#!/usr/bin/python # -*- encoding: utf-8 -*- # This is pncconf, a graphical configuration editor for EMC2 # Chris Morley copyright 2009 # This is based from stepconf, a graphical configuration editor for emc2 # Copyright 2007 Jeff Epler # # 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 import os import pwd import errno import time import md5 import pickle import shutil import math import getopt import textwrap import gobject import gtk import gtk.glade import gnome.ui import xml.dom.minidom import traceback # otherwise, on hardy the user is shown spurious "[application] closed # unexpectedly" messages but denied the ability to actually "report [the] # problem" def excepthook(exc_type, exc_obj, exc_tb): try: w = app.widgets.window1 except NameError: w = None lines = traceback.format_exception(exc_type, exc_obj, exc_tb) m = gtk.MessageDialog(w, gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT, gtk.MESSAGE_ERROR, gtk.BUTTONS_OK, _("PNCconf encountered an error. The following " "information may be useful in troubleshooting:\n\n") + "".join(lines)) m.show() m.run() m.destroy() sys.excepthook = excepthook BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), "..")) LOCALEDIR = os.path.join(BASE, "share", "locale") import gettext; #def _(x): return x gettext.install("emc2", localedir=LOCALEDIR, unicode=True) gtk.glade.bindtextdomain("emc2", LOCALEDIR) gtk.glade.textdomain("emc2") def iceil(x): if isinstance(x, (int, long)): return x if isinstance(x, basestring): x = float(x) return int(math.ceil(x)) datadir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "emc") wizard = os.path.join(datadir, "emc2-wizard.gif") if not os.path.isfile(wizard): wizard = os.path.join("/etc/emc2/emc2-wizard.gif") if not os.path.isfile(wizard): wizdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..") wizard = os.path.join(wizdir, "emc2-wizard.gif") distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "configs", "common") if not os.path.isdir(distdir): distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "doc", "emc2", "sample-configs", "common") if not os.path.isdir(distdir): distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "emc2", "sample-configs", "common") if not os.path.isdir(distdir): distdir = "/usr/share/doc/emc2/examples/sample-configs/common" helpdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..","src/emc/usr_intf/pncconf/pncconf-help") axisdiagram = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..","src/emc/usr_intf/pncconf/pncconf-help/axisdiagram1.png") # internalname / displayed name / steptime / step space / direction hold / direction setup drivertypes = [ ["gecko201", _("Gecko 201"), 500, 4000, 20000, 1000], ["gecko202", _("Gecko 202"), 500, 4500, 20000, 1000], ["gecko203v", _("Gecko 203v"), 1000, 2000, 200 , 200], ["gecko210", _("Gecko 210"), 500, 4000, 20000, 1000], ["gecko212", _("Gecko 212"), 500, 4000, 20000, 1000], ["gecko320", _("Gecko 320"), 3500, 500, 200, 200], ["gecko540", _("Gecko 540"), 1000, 2000, 200, 200], ["l297", _("L297"), 500, 4000, 4000, 1000], ["pmdx150", _("PMDX-150"), 1000, 2000, 1000, 1000], ["sherline", _("Sherline"), 22000, 22000, 100000, 100000], ["xylotex", _("Xylotex 8S-3"), 2000, 1000, 200, 200], ["oem750", _("Parker-Compumotor oem750"), 1000, 1000, 1000, 200000], ["jvlsmd41", _("JVL-SMD41 or 42"), 500, 500, 2500, 2500], ["hobbycnc", _("Hobbycnc Pro Chopper"), 2000, 2000, 2000, 2000], ["keling", _("Keling 4030"), 5000, 5000, 20000, 20000], ] (GPIOI, GPIOO, GPIOD, ENCA, ENCB, ENCI, ENCM, STEPA, STEPB, PWMP, PWMD, PWME, PDMP, PDMD, PDME ) = pintype_names = [ _("GPIO Input"),_("GPIO Output"),_("GPIO O Drain"), _("HDW Encoder-A"),_("HDW Encoder-B"),_("HDW Encoder-I"),_("HDW Encoder-M"), _("HDW Step Gen-A"),_("HDW Step Gen-B"), _("HDW PWM Gen-P"),_("HDW PWM Gen-D"),_("HDW PWM Gen-E"), _("HDW PDM Gen-P"),_("HDW PDM Gen-D"),_("HDW PDM Gen-E") ] # boardname, firmwarename, # max encoders, max pwm gens, # max step gens, number of pins per encoder, # number of pins per step gen, # has watchdog, max GPIOI, # low frequency rate , hi frequency rate, # available connector numbers, then list of component type and logical number mesafirmwaredata = [ ["5i20", "SV12", 12, 12, 0, 3, 0, 1, 72 , 33, 100, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [ENCB,9],[ENCA,9],[ENCB,8],[ENCA,8],[ENCI,9],[ENCI,8],[PWMP,9],[PWMP,8],[PWMD,9],[PWMD,8],[PWME,9],[PWME,8], [ENCB,11],[ENCA,11],[ENCB,10],[ENCA,10],[ENCI,11],[ENCI,10],[PWMP,11],[PWMP,10],[PWMD,11],[PWMD,10],[PWME,11],[PWME,10] ], ["5i20", "SVST8_4", 8, 8, 4, 3, 6, 1, 72, 33, 100, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0] ], ["5i20", "SVST2_8", 2, 2, 8, 3, 6, 1, 72, 33, 100, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,3],[GPIOI,3],[GPIOI,3],[GPIOI,3], [STEPA,4],[STEPB,4],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,5],[STEPB,5],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,6],[STEPB,6],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,7],[STEPB,7],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0] ], ["5i20", "SVST8_4IM2", 8, 8, 4, 4, 2, 1, 72, 33, 100, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [ENCM,0],[ENCM,1],[ENCM,2],[ENCM,3],[ENCM,4],[ENCM,5],[ENCM,6],[ENCM,7],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3] ], ["5i22", "SV16", 16, 16, 0, 3, 0, 1, 96, 48, 96, [2,3,4,5], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [ENCB,9],[ENCA,9],[ENCB,8],[ENCA,8],[ENCI,9],[ENCI,8],[PWMP,9],[PWMP,8],[PWMD,9],[PWMD,8],[PWME,9],[PWME,8], [ENCB,11],[ENCA,11],[ENCB,10],[ENCA,10],[ENCI,11],[ENCI,10],[PWMP,11],[PWMP,10],[PWMD,11],[PWMD,10],[PWME,11],[PWME,10], [ENCB,13],[ENCA,13],[ENCB,12],[ENCA,12],[ENCI,13],[ENCI,12],[PWMP,13],[PWMP,12],[PWMD,13],[PWMD,12],[PWME,13],[PWME,12], [ENCB,15],[ENCA,15],[ENCB,14],[ENCA,14],[ENCI,15],[ENCI,14],[PWMP,15],[PWMP,14],[PWMD,15],[PWMD,14],[PWME,15],[PWME,14] ], ["5i22", "SVST8_8", 8, 8, 8, 3, 6, 1, 96, 48, 96, [2,3,4,5], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,3],[GPIOI,3],[GPIOI,3],[GPIOI,3], [STEPA,4],[STEPB,4],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,5],[STEPB,5],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,6],[STEPB,6],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,7],[STEPB,7],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0] ], ["5i22", "SVS8_24", 8, 8, 24, 3, 2, 1, 96, 48, 96, [2,3,4,5], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3],[STEPA,4],[STEPB,4],[STEPA,5],[STEPB,5], [STEPA,6],[STEPB,6],[STEPA,7],[STEPB,7],[STEPA,8],[STEPB,8],[STEPA,9],[STEPB,9],[STEPA,10],[STEPB,10],[STEPA,11],[STEPB,11], [STEPA,12],[STEPB,12],[STEPA,13],[STEPB,13],[STEPA,14],[STEPB,14],[STEPA,15],[STEPB,15],[STEPA,16],[STEPB,16],[STEPA,17],[STEPB,17], [STEPA,18],[STEPB,18],[STEPA,19],[STEPB,19],[STEPA,20],[STEPB,20],[STEPA,21],[STEPB,21],[STEPA,22],[STEPB,22],[STEPA,23],[STEPB,23] ], ["5i23", "SV12", 12, 12, 0, 3, 0, 1, 72 , 48, 96, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [ENCB,9],[ENCA,9],[ENCB,8],[ENCA,8],[ENCI,9],[ENCI,8],[PWMP,9],[PWMP,8],[PWMD,9],[PWMD,8],[PWME,9],[PWME,8], [ENCB,11],[ENCA,11],[ENCB,10],[ENCA,10],[ENCI,11],[ENCI,10],[PWMP,11],[PWMP,10],[PWMD,11],[PWMD,10],[PWME,11],[PWME,10] ], ["5i23", "SVST8_4", 8, 8, 4, 3, 6, 1, 72, 48, 96, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0] ], ["5i23", "SVST4_8", 4, 4, 8, 3, 6, 1, 72, 48, 96, [2,3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,4],[STEPB,4],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,5],[STEPB,5],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,6],[STEPB,6],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,7],[STEPB,7],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0] ], ["7i43", "SV8", 8, 8, 0, 3, 0, 1, 48, 50, 100, [3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4], [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6] ], ["7i43", "SV4_4", 4, 4, 4, 3, 6, 1, 48, 50, 100, [3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0], [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,3],[GPIOI,3],[GPIOI,3],[GPIOI,3] ], ["7i43", "SV4_6", 4, 4, 6, 3, 4, 1, 48, 50, 100, [3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0], [STEPA,3],[STEPB,3],[GPIOI,0],[GPIOI,0],[STEPA,4],[STEPB,4],[GPIOI,0],[GPIOI,0],[STEPA,5],[STEPB,5],[GPIOI,0],[GPIOI,0] ], ["7i43", "SV4_12", 4, 4, 12, 3, 2, 1, 48, 50, 100, [3,4], [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0], [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2], [STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3],[STEPA,4],[STEPB,4],[STEPA,5],[STEPB,5], [STEPA,6],[STEPB,6],[STEPA,7],[STEPB,7],[STEPA,8],[STEPB,8],[STEPA,9],[STEPB,9],[STEPA,10],[STEPB,10],[STEPA,11],[STEPB,11] ], ] mesaboardnames = [ "5i20", "5i22", "5i23", "7i43" ] (UNUSED_OUTPUT, ON, CW, CCW, BRAKE, MIST, FLOOD, ESTOP, AMP, PUMP, DOUT0, DOUT1, DOUT2, DOUT3) = hal_output_names = [ "unused-output", "spindle-enable", "spindle-cw", "spindle-ccw", "spindle-brake", "coolant-mist", "coolant-flood", "estop-out", "enable", "charge-pump", "dout-00", "dout-01", "dout-02", "dout-03" ] (UNUSED_INPUT, ESTOP_IN, PROBE, HOME_X, HOME_Y, HOME_Z, HOME_A, MIN_HOME_X, MIN_HOME_Y, MIN_HOME_Z, MIN_HOME_A, MAX_HOME_X, MAX_HOME_Y, MAX_HOME_Z, MAX_HOME_A, BOTH_HOME_X, BOTH_HOME_Y, BOTH_HOME_Z, BOTH_HOME_A, MIN_X, MIN_Y, MIN_Z, MIN_A, MAX_X, MAX_Y, MAX_Z, MAX_A, BOTH_X, BOTH_Y, BOTH_Z, BOTH_A, ALL_LIMIT, ALL_HOME, DIN0, DIN1, DIN2, DIN3, JOGA, JOGB, JOGC, SELECT_A, SELECT_B, SELECT_C, SELECT_D, JOGX_P,JOGX_N,JOGY_P,JOGY_N,JOGZ_P,JOGZ_N,JOGA_P,JOGA_N, JOGSLCT_P, JOGSLCT_N, SPINDLE_CW, SPINDLE_CCW, SPINDLE_STOP ) = hal_input_names = ["unused-input", "estop-ext", "probe-in", "home-x", "home-y", "home-z", "home-a", "min-home-x", "min-home-y", "min-home-z", "min-home-a", "max-home-x", "max-home-y", "max-home-z", "max-home-a", "both-home-x", "both-home-y", "both-home-z", "both-home-a", "min-x", "min-y", "min-z", "min-a", "max-x", "max-y", "max-z", "max-a", "both-x", "both-y", "both-z", "both-a", "all-limit", "all-home", "din-00", "din-01", "din-02", "din-03", "jog-incr-a","jog-incr-b","jog-incr-c", "axis-select-a","axis-select-b","axis-select-c","axis-select-d", "jog-x-pos","jog-x-neg","jog-y-pos","jog-y-neg", "jog-z-pos","jog-z-neg","jog-a-pos","jog-a-neg", "jog-selected-pos","jog-selected-neg","spindle-manual-cw", "spindle-manual-ccw","spindle-manual-stop"] human_output_names = [ _("Unused Output"), _("Spindle ON"),_("Spindle CW"), _("Spindle CCW"), _("Spindle Brake"), _("Coolant Mist"), _("Coolant Flood"), _("ESTOP Out"), _("Amplifier Enable"), _("Charge Pump"), _("Digital out 0"), _("Digital out 1"), _("Digital out 2"), _("Digital out 3")] human_input_names = [ _("Unused Input"), _("ESTOP In"), _("Probe In"), _("X Home"), _("Y Home"), _("Z Home"), _("A Home"), _("X Minimum Limit + Home"), _("Y Minimum Limit + Home"), _("Z Minimum Limit + Home"), _("A Minimum Limit + Home"), _("X Maximum Limit + Home"), _("Y Maximum Limit + Home"), _("Z Maximum Limit + Home"), _("A Maximum Limit + Home"), _("X Both Limit + Home"), _("Y Both Limit + Home"), _("Y Both Limit + Home"), _("A Both Limit + Home"), _("X Minimum Limit"), _("Y Minimum Limit"), _("Z Minimum Limit"), _("A Minimum Limit"), _("X Maximum Limit"), _("Y Maximum Limit"), _("Z Maximum Limit"), _("A Maximum Limit"), _("X Both Limit"), _("Y Both Limit"), _("Z Both Limit"), _("A Both Limit"), _("All limits"), _("All home"), _("Digital in 0"), _("Digital in 1"), _("Digital in 2"), _("Digital in 3"), _("Jog incr input A"),_("Jog incr input B"),_("Jog incr input C"), _("Axis select input A"),_("Axis select input B"),_("Axis select input C"), _("Axis select input D"), _("Jog button X +"),_("Jog button X -"),_("Jog button Y +"),_("Jog button Y -"),_("Jog button Z +"),_("Jog button Z -"), _("Jog button A +"),_("Jog button A -"),_("Jog button selectable +"),_("Jog button selectable -"),_("Manual Spindle CW"), _("Manual Spindle CCW"),_("Manual Spindle Stop")] human_names_shared_home = [_("Minimum Limit + Home X"), _("Minimum Limit + Home Y"), _("Minimum Limit + Home Z"), _("Minimum Limit + Home A"), _("Maximum Limit + Home X"), _("Maximum Limit + Home Y"), _("Maximum Limit + Home Z"), _("Maximum Limit + Home A"), _("Both Limit + Home X"), _("Both Limit + Home Y"), _("Both Limit + Home Z"), _("Both Limit + Home A")] human_names_limit_only = [ _("Minimum Limit X"), _("Minimum Limit Y"), _("Minimum Limit Z"), _("Minimum Limit A"), _("Maximum Limit X"), _("Maximum Limit Y"), _("Maximum Limit Z"), _("Maximum Limit A"), _("Both Limit X"), _("Both Limit Y"), _("Both Limit Z"), _("Both Limit A"),_("All limits"),("All home")] (UNUSED_PWM, X_PWM_PULSE, X_PWM_DIR, X_PWM_ENABLE, Y_PWM_PULSE, Y_PWM_DIR, Y_PWM_ENABLE, Z_PWM_PULSE, Z_PWM_DIR, Z_PWM_ENABLE, A_PWM_PULSE, A_PWM_DIR, A_PWM_ENABLE, SPINDLE_PWM_PULSE, SPINDLE_PWM_DIR, SPINDLE_PWM_ENABLE, ) = hal_pwm_output_names = ["unused-pwm", "x-pwm-pulse", "x-pwm-dir", "x-pwm-enable", "y-pwm-pulse", "y-pwm-dir", "y-pwm-enable", "z-pwm-pulse", "z-pwm-dir", "z-pwm-enable", "a-pwm-pulse", "a-pwm-dir", "a-pwm-enable", "s-pwm-pulse", "s-pwm-dir", "s-pwm-enable"] human_pwm_output_names =[ _("Unused PWM Gen"), _("X PWM Pulse Stream"), _("X PWM Direction"), _("X PWM Enable"), _("Y PWM Pulse Stream"), _("Y PWM Direction"), _("Y PWM Enable"), _("Z PWM Pulse Stream"), _("Z PWM Direction"), _("Z PWM Enable"), _("A PWM Pulse Stream"), _("A PWM Direction"), _("A PWM Enable"), _("Spindle PWM Pulse Stream"), _("Spindle PWM Direction"), _("Spindle PWM Enable"), ] (UNUSED_ENCODER, X_ENCODER_A, X_ENCODER_B, X_ENCODER_I, X_ENCODER_M, Y_ENCODER_A, Y_ENCODER_B, Y_ENCODER_I, Y_ENCODER_M, Z_ENCODER_A, Z_ENCODER_B, Z_ENCODER_I, Z_ENCODER_M, A_ENCODER_A, A_ENCODER_B, A_ENCODER_I, A_ENCODER_M, SPINDLE_ENCODER_A, SPINDLE_ENCODER_B, SPINDLE_ENCODER_I, SPINDLE_ENCODER_M, X_MPG_A, X_MPG_B, X_MPG_I, X_MPG_M, Y_MPG_A, Y_MPG_B, Y_MPG_I, Y_MPG_M, Z_MPG_A, Z_MPG_B, Z_MPG_I, Z_MPG_M, A_MPG_A, A_MPG_B, A_MPG_I,A_MPG_m, SELECT_MPG_A, SELECT_MPG_B, SELECT_MPG_I, SELECT_MPG_M) = hal_encoder_input_names = [ "unused-encoder", "x-encoder-a", "x-encoder-b", "x-encoder-i", "x-encoder-m", "y-encoder-a", "y-encoder-b", "y-encoder-i", "y-encoder-m", "z-encoder-a", "z-encoder-b", "z-encoder-i", "z-encoder-m", "a-encoder-a", "a-encoder-b", "a-encoder-i", "a-encoder-m", "s-encoder-a","s-encoder-b","s-encoder-i", "s-encoder-m", "x-mpg-a","x-mpg-b", "x-mpg-i", "x-mpg-m", "y-mpg-a", "y-mpg-b", "y-mpg-i", "y-mpg-m", "z-mpg-a","z-mpg-b", "z-mpg-i", "z-mpg-m", "a-mpg-a", "a-mpg-b", "a-mpg-i", "a-mpg-m", "select-mpg-a", "select-mpg-b", "select-mpg-i", "select-mpg-m"] human_encoder_input_names = [ _("Unused Encoder"), _("X Encoder-A Phase"), _("X Encoder-B Phase"), _("X Encoder-I Phase"), _("X Encoder-M Phase"), _("Y Encoder-A Phase"), _("Y Encoder-B Phase"), _("Y Encoder-I Phase"), _("Y Encoder-M Phase"), _("Z Encoder-A Phase"), _("Z Encoder-B Phase"), _("Z Encoder-I Phase"), _("Z Encoder-M Phase"), _("A Encoder-A Phase"), _("A Encoder-B Phase"), _("A Encoder-I Phase"), _("A Encoder-M Phase"), _("Spindle Encoder-A Phase"), _("Spindle Encoder-B Phase"), _("Spindle Encoder-I Phase"), _("Spindle Encoder-M Phase"), _("X Hand Wheel-A Phase"), _("X Hand Wheel-B Phase"), _("X Hand Wheel-I Phase"), _("X Hand Wheel-M Phase"), _("Y Hand wheel-A Phase"), _("Y Hand Wheel-B Phase"), _("Y Hand Wheel-I Phase"), _("Y Hand Wheel-M Phase"), _("Z Hand Wheel-A Phase"), _("Z Hand Wheel-B Phase"), _("Z Hand Wheel-I Phase"), _("Z Hand Wheel-M Phase"), _("A Hand Wheel-A Phase"), _("A Hand Wheel-B Phase"), _("A Hand Wheel-I Phase"), _("A Hand Wheel-M Phase"), _("Multi Hand Wheel-A Phase"), _("Multi Hand Wheel-B Phase"), _("Multi Hand Wheel-I Phase"), _("Multi Hand Wheel-M Phase")] (UNUSED_STEPGEN, X_STEPGEN_STEP, X_STEPGEN_DIR, X_STEPGEN_PHC, X_STEPGEN_PHD, X_STEPGEN_PHE, X_STEPGEN_PHF, Y_STEPGEN_STEP, X_STEPGEN_DIR, X_STEPGEN_PHC, X_STEPGEN_PHD, X_STEPGEN_PHE, X_STEPGEN_PHF, Z_STEPGEN_STEP, Z_STEPGEN_DIR, Z_STEPGEN_PHC, Z_STEPGEN_PHD, Z_STEPGEN_PHE, Z_STEPGEN_PHF, A_STEPGEN_STEP, A_STEPGEN_DIR, A_STEPGEN_PHC, A_STEPGEN_PHD, A_STEPGEN_PHE, A_STEPGEN_PHF, SPINDLE_STEPGEN_STEP, SPINDLE_STEPGEN_DIR, SPINDLE_STEPGEN_PHC, SPINDLE_STEPGEN_PHD, SPINDLE_STEPGEN_PHE, SPINDLE_STEPGEN_PHF) = hal_stepper_names = ["unused-stepgen", "x-stepgen-step", "x-stepgen-dir", "x-stepgen-phase-c", "x-stepgen-phase-d", "x-stepgen-phase-e", "x-stepgen-phase-f", "y-stepgen-step", "y-stepgen-dir", "y-stepgen-phase-c", "y-stepgen-phase-d", "y-stepgen-phase-e", "y-stepgen-phase-f", "z-stepgen-step", "z-stepgen-dir", "z-stepgen-phase-c", "z-stepgen-phase-d", "z-stepgen-phase-e", "z-stepgen-phase-f", "a-stepgen-step", "a-stepgen-dir", "a-stepgen-phase-c", "a-stepgen-phase-d", "a-stepgen-phase-e", "a-stepgen-phase-f", "s-stepgen-step", "s-stepgen-dir", "s-stepgen-phase-c", "s-stepgen-phase-d", "s-stepgen-phase-e", "s-stepgen-phase-f",] human_stepper_names = [_("Unused StepGen"), _("X StepGen-Step"), _("X StepGen-Direction"), _("X reserved c"), _("X reserved d"), _("X reserved e"), _("X reserved f"), _("Y StepGen-Step"), _("Y StepGen-Direction"), _("Y reserved c"), _("Y reserved d"), _("Y reserved e"), _("Y reserved f"), _("Z StepGen-Step"), _("Z StepGen-Direction"), _("Z reserved c"), _("Z reserved d"), _("Z reserved e"), _("Z reserved f"), _("A StepGen-Step"), _("A StepGen-Direction"), _("A reserved c"), _("A reserved d"), _("A reserved e"), _("A reserved f"), _("Spindle StepGen-Step"), _("Spindle StepGen-Direction"), _("Spindle reserved c"), _("Spindle reserved d"), _("Spindle reserved e"), _("Spindle reserved f"), ] def md5sum(filename): try: f = open(filename, "rb") except IOError: return None else: return md5.new(f.read()).hexdigest() class Widgets: def __init__(self, xml): self._xml = xml def __getattr__(self, attr): r = self._xml.get_widget(attr) if r is None: raise AttributeError, "No widget %r" % attr return r def __getitem__(self, attr): r = self._xml.get_widget(attr) if r is None: raise IndexError, "No widget %r" % attr return r class Intrnl_data: def __init__(self): self.mesa_configured = False self.components_is_prepared = False #self.available_axes = [] def __getitem__(self, item): return getattr(self, item) def __setitem__(self, item, value): return setattr(self, item, value) class Data: def __init__(self): pw = pwd.getpwuid(os.getuid()) # custom signal name lists self.halencoderinputsignames = [] self.halpwmoutputsignames = [] self.halinputsignames = [] self.haloutputsignames = [] self.halsteppersignames = [] # pncconf default options self.createsymlink = 1 self.createshortcut = 0 # basic machine data self.help = "help-welcome.txt" self.machinename = _("my_EMC_machine") self.frontend = 1 # AXIS self.axes = 0 # XYZ self.available_axes = [] self.servoperiod = 1000000 self.units = 0 # inch self.limitsnone = True self.limitswitch = False self.limitshared = False self.homenone = True self.homeswitch = False self.homeindex = False self.homeboth = False self.limitstype = 0 self.homingtype = 0 self.nojogbuttons = True self.singlejogbuttons = False self.multijogbuttons = False self.jogscalerapid = 1.0 self.guimpg = True self.multimpg = False self.simglempg = False self.jogscalea = .1 self.jogscaleb = .01 self.jogscalec = .001 # GUI frontend defaults self.position_offset = 1 # relative self.position_feedback = 1 # actual self.max_feed_override = 2.0 # percentage self.min_spindle_override = .5 self.max_spindle_override = 1.0 # These are for AXIS gui only self.default_linear_velocity = .25 # units per second self.min_linear_velocity = .01 self.max_linear_velocity = 1.0 self.default_angular_velocity = .25 self.min_angular_velocity = .01 self.max_angular_velocity = 1.0 self.increments_metric = "5mm 1mm .5mm .1mm .05mm .01mm .005mm" self.increments_imperial= ".1in .05in .01in .005in .001in .0005in .0001in" self.editor = "gedit" self.geometry = "xyz" # EMC assorted defults and options self.manualtoolchange = True self.multimpg = False self.require_homing = True self.individual_homing = False self.restore_joint_position = False self.tooloffset_on_w = False self.restore_toolnumber = False self.raise_z_on_toolchange = False self.allow_spindle_on_toolchange = False self.customhal = False # include custom hal file self.userneededpid = 0 # pyvcp data self.pyvcp = 0 # not included self.pyvcpname = "custom.xml" self.pyvcphaltype = 0 # no HAL connections specified self.pyvcpconnect = 1 # HAL connections allowed # classicladder data self.classicladder = 0 # not included self.digitsin = 15 # default number of pins self.digitsout = 15 self.s32in = 10 self.s32out = 10 self.floatsin = 10 self.floatsout = 10 self.tempexists = 0 # not present self.laddername = "custom.clp" self.modbus = 0 # not included self.ladderhaltype = 0 # no HAL connections specified self.ladderconnect = 1 # HAL connections allowed # stepper timing data self.drivertype = "other" self.steptime = 5000 self.stepspace = 5000 self.dirhold = 20000 self.dirsetup = 20000 self.latency = 15000 self.period = 25000 # For parallel port self.pp1_direction = 1 # output self.ioaddr = "0x378" self.ioaddr2 = _("Enter Address") self.pp2_direction = 0 # input self.ioaddr3 = _("Enter Address") self.pp3_direction = 0 # input self.number_pports = 0 for connector in("pp1","pp2","pp3"): # initialize parport input / inv pins for i in (2,3,4,5,6,7,8,9,10,11,12,13,15): pinname ="%sIpin%d"% (connector,i) self[pinname] = UNUSED_INPUT pinname ="%sIpin%dinv"% (connector,i) self[pinname] = False # initialize parport output / inv pins for i in (1,2,3,4,5,6,7,8,9,14,16,17): pinname ="%sOpin%d"% (connector,i) self[pinname] = UNUSED_OUTPUT pinname ="%sOpin%dinv"% (connector,i) self[pinname] = False # for mesa cards self.mesa5i20 = 1 # number of cards self.mesa_currentfirmwaredata = mesafirmwaredata[1] self.mesa_boardname = "5i20" self.mesa_firmware = "SVST8_4" self.mesa_maxgpio = 72 self.mesa_isawatchdog = 1 self.mesa_pwm_frequency = 100000 self.mesa_pdm_frequency = 100000 self.mesa_watchdog_timeout = 10000000 self.numof_mesa_encodergens = 4 self.numof_mesa_pwmgens = 4 self.numof_mesa_stepgens = 0 self.numof_mesa_gpio = 48 connector = 2 pinname ="m5i20c%dpin"% (connector) self[pinname+"0"] = UNUSED_ENCODER self[pinname+"0type"] = ENCB self[pinname+"1"] = UNUSED_ENCODER self[pinname+"1type"] = ENCA self[pinname+"2"] = UNUSED_ENCODER self[pinname+"2type"] = ENCB self[pinname+"3"] = UNUSED_ENCODER self[pinname+"3type"] = ENCA self[pinname+"4"] = UNUSED_ENCODER self[pinname+"4type"] = ENCI self[pinname+"5"] = UNUSED_ENCODER self[pinname+"5type"] = ENCI self[pinname+"6"] = UNUSED_PWM self[pinname+"6type"] = PWMP self[pinname+"7"] = UNUSED_PWM self[pinname+"7type"] = PWMP self[pinname+"8"] = UNUSED_PWM self[pinname+"8type"] = PWMD self[pinname+"9"] = UNUSED_PWM self[pinname+"9type"] = PWMD self[pinname+"10"] = UNUSED_PWM self[pinname+"10type"] = PWME self[pinname+"11"] = UNUSED_PWM self[pinname+"11type"] = PWME self[pinname+"12"] = UNUSED_ENCODER self[pinname+"12type"] = ENCB self[pinname+"13"] = UNUSED_ENCODER self[pinname+"13type"] = ENCA self[pinname+"14"] = UNUSED_ENCODER self[pinname+"14type"] = ENCB self[pinname+"15"] = UNUSED_ENCODER self[pinname+"15type"] = ENCA self[pinname+"16"] = UNUSED_ENCODER self[pinname+"16type"] = ENCI self[pinname+"17"] = UNUSED_ENCODER self[pinname+"17type"] = ENCI self[pinname+"18"] = UNUSED_PWM self[pinname+"18type"] = PWMP self[pinname+"19"] = UNUSED_PWM self[pinname+"19type"] = PWMP self[pinname+"20"] = UNUSED_PWM self[pinname+"20type"] = PWMD self[pinname+"21"] = UNUSED_PWM self[pinname+"21type"] = PWMD self[pinname+"22"] = UNUSED_PWM self[pinname+"22type"] = PWME self[pinname+"23"] = UNUSED_PWM self[pinname+"23type"] = PWME for connector in(3,4,5): # This initializes GPIO input pins for i in range(0,16): pinname ="m5i20c%dpin%d"% (connector,i) self[pinname] = UNUSED_INPUT pinname ="m5i20c%dpin%dtype"% (connector,i) self[pinname] = GPIOI # This initializes GPIO output pins for i in range(16,24): pinname ="m5i20c%dpin%d"% (connector,i) self[pinname] = UNUSED_OUTPUT pinname ="m5i20c%dpin%dtype"% (connector,i) self[pinname] = GPIOO for connector in(2,3,4,5): # This initializes the mesa inverse pins for i in range(0,24): pinname ="m5i20c%dpin%dinv"% (connector,i) self[pinname] = False # halui data self.halui = 0 # not included # Command list for i in range(1,16): pinname ="halui_cmd%s"% i self[pinname] = "" #HAL component command list self.loadcompservo = [] self.addcompservo = [] self.loadcompbase = [] self.addcompbase = [] # axis x data self.xdrivertype = "custom" self.xsteprev = 200 self.xmicrostep = 2 self.xpulleynum = 1 self.xpulleyden = 1 self.xleadscrew = 5 self.xusecomp = 0 self.xcompfilename = "xcompensation" self.xcomptype = 0 self.xusebacklash = 0 self.xbacklash = 0 self.xmaxvel = .0167 self.xmaxacc = 2 self.xinvertmotor = 0 self.xinvertencoder = 0 self.xoutputscale = 1 self.xoutputoffset = 0 self.xmaxoutput = 10 self.xP = 1.0 self.xI = 0 self.xD = 0 self.xFF0 = 0 self.xFF1 = 0 self.xFF2 = 0 self.xbias = 0 self.xdeadband = 0 self.xsteptime = 1000 self.xstepspace = 1000 self.xdirhold = 1000 self.xdirsetup = 1000 self.xminferror = .0005 self.xmaxferror = .005 self.xhomepos = 0 self.xminlim = 0 self.xmaxlim = 8 self.xhomesw = 0 self.xhomesearchvel = .05 self.xhomelatchvel = .025 self.xhomefinalvel = 0 self.xlatchdir = 0 self.xsearchdir = 0 self.xusehomeindex = 1 self.xhomesequence = 1203 self.xencodercounts =4000 self.xscale = 0 # axis y data self.ydrivertype = "custom" self.ysteprev = 200 self.ymicrostep = 2 self.ypulleynum = 1 self.ypulleyden = 1 self.yleadscrew = 5 self.yusecomp = 0 self.ycompfilename = "ycompensation" self.ycomptype = 0 self.yusebacklash = 0 self.ybacklash = 0 self.ymaxvel = .0167 self.ymaxacc = 2 self.yinvertmotor = 0 self.yinvertencoder = 0 self.youtputscale = 1 self.youtputoffset = 0 self.ymaxoutput = 10 self.yP = 1 self.yI = 0 self.yD = 0 self.yFF0 = 0 self.yFF1 = 0 self.yFF2 = 0 self.ybias = 0 self.ydeadband = 0 self.ysteptime = 1000 self.ystepspace = 1000 self.ydirhold = 1000 self.ydirsetup = 1000 self.yminferror = 0.125 self.ymaxferror = 0.250 self.yhomepos = 0 self.yminlim = 0 self.ymaxlim = 8 self.yhomesw = 0 self.yhomesearchvel = .05 self.yhomelatchvel = .025 self.yhomefinalvel = 0 self.ysearchdir = 0 self.ylatchdir = 0 self.yusehomeindex = 0 self.yencodercounts =4000 self.yscale = 0 # axis z data self.zdrivertype = "custom" self.zsteprev = 200 self.zmicrostep = 2 self.zpulleynum = 1 self.zpulleyden = 1 self.zleadscrew = 5 self.zusecomp = 0 self.zcompfilename = "zcompensation" self.zcomptype = 0 self.zusebacklash = 0 self.zbacklash = 0 self.zmaxvel = .0167 self.zmaxacc = 2 self.zinvertmotor = 0 self.zinvertencoder = 0 self.zoutputscale = 1 self.zoutputoffset = 0 self.zmaxoutput = 10 self.zP = 1 self.zI = 0 self.zD = 0 self.zFF0 = 0 self.zFF1 = 0 self.zFF2 = 0 self.zbias = 0 self.zdeadband = 0 self.zsteptime = 1000 self.zstepspace = 1000 self.zdirhold = 1000 self.zdirsetup = 1000 self.zminferror = 0.0005 self.zmaxferror = 0.005 self.zhomepos = 0 self.zminlim = -4 self.zmaxlim = 0 self.zhomesw = 0 self.zhomesearchvel = .05 self.zhomelatchvel = .025 self.zhomefinalvel = 0 self.zsearchdir = 0 self.zlatchdir = 0 self.zusehomeindex = 0 self.zencodercounts =1000 self.zscale = 0 # axis a data self.adrivertype = "custom" self.asteprev = 200 self.amicrostep = 2 self.apulleynum = 1 self.apulleyden = 1 self.aleadscrew = 8 self.ausecomp = 0 self.acompfilename = "acompensation" self.acomptype = 0 self.ausebacklash = 0 self.abacklash = 0 self.amaxvel = 6 self.amaxacc = 1 self.ainvertmotor = 0 self.ainvertencoder = 0 self.aoutputscale = 1 self.aoutputoffset = 0 self.amaxoutput = 10 self.aP = 1 self.aI = 0 self.aD = 0 self.aFF0 = 0 self.aFF1 = 0 self.aFF2 = 0 self.abias = 0 self.adeadband = 0 self.asteptime = 1000 self.astepspace = 1000 self.adirhold = 1000 self.adirsetup = 1000 self.aminferror = 0.0005 self.amaxferror = 0.005 self.ahomepos = 0 self.aminlim = -9999 self.amaxlim = 9999 self.ahomesw = 0 self.ahomesearchvel = .05 self.ahomelatchvel = .025 self.ahomefinalvel = 0 self.asearchdir = 0 self.alatchdir = 0 self.ausehomeindex = 0 self.aencodercounts = 1000 self.ascale = 0 # axis s (spindle) data self.sdrivertype = "custom" self.ssteprev = 200 self.smicrostep = 2 self.spulleynum = 1 self.spulleyden = 1 