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#!/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 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_Offset(Gtk.Label):
__gtype_name__ = 'HAL_Offset'
__gproperties__ = {
'display_units_mm' : ( GObject.TYPE_BOOLEAN, 'Display Units', 'Display in metric or not',
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: G5X 1:Tool 2:G92 3:XY Rotation',
0, 3, 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
# The update time: every 500 milliseconds
GLib.timeout_add(500, self.periodic)
# check the INI file if UNITS are set to mm
# first check the global settings
# else then the X axis units
try:
self.inifile = self.emc.ini(INIPATH)
units=self.inifile.find("TRAJ","LINEAR_UNITS")
if units==None:
units=self.inifile.find("AXIS_X","UNITS")
except:
units = "inch"
# now setup the conversion array depending on the machine native units
if units=="mm" or units=="metric" or units == "1.0":
self.machine_units_mm=1
self.conversion=[1.0/25.4]*3+[1]*3+[1.0/25.4]*3
else:
self.machine_units_mm=0
self.conversion=[25.4]*3+[1]*3+[25.4]*3
# This is so GLADE can get the values for the editor
# A user can use this too using goobject
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)
# This is used by GLADE editor to set values
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)
# This runs runs at the gooject timeout rate
# it polls linuxcnc gets the offsets in correct units
# and displays them according to the formatting entered
def periodic(self):
try:
self.status.poll()
g5x,tool,g92,rot = self.get_offsets()
except:
rot = 0
g5x = tool = g92 = [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.reference_type == 0:
self.set_text(tmpl(g5x[self.joint_number]))
elif self.reference_type == 1:
self.set_text(tmpl(tool[self.joint_number]))
elif self.reference_type == 2:
self.set_text(tmpl(g92[self.joint_number]))
elif self.reference_type == 3:
self.set_text(tmpl(rot))
return True
# Get the offsets and convert the units if the display
# is not in machine native units
def get_offsets(self):
g5x = self.status.g5x_offset
tool = self.status.tool_offset
g92 = self.status.g92_offset
rot = self.status.rotation_xy
if self.display_units_mm != self.machine_units_mm:
g5x = self.convert_units(g5x)
tool = self.convert_units(tool)
g92 = self.convert_units(g92)
return g5x,tool,g92,rot
# This does the units conversion
# it just mutiplies the two arrays
def convert_units(self,v):
c = self.conversion
return list(map(lambda x,y: x*y, v, c))
# helper function to set the units to inch
def set_to_inch(self):
self.display_units_mm = 0
# helper function to set the units to mm
def set_to_mm(self):
self.display_units_mm = 1
# 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))
offset = HAL_Offset()
window.vbox.add(offset)
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()
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