def __init__(self, **kwargs):
self.dropped = False
self.breaked = False
self.completed = threading.Event()
self.finished = threading.Event()
self.action_completed = event.EventEmitter()
self.action_started = event.EventEmitter()
self.caching = False
self.is_pause = False
self.is_moving = False
self.error = False
class EmulatorSender(object):
indexed = event.EventEmitter()
queued = event.EventEmitter()
completed = event.EventEmitter()
started = event.EventEmitter()
dropped = event.EventEmitter()
mcu_reseted = event.EventEmitter()
error = event.EventEmitter()
protocol_error = event.EventEmitter()
has_slots = threading.Event()
def __init__(self):
self.id = 0
self.has_slots.set()
def send_command(self, command, wait=True):
self.id += 1
self.indexed(self.id)
cmd = ("N%i " % self.id) + command + "\n"
print("Command %s" % cmd)
self.queued(self.id)
oid = self.id
self.started(self.id)
self.completed(self.id, {})
return oid
def reset(self):
self.id = 0
def __init__(self, port, bdrate, timeout):
self.__id = 0
self.__qans = threading.Event()
self.__reseted = False
self.__slots = event.EventEmitter()
self.__finish_event = threading.Event()
self.port = port
self.baudrate = bdrate
self.timeout = timeout
self.__ser = serial.Serial(self.port,
self.baudrate,
bytesize=8,
parity='N',
stopbits=1,
rtscts=False,
dsrdtr=False)
self.__listener = self.SerialReceiver(self.__ser, self.__finish_event,
self.completed, self.started,
self.__slots, self.dropped,
self.queued, self.protocol_error,
self.__reseted_ev, self.error)
self.__reseted_ev += self.__on_reset
self.__slots += self.__on_slots
self.__listener.start()
self.has_slots.set()
def __init__(self, ethname, timeout=0, debug=False):
self.__id = 0
self.__ethertype = bytes([0xFE, 0xFE])
self.__remote = {
"inited" : False,
"mac" : bytes([255,255,255,255,255,255])
}
self.__localmac = self.__getHwAddr(ethname)
self.__qans = threading.Event()
self.__reseted = False
self.__slots = event.EventEmitter()
self.__finish_event = threading.Event()
self.__sock = socket.socket(socket.AF_PACKET, socket.SOCK_RAW)
self.__sock.bind((ethname, socket.htons(0xFEFE)))
self.timeout = timeout
self.__listener = self.EthernetReceiver(self.__sock, self.__remote, self.__finish_event,
self.completed, self.started, self.__slots,
self.dropped, self.queued,
self.protocol_error, self.__reseted_ev, self.error)
self.__reseted_ev += self.__on_reset
self.__slots += self.__on_slots
self.__listener.start()
self.has_slots.set()
def __init__(self, table_sender, spindle_sender):
print("Creating machine...")
self.registers = {"tools": {}}
self.is_running = False
self.is_finished = False
self.table_sender = table_sender
self.spindle_sender = spindle_sender
self.running = event.EventEmitter()
self.paused = event.EventEmitter()
self.finished = event.EventEmitter()
self.error = event.EventEmitter()
self.line_selected = event.EventEmitter()
self.tool_selected = event.EventEmitter()
self.on_coordinates = event.EventEmitter()
self.reset = False
self.action_rdy = threading.Event()
self.__table_reseted_ev = threading.Event()
self.current_wait = None
self.c_actions = []
self.nc_action = None
self.opt = Optimizer(common.config.JERKING, common.config.ACCELERATION,
common.config.MAXFEED)
# loaded program
self.user_program = None
self.user_frames = []
# actual program
self.program = None
self.state = None
self.builder = None
# special programs
self.empty_program = pr.Program(self.table_sender, self.spindle_sender)
