self.w.lineEdit_eoffset_count.setText(str(self.w.PREFS_.getpref('Eoffset count', 0, int, 'CUSTOM_FORM_ENTRIES')))
self.w.chk_eoffsets.setChecked(self.w.PREFS_.getpref('External offsets', False, bool, 'CUSTOM_FORM_ENTRIES'))
self.w.chk_reload_program.setChecked(self.w.PREFS_.getpref('Reload program', False, bool,'CUSTOM_FORM_ENTRIES'))
self.w.chk_reload_tool.setChecked(self.w.PREFS_.getpref('Reload tool', False, bool,'CUSTOM_FORM_ENTRIES'))
self.w.chk_use_keyboard.setChecked(self.w.PREFS_.getpref('Use keyboard', False, bool, 'CUSTOM_FORM_ENTRIES'))
self.w.chk_run_from_line.setChecked(self.w.PREFS_.getpref('Run from line', False, bool, 'CUSTOM_FORM_ENTRIES'))
self.w.chk_use_virtual.setChecked(self.w.PREFS_.getpref('Use virtual keyboard', False, bool, 'CUSTOM_FORM_ENTRIES'))
self.w.chk_alpha_mode.setChecked(self.w.PREFS_.getpref('Use alpha display mode', False, bool, 'CUSTOM_FORM_ENTRIES'))
self.w.chk_inhibit_selection.setChecked(self.w.PREFS_.getpref('Inhibit display mouse selection', True, bool, 'CUSTOM_FORM_ENTRIES'))
def closing_cleanup__(self):
if not self.w.PREFS_: return
self.w.PREFS_.putpref('last_loaded_directory', os.path.dirname(self.last_loaded_program), str, 'BOOK_KEEPING')
self.w.PREFS_.putpref('last_loaded_file', self.last_loaded_program, str, 'BOOK_KEEPING')
self.w.PREFS_.putpref('Tool to load', STATUS.get_current_tool(), int, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Laser X', self.w.lineEdit_laser_x.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Laser Y', self.w.lineEdit_laser_y.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Sensor X', self.w.lineEdit_sensor_x.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Sensor Y', self.w.lineEdit_sensor_y.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Work Height', self.w.lineEdit_work_height.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Touch Height', self.w.lineEdit_touch_height.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Sensor Height', self.w.lineEdit_sensor_height.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Search Velocity', self.w.lineEdit_search_vel.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Probe Velocity', self.w.lineEdit_probe_vel.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Max Probe', self.w.lineEdit_max_probe.text().encode('utf-8'), float, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Eoffset count', self.w.lineEdit_eoffset_count.text().encode('utf-8'), int, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('External offsets', self.w.chk_eoffsets.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Reload program', self.w.chk_reload_program.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Reload tool', self.w.chk_reload_tool.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Use keyboard', self.w.chk_use_keyboard.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Run from line', self.w.chk_run_from_line.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Use virtual keyboard', self.w.chk_use_virtual.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Use alpha display mode', self.w.chk_alpha_mode.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
self.w.PREFS_.putpref('Inhibit display mouse selection', self.w.chk_inhibit_selection.isChecked(), bool, 'CUSTOM_FORM_ENTRIES')
def init_widgets(self):
self.w.main_tab_widget.setCurrentIndex(0)
self.w.slider_jog_linear.setMaximum(self.max_linear_velocity)
self.w.slider_jog_linear.setValue(INFO.DEFAULT_LINEAR_JOG_VEL)
self.w.slider_jog_angular.setMaximum(INFO.MAX_ANGULAR_JOG_VEL)
self.w.slider_jog_angular.setValue(INFO.DEFAULT_ANGULAR_JOG_VEL)
self.w.slider_maxv_ovr.setMaximum(self.max_linear_velocity)
self.w.slider_maxv_ovr.setValue(self.max_linear_velocity)
self.w.slider_feed_ovr.setMaximum(INFO.MAX_FEED_OVERRIDE)
self.w.slider_feed_ovr.setValue(100)
self.w.slider_rapid_ovr.setMaximum(100)
self.w.slider_rapid_ovr.setValue(100)
self.w.slider_spindle_ovr.setMinimum(INFO.MIN_SPINDLE_OVERRIDE)
self.w.slider_spindle_ovr.setMaximum(INFO.MAX_SPINDLE_OVERRIDE)
self.w.slider_spindle_ovr.setValue(100)
self.w.chk_override_limits.setChecked(False)
self.w.chk_override_limits.setEnabled(False)
self.w.lbl_maxv_percent.setText("100 %")
self.w.lbl_max_rapid.setText(str(self.max_linear_velocity))
self.w.lbl_home_x.setText(INFO.get_error_safe_setting('JOINT_0', 'HOME',"50"))
self.w.lbl_home_y.setText(INFO.get_error_safe_setting('JOINT_1', 'HOME',"50"))
self.w.cmb_gcode_history.addItem("No File Loaded")
self.w.cmb_gcode_history.wheelEvent = lambda event: None
self.w.jogincrements_linear.wheelEvent = lambda event: None
self.w.jogincrements_angular.wheelEvent = lambda event: None
self.w.gcode_editor.hide()
#set up gcode list
self.gcodes.setup_list()
# clickable frames
self.w.frame_cycle_start.mousePressEvent = self.btn_start_clicked
self.w.frame_home_all.mousePressEvent = self.btn_home_all_clicked
# web view widget for SETUP page
self.web_view = QWebView()
self.w.verticalLayout_setup.addWidget(self.web_view)
self.web_view.setHtml(self.html)
# check for virtual keyboard enabled
if self.w.chk_use_virtual.isChecked():
self.w.btn_keyboard.show()
else:
self.w.btn_keyboard.hide()
TOOLBAR.configure_statusbar(self.w.statusbar,'message_recall')
def processed_focus_event__(self, receiver, event):
if not self.w.chk_use_virtual.isChecked() or STATUS.is_auto_mode(): return
if isinstance(receiver, QtWidgets.QLineEdit):
if not receiver.isReadOnly():
self.w.btn_keyboard.setChecked(True)
elif isinstance(receiver, QtWidgets.QTableView):
self.w.btn_keyboard.setChecked(True)
elif isinstance(receiver, QtWidgets.QCommonStyle):
return
def processed_key_event__(self,receiver,event,is_pressed,key,code,shift,cntrl):
# when typing in MDI, we don't want keybinding to call functions
# so we catch and process the events directly.
# We do want ESC, F1 and F2 to call keybinding functions though
if code not in(QtCore.Qt.Key_Escape,QtCore.Qt.Key_F1 ,QtCore.Qt.Key_F2):
# QtCore.Qt.Key_F3,QtCore.Qt.Key_F4,QtCore.Qt.Key_F5):
# search for the top widget of whatever widget received the event
# then check if it's one we want the keypress events to go to
flag = False
receiver2 = receiver
while receiver2 is not None and not flag:
if isinstance(receiver2, QtWidgets.QDialog):
flag = True
break
if isinstance(receiver2, QtWidgets.QLineEdit):
flag = True
break
if isinstance(receiver2, MDI_WIDGET):
flag = True
break
if isinstance(receiver2, GCODE):
flag = True
break
if isinstance(receiver2, TOOL_TABLE):
flag = True
break
if isinstance(receiver2, OFFSET_VIEW):
flag = True
break
receiver2 = receiver2.parent()
if flag:
if isinstance(receiver2, GCODE):
# if in manual do our keybindings - otherwise
# send events to gcode widget
if STATUS.is_man_mode() == False:
if is_pressed:
receiver.keyPressEvent(event)
event.accept()
return True
elif is_pressed:
receiver.keyPressEvent(event)
event.accept()
return True
else:
event.accept()
return True
# ok if we got here then try keybindings
try:
KEYBIND.call(self,event,is_pressed,shift,cntrl)
event.accept()
return True
