#!/usr/bin/env python3 # GladeVcp Widget - DRO label widget # This widgets displays linuxcnc axis position information. # # Copyright (c) 2012 Chris Morley # # 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. import sys,os import math import linuxcnc import gi gi.require_version("Gtk","3.0") from gi.repository import Gtk from gi.repository import GObject from gi.repository import GLib # we put this in a try so there is no error in the glade editor # linuxcnc is probably not running then try: INIPATH = os.environ['INI_FILE_NAME'] except: pass class HAL_DRO(Gtk.Label): __gtype_name__ = 'HAL_DRO' __gproperties__ = { 'display_units_mm' : ( GObject.TYPE_BOOLEAN, 'Display Units', 'Display in metric or not', False, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT), 'actual' : ( GObject.TYPE_BOOLEAN, 'Actual Position', 'Display Actual or Commanded Position', True, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT), 'diameter' : ( GObject.TYPE_BOOLEAN, 'Diameter Adjustment', 'Display Position As Diameter', False, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT), 'mm_text_template' : ( GObject.TYPE_STRING, 'Text template for Metric Units', 'Text template to display. Python formatting may be used for one variable', "%10.3f", GObject.ParamFlags.READWRITE|GObject.ParamFlags.CONSTRUCT), 'imperial_text_template' : ( GObject.TYPE_STRING, 'Text template for Imperial Units', 'Text template to display. Python formatting may be used for one variable', "%9.4f", GObject.ParamFlags.READWRITE|GObject.ParamFlags.CONSTRUCT), 'joint_number' : ( GObject.TYPE_INT, 'Joint Number', '0:X 1:Y 2:Z etc', 0, 8, 0, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT), 'reference_type' : ( GObject.TYPE_INT, 'Reference Type', '0: Absolute 1:Relative 2:Distance-to-go', 0, 2, 0, GObject.ParamFlags.READWRITE | GObject.ParamFlags.CONSTRUCT), } __gproperties = __gproperties__ def __init__(self, *a, **kw): Gtk.Label.__init__(self, *a, **kw) self.emc = linuxcnc self.status = self.emc.stat() self.display_units_mm=0 self.machine_units_mm=0 self.unit_convert=[1]*9 GLib.timeout_add(100, self.periodic) try: self.inifile = self.emc.ini(INIPATH) # check the INI file if UNITS are set to mm" # first check the global settings units=self.inifile.find("TRAJ","LINEAR_UNITS") if units==None: # else then the X axis units units=self.inifile.find("AXIS_X","UNITS") except: units = "inch" if units=="mm" or units=="metric" or units == "1.0": self.machine_units_mm=1 conversion=[1.0/25.4]*3+[1]*3+[1.0/25.4]*3 else: self.machine_units_mm=0 conversion=[25.4]*3+[1]*3+[25.4]*3 self.set_machine_units(self.machine_units_mm,conversion) def do_get_property(self, property): name = property.name.replace('-', '_') if name in list(self.__gproperties.keys()): return getattr(self, name) else: raise AttributeError('unknown property %s' % property.name) def do_set_property(self, property, value): name = property.name.replace('-', '_') if name in ('mm_text_template','imperial_text_template'): try: v = value % 0.0 except Exception as e: print("Invalid format string '%s': %s" % (value, e)) return False if name in list(self.__gproperties.keys()): setattr(self, name, value) self.queue_draw() else: raise AttributeError('unknown property %s' % property.name) def periodic(self): try: self.status.poll() absolute,relative,dtg = self.position() except: sys = 0 relative = absolute = dtg = [9999.999,0,0,0,0,0,0,0,0] if self.display_units_mm: tmpl = lambda s: self.mm_text_template % s else: tmpl = lambda s: self.imperial_text_template % s if self.diameter: scale = 2.0 else: scale = 1 if self.reference_type == 0: self.set_text(tmpl(absolute[self.joint_number]*scale)) elif self.reference_type == 1: self.set_text(tmpl(relative[self.joint_number]*scale)) elif self.reference_type == 2: self.set_text(tmpl(dtg[self.joint_number]*scale)) return True def position(self): if self.actual: p = self.status.actual_position else: p = self.status.position dtg = self.status.dtg x = p[0] - self.status.g5x_offset[0] - self.status.tool_offset[0] y = p[1] - self.status.g5x_offset[1] - self.status.tool_offset[1] z = p[2] - self.status.g5x_offset[2] - self.status.tool_offset[2] a = p[3] - self.status.g5x_offset[3] - self.status.tool_offset[3] b = p[4] - self.status.g5x_offset[4] - self.status.tool_offset[4] c = p[5] - self.status.g5x_offset[5] - self.status.tool_offset[5] u = p[6] - self.status.g5x_offset[6] - self.status.tool_offset[6] v = p[7] - self.status.g5x_offset[7] - self.status.tool_offset[7] w = p[8] - self.status.g5x_offset[8] - self.status.tool_offset[8] if self.status.rotation_xy != 0: t = math.radians(-self.status.rotation_xy) xr = x * math.cos(t) - y * math.sin(t) yr = x * math.sin(t) + y * math.cos(t) x = xr y = yr x -= self.status.g92_offset[0] y -= self.status.g92_offset[1] z -= self.status.g92_offset[2] a -= self.status.g92_offset[3] b -= self.status.g92_offset[4] c -= self.status.g92_offset[5] u -= self.status.g92_offset[6] v -= self.status.g92_offset[7] w -= self.status.g92_offset[8] relp = [x, y, z, a, b, c, u, v, w] if self.display_units_mm != self.machine_units_mm: p = self.convert_units(p) relp = self.convert_units(relp) dtg = self.convert_units(dtg) return p,relp,dtg def set_machine_units(self,u,c): self.machine_units_mm = u self.unit_convert = c def convert_units(self,v): c = self.unit_convert return list(map(lambda x,y: x*y, v, c)) def set_to_inch(self): self.display_units_mm = 0 def set_to_mm(self): self.display_units_mm = 1 def set_to_diameter(self): self.diameter = True def set_to_radius(self): self.diameter = False # for testing without glade editor: def main(): window = Gtk.Dialog("My dialog", None, Gtk.DialogFlags.MODAL | Gtk.DialogFlags.DESTROY_WITH_PARENT, (Gtk.STOCK_CANCEL, Gtk.ResponseType.REJECT, Gtk.STOCK_OK, Gtk.ResponseType.ACCEPT)) dro = HAL_DRO() window.vbox.add(dro) window.connect("destroy", Gtk.main_quit) window.show_all() response = window.run() if response == Gtk.ResponseType.ACCEPT: print("ok") else: print("cancel") if __name__ == "__main__": main()