#!/usr/bin/python # This is a component of AXIS, a front-end for emc # Copyright 2004, 2005, 2006 Jeff Epler # and Chris Radek # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # 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 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]) position = " ".join(["%-8.4f"] * s.axes) def show_position(p): return position % p[:s.axes] peraxis = " ".join(["%s"] * s.axes) def show_peraxis(p): return peraxis % p[:s.axes] def show_float(p): return "%-8.4f" % p maps = { 'exec_state': {emc.EXEC_ERROR: 'error', emc.EXEC_DONE: 'done', emc.EXEC_WAITING_FOR_MOTION: 'motion', emc.EXEC_WAITING_FOR_MOTION_QUEUE: 'motion queue', emc.EXEC_WAITING_FOR_IO: 'io', emc.EXEC_WAITING_FOR_PAUSE: 'pause', emc.EXEC_WAITING_FOR_MOTION_AND_IO: 'motion and io', emc.EXEC_WAITING_FOR_DELAY: 'delay', emc.EXEC_WAITING_FOR_SYSTEM_CMD: 'system command'}, 'motion_mode':{emc.TRAJ_MODE_FREE: 'free', emc.TRAJ_MODE_COORD: 'coord', emc.TRAJ_MODE_TELEOP: 'teleop'}, 'interp_state':{emc.INTERP_IDLE: 'idle', emc.INTERP_PAUSED: 'paused', emc.INTERP_READING: 'reading', emc.INTERP_WAITING: 'waiting'}, 'task_state': {emc.STATE_ESTOP: 'estop', emc.STATE_ESTOP_RESET: 'estop reset', emc.STATE_ON: 'on', emc.STATE_OFF: 'off'}, 'task_mode': {emc.MODE_AUTO: 'auto', emc.MODE_MDI: 'mdi', emc.MODE_MANUAL: 'manual'}, 'state': {1: 'rcs_done', 2: 'rcs_exec', 3: 'rcs_error'}, 'motion_type': {0: 'none', 1: 'traverse', 2: 'feed', 3: 'arc', 4: 'toolchange', 5: 'probing'}, 'program_units': {1: 'inch', 2: 'mm'}, 'kinematics_type': {emc.KINEMATICS_IDENTITY: 'identity', emc.KINEMATICS_FORWARD_ONLY: 'forward_only', emc.KINEMATICS_INVERSE_ONLY: 'inverse_only', emc.KINEMATICS_BOTH: 'both'}, 'mcodes': show_mcodes, 'gcodes': show_gcodes, 'poll': None, 'tool_table': None, 'axis': None, 'gettaskfile': None, 'actual_position': show_position, 'position': show_position, 'dtg': show_position, 'joint_position': show_position, 'joint_actual_position': show_position, 'origin': show_position, 'rotation_xy': show_float, 'probed_position': show_position, 'tool_offset': show_position, 'limit': show_peraxis, 'homed': show_peraxis, 'linear_units': show_float, 'max_acceleration': show_float, 'max_velocity': show_float, 'angular_units': show_float, 'distance_to_go': show_float, 'current_vel': show_float, } if s.kinematics_type == 1: maps['joint_position'] = None maps['joint_actual_position'] = None def gui(): import Tkinter from _tkinter import TclError root = Tkinter.Tk(className="EmcTop") rs274.options.install(root) root.title("EMC Status") t = Tkinter.Text() sb = Tkinter.Scrollbar(command=t.yview) t.configure(yscrollcommand=sb.set) t.configure(tabs="150") base_font = t.tk.call("set", "BASE_FONT") fixed_font = t.tk.call("set", "FIXED_FONT") t.tag_configure("key", foreground="blue", font=base_font) t.tag_configure("value", foreground="black", font=fixed_font) t.tag_configure("changedvalue", foreground="black", background="red", font="fixed") t.tag_configure("sel", foreground="white") t.tag_raise("sel") t.bind("", "break") b = Tkinter.Button(text="Copy All", command="%s tag add sel 0.0 end; tk_textCopy %s" % (t, t)) b.pack(side="bottom", anchor="sw") t.pack(side="left", expand=1, fill="both") sb.pack(side="left", expand=0, fill="y") changetime = {} oldvalues = {} def timer(): try: s.poll() except emc.error: root.destroy() pos = t.yview()[0] selection = t.tag_ranges("sel") insert_point = t.index("insert") insert_gravity = t.mark_gravity("insert") try: anchor_point = t.index("anchor") anchor_gravity = t.mark_gravity("anchor") except TclError: anchor_point = None t.delete("0.0", "end") first = True for k in dir(s): if k.startswith("_"): continue if maps.has_key(k) and maps[k] == None: continue v = getattr(s, k) if maps.has_key(k): m = maps[k] if callable(m): v = m(v) else: v = m.get(v, v) if oldvalues.has_key(k): changed = oldvalues[k] != v if changed: changetime[k] = time.time() + 2 oldvalues[k] = v if changetime.has_key(k) and changetime[k] >= time.time(): vtag = "changedvalue" else: vtag = "value" if first: first = False else: t.insert("end", "\n") t.insert("end", k, "key", "\t") t.insert("end", v, vtag) t.yview_moveto(pos) if selection: t.tag_add("sel", *selection) t.mark_set("insert", insert_point) t.mark_gravity("insert", insert_gravity) if anchor_point is not None: t.mark_set("anchor", anchor_point) t.mark_gravity("anchor", anchor_gravity) t.after(100, timer) timer() t.mainloop() def text(): s.poll() for k in dir(s): if k.startswith("_"): continue if maps.has_key(k) and maps[k] == None: continue v = getattr(s, k) if maps.has_key(k): m = maps[k] if callable(m): v = m(v) else: v = m.get(v, v) print "%-20s %-.58s" % (k, v) if len(sys.argv) > 1 and sys.argv[1] == '-t': text() else: gui() # vim:sw=4:sts=4:et