def showGraphicsView(self):
if self._parser == None:
QtGui.QMessageBox.information(
self, 'PyPC-NC Graphics View',
'You need to import G-Code before visualizing it.')
return
if self._gv == None:
self._gv = ControlGraphicsView(self, self._machine)
self._gv.render(self._parser)
self._gv.show()
self._gv.closed.connect(self.graphicsViewClosed)
class ControlMainWindow(QtGui.QMainWindow):
_storeButtonUsed = False
_gv = None
_parser = None
_inter = None
_workpiecePos = [ 5, 5, 5 ]
_originOffset = [ 0, 0 ]
_polarCorrection = [ 1, 0 ]
_debounce = None
def __init__(self, chatBackend):
super(ControlMainWindow, self).__init__(None)
self._machine = MachineController(chatBackend);
self._machine.machineStatus().statusUpdated.connect(self.statusUpdated)
self._ui = Ui_MainWindow()
self._ui.setupUi(self)
self._ui.stop.clicked.connect(self._machine.stop)
self._ui.refMovement.clicked.connect(self.refMovement)
self._ui.importGCode.clicked.connect(self.importGCode)
self._ui.run.clicked.connect(self.run)
self._ui.resume.clicked.connect(self.resume)
self._ui.showGraphicsView.clicked.connect(self.showGraphicsView)
self._ui.gotoOther.setMenu(self._ui.menuGoto)
self._ui.storeOther.setMenu(self._ui.menuStore)
self._ui.menuBar.hide()
self._ui.storeXY.triggered.connect(self.storeXY)
self._ui.storeXYZ.triggered.connect(self.storeXYZ)
self._ui.storeX.triggered.connect(self.storeX)
self._ui.storeY.triggered.connect(self.storeY)
self._ui.storeZ.triggered.connect(self.storeZ)
self._ui.gotoXY.triggered.connect(self.gotoWorkpieceXY)
self._ui.gotoXYZ.triggered.connect(self.gotoWorkpieceXYZ)
self._ui.gotoX.triggered.connect(self.gotoWorkpieceX)
self._ui.gotoY.triggered.connect(self.gotoWorkpieceY)
self._ui.gotoZ.triggered.connect(self.gotoWorkpieceZ)
self._ui.driveXUp.clicked.connect(self.driveXUp)
self._ui.driveYUp.clicked.connect(self.driveYUp)
self._ui.driveZUp.clicked.connect(self.driveZUp)
self._ui.driveUUp.clicked.connect(self.driveUUp)
self._ui.driveXDown.clicked.connect(self.driveXDown)
self._ui.driveYDown.clicked.connect(self.driveYDown)
self._ui.driveZDown.clicked.connect(self.driveZDown)
self._ui.driveUDown.clicked.connect(self.driveUDown)
self._ui.feedRateOverride.valueChanged.connect(self.feedRateOverrideChanged)
self._machine.machineStatus().updateStatus()
@QtCore.Slot()
def refMovement(self):
# @fixme assert machine is not moving
self._machine.setAction(ReferenceMotionController(self._machine))
@QtCore.Slot()
def showGraphicsView(self):
if self._parser == None:
QtGui.QMessageBox.information(
self, 'PyPC-NC Graphics View',
'You need to import G-Code before visualizing it.')
return
if self._gv == None:
self._gv = ControlGraphicsView(self, self._machine)
self._gv.render(self._parser)
self._gv.show()
self._gv.closed.connect(self.graphicsViewClosed)
@QtCore.Slot()
def graphicsViewClosed(self):
self._gv = None
@QtCore.Slot()
def statusUpdated(self):
infos = []
if self._machine.machineStatus().status() & 0x10: infos.append('moving')
if self._machine.machineStatus().status() & 0x04: infos.append("ref'd")
if self._machine.machineStatus().status() & 0x08: infos.append("ref'ing")
status = hex(self._machine.machineStatus().status())
if infos:
status += ' (' + ', '.join(infos) + ')'
self._ui.statusX.setText(status)
self._ui.statusPx.setText("%.3f" % (self._machine.machineStatus().x() / 1000))
self._ui.statusPy.setText("%.3f" % (self._machine.machineStatus().y() / 1000))
self._ui.statusPz.setText("%.3f" % (self._machine.machineStatus().z() / 1000))
self._ui.statusPu.setText("%.3f" % (self._machine.machineStatus().u() / 1000))
self._ui.relX.setText("%.3f" % ((self._workpiecePos[0] - self._machine.machineStatus().x()) / 1000))
self._ui.relY.setText("%.3f" % ((self._workpiecePos[1] - self._machine.machineStatus().y()) / 1000))
self._ui.relZ.setText("%.3f" % ((self._workpiecePos[2] - self._machine.machineStatus().z()) / 1000))
if isinstance(self._machine.action(), ProgrammedMotionController):
self._ui.progress.setMaximum(self._machine.action().totalSteps())
self._ui.progress.setValue(self._machine.action().completedSteps())
elif self._inter and self._inter.pause:
if self._ui.progress.maximum():
QtGui.QMessageBox.information(
self, 'Tool Change',
'Insert tool %d now.' % self._inter.nextTool)
self._ui.progress.setMaximum(0)
else:
self._ui.progress.setMaximum(1)
self._ui.progress.setValue(0)
@QtCore.Slot()
def importGCode(self):
filename = QtGui.QFileDialog.getOpenFileName(self, 'Import G-Code', '.')
if filename[0] == '': return
self.importGCodeFromFile(filename[0])
def importGCodeFromFile(self, filename):
parser = GCode.GCodeParser()
parser.readFile(filename)
parser.removeTapeMarkers()
parser.removeComments()
parser.removeInlineComments()
parser.removeBlockSkipLines()
parser.normalizeAddressWhitespace()
parser.normalizeLeadingZeros()
parser.readSequenceNumbers()
self._parser = parser
@QtCore.Slot()
def run(self):
if not self._machine.machineStatus().status() & 0x04:
reply = QtGui.QMessageBox.question(self, 'G-Code Import',
'Are you sure to import G-Code without reference movement?',
QtGui.QMessageBox.Yes | QtGui.QMessageBox.No, QtGui.QMessageBox.No)
if reply == QtGui.QMessageBox.No:
return
if not self._storeButtonUsed:
reply = QtGui.QMessageBox.question(self, 'G-Code Import',
'Are you sure to import G-Code without setting workpiece location?',
QtGui.QMessageBox.Yes | QtGui.QMessageBox.No, QtGui.QMessageBox.No)
if reply == QtGui.QMessageBox.No:
return
filters = [
Filters.OffsetFilter([ -self._originOffset[0], -self._originOffset[1] ]),
Filters.PolarFixer(self._polarCorrection[0], self._polarCorrection[1]),
Filters.OffsetFilter(self._workpiecePos)
]
fc = Filters.FilterChain(filters, CNCCon.CNCConWriter())
self._inter = GCode.GCodeInterpreter(fc)
self._inter.position = [
self._machine.machineStatus().x() - self._workpiecePos[0] + self._originOffset[0],
self._machine.machineStatus().y() - self._workpiecePos[1] + self._originOffset[1],
self._machine.machineStatus().z() - self._workpiecePos[2]
]
self._inter.invertZ = self._ui.invertZ.isChecked()
self._inter.run(self._parser)
self._machine.setAction(ProgrammedMotionController(self._machine))
self._machine.action().setFeedRateOverride(self._ui.feedRateOverride.value())
self._machine.action().setCommands(self._inter.target.buffer)
@QtCore.Slot()
def resume(self):
if not self._inter:
QtGui.QMessageBox.information(
self, 'PyPC-NC',
'Interpreter not initialized. You need to open & "Run" first.')
return
if not self._inter.pause:
QtGui.QMessageBox.information(
self, 'PyPC-NC',
'Interpreter not currently paused. You may want to start over by clicking "Run".')
return
self._inter.target.buffer = [ ]
self._inter.position = [
self._machine.machineStatus().x() - self._workpiecePos[0] + self._originOffset[0],
self._machine.machineStatus().y() - self._workpiecePos[1] + self._originOffset[1],
self._machine.machineStatus().z() - self._workpiecePos[2]
]
self._inter.target.filters()[2].setOffsets(self._workpiecePos)
self._inter.resume(self._parser)
self._machine.setAction(ProgrammedMotionController(self._machine))
self._machine.action().setFeedRateOverride(self._ui.feedRateOverride.value())
self._machine.action().setCommands(self._inter.target.buffer)
@QtCore.Slot(int)
def feedRateOverrideChanged(self, value):
if isinstance(self._machine.action(), ProgrammedMotionController):
self._machine.action().setFeedRateOverride(self._ui.feedRateOverride.value())
@QtCore.Slot()
def storeXY(self):
self.storeX()
self.storeY()
@QtCore.Slot()
def storeXYZ(self):
self.storeXY()
self.storeZ()
@QtCore.Slot()
def storeX(self):
self._storeButtonUsed = True
self._workpiecePos[0] = self._machine.machineStatus().x()
@QtCore.Slot()
def storeY(self):
self._storeButtonUsed = True
self._workpiecePos[1] = self._machine.machineStatus().y()
@QtCore.Slot()
def storeZ(self):
self._storeButtonUsed = True
self._workpiecePos[2] = self._machine.machineStatus().z()
def gotoWorkpiece(self, x, y, z):
if isinstance(self._machine.action(), ProgrammedMotionController):
return
elif not isinstance(self._machine.action(), ManualMotionController):
self._machine.setAction(ManualMotionController(self._machine))
self._machine.action().gotoXYZ(x, y, z)
def workpiecePos(self):
return
def originOffset(self):
return self._originOffset
def setOriginOffset(self, x, y):
self._originOffset = (x, y)
def polarCorrection(self):
return self._polarCorrection
def setPolarCorrection(self, r, phi):
self._polarCorrection = (r, phi)
@QtCore.Slot()
def gotoWorkpieceXY(self):
self.gotoWorkpiece(self._workpiecePos[0], self._workpiecePos[1], None)
@QtCore.Slot()
def gotoWorkpieceXYZ(self):
self.gotoWorkpiece(self._workpiecePos[0], self._workpiecePos[1], self._workpiecePos[2])
@QtCore.Slot()
def gotoWorkpieceX(self):
self.gotoWorkpiece(self._workpiecePos[0], None, None)
@QtCore.Slot()
def gotoWorkpieceY(self):
self.gotoWorkpiece(None, self._workpiecePos[1], None)
@QtCore.Slot()
def gotoWorkpieceZ(self):
self.gotoWorkpiece(None, None, self._workpiecePos[2])
def workpiecePos(self):
return self._workpiecePos
@QtCore.Slot()
def driveXUp(self):
self.manualMove('X', True)
@QtCore.Slot()
def driveYUp(self):
self.manualMove('Y', True)
@QtCore.Slot()
def driveZUp(self):
self.manualMove('Z', True)
@QtCore.Slot()
def driveUUp(self):
self.manualMove('U', True)
@QtCore.Slot()
def driveXDown(self):
self.manualMove('X', False)
@QtCore.Slot()
def driveYDown(self):
self.manualMove('Y', False)
@QtCore.Slot()
def driveZDown(self):
self.manualMove('Z', False)
@QtCore.Slot()
def driveUDown(self):
self.manualMove('U', False)
def manualMove(self, axis, positive):
if isinstance(self._machine.action(), ProgrammedMotionController):
return
elif not isinstance(self._machine.action(), ManualMotionController):
self._machine.setAction(ManualMotionController(self._machine))
fast = self._ui.driveFast.isChecked()
if self._ui.drive1Step.isChecked():
self._machine.action().singleStep(axis, positive, fast)
elif self._ui.drive001mm.isChecked():
self._machine.action().manualMove(axis, positive, 10, fast)
elif self._ui.drive01mm.isChecked():
self._machine.action().manualMove(axis, positive, 100, fast)
elif self._ui.drive1mm.isChecked():
self._machine.action().manualMove(axis, positive, 1000, fast)
elif self._ui.drive10mm.isChecked():
self._machine.action().manualMove(axis, positive, 10000, fast)
elif self._ui.drive100mm.isChecked():
self._machine.action().manualMove(axis, positive, 100000, fast)
@QtCore.Slot(int)
def readControlEvent(self, fd):
ev = os.read(fd, 4)
if len(ev) != 4: return
button, x, y, z = struct.unpack('bbbb', ev)
print 'control event: button=%d, x=%d, y=%d, z=%d; time=%f' % (button, x, y, z, time.time())
if self._debounce != None and time.time() - self._debounce < .1:
if x != self._debounceX or y != self._debounceY:
print 'discarding event, bounce detected'
return
if x == -1:
self.manualMove('X', False)
elif x == 1:
self.manualMove('X', True)
if y == -1:
self.manualMove('Y', False)
elif y == 1:
self.manualMove('Y', True)
self._debounce = None
else:
self._debounce = time.time()
self._debounceX = x
self._debounceY = y
if z == -1:
self.manualMove('Z', False)
elif z == 1:
self.manualMove('Z', True)
@QtCore.Slot(int)
def pollStatus(self, fd):
self._machine.cts()
