def __init__(self):
self.hal = hal.component("pendant-menu")
self.hal.newpin("axis-select", hal.HAL_S32, hal.HAL_IN)
self.hal.newpin("multiplier-select", hal.HAL_S32, hal.HAL_IN)
self.hal.newpin("menu1", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("menu2", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("menu3", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("menu4", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("spindle-speed", hal.HAL_FLOAT, hal.HAL_IN)
self.hal.newpin("page", hal.HAL_U32, hal.HAL_OUT)
self.hal.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("tool-changed",hal.HAL_BIT, hal.HAL_OUT)
self.hal.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
self.hal.newpin("jog-wheel", hal.HAL_S32, hal.HAL_IN)
self.hal.ready()
self.stat = emc.stat()
self.cmd = emc.command()
self.loadToolTable()
# 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
import sys, os
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
sys.path.insert(0, os.path.join(BASE, "lib", "python"))
import emc
if len(sys.argv) > 1:
emc.nmlfile = sys.argv[1]
c = emc.command()
c.mode(emc.MODE_MDI)
s = emc.stat()
try:
while 1:
mdi = raw_input("MDI> ")
if mdi == '':
s.poll()
print s.position
else:
c.mdi(mdi)
except (SystemExit, EOFError, KeyboardInterrupt): pass
# vim:sw=4:sts=4:et:
#limits = [( -1,-1 ),(1,1) ]
maxValue = [0.0,
100.0,
22.0,
22.0,
150.0,
10.0,
98.0,
22.0,
2.0,
100.0]
command = emc.command()
status = emc.stat()
class motionProgram():
def __init__(self, mp=None):
#print "init motionControlProgram"
if mp:
print "MOTION PROGRAM: Creating copy"
self.program = copy.deepcopy(mp.program)
self.program[0] = self.program[0] + _(" (COPY)")
else:
print "MOTION PROGRAM: Creating new default"
self.program = [_('Default Program'),
90,
0,
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
import emc
import Tkinter
import sys
linenumber = 1;
if len(sys.argv) > 1:
emc.nmlfile = sys.argv[1]
if len(sys.argv) > 2:
outfile = sys.argv[2]
sys.stdout = open(outfile, 'w')
s = emc.stat()
def get_cart():
s.poll()
position = " ".join(["%-8.4f"] * s.axes)
return position % s.position[:s.axes]
def get_joint():
s.poll()
position = " ".join(["%-8.4f"] * s.axes)
return position % s.joint_actual_position[:s.axes]
def log():
global linenumber;
if world.get():
p = get_cart()
def periodic_radiobuttons(self):
self.radiobutton_mask = 1
s = emc.stat()
s.poll()
am = s.axis_mask
if not self.resized_wheelbuttons:
at = self.wTree.get_widget("axis_table")
for i in range(9):
b = [
"wheelx", "wheely", "wheelz", "wheela", "wheelb", "wheelc",
"wheelu", "wheelv", "wheelw"
][i]
w = self.wTree.get_widget(b)
if not (am & (1 << i)):
at.remove(w)
if (am & 0700) == 0:
at.resize(3, 2)
if (am & 070) == 0:
at.resize(3, 1)
self.wTree.get_widget("wheel_hbox").set_homogeneous(1)
self.resized_wheelbuttons = 1
set_active(self.wTree.get_widget("wheelx"), self.wheelxyz == 0)
set_active(self.wTree.get_widget("wheely"), self.wheelxyz == 1)
set_active(self.wTree.get_widget("wheelz"), self.wheelxyz == 2)
set_active(self.wTree.get_widget("wheela"), self.wheelxyz == 3)
set_active(self.wTree.get_widget("wheelb"), self.wheelxyz == 4)
set_active(self.wTree.get_widget("wheelc"), self.wheelxyz == 5)
set_active(self.wTree.get_widget("wheelu"), self.wheelxyz == 6)
set_active(self.wTree.get_widget("wheelv"), self.wheelxyz == 7)
set_active(self.wTree.get_widget("wheelw"), self.wheelxyz == 8)
set_active(self.wTree.get_widget("wheelinc1"), self.wheelinc == 0)
set_active(self.wTree.get_widget("wheelinc2"), self.wheelinc == 1)
set_active(self.wTree.get_widget("wheelinc3"), self.wheelinc == 2)
set_active(self.wTree.get_widget("fo"), self.wheel == "fo")
set_active(self.wTree.get_widget("so"), self.wheel == "so")
set_active(self.wTree.get_widget("mv"), self.wheel == "mv")
set_active(self.wTree.get_widget("jogging"), self.wheel == "jogging")
set_active(self.wTree.get_widget("pointer_show"),
not self.invisible_cursor)
set_active(self.wTree.get_widget("pointer_hide"),
self.invisible_cursor)
self.radiobutton_mask = 0
if self.wheel == "jogging":
self.hal.jogaxis(self.wheelxyz)
else:
# disable all
self.hal.jogaxis(-1)
self.hal.jogincrement(self.wheelinc)
d = self.hal.wheel()
if self.wheel == "fo":
self.fo_val += d
if self.fo_val < 0: self.fo_val = 0
if d != 0: self.emc.feed_override(self.fo_val)
if self.wheel == "so":
self.so_val += d
if self.so_val < 0: self.so_val = 0
if d != 0: self.emc.spindle_override(self.so_val)
if self.wheel == "mv":
self.mv_val += d
if self.mv_val < 0: self.mv_val = 0
if d != 0:
self.emc.max_velocity(self.mv_val)
self.emc.continuous_jog_velocity(self.mv_val)
set_label(self.wTree.get_widget("fo").child, "FO: %d%%" % self.fo_val)
set_label(self.wTree.get_widget("so").child, "SO: %d%%" % self.so_val)
set_label(self.wTree.get_widget("mv").child, "MV: %d" % self.mv_val)
return True
def periodic_radiobuttons(self):
self.radiobutton_mask = 1
s = emc.stat()
s.poll()
am = s.axis_mask
if not self.resized_wheelbuttons:
at = self.wTree.get_widget("axis_table")
for i in range(9):
b = ["wheelx", "wheely", "wheelz",
"wheela", "wheelb", "wheelc",
"wheelu", "wheelv", "wheelw"][i]
w = self.wTree.get_widget(b)
if not (am & (1<<i)):
at.remove(w)
if (am & 0700) == 0:
at.resize(3, 2)
if (am & 070) == 0:
at.resize(3, 1)
self.wTree.get_widget("wheel_hbox").set_homogeneous(1)
self.resized_wheelbuttons = 1
set_active(self.wTree.get_widget("wheelx"), self.wheelxyz == 0)
set_active(self.wTree.get_widget("wheely"), self.wheelxyz == 1)
set_active(self.wTree.get_widget("wheelz"), self.wheelxyz == 2)
set_active(self.wTree.get_widget("wheela"), self.wheelxyz == 3)
set_active(self.wTree.get_widget("wheelb"), self.wheelxyz == 4)
set_active(self.wTree.get_widget("wheelc"), self.wheelxyz == 5)
set_active(self.wTree.get_widget("wheelu"), self.wheelxyz == 6)
set_active(self.wTree.get_widget("wheelv"), self.wheelxyz == 7)
set_active(self.wTree.get_widget("wheelw"), self.wheelxyz == 8)
set_active(self.wTree.get_widget("wheelinc1"), self.wheelinc == 0)
set_active(self.wTree.get_widget("wheelinc2"), self.wheelinc == 1)
set_active(self.wTree.get_widget("wheelinc3"), self.wheelinc == 2)
set_active(self.wTree.get_widget("fo"), self.wheel == "fo")
set_active(self.wTree.get_widget("so"), self.wheel == "so")
set_active(self.wTree.get_widget("mv"), self.wheel == "mv")
set_active(self.wTree.get_widget("jogging"), self.wheel == "jogging")
set_active(self.wTree.get_widget("pointer_show"), not self.invisible_cursor)
set_active(self.wTree.get_widget("pointer_hide"), self.invisible_cursor)
self.radiobutton_mask = 0
if self.wheel == "jogging":
self.hal.jogaxis(self.wheelxyz)
else:
# disable all
self.hal.jogaxis(-1)
self.hal.jogincrement(self.wheelinc)
d = self.hal.wheel()
if self.wheel == "fo":
self.fo_val += d
if self.fo_val < 0: self.fo_val = 0
if d != 0: self.emc.feed_override(self.fo_val)
if self.wheel == "so":
self.so_val += d
if self.so_val < 0: self.so_val = 0
if d != 0: self.emc.spindle_override(self.so_val)
if self.wheel == "mv":
self.mv_val += d
if self.mv_val < 0: self.mv_val = 0
if d != 0:
self.emc.max_velocity(self.mv_val)
self.emc.continuous_jog_velocity(self.mv_val)
set_label(self.wTree.get_widget("fo").child, "FO: %d%%" % self.fo_val)
set_label(self.wTree.get_widget("so").child, "SO: %d%%" % self.so_val)
set_label(self.wTree.get_widget("mv").child, "MV: %d" % self.mv_val)
return True
# 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
import sys, os
import emc, time
import rs274.options
if len(sys.argv) > 1 and sys.argv[1] == '-ini':
ini = emc.ini(sys.argv[2])
emc.nmlfile = ini.find("EMC", "NML_FILE") or emc.nmlfile
del sys.argv[1:3]
s = emc.stat(); s.poll()
def show_mcodes(l):
return " ".join(["M%g" % i for i in l[1:] if i != -1])
def show_gcodes(l):
return " ".join(["G%g" % (i/10.) for i in l[1:] if i != -1])
def show_position(p):
return " ".join(["%-8.4f" % n for i, n in enumerate(p) if s.axis_mask & (1<<i)])
joint_position = " ".join(["%-8.4f"] * s.joints)
def show_joint_position(p):
return joint_position % p[:s.joints]
perjoint = " ".join(["%s"] * s.joints)
_('Forming Dwell'),
_('Tube Stop Position X '),
_('Tube Stop Position Y'),
_('Vice Unclamp Timer'),
_('Clearance Position X')
]
isNumeric = [0, 1, 1, 1, 1, 1, 1, 1, 1, 1]
units = ['', 'mm', 'mm', 'mm', 'mm/s', 's', 'mm', 'mm', 's', 'mm']
#limits = [( -1,-1 ),(1,1) ]
maxValue = [0.0, 100.0, 22.0, 22.0, 150.0, 10.0, 98.0, 22.0, 2.0, 100.0]
command = emc.command()
status = emc.stat()
class motionProgram():
def __init__(self, mp=None):
#print "init motionControlProgram"
if mp:
print "MOTION PROGRAM: Creating copy"
self.program = copy.deepcopy(mp.program)
self.program[0] = self.program[0] + _(" (COPY)")
else:
print "MOTION PROGRAM: Creating new default"
self.program = [
_('Default Program'), 90, 0, 0, 50, 1, 25, 5, 0.5, 0
]