except NameError as e:
if is_pressed:
LOG.debug('Exception in KEYBINDING: {}'.format (e))
self.add_status('Exception in KEYBINDING: {}'.format (e))
except Exception as e:
if is_pressed:
LOG.debug('Exception in KEYBINDING:', exc_info=e)
print 'Error in, or no function for: %s in handler file for-%s'%(KEYBIND.convert(event),key)
event.accept()
return True
#########################
# CALLBACKS FROM STATUS #
#########################
def spindle_pwr_changed(self, data):
# this calculation assumes the voltage is line to neutral
# and that the synchronous motor spindle has a power factor of 0.9
power = self.h['spindle_volts'] * self.h['spindle_amps'] * 2.7 # 3 x V x I x PF
amps = "{:1.1f}".format(self.h['spindle_amps'])
pwr = "{:1.1f}".format(power)
self.w.lbl_spindle_amps.setText(amps)
self.w.lbl_spindle_power.setText(pwr)
def spindle_fault_changed(self, data):
fault = hex(self.h['spindle_fault'])
self.w.lbl_spindle_fault.setText(fault)
def mb_errors_changed(self, data):
errors = self.h['modbus-errors']
self.w.lbl_mb_errors.setText(str(errors))
def eoffset_changed(self, data):
eoffset = "{:2.3f}".format(self.h['eoffset_value'])
self.w.lbl_eoffset_value.setText(eoffset)
def dialog_return(self, w, message):
rtn = message.get('RETURN')
name = message.get('NAME')
plate_code = bool(message.get('ID') == '_touchplate_')
sensor_code = bool(message.get('ID') == '_toolsensor_')
wait_code = bool(message.get('ID') == '_wait_resume_')
if plate_code and name == 'MESSAGE' and rtn is True:
self.touchoff('touchplate')
elif sensor_code and name == 'MESSAGE' and rtn is True:
self.touchoff('sensor')
elif wait_code and name == 'MESSAGE':
self.h['eoffset_clear'] = False
def user_system_changed(self, obj, data):
sys = self.system_list[int(data) - 1]
self.w.offset_table.selectRow(int(data) + 3)
self.w.actionbutton_rel.setText(sys)
def file_loaded(self, obj, filename):
if filename is not None:
self.add_status("Loaded file {}".format(filename))
self.w.progressBar.setValue(0)
self.last_loaded_program = filename
else:
self.add_status("Filename not valid")
def percent_loaded_changed(self, fraction):
if fraction <0:
self.w.progressBar.setValue(0)
self.w.progressBar.setFormat('Progress')
else:
self.w.progressBar.setValue(fraction)
self.w.progressBar.setFormat('Loading: {}%'.format(fraction))
def percent_completed_changed(self, fraction):
self.w.progressBar.setValue(fraction)
if fraction <0:
self.w.progressBar.setValue(0)
self.w.progressBar.setFormat('Progress')
else:
self.w.progressBar.setFormat('Completed: {}%'.format(fraction))
def homed(self, obj, joint):
i = int(joint)
axis = INFO.GET_NAME_FROM_JOINT.get(i).lower()
try:
self.w["dro_axis_{}".format(axis)].setProperty('homed', True)
self.w["dro_axis_{}".format(axis)].setStyle(self.w["dro_axis_{}".format(axis)].style())
except:
pass
def all_homed(self, obj):
self.home_all = True
self.w.lbl_home_all.setText("ALL\nHOMED")
if self.first_turnon is True:
self.first_turnon = False
if self.w.chk_reload_tool.isChecked():
command = "M61 Q{}".format(self.reload_tool)
ACTION.CALL_MDI(command)
if self.last_loaded_program is not None and self.w.chk_reload_program.isChecked():
if os.path.isfile(self.last_loaded_program):
self.w.cmb_gcode_history.addItem(self.last_loaded_program)
self.w.cmb_gcode_history.setCurrentIndex(self.w.cmb_gcode_history.count() - 1)
ACTION.OPEN_PROGRAM(self.last_loaded_program)
self.w.manual_mode_button.setChecked(True)
def not_all_homed(self, obj, list):
self.home_all = False
self.w.lbl_home_all.setText("HOME\nALL")
for i in INFO.AVAILABLE_JOINTS:
if str(i) in list:
axis = INFO.GET_NAME_FROM_JOINT.get(i).lower()
try:
self.w["dro_axis_{}".format(axis)].setProperty('homed', False)
self.w["dro_axis_{}".format(axis)].setStyle(self.w["dro_axis_{}".format(axis)].style())
except:
pass
def hard_limit_tripped(self, obj, tripped, list_of_tripped):
self.add_status("Hard limits tripped")
self.w.chk_override_limits.setEnabled(tripped)
if not tripped:
self.w.chk_override_limits.setChecked(False)
def update_runtimer(self):
if self.timerOn is False or STATUS.is_auto_paused(): return
self.time_tenths += 1
if self.time_tenths == 10:
self.time_tenths = 0
self.run_time += 1
hours, remainder = divmod(self.run_time, 3600)
minutes, seconds = divmod(remainder, 60)
self.w.lbl_runtime.setText("{:02d}:{:02d}:{:02d}".format(hours, minutes, seconds))
def start_timer(self):
if STATUS.is_auto_running():
self.run_time = 0
self.timerOn = True
def stop_timer(self):
self.timerOn = False
#######################
# CALLBACKS FROM FORM #
#######################
# main button bar
def main_tab_changed(self, btn):
if STATUS.is_auto_mode():
self.add_status("Cannot switch pages while in AUTO mode")
self.w.btn_main.setChecked(True)
return
index = btn.property("index")
if index is None: return
self.w.main_tab_widget.setCurrentIndex(index)
if index == TAB_MAIN:
self.w.btn_keyboard.setChecked(False)
self.w.stackedWidget.setCurrentIndex(9)
elif index == TAB_FILE:
self.w.stackedWidget.setCurrentIndex(1)
elif index == TAB_OFFSETS:
self.w.stackedWidget.setCurrentIndex(2)
elif index == TAB_TOOL:
self.w.stackedWidget.setCurrentIndex(3)
else:
self.w.stackedWidget.setCurrentIndex(9)
# gcode frame
def cmb_gcode_history_clicked(self):
if self.w.cmb_gcode_history.currentIndex() == 0: return
filename = self.w.cmb_gcode_history.currentText().encode('utf-8')
if filename == self.last_loaded_program:
self.add_status("Selected program is already loaded")
else:
ACTION.OPEN_PROGRAM(filename)
# program frame
def btn_start_clicked(self, obj):
if self.w.main_tab_widget.currentIndex() != 0:
return
if not STATUS.is_auto_mode():
self.add_status("Must be in AUTO mode to run a program")
return
start_line = int(self.w.lbl_start_line.text().encode('utf-8'))
self.add_status("Started program from line {}".format(start_line))
self.run_time = 0
if start_line == 1:
ACTION.RUN(start_line)
else:
# instantiate preset dialog
info = 'Running from Line: {} <\b>'.format(start_line)
mess = {'NAME':'RUNFROMLINE', 'TITLE':'Preset Dialog', 'ID':'_RUNFROMLINE', 'MESSAGE':info, 'LINE':start_line}
ACTION.CALL_DIALOG(mess)
def btn_reload_file_clicked(self):
if self.last_loaded_program:
self.w.progressBar.setValue(0)
self.add_status("Loaded program file {}".format(self.last_loaded_program))
ACTION.OPEN_PROGRAM(self.last_loaded_program)
# DRO frame
def btn_home_all_clicked(self, obj):
if self.home_all is False:
ACTION.SET_MACHINE_HOMING(-1)
else:
ACTION.SET_MACHINE_UNHOMED(-1)
def btn_home_clicked(self):
joint = self.w.sender().property('joint')
axis = INFO.GET_NAME_FROM_JOINT.get(joint).lower()
if self.w["dro_axis_{}".format(axis)].property('homed') is True:
ACTION.SET_MACHINE_UNHOMED(joint)
else:
ACTION.SET_MACHINE_HOMING(joint)
# tool frame
def disable_pause_buttons(self, state):
self.w.action_pause.setEnabled(not state)
self.w.action_step.setEnabled(not state)
if state:
# set external offsets to lift spindle
self.h['eoffset_enable'] = self.w.chk_eoffsets.isChecked()
fval = float(self.w.lineEdit_eoffset_count.text())
self.h['eoffset_count'] = int(fval)
else:
self.h['eoffset_count'] = 0
self.h['eoffset_clear'] = True
# instantiate warning box
info = "Wait for spindle at speed signal before resuming"
mess = {'NAME':'MESSAGE', 'ICON':'WARNING', 'ID':'_wait_resume_', 'MESSAGE':'CAUTION', 'MORE':info, 'TYPE':'OK'}
ACTION.CALL_DIALOG(mess)
# override frame
def slow_button_clicked(self, state):
slider = self.w.sender().property('slider')
current = self.w[slider].value()
max = self.w[slider].maximum()
if state:
self.w.sender().setText("SLOW")
self.w[slider].setMaximum(max / self.slow_jog_factor)
self.w[slider].setValue(current / self.slow_jog_factor)
self.w[slider].setPageStep(10)
else:
self.w.sender().setText("FAST")
self.w[slider].setMaximum(max * self.slow_jog_factor)
self.w[slider].setValue(current * self.slow_jog_factor)
self.w[slider].setPageStep(100)
def slider_maxv_changed(self, value):
maxpc = (float(value) / self.max_linear_velocity) * 100
self.w.lbl_maxv_percent.setText("{:3.0f} %".format(maxpc))
def slider_rapid_changed(self, value):
rapid = (float(value) / 100) * self.max_linear_velocity
self.w.lbl_max_rapid.setText("{:4.0f}".format(rapid))
def btn_maxv_100_clicked(self):
self.w.slider_maxv_ovr.setValue(self.max_linear_velocity)
def btn_maxv_50_clicked(self):
self.w.slider_maxv_ovr.setValue(self.max_linear_velocity / 2)
# file tab
def btn_gcode_edit_clicked(self, state):
if not STATUS.is_on_and_idle():
return
if state:
self.w.filemanager.hide()
self.w.widget_file_copy.hide()
self.w.gcode_editor.show()
self.w.gcode_editor.editMode()
else:
self.w.filemanager.show()
self.w.widget_file_copy.show()
self.w.gcode_editor.hide()
self.w.gcode_editor.readOnlyMode()
def btn_load_file_clicked(self):
fname = self.w.filemanager.getCurrentSelected()
if fname[1] is True:
self.load_code(fname[0])
def btn_copy_file_clicked(self):
if self.w.sender() == self.w.btn_copy_right:
source = self.w.filemanager_usb.getCurrentSelected()
target = self.w.filemanager.getCurrentSelected()
elif self.w.sender() == self.w.btn_copy_left:
source = self.w.filemanager.getCurrentSelected()
target = self.w.filemanager_usb.getCurrentSelected()
else:
return
if source[1] is False:
self.add_status("Specified source is not a file")
return
if target[1] is True:
destination = os.path.join(os.path.dirname(target[0]), os.path.basename(source[0]))
else:
destination = os.path.join(target[0], os.path.basename(source[0]))
try:
copyfile(source[0], destination)
self.add_status("Copied file from {} to {}".format(source[0], destination))
except Exception as e:
self.add_status("Unable to copy file. %s" %e)
# offsets tab
def btn_goto_sensor_clicked(self):
x = float(self.w.lineEdit_sensor_x.text())
y = float(self.w.lineEdit_sensor_y.text())
if not STATUS.is_metric_mode():
x = x / 25.4
y = y / 25.4
ACTION.CALL_MDI("G90")
ACTION.CALL_MDI_WAIT("G53 G0 Z0")
command = "G53 G0 X{:3.4f} Y{:3.4f}".format(x, y)
ACTION.CALL_MDI_WAIT(command, 10)
def btn_ref_laser_clicked(self):
x = float(self.w.lineEdit_laser_x.text())
y = float(self.w.lineEdit_laser_y.text())
if not STATUS.is_metric_mode():
x = x / 25.4
y = y / 25.4
self.add_status("Laser offsets set")
command = "G10 L20 P0 X{:3.4f} Y{:3.4f}".format(x, y)
ACTION.CALL_MDI(command)
# tool tab
def btn_m61_clicked(self):
checked = self.w.tooloffsetview.get_checked_list()
if len(checked) > 1:
self.add_status("Select only 1 tool to load")
elif checked:
self.add_status("Loaded tool {}".format(checked[0]))
ACTION.CALL_MDI("M61 Q{}".format(checked[0]))
else:
self.add_status("No tool selected")
def btn_touchoff_clicked(self):