# states
self.previous_state = None
self.work_init(self.empty_program)
self.table_sender.mcu_reseted += self.__table_reseted
# current states
self.runtime_state = runtimestate.RuntimeState({
"x": 0,
"y": 0,
"z": 0
}, euclid3.Vector3())
print("done")
def __init__(self, **kwargs):
action.InstantAction.__init__(self, **kwargs)
self.paused = event.EventEmitter()
self.is_pause = True
class SerialSender(object):
class SerialReceiver(threading.Thread):
def __init__(self, ser, finish_event, ev_completed, ev_started,
ev_slots, ev_dropped, ev_queued, ev_protocolerror,
ev_mcu_reseted, ev_error):
threading.Thread.__init__(self)
self.ser = ser
self.finish_event = finish_event
self.ev_completed = ev_completed
self.ev_started = ev_started
self.ev_slots = ev_slots
self.ev_queued = ev_queued
self.ev_dropped = ev_dropped
self.ev_protocolerror = ev_protocolerror
self.ev_mcu_reseted = ev_mcu_reseted
self.ev_error = ev_error
def run(self):
while not self.finish_event.is_set():
resp = None
try:
resp = self.ser.readline()
except Exception as e:
print("Serial port read error", e)
self.ev_protocolerror(True, "Serial port read error")
break
try:
ans = resp.decode("ascii")
except:
print("Can not decode answer: ", e)
self.ev_protocolerror(False, resp)
continue
ans = str(ans).strip()
print("Received answer: [%s], len = %i" % (ans, len(ans)))
evt = answer.parse_answer(ans)
if evt["result"] == "ok":
if evt["event"] == "queue":
self.ev_slots(evt["action"], evt["slots"])
self.ev_queued(evt["action"])
elif evt["event"] == "drop":
self.ev_slots(evt["action"], evt["slots"])
self.ev_dropped(evt["action"])
elif evt["event"] == "start":
self.ev_slots(evt["action"], evt["slots"])
self.ev_started(evt["action"])
elif evt["event"] == "complete":
self.ev_slots(evt["action"], evt["slots"])
self.ev_completed(evt["action"], evt["response"])
elif evt["event"] == "init":
self.ev_mcu_reseted()
elif evt["event"] == "error":
self.ev_error(evt["msg"])
indexed = event.EventEmitter()
queued = event.EventEmitter()
completed = event.EventEmitter()
dropped = event.EventEmitter()
started = event.EventEmitter()
protocol_error = event.EventEmitter()
mcu_reseted = event.EventEmitter()
error = event.EventEmitter()
__reseted_ev = event.EventEmitter()
has_slots = threading.Event()
def __init__(self, port, bdrate, timeout):
self.__id = 0
self.__qans = threading.Event()
self.__reseted = False
self.__slots = event.EventEmitter()
self.__finish_event = threading.Event()
self.port = port
self.baudrate = bdrate
self.timeout = timeout
self.__ser = serial.Serial(self.port,
self.baudrate,
bytesize=8,
parity='N',
stopbits=1,
rtscts=False,
dsrdtr=False)
self.__listener = self.SerialReceiver(self.__ser, self.__finish_event,
self.completed, self.started,
self.__slots, self.dropped,
self.queued, self.protocol_error,
self.__reseted_ev, self.error)
self.__reseted_ev += self.__on_reset
self.__slots += self.__on_slots
self.__listener.start()
self.has_slots.set()
def __on_reset(self):
self.has_slots.set()
self.mcu_reseted()
def __on_slots(self, Nid, Q):
Nid = int(Nid)
if Q == 0:
self.has_slots.clear()
else:
self.has_slots.set()
if Nid != self.__id:
return
def send_command(self, command, wait=True):
self.__id += 1
self.__reseted = False
self.indexed(self.__id)
cmd = ("N%i " % self.__id) + command
encoded = bytes(cmd, "ascii")
s = sum(encoded)
crc = bytes("*%X" % s, "ascii")
msg = encoded + crc + b'\n'
print("Sending command %s" % msg)
self.__ser.write(msg)
self.__ser.flush()
oid = self.__id
return oid
def close(self):
self.__finish_event.set()
self.__ser.close()
def clean(self):
self.__reseted = True
self.__qans.set()
def reset(self):
pass
class EthernetSender(object):
class EthernetReceiver(threading.Thread):
def __init__(self, sock, remote, finish_event,
ev_completed, ev_started,
ev_slots, ev_dropped, ev_queued,
ev_protocolerror, ev_mcu_reseted, ev_error):
threading.Thread.__init__(self)
self.sock = sock
self.remote = remote
self.finish_event = finish_event
self.ev_completed = ev_completed
self.ev_started = ev_started
self.ev_slots = ev_slots
self.ev_queued = ev_queued
self.ev_dropped = ev_dropped
self.ev_protocolerror = ev_protocolerror
self.ev_mcu_reseted = ev_mcu_reseted
self.ev_error = ev_error
def run(self):
print("START RECEIVER")
while not self.finish_event.is_set():
resp = None
try:
resp = self.sock.recv(1500)
except Exception as e:
print("Ethernet read error", e)
self.ev_protocolerror(True, "Ethernet read error")
break
#dst = resp[0:6]
src = resp[6:12]
ethtype = resp[12]*256 +resp[13]
#length = resp[14]*256 + resp[15]
msg = resp[16:]
if ethtype != 0xFEFE:
continue
self.remote["mac"] = src
try:
ans = msg.decode("ascii").replace("\x00", "")
except:
print("Can not decode answer: ", e)
self.ev_protocolerror(False, resp)
continue
print("Received answer: [%s], len = %i" % (ans, len(ans)))
evt = answer.parse_answer(ans)
if evt["result"] == "ok":
if evt["event"] == "queue":
self.ev_slots(evt["action"], evt["slots"])
self.ev_queued(evt["action"])
elif evt["event"] == "drop":
self.ev_slots(evt["action"], evt["slots"])
self.ev_dropped(evt["action"])
elif evt["event"] == "start":
self.ev_slots(evt["action"], evt["slots"])
self.ev_started(evt["action"])
elif evt["event"] == "complete":
self.ev_slots(evt["action"], evt["slots"])
self.ev_completed(evt["action"], evt["response"])
elif evt["event"] == "init":
self.ev_mcu_reseted()
elif evt["event"] == "error":
self.ev_error(evt["msg"])
else:
print("problem", evt)
indexed = event.EventEmitter()
queued = event.EventEmitter()
completed = event.EventEmitter()
dropped = event.EventEmitter()
started = event.EventEmitter()
protocol_error = event.EventEmitter()
mcu_reseted = event.EventEmitter()
error = event.EventEmitter()
__reseted_ev = event.EventEmitter()
has_slots = threading.Event()
@staticmethod
def __getHwAddr(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
info = fcntl.ioctl(s.fileno(), 0x8927, struct.pack('256s', bytes(ifname, 'utf-8')[:15]))
return info[18:24]
def __init__(self, ethname, timeout=0, debug=False):
self.__id = 0
self.__ethertype = bytes([0xFE, 0xFE])
self.__remote = {
"inited" : False,
"mac" : bytes([255,255,255,255,255,255])
}
self.__localmac = self.__getHwAddr(ethname)
self.__qans = threading.Event()
self.__reseted = False
self.__slots = event.EventEmitter()
self.__finish_event = threading.Event()
self.__sock = socket.socket(socket.AF_PACKET, socket.SOCK_RAW)
self.__sock.bind((ethname, socket.htons(0xFEFE)))
self.timeout = timeout
self.__listener = self.EthernetReceiver(self.__sock, self.__remote, self.__finish_event,
self.completed, self.started, self.__slots,
self.dropped, self.queued,
self.protocol_error, self.__reseted_ev, self.error)
self.__reseted_ev += self.__on_reset
self.__slots += self.__on_slots
self.__listener.start()
self.has_slots.set()
def __on_reset(self):
self.has_slots.set()
self.mcu_reseted()
def __on_slots(self, Nid, Q):
Nid = int(Nid)
if Q == 0:
self.has_slots.clear()
else:
self.has_slots.set()
if Nid != self.__id:
return
def send_command(self, command, wait=True):
self.__id += 1
self.__reseted = False
self.indexed(self.__id)
cmd = ("N%i " % self.__id) + command
encoded = bytes(cmd, "ascii")
s = sum(encoded)
crc = bytes("*%X" % s, "ascii")
msg = encoded + crc + b'\n'
msglen = len(msg)
lenb = bytes([int(msglen / 256), int(msglen % 256)])
print("Sending command %s" % msg)
frame = self.__remote["mac"] + self.__localmac + self.__ethertype + lenb + msg
self.__sock.send(frame)
oid = self.__id
return oid
def close(self):
self.__finish_event.set()
self.__sock.close()
def clean(self):
self.__reseted = True
self.__qans.set()
def reset(self):
self.__remote["mac"] = bytes([255,255,255,255,255,255])
def __init__(self, tool, **kwargs):
action.InstantAction.__init__(self, **kwargs)
self.tool_changed = event.EventEmitter()
self.tool = tool
self.is_pause = True
def __init__(self, parent):
self.loaded = event.EventEmitter()
self.reset_clicked = event.EventEmitter()
self.start_clicked = event.EventEmitter()
self.continue_clicked = event.EventEmitter()
self.pause_clicked = event.EventEmitter()
self.stop_clicked = event.EventEmitter()
self.home_clicked = event.EventEmitter()
self.probe_clicked = event.EventEmitter()
self.command_entered = event.EventEmitter()
self.xp_clicked = event.EventEmitter()
self.xm_clicked = event.EventEmitter()
self.yp_clicked = event.EventEmitter()
self.ym_clicked = event.EventEmitter()
self.zp_clicked = event.EventEmitter()
self.zm_clicked = event.EventEmitter()
wx.Frame.__init__(self,
parent,
title="CNC Control",
size=(800, 600))
menubar = wx.MenuBar()
fileMenu = wx.Menu()
openItem = fileMenu.Append(wx.ID_OPEN, 'Open', 'Open G-Code')
quitItem = fileMenu.Append(wx.ID_EXIT, 'Quit', 'Quit application')
menubar.Append(fileMenu, '&File')
self.SetMenuBar(menubar)
self.Bind(wx.EVT_MENU, self.OnQuit, quitItem)
self.Bind(wx.EVT_MENU, self.OnOpen, openItem)
panel = wx.Panel(self)
hbox = wx.BoxSizer(wx.HORIZONTAL)
panel.SetSizer(hbox)
#region code area
code_panel = wx.Panel(panel)
hbox.Add(code_panel, wx.ID_ANY, wx.EXPAND, 0)
code_sizer = wx.BoxSizer(wx.VERTICAL)
code_panel.SetSizer(code_sizer)
#region code
self.code = wx.ListCtrl(code_panel,
style=wx.LC_REPORT | wx.BORDER_SUNKEN)
self.code.InsertColumn(0, "", width=32)
self.code.InsertColumn(1, "", width=500)
self.font = wx.Font(13, wx.MODERN, wx.NORMAL, wx.NORMAL, False,
u'Monospace')
self.old_hl = None
code_sizer.Add(self.code, wx.ID_ANY, flag=wx.EXPAND)
#endregion
code_sizer.Add((-1, 5))
#region code
self.cmdhist = wx.TextCtrl(code_panel,
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.HSCROLL | wx.TE_RICH)
code_sizer.Add(self.cmdhist, wx.ID_ANY, flag=wx.EXPAND)
#endregion
#region command
cmdpanel = wx.Panel(code_panel)
cmdpanel_sizer = wx.BoxSizer(wx.HORIZONTAL)
cmdpanel.SetSizer(cmdpanel_sizer)
code_sizer.Add(cmdpanel, flag=wx.EXPAND)
self.command = wx.TextCtrl(cmdpanel)
self.command.Bind(wx.EVT_KEY_DOWN, self.__kd)
cmdpanel_sizer.Add(self.command, wx.ID_ANY, flag=wx.EXPAND)
self.send_command = wx.Button(cmdpanel, label='>', size=(32, -1))
self.send_command.Bind(wx.EVT_BUTTON, self.__execute)
cmdpanel_sizer.Add(self.send_command)
#endregion
#endregion
#region control area
control_panel = wx.Panel(panel)
control_sizer = wx.BoxSizer(wx.VERTICAL)
control_panel.SetSizer(control_sizer)
hbox.Add(control_panel, flag=wx.LEFT | wx.RIGHT, border=15)
vcmdpanel = wx.Panel(control_panel)