self.sleadscrew = 5 self.smaxvel = .0167 self.smaxacc = 2 self.sinvertmotor = 0 self.sinvertencoder = 0 self.sscale = 0 self.soutputscale = 1 self.soutputoffset = 0 self.smaxoutput = 10 self.sP = 1.0 self.sI = 0 self.sD = 0 self.sFF0 = 0 self.sFF1 = 0 self.sFF2 = 0 self.sbias = 0 self.sdeadband = 0 self.ssteptime = 1000 self.sstepspace = 1000 self.sdirhold = 1000 self.sdirsetup = 1000 self.sencodercounts = 1000 self.spindlecarrier = 100 self.spindlecpr = 100 self.spindlespeed1 = 100 self.spindlespeed2 = 800 self.spindlepwm1 = .2 self.spindlepwm2 = .8 self.spindlefeedback = 0 self.spindlecontrol = 0 self.spindleoutputscale = 1 self.spindleoutputoffset = 0 self.spindlemaxoutput = 10 self.spindlescale = 0 self.spidcontrol = False def load(self, filename, app=None, force=False): def str2bool(s): return s == 'True' converters = {'string': str, 'float': float, 'int': int, 'bool': str2bool, 'eval': eval} d = xml.dom.minidom.parse(open(filename, "r")) for n in d.getElementsByTagName("property"): name = n.getAttribute("name") conv = converters[n.getAttribute('type')] text = n.getAttribute('value') setattr(self, name, conv(text)) # this loads custom signal names created by the user for i in self.halencoderinputsignames: hal_encoder_input_names.append(i) human_encoder_input_names.append(i) for i in self.halpwmoutputsignames: hal_pwm_output_names.append(i) human_pwm_output_names.append(i) for i in self.halinputsignames: hal_input_names.append(i) human_input_names.append(i) for i in self.haloutputsignames: hal_output_names.append(i) human_output_names.append(i) for i in self.halsteppersignames: hal_stepper_names.append(i) human_stepper_names.append(i) warnings = [] for f, m in self.md5sums: m1 = md5sum(f) if m1 and m != m1: warnings.append(_("File %r was modified since it was written by PNCconf") % f) if not warnings: return warnings.append("") warnings.append(_("Saving this configuration file will discard configuration changes made outside PNCconf.")) if app: dialog = gtk.MessageDialog(app.widgets.window1, gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT, gtk.MESSAGE_WARNING, gtk.BUTTONS_OK, "\n".join(warnings)) dialog.show_all() dialog.run() dialog.destroy() else: for para in warnings: for line in textwrap.wrap(para, 78): print line print print if force: return response = raw_input(_("Continue? ")) if response[0] not in _("yY"): raise SystemExit, 1 def add_md5sum(self, filename, mode="r"): self.md5sums.append((filename, md5sum(filename))) def write_inifile(self, base): filename = os.path.join(base, self.machinename + ".ini") file = open(filename, "w") print >>file, _("# Generated by PNCconf at %s") % time.asctime() print >>file, _("# If you make changes to this file, they will be") print >>file, _("# overwritten when you run PNCconf again") print >>file print >>file, "[EMC]" print >>file, "MACHINE = %s" % self.machinename print >>file, "DEBUG = 0" print >>file print >>file, "[DISPLAY]" if self.frontend == 1: print >>file, "DISPLAY = axis" elif self.frontend == 2: print >>file, "DISPLAY = tkemc" else: print >>file, "DISPLAY = mini" if self.position_offset == 1: temp ="RELATIVE" else: temp = "MACHINE" print >>file, "POSITION_OFFSET = %s"% temp if self.position_feedback == 1: temp ="ACTUAL" else: temp = "COMMANDED" print >>file, "POSITION_FEEDBACK = %s"% temp print >>file, "MAX_FEED_OVERRIDE = %f"% self.max_feed_override print >>file, "MAX_SPINDLE_OVERRIDE = %f"% self.max_spindle_override print >>file, "MIN_SPINDLE_OVERRIDE = %f"% self.min_spindle_override print >>file, "INTRO_GRAPHIC = emc2.gif" print >>file, "INTRO_TIME = 5" print >>file, "PROGRAM_PREFIX = %s" % \ os.path.expanduser("~/emc2/nc_files") if self.pyvcp: print >>file, "PYVCP = custompanel.xml" # these are for AXIS GUI only if self.units: print >>file, "INCREMENTS = %s"% self.increments_metric else: print >>file, "INCREMENTS = %s"% self.increments_imperial if self.axes == 2: print >>file, "LATHE = 1" print >>file, "DEFAULT_LINEAR_VELOCITY = %f"% self.default_linear_velocity print >>file, "MAX_LINEAR_VELOCITY = %f"% self.max_linear_velocity print >>file, "MIN_LINEAR_VELOCITY = %f"% self.min_linear_velocity print >>file, "DEFAULT_ANGULAR_VELOCITY = %f"% self.default_angular_velocity print >>file, "MAX_ANGULAR_VELOCITY = %f"% self.max_angular_velocity print >>file, "MIN_ANGULAR_VELOCITY = %f"% self.min_angular_velocity print >>file, "EDITOR = %s"% self.editor print >>file, "GEOMETRY = %s"% self.geometry print >>file print >>file, "[FILTER]" print >>file, "PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image" print >>file, "PROGRAM_EXTENSION = .py Python Script" print >>file, "png = image-to-gcode" print >>file, "gif = image-to-gcode" print >>file, "jpg = image-to-gcode" print >>file, "py = python" print >>file print >>file, "[TASK]" print >>file, "TASK = milltask" print >>file, "CYCLE_TIME = 0.010" print >>file print >>file, "[RS274NGC]" print >>file, "PARAMETER_FILE = emc.var" base_period = self.ideal_period() print >>file print >>file, "[EMCMOT]" print >>file, "EMCMOT = motmod" print >>file, "COMM_TIMEOUT = 1.0" print >>file, "COMM_WAIT = 0.010" print >>file, "BASE_PERIOD = %d" % base_period print >>file, "SERVO_PERIOD = 1000000" print >>file print >>file, "[HOSTMOT2]" print >>file, "DRIVER=hm2_pci" print >>file, "BOARD=%s"% self.mesa_boardname print >>file, """CONFIG="firmware=hm2-trunk/%s/%s.BIT num_encoders=%d num_pwmgens=%d num_stepgens=%d" """ % ( self.mesa_boardname, self.mesa_firmware, self.numof_mesa_encodergens, self.numof_mesa_pwmgens, self.numof_mesa_stepgens ) print >>file print >>file, "[HAL]" if self.halui: print >>file,"HALUI = halui" print >>file, "HALFILE = %s.hal" % self.machinename if self.customhal: print >>file, "HALFILE = custom.hal" print >>file, "POSTGUI_HALFILE = custom_postgui.hal" if self.halui: print >>file print >>file, "[HALUI]" if self.halui == True: for i in range(1,16): cmd =self["halui_cmd" + str(i)] if cmd =="": break print >>file,"MDI_COMMAND = %s"% cmd print >>file print >>file, "[TRAJ]" if self.axes == 1: print >>file, "AXES = 4" print >>file, "COORDINATES = X Y Z A" print >>file, "MAX_ANGULAR_VELOCITY = %.2f" % self.amaxvel defvel = min(60, self.amaxvel/10.) print >>file, "DEFAULT_ANGULAR_VELOCITY = %.2f" % defvel elif self.axes == 0: print >>file, "AXES = 3" print >>file, "COORDINATES = X Y Z" else: print >>file, "AXES = 3" print >>file, "COORDINATES = X Z" if self.units: print >>file, "LINEAR_UNITS = mm" else: print >>file, "LINEAR_UNITS = inch" print >>file, "ANGULAR_UNITS = degree" print >>file, "CYCLE_TIME = 0.010" maxvel = max(self.xmaxvel, self.ymaxvel, self.zmaxvel) hypotvel = (self.xmaxvel**2 + self.ymaxvel**2 + self.zmaxvel**2) **.5 defvel = min(maxvel, max(.1, maxvel/10.)) print >>file, "DEFAULT_VELOCITY = %.2f" % defvel print >>file, "MAX_LINEAR_VELOCITY = %.2f" % maxvel if self.restore_joint_position: print >>file, "POSITION_FILE = position.txt" if not self.require_homing: print >>file, "NO_FORCE_HOMING = 1" if self.tooloffset_on_w: print >>file, "TLO_IS_ALONG_W = 1" #if self.restore_toolnumber: # print >>file, "TLO_IS-ALONG_W = 1" print >>file print >>file, "[EMCIO]" print >>file, "EMCIO = io" print >>file, "CYCLE_TIME = 0.100" print >>file, "TOOL_TABLE = tool.tbl" if self.allow_spindle_on_toolchange: print >>file, "TOOLCHANGE_WITH_SPINDLE_ON = 1" if self.raise_z_on_toolchange: print >>file, "TOOLCHANGE_QUILL_UP = 1" all_homes = self.home_sig("x") and self.home_sig("z") if self.axes != 2: all_homes = all_homes and self.home_sig("y") if self.axes == 4: all_homes = all_homes and self.home_sig("a") self.write_one_axis(file, 0, "x", "LINEAR", all_homes) if self.axes != 2: self.write_one_axis(file, 1, "y", "LINEAR", all_homes) self.write_one_axis(file, 2, "z", "LINEAR", all_homes) if self.axes == 1: self.write_one_axis(file, 3, "a", "ANGULAR", all_homes) self.write_one_axis(file, 9, "s", "null", all_homes) file.close() self.add_md5sum(filename) def hz(self, axname): steprev = getattr(self, axname+"steprev") microstep = getattr(self, axname+"microstep") pulleynum = getattr(self, axname+"pulleynum") pulleyden = getattr(self, axname+"pulleyden") leadscrew = getattr(self, axname+"leadscrew") maxvel = getattr(self, axname+"maxvel") if self.units or axname == 'a': leadscrew = 1./leadscrew pps = leadscrew * steprev * microstep * (pulleynum/pulleyden) * maxvel return abs(pps) def doublestep(self, steptime=None): if steptime is None: steptime = self.steptime return steptime <= 5000 def minperiod(self, steptime=None, stepspace=None, latency=None): if steptime is None: steptime = self.steptime if stepspace is None: stepspace = self.stepspace if latency is None: latency = self.latency if self.doublestep(steptime): return max(latency + steptime + stepspace + 5000, 4*steptime) else: return latency + max(steptime, stepspace) def maxhz(self): return 1e9 / self.minperiod() def ideal_period(self): xhz = self.hz('x') yhz = self.hz('y') zhz = self.hz('z') ahz = self.hz('a') if self.axes == 1: pps = max(xhz, yhz, zhz, ahz) elif self.axes == 0: pps = max(xhz, yhz, zhz) else: pps = max(xhz, zhz) base_period = 1e9 / pps if base_period > 100000: base_period = 100000 if base_period < self.minperiod(): base_period = self.minperiod() return int(base_period) def write_one_axis(self, file, num, letter, type, all_homes): order = "1203" def get(s): return self[letter + s] pwmgen = self.pwmgen_sig(letter) stepgen = self.stepgen_sig(letter) print >>file print >>file, "#********************" if letter == 's': print >>file, "# Spindle " print >>file, "#********************" print >>file, "[SPINDLE_%d]" % num else: print >>file, "# Axis %s" % letter.upper() print >>file, "#********************" print >>file, "[AXIS_%d]" % num print >>file, "TYPE = %s" % type print >>file, "HOME = %s" % get("homepos") print >>file, "FERROR = %s"% get("maxferror") print >>file, "MIN_FERROR = %s" % get("minferror") print >>file, "MAX_VELOCITY = %s" % get("maxvel") print >>file, "MAX_ACCELERATION = %s" % get("maxacc") if stepgen == "false": if (self.spidcontrol == True and letter == 's') or not letter == 's': print >>file, "P = %s" % get("P") print >>file, "I = %s" % get("I") print >>file, "D = %s" % get("D") print >>file, "FF0 = %s" % get("FF0") print >>file, "FF1 = %s" % get("FF1") print >>file, "FF2 = %s" % get("FF2") print >>file, "BIAS = %s"% get("bias") print >>file, "DEADBAND = %s"% get("deadband") print >>file, "OUTPUT_SCALE = %s" % get("outputscale") print >>file, "OUTPUT_OFFSET = %s" % get("outputoffset") print >>file, "MAX_OUTPUT = %s" % get("maxoutput") print >>file, "INPUT_SCALE = %s" % get("scale") else: print >>file, "# these are in nanoseconds" print >>file, "DIRSETUP = %d"% int(get("dirsetup")) print >>file, "DIRHOLD = %d"% int(get("dirhold")) print >>file, "STEPLEN = %d"% int(get("steptime")) print >>file, "STEPSPACE = %d"% int(get("stepspace")) print >>file, "SCALE = %s"% get("scale") print >>file, "INPUT_SCALE = %s" % get("scale") if letter == 's':return if self[letter + "usecomp"]: print >>file, "COMP_FILE = %s" % get("compfilename") print >>file, "COMP_FILE_TYPE = %s" % get("comptype") if self[letter + "usebacklash"]: print >>file, "BACKLASH = %s" % get("backlash") # emc2 doesn't like having home right on an end of travel, # so extend the travel limit by up to .01in or .1mm minlim = -abs(get("minlim")) maxlim = get("maxlim") home = get("homepos") if self.units: extend = .001 else: extend = .01 minlim = min(minlim, home - extend) maxlim = max(maxlim, home + extend) print >>file, "MIN_LIMIT = %s" % minlim print >>file, "MAX_LIMIT = %s" % maxlim thisaxishome = set(("all-home", "home-" + letter, "min-home-" + letter, "max-home-" + letter, "both-home-" + letter)) ignore = set(("min-home-" + letter, "max-home-" + letter, "both-home-" + letter)) homes = False for i in thisaxishome: if not self.findsignal(i) == "false": homes = True if homes: searchvel = abs(get("homesearchvel")) latchvel = abs(get("homelatchvel")) if not get("searchdir"): searchvel = -searchvel if not get("latchdir"): latchvel = -latchvel else: if get("latchdir"): latchvel = -latchvel print >>file, "HOME_OFFSET = %f" % get("homesw") print >>file, "HOME_SEARCH_VEL = %f" % searchvel print >>file, "HOME_LATCH_VEL = %f" % latchvel print >>file, "HOME_FINAL_VEL = %f" % get("homefinalvel") if get("usehomeindex"):useindex = "YES" else: useindex = "NO" print >>file, "HOME_USE_INDEX = %s" % useindex for i in ignore: if not self.findsignal(i) == "false": print >>file, "HOME_IGNORE_LIMITS = YES" break if all_homes and not self.individual_homing: print >>file, "HOME_SEQUENCE = %s" % order[num] else: print >>file, "HOME_OFFSET = %s" % get("homepos") def home_sig(self, axis): thisaxishome = set(("all-home", "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis)) for i in thisaxishome: if not self.findsignal(i) == "false": return i return False def min_lim_sig(self, axis): thisaxishome = set(("all-limit", "min-" + axis,"min-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in thisaxishome: if not self.findsignal(i) == "false": return i return "false" def max_lim_sig(self, axis): thisaxishome = set(("all-limit", "max-" + axis, "max-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in thisaxishome: if not self.findsignal(i) == "false": return i return "false" def stepgen_sig(self, axis): thisaxisstepgen = axis + "-stepgen-step" test = self.findsignal(thisaxisstepgen) if not test == "false": return test else:return "false" def encoder_sig(self, axis): thisaxisencoder = axis +"-encoder-a" test = self.findsignal(thisaxisencoder) if not test == "false": return test else:return "false" def pwmgen_sig(self, axis): thisaxispwmgen = axis + "-pwm-pulse" test = self.findsignal( thisaxispwmgen) if not test == "false": return test else:return "false" def connect_axis(self, file, num, let): axnum = "xyzabcuvws".index(let) title = 'AXIS' if let == 's': title = 'SPINDLE' jogwheel = False pwmgen = self.pwmgen_sig(let) stepgen = self.stepgen_sig(let) encoder = self.encoder_sig(let) if not self.findsignal(let+"-mpg-a") =="false": jogwheel = True lat = self.latency print >>file, "#*******************" print >>file, "# %s %s" % (title, let.upper()) print >>file, "#*******************" print >>file if not pwmgen == "false": if (self.spidcontrol == True and let == 's') or not let == 's': print >>file, " setp pid.