def init_gcode_object(self,):
self.gcode_vao = gl.glGenVertexArrays(1)
self.gcode_vbo = gl.glGenBuffers(1)
# gl.glBindVertexArray(self.gcode_vao)
# gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
file_handle = open('julia.gcode', 'r')
self.npgcr = NumpyGcodeReader(file_handle)
self.npgcr.start()
self._last_updateTime = 0.0
self.gcode_done = False
def init_gcode_object(self,):
self.gcode_vao = gl.glGenVertexArrays(1)
self.gcode_vbo = gl.glGenBuffers(1)
# gl.glBindVertexArray(self.gcode_vao)
# gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
file_handle = open('julia.gcode', 'r')
self.npgcr = NumpyGcodeReader(file_handle)
self.npgcr.start()
self._last_updateTime = 0.0
self.gcode_done = False
class JTObjects(object):
def __init__(self, resource_path, projection_matrix_function, camera_matrix_function):
self.resource_path = resource_path
self.projection_matrix_function = projection_matrix_function
self.camera_matrix_function = camera_matrix_function
self.load_shader_programs()
self.init_grid()
self.init_gcode_object()
def load_shader_programs(self,):
vertex_shader_file = os.path.join(self.resource_path, 'shaders', 'jt_object_vertex.glsl')
fragment_shader_file = os.path.join(self.resource_path, 'shaders', 'jt_object_fragment.glsl')
self.simple_object_shader = ShaderLoader.load_shaders(vertex_shader_file,fragment_shader_file)
def init_grid(self,):
self.grid_vao = gl.glGenVertexArrays(1)
self.grid_vbo = gl.glGenBuffers(1)
gl.glBindVertexArray(self.grid_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.grid_vbo)
posisitions = np.array([
1.0, 0.0, -1.0, 1.0,
1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, -1.0, 1.0,
1.0, 0.0, -1.0, 1.0,
-1.0, 0.0, 0.0, 1.0,
1.0, 0.0, 0.0, 1.0,
1.0, 1.0, 0.0, 1.0,
1.0, 1.0, 0.0, 1.0,
-1.0, 1.0, 0.0, 1.0,
-1.0, 0.0, 0.0, 1.0,
0.0, 0.0, -1.0, 1.0,
0.0, 1.0, -1.0, 1.0,
0.0, 1.0, 1.0, 1.0,
0.0, 1.0, 1.0, 1.0,
0.0, 0.0, 1.0, 1.0,
0.0, 0.0, -1.0, 1.0,
], dtype=np.float32)
colors = np.array( [ 1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
], dtype=np.float32)
gl.glBufferData(gl.GL_ARRAY_BUFFER, (posisitions.size + colors.size) * 4, None, gl.GL_STATIC_DRAW)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, 0, posisitions)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, posisitions.size * 4, colors)
self.grid_size = posisitions.size
def draw_grid(self,):
gl.glUseProgram(self.simple_object_shader)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glDepthFunc(gl.GL_LESS)
gl.glBindVertexArray(self.grid_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.grid_vbo)
vProjection = gl.glGetUniformLocation(self.simple_object_shader, 'vProjection')
vPosisition = gl.glGetAttribLocation(self.simple_object_shader, "vPosisition")
vColor = gl.glGetAttribLocation(self.simple_object_shader, "vColor")
vCamera = gl.glGetUniformLocation(self.simple_object_shader, 'vCamera')
gl.glUniformMatrix4fv(vProjection, 1, gl.GL_FALSE, self.projection_matrix_function())
gl.glUniformMatrix4fv(vCamera, 1, gl.GL_FALSE, self.camera_matrix_function())
gl.glEnableVertexAttribArray(vPosisition)
gl.glEnableVertexAttribArray(vColor)
gl.glVertexAttribPointer(vPosisition, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, None)
gl.glVertexAttribPointer(vColor, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, ctypes.c_void_p(self.grid_size * 4))
gl.glDrawArrays(gl.GL_TRIANGLES, 0, self.grid_size // 4)
def init_gcode_object(self,):
self.gcode_vao = gl.glGenVertexArrays(1)
self.gcode_vbo = gl.glGenBuffers(1)
# gl.glBindVertexArray(self.gcode_vao)
# gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
file_handle = open('julia.gcode', 'r')
self.npgcr = NumpyGcodeReader(file_handle)
self.npgcr.start()
self._last_updateTime = 0.0
self.gcode_done = False
def refresh_gcode_object(self,):
if not self.gcode_done and time.time() - self._last_updateTime >= 4.0:
gl.glBindVertexArray(self.gcode_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
status, pos, col = self.npgcr.get_current()
if status is "Complete":
self.gcode_done = True
posisitions = np.array(pos, dtype=np.float32)
scale = 1.0 / np.amax(posisitions)
scale = np.array([scale, scale, scale, 1.0], dtype=np.float32)
posisitions = posisitions * scale
colors = np.array(col, dtype=np.float32)
gl.glBufferData(gl.GL_ARRAY_BUFFER, (posisitions.size + colors.size) * 4, None, gl.GL_STATIC_DRAW)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, 0, posisitions)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, posisitions.size * 4, colors)
self.gcode_size = posisitions.size
self._last_updateTime = time.time()
def draw_gcode_object(self,):
self.refresh_gcode_object()
gl.glUseProgram(self.simple_object_shader)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glDepthFunc(gl.GL_LESS)
gl.glBindVertexArray(self.gcode_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
vProjection = gl.glGetUniformLocation(self.simple_object_shader, 'vProjection')
vPosisition = gl.glGetAttribLocation(self.simple_object_shader, "vPosisition")
vColor = gl.glGetAttribLocation(self.simple_object_shader, "vColor")
vCamera = gl.glGetUniformLocation(self.simple_object_shader, 'vCamera')
gl.glUniformMatrix4fv(vProjection, 1, gl.GL_FALSE, self.projection_matrix_function())
gl.glUniformMatrix4fv(vCamera, 1, gl.GL_FALSE, self.camera_matrix_function())
gl.glEnableVertexAttribArray(vPosisition)
gl.glEnableVertexAttribArray(vColor)
gl.glVertexAttribPointer(vPosisition, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, None)
gl.glVertexAttribPointer(vColor, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, ctypes.c_void_p(self.gcode_size * 4))
gl.glDrawArrays(gl.GL_LINES, 0, self.gcode_size // 4)
class JTObjects(object):
def __init__(self, resource_path, projection_matrix_function, camera_matrix_function):
self.resource_path = resource_path
self.projection_matrix_function = projection_matrix_function
self.camera_matrix_function = camera_matrix_function
self.load_shader_programs()
self.init_grid()
self.init_gcode_object()
def load_shader_programs(self,):
vertex_shader_file = os.path.join(self.resource_path, 'shaders', 'jt_object_vertex.glsl')
fragment_shader_file = os.path.join(self.resource_path, 'shaders', 'jt_object_fragment.glsl')
self.simple_object_shader = ShaderLoader.load_shaders(vertex_shader_file,fragment_shader_file)
def init_grid(self,):
self.grid_vao = gl.glGenVertexArrays(1)
self.grid_vbo = gl.glGenBuffers(1)
gl.glBindVertexArray(self.grid_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.grid_vbo)
posisitions = np.array([
1.0, 0.0, -1.0, 1.0,
1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, 1.0, 1.0,
-1.0, 0.0, -1.0, 1.0,
1.0, 0.0, -1.0, 1.0,
-1.0, 0.0, 0.0, 1.0,
1.0, 0.0, 0.0, 1.0,
1.0, 1.0, 0.0, 1.0,
1.0, 1.0, 0.0, 1.0,
-1.0, 1.0, 0.0, 1.0,
-1.0, 0.0, 0.0, 1.0,
0.0, 0.0, -1.0, 1.0,
0.0, 1.0, -1.0, 1.0,
0.0, 1.0, 1.0, 1.0,
0.0, 1.0, 1.0, 1.0,
0.0, 0.0, 1.0, 1.0,
0.0, 0.0, -1.0, 1.0,
], dtype=np.float32)
colors = np.array( [ 1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
1.0, 0.0, 0.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 0.0, 1.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
0.0, 1.0, 0.0, 0.2,
], dtype=np.float32)
gl.glBufferData(gl.GL_ARRAY_BUFFER, (posisitions.size + colors.size) * 4, None, gl.GL_STATIC_DRAW)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, 0, posisitions)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, posisitions.size * 4, colors)
self.grid_size = posisitions.size
def draw_grid(self,):
gl.glUseProgram(self.simple_object_shader)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glDepthFunc(gl.GL_LESS)
gl.glBindVertexArray(self.grid_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.grid_vbo)
vProjection = gl.glGetUniformLocation(self.simple_object_shader, 'vProjection')
vPosisition = gl.glGetAttribLocation(self.simple_object_shader, "vPosisition")
vColor = gl.glGetAttribLocation(self.simple_object_shader, "vColor")
vCamera = gl.glGetUniformLocation(self.simple_object_shader, 'vCamera')
gl.glUniformMatrix4fv(vProjection, 1, gl.GL_FALSE, self.projection_matrix_function())
gl.glUniformMatrix4fv(vCamera, 1, gl.GL_FALSE, self.camera_matrix_function())
gl.glEnableVertexAttribArray(vPosisition)
gl.glEnableVertexAttribArray(vColor)
gl.glVertexAttribPointer(vPosisition, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, None)
gl.glVertexAttribPointer(vColor, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, ctypes.c_void_p(self.grid_size * 4))
gl.glDrawArrays(gl.GL_TRIANGLES, 0, self.grid_size / 4)
def init_gcode_object(self,):
self.gcode_vao = gl.glGenVertexArrays(1)
self.gcode_vbo = gl.glGenBuffers(1)
# gl.glBindVertexArray(self.gcode_vao)
# gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
file_handle = open('julia.gcode', 'r')
self.npgcr = NumpyGcodeReader(file_handle)
self.npgcr.start()
self._last_updateTime = 0.0
self.gcode_done = False
def refresh_gcode_object(self,):
if not self.gcode_done and time.time() - self._last_updateTime >= 4.0:
gl.glBindVertexArray(self.gcode_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
status, pos, col = self.npgcr.get_current()
if status is "Complete":
self.gcode_done = True
posisitions = np.array(pos, dtype=np.float32)
scale = 1.0 / np.amax(posisitions)
scale = np.array([scale, scale, scale, 1.0], dtype=np.float32)
posisitions = posisitions * scale
colors = np.array(col, dtype=np.float32)
gl.glBufferData(gl.GL_ARRAY_BUFFER, (posisitions.size + colors.size) * 4, None, gl.GL_STATIC_DRAW)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, 0, posisitions)
gl.glBufferSubData(gl.GL_ARRAY_BUFFER, posisitions.size * 4, colors)
self.gcode_size = posisitions.size
self._last_updateTime = time.time()
def draw_gcode_object(self,):
self.refresh_gcode_object()
gl.glUseProgram(self.simple_object_shader)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glDepthFunc(gl.GL_LESS)
gl.glBindVertexArray(self.gcode_vao)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gcode_vbo)
vProjection = gl.glGetUniformLocation(self.simple_object_shader, 'vProjection')
vPosisition = gl.glGetAttribLocation(self.simple_object_shader, "vPosisition")
vColor = gl.glGetAttribLocation(self.simple_object_shader, "vColor")
vCamera = gl.glGetUniformLocation(self.simple_object_shader, 'vCamera')
gl.glUniformMatrix4fv(vProjection, 1, gl.GL_FALSE, self.projection_matrix_function())
gl.glUniformMatrix4fv(vCamera, 1, gl.GL_FALSE, self.camera_matrix_function())
gl.glEnableVertexAttribArray(vPosisition)
gl.glEnableVertexAttribArray(vColor)
gl.glVertexAttribPointer(vPosisition, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, None)
gl.glVertexAttribPointer(vColor, 4, gl.GL_FLOAT, gl.GL_FALSE, 0, ctypes.c_void_p(self.gcode_size * 4))
gl.glDrawArrays(gl.GL_LINES, 0, self.gcode_size / 4)