control_sizer.Add(vcmdpanel)
vcmdsizer = wx.BoxSizer(wx.HORIZONTAL)
vcmdpanel.SetSizer(vcmdsizer)
#region move control
movegrid = wx.Panel(vcmdpanel)
vcmdsizer.Add(movegrid)
movegridsizer = wx.GridBagSizer(vgap=5, hgap=5)
movegrid.SetSizer(movegridsizer)
self.xp = wx.Button(movegrid, label=">")
movegridsizer.Add(self.xp, (1, 2))
self.xp.Bind(wx.EVT_BUTTON, self.__xp)
self.xm = wx.Button(movegrid, label="<")
movegridsizer.Add(self.xm, (1, 0))
self.xm.Bind(wx.EVT_BUTTON, self.__xm)
self.yp = wx.Button(movegrid, label="^")
movegridsizer.Add(self.yp, (0, 1))
self.yp.Bind(wx.EVT_BUTTON, self.__yp)
self.ym = wx.Button(movegrid, label="v")
movegridsizer.Add(self.ym, (2, 1))
self.ym.Bind(wx.EVT_BUTTON, self.__ym)
self.zp = wx.Button(movegrid, label="Up")
movegridsizer.Add(self.zp, (3, 1))
self.zp.Bind(wx.EVT_BUTTON, self.__zp)
self.zm = wx.Button(movegrid, label="Down")
movegridsizer.Add(self.zm, (4, 1))
self.zm.Bind(wx.EVT_BUTTON, self.__zm)
#endregion move control
vcmdsizer.Add((10, -1))
#region buttons
button_panel = wx.Panel(vcmdpanel)
btnsizer = wx.BoxSizer(wx.VERTICAL)
vcmdsizer.Add(button_panel)
button_panel.SetSizer(btnsizer)
self.start_btn = wx.Button(button_panel, label='Start')
btnsizer.Add(self.start_btn)
self.start_btn.Bind(wx.EVT_BUTTON, self.__start)
btnsizer.Add((-1, 5))
self.pause_btn = wx.Button(button_panel, label='Pause')
btnsizer.Add(self.pause_btn)
self.pause_btn.Bind(wx.EVT_BUTTON, self.__pause)
btnsizer.Add((-1, 5))
self.continue_btn = wx.Button(button_panel, label='Continue')
btnsizer.Add(self.continue_btn)
self.continue_btn.Bind(wx.EVT_BUTTON, self.__continue)
btnsizer.Add((-1, 5))
self.stop_btn = wx.Button(button_panel, label='Stop')
btnsizer.Add(self.stop_btn)
self.stop_btn.Bind(wx.EVT_BUTTON, self.__stop)
btnsizer.Add((-1, 20))
self.reset_btn = wx.Button(button_panel, label='Reset')
self.reset_btn.SetBackgroundColour(wx.Colour(255, 0, 0))
self.reset_btn.SetForegroundColour(wx.Colour(255, 255, 255))
self.reset_btn.SetFont(wx.Font(18, wx.DEFAULT, wx.NORMAL, wx.BOLD))
btnsizer.Add(self.reset_btn)
self.reset_btn.Bind(wx.EVT_BUTTON, self.__reset)
btnsizer.Add((-1, 20))
self.home_btn = wx.Button(button_panel, label='Home XYZ')
btnsizer.Add(self.home_btn)
self.home_btn.Bind(wx.EVT_BUTTON, self.__home)
btnsizer.Add((-1, 5))
self.probe_btn = wx.Button(button_panel, label='Probe Z')
btnsizer.Add(self.probe_btn)
self.probe_btn.Bind(wx.EVT_BUTTON, self.__probe)
#endregion
control_sizer.Add((-1, 15))
#region status region
status_panel = wx.Panel(control_panel)
status_sizer = wx.BoxSizer(wx.VERTICAL)
control_sizer.Add(status_panel)
status_panel.SetSizer(status_sizer)
lb = wx.StaticText(status_panel, label="Coordinates")
status_sizer.Add(lb)
self.crds = wx.grid.Grid(status_panel)
status_sizer.Add(self.crds)
self.crds.CreateGrid(4, 3)
for i in range(3):
for j in range(3):
self.crds.SetReadOnly(i, j, True)
self.crds.SetColLabelValue(0, "HW")
self.crds.SetColLabelValue(1, "Global")
self.crds.SetColLabelValue(2, "Current")
self.crds.SetRowLabelValue(0, "CS")
self.crds.SetRowLabelValue(1, "X")
self.crds.SetRowLabelValue(2, "Y")
self.crds.SetRowLabelValue(3, "Z")
self.crds.DisableRowResize(0)
self.crds.DisableRowResize(1)
self.crds.DisableRowResize(2)
self.crds.DisableRowResize(3)
self.crds.DisableColResize(0)
self.crds.DisableColResize(1)
self.crds.DisableColResize(2)
self.crds.SetCellBackgroundColour(0, 0, wx.Colour("lightgrey"))
self.crds.SetCellBackgroundColour(0, 1, wx.Colour("lightgrey"))