if STATUS.get_current_tool() == 0:
self.add_status("Cannot touchoff with no tool loaded")
return
if not STATUS.is_all_homed():
self.add_status("Must be homed to perform tool touchoff")
return
# instantiate dialog box
sensor = self.w.sender().property('sensor')
info = "Ensure tooltip is within {} mm of tool sensor and click OK".format(self.w.lineEdit_max_probe.text())
mess = {'NAME':'MESSAGE', 'ID':sensor, 'MESSAGE':'TOOL TOUCHOFF', 'MORE':info, 'TYPE':'OKCANCEL'}
ACTION.CALL_DIALOG(mess)
# status tab
def btn_clear_status_clicked(self):
STATUS.emit('update-machine-log', None, 'DELETE')
def btn_save_status_clicked(self):
text = self.w.machinelog.toPlainText()
filename = self.w.lbl_clock.text().encode('utf-8')
filename = 'status_' + filename.replace(' ','_') + '.txt'
self.add_status("Saving Status file to {}".format(filename))
with open(filename, 'w') as f:
f.write(text)
def btn_dimensions_clicked(self, state):
self.w.gcodegraphics.show_extents_option = state
self.w.gcodegraphics.clear_live_plotter()
def chk_override_limits_checked(self, state):
if state:
print("Override limits set")
ACTION.SET_LIMITS_OVERRIDE()
else:
print("Override limits not set")
def chk_run_from_line_checked(self, state):
if not state:
self.w.lbl_start_line.setText('1')
def chk_alpha_mode_clicked(self, state):
self.w.gcodegraphics.set_alpha_mode(state)
def chk_inhibit_display_selection_clicked(self, state):
self.w.gcodegraphics.set_inhibit_selection(state)
# settings tab
def chk_use_virtual_changed(self, state):
if state:
self.w.btn_keyboard.show()
else:
self.w.btn_keyboard.hide()
#####################
# GENERAL FUNCTIONS #
#####################
def load_code(self, fname):
if fname is None: return
if fname.endswith(".ngc") or fname.endswith(".py"):
self.w.cmb_gcode_history.addItem(fname)
self.w.cmb_gcode_history.setCurrentIndex(self.w.cmb_gcode_history.count() - 1)
ACTION.OPEN_PROGRAM(fname)
self.add_status("Loaded program file : {}".format(fname))
self.w.main_tab_widget.setCurrentIndex(TAB_MAIN)
elif fname.endswith(".html"):
self.web_view.load(QtCore.QUrl.fromLocalFile(fname))
self.add_status("Loaded HTML file : {}".format(fname))
self.w.main_tab_widget.setCurrentIndex(TAB_SETUP)
self.w.btn_setup.setChecked(True)
else:
self.add_status("Unknown or invalid filename")
def disable_spindle_pause(self):
self.h['eoffset_count'] = 0
if self.w.spindle_pause.isChecked():
self.w.spindle_pause.setChecked(False)
def touchoff(self, selector):
if selector == 'touchplate':
z_offset = float(self.w.lineEdit_touch_height.text())
elif selector == 'sensor':
z_offset = float(self.w.lineEdit_sensor_height.text()) - float(self.w.lineEdit_work_height.text())
else:
self.add_alarm("Unknown touchoff routine specified")
return
self.add_status("Touchoff to {} started".format(selector))
max_probe = self.w.lineEdit_max_probe.text()
search_vel = self.w.lineEdit_search_vel.text()
probe_vel = self.w.lineEdit_probe_vel.text()
ACTION.CALL_MDI("G21 G49")
ACTION.CALL_MDI("G10 L20 P0 Z0")
ACTION.CALL_MDI("G91")
command = "G38.2 Z-{} F{}".format(max_probe, search_vel)
if ACTION.CALL_MDI_WAIT(command, 10) == -1:
ACTION.CALL_MDI("G90")
return
if ACTION.CALL_MDI_WAIT("G1 Z4.0"):
ACTION.CALL_MDI("G90")
return
ACTION.CALL_MDI("G4 P0.5")
command = "G38.2 Z-4.4 F{}".format(probe_vel)
if ACTION.CALL_MDI_WAIT(command, 10) == -1:
ACTION.CALL_MDI("G90")
return
command = "G10 L20 P0 Z{}".format(z_offset)
ACTION.CALL_MDI_WAIT(command)
command = "G1 Z10 F{}".format(search_vel)
ACTION.CALL_MDI_WAIT(command)
ACTION.CALL_MDI("G90")
def kb_jog(self, state, joint, direction, fast = False, linear = True):
if not STATUS.is_man_mode() or not STATUS.machine_is_on():
self.add_status('Machine must be ON and in Manual mode to jog')
return
if linear:
distance = STATUS.get_jog_increment()
rate = STATUS.get_jograte()/60
else:
distance = STATUS.get_jog_increment_angular()
rate = STATUS.get_jograte_angular()/60
if state:
if fast:
rate = rate * 2
ACTION.JOG(joint, direction, rate, distance)
else:
ACTION.JOG(joint, 0, 0, 0)
def add_status(self, message):
self._m = message
print message
self.w.statusbar.showMessage(self._m, 5000)
STATUS.emit('update-machine-log', self._m, 'TIME')
def enable_auto(self, state):
for widget in self.auto_list:
self.w[widget].setEnabled(state)
if state is True:
self.w.jogging_frame.show()
if self.w.chk_use_virtual.isChecked():
self.w.btn_keyboard.show()
else:
self.w.jogging_frame.hide()
self.w.btn_main.setChecked(True)
self.w.btn_keyboard.setChecked(False)
self.w.btn_keyboard.hide()
self.w.main_tab_widget.setCurrentIndex(TAB_MAIN)
self.w.stackedWidget.setCurrentIndex(0)
def enable_onoff(self, state):
if state:
self.add_status("Machine ON")
else:
self.add_status("Machine OFF")
self.w.spindle_pause.setChecked(False)
self.h['eoffset_count'] = 0
for widget in self.onoff_list:
self.w[widget].setEnabled(state)
def set_start_line(self, line):
if line == 0:
self.w.lbl_start_line.setText('1')
elif self.w.chk_run_from_line.isChecked():
self.w.lbl_start_line.setText(str(line))
else:
self.w.lbl_start_line.setText('1')
def use_keyboard(self):
if self.w.chk_use_keyboard.isChecked():
return True
else:
self.add_status('Keyboard shortcuts are disabled')
return False
#####################
# KEY BINDING CALLS #
#####################
def on_keycall_ESTOP(self,event,state,shift,cntrl):
if state:
ACTION.SET_ESTOP_STATE(True)
def on_keycall_POWER(self,event,state,shift,cntrl):
if state:
ACTION.SET_MACHINE_STATE(False)
def on_keycall_ABORT(self,event,state,shift,cntrl):
if state:
ACTION.ABORT()
def on_keycall_HOME(self,event,state,shift,cntrl):
if state and not STATUS.is_all_homed() and self.use_keyboard():
ACTION.SET_MACHINE_HOMING(-1)
def on_keycall_pause(self,event,state,shift,cntrl):
if state and STATUS.is_auto_mode() and self.use_keyboard():
ACTION.PAUSE()
def on_keycall_XPOS(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 0, 1, shift)
def on_keycall_XNEG(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 0, -1, shift)
def on_keycall_YPOS(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 1, 1, shift)
def on_keycall_YNEG(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 1, -1, shift)
def on_keycall_ZPOS(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 2, 1, shift)
def on_keycall_ZNEG(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 2, -1, shift)
def on_keycall_APOS(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 3, 1, shift, False)
def on_keycall_ANEG(self,event,state,shift,cntrl):
if self.use_keyboard() and not self.w.btn_keyboard.isChecked():
self.kb_jog(state, 3, -1, shift, False)
def on_keycall_F12(self,event,state,shift,cntrl):
if state:
STYLEEDITOR.load_dialog()
##############################
# required class boiler code #
##############################
def __getitem__(self, item):
return getattr(self, item)
def __setitem__(self, item, value):
return setattr(self, item, value)
################################
# required handler boiler code #
################################
def get_handlers(halcomp, widgets, paths):
return [HandlerClass(halcomp, widgets, paths)]