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#!/usr/bin/env python3
# Qtvcp
#
# Copyright (c) 2017 Chris Morley <chrisinnanaimo@hotmail.com>
#
# 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 os
import linuxcnc
from PyQt5.QtWidgets import QWidget
from PyQt5.QtCore import pyqtProperty
from qtvcp.widgets.widget_baseclass import _HalWidgetBase
from qtvcp.core import Status, Info
from qtvcp import logger
# Instiniate the libraries with global reference
# STATUS gives us status messages from linuxcnc
# LOG is for running code logging
STATUS = Status()
INFO = Info()
LOG = logger.getLogger(__name__)
class StateEnableGridLayout(QWidget, _HalWidgetBase):
def __init__(self, parent=None):
super(StateEnableGridLayout, self).__init__(parent)
# if 'NO_FORCE_HOMING' is true, MDI commands are allowed before homing.
self.inifile = os.environ.get('INI_FILE_NAME', '/dev/null')
self.ini = linuxcnc.ini(self.inifile)
self.no_home_required = int(self.ini.find("TRAJ", "NO_FORCE_HOMING") or 0)
self.is_on = False
self.is_homed = False
self.is_idle = False
self.is_not_idle = False
self.setEnabled(False)
def _hal_init(self):
STATUS.connect('state-estop', lambda w: self.setEnabled(False))
if self.is_on:
STATUS.connect('state-off', lambda w: self.setEnabled(False))
if self.is_homed:
STATUS.connect('all-homed', lambda w: self.setEnabled(True))
if self.is_idle:
STATUS.connect('interp-run', lambda w: self.setEnabled(False))
elif self.is_not_idle:
STATUS.connect('interp-run', lambda w: self.setEnabled(True))
if not (self.is_idle or self.is_not_idle or self.is_on or self.is_homed):
STATUS.connect('state-estop-reset', lambda w: self.setEnabled(True))
else:
STATUS.connect('interp-idle', self.idle_check)
def idle_check(self, w):
state = True
if self.is_homed:
state = state and (STATUS.is_all_homed() or self.no_home_required)
if self.is_on:
state = state and STATUS.machine_is_on()
if self.is_idle:
state = state and True
elif self.is_not_idle:
self.setEnabled(False)
return
self.setEnabled(state)
# property getter/setters
# machine is on status
def set_is_on(self, data):
self.is_on = data
def get_is_on(self):
return self.is_on
def reset_is_on(self):
self.is_on = False
is_on_status = pyqtProperty(bool, get_is_on, set_is_on, reset_is_on)
# machine is idle status
def set_is_idle(self, data):
self.is_idle = data
if (data and self.is_not_idle):
self.is_not_idle = False
def get_is_idle(self):
return self.is_idle
def reset_is_idle(self):
self.is_idle = False
is_idle_status = pyqtProperty(bool, get_is_idle, set_is_idle, reset_is_idle)
# machine is not idle status
def set_is_not_idle(self, data):
self.is_not_idle = data
if (data and self.is_idle):
self.is_idle = False
def get_is_not_idle(self):
return self.is_not_idle
def reset_is_not_idle(self):
self.is_not_idle = False
is_not_idle_status = pyqtProperty(bool, get_is_not_idle, set_is_not_idle, reset_is_not_idle)
# machine is homed status
def set_is_homed(self, data):
self.is_homed = data
def get_is_homed(self):
return self.is_homed
def reset_is_homed(self):
self.is_homed = False
is_homed_status = pyqtProperty(bool, get_is_homed, set_is_homed, reset_is_homed)
class JointEnableWidget(QWidget, _HalWidgetBase):
def __init__(self, parent=None):
super(JointEnableWidget, self).__init__(parent)
self.joint = 1
self.axis = 'A'
self.joint_mode = False
self.axis_mode = False
self.if_joint_available = False
self.if_axis_available = True
def _hal_init(self):
if self.if_joint_available:
if not self.joint in INFO.AVAILABLE_JOINTS:
self.setVisible(False)
elif self.if_axis_available:
if not self.axis.upper() in INFO.AVAILABLE_AXES:
self.setVisible(False)
if self.joint_mode or self.axis_mode:
STATUS.connect('motion-mode-changed', lambda w,data: self.modeChanged(data))
def modeChanged(self, mode):
if mode == STATUS.is_joint_mode():
self.setVisible(self.joint_mode)
else:
self.setVisible(self.axis_mode)
#########################################################################
# This is how designer can interact with our widget properties.
# designer will show the pyqtProperty properties in the editor
# it will use the get set and reset calls to do those actions
#
# _toggle_properties makes it so we can only select one option
########################################################################
def _toggle_properties(self, picked):
data = ('only_in_axis_mode', 'only_in_joint_mode', )
for i in data:
if not i == picked:
self[i] = False
def set_joint(self, data):
self.joint = data
def get_joint(self):
return self.joint
def reset_joint(self):
self.joint = -1
def set_axis(self, data):
if data.upper() in('X','Y','Z','A','B','C','U','V','W'):
self.axis = data.upper()
def get_axis(self):
return self.axis
def reset_axis(self):
self.axis = 'X'
def set_joint_mode(self, data):
self.joint_mode = data
if data:
self._toggle_properties('only_in_joint_mode')
def get_joint_mode(self):
return self.joint_mode
def reset_joint_mode(self):
self.joint_mode = False
def set_axis_mode(self, data):
self.axis_mode = data
if data:
self._toggle_properties('only_in_axis_mode')
def get_axis_mode(self):
return self.axis_mode
def reset_axis_mode(self):
self.axis_mode = False
def set_axis_available(self, data):
self.if_axis_available = data
def get_axis_available(self):
return self.if_axis_available
def reset_axis_available(self):
self.if_axis_available = False
def set_joint_available(self, data):
self.if_joint_available = data
def get_joint_available(self):
return self.if_joint_available
def reset_joint_available(self):
self.if_joint_available = False
joint_number = pyqtProperty(int, get_joint, set_joint, reset_joint)
axis_letter = pyqtProperty(str, get_axis, set_axis, reset_axis)
only_in_joint_mode = pyqtProperty(bool, get_joint_mode, set_joint_mode, reset_joint_mode)
only_in_axis_mode = pyqtProperty(bool, get_axis_mode, set_axis_mode, reset_axis_mode)
only_if_axis_available = pyqtProperty(bool, get_axis_available, set_axis_available, reset_axis_available)
only_if_joint_available = pyqtProperty(bool, get_joint_available, set_joint_available, reset_joint_available)
##############################
# required class boiler code #
##############################
def __getitem__(self, item):
return getattr(self, item)
def __setitem__(self, item, value):
return setattr(self, item, value)
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