# This is a component of AXIS, a front-end for emc # Copyright 2004, 2005, 2006 Jeff Epler # # This program 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. # # This program 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. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. from rs274 import Translated, ArcsToSegmentsMixin, OpenGLTk from OpenGL.GL import * from OpenGL.GLU import * import math import hershey import linuxcnc import array import gcode import os import re from functools import reduce def minmax(*args): return min(*args), max(*args) allhomedicon = array.array('B', [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x20, 0x08, 0x20, 0x08, 0x20, 0x08, 0x20, 0x08, 0x20, 0x0f, 0xe0, 0x08, 0x20, 0x08, 0x20, 0x08, 0x20, 0x08, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) somelimiticon = array.array('B', [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xc0, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]) homeicon = array.array('B', [0x2, 0x00, 0x02, 0x00, 0x02, 0x00, 0x0f, 0x80, 0x1e, 0x40, 0x3e, 0x20, 0x3e, 0x20, 0x3e, 0x20, 0xff, 0xf8, 0x23, 0xe0, 0x23, 0xe0, 0x23, 0xe0, 0x13, 0xc0, 0x0f, 0x80, 0x02, 0x00, 0x02, 0x00]) limiticon = array.array('B', [ 0, 0, 128, 0, 134, 0, 140, 0, 152, 0, 176, 0, 255, 255, 255, 255, 176, 0, 152, 0, 140, 0, 134, 0, 128, 0, 0, 0, 0, 0, 0, 0]) class GLCanon(Translated, ArcsToSegmentsMixin): lineno = -1 def __init__(self, colors, geometry, is_foam=0): # traverse list of tuples - [(line number, (start position), (end position), (tlo x, tlo y, tlo z))] self.traverse = []; self.traverse_append = self.traverse.append # feed list of tuples - [(line number, (start position), (end position), feedrate, (tlo x, tlo y, tlo z))] self.feed = []; self.feed_append = self.feed.append # arcfeed list of tuples - [(line number, (start position), (end position), feedrate, (tlo x, tlo y, tlo z))] self.arcfeed = []; self.arcfeed_append = self.arcfeed.append # dwell list - [line number, color, pos x, pos y, pos z, plane] self.dwells = []; self.dwells_append = self.dwells.append self.tool_list = [] # preview list - combines the unrotated points of the lists: self.traverse, self.feed, self.arcfeed self.preview_zero_rxy = [] self.choice = None self.feedrate = 1 self.lo = (0,) * 9 self.first_move = True self.geometry = geometry # min and max extents - the largest bounding box around the currently displayed preview # bounding box is parallel to the machine axes self.min_extents = [9e99,9e99,9e99] self.max_extents = [-9e99,-9e99,-9e99] self.min_extents_notool = [9e99,9e99,9e99] self.max_extents_notool = [-9e99,-9e99,-9e99] # min and max extents at zero rotation - the largest bounding box around the preview # after unrotating it by the amount of current g5x offset XY rotation # bounding box is parallel to the machine axes. If the box is rotated by the g5x offset XY rotation amount # it can be used to give a more accurate visual of where the cut will occur self.min_extents_zero_rxy = [9e99,9e99,9e99] self.max_extents_zero_rxy = [-9e99,-9e99,-9e99] self.min_extents_notool_zero_rxy = [9e99,9e99,9e99] self.max_extents_notool_zero_rxy = [-9e99,-9e99,-9e99] self.colors = colors self.in_arc = 0 self.xo = self.yo = self.zo = self.ao = self.bo = self.co = self.uo = self.vo = self.wo = 0 self.dwell_time = 0 self.suppress = 0 self.g92_offset_x = 0.0 self.g92_offset_y = 0.0 self.g92_offset_z = 0.0 self.g92_offset_a = 0.0 self.g92_offset_b = 0.0 self.g92_offset_c = 0.0 self.g92_offset_u = 0.0 self.g92_offset_v = 0.0 self.g92_offset_w = 0.0 self.g5x_index = 1 self.g5x_offset_x = 0.0 self.g5x_offset_y = 0.0 self.g5x_offset_z = 0.0 self.g5x_offset_a = 0.0 self.g5x_offset_b = 0.0 self.g5x_offset_c = 0.0 self.g5x_offset_u = 0.0 self.g5x_offset_v = 0.0 self.g5x_offset_w = 0.0 self.is_foam = is_foam self.foam_z = 0 self.foam_w = 1.5 self.notify = 0 self.notify_message = "" self.highlight_line = None def comment(self, arg): if arg.startswith("AXIS,") or arg.startswith("PREVIEW,"): parts = arg.split(",") command = parts[1] if command == "stop": raise KeyboardInterrupt if command == "hide": self.suppress += 1 if command == "show": self.suppress -= 1 if command == "XY_Z_POS": if len(parts) > 2 : try: self.foam_z = float(parts[2]) if 210 in self.state.gcodes: self.foam_z = self.foam_z / 25.4 except: self.foam_z = 5.0/25.4 if command == "UV_Z_POS": if len(parts) > 2 : try: self.foam_w = float(parts[2]) if 210 in self.state.gcodes: self.foam_w = self.foam_w / 25.4 except: self.foam_w = 30.0 if command == "notify": self.notify = self.notify + 1 self.notify_message = "(AXIS,notify):" + str(self.notify) if len(parts) > 2: if len(parts[2]): self.notify_message = parts[2] def message(self, message): pass def check_abort(self): pass def next_line(self, st): self.state = st self.lineno = self.state.sequence_number def draw_lines(self, lines, for_selection, j=0, geometry=None): return linuxcnc.draw_lines(geometry or self.geometry, lines, for_selection) def colored_lines(self, color, lines, for_selection, j=0): if self.is_foam: if not for_selection: self.color_with_alpha(color + "_xy") glPushMatrix() glTranslatef(0, 0, self.foam_z) self.draw_lines(lines, for_selection, 2*j, 'XY') glPopMatrix() if not for_selection: self.color_with_alpha(color + "_uv") glPushMatrix() glTranslatef(0, 0, self.foam_w) self.draw_lines(lines, for_selection, 2*j+len(lines), 'UV') glPopMatrix() else: if not for_selection: self.color_with_alpha(color) self.draw_lines(lines, for_selection, j) def draw_dwells(self, dwells, alpha, for_selection, j0=0): return linuxcnc.draw_dwells(self.geometry, dwells, alpha, for_selection, self.is_lathe()) def calc_extents(self): # in the event of a "blank" gcode file (M2 only for example) this sets each of the extents to [0,0,0] # to prevent passing the very large [9e99,9e99,9e99] values and populating the gcode properties with # unusably large values. Some screens use the extents information to set the view distance so 0 values are preferred. if not self.arcfeed and not self.feed and not self.traverse: self.min_extents = \ self.max_extents = \ self.min_extents_notool = \ self.max_extents_notool = \ self.min_extents_zero_rxy = \ self.max_extents_zero_rxy = \ self.min_extents_notool_zero_rxy = \ self.max_extents_notool_zero_rxy = [0,0,0] return self.min_extents, self.max_extents, self.min_extents_notool, self.max_extents_notool = gcode.calc_extents(self.arcfeed, self.feed, self.traverse) self.unrotate_preview() self.min_extents_zero_rxy, self.max_extents_zero_rxy, self.min_extents_notool_zero_rxy, self.max_extents_notool_zero_rxy = gcode.calc_extents(self.preview_zero_rxy) if self.is_foam: min_z = min(self.foam_z, self.foam_w) max_z = max(self.foam_z, self.foam_w) self.min_extents = self.min_extents[0], self.min_extents[1], min_z self.max_extents = self.max_extents[0], self.max_extents[1], max_z self.min_extents_notool = \ self.min_extents_notool[0], self.min_extents_notool[1], min_z self.max_extents_notool = \ self.max_extents_notool[0], self.max_extents_notool[1], max_z # unrotates the current preview points defined by self.feed, self.arcfeed, self.traverse # by the current rotation_xy amount and populates self.preview_zero_rxy. Because this is # only used to calculate the extents and not to draw to the screen, this can all be contained in the same list. def unrotate_preview(self): angle = math.radians(-self.rotation_xy) cos = math.cos(angle) sin = math.sin(angle) g5x_x = self.g5x_offset_x g5x_y = self.g5x_offset_y for list in self.feed, self.arcfeed: for linenum, start, end, feed, tooloffset in list: tsx = start[0] - g5x_x tsy = start[1] - g5x_y tex = end[0] - g5x_x tey = end[1] - g5x_y rsx = (tsx * cos) - (tsy * sin) + g5x_x rsy = (tsx * sin) + (tsy * cos) + g5x_y rex = (tex * cos) - (tey * sin) + g5x_x rey = (tex * sin) + (tey * cos) + g5x_y self.preview_zero_rxy.append((linenum, (rsx, rsy) + start[2:], (rex, rey) + end[2:], feed, tooloffset)) for linenum, start, end, tooloffset in self.traverse: tsx = start[0] - g5x_x tsy = start[1] - g5x_y tex = end[0] - g5x_x tey = end[1] - g5x_y rsx = (tsx * cos) - (tsy * sin) + g5x_x rsy = (tsx * sin) + (tsy * cos) + g5x_y rex = (tex * cos) - (tey * sin) + g5x_x rey = (tex * sin) + (tey * cos) + g5x_y self.preview_zero_rxy.append((linenum, (rsx, rsy) + start[2:], (rex, rey) + end[2:], tooloffset)) def tool_offset(self, xo, yo, zo, ao, bo, co, uo, vo, wo): self.first_move = True x, y, z, a, b, c, u, v, w = self.lo self.lo = (x - xo + self.xo, y - yo + self.yo, z - zo + self.zo, a - ao + self.ao, b - bo + self.bo, c - bo + self.bo, u - uo + self.uo, v - vo + self.vo, w - wo + self.wo) self.xo = xo self.yo = yo self.zo = zo self.ao = ao self.bo = bo self.co = co self.uo = uo self.vo = vo self.wo = wo def set_spindle_rate(self, arg): pass def set_feed_rate(self, arg): self.feedrate = arg / 60. def select_plane(self, arg): pass def change_tool(self, arg): self.first_move = True try: self.tool_list.append(arg) except Exception as e: print(e) def straight_traverse(self, x,y,z, a,b,c, u,v,w): if self.suppress > 0: return l = self.rotate_and_translate(x,y,z,a,b,c,u,v,w) if not self.first_move: self.traverse_append((self.lineno, self.lo, l, (self.xo, self.yo, self.zo))) self.lo = l def rigid_tap(self, x, y, z): if self.suppress > 0: return self.first_move = False l = self.rotate_and_translate(x,y,z,0,0,0,0,0,0)[:3] l += (self.lo[3], self.lo[4], self.lo[5], self.lo[6], self.lo[7], self.lo[8]) self.feed_append((self.lineno, self.lo, l, self.feedrate, (self.xo, self.yo, self.zo))) # self.dwells_append((self.lineno, self.colors['dwell'], x + self.offset_x, y + self.offset_y, z + self.offset_z, 0)) self.feed_append((self.lineno, l, self.lo, self.feedrate, (self.xo, self.yo, self.zo))) def arc_feed(self, *args): if self.suppress > 0: return self.first_move = False self.in_arc = True try: ArcsToSegmentsMixin.arc_feed(self, *args) finally: self.in_arc = False def straight_arcsegments(self, segs): self.first_move = False lo = self.lo lineno = self.lineno feedrate = self.feedrate to = (self.xo, self.yo, self.zo) append = self.arcfeed_append for l in segs: append((lineno, lo, l, feedrate, to)) lo = l self.lo = lo def straight_feed(self, x,y,z, a,b,c, u,v,w): if self.suppress > 0: return self.first_move = False l = self.rotate_and_translate(x,y,z,a,b,c,u,v,w) self.feed_append((self.lineno, self.lo, l, self.feedrate, (self.xo, self.yo, self.zo))) self.lo = l straight_probe = straight_feed def user_defined_function(self, i, p, q): if self.suppress > 0: return color = self.colors['m1xx'] self.dwells_append((self.lineno, color, self.lo[0], self.lo[1], self.lo[2], int(self.state.plane/10-17))) def dwell(self, arg): if self.suppress > 0: return self.dwell_time += arg color = self.colors['dwell'] self.dwells_append((self.lineno, color, self.lo[0], self.lo[1], self.lo[2], int(self.state.plane/10-17))) def highlight(self, lineno, geometry): glLineWidth(3) c = self.colors['selected'] glColor3f(*c) glBegin(GL_LINES) coords = [] for line in self.traverse: if line[0] != lineno: continue linuxcnc.line9(geometry, line[1], line[2]) coords.append(line[1][:3]) coords.append(line[2][:3]) for line in self.arcfeed: if line[0] != lineno: continue linuxcnc.line9(geometry, line[1], line[2]) coords.append(line[1][:3]) coords.append(line[2][:3]) for line in self.feed: if line[0] != lineno: continue linuxcnc.line9(geometry, line[1], line[2]) coords.append(line[1][:3]) coords.append(line[2][:3]) glEnd() for line in self.dwells: if line[0] != lineno: continue self.draw_dwells([(line[0], c) + line[2:]], 2, 0) coords.append(line[2:5]) glLineWidth(1) if coords: x = reduce(lambda x,y:x+y, [c[0] for c in coords]) / len(coords) y = reduce(lambda x,y:x+y, [c[1] for c in coords]) / len(coords) z = reduce(lambda x,y:x+y, [c[2] for c in coords]) / len(coords) else: x = (self.min_extents[0] + self.max_extents[0])/2 y = (self.min_extents[1] + self.max_extents[1])/2 z = (self.min_extents[2] + self.max_extents[2])/2 return x, y, z def color_with_alpha(self, name): glColor4f(*(self.colors[name] + (self.colors.get(name+'_alpha', 1/3.),))) def color(self, name): glColor3f(*self.colors[name]) def draw(self, for_selection=0, no_traverse=True): if not no_traverse: self.colored_lines('traverse', self.traverse, for_selection) else: self.colored_lines('straight_feed', self.feed, for_selection, len(self.traverse)) self.colored_lines('arc_feed', self.arcfeed, for_selection, len(self.traverse) + len(self.feed)) glLineWidth(2) self.draw_dwells(self.dwells, int(self.colors.get('dwell_alpha', 1/3.)), for_selection, len(self.traverse) + len(self.feed) + len(self.arcfeed)) glLineWidth(1) def with_context(f): def inner(self, *args, **kw): self.activate() try: return f(self, *args, **kw) finally: self.deactivate() return inner def with_context_swap(f): def inner(self, *args, **kw): self.activate() try: return f(self, *args, **kw) finally: self.swapbuffers() self.deactivate() return inner class GlCanonDraw: colors = { 'traverse': (0.30, 0.50, 0.50), 'traverse_alpha': 1/3., 'traverse_xy': (0.30, 0.50, 0.50), 'traverse_alpha_xy': 1/3., 'traverse_uv': (0.30, 0.50, 0.50), 'traverse_alpha_uv': 1/3., 'backplotprobing_alpha': 0.75, 'backplotprobing': (0.63, 0.13, 0.94), 'backplottraverse': (0.30, 0.50, 0.50), 'label_ok': (1.00, 0.51, 0.53), 'backplotjog_alpha': 0.75, 'tool_diffuse': (0.60, 0.60, 0.60), 'backplotfeed': (0.75, 0.25, 0.25), 'back': (0.00, 0.00, 0.00), 'lathetool_alpha': 0.10, 'axis_x': (0.20, 1.00, 0.20), 'cone': (1.00, 1.00, 1.00), 'cone_xy': (0.00, 1.00, 0.00), 'cone_uv': (0.00, 0.00, 1.00), 'axis_z': (0.20, 0.20, 1.00), 'label_limit': (1.00, 0.21, 0.23), 'backplotjog': (1.00, 1.00, 0.00), 'selected': (0.00, 1.00, 1.00), 'lathetool': (0.80, 0.80, 0.80), 'dwell': (1.00, 0.50, 0.50), 'overlay_foreground': (1.00, 1.00, 1.00), 'overlay_background': (0.00, 0.00, 0.00), 'straight_feed': (1.00, 1.00, 1.00), 'straight_feed_alpha': 1/3., 'straight_feed_xy': (0.20, 1.00, 0.20), 'straight_feed_alpha_xy': 1/3., 'straight_feed_uv': (0.20, 0.20, 1.00), 'straight_feed_alpha_uv': 1/3., 'small_origin': (0.00, 1.00, 1.00), 'backplottoolchange_alpha': 0.25, 'backplottraverse_alpha': 0.25, 'overlay_alpha': 0.75, 'tool_ambient': (0.40, 0.40, 0.40), 'tool_alpha': 0.20, 'backplottoolchange': (1.00, 0.65, 0.00), 'backplotarc': (0.75, 0.25, 0.50), 'm1xx': (0.50, 0.50, 1.00), 'backplotfeed_alpha': 0.75, 'backplotarc_alpha': 0.75, 'arc_feed': (1.00, 1.00, 1.00), 'arc_feed_alpha': .5, 'arc_feed_xy': (0.20, 1.00, 0.20), 'arc_feed_alpha_xy': 1/3., 'arc_feed_uv': (0.20, 0.20, 1.00), 'arc_feed_alpha_uv': 1/3., 'axis_y': (1.00, 0.20, 0.20), 'grid': (0.15, 0.15, 0.15), 'limits': (1.0, 0.0, 0.0), } def __init__(self, s=None, lp=None, g=None): self.stat = s self.lp = lp self.canon = g self._dlists = {} self.select_buffer_size = 100 self.cached_tool = -1 self.initialised = 0 self.no_joint_display = False self.kinsmodule = "UNKNOWN" self.trajcoordinates = "unknown" self.dro_in = "% 9.4f" self.dro_mm = "% 9.3f" self.show_overlay = False self.enable_dro = True self.cone_basesize = .5 self.show_small_origin = True try: if os.environ["INI_FILE_NAME"]: self.inifile = linuxcnc.ini(os.environ["INI_FILE_NAME"]) if self.inifile.find("DISPLAY", "DRO_FORMAT_IN"): temp = self.inifile.find("DISPLAY", "DRO_FORMAT_IN") try: test = temp % 1.234 except: print ("Error: invalid [DISPLAY] DRO_FORMAT_IN in INI file") else: self.dro_in = temp if self.inifile.find("DISPLAY", "DRO_FORMAT_MM"): temp = self.inifile.find("DISPLAY", "DRO_FORMAT_MM") try: test = temp % 1.234 except: print ("Error: invalid [DISPLAY] DRO_FORMAT_MM in INI file") else: self.dro_mm = temp self.dro_in = temp size = (self.inifile.find("DISPLAY", "CONE_BASESIZE") or None) if size is not None: self.set_cone_basesize(float(size)) except: # Probably started in an editor so no INI pass def set_cone_basesize(self, size): if size >2 or size < .025: size =.5 self.cone_basesize = size self._redraw() def init_glcanondraw(self,trajcoordinates="XYZABCUVW",kinsmodule="trivkins",msg=""): self.trajcoordinates = trajcoordinates.upper().replace(" ","") self.kinsmodule = kinsmodule self.no_joint_display = self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY if (msg != ""): print("init_glcanondraw %s coords=%s kinsmodule=%s no_joint_display=%d"%( msg,self.trajcoordinates,self.kinsmodule,self.no_joint_display)) g = self.get_geometry().upper() linuxcnc.gui_respect_offsets(self.trajcoordinates,int('!' in g)) geometry_chars = "XYZABCUVW-!;" dupchars = []; badchars = [] for ch in g: if g.count(ch) >1: dupchars.append(ch) if not ch in geometry_chars: badchars.append(ch) if dupchars: print("Warning: duplicate chars %s in geometry: %s"%(dupchars,g)) if badchars: print("Warning: unknown chars %s in geometry: %s"%(badchars,g)) def realize(self): self.hershey = hershey.Hershey() glPixelStorei(GL_UNPACK_ALIGNMENT, 1) self.basic_lighting() self.initialised = 1 def set_canon(self, canon): self.canon = canon @with_context def basic_lighting(self): glLightfv(GL_LIGHT0, GL_POSITION, (1, -1, 1, 0)) glLightfv(GL_LIGHT0, GL_AMBIENT, self.colors['tool_ambient'] + (0,)) glLightfv(GL_LIGHT0, GL_DIFFUSE, self.colors['tool_diffuse'] + (0,)) glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, (1,1,1,0)) glEnable(GL_LIGHTING) glEnable(GL_LIGHT0) glDepthFunc(GL_LESS) glEnable(GL_DEPTH_TEST) glMatrixMode(GL_MODELVIEW) glLoadIdentity() def select(self, x, y): if self.canon is None: return pmatrix = glGetDoublev(GL_PROJECTION_MATRIX) glMatrixMode(GL_PROJECTION) glPushMatrix() glLoadIdentity() vport = glGetIntegerv(GL_VIEWPORT) gluPickMatrix(x, vport[3]-y, 5, 5, vport) glMultMatrixd(pmatrix) glMatrixMode(GL_MODELVIEW) glSelectBuffer(self.select_buffer_size) glRenderMode(GL_SELECT) glInitNames() glPushName(0) if self.get_show_rapids(): glCallList(self.dlist('select_rapids', gen=self.make_selection_list)) glCallList(self.dlist('select_norapids', gen=self.make_selection_list)) try: buffer = glRenderMode(GL_RENDER) except: buffer = [] if buffer: min_depth, max_depth, names = (buffer[0].near, buffer[0].far, buffer[0].names) for x in buffer: if min_depth < x.near: min_depth, max_depth, names = (x.near, x.far, x.names) self.set_highlight_line(names[0]) else: self.set_highlight_line(None) glMatrixMode(GL_PROJECTION) glPopMatrix() glMatrixMode(GL_MODELVIEW) def dlist(self, name, n=1, gen=lambda n: None): if name not in self._dlists: base = glGenLists(n) self._dlists[name] = base, n gen(base) return self._dlists[name][0] def stale_dlist(self, name): if name not in self._dlists: return base, count = self._dlists.pop(name) glDeleteLists(base, count) def __del__(self): for base, count in list(self._dlists.values()): glDeleteLists(base, count) def update_highlight_variable(self,line): self.highlight_line = line def set_current_line(self, line): pass def set_highlight_line(self, line): if line == self.get_highlight_line(): return self.update_highlight_variable(line) highlight = self.dlist('highlight') glNewList(highlight, GL_COMPILE) if line is not None and self.canon is not None: if self.is_foam(): glPushMatrix() glTranslatef(0, 0, self.get_foam_z()) x, y, z = self.canon.highlight(line, "XY") glTranslatef(0, 0, self.get_foam_w()-self.get_foam_z()) u, v, w = self.canon.highlight(line, "UV") glPopMatrix() x = (x+u)/2 y = (y+v)/2 z = (self.get_foam_z() + self.get_foam_w())/2 else: x, y, z = self.canon.highlight(line, self.get_geometry()) elif self.canon is not None: x = (self.canon.min_extents[0] + self.canon.max_extents[0])/2 y = (self.canon.min_extents[1] + self.canon.max_extents[1])/2 z = (self.canon.min_extents[2] + self.canon.max_extents[2])/2 else: x, y, z = 0.0, 0.0, 0.0 glEndList() self.set_centerpoint(x, y, z) @with_context_swap def redraw_perspective(self): w = self.winfo_width() h = self.winfo_height() glViewport(0, 0, w, h) # Clear the background and depth buffer. glClearColor(*(self.colors['back'] + (0,))) glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) glMatrixMode(GL_PROJECTION) glLoadIdentity() gluPerspective(self.fovy, float(w)/float(h), self.near, self.far + self.distance) gluLookAt(0, 0, self.distance, 0, 0, 0, 0., 1., 0.) glMatrixMode(GL_MODELVIEW) glPushMatrix() try: self.redraw() finally: glFlush() # Tidy up glPopMatrix() # Restore the matrix @with_context_swap def redraw_ortho(self): if not self.initialised: return w = self.winfo_width() h = self.winfo_height() glViewport(0, 0, w, h) # Clear the background and depth buffer. glClearColor(*(self.colors['back'] + (0,))) glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) glMatrixMode(GL_PROJECTION) glLoadIdentity() ztran = self.distance k = (abs(ztran or 1)) ** .55555 l = k * h / w glOrtho(-k, k, -l, l, -1000, 1000.) gluLookAt(0, 0, 1, 0, 0, 0, 0., 1., 0.) glMatrixMode(GL_MODELVIEW) glPushMatrix() try: self.redraw() finally: glFlush() # Tidy up glPopMatrix() # Restore the matrix def color_limit(self, cond): if cond: glColor3f(*self.colors['label_limit']) else: glColor3f(*self.colors['label_ok']) return cond def show_extents(self): s = self.stat g = self.canon if g is None: return # Dimensions x,y,z,p = 0,1,2,3 view = self.get_view() is_metric = self.get_show_metric() dimscale = is_metric and 25.4 or 1.0 fmt = is_metric and "%.1f" or "%.2f" machine_limit_min, machine_limit_max = self.soft_limits() pullback = max(g.max_extents[x] - g.min_extents[x], g.max_extents[y] - g.min_extents[y], g.max_extents[z] - g.min_extents[z], 2 ) * .1 dashwidth = pullback/4 charsize = dashwidth * 1.5 halfchar = charsize * .5 if view == z or view == p: z_pos = g.min_extents[z] zdashwidth = 0 else: z_pos = g.min_extents[z] - pullback zdashwidth = dashwidth #draw dimension lines self.color_limit(0) glBegin(GL_LINES) # x dimension if view != x and g.max_extents[x] > g.min_extents[x]: y_pos = g.min_extents[y] - pullback #dimension line glVertex3f(g.min_extents[x], y_pos, z_pos) glVertex3f(g.max_extents[x], y_pos, z_pos) #line perpendicular to dimension line at min extent glVertex3f(g.min_extents[x], y_pos - dashwidth, z_pos - zdashwidth) glVertex3f(g.min_extents[x], y_pos + dashwidth, z_pos + zdashwidth) #line perpendicular to dimension line at max extent glVertex3f(g.max_extents[x], y_pos - dashwidth, z_pos - zdashwidth) glVertex3f(g.max_extents[x], y_pos + dashwidth, z_pos + zdashwidth) # y dimension if view != y and g.max_extents[y] > g.min_extents[y]: x_pos = g.min_extents[x] - pullback #dimension line glVertex3f(x_pos, g.min_extents[y], z_pos) glVertex3f(x_pos, g.max_extents[y], z_pos) #line perpendicular to dimension line at min extent glVertex3f(x_pos - dashwidth, g.min_extents[y], z_pos - zdashwidth) glVertex3f(x_pos + dashwidth, g.min_extents[y], z_pos + zdashwidth) #line perpendicular to dimension line at max extent glVertex3f(x_pos - dashwidth, g.max_extents[y], z_pos - zdashwidth) glVertex3f(x_pos + dashwidth, g.max_extents[y], z_pos + zdashwidth) # z dimension if view != z and g.max_extents[z] > g.min_extents[z]: x_pos = g.min_extents[x] - pullback y_pos = g.min_extents[y] - pullback #dimension line glVertex3f(x_pos, y_pos, g.min_extents[z]) glVertex3f(x_pos, y_pos, g.max_extents[z]) #line perpendicular to dimension line at min extent glVertex3f(x_pos - dashwidth, y_pos - zdashwidth, g.min_extents[z]) glVertex3f(x_pos + dashwidth, y_pos + zdashwidth, g.min_extents[z]) #line perpendicular to dimension line at max extent glVertex3f(x_pos - dashwidth, y_pos - zdashwidth, g.max_extents[z]) glVertex3f(x_pos + dashwidth, y_pos + zdashwidth, g.max_extents[z]) glEnd() # Labels # get_show_relative == True calculates extents from the local origin # get_show_relative == False calculates extents from the machine origin if self.get_show_relative(): offset = self.to_internal_units(s.g5x_offset + s.g92_offset) else: offset = 0, 0, 0 #Z extent labels if view != z and g.max_extents[z] > g.min_extents[z]: if view == x: x_pos = g.min_extents[x] - pullback y_pos = g.min_extents[y] - 6.0*dashwidth else: x_pos = g.min_extents[x] - 6.0*dashwidth y_pos = g.min_extents[y] - pullback #Z MIN extent bbox = self.color_limit(g.min_extents_notool[z] < machine_limit_min[z]) glPushMatrix() f = fmt % ((g.min_extents[z]-offset[z]) * dimscale) glTranslatef(x_pos, y_pos, g.min_extents[z] - halfchar) glScalef(charsize, charsize, charsize) glRotatef(-90, 0, 1, 0) glRotatef(-90, 0, 0, 1) if view != x: glRotatef(-90, 0, 1, 0) self.hershey.plot_string(f, 0, bbox) glPopMatrix() #Z MAX extent bbox = self.color_limit(g.max_extents_notool[z] > machine_limit_max[z]) glPushMatrix() f = fmt % ((g.max_extents[z]-offset[z]) * dimscale) glTranslatef(x_pos, y_pos, g.max_extents[z] - halfchar) glScalef(charsize, charsize, charsize) glRotatef(-90, 0, 1, 0) glRotatef(-90, 0, 0, 1) if view != x: glRotatef(-90, 0, 1, 0) self.hershey.plot_string(f, 0, bbox) glPopMatrix() self.color_limit(0) glPushMatrix() #Z Midpoint f = fmt % ((g.max_extents[z] - g.min_extents[z]) * dimscale) glTranslatef(x_pos, y_pos, (g.max_extents[z] + g.min_extents[z])/2) glScalef(charsize, charsize, charsize) if view != x: glRotatef(-90, 0, 0, 1) glRotatef(-90, 0, 1, 0) self.hershey.plot_string(f, .5, bbox) glPopMatrix() #Y extent labels if view != y and g.max_extents[y] > g.min_extents[y]: x_pos = g.min_extents[x] - 6.0*dashwidth #Y MIN extent bbox = self.color_limit(g.min_extents_notool[y] < machine_limit_min[y]) glPushMatrix() f = fmt % ((g.min_extents[y] - offset[y]) * dimscale) glTranslatef(x_pos, g.min_extents[y] + halfchar, z_pos) glRotatef(-90, 0, 0, 1) glRotatef(-90, 0, 0, 1) if view == x: glRotatef(90, 0, 1, 0) glTranslatef(dashwidth*1.5, 0, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, 0, bbox) glPopMatrix() #Y MAX extent bbox = self.color_limit(g.max_extents_notool[y] > machine_limit_max[y]) glPushMatrix() f = fmt % ((g.max_extents[y] - offset[y]) * dimscale) glTranslatef(x_pos, g.max_extents[y] + halfchar, z_pos) glRotatef(-90, 0, 0, 1) glRotatef(-90, 0, 0, 1) if view == x: glRotatef(90, 0, 1, 0) glTranslatef(dashwidth*1.5, 0, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, 0, bbox) glPopMatrix() self.color_limit(0) glPushMatrix() #Y midpoint f = fmt % ((g.max_extents[y] - g.min_extents[y]) * dimscale) glTranslatef(x_pos, (g.max_extents[y] + g.min_extents[y])/2, z_pos) glRotatef(-90, 0, 0, 1) if view == x: glRotatef(-90, 1, 0, 0) glTranslatef(0, halfchar, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, .5) glPopMatrix() #X extent labels if view != x and g.max_extents[x] > g.min_extents[x]: y_pos = g.min_extents[y] - 6.0*dashwidth #X MIN extent bbox = self.color_limit(g.min_extents_notool[x] < machine_limit_min[x]) glPushMatrix() f = fmt % ((g.min_extents[x] - offset[x]) * dimscale) glTranslatef(g.min_extents[x] - halfchar, y_pos, z_pos) glRotatef(-90, 0, 0, 1) if view == y: glRotatef(90, 0, 1, 0) glTranslatef(dashwidth*1.5, 0, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, 0, bbox) glPopMatrix() #X MAX extent bbox = self.color_limit(g.max_extents_notool[x] > machine_limit_max[x]) glPushMatrix() f = fmt % ((g.max_extents[x] - offset[x]) * dimscale) glTranslatef(g.max_extents[x] - halfchar, y_pos, z_pos) glRotatef(-90, 0, 0, 1) if view == y: glRotatef(90, 0, 1, 0) glTranslatef(dashwidth*1.5, 0, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, 0, bbox) glPopMatrix() self.color_limit(0) glPushMatrix() #X midpoint f = fmt % ((g.max_extents[x] - g.min_extents[x]) * dimscale) glTranslatef((g.max_extents[x] + g.min_extents[x])/2, y_pos, z_pos) if view == y: glRotatef(-90, 1, 0, 0) glTranslatef(0, halfchar, 0) glScalef(charsize, charsize, charsize) self.hershey.plot_string(f, .5) glPopMatrix() def to_internal_linear_unit(self, v, unit=None): if unit is None: unit = self.stat.linear_units lu = (unit or 1) * 25.4 return v/lu def to_internal_units(self, pos, unit=None): if unit is None: unit = self.stat.linear_units lu = (unit or 1) * 25.4 lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu] return [a/b for a, b in zip(pos, lus)] def soft_limits(self): def fudge(x): if abs(x) > 1e30: return 0 return x ax = self.stat.axis return ( self.to_internal_units([fudge(ax[i]['min_position_limit']) for i in range(3)]), self.to_internal_units([fudge(ax[i]['max_position_limit']) for i in range(3)])) def get_foam_z(self): if self.canon: return self.canon.foam_z return 0 def get_foam_w(self): if self.canon: return self.canon.foam_w return 1.5 def get_grid(self): if self.canon and self.canon.grid: return self.canon.grid return 5./25.4 def comp(self, sx_sy, cx_cy): (sx, sy) = sx_sy (cx, cy) = cx_cy return -(sx*cx + sy*cy) / (sx*sx + sy*sy) def param(self, x1_y1, dx1_dy1, x3_y3, dx3_dy3): (x1, y1) = x1_y1 (dx1, dy1) = dx1_dy1 (x3, y3) = x3_y3 (dx3, dy3) = dx3_dy3 den = (dy3)*(dx1) - (dx3)*(dy1) if den == 0: return 0 num = (dx3)*(y1-y3) - (dy3)*(x1-x3) return num * 1. / den def draw_grid_lines(self, space, ox_oy, dx_dy, lim_min, lim_max, inverse_permutation): # draw a series of line segments of the form # dx(x-ox) + dy(y-oy) + k*space = 0 # for integers k that intersect the AABB [lim_min, lim_max] (ox, oy) = ox_oy (dx, dy) = dx_dy lim_pts = [ (lim_min[0], lim_min[1]), (lim_max[0], lim_min[1]), (lim_min[0], lim_max[1]), (lim_max[0], lim_max[1])] od = self.comp((dy, -dx), (ox, oy)) d0, d1 = minmax(*(self.comp((dy, -dx), i)-od for i in lim_pts)) k0 = int(math.ceil(d0/space)) k1 = int(math.floor(d1/space)) delta = (dx, dy) for k in range(k0, k1+1): d = k*space # Now we're drawing the line dx(x-ox) + dx(y-oy) + d = 0 p0 = (ox - dy * d, oy + dx * d) # which is the same as the line p0 + u * delta # but we only want the part that's inside the box lim_pts... if dx and dy: times = [ self.param(p0, delta, lim_min[:2], (0, 1)), self.param(p0, delta, lim_min[:2], (1, 0)), self.param(p0, delta, lim_max[:2], (0, 1)), self.param(p0, delta, lim_max[:2], (1, 0))] times.sort() t0, t1 = times[1], times[2] # Take the middle two times elif dx: times = [ self.param(p0, delta, lim_min[:2], (0, 1)), self.param(p0, delta, lim_max[:2], (0, 1))] times.sort() t0, t1 = times[0], times[1] # Take the only two times else: times = [ self.param(p0, delta, lim_min[:2], (1, 0)), self.param(p0, delta, lim_max[:2], (1, 0))] times.sort() t0, t1 = times[0], times[1] # Take the only two times x0, y0 = p0[0] + delta[0]*t0, p0[1] + delta[1]*t0 x1, y1 = p0[0] + delta[0]*t1, p0[1] + delta[1]*t1 xm, ym = (x0+x1)/2, (y0+y1)/2 # The computation of k0 and k1 above should mean that # the lines are always in the limits, but I observed # that this wasn't always the case... #if xm < lim_min[0] or xm > lim_max[0]: continue #if ym < lim_min[1] or ym > lim_max[1]: continue glVertex3f(*inverse_permutation((x0, y0, lim_min[2]))) glVertex3f(*inverse_permutation((x1, y1, lim_min[2]))) def draw_grid_permuted(self, rotation, permutation, inverse_permutation): grid_size=self.get_grid_size() if not grid_size: return glLineWidth(1) glColor3f(*self.colors['grid']) s = self.stat tlo_offset = permutation(self.to_internal_units(s.tool_offset)[:3]) g5x_offset = permutation(self.to_internal_units(s.g5x_offset)[:3])[:2] g92_offset = permutation(self.to_internal_units(s.g92_offset)[:3])[:2] lim_min, lim_max = self.soft_limits() lim_min = permutation(lim_min) lim_max = permutation(lim_max) lim_min = tuple(a-b for a,b in zip(lim_min, tlo_offset)) lim_max = tuple(a-b for a,b in zip(lim_max, tlo_offset)) lim_pts = ( (lim_min[0], lim_min[1]), (lim_max[0], lim_min[1]), (lim_min[0], lim_max[1]), (lim_max[0], lim_max[1])) if self.get_show_relative(): cos_rot = math.cos(rotation) sin_rot = math.sin(rotation) offset = ( g5x_offset[0] + g92_offset[0] * cos_rot - g92_offset[1] * sin_rot, g5x_offset[1] + g92_offset[0] * sin_rot + g92_offset[1] * cos_rot) else: offset = 0., 0. cos_rot = 1. sin_rot = 0. glDepthMask(False) glBegin(GL_LINES) self.draw_grid_lines(grid_size, offset, (cos_rot, sin_rot), lim_min, lim_max, inverse_permutation) self.draw_grid_lines(grid_size, offset, (sin_rot, -cos_rot), lim_min, lim_max, inverse_permutation) glEnd() glDepthMask(True) def draw_grid(self): x,y,z,p = 0,1,2,3 view = self.get_view() if view == p: return rotation = math.radians(self.stat.rotation_xy % 90) if rotation != 0 and view != z and self.get_show_relative(): return permutations = [ lambda x_y_z: (x_y_z[2], x_y_z[1], x_y_z[0]), # YZ X lambda x_y_z1: (x_y_z1[2], x_y_z1[0], x_y_z1[1]), # ZX Y lambda x_y_z2: (x_y_z2[0], x_y_z2[1], x_y_z2[2]), # XY Z ] inverse_permutations = [ lambda z_y_x: (z_y_x[2], z_y_x[1], z_y_x[0]), # YZ X lambda z_x_y: (z_x_y[1], z_x_y[2], z_x_y[0]), # ZX Y lambda x_y_z3: (x_y_z3[0], x_y_z3[1], x_y_z3[2]), # XY Z ] self.draw_grid_permuted(rotation, permutations[view], inverse_permutations[view]) def all_joints_homed(self): for i in range (self.stat.joints): if not self.stat.homed[i]: return False return True def one_or_more_on_limit(self): for i in range (self.stat.joints): if self.stat.limit[i]: return True return False def idx_for_home_or_limit_icon(self,string): # parse posstr and return encoded idx # Note: for non-identity kinematics after homing, # axis coordinate letters are displayed and home # or limit conditions are displayed using # allhomedicon and somelimiticon # special case for extra joints after homing: # allow display of individual joint limit icons if ( (not self.get_joints_mode()) and ("EJ" in string) ): # parse extra joint number: return int(string.replace(" ","").split(":")[0].split("EJ")[1]) if ( self.get_joints_mode() and (self.stat.kinematics_type != linuxcnc.KINEMATICS_IDENTITY) ): jnum = int(string.replace(" ","").split(":")[0]) return jnum if ( ("Vel" in string) or ("G5" in string) or ("TL" in string) or (len(string) == 0) ): return -1 # no icon display aletter = string.replace(" ","").split(":")[0] ans = 0 if ( aletter in ["X","Y","Z","A","B","C","U","V","W","Rad","Dia"] and self.stat.kinematics_type != linuxcnc.KINEMATICS_IDENTITY ): if self.all_joints_homed(): ans = ans -2 # allhomeicon on all letters if self.one_or_more_on_limit(): ans = ans -4 # limitedicon on all letters if (ans < 0): return ans # -2,-4,-6 if (aletter == "DTG"): return -1 if (aletter == "Rad"): return 0 if (aletter == "Dia"): return 0 if self.lathe_historical_config(self.trajcoordinates): if (aletter == "Z"): return 2 # Z for historical lathe return 0 # Rad or Dia if ( aletter in ["X","Y","Z","A","B","C","U","V","W"] and self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY ): return self.jnum_for_aletter(aletter, self.kinsmodule, self.trajcoordinates) else: return -1 # no icon display def show_icon_init(self): self.show_icon_home_list = [] self.show_icon_limit_list = [] def show_icon(self,idx,icon): # only show icon once for idx for home,limit icons # accommodates hal_gremlin override format_dro() # and prevents display for both Rad and Dia if icon is homeicon: if idx in self.show_icon_home_list: return self.show_icon_home_list.append(idx) if icon is limiticon: if idx in self.show_icon_limit_list: return self.show_icon_limit_list.append(idx) glBitmap(13, 16, 0, 3, 17, 0, icon.tobytes()) def redraw(self): s = self.stat s.poll() linuxcnc.gui_rot_offsets(s.g5x_offset[0] + s.g92_offset[0], s.g5x_offset[1] + s.g92_offset[1], s.g5x_offset[2] + s.g92_offset[2]) machine_limit_min, machine_limit_max = self.soft_limits() glDisable(GL_LIGHTING) glMatrixMode(GL_MODELVIEW) self.draw_grid() if self.get_show_program(): if self.get_program_alpha(): glDisable(GL_DEPTH_TEST) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) if self.get_show_rapids(): glCallList(self.dlist('program_rapids', gen=self.make_main_list)) glCallList(self.dlist('program_norapids', gen=self.make_main_list)) glCallList(self.dlist('highlight')) if self.get_program_alpha(): glDisable(GL_BLEND) glEnable(GL_DEPTH_TEST) if self.get_show_extents(): self.show_extents() try: self.user_plot() except: pass if self.get_show_live_plot() or self.get_show_program(): alist = self.dlist(('axes', self.get_view()), gen=self.draw_axes) glPushMatrix() if self.get_show_relative() and (s.g5x_offset[0] or s.g5x_offset[1] or s.g5x_offset[2] or s.g92_offset[0] or s.g92_offset[1] or s.g92_offset[2] or s.rotation_xy): olist = self.dlist('draw_small_origin', gen=self.draw_small_origin) if self.show_small_origin: glCallList(olist) g5x_offset = self.to_internal_units(s.g5x_offset)[:3] g92_offset = self.to_internal_units(s.g92_offset)[:3] if self.get_show_offsets() and (g5x_offset[0] or g5x_offset[1] or g5x_offset[2]): glBegin(GL_LINES) glVertex3f(0,0,0) glVertex3f(*g5x_offset) glEnd() i = s.g5x_index if i<7: label = "G5%d" % (i+3) else: label = "G59.%d" % (i-6) glPushMatrix() glScalef(0.2,0.2,0.2) if self.is_lathe(): g5xrot=math.atan2(g5x_offset[0], -g5x_offset[2]) glRotatef(90, 1, 0, 0) glRotatef(-90, 0, 0, 1) else: g5xrot=math.atan2(g5x_offset[1], g5x_offset[0]) glRotatef(math.degrees(g5xrot), 0, 0, 1) glTranslatef(0.5, 0.5, 0) self.hershey.plot_string(label, 0.1) glPopMatrix() glTranslatef(*g5x_offset) glRotatef(s.rotation_xy, 0, 0, 1) if self.get_show_offsets() and (g92_offset[0] or g92_offset[1] or g92_offset[2]): glBegin(GL_LINES) glVertex3f(0,0,0) glVertex3f(*g92_offset) glEnd() glPushMatrix() glScalef(0.2,0.2,0.2) if self.is_lathe(): g92rot=math.atan2(g92_offset[0], -g92_offset[2]) glRotatef(90, 1, 0, 0) glRotatef(-90, 0, 0, 1) else: g92rot=math.atan2(g92_offset[1], g92_offset[0]) glRotatef(math.degrees(g92rot), 0, 0, 1) glTranslatef(0.5, 0.5, 0) self.hershey.plot_string("G92", 0.1) glPopMatrix() glTranslatef(*g92_offset) if self.is_foam(): glTranslatef(0, 0, self.get_foam_z()) glCallList(alist) uwalist = self.dlist(('axes_uw', self.get_view()), gen=lambda n: self.draw_axes(n, 'UVW')) glTranslatef(0, 0, self.get_foam_w()-self.get_foam_z()) glCallList(uwalist) else: glCallList(alist) glPopMatrix() if self.get_show_limits(): glTranslatef(*[-x for x in self.to_internal_units(s.tool_offset)[:3]]) glLineWidth(1) glColor3f(*self.colors['limits']) glBegin(GL_LINES) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_max[2]) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_max[2]) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_min[2]) glVertex3f(machine_limit_min[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_max[1], machine_limit_max[2]) glVertex3f(machine_limit_min[0], machine_limit_min[1], machine_limit_max[2]) glVertex3f(machine_limit_max[0], machine_limit_min[1], machine_limit_max[2]) glEnd() glTranslatef(*self.to_internal_units(s.tool_offset)[:3]) if self.get_show_live_plot(): glDepthFunc(GL_LEQUAL) glLineWidth(3) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) glEnable(GL_BLEND) glPushMatrix() lu = 1/((s.linear_units or 1)*25.4) glScalef(lu, lu, lu) glMatrixMode(GL_PROJECTION) glPushMatrix() glTranslatef(0,0,.003) self.lp.call() glPopMatrix() glMatrixMode(GL_MODELVIEW) glPopMatrix() glDisable(GL_BLEND) glLineWidth(1) glDepthFunc(GL_LESS) if self.get_show_tool(): pos = self.lp.last(self.get_show_live_plot()) if pos is None: pos = [0] * 6 rx, ry, rz = pos[3:6] pos = self.to_internal_units(pos[:3]) if self.is_foam(): glEnable(GL_COLOR_MATERIAL) glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE) glPushMatrix() glTranslatef(pos[0], pos[1], self.get_foam_z()) glRotatef(180, 1, 0, 0) cone = self.dlist("cone", gen=self.make_cone) glColor3f(*self.colors['cone_xy']) glCallList(cone) glPopMatrix() u = self.to_internal_linear_unit(rx) v = self.to_internal_linear_unit(ry) glPushMatrix() glTranslatef(u, v, self.get_foam_w()) glColor3f(*self.colors['cone_uv']) glCallList(cone) glPopMatrix() else: glPushMatrix() glTranslatef(*pos) sign = 1 g = re.split(" *(-?[XYZABCUVW])", self.get_geometry()) g = "".join(reversed(g)) for ch in g: # Apply in original non-reversed GEOMETRY order if ch == '-': sign = -1 elif ch == 'A': glRotatef(rx*sign, 1, 0, 0) sign = 1 elif ch == 'B': glRotatef(ry*sign, 0, 1, 0) sign = 1 elif ch == 'C': glRotatef(rz*sign, 0, 0, 1) sign = 1 else: sign = 1 # reset sign for non-rotational axis "XYZUVW" glEnable(GL_BLEND) glEnable(GL_CULL_FACE) glBlendFunc(GL_ONE, GL_CONSTANT_ALPHA) current_tool = self.get_current_tool() if current_tool is None or current_tool.diameter == 0: if self.canon: g = self.canon x,y,z = 0,1,2 cone_scale = max(g.max_extents[x] - g.min_extents[x], g.max_extents[y] - g.min_extents[y], g.max_extents[z] - g.min_extents[z], 2 ) * self.cone_basesize else: cone_scale = 1 if self.is_lathe(): glRotatef(90, 0, 1, 0) # if Rotation = 180 - back tool if self.stat.rotation_xy == 180: glRotatef(180, 1, 0, 0) cone = self.dlist("cone", gen=self.make_cone) glScalef(cone_scale, cone_scale, cone_scale) glColor3f(*self.colors['cone']) glCallList(cone) else: if current_tool != self.cached_tool: self.cache_tool(current_tool) glColor3f(*self.colors['cone']) glCallList(self.dlist('tool')) glPopMatrix() glMatrixMode(GL_PROJECTION) glPushMatrix() glLoadIdentity() ypos = self.winfo_height() glOrtho(0.0, self.winfo_width(), 0.0, ypos, -1.0, 1.0) glMatrixMode(GL_MODELVIEW) glPushMatrix() glLoadIdentity() limit, homed, posstrs, droposstrs = self.posstrs() charwidth, linespace, base = self.get_font_info() maxlen = max([len(p) for p in posstrs]) pixel_width = charwidth * max(len(p) for p in posstrs) if self.show_overlay: glDepthFunc(GL_ALWAYS) glDepthMask(GL_FALSE) glEnable(GL_BLEND) glBlendFunc(GL_ONE, GL_CONSTANT_ALPHA) glColor3f(*self.colors['overlay_background']) glBlendColor(0,0,0,1-self.colors['overlay_alpha']) glBegin(GL_QUADS) glVertex3f(0, ypos, 1) glVertex3f(0, ypos - 8 - linespace*len(posstrs), 1) glVertex3f(pixel_width+42, ypos - 8 - linespace*len(posstrs), 1) glVertex3f(pixel_width+42, ypos, 1) glEnd() glDisable(GL_BLEND) maxlen = 0 ypos -= linespace+5 glColor3f(*self.colors['overlay_foreground']) self.show_icon_init() stringstart_xpos = 15 #----------------------------------------------------------------------- if self.get_show_offsets(): thestring = droposstrs else: thestring = posstrs # allows showing/hiding overlay DRO readout if self.enable_dro: self.show_overlay = True for string in thestring: maxlen = max(maxlen, len(string)) glRasterPos2i(stringstart_xpos, ypos) for char in string: glCallList(base + ord(char)) idx = self.idx_for_home_or_limit_icon(string) if (idx == -1): # skip icon display for this line if (len(string) != 0): ypos -= linespace continue glRasterPos2i(0, ypos) if (idx == -2 or idx == -6): # use allhomedicon self.show_icon(idx,allhomedicon) if (idx == -4 or idx == -6): # use somelimiticon self.show_icon(idx,somelimiticon) if (idx <= -2): ypos -= linespace continue if ( self.get_joints_mode() or (self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY) ): if homed[idx]: self.show_icon(idx,homeicon) if limit[idx]: self.show_icon(idx,limiticon) ypos -= linespace continue # extra joint after homing, world mode if ((self.stat.num_extrajoints>0) and (not self.get_joints_mode())): self.show_icon(idx,homeicon) if limit[idx]: self.show_icon(idx,limiticon) ypos -= linespace else: self.show_overlay = False glDepthFunc(GL_LESS) glDepthMask(GL_TRUE) glPopMatrix() glMatrixMode(GL_PROJECTION) glPopMatrix() glMatrixMode(GL_MODELVIEW) def cache_tool(self, current_tool): self.cached_tool = current_tool glNewList(self.dlist('tool'), GL_COMPILE) if self.is_lathe() and current_tool and current_tool.orientation != 0: glBlendColor(0,0,0,self.colors['lathetool_alpha']) self.lathetool(current_tool) else: glBlendColor(0,0,0,self.colors['tool_alpha']) if self.is_lathe(): glRotatef(90, 0, 1, 0) else: dia = current_tool.diameter r = self.to_internal_linear_unit(dia) / 2. q = gluNewQuadric() glEnable(GL_LIGHTING) gluCylinder(q, r, r, 8*r, 32, 1) glPushMatrix() glRotatef(180, 1, 0, 0) gluDisk(q, 0, r, 32, 1) glPopMatrix() glTranslatef(0,0,8*r) gluDisk(q, 0, r, 32, 1) glDisable(GL_LIGHTING) gluDeleteQuadric(q) glEndList() def lathe_historical_config(self,trajcoordinates): # detect historical lathe config with dummy joint 1 if (self.is_lathe() and (trajcoordinates == "XZ") and (self.get_num_joints() == 3)): return True return False def jnum_for_aletter(self,aletter,kinsmodule,trajcoordinates): aletter = aletter.upper() if "trivkins" in kinsmodule: return trajcoordinates.index(aletter) else: try: guess = trajcoordinates.index(aletter) return guess except: return "XYZABCUVW".index(aletter) def posstrs(self): s = self.stat limit = list(s.limit[:]) homed = list(s.homed[:]) spd = self.to_internal_linear_unit(s.current_vel) if not self.get_joints_mode() or self.no_joint_display: if self.get_show_commanded(): positions = s.position else: positions = s.actual_position if self.get_show_relative(): positions = [(i-j) for i, j in zip(positions, s.tool_offset)] positions = [(i-j) for i, j in zip(positions, s.g5x_offset)] t = -s.rotation_xy t = math.radians(t) x = positions[0] y = positions[1] positions[0] = x * math.cos(t) - y * math.sin(t) positions[1] = x * math.sin(t) + y * math.cos(t) positions = [(i-j) for i, j in zip(positions, s.g92_offset)] else: positions = list(positions) if self.get_a_axis_wrapped(): positions[3] = math.fmod(positions[3], 360.0) if positions[3] < 0: positions[3] += 360.0 if self.get_b_axis_wrapped(): positions[4] = math.fmod(positions[4], 360.0) if positions[4] < 0: positions[4] += 360.0 if self.get_c_axis_wrapped(): positions[5] = math.fmod(positions[5], 360.0) if positions[5] < 0: positions[5] += 360.0 positions = self.to_internal_units(positions) axisdtg = self.to_internal_units(s.dtg) g5x_offset = self.to_internal_units(s.g5x_offset) g92_offset = self.to_internal_units(s.g92_offset) tlo_offset = self.to_internal_units(s.tool_offset) dtg = self.to_internal_linear_unit(s.distance_to_go) if self.get_show_metric(): positions = self.from_internal_units(positions, 1) axisdtg = self.from_internal_units(axisdtg, 1) g5x_offset = self.from_internal_units(g5x_offset, 1) g92_offset = self.from_internal_units(g92_offset, 1) tlo_offset = self.from_internal_units(tlo_offset, 1) dtg *= 25.4 spd = spd * 25.4 spd = spd * 60 return self.dro_format(self.stat,spd,dtg,limit,homed,positions, axisdtg,g5x_offset,g92_offset,tlo_offset) else: return self.joint_dro_format(s,spd,self.get_num_joints(),limit, homed) # N.B. no conversion here because joint positions are unitless # joint_mode and display_joint # Note: this is overridden in other guis (then AXIS) for different dro behavior def joint_dro_format(self,s,spd,num_of_joints,limit, homed): posstrs = [" %s:% 9.4f" % i for i in zip(list(range(num_of_joints)), s.joint_actual_position)] droposstrs = posstrs return limit, homed, posstrs, droposstrs # Note: this is overridden in other guis (then AXIS) for different dro behavior def dro_format(self,s,spd,dtg,limit,homed,positions,axisdtg,g5x_offset,g92_offset,tlo_offset): if self.get_show_metric(): format = "% 6s:" + self.dro_mm droformat = " " + format + " DTG %1s:" + self.dro_mm offsetformat = "% 5s %1s:" + self.dro_mm + " G92 %1s:" + self.dro_mm rotformat = "% 5s %1s:" + self.dro_mm else: format = "% 6s:" + self.dro_in droformat = " " + format + " DTG %1s:" + self.dro_in offsetformat = "% 5s %1s:" + self.dro_in + " G92 %1s:" + self.dro_in rotformat = "% 5s %1s:" + self.dro_in diaformat = " " + format posstrs = [] droposstrs = [] used_letters = [] for i in range(linuxcnc.MAX_AXIS): a = "XYZABCUVW"[i] if s.axis_mask & (1<0 and (not self.get_show_offsets())): posstrs.append("Extra Joints:") for jno in range(self.get_num_joints() - self.stat.num_extrajoints, self.get_num_joints()): jval = self.stat.joint_actual_position[jno] jstr = " EJ%d:% 9.4f" % (jno,jval) if jno >= 10: jstr = " EJ%2d:% 9.4f" % (jno,jval) posstrs.append(jstr) return limit, homed, posstrs, droposstrs def draw_small_origin(self, n): glNewList(n, GL_COMPILE) r = 2.0/25.4 glColor3f(*self.colors['small_origin']) glBegin(GL_LINE_STRIP) for i in range(37): theta = (i*10)*math.pi/180.0 glVertex3f(r*math.cos(theta),r*math.sin(theta),0.0) glEnd() glBegin(GL_LINE_STRIP) for i in range(37): theta = (i*10)*math.pi/180.0 glVertex3f(0.0, r*math.cos(theta), r*math.sin(theta)) glEnd() glBegin(GL_LINE_STRIP) for i in range(37): theta = (i*10)*math.pi/180.0 glVertex3f(r*math.cos(theta),0.0, r*math.sin(theta)) glEnd() glBegin(GL_LINES) glVertex3f(-r, -r, 0.0) glVertex3f( r, r, 0.0) glVertex3f(-r, r, 0.0) glVertex3f( r, -r, 0.0) glVertex3f(-r, 0.0, -r) glVertex3f( r, 0.0, r) glVertex3f(-r, 0.0, r) glVertex3f( r, 0.0, -r) glVertex3f(0.0, -r, -r) glVertex3f(0.0, r, r) glVertex3f(0.0, -r, r) glVertex3f(0.0, r, -r) glEnd() glEndList() def draw_axes(self, n, letters="XYZ"): glNewList(n, GL_COMPILE) x,y,z,p = 0,1,2,3 s = self.stat view = self.get_view() glColor3f(*self.colors['axis_x']) glBegin(GL_LINES) glVertex3f(1.0,0.0,0.0) glVertex3f(0.0,0.0,0.0) glEnd() if view != x: glPushMatrix() if self.is_lathe(): glTranslatef(1.3, -0.1, 0) glTranslatef(0, 0, -0.1) glRotatef(-90, 0, 1, 0) glRotatef(90, 1, 0, 0) glTranslatef(0.1, 0, 0) else: glTranslatef(1.2, -0.1, 0) if view == y: glTranslatef(0, 0, -0.1) glRotatef(90, 1, 0, 0) glScalef(0.2, 0.2, 0.2) self.hershey.plot_string(letters[0], 0.5) glPopMatrix() glColor3f(*self.colors['axis_y']) glBegin(GL_LINES) glVertex3f(0.0,0.0,0.0) glVertex3f(0.0,1.0,0.0) glEnd() if view != y: glPushMatrix() glTranslatef(0, 1.2, 0) if view == x: glTranslatef(0, 0, -0.1) glRotatef(90, 0, 1, 0) glRotatef(90, 0, 0, 1) glScalef(0.2, 0.2, 0.2) self.hershey.plot_string(letters[1], 0.5) glPopMatrix() glColor3f(*self.colors['axis_z']) glBegin(GL_LINES) glVertex3f(0.0,0.0,0.0) glVertex3f(0.0,0.0,1.0) glEnd() if view != z: glPushMatrix() glTranslatef(0, 0, 1.2) if self.is_lathe(): glRotatef(-90, 0, 1, 0) if view == x: glRotatef(90, 0, 1, 0) glRotatef(90, 0, 0, 1) elif view == y or view == p: glRotatef(90, 1, 0, 0) if self.is_lathe(): glTranslatef(0, -.1, 0) glScalef(0.2, 0.2, 0.2) self.hershey.plot_string(letters[2], 0.5) glPopMatrix() glEndList() def make_cone(self, n): q = gluNewQuadric() glNewList(n, GL_COMPILE) glBlendColor(0,0,0,self.colors['tool_alpha']) glEnable(GL_LIGHTING) gluCylinder(q, 0, .1, .25, 32, 1) glPushMatrix() glTranslatef(0,0,.25) gluDisk(q, 0, .1, 32, 1) glPopMatrix() glDisable(GL_LIGHTING) glEndList() gluDeleteQuadric(q) lathe_shapes = [ None, # 0 (1,-1), (1,1), (-1,1), (-1,-1), # 1..4 (0,-1), (1,0), (0,1), (-1,0), # 5..8 (0,0) # 9 ] def lathetool(self, current_tool): glDepthFunc(GL_ALWAYS) diameter, frontangle, backangle, orientation = current_tool[-4:] w = 3/8. glDisable(GL_CULL_FACE)#lathe tool needs to be visible form both sides radius = self.to_internal_linear_unit(diameter) / 2. glColor3f(*self.colors['lathetool']) glBegin(GL_LINES) glVertex3f(-radius/2.0,0.0,0.0) glVertex3f(radius/2.0,0.0,0.0) glVertex3f(0.0,0.0,-radius/2.0) glVertex3f(0.0,0.0,radius/2.0) glEnd() glNormal3f(0,1,0) if orientation == 9: glBegin(GL_TRIANGLE_FAN) for i in range(37): t = i * math.pi / 18 glVertex3f(radius * math.cos(t), 0.0, radius * math.sin(t)) glEnd() else: dx, dy = self.lathe_shapes[orientation] min_angle = min(backangle, frontangle) * math.pi / 180 max_angle = max(backangle, frontangle) * math.pi / 180 sinmax = math.sin(max_angle) cosmax = math.cos(max_angle) tanmax = math.cos(max_angle) sinmin = math.sin(min_angle) cosmin = math.cos(min_angle) tanmin = math.cos(min_angle) circleminangle = - math.pi/2 + min_angle circlemaxangle = - 3*math.pi/2 + max_angle d0 = 0 x1 = (w - d0) sz = max(w, 3*radius) glBegin(GL_TRIANGLE_FAN) glVertex3f( radius * dx + radius * math.sin(circleminangle) + sz * sinmin, 0, radius * dy + radius * math.cos(circleminangle) + sz * cosmin) for i in range(37): #t = circleminangle + i * (circlemaxangle - circleminangle)/36. t = circleminangle + i * (circlemaxangle - circleminangle)/36. glVertex3f(radius*dx + radius * math.sin(t), 0.0, radius*dy + radius * math.cos(t)) glVertex3f( radius * dx + radius * math.sin(circlemaxangle) + sz * sinmax, 0, radius * dy + radius * math.cos(circlemaxangle) + sz * cosmax) glEnd() glEnable(GL_CULL_FACE) glDepthFunc(GL_LESS) def extents_info(self): if self.canon: mid = [(a+b)/2 for a, b in zip(self.canon.max_extents, self.canon.min_extents)] size = [(a-b) for a, b in zip(self.canon.max_extents, self.canon.min_extents)] else: mid = [0, 0, 0] size = [3, 3, 3] return mid, size def make_selection_list(self, unused=None): select_rapids = self.dlist('select_rapids') select_program = self.dlist('select_norapids') glNewList(select_rapids, GL_COMPILE) if self.canon: self.canon.draw(1, False) glEndList() glNewList(select_program, GL_COMPILE) if self.canon: self.canon.draw(1, True) glEndList() def make_main_list(self, unused=None): program = self.dlist('program_norapids') rapids = self.dlist('program_rapids') glNewList(program, GL_COMPILE) if self.canon: self.canon.draw(0, True) glEndList() glNewList(rapids, GL_COMPILE) if self.canon: self.canon.draw(0, False) glEndList() def load_preview(self, f, canon, *args): self.set_canon(canon) result, seq = gcode.parse(f, canon, *args) if result <= gcode.MIN_ERROR: self.canon.progress.nextphase(1) canon.calc_extents() self.stale_dlist('program_rapids') self.stale_dlist('program_norapids') self.stale_dlist('select_rapids') self.stale_dlist('select_norapids') return result, seq def from_internal_units(self, pos, unit=None): if unit is None: unit = self.stat.linear_units lu = (unit or 1) * 25.4 lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu] return [a*b for a, b in zip(pos, lus)] # vim:ts=8:sts=4:sw=4:et: