def __init__(self):
# initialize the axes
self.mAxRot = MotorAxis(3)
self.mMode = RotationApp.MODE_WAITING
self.mIsRunning = True
self.builder = gtk.Builder()
self.builder.add_from_file("continuous_rotation_app.glade")
self.builder.connect_signals(self)
self.read_values_from_canbus()
self.builder.get_object("startStopButton").set_label("Start")
gtk.gdk.threads_init()
self.mControlThread = threading.Thread(target=self.controlMethod)
self.mControlThread.start()
def __init__(self):
if USE_MOTORS:
self.mZAxis = MotorAxis(2)
self.mYAxis = MotorAxis(1)
self.mRotAxis = MotorAxis(3)
can_control.enableMotors()
self.MOTOR1_MAPPINGS = [
self.mZAxis, self.mYAxis, self.mRotAxis, self.mZAxis,
self.mRotAxis, self.mZAxis
]
self.MOTOR2_MAPPINGS = [
None, None, None, self.mYAxis, self.mZAxis, self.mRotAxis
]
self.builder = gtk.Builder()
self.builder.add_from_file("diff_control.glade")
self.init_values() # init values before connecting the fields
self.builder.connect_signals(self)
self.mScanRunning = False
for i in NUM_SIGNED_FLOAT_FIELD_NAMES:
entry = self.builder.get_object(i)
self.numerify_float_signed(entry)
for i in NUM_FLOAT_FIELD_NAMES:
entry = self.builder.get_object(i)
self.numerify_float(entry)
for i in NUM_INTEGER_FIELD_NAMES:
entry = self.builder.get_object(i)
self.numerify_integer(entry)
entry = self.builder.get_object('acq_filename_entry')
self.constrain_filename(entry)
self.update_view()
self.mLastLoadedConfigFileName = ''
# if threads do not wor, pygtk may have been compiled without thread support
# gtk.gdk.threads_init() # Needed for pygtk and threads to work and able to touch GUI
gobject.threads_init() # Alternatively, threads do not touch GUI
def __init__(self):
# initialize the axes
self.mAxRot = MotorAxis(3)
self.mMode = RotationApp.MODE_WAITING
self.mIsRunning = True
self.builder = gtk.Builder()
self.builder.add_from_file("continuous_rotation_app.glade")
self.builder.connect_signals(self)
self.read_values_from_canbus()
self.builder.get_object("startStopButton").set_label("Start")
gtk.gdk.threads_init()
self.mControlThread = threading.Thread(target = self.controlMethod)
self.mControlThread.start()
class RotationApp:
MODE_WAITING = 1
MODE_STARTING = 2
MODE_STARTED = 3
MODE_STOPPING = 4
MODE_ZEROING = 5
def __init__(self):
# initialize the axes
self.mAxRot = MotorAxis(3)
self.mMode = RotationApp.MODE_WAITING
self.mIsRunning = True
self.builder = gtk.Builder()
self.builder.add_from_file("continuous_rotation_app.glade")
self.builder.connect_signals(self)
self.read_values_from_canbus()
self.builder.get_object("startStopButton").set_label("Start")
gtk.gdk.threads_init()
self.mControlThread = threading.Thread(target = self.controlMethod)
self.mControlThread.start()
# This one is called when the main window is destroyed (i.e. when
# delete_event returns null)
def on_main_window_destroy(self, widget, data=None):
print "destroy signal occurred"
self.mIsRunning = False
self.mControlThread.join()
gtk.main_quit()
can_control.releasePCAN()
# This one is called when the main window close-button is clicked
def on_main_window_delete_event(self, widget, event, data=None):
# If you return FALSE in the "delete_event" signal handler,
# GTK will emit the "destroy" signal. Returning TRUE means
# you don't want the window to be destroyed.
# This is useful for popping up 'are you sure you want to quit?'
# type dialogs.
print "delete event occurred"
# Change FALSE to TRUE and the main window will not be destroyed
# with a "delete_event".
return False
def controlMethod(self):
while self.mIsRunning:
gtk.threads_enter()
try:
# read motor position
rotval = self.read_values_from_canbus() # updates the display too
if self.mMode == RotationApp.MODE_STARTED: # movement going on
# stop if target reached
if self.mAxRot.finishedMoving():
self.mAxRot.finishMovement()
# change the button labels
# change button labels
self.builder.get_object("startStopButton").set_label("Start")
self.builder.get_object("goToZeroButton").set_sensitive(True)
self.mMode = RotationApp.MODE_WAITING
print "Finished movement in " + str(clock()-self.mStartTime) + " s"
elif self.mMode == RotationApp.MODE_STARTING:
# change button labels
self.builder.get_object("startStopButton").set_label("Stop")
self.builder.get_object("goToZeroButton").set_sensitive(False)
# read the values from controls
ctime = self.builder.get_object("counting_time_spin").get_value()
cangle = self.builder.get_object("rot_angle_spin").get_value()
degpersecond = cangle / ctime
print "Going to angle " + str(cangle) + " with speed " + str(degpersecond) + " deg/s"
# start the movement
self.mAxRot.startMoving(newPos = int(cangle),newSpeed = degpersecond)
self.mStartTime = clock()
self.mMode = RotationApp.MODE_STARTED
elif self.mMode == RotationApp.MODE_STOPPING:
# stop motor movements
self.mAxRot.stopMovement()
# change button labels
self.builder.get_object("startStopButton").set_label("Start")
self.builder.get_object("goToZeroButton").set_sensitive(True)
self.mMode = RotationApp.MODE_WAITING
elif self.mMode == RotationApp.MODE_ZEROING:
if self.mAxRot.finishedMoving():
print "Zeroing, movement finished"
self.mAxRot.finishMovement()
self.builder.get_object("startStopButton").set_sensitive(True)
self.mMode = RotationApp.MODE_WAITING
finally:
gtk.threads_leave()
sleep(0.1)
print "thread finishing"
def read_values_from_canbus(self):
val = self.mAxRot.getPosition()
self.builder.get_object("position_display").set_text(str(val))
return val
def onGoToZeroClicked(self, widget, data = None):
# self.builder.get_object("startStopButton").set_sensitive(False)
self.mMode = RotationApp.MODE_ZEROING
self.mAxRot.startMoving(0)
def onStartStopClicked(self, widget, data = None):
if self.mMode == RotationApp.MODE_WAITING:
self.mMode = RotationApp.MODE_STARTING
elif self.mMode == RotationApp.MODE_STARTED:
self.mMode = RotationApp.MODE_STOPPING
def onDebugClicked(self, widget, data = None):
print "Debug information:"
print "Status word : " + self.mAxRot.getStatus()
print "Control word: " + self.mAxRot.getControlWord()
print "Target posit: " + self.mAxRot.getTargetPosition()
print "Current posi: " + self.mAxRot.getPositionHex()
print "Pos Demand : " + self.mAxRot.getPositionDemandValue()
def onResetErrorsClicked(self, widget, data = None):
self.mAxRot.resetErrors()
def run(self):
self.builder.get_object("main_window").show_all()
gtk.threads_enter()
gtk.main()
gtk.threads_leave()
class RotationApp:
MODE_WAITING = 1
MODE_STARTING = 2
MODE_STARTED = 3
MODE_STOPPING = 4
MODE_ZEROING = 5
def __init__(self):
# initialize the axes
self.mAxRot = MotorAxis(3)
self.mMode = RotationApp.MODE_WAITING
self.mIsRunning = True
self.builder = gtk.Builder()
self.builder.add_from_file("continuous_rotation_app.glade")
self.builder.connect_signals(self)
self.read_values_from_canbus()
self.builder.get_object("startStopButton").set_label("Start")
gtk.gdk.threads_init()
self.mControlThread = threading.Thread(target=self.controlMethod)
self.mControlThread.start()
# This one is called when the main window is destroyed (i.e. when
# delete_event returns null)
def on_main_window_destroy(self, widget, data=None):
print "destroy signal occurred"
self.mIsRunning = False
self.mControlThread.join()
gtk.main_quit()
can_control.releasePCAN()
# This one is called when the main window close-button is clicked
def on_main_window_delete_event(self, widget, event, data=None):
# If you return FALSE in the "delete_event" signal handler,
# GTK will emit the "destroy" signal. Returning TRUE means
# you don't want the window to be destroyed.
# This is useful for popping up 'are you sure you want to quit?'
# type dialogs.
print "delete event occurred"
# Change FALSE to TRUE and the main window will not be destroyed
# with a "delete_event".
return False
def controlMethod(self):
while self.mIsRunning:
gtk.threads_enter()
try:
# read motor position
rotval = self.read_values_from_canbus(
) # updates the display too
if self.mMode == RotationApp.MODE_STARTED: # movement going on
# stop if target reached
if self.mAxRot.finishedMoving():
self.mAxRot.finishMovement()
# change the button labels
# change button labels
self.builder.get_object("startStopButton").set_label(
"Start")
self.builder.get_object(
"goToZeroButton").set_sensitive(True)
self.mMode = RotationApp.MODE_WAITING
print "Finished movement in " + str(
clock() - self.mStartTime) + " s"
elif self.mMode == RotationApp.MODE_STARTING:
# change button labels
self.builder.get_object("startStopButton").set_label(
"Stop")
self.builder.get_object("goToZeroButton").set_sensitive(
False)
# read the values from controls
ctime = self.builder.get_object(
"counting_time_spin").get_value()
cangle = self.builder.get_object(
"rot_angle_spin").get_value()
degpersecond = cangle / ctime
print "Going to angle " + str(
cangle) + " with speed " + str(degpersecond) + " deg/s"
# start the movement
self.mAxRot.startMoving(newPos=int(cangle),
newSpeed=degpersecond)
self.mStartTime = clock()
self.mMode = RotationApp.MODE_STARTED
elif self.mMode == RotationApp.MODE_STOPPING:
# stop motor movements
self.mAxRot.stopMovement()
# change button labels
self.builder.get_object("startStopButton").set_label(
"Start")
self.builder.get_object("goToZeroButton").set_sensitive(
True)
self.mMode = RotationApp.MODE_WAITING
elif self.mMode == RotationApp.MODE_ZEROING:
if self.mAxRot.finishedMoving():
print "Zeroing, movement finished"
self.mAxRot.finishMovement()
self.builder.get_object(
"startStopButton").set_sensitive(True)
self.mMode = RotationApp.MODE_WAITING
finally:
gtk.threads_leave()
sleep(0.1)
print "thread finishing"
def read_values_from_canbus(self):
val = self.mAxRot.getPosition()
self.builder.get_object("position_display").set_text(str(val))
return val
def onGoToZeroClicked(self, widget, data=None):
# self.builder.get_object("startStopButton").set_sensitive(False)
self.mMode = RotationApp.MODE_ZEROING
self.mAxRot.startMoving(0)
def onStartStopClicked(self, widget, data=None):
if self.mMode == RotationApp.MODE_WAITING:
self.mMode = RotationApp.MODE_STARTING
elif self.mMode == RotationApp.MODE_STARTED:
self.mMode = RotationApp.MODE_STOPPING
def onDebugClicked(self, widget, data=None):
print "Debug information:"
print "Status word : " + self.mAxRot.getStatus()
print "Control word: " + self.mAxRot.getControlWord()
print "Target posit: " + self.mAxRot.getTargetPosition()
print "Current posi: " + self.mAxRot.getPositionHex()
print "Pos Demand : " + self.mAxRot.getPositionDemandValue()
def onResetErrorsClicked(self, widget, data=None):
self.mAxRot.resetErrors()
def run(self):
self.builder.get_object("main_window").show_all()
gtk.threads_enter()
gtk.main()
gtk.threads_leave()
