def home(self):
'''home() ... homes all axes'''
status = self['status']
command = self['command']
if status and command:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(status)]
toHome = [
axis.index for axis in status['motion.axis'] if not axis.homed
]
order = {}
for axis in status['config.axis']:
if axis.index in toHome:
batch = order.get(axis.home_sequence)
if batch is None:
batch = []
batch.append(axis.index)
order[axis.home_sequence] = batch
for key in sorted(order):
batch = order[key]
sequence.append(
[MKCommandAxisHome(index, True) for index in batch])
for index in batch:
sequence.append([
MKCommandWaitUntil(lambda index=index: status[
"motion.axis.%d.homed" % index])
])
sequence.append(MKUtils.taskModeMDI(self, True))
sequence.append([MKCommandTaskExecute('G10 L20 P0 X0 Y0 Z0')])
command.sendCommandSequence(sequence)
def addSelection(self, doc, obj, sub, pnt):
PathLog.track()
if self.ui.jogGoto.isChecked(
) and self.mk['status.motion.state'] == TYPES.RCS_DONE:
x = pnt[0]
y = pnt[1]
z = pnt[2]
mkx = self.displayPos('x')
mky = self.displayPos('y')
mkz = self.displayPos('z')
if PathGeom.isRoughly(x, mkx, Tolerance) and PathGeom.isRoughly(
y, mky, Tolerance):
if not PathGeom.isRoughly(z, mkz, Tolerance):
# only jog the Z axis if XY already match
index, velocity = self.getJogIndexAndVelocity('z')
jog = [MKCommandAxisJog(index, velocity, mkz - z)]
PathLog.debug("jog z from %.2f to %.2f" % (mkz, z))
else:
jog = None
PathLog.debug(
"z already aligned (%.2f), no jogging required" % z)
else:
# by default we just jog X & Y
jog = self._jogXYCmdsFromTo(FreeCAD.Vector(mkx, mky, 0),
FreeCAD.Vector(x, y, 0))
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def jogAxesStop(self):
'''Explicitly stop all jog motions currently in progress.'''
PathLog.track()
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append([MKCommandAxisAbort(i) for i in range(3)])
self.mk['command'].abortCommandSequence()
self.mk['command'].sendCommandSequence(sequence)
def addSelection(self, doc, obj, sub, pnt):
'''FC callback if the selection in the 3d view changes - used to determine the destination
when the user wants to jog the tool to a specific position.'''
PathLog.track()
if self.ui.jogGoto.isChecked() and self.mk[
'status.motion.state'] == TYPES.RCS_DONE and not self.ui.jogGoto.visibleRegion(
).isEmpty():
x = pnt[0]
y = pnt[1]
z = pnt[2]
mkx = self.displayPos('x')
mky = self.displayPos('y')
mkz = self.displayPos('z')
if PathGeom.isRoughly(x, mkx, Tolerance) and PathGeom.isRoughly(
y, mky, Tolerance):
if not PathGeom.isRoughly(z, mkz, Tolerance):
# only jog the Z axis if XY already match
index, velocity = self.getJogIndexAndVelocity('z')
jog = [MKCommandAxisJog(index, velocity, mkz - z)]
PathLog.debug("jog z from %.2f to %.2f" % (mkz, z))
else:
jog = None
PathLog.debug(
"z already aligned (%.2f), no jogging required" % z)
else:
# by default we just jog X & Y
jog = self._jogXYCmdsFromTo(FreeCAD.Vector(mkx, mky, 0),
FreeCAD.Vector(x, y, 0))
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def jogAxesEnd(self, axes):
PathLog.track(axes)
if self.jogContinuously():
jog = []
for axis in axes:
index, velocity = self.getJogIndexAndVelocity(axis)
jog.append(MKCommandAxisAbort(index))
if jog:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def toggleHomed(self):
if self.mk.isHomed():
sequence = [[cmd]
for cmd in MKUtils.taskModeManual(self.mk['status'])]
commands = []
for axis in self.mk['status.config.axis']:
commands.append(MKCommandAxisHome(axis.index, False))
sequence.append(commands)
self.mk['command'].sendCommandSequence(sequence)
else:
self.mk.home()
def jogAxesZero(self, axes):
PathLog.track()
PathLog.track(axes)
jog = []
for axis in (['x', 'y'] if axes[0] == '-' else ['z']):
distance = self.displayPos(axis)
if distance != 0.0:
index, velocity = self.getJogIndexAndVelocity(axis)
jog.append(MKCommandAxisJog(index, velocity, distance))
if jog:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def jogAxesEnd(self, axes):
'''Calback when the user releases one of the jog buttons - if continuous jogging
is configured this ends the jog.'''
PathLog.track(axes)
if self.jogContinuously():
jog = []
for axis in axes:
index, velocity = self.getJogIndexAndVelocity(axis)
jog.append(MKCommandAxisAbort(index))
if jog:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def jogAxes(self, axes):
PathLog.track(axes)
if not self.jogContinuously():
jog = []
for axis in axes:
index, velocity = self.getJogIndexAndVelocity(axis)
units = EmcLinearUnits[self.mk['status.config.units.linear']]
distance = FreeCAD.Units.Quantity(
self.ui.jogDistance.currentItem().text()).getValueAs(units)
jog.append(MKCommandAxisJog(index, velocity, distance))
if jog:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def jogAxesZero(self, axes):
'''jogAxesZero(axes) ... jog each of the specified axes to its 0 position.
Note that no velocity adaption is going on so if two or more axis are specified
each will reach its destination in its own time regardless of the progress of
the other axes.'''
PathLog.track()
PathLog.track(axes)
jog = []
for axis in (['x', 'y'] if axes[0] == '-' else ['z']):
distance = self.displayPos(axis)
if distance != 0.0:
index, velocity = self.getJogIndexAndVelocity(axis)
jog.append(MKCommandAxisJog(index, velocity, distance))
if jog:
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append(jog)
self.mk['command'].sendCommandSequence(sequence)
def scanJob(self, forward):
PathLog.track()
job = self.mk.getJob()
if job and hasattr(job, 'Path') and job.Path:
bb = job.Path.BoundBox
if bb.isValid():
off = self.mk['status.motion.offset.g5x']
bb.move(FreeCAD.Vector(off['x'], off['y'], off['z']))
if self.mk.boundBox().isInside(bb):
mkx = self.displayPos('x')
mky = self.displayPos('y')
begin = FreeCAD.Vector(mkx, mky, 0)
pts = []
bb = job.Path.BoundBox
if forward:
pts.append(FreeCAD.Vector(bb.XMin, bb.YMin, 0))
pts.append(FreeCAD.Vector(bb.XMax, bb.YMin, 0))
pts.append(FreeCAD.Vector(bb.XMax, bb.YMax, 0))
pts.append(FreeCAD.Vector(bb.XMin, bb.YMax, 0))
else:
pts.append(FreeCAD.Vector(bb.XMin, bb.YMin, 0))
pts.append(FreeCAD.Vector(bb.XMin, bb.YMax, 0))
pts.append(FreeCAD.Vector(bb.XMax, bb.YMax, 0))
pts.append(FreeCAD.Vector(bb.XMax, bb.YMin, 0))
dist = [begin.distanceToPoint(p) for p in pts]
rot = dist.index(min(dist))
pts = pts[rot:] + pts[:rot]
pts.append(pts[0])
PathLog.info(" begin = (%5.2f, %5.2f)" %
(begin.x, begin.y))
for i, p in enumerate(pts):
PathLog.info(" pts[%d] = (%5.2f, %5.2f)" %
(i, p.x, p.y))
jog = []
if not PathGeom.pointsCoincide(begin, pts[0]):
PathLog.info("Move to start point (%.2f, %.2f)" %
(pts[0].x, pts[0].y))
jog.append(self._jogXYCmdsFromTo(begin, pts[0]))
for i, j in zip(pts, pts[1:]):
jog.append(self._jogXYCmdsFromTo(i, j))
sequence = [[cmd]
for cmd in MKUtils.taskModeManual(self.mk)]
sequence.extend(jog)
self.mk['command'].sendCommandSequence(sequence)
else:
mbb = self.mk.boundBox()
msg = ["Cannot scan job!"]
if mbb.XMin > bb.XMin:
msg.append("X limit min exceeded by: %.2f" %
(mbb.XMin - bb.XMin))
if mbb.XMax < bb.XMax:
msg.append("X limit max exceeded by: %.2f" %
(bb.XMax - mbb.XMax))
if mbb.YMin > bb.YMin:
msg.append("Y limit min exceeded by: %.2f" %
(mbb.YMin - bb.YMin))
if mbb.YMax < bb.YMax:
msg.append("Y limit max exceeded by: %.2f" %
(bb.YMax - mbb.YMax))
if mbb.ZMin > bb.ZMin:
msg.append("Z limit min exceeded by: %.2f" %
(mbb.ZMin - bb.ZMin))
if mbb.ZMax < bb.ZMax:
msg.append("Z limit max exceeded by: %.2f" %
(bb.ZMax - mbb.ZMax))
mb = PySide.QtGui.QMessageBox()
mb.setWindowIcon(
machinekit.IconResource('machinekiticon.png'))
mb.setWindowTitle('Machinekit')
mb.setTextFormat(PySide.QtCore.Qt.TextFormat.RichText)
mb.setText("<div align='center'>%s</div>" %
'<br/>'.join(msg))
mb.setIcon(PySide.QtGui.QMessageBox.Critical)
mb.setStandardButtons(PySide.QtGui.QMessageBox.Ok)
mb.exec_()
else:
PathLog.error("BoundBox of job %s is not valid" % job.Label)
else:
PathLog.error('No job uploaded for scanning')
def jogAxesStop(self):
PathLog.track()
sequence = [[cmd] for cmd in MKUtils.taskModeManual(self.mk)]
sequence.append([MKCommandAxisAbort(i) for i in range(3)])
self.mk['command'].abortCommandSequence()
self.mk['command'].sendCommandSequence(sequence)