%s.Pgain [%s_%d]P" % (let, title, axnum) print >>file, " setp pid.%s.Igain [%s_%d]I" % (let, title, axnum) print >>file, " setp pid.%s.Dgain [%s_%d]D" % (let, title, axnum) print >>file, " setp pid.%s.bias [%s_%d]BIAS" % (let, title, axnum) print >>file, " setp pid.%s.FF0 [%s_%d]FF0" % (let, title, axnum) print >>file, " setp pid.%s.FF1 [%s_%d]FF1" % (let, title, axnum) print >>file, " setp pid.%s.FF2 [%s_%d]FF2" % (let, title, axnum) print >>file, " setp pid.%s.deadband [%s_%d]DEADBAND" % (let, title, axnum) print >>file, " setp pid.%s.maxoutput [%s_%d]MAX_OUTPUT" % (let, title, axnum) print >>file if 'm5i20' in pwmgen: pinname = self.make_pinname(pwmgen) #TODO do a check to see if encoder sig is from parport or mesa print >>file, "# PWM Generator signals/setup" print >>file print >>file, " setp "+pinname+".output-type 1" print >>file, " setp "+pinname+".scale [%s_%d]OUTPUT_SCALE"% (title, axnum) if let == 's': x1 = self.spindlepwm1 x2 = self.spindlepwm2 y1 = self.spindlespeed1 y2 = self.spindlespeed2 scale = (y2-y1) / (x2-x1) offset = x1 - y1 / scale print >>file #print >>file, " setp pwmgen.0.pwm-freq %s" % self.spindlecarrier #print >>file, " setp pwmgen.0.scale %s" % scale #print >>file, " setp pwmgen.0.offset %s" % offset #print >>file, " setp pwmgen.0.dither-pwm true" if self.spidcontrol == True: print >>file, "net spindle-vel-cmd => pid.%s.command" % (let) print >>file, "net spindle-output pid.%s.output => "% (let) + pinname + ".value" print >>file, "net spindle-enable => pid.%s.enable" % (let) print >>file, "net spindle-enable => " + pinname +".enable" else: print >>file, "net spindle-vel-cmd => " + pinname + ".value" print >>file, "net spindle-enable => " + pinname +".enable" else: print >>file, "net %senable => pid.%s.enable" % (let, let) print >>file, "net %soutput pid.%s.output => "% (let, let) + pinname + ".value" print >>file, "net %spos-cmd axis.%d.motor-pos-cmd => pid.%s.command" % (let, axnum , let) print >>file, "net %senable axis.%d.amp-enable-out => "% (let,axnum) + pinname +".enable" print >>file if not stepgen == "false": pinname = self.make_pinname(stepgen) print >>file, "# Step Gen signals/setup" print >>file print >>file, " setp " + pinname + ".dirsetup [%s_%d]DIRSETUP"% (title, axnum) print >>file, " setp " + pinname + ".dirhold [%s_%d]DIRHOLD"% (title, axnum) print >>file, " setp " + pinname + ".steplen [%s_%d]STEPLEN"% (title, axnum) print >>file, " setp " + pinname + ".stepspace [%s_%d]STEPSPACE"% (title, axnum) print >>file, " setp " + pinname + ".position-scale [%s_%d]SCALE"% (title, axnum) print >>file, " setp " + pinname + ".maxaccel [%s_%d]MAX_ACCELERATION"% (title, axnum) print >>file, " setp " + pinname + ".maxvel [%s_%d]MAX_VELOCITY"% (title, axnum) print >>file, " setp " + pinname + ".step_type 0" if let == 's': print >>file, " setp " + pinname + ".control-type 1" print >>file print >>file, "net spindle-enable => " + pinname + ".enable" print >>file, "net spindle-vel-cmd-rps => "+ pinname + ".velocity-cmd" if encoder == "false": print >>file, "net spindle-vel-fb <= "+ pinname + ".velocity-fb" else: print >>file print >>file, "net %spos-fb "% let + pinname + ".position-fb => axis.%d.motor-pos-fb" % axnum print >>file, "net %spos-cmd axis.%d.motor-pos-cmd => "% (let, axnum) + pinname + ".position-cmd" print >>file, "net %senable axis.%d.amp-enable-out => "% (let, axnum) + pinname + ".enable" print >>file if 'm5i20' in encoder: pinname = self.make_pinname(encoder) countmode = 0 # TODO do a check to see if encoder sig is from parport or mesa # support for encoder count mode print >>file, "# ---Encoder feedback signals/setup---" print >>file print >>file, " setp "+pinname+".counter-mode %d"% countmode print >>file, " setp "+pinname+".filter 1" print >>file, " setp "+pinname+".index-invert 0" print >>file, " setp "+pinname+".index-mask 0" print >>file, " setp "+pinname+".index-mask-invert 0" print >>file, " setp "+pinname+".scale [%s_%d]INPUT_SCALE"% (title, axnum) if let == 's': print >>file, "net spindle-vel-fb <= " +pinname+".velocity" print >>file, "net spindle-index-enable <=> "+ pinname + ".index-enable" #print >>file, "net spindle-vel-cmd => pid.%d.feedback"% (axnum) else: print >>file, "net %spos-fb <= "% (let) +pinname+".position" print >>file, "net %spos-fb => pid.%s.feedback"% (let,let) print >>file, "net %spos-fb => axis.%d.motor-pos-fb" % (let, axnum) print >>file if let =='s': print >>file, "# ---setup spindle control signals---" print >>file print >>file, "net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps" print >>file, "net spindle-vel-cmd <= motion.spindle-speed-out" print >>file, "net spindle-enable <= motion.spindle-on" #print >>file, "net spindle-on <= motion.spindle-on" print >>file, "net spindle-cw <= motion.spindle-forward" print >>file, "net spindle-ccw <= motion.spindle-reverse" print >>file, "net spindle-brake <= motion.spindle-brake" print >>file, "net spindle-revs => motion.spindle-revs" print >>file, "net spindle-atspeed => motion.spindle-at-speed" print >>file, "net spindle-vel-fb => motion.spindle-speed-in" print >>file, "net spindle-index-enable <=> motion.spindle-index-enable" return min_limsig = self.min_lim_sig(let) if min_limsig == "false": min_limsig = "%s-neg-limit" % let max_limsig = self.max_lim_sig(let) if max_limsig == "false": max_limsig = "%s-pos-limit" % let homesig = self.home_sig(let) if homesig == "false": homesig = "%s-home-sw" % let print >>file, "# ---setup home / limit switch signals---" print >>file print >>file, "net %s => axis.%d.home-sw-in" % (homesig, axnum) print >>file, "net %s => axis.%d.neg-lim-sw-in" % (min_limsig, axnum) print >>file, "net %s => axis.%d.pos-lim-sw-in" % (max_limsig, axnum) print >>file print >>file, "# ---Setup jogwheel mpg signals---" print >>file print >>file, "net %s-jog-count => axis.%d.jog-counts" % (let,axnum) print >>file, "net %s-jog-enable => axis.%d.jog-enable" % (let,axnum) print >>file, "net %s-jog-scale => axis.%d.jog-scale" % (let,axnum) print >>file if not jogwheel =="false": pinname = self.make_pinname(self.findsignal(let+"-mpg-a")) if 'HOSTMOT2' in pinname: print >>file, "# connect jogwheel signals to mesa encoder" print >>file, " setp axis.%d.jog-vel-mode 0" % axnum print >>file, " sets %s-jog-enable true" % let print >>file, " sets %s-jog-scale .010" % let print >>file, " setp %s.filter true" % pinname print >>file, " setp %s.counter-mode true" % pinname print >>file, "net %s-jog-count <= %s.count"% (let, pinname) print >>file def connect_input(self, file): print >>file, "# external input signals" print >>file for q in (2,3,4,5,6,7,8,9,10,11,12,13,15): p = self['pp1Ipin%d' % q] i = self['pp1Ipin%dinv' % q] if p == UNUSED_INPUT: continue if i: print >>file, "net %s <= parport.0.pin-%02d-in-not" % (p, q) else: print >>file, "net %s <= parport.0.pin-%02d-in" % (p, q) print >>file for connector in (2,3,4): board = self.mesa_boardname for q in range(0,24): p = self['m5i20c%dpin%d' % (connector, q)] i = self['m5i20c%dpin%dinv' % (connector, q)] t = self['m5i20c%dpin%dtype' % (connector, q)] truepinnum = q + ((connector-2)*24) # for input pins if t == GPIOI: if p == "unused-input":continue pinname = self.make_pinname(self.findsignal( p )) print >>file, "# ---",p.upper(),"---" if i: print >>file, "net %s <= "% (p)+pinname +".in_not" else: print >>file, "net %s <= "% (p)+pinname +".in" # for encoder pins elif t in (ENCA): if p == "unused-encoder":continue if p in (self.halencoderinputsignames): pinname = self.make_pinname(self.findsignal( p )) sig = p.rstrip("-a") print >>file, "# ---",sig.upper(),"---" print >>file, "net %s <= "% (sig+"-position")+pinname +".position" print >>file, "net %s <= "% (sig+"-count")+pinname +".count" print >>file, "net %s <= "% (sig+"-velocity")+pinname +".velocity" print >>file, "net %s <= "% (sig+"-reset")+pinname +".reset" print >>file, "net %s <= "% (sig+"-index-enable")+pinname +".index-enable" else: continue def connect_output(self, file): print >>file, "# external output signals" print >>file for q in (1,2,3,4,5,6,7,8,9,14,16,17): p = self['pp1Opin%d' % q] i = self['pp1Opin%dinv' % q] if p == UNUSED_OUTPUT: continue print >>file, "net %s => parport.0.pin-%02d-out" % (p, q) if i: print >>file, " setp parport.0.pin-%02d-out-invert true" % q print >>file for connector in (2,3,4): for q in range(0,24): p = self['m5i20c%dpin%d' % (connector, q)] i = self['m5i20c%dpin%dinv' % (connector, q)] t = self['m5i20c%dpin%dtype' % (connector, q)] truepinnum = q + ((connector-2)*24) # for output /open drain pins if t in (GPIOO,GPIOD): if p == "unused-output":continue pinname = self.make_pinname(self.findsignal( p )) print >>file, "# ---",p.upper(),"---" print >>file, " setp "+pinname +".is_output true" if i: print >>file, " setp "+pinname+".invert_output true" if t == 2: print >>file, " setp "+pinname+".is_opendrain true" print >>file, "net %s => "% (p)+pinname +".out" # for pwm pins elif t in (PWMP,PDMP): if p == "unused-pwm":continue if p in (self.halpwmoutputsignames): pinname = self.make_pinname(self.findsignal( p )) sig = p.rstrip("-pulse") print >>file, "# ---",sig.upper(),"---" if t == PWMP: print >>file, " setp "+pinname +".output-type 1" elif t == PDMP: print >>file, " setp "+pinname +".output-type 3" print >>file, "net %s <= "% (sig+"-enable")+pinname +".enable" print >>file, "net %s <= "% (sig+"-value")+pinname +".value" # for stepper pins elif t == (STEPA): if p == "unused-stepgen":continue if p in (self.halsteppersignames): pinname = self.make_pinname(self.findsignal( p )) sig = p.rstrip("-step") print >>file, "# ---",sig.upper(),"---" print >>file, "net %s <= "% (sig+"-enable")+pinname +".enable" print >>file, "net %s <= "% (sig+"-count")+pinname +".counts" print >>file, "net %s <= "% (sig+"-cmd-position")+pinname +".position-cmd" print >>file, "net %s <= "% (sig+"-act-position")+pinname +".position-fb" print >>file, "net %s <= "% (sig+"-velocity")+pinname +".velocity-fb" else:continue def write_halfile(self, base): filename = os.path.join(base, self.machinename + ".hal") file = open(filename, "w") print >>file, _("# Generated by PNCconf at %s") % time.asctime() print >>file, _("# If you make changes to this file, they will be") print >>file, _("# overwritten when you run PNCconf again") print >>file print >>file, "loadrt trivkins" print >>file, "loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES" print >>file, "loadrt probe_parport" if self.mesa5i20>0: print >>file, "loadrt hostmot2" print >>file, "loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)" if self.numof_mesa_pwmgens > 0: print >>file, " setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency %d"% self.mesa_pwm_frequency print >>file, " setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pdm_frequency %d"% self.mesa_pdm_frequency print >>file, " setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns %d"% self.mesa_watchdog_timeout if self.number_pports>0: port3name = port2name = port1name = port3dir = port2dir = port1dir = "" if self.number_pports>2: port3name = " " + self.ioaddr3 if self.pp3_direction: port3dir =" out" else: port3dir =" in" if self.number_pports>1: port2name = " " + self.ioaddr2 if self.pp2_direction: port2dir =" out" else: port2dir =" in" port1name = self.ioaddr if self.pp1_direction: port1dir =" out" else: port1dir =" in" print >>file, "loadrt hal_parport cfg=\"%s%s%s%s%s%s\"" % (port1name, port1dir, port2name, port2dir, port3name, port3dir) if self.doublestep(): print >>file, " setp parport.0.reset-time %d" % self.steptime spindle_enc = counter = probe = pwm = pump = estop = False enable = spindle_on = spindle_cw = spindle_ccw = False mist = flood = brake = False if not self.findsignal("spindle-phase-a") == "false": spindle_enc = True if not self.findsignal("probe") =="false": probe = True if not self.findsignal("spindle-pwm") =="false": pwm = True if not self.findsignal("charge-pump") =="false": pump = True if not self.findsignal("estop-ext") =="false": estop = True if not self.findsignal("enable") =="false": enable = True if not self.findsignal("spindle-on") =="false": spindle_on = True if not self.findsignal("spindle-cw") =="false": spindle_cw = True if not self.findsignal("spindle-ccw") =="false": spindle_ccw = True if not self.findsignal("coolant-mist") =="false": mist = True if not self.findsignal("coolant-flood") =="false": flood = True if not self.findsignal("spindle-brake") =="false": brake = True if spindle_enc: print >>file, "loadrt encoder num_chan=1" if self.pyvcphaltype == 1 and self.pyvcpconnect == 1: print >>file, "loadrt abs count=1" if spindle_enc: print >>file, "loadrt scale count=1" if pump: print >>file, "loadrt charge_pump" if pwm: print >>file, "loadrt pwmgen output_type=0" if self.classicladder: print >>file, "loadrt classicladder_rt numPhysInputs=%d numPhysOutputs=%d numS32in=%d numS32out=%d numFloatIn=%d numFloatOut=%d" %(self.digitsin , self.digitsout , self.s32in, self.s32out, self.floatsin, self.floatsout) # load user custom components for i in self.loadcompbase: if i == '': continue else: print >>file, i for i in self.loadcompservo: if i == '': continue else: print >>file, i if self.pyvcp and not self.frontend == 1: print >>file, "loadusr -Wn custompanel pyvcp -c custompanel [DISPLAY](PYVCP)" print >>file if self.number_pports > 0: print >>file, "addf parport.0.read base-thread" if self.number_pports > 1: print >>file, "addf parport.1.read base-thread" if self.number_pports > 2: print >>file, "addf parport.2.read base-thread" #print >>file, "addf stepgen.make-pulses base-thread" #if spindle_enc: print >>file, "addf encoder.update-counters base-thread" if pump: print >>file, "addf charge-pump base-thread" #if pwm: print >>file, "addf pwmgen.make-pulses base-thread" for i in self.addcompbase: if not i == '': print >>file, i +" base-thread" if self.number_pports > 0: print >>file, "addf parport.0.write base-thread" if self.doublestep(): print >>file, "addf parport.0.reset base-thread" if self.number_pports > 1: print >>file, "addf parport.1.write base-thread" if self.number_pports > 2: print >>file, "addf parport.2.write base-thread" if self.mesa5i20 > 0: print >>file, "addf hm2_[HOSTMOT2](BOARD).0.read servo-thread" #print >>file, "addf stepgen.capture-position servo-thread" #if spindle_enc: print >>file, "addf encoder.capture-position servo-thread" print >>file, "addf motion-command-handler servo-thread" print >>file, "addf motion-controller servo-thread" temp = 0 axislet = [] for i in self.available_axes: #if axis needs pid- (has pwm) print "looking at available axis : ",i if self.findsignal(i+"-encoder-a") == "false": continue if (self.spidcontrol == False and i == 's') : continue temp = temp +1 axislet.append(i) # add axis letter to 'need pid' string #if axis is needed temp = temp + self.userneededpid if temp <> 0 : print >>file, "loadrt pid num_chan=%d"% temp #use 'need pid string' to add calcs and make aliases for i in range(0,temp ): print >>file, "addf pid.%d.do-pid-calcs servo-thread"% i for axnum,i in enumerate(axislet): print >>file, "alias pin pid.%d.Pgain pid.%s.Pgain" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.Igain pid.%s.Igain" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.Dgain pid.%s.Dgain" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.bias pid.%s.bias" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.FF0 pid.%s.FF0" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.FF1 pid.%s.FF1" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.FF2 pid.%s.FF2" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.deadband pid.%s.deadband" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.maxoutput pid.%s.maxoutput" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.enable pid.%s.enable" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.command pid.%s.command" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.feedback pid.%s.feedback" % (axnum + self.userneededpid, i) print >>file, "alias pin pid.%d.output pid.%s.output" % (axnum + self.userneededpid, i) print >>file if self.classicladder: print >>file,"addf classicladder.0.refresh servo-thread" #print >>file, "addf stepgen.update-freq servo-thread" if pwm: print >>file, "addf pwmgen.update servo-thread" if self.pyvcphaltype == 1 and self.pyvcpconnect == 1: print >>file, "addf abs.0 servo-thread" if spindle_enc: print >>file, "addf scale.0 servo-thread" for i in self.addcompservo: if not i == '': print >>file, i +" servo-thread" if self.mesa5i20>0: print >>file, "addf hm2_[HOSTMOT2](BOARD).0.write servo-thread" print >>file, "addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread" print >>file self.connect_output(file) print >>file self.connect_input(file) print >>file if self.axes == 2: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'z') self.connect_axis(file, 2, 's') elif self.axes == 0: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'y') self.connect_axis(file, 2, 'z') self.connect_axis(file, 3, 's') elif self.axes == 1: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'y') self.connect_axis(file, 2, 'z') self.connect_axis(file, 3, 'a') self.connect_axis(file, 4, 's') print >>file print >>file, "#******************************" print >>file, _("# connect miscellaneous signals") print >>file, "#******************************" print >>file if pump: print >>file, _("# ---charge pump signals---") print >>file, "net estop-out => charge-pump.enable" print >>file, "net charge-pump <= charge-pump.out" print >>file, _("# ---coolant signals---") print >>file, "net coolant-mist <= iocontrol.0.coolant-mist" print >>file, "net coolant-flood <= iocontrol.0.coolant-flood" print >>file, _("# ---probe signal---") print >>file, "net probe-in => motion.probe-input" print >>file, _("# ---jog button signals---") print >>file, "# setp halui.jog-speed 1" print >>file, "# net jog-x-plus halui.jog.0.plus" print >>file, "# net jog-x-minus halui.jog.0.minus" print >>file, "# net jog-y-plus halui.jog.1.plus" print >>file, "# net jog-y-minus halui.jog.1.minus" print >>file, "# net jog-z-plus halui.jog.2.plus" print >>file, "# net jog-z-minus halui.jog.2.minus" print >>file, "# net jog-a-plus halui.jog.3.plus" print >>file, "# net jog-a-minus halui.jog.3.minus" print >>file, "# net jog-selected-plus halui.jog.selected.plus" print >>file, "# net jog-selected-minus halui.jog.selected.minus" print >>file, _("# ---digital in / out signals---") for i in range(4): dout = "dout-%02d" % i if not self.findsignal(dout) =="false": print >>file, "net %s <= motion.digital-out-%02d" % (dout, i) for i in range(4): din = "din-%02d" % i if not self.findsignal(din) =="false": print >>file, "net %s => motion.digital-in-%02d" % (din, i) print >>file, _("# ---estop signals---") print >>file, "net estop-out <= iocontrol.0.user-enable-out" if self.classicladder and self.ladderhaltype == 1 and self.ladderconnect: # external estop program print >>file print >>file, _("# **** Setup for external estop ladder program -START ****") print >>file print >>file, "net estop-out => classicladder.0.in-00" print >>file, "net estop-ext => classicladder.0.in-01" print >>file, "net estop-strobe classicladder.0.in-02 <= iocontrol.0.user-request-enable" print >>file, "net estop-outcl classicladder.0.out-00 => iocontrol.0.emc-enable-in" print >>file print >>file, _("# **** Setup for external estop ladder program -END ****") elif estop: print >>file, "net estop-ext => iocontrol.0.emc-enable-in" else: print >>file, "net estop-out => iocontrol.0.emc-enable-in" if enable: print >>file, "net enable => motion.motion-enabled" print >>file if self.manualtoolchange: print >>file, "loadusr -W hal_manualtoolchange" print >>file, "net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change" print >>file, "net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed" print >>file, "net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number" print >>file, "net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared" else: print >>file, "net tool-number <= iocontrol.0.tool-prep-number" print >>file, "net tool-change-request <= iocontrol.0.tool-change" print >>file, "net tool-change-confirmed => iocontrol.0.tool-changed" print >>file, "net tool-prepare-request <= iocontrol.0.tool-prepare" print >>file, "net tool-prepare-confirmed => iocontrol.0.tool-prepared" if self.classicladder: print >>file if self.modbus: print >>file, _("# Load Classicladder with modbus master included (GUI must run for Modbus)") print >>file, "loadusr classicladder --modmaster custom.clp" else: print >>file, _("# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI") print >>file, "loadusr classicladder --nogui custom.clp" if self.pyvcp: vcp = os.path.join(base, "custompanel.xml") if not os.path.exists(vcp): f1 = open(vcp, "w") print >>f1, "" print >>f1, "" print >>f1, "" print >>f1, "" if self.pyvcp or self.customhal: custom = os.path.join(base, "custom_postgui.hal") if os.path.exists(custom): shutil.copy( custom,os.path.join(base,"postgui_backup.hal") ) f1 = open(custom, "w") print >>f1, _("# Include your customized HAL commands here") print >>f1, _("""\ # The commands in this file are run after the AXIS GUI (including PyVCP panel) starts""") print >>f1 if self.pyvcphaltype == 1 and self.pyvcpconnect: # spindle speed/tool # display print >>f1, _("# **** Setup of spindle speed and tool number display using pyvcp -START ****") if spindle_enc: print >>f1, _("# **** Use ACTUAL spindle velocity from spindle encoder") print >>f1, _("# **** spindle-velocity is signed so we use absolute compoent to remove sign") print >>f1, _("# **** ACTUAL velocity is in RPS not RPM so we scale it.") print >>f1 print >>f1, ("setp scale.0.gain .01667") print >>f1, ("net spindle-velocity => abs.0.in") print >>f1, ("net absolute-spindle-vel <= abs.0.out => scale.0.in") print >>f1, ("net scaled-spindle-vel <= scale.0.out => pyvcp.spindle-speed") else: print >>f1, _("# **** Use COMMANDED spindle velocity from EMC because no spindle encoder was specified") print >>f1, _("# **** COMANDED velocity is signed so we use absolute component (abs.0) to remove sign") print >>f1 print >>f1, ("net spindle-cmd => abs.0.in") print >>f1, ("net absolute-spindle-vel <= abs.0.out => pyvcp.spindle-speed") print >>f1, ("net tool-number => pyvcp.toolnumber") print >>f1 print >>f1, _("# **** Setup of spindle speed and tool number display using pyvcp -END ****") if self.pyvcphaltype == 2 and self.pyvcpconnect: # Hal_UI example print >>f1, _("# **** Setup of pyvcp buttons and MDI commands using HAL_UI and pyvcp - START ****") print >>f1 print >>f1, ("net jog-X+ <= pyvcp.jog-x+ => halui.jog.0.plus") print >>f1, ("net jog-X- <= pyvcp.jog-x- => halui.jog.0.minus") print >>f1, ("net jog-Y+ <= pyvcp.jog-y+ => halui.jog.1.plus") print >>f1, ("net jog-Y- <= pyvcp.jog-y- => halui.jog.1.minus") print >>f1, ("net jog-Z+ <= pyvcp.jog-z+ => halui.jog.2.plus") print >>f1, ("net jog-Z- <= pyvcp.jog-z- => halui.jog.2.minus") print >>f1, ("net jog-speed <= pyvcp.jog-speed => halui.jog-speed") print >>f1, ("net optional-stp-on <= pyvcp.ostop-on => halui.program.optional-stop.on") print >>f1, ("net optional-stp-off <= pyvcp.ostop-off => halui.program.optional-stop.off") print >>f1, ("net optional-stp-is-on <= pyvcp.ostop-is-on => halui.program.optional-stop.is-on") print >>f1, ("net program-pause <= pyvcp.pause => halui.program.pause") print >>f1, ("net program-resume <= pyvcp.resume => halui.program.resume") print >>f1, ("net program-single-step <= pyvcp.step => halui.program.step") print >>f1 print >>f1, _("# **** The following mdi-comands are specified in the machine named INI file under [HALUI] heading") print >>f1, ("# **** command 00 - rapid to Z 0 ( G0 Z0 )") print >>f1, ("# **** command 01 - rapid to reference point ( G 28 )") print >>f1, ("# **** command 02 - zero X axis in G54 cordinate system") print >>f1, ("# **** command 03 - zero Y axis in G54 cordinate system") print >>f1, ("# **** command 04 - zero Z axis in G54 cordinate system") print >>f1 print >>f1, ("net MDI-Z-up <= pyvcp.MDI-z_up => halui.mdi-command-00") print >>f1, ("net MDI-reference-pos <= pyvcp.MDI-reference => halui.mdi-command-01") print >>f1, ("net MDI-zero_X <= pyvcp.MDI-zerox => halui.mdi-command-02") print >>f1, ("net MDI-zero_Y <= pyvcp.MDI-zeroy => halui.mdi-command-03") print >>f1, ("net MDI-zero_Z <= pyvcp.MDI-zeroz => halui.mdi-command-04") print >>f1, ("net MDI-clear-offset <= pyvcp.MDI-clear-offset => halui.mdi-command-05") print >>f1 print >>f1, _("# **** Setup of pyvcp buttons and MDI commands using HAL_UI and pyvcp - END ****") if self.customhal or self.classicladder or self.halui: custom = os.path.join(base, "custom.hal") if not os.path.exists(custom): f1 = open(custom, "w") print >>f1, _("# Include your customized HAL commands here") print >>f1, _("# This file will not be overwritten when you run PNCconf again") file.close() self.add_md5sum(filename) def write_readme(self, base): filename = os.path.join(base, "README") file = open(filename, "w") print >>file, _("Generated by PNCconf at %s") % time.asctime() print >>file if self.units == 0: unit = "an imperial" else: unit = "a metric" if self.frontend == 0: display = "AXIS" elif self.frontend == 1: display = "Tkemc" elif self.frontend == 2: display = "Mini" else: display == "an unknown" if self.axes == 0:machinetype ="XYZ" elif self.axes == 1:machinetype ="XYZA" elif self.axes == 2:machinetype ="XZ-Lathe" print >>file, self.machinename,_("configures EMC2 as:") print >>file print >>file, unit,machinetype,_("type CNC") print >>file print >>file, display,_("will be used as the frontend display") print >>file if self.mesa5i20 == True: print >>file, "The Mesa", self.mesa_boardname, "hardware I/O card" print >>file, "will be loaded with firmware designation:", self.mesa_firmware print >>file, "and has", self.mesa_maxgpio, "I/O pins" print >>file print >>file,_("Mesa 5i20 connector 2 \n") for x in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23): temp = self["m5i20c2pin%d" % x] tempinv = self["m5i20c2pin%dinv" % x] temptype = self["m5i20c2pin%dtype" % x] if tempinv: invmessage = _("-> inverted") else: invmessage ="" print >>file, ("pin# %(pinnum)d (type %(type)s) "%{ 'type':temptype,'pinnum':x}) print >>file, (" connected to signal:'%(data)s'%(mess)s\n" %{'data':temp, 'mess':invmessage}) print >>file print >>file,_("Mesa 5i20 connector 3 \n") for x in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23): temp = self["m5i20c3pin%d" % x] tempinv = self["m5i20c3pin%dinv" % x] temptype = self["m5i20c3pin%dtype" % x] if tempinv: invmessage = _("-> inverted") else: invmessage ="" print >>file,("pin# %(pinnum)d (type %(type)s) is connected to signal:'%(data)s'%(mess)s " %{ 'type':temptype, 'pinnum':x, 'data':temp, 'mess':invmessage}) print >>file print >>file,_("Mesa 5i20 connector 4 \n") for x in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23): temp = self["m5i20c4pin%d" % x] tempinv = self["m5i20c4pin%dinv" % x] temptype = self["m5i20c4pin%dtype" % x] if tempinv: invmessage = _("-> inverted") else: invmessage ="" print >>file,("pin# %(pinnum)d (type %(type)s) is connected to signal:'%(data)s'%(mess)s" %{ 'type':temptype,'pinnum':x, 'data':temp, 'mess':invmessage}) print >>file templist = ("pp1","pp2","pp3") for j, k in enumerate(templist): if self.number_pports < (j+1): break print >>file, _("%(name)s Parport" % { 'name':k}) for x in (2,3,4,5,6,7,8,9,10,11,12,13,15): temp = self["%sIpin%d" % (k, x)] tempinv = self["%sIpin%dinv" % (k, x)] if tempinv: invmessage = _("-> inverted") else: invmessage ="" print >>file,_("pin# %(pinnum)d is connected to input signal:'%(data)s' %(mesag)s" %{ 'pinnum':x,'data':temp,'mesag':invmessage}) for x in (1,2,3,4,5,6,7,8,9,14,16,17): temp = self["%sOpin%d" % (k, x)] tempinv = self["%sOpin%dinv" % (k, x)] if tempinv: invmessage = _("-> inverted") else: invmessage ="" print >>file,_("pin# %(pinnum)d is connected to output signal:'%(data)s' %(mesag)s" %{ 'pinnum':x,'data':temp,'mesag':invmessage}) print >>file file.close() self.add_md5sum(filename) def copy(self, base, filename): dest = os.path.join(base, filename) if not os.path.exists(dest): shutil.copy(os.path.join(distdir, filename), dest) def save(self): base = os.path.expanduser("~/emc2/configs/%s" % self.machinename) ncfiles = os.path.expanduser("~/emc2/nc_files") if not os.path.exists(ncfiles): makedirs(ncfiles) examples = os.path.join(BASE, "share", "emc", "ncfiles") if not os.path.exists(examples): examples = os.path.join(BASE, "nc_files") if os.path.exists(examples): os.symlink(examples, os.path.join(ncfiles, "examples")) makedirs(base) self.md5sums = [] self.write_readme(base) self.write_inifile(base) self.write_halfile(base) self.copy(base, "tool.tbl") self.copy(base, "emc.var") filename = "%s.pncconf" % base d = xml.dom.minidom.getDOMImplementation().createDocument( None, "stepconf", None) e = d.documentElement for k, v in sorted(self.__dict__.iteritems()): if k.startswith("_"): continue n = d.createElement('property') e.appendChild(n) if isinstance(v, float): n.setAttribute('type', 'float') elif isinstance(v, bool): n.setAttribute('type', 'bool') elif isinstance(v, int): n.setAttribute('type', 'int') elif isinstance(v, list): n.setAttribute('type', 'eval') else: n.setAttribute('type', 'string') n.setAttribute('name', k) n.setAttribute('value', str(v)) d.writexml(open(filename, "wb"), addindent=" ", newl="\n") print("%s" % base) if self.createsymlink: if not os.path.exists(os.path.expanduser("~/Desktop/%s" % self.machinename)): os.symlink(base,os.path.expanduser("~/Desktop/%s" % self.machinename)) if self.createshortcut: if os.path.exists(BASE + "/scripts/emc"): scriptspath = (BASE + "/scripts/emc") else: scriptspath ="emc" print"%s" % BASE print"%s" % scriptspath filename = os.path.expanduser("~/Desktop/%s.desktop" % self.machinename) file = open(filename, "w") print >>file,"[Desktop Entry]" print >>file,"Version=1.0" print >>file,"Terminal=false" print >>file,"Name=" + _("launch %s") % self.machinename print >>file,"Exec=%s %s/%s.ini" \ % ( scriptspath, base, self.machinename ) print >>file,"Type=Application" print >>file,"Comment=" + _("Desktop Launcher for EMC config made by PNCconf") print >>file,"Icon=/etc/emc2/emc2icon.png" file.close() def __getitem__(self, item): return getattr(self, item) def __setitem__(self, item, value): return setattr(self, item, value) # This method returns I/O pin designation (name and number) of a given HAL signalname. # It does not check to see if the signalname is in the list more then once. def findsignal(self, sig): ppinput = {} ppoutput = {} for i in (1,2,3): for s in (2,3,4,5,6,7,8,9,10,11,12,13,15): key = self["pp%dIpin%d" %(i,s)] ppinput[key] = "pp%dIpin%d" %(i,s) for s in (1,2,3,4,5,6,7,8,9,14,16,17): key = self["pp%dOpin%d" %(i,s)] ppoutput[key] = "pp%dOpin%d" %(i,s) mesa2=dict([(self["m5i20c2pin%d" %s],"m5i20c2pin%d" %s) for s in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23)]) mesa3=dict([(self["m5i20c3pin%d" %s],"m5i20c3pin%d" %s) for s in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23)]) mesa4=dict([(self["m5i20c4pin%d" %s],"m5i20c4pin%d" %s) for s in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23)]) mesa5=dict([(self["m5i20c5pin%d" %s],"m5i20c5pin%d" %s) for s in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23)]) try: return ppinput[sig] except : try: return ppoutput[sig] except : try: return mesa2[sig] except : try: return mesa3[sig] except : try: return mesa4[sig] except : try: return mesa5[sig] except : return "false" # This method takes a signalname data pin (eg m5i20c3pin1) # and converts it to a HAL pin names (eg hm2_[HOSTMOT2](BOARD).0.gpio.01) # The adj variable is for adjustment of position of pins related to the # 'controlling pin' eg encoder-a (controlling pin) encoder-b encoder -I # (related pins) def make_pinname(self, pin): test = str(pin) if 'm5i20' in test: ptype = self[pin+"type"] signalname = self[pin] pinnum = int(test[10:]) connum = int(test[6:7]) type_name = { GPIOI:"gpio", GPIOO:"gpio", GPIOD:"gpio", ENCA:"encoder", ENCB:"encoder",ENCI:"encoder",ENCM:"encoder", PWMP:"pwmgen", PWMD:"pwmgen", PWME:"pwmgen", PDMP:"pwmgen", PDMD:"pwmgen", PDME:"pwmgen",STEPA:"stepgen", STEPB:"stepgen" } try: comptype = type_name[ptype] except : comptype = "false" #print test,self[pin], ptype, pinnum # GPIO pins truenumber can be any number between 0 and 72 for 5i20 ( 96 in 5i22) if ptype in(GPIOI,GPIOO,GPIOD): truepinnum = int(pinnum)+(int(connum)-2)*24 return "hm2_[HOSTMOT2](BOARD).0."+comptype+".%03d"% truepinnum # Encoder elif ptype in (ENCA,ENCB,ENCI,ENCM): adj = 0 if ptype == ENCB:adj = -1 if ptype == ENCI: adj = 2 if pinnum in(4,16):adj = 3 if pinnum == 3 + adj:truepinnum = 0 +((connum-2)*4) elif pinnum == 1 + adj:truepinnum = 1 +((connum-2)*4) elif pinnum == 15 + adj:truepinnum = 2 +((connum-2)*4) elif pinnum == 13 + adj:truepinnum = 3 +((connum-2)*4) else:print "(encoder) pin number error pinnum = %d"% pinnum # PWMGen pins elif ptype in (PWMP,PWMD,PWME,PDMP,PDMD,PDME): adj = 0 if signalname.endswith('dir'):adj = 2 if signalname.endswith('enable'):adj = 4 if pinnum == 6 + adj:truepinnum = 0 +((connum-2)*4) elif pinnum == 7 + adj:truepinnum = 1 +((connum-2)*4) elif pinnum == 18 + adj:truepinnum = 2 +((connum-2)*4) elif pinnum == 19 + adj:truepinnum = 3 +((connum-2)*4) else:print "(pwm) pin number error pinnum = %d"% pinnum # StepGen pins elif ptype in (STEPA,STEPB): adj = 0 if signalname.endswith('dir'):adj = 1 if signalname.endswith('c'):adj = 2 if signalname.endswith('d'):adj = 3 if signalname.endswith('e'):adj = 4 if signalname.endswith('f'):adj = 5 if pinnum == 0 + adj:truepinnum = 0 elif pinnum == 6 + adj:truepinnum = 1 elif pinnum == 12 + adj:truepinnum = 2 elif pinnum == 18 + adj:truepinnum = 3 else:print "(step) pin number error pinnum = %d"% pinnum else: print "pintype error" return "hm2_[HOSTMOT2](BOARD).0."+comptype+".%02d"% (truepinnum) elif 'pp' in test: print test ending = "-out" test = str(pin) print self[pin] pintype = str(test[3:4]) pinnum = int(test[7:]) connum = int(test[2:3])-1 if pintype == 'I': ending = "-in" return "parport."+str(connum)+".pin-%02d"%(pinnum)+ending else: return "false" class App: fname = 'pncconf.glade' # XXX search path def _getwidget(self, doc, id): for i in doc.getElementsByTagName('widget'): if i.getAttribute('id') == id: return i def make_axispage(self, doc, axisname): axispage = self._getwidget(doc, 'xaxis').parentNode.cloneNode(True) nextpage = self._getwidget(doc, 'spindle').parentNode widget = self._getwidget(axispage, "xaxis") for node in widget.childNodes: if (node.nodeType == xml.dom.Node.ELEMENT_NODE and node.tagName == "property" and node.getAttribute('name') == "title"): node.childNodes[0].data = _("%s Axis Configuration") % axisname.upper() for node in axispage.getElementsByTagName("widget"): id = node.getAttribute('id') if id.startswith("x"): node.setAttribute('id', axisname + id[1:]) else: node.setAttribute('id', axisname + id) for node in axispage.getElementsByTagName("signal"): handler = node.getAttribute('handler') node.setAttribute('handler', handler.replace("on_x", "on_" + axisname)) for node in axispage.getElementsByTagName("property"): name = node.getAttribute('name') if name == "mnemonic_widget": node.childNodes[0].data = axisname + node.childNodes[0].data[1:] nextpage.parentNode.insertBefore(axispage, nextpage) def make_axismotorpage(self, doc, axisname): axispage = self._getwidget(doc, 'xaxismotor').parentNode.cloneNode(True) nextpage = self._getwidget(doc, 'xaxis').parentNode widget = self._getwidget(axispage, "xaxismotor") for node in widget.childNodes: if (node.nodeType == xml.dom.Node.ELEMENT_NODE and node.tagName == "property" and node.getAttribute('name') == "title"): node.childNodes[0].data = _("%s Axis Motor/Encoder Configuration") % axisname.upper() for node in axispage.getElementsByTagName("widget"): id = node.getAttribute('id') if id.startswith("x"): node.setAttribute('id', axisname + id[1:]) else: node.setAttribute('id', axisname + id) for node in axispage.getElementsByTagName("signal"): handler = node.getAttribute('handler') node.setAttribute('handler', handler.replace("on_x", "on_" + axisname)) for node in axispage.getElementsByTagName("property"): name = node.getAttribute('name') if name == "mnemonic_widget": node.childNodes[0].data = axisname + node.childNodes[0].data[1:] nextpage.parentNode.insertBefore(axispage, nextpage) def make_pportpage(self, doc, axisname): axispage = self._getwidget(doc, 'pp1pport').parentNode.cloneNode(True) nextpage = self._getwidget(doc, 'xaxismotor').parentNode widget = self._getwidget(axispage, "pp1pport") for node in widget.childNodes: if (node.nodeType == xml.dom.Node.ELEMENT_NODE and node.tagName == "property" and node.getAttribute('name') == "title"): node.childNodes[0].data = _("%s Parallel Port Setup") % axisname for node in axispage.getElementsByTagName("widget"): id = node.getAttribute('id') if id.startswith("pp1"): node.setAttribute('id', axisname + id[3:]) else: node.setAttribute('id', axisname + id) for node in axispage.getElementsByTagName("signal"): handler = node.getAttribute('handler') node.setAttribute('handler', handler.replace("on_pp1", "on_" + axisname)) for node in axispage.getElementsByTagName("property"): name = node.getAttribute('name') if name == "mnemonic_widget": node.childNodes[0].data = axisname + node.childNodes[0].data[1:] nextpage.parentNode.insertBefore(axispage, nextpage) def __init__(self): gnome.init("pncconf", "0.6") glade = xml.dom.minidom.parse(os.path.join(datadir, self.fname)) self.make_axispage(glade, 'y') self.make_axispage(glade, 'z') self.make_axispage(glade, 'a') self.make_axismotorpage(glade, 'y') self.make_axismotorpage(glade, 'z') self.make_axismotorpage(glade, 'a') self.make_pportpage(glade, 'pp2') self.make_pportpage(glade, 'pp3') doc = glade.toxml().encode("utf-8") self.xml = gtk.glade.xml_new_from_buffer(doc, len(doc), domain="axis") self.widgets = Widgets(self.xml) self.watermark = gtk.gdk.pixbuf_new_from_file(wizard) self.widgets.helppic.set_from_file(axisdiagram) self.widgets.openloopdialog.hide() self.widgets.druidpagestart1.set_watermark(self.watermark) self.widgets.complete.set_watermark(self.watermark) self.widgets.druidpagestart1.show() self.widgets.complete.show() self.xml.signal_autoconnect(self) self.in_pport_prepare = False self.axis_under_test = False self.jogminus = self.jogplus = 0 self.intrnldata = Intrnl_data() self.data = Data() tempfile = os.path.join(distdir, "configurable_options/ladder/TEMP.clp") if os.path.exists(tempfile): os.remove(tempfile) def gtk_main_quit(self, *args): gtk.main_quit() def on_window1_delete_event(self, *args): if self.warning_dialog (_("Quit PNCconfig and discard changes?"),False): gtk.main_quit() return False else: return True on_druid1_cancel = on_window1_delete_event def warning_dialog(self,message,is_ok_type): if is_ok_type: dialog = gtk.MessageDialog(app.widgets.window1, gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT, gtk.MESSAGE_WARNING, gtk.BUTTONS_OK,message) dialog.show_all() result = dialog.run() dialog.destroy() return True else: dialog = gtk.MessageDialog(self.widgets.window1, gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT, gtk.MESSAGE_QUESTION, gtk.BUTTONS_YES_NO,message) dialog.show_all() result = dialog.run() dialog.destroy() if result == gtk.RESPONSE_YES: return True else: return False def on_helpwindow_delete_event(self, *args): self.widgets.helpwindow.hide() return True def on_druid1_help(self, *args): helpfilename = os.path.join(helpdir, "%s"% self.data.help) textbuffer = self.widgets.helpview.get_buffer() try : infile = open(helpfilename, "r") if infile: string = infile.read() infile.close() textbuffer.set_text(string) self.widgets.helpwindow.set_title(_("Help Pages") ) self.widgets.helpwindow.show_all() except: text = _("Help page is unavailable\n") self.warning_dialog(text,True) def on_page_newormodify_prepare(self, *args): self.data.help = "help-load.txt" self.widgets.createsymlink.set_active(self.data.createsymlink) self.widgets.createshortcut.set_active(self.data.createshortcut) def on_page_newormodify_next(self, *args): if not self.widgets.createconfig.get_active(): filter = gtk.FileFilter() filter.add_pattern("*.pncconf") filter.set_name(_("EMC2 'PNCconf' configuration files")) dialog = gtk.FileChooserDialog(_("Modify Existing Configuration"), self.widgets.window1, gtk.FILE_CHOOSER_ACTION_OPEN, (gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL, gtk.STOCK_OPEN, gtk.RESPONSE_OK)) dialog.set_default_response(gtk.RESPONSE_OK) dialog.add_filter(filter) dialog.add_shortcut_folder(os.path.expanduser("~/emc2/configs")) dialog.set_current_folder(os.path.expanduser("~/emc2/configs")) dialog.show_all() result = dialog.run() if result == gtk.RESPONSE_OK: filename = dialog.get_filename() dialog.destroy() self.data.load(filename, self) else: dialog.destroy() return True self.data.createsymlink = self.widgets.createsymlink.get_active() self.data.createshortcut = self.widgets.createshortcut.get_active() def on_basicinfo_prepare(self, *args): self.data.help = "help-basic.txt" self.widgets.machinename.set_text(self.data.machinename) self.widgets.axes.set_active(self.data.axes) self.widgets.units.set_active(self.data.units) self.widgets.latency.set_value(self.data.latency) self.widgets.servoperiod.set_value(self.data.servoperiod) self.widgets.machinename.grab_focus() self.widgets.mesa5i20_checkbutton.set_active(self.data.mesa5i20) self.widgets.ioaddr.set_text(self.data.ioaddr) self.widgets.ioaddr2.set_text(self.data.ioaddr2) self.widgets.ioaddr3.set_text(self.data.ioaddr3) self.widgets.pp1_direction.set_active(self.data.pp1_direction) self.widgets.pp2_direction.set_active(self.data.pp2_direction) self.widgets.pp3_direction.set_active(self.data.pp3_direction) if self.data.number_pports>0: self.widgets.pp1_checkbutton.set_active(1) else : self.widgets.pp1_checkbutton.set_active(0) if self.data.number_pports>1: self.widgets.pp2_checkbutton.set_active(1) if self.data.number_pports>2: self.widgets.pp3_checkbutton.set_active(1) if self.data.limitsnone : self.widgets.limittype_none.set_active(1) if self.data.limitswitch : self.widgets.limittype_switch.set_active(1) if self.data.limitshared : self.widgets.limittype_shared.set_active(1) if self.data.homenone : self.widgets.home_none.set_active(1) if self.data.homeindex : self.widgets.home_index.set_active(1) if self.data.homeswitch : self.widgets.home_switch.set_active(1) if self.data.homeboth : self.widgets.home_both.set_active(1) if self.data.manualtoolchange : self.widgets.manualtoolchange.set_active(1) else: self.widgets.tool_custom.set_active(1) if self.data.multimpg : self.widgets.multimpg.set_active(1) else: self.widgets.singlempg.set_active(1) def on_mesa5i20_checkbutton_toggled(self, *args): i = self.widgets.mesa5i20_checkbutton.get_active() self.widgets.nbr5i20.set_sensitive(i) def on_pp1_checkbutton_toggled(self, *args): i = self.widgets.pp1_checkbutton.get_active() self.widgets.pp1_direction.set_sensitive(i) self.widgets.ioaddr.set_sensitive(i) if i == 0: self.widgets.pp2_checkbutton.set_active(i) self.widgets.ioaddr2.set_sensitive(i) self.widgets.pp3_checkbutton.set_active(i) self.widgets.ioaddr3.set_sensitive(i) def on_pp2_checkbutton_toggled(self, *args): i = self.widgets.pp2_checkbutton.get_active() if self.widgets.pp1_checkbutton.get_active() == 0: i = 0 self.widgets.pp2_checkbutton.set_active(0) self.widgets.pp2_direction.set_sensitive(i) self.widgets.ioaddr2.set_sensitive(i) if i == 0: self.widgets.pp3_checkbutton.set_active(i) self.widgets.ioaddr3.set_sensitive(i) def on_pp3_checkbutton_toggled(self, *args): i = self.widgets.pp3_checkbutton.get_active() if self.widgets.pp2_checkbutton.get_active() == 0: i = 0 self.widgets.pp3_checkbutton.set_active(0) self.widgets.pp3_direction.set_sensitive(i) self.widgets.ioaddr3.set_sensitive(i) def on_basicinfo_next(self, *args): self.data.machinename = self.widgets.machinename.get_text() self.data.axes = self.widgets.axes.get_active() if self.data.axes == 0: self.data.available_axes = ['x','y','z','s'] elif self.data.axes == 1: self.data.available_axes = ['x','y','z','a','s'] elif self.data.axes == 2: self.data.available_axes = ['x','z','s'] self.data.units = self.widgets.units.get_active() self.data.latency = self.widgets.latency.get_value() self.data.servoperiod = self.widgets.servoperiod.get_value() self.data.manualtoolchange = self.widgets.manualtoolchange.get_active() self.data.ioaddr = self.widgets.ioaddr.get_text() self.data.ioaddr2 = self.widgets.ioaddr2.get_text() self.data.ioaddr3 = self.widgets.ioaddr3.get_text() self.data.mesa5i20 = self.widgets.mesa5i20_checkbutton.get_active() if self.widgets.pp3_checkbutton.get_active() and self.widgets.pp2_checkbutton.get_active(): self.data.number_pports = 3 elif self.widgets.pp2_checkbutton.get_active() and self.widgets.pp1_checkbutton.get_active(): self.data.number_pports = 2 elif self.widgets.pp1_checkbutton.get_active(): self.data.number_pports = 1 else : self.data.number_pports = 0 if self.data.number_pports == 0 and self.data.mesa5i20 == 0 : self.warning_dialog(_("You need to designate a parport and/or mesa I/O device before continuing."),True) self.widgets.druid1.set_page(self.widgets.basicinfo) return True self.data.pp1_direction = self.widgets.pp1_direction.get_active() self.data.pp2_direction = self.widgets.pp2_direction.get_active() self.data.pp3_direction = self.widgets.pp3_direction.get_active() self.data.limitshared = self.widgets.limittype_shared.get_active() self.data.limitsnone = self.widgets.limittype_none.get_active() self.data.limitswitch = self.widgets.limittype_switch.get_active() self.data.limitshared = self.widgets.limittype_shared.get_active() self.data.homenone = self.widgets.home_none.get_active() self.data.homeindex = self.widgets.home_index.get_active() self.data.homeswitch = self.widgets.home_switch.get_active() self.data.homeboth = self.widgets.home_both.get_active() if self.widgets.multimpg.get_active(): self.data.multimpg == True else: self.data.multimpg == False # connect signals with pin designation data to mesa signal comboboxes and pintype comboboxes # record the signal ID numbers so we can block the signals later in the mesa routines # have to do it hear manually (instead of autoconnect) because glade doesn't handle added # user info (pin number designations) and doesn't record the signal ID numbers # none of this is done if mesa is not checked off in pncconf if (self.data.mesa5i20 ): for connector in (2,3,4,5): for pin in range(0,24): cb = "m5i20c%ipin%i"% (connector,pin) i = "mesasignalhandlerc%ipin%i"% (connector,pin) self.intrnldata[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pin_changed,connector,pin)) cb = "m5i20c%ipin%itype"% (connector,pin) i = "mesaptypesignalhandlerc%ipin%i"% (connector,pin) self.intrnldata[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pintype_changed,connector,pin)) model = self.widgets.mesa_boardname.get_model() model.clear() for i in mesaboardnames: model.append((i,)) for search,item in enumerate(mesaboardnames): if mesaboardnames[search] == self.data.mesa_boardname: self.widgets.mesa_boardname.set_active(search) model = self.widgets.mesa_firmware.get_model() model.clear() for search, item in enumerate(mesafirmwaredata): d = mesafirmwaredata[search] if not d[0] == self.data.mesa_boardname:continue model.append((d[1],)) for search,item in enumerate(model): if model[search][0] == self.data.mesa_firmware: self.widgets.mesa_firmware.set_active(search) self.widgets.mesa_pwm_frequency.set_value(self.data.mesa_pwm_frequency) self.widgets.mesa_pdm_frequency.set_value(self.data.mesa_pdm_frequency) self.widgets.mesa_watchdog_timeout.set_value(self.data.mesa_watchdog_timeout) self.widgets.numof_mesa_encodergens.set_value(self.data.numof_mesa_encodergens) self.widgets.numof_mesa_pwmgens.set_value(self.data.numof_mesa_pwmgens) self.widgets.numof_mesa_stepgens.set_value(self.data.numof_mesa_stepgens) self.widgets.numof_mesa_gpio.set_text("%d" % self.data.numof_mesa_gpio) def on_machinename_changed(self, *args): self.widgets.confdir.set_text( "~/emc2/configs/%s" % self.widgets.machinename.get_text()) def on_GUI_config_prepare(self, *args): self.data.help = "help-gui.txt" if self.data.frontend == 1 : self.widgets.GUIAXIS.set_active(True) elif self.data.frontend == 2: self.widgets.GUITKEMC.set_active(True) else: self.widgets.GUIMINI.set_active(True) self.widgets.pyvcp.set_active(self.data.pyvcp) self.on_pyvcp_toggled() if not self.widgets.createconfig.get_active(): if os.path.exists(os.path.expanduser("~/emc2/configs/%s/custompanel.xml" % self.data.machinename)): self.widgets.pyvcpexist.set_active(True) self.widgets.default_linear_velocity.set_value( self.data.default_linear_velocity*60) self.widgets.max_linear_velocity.set_value( self.data.max_linear_velocity*60) self.widgets.min_linear_velocity.set_value( self.data.min_linear_velocity*60) self.widgets.default_angular_velocity.set_value( self.data.default_angular_velocity*60) self.widgets.max_angular_velocity.set_value( self.data.max_angular_velocity*60) self.widgets.min_angular_velocity.set_value( self.data.min_angular_velocity*60) self.widgets.editor.set_text(self.data.editor) if self.data.units == 0 : temp = self.data.increments_imperial tempunits = "in / min" else: temp = self.data.increments_metric tempunits = "mm / min" self.widgets.increments.set_text(temp) for i in (0,1,2): self.widgets["velunits"+str(i)].set_text(tempunits) self.widgets.geometry.set_text(self.data.geometry) self.widgets.pyvcpconnect.set_active(self.data.pyvcpconnect) self.widgets.require_homing.set_active(self.data.require_homing) self.widgets.individual_homing.set_active(self.data.individual_homing) self.widgets.restore_joint_position.set_active(self.data.restore_joint_position) self.widgets.tooloffset_on_w.set_active(self.data.tooloffset_on_w) self.widgets.restore_toolnumber.set_active(self.data.restore_toolnumber) self.widgets.raise_z_on_toolchange.set_active(self.data.raise_z_on_toolchange) self.widgets.allow_spindle_on_toolchange.set_active(self.data.allow_spindle_on_toolchange) def on_GUI_config_next(self, *args): if self.widgets.GUIAXIS.get_active(): self.data.frontend = 1 elif self.widgets.GUITKEMC.get_active(): self.data.frontend = 2 else: self.data.frontend = 3 self.data.default_linear_velocity = self.widgets.default_linear_velocity.get_value()/60 self.data.max_linear_velocity = self.widgets.max_linear_velocity.get_value()/60 self.data.min_linear_velocity = self.widgets.min_linear_velocity.get_value()/60 self.data.default_angular_velocity = self.widgets.default_angular_velocity.get_value()/60 self.data.max_angular_velocity = self.widgets.max_angular_velocity.get_value()/60 self.data.min_angular_velocity = self.widgets.min_angular_velocity.get_value()/60 self.data.editor = self.widgets.editor.get_text() if self.data.units == 0 :self.data.increments_imperial = self.widgets.increments.get_text() else:self.data.increments_metric = self.widgets.increments.get_text() self.data.geometry = self.widgets.geometry.get_text() self.data.require_homing = self.widgets.require_homing.get_active() self.data.individual_homing = self.widgets.individual_homing.get_active() self.data.restore_joint_position = self.widgets.restore_joint_position.get_active() self.data.tooloffset_on_w = self.widgets.tooloffset_on_w.get_active() self.data.restore_toolnumber = self.widgets.restore_toolnumber.get_active() self.data.raise_z_on_toolchange = self.widgets.raise_z_on_toolchange.get_active() self.data.allow_spindle_on_toolchange = self.widgets.allow_spindle_on_toolchange.get_active() if not self.data.mesa5i20: self.widgets.druid1.set_page(self.widgets.pp1pport) return True self.data.pyvcp = self.widgets.pyvcp.get_active() self.data.pyvcpconnect = self.widgets.pyvcpconnect.get_active() if self.data.pyvcp == True: if self.widgets.pyvcpblank.get_active() == True: self.data.pyvcpname = "blank.xml" self.pyvcphaltype = 0 if self.widgets.pyvcp1.get_active() == True: self.data.pyvcpname = "spindle.xml" self.data.pyvcphaltype = 1 if self.widgets.pyvcp2.get_active() == True: self.data.pyvcpname = "xyzjog.xml" self.data.pyvcphaltype = 2 self.data.halui = True self.widgets.halui.set_active(True) self.data.halui_cmd1="G0 G53 Z0" self.data.halui_cmd2="G28" self.data.halui_cmd3="G92 X0" self.data.halui_cmd4="G92 Y0" self.data.halui_cmd5="G92 Z0" self.data.halui_cmd6="G92.1" if self.widgets.pyvcpexist.get_active() == True: self.data.pyvcpname = "custompanel.xml" else: if os.path.exists(os.path.expanduser("~/emc2/configs/%s/custompanel.xml" % self.data.machinename)): if not self.warning_dialog(_("OK to replace existing custom pyvcp panel and custom_postgui.hal file ?\nExisting custompanel.xml and custom_postgui.hal will be renamed custompanel_backup.xml and postgui_backup.hal.\nAny existing file named custompanel_backup.xml and custom_postgui.hal will be lost. "),False): return True def do_exclusive_inputs(self, pin): if self.in_pport_prepare: return exclusive = { HOME_X: (MAX_HOME_X, MIN_HOME_X, BOTH_HOME_X, ALL_HOME), HOME_Y: (MAX_HOME_Y, MIN_HOME_Y, BOTH_HOME_Y, ALL_HOME), HOME_Z: (MAX_HOME_Z, MIN_HOME_Z, BOTH_HOME_Z, ALL_HOME), HOME_A: (MAX_HOME_A, MIN_HOME_A, BOTH_HOME_A, ALL_HOME), MAX_HOME_X: (HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME), MAX_HOME_Y: (HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME), MAX_HOME_Z: (HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME), MAX_HOME_A: (HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME), MIN_HOME_X: (HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME), MIN_HOME_Y: (HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME), MIN_HOME_Z: (HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME), MIN_HOME_A: (HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME), BOTH_HOME_X: (HOME_X, MAX_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_HOME), BOTH_HOME_Y: (HOME_Y, MAX_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_HOME), BOTH_HOME_Z: (HOME_Z, MAX_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_HOME), BOTH_HOME_A: (HOME_A, MAX_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_HOME), MIN_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT), MIN_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT), MIN_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT), MIN_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT), MAX_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT), MAX_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT), MAX_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT), MAX_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT), BOTH_X: (MIN_X, MAX_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT), BOTH_Y: (MIN_Y, MAX_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT), BOTH_Z: (MIN_Z, MAX_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT), BOTH_A: (MIN_A, MAX_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT), ALL_LIMIT: ( MIN_X, MAX_X, BOTH_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, MIN_Y, MAX_Y, BOTH_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, MIN_Z, MAX_Z, BOTH_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, MIN_A, MAX_A, BOTH_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A), ALL_HOME: ( HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A), } p = 'pp1Ipin%d' % pin v = self.widgets[p].get_active() ex = exclusive.get(hal_input_names[v], ()) for pin1 in (10,11,12,13,15): if pin1 == pin: continue p = 'pp1Ipin%d' % pin1 v1 = hal_input_names[self.widgets[p].get_active()] if v1 in ex or v1 == v: self.widgets[p].set_active(hal_input_names.index(UNUSED_INPUT)) def on_pin10_changed(self, *args): self.do_exclusive_inputs(10) def on_pin11_changed(self, *args): self.do_exclusive_inputs(11) def on_pin12_changed(self, *args): self.do_exclusive_inputs(12) def on_pin13_changed(self, *args): self.do_exclusive_inputs(13) def on_pin15_changed(self, *args): self.do_exclusive_inputs(15) def on_mesa_boardname_changed(self, *args): board = self.widgets.mesa_boardname.get_active_text() model = self.widgets.mesa_firmware.get_model() model.clear() for search, item in enumerate(mesafirmwaredata): d = mesafirmwaredata[search] if not d[0] == board:continue model.append((d[1],)) self.widgets.mesa_firmware.set_active(0) self.on_mesa_firmware_changed() def on_mesa_firmware_changed(self, *args): board = self.widgets.mesa_boardname.get_active_text() firmware = self.widgets.mesa_firmware.get_active_text() for search, item in enumerate(mesafirmwaredata): d = mesafirmwaredata[search] if not d[0] == board:continue if d[1] == firmware: self.widgets.numof_mesa_encodergens.set_range(0,d[2]) self.widgets.numof_mesa_encodergens.set_value(d[2]) self.widgets.numof_mesa_pwmgens.set_range(0,d[3]) self.widgets.numof_mesa_pwmgens.set_value(d[3]) self.widgets.numof_mesa_stepgens.set_range(0,d[4]) self.widgets.numof_mesa_stepgens.set_value(d[4]) self.on_gpio_update() def on_gpio_update(self, *args): board = self.widgets.mesa_boardname.get_active_text() firmware = self.widgets.mesa_firmware.get_active_text() for search, item in enumerate(mesafirmwaredata): d = mesafirmwaredata[search] if not d[0] == board:continue if d[1] == firmware: i = (int(self.widgets.numof_mesa_pwmgens.get_value()) * 3) j = (int(self.widgets.numof_mesa_stepgens.get_value()) * d[6]) k = (int(self.widgets.numof_mesa_encodergens.get_value()) * d[5]) total = (d[8]-i-j-k) self.widgets.numof_mesa_gpio.set_text("%d" % total) def on_mesa5i20_prepare(self, *args): self.data.help = "help-mesa.txt" # If we just reloaded a config then update the page right now # as we already know what board /firmware /components are wanted. if not self.widgets.createconfig.get_active() and not self.intrnldata.mesa_configured : self.set_mesa_options(self.data.mesa_boardname,self.data.mesa_firmware,self.data.numof_mesa_pwmgens, self.data.numof_mesa_stepgens,self.data.numof_mesa_encodergens) elif not self.intrnldata.mesa_configured: self.widgets.con2tab.set_sensitive(0) self.widgets.con2table.set_sensitive(0) self.widgets.con3table.set_sensitive(0) self.widgets.con3tab.set_sensitive(0) self.widgets.con4tab.set_sensitive(0) self.widgets.con4table.set_sensitive(0) self.widgets.con5table.set_sensitive(0) self.widgets.con5tab.set_sensitive(0) # This method converts data from the GUI page to signal names for pncconf's mesa data variables # It starts by checking pin type to set up the proper lists to search # then depending on the pin type widget data is converted to signal names. # if the signal name is not in the list add it to Human_names, signal_names # and disc-saved signalname lists # if encoder, pwm, or stepper pins the related pin are also set properly # eg if pin 0 is [encoder-A} then pin 2 is set to [encoder -B] and # pin 4 to [encoder-C] def on_mesa5i20_next(self,*args): if not self.intrnldata.mesa_configured: self.warning_dialog(_("You need to configure the mesa page.\n Choose the board type, firmware, component amounts and press 'Accept component changes' button'"),True) self.widgets.druid1.set_page(self.widgets.mesa5i20) return True for connector in self.data.mesa_currentfirmwaredata[11] : for pin in range(0,24): foundit = 0 p = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin} pinv = 'm5i20c%(con)dpin%(num)dinv' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} pintype = self.widgets[ptype].get_active_text() selection = self.widgets[p].get_active_text() if pintype in (ENCB,ENCI,ENCM,PWMD,PWME,STEPB): continue # type GPIO input if pintype == GPIOI: nametocheck = human_input_names signaltocheck = hal_input_names addsignalto = self.data.halinputsignames # type gpio output and open drain elif pintype in (GPIOO,GPIOD): nametocheck = human_output_names signaltocheck = hal_output_names addsignalto = self.data.haloutputsignames #type encoder elif pintype == ENCA: nametocheck = human_encoder_input_names signaltocheck = hal_encoder_input_names addsignalto = self.data.halencoderinputsignames # type PWM gen elif pintype in( PWMP,PDMP): nametocheck = human_pwm_output_names signaltocheck = hal_pwm_output_names addsignalto = self.data.halpwmoutputsignames # type step gen elif pintype == STEPA: nametocheck = human_stepper_names signaltocheck = hal_stepper_names addsignalto = self.data.halsteppersignames else : print "error unknown pin type" return # check apropriote signal array for current signalname # if not found, user made a new signalname -add it to array for index , i in enumerate(nametocheck): if selection == i : foundit = True #print "found it",nametocheck[index],"in ",p,"\n" break # **Start widget to data Convertion** # for encoder pins if pintype == ENCA : if not foundit: print " adding encoder pinname\n" model = self.widgets[p].get_model() model.append((selection+"-a",)) self.widgets[p].set_active( len(model)) index = index +1 for ending in ("-a","-b","-i","-m"): signaltocheck.append ((selection + ending)) nametocheck.append ((selection + ending)) addsignalto.append ((selection + ending)) # set related encoder pins flag = 1 if selection == "Unused Encoder":flag = 0 if pin in (1,13): d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin-1} self.data[d] = signaltocheck[(index+1)*flag] d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+3} self.data[d] = signaltocheck[(index+2)*flag] elif pin in (3,15): d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin-1} self.data[d] = signaltocheck[(index+1)*flag] d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+2} self.data[d] = signaltocheck[(index+2)*flag] else: print"Encoder pin config error" continue if self.data.mesa_currentfirmwaredata[5] == 4: for count, name in enumerate((1,3,13,15)): if name == pin: if connector == 3: count=count+4 d = 'm5i20c%(con)dpin%(num)d' % {'con':4 ,'num': count} self.data[d] = signaltocheck[(index+3)*flag] # for PWM pins elif pintype in (PWMP,PDMP) : if not foundit: model = self.widgets[p].get_model() model.append((selection+"-pulse",)) index = index +1 for ending in ("-pulse","-dir","-enable"): signaltocheck.append ((selection + ending)) nametocheck.append ((selection + ending)) addsignalto.append ((selection + ending)) # set related pwm pins flag = 1 if selection == "Unused PWM Gen":flag = 0 if pin in (6,7,18,19): d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+2} self.data[d] = signaltocheck[(index+1)*flag] d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+4} self.data[d] = signaltocheck[(index+2)*flag] else: print "PWM pin config error" continue # for stepgen pins elif pintype == STEPA : if not foundit: model = self.widgets[p].get_model() model.append((selection+"-step",)) index = index +1 for ending in ("-step","-dir"): signaltocheck.append ((selection + ending)) nametocheck.append ((selection + ending)) addsignalto.append ((selection + ending)) # set related stepgen pins flag = 1 if selection == "Unused StepGen":flag = 0 d = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+1} self.data[d] = signaltocheck[(index+1)*flag] # for input and output elif pintype in(GPIOI,GPIOO,GPIOD): if not foundit: model = self.widgets[p].get_model() index = index +1 model.append((selection,)) signaltocheck.append ((selection)) nametocheck.append ((selection)) addsignalto.append ((selection)) else: print "pintype error pintype =",pintype # set data from widget for current pin self.data[p] = signaltocheck[index] self.data[pinv] = self.widgets[pinv].get_active() self.data.mesa_pwm_frequency = self.widgets.mesa_pwm_frequency.get_value() self.data.mesa_pdm_frequency = self.widgets.mesa_pdm_frequency.get_value() self.data.mesa_watchdog_timeout = self.widgets.mesa_watchdog_timeout.get_value() if self.data.number_pports<1: self.widgets.druid1.set_page(self.widgets.xaxismotor) return True def on_m5i20panel_clicked(self, *args):self.m5i20test(self) def on_mesa_pintype_changed(self, widget,connector,pin): # if self.in_mesa_prepare == True: return #print "got to pintype change method ",connector,pin,"\n" p = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} old = self.data[ptype] new = self.widgets[ptype].get_active_text() if (new == None or new == old): return if old == GPIOI and new in (GPIOO,GPIOD): print "switch GPIO input ",p," to output",new model = self.widgets[p].get_model() blocksignal = "mesasignalhandlerc%ipin%i"% (connector,pin) self.widgets[p].handler_block(self.intrnldata[blocksignal]) model.clear() for name in human_output_names: model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_active(0) self.data[p] = UNUSED_OUTPUT self.data[ptype] = new elif old in (GPIOO,GPIOD) and new == GPIOI: print "switch GPIO output ",p,"to input" model = self.widgets[p].get_model() model.clear() blocksignal = "mesasignalhandlerc%ipin%i"% (connector,pin) self.widgets[p].handler_block(self.intrnldata[blocksignal]) for name in human_input_names: if self.data.limitshared or self.data.limitsnone: if name in human_names_limit_only: continue if self.data.limitswitch or self.data.limitsnone: if name in human_names_shared_home: continue if self.data.homenone or self.data.limitshared: if name in (_("Home X"), _("Home Y"), _("Home Z"), _("Home A"),_("All home")): continue model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_active(0) self.data[p] = UNUSED_INPUT self.data[ptype] = new elif (old == GPIOI and new == GPIOD) : print "switch GPIO output ",p,"to open drain" self.data[ptype] = new elif (old == GPIOD and new == GPIOO): print "switch GPIO opendrain ",p,"to output" self.data[ptype] = new elif old == PWMP and new == PDMP: print "switch PWM ",p,"to PDM" self.data[ptype] = new elif old == PDMP and new == PWMP: print "switch PDM ",p,"to PWM" self.data[ptype] = new else: print "pintype error in pinchanged method old,new ",old,new,"\n" def on_mesa_component_value_changed(self, *args): self.in_mesa_prepare = True self.data.mesa_pwm_frequency = self.widgets.mesa_pwm_frequency.get_value() self.data.mesa_pdm_frequency = self.widgets.mesa_pdm_frequency.get_value() self.data.mesa_watchdog_timeout = self.widgets.mesa_watchdog_timeout.get_value() numofpwmgens = self.data.numof_mesa_pwmgens = int(self.widgets.numof_mesa_pwmgens.get_value()) numofstepgens = self.data.numof_mesa_stepgens = int(self.widgets.numof_mesa_stepgens.get_value()) numofencoders = self.data.numof_mesa_encodergens = int(self.widgets.numof_mesa_encodergens.get_value()) board = self.data.mesa_boardname = self.widgets.mesa_boardname.get_active_text() firmware = self.data.mesa_firmware = self.widgets.mesa_firmware.get_active_text() self.set_mesa_options(board,firmware,numofpwmgens,numofstepgens,numofencoders) # This method sets up the mesa GUI page. # it changes the component comboboxes according to the firmware max and user requested amounts # it adds signal names to the signal name combo boxes according to component type and in the # case of GPIO options selected on the basic page such as limit/homing types. # it will grey out I/O tabs according to the selected board type. # it uses GTK signal blocking to block on_mesa_pin_change and on_mesa_pintype_changed methods. # Since this method is for intialization, there is no need to check for changes and this speeds up # the update. # 'mesafirmwaredata' holds all the firmware data. # 'self.data.mesa_currentfirmwaredata' hold the current selected firmware data def set_mesa_options(self,board,firmware,numofpwmgens,numofstepgens,numofencoders): for search, item in enumerate(mesafirmwaredata): d = mesafirmwaredata[search] if not d[0] == board:continue if d[1] == firmware: self.data.mesa_currentfirmwaredata = mesafirmwaredata[search] break self.widgets.con3table.set_sensitive(1) self.widgets.con3tab.set_sensitive(1) self.widgets.con4table.set_sensitive(1) self.widgets.con4tab.set_sensitive(1) if self.data.mesa_currentfirmwaredata[0] == "5i22": self.widgets.con5tab.set_sensitive(1) self.widgets.con5table.set_sensitive(1) else: self.widgets.con5tab.set_sensitive(0) self.widgets.con5table.set_sensitive(0) if self.data.mesa_currentfirmwaredata[0] == "7i43": self.widgets.con2table.set_sensitive(0) self.widgets.con2tab.set_sensitive(0) else: self.widgets.con2table.set_sensitive(1) self.widgets.con2tab.set_sensitive(1) for concount,connector in enumerate(self.data.mesa_currentfirmwaredata[11]) : for pin in range (0,24): firmptype,compnum = self.data.mesa_currentfirmwaredata[12+pin+(concount*24)] # if connector == 2: # print firmptype,"firmtype\n",compnum,"pinnum ",pin,",concount ",concount,"\n" p = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} pinv = 'm5i20c%(con)dpin%(num)dinv' % {'con':connector ,'num': pin} blocksignal = "mesasignalhandlerc%ipin%i" % (connector,pin) ptypeblocksignal = "mesaptypesignalhandlerc%ipin%i" % (connector,pin) # convert widget[ptype] to component specified in firmwaredata # ---SETUP GUI FOR ENCODER FAMILY COMPONENT--- # check that we are not converting more encoders that user requested # if we are we will change the variable 'firmtype' to ask for GPIO if firmptype in ( ENCA,ENCB,ENCI,ENCM ): if numofencoders >= (compnum+1): # if the combobox is not already displaying the right component: # then we need to set up the comboboxes for this pin, otherwise skip it if not self.widgets[ptype].get_active_text() in ( ENCA,ENCB,ENCI,ENCM ): self.widgets[pinv].set_sensitive(0) self.widgets[pinv].set_active(0) self.widgets[ptype].handler_block(self.intrnldata[ptypeblocksignal]) model = self.widgets[ptype].get_model() model.clear() model.append((firmptype,)) self.widgets[ptype].handler_unblock(self.intrnldata[ptypeblocksignal]) self.widgets[p].handler_block(self.intrnldata[blocksignal]) self.widgets[ptype].set_active(0) model = self.widgets[p].get_model() model.clear() # we only add every 4th human name so the user can only select # the encoder's 'A' signal name. If its the other signals # we can add them all because pncconf controls what the user sees if firmptype == ENCA: temp = -1 for name in human_encoder_input_names: temp = temp +1 if temp in (2,3): continue if temp == 4: temp = 0 continue model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_active(0) self.widgets[p].set_sensitive(1) self.widgets[ptype].set_sensitive(1) elif firmptype in(ENCB,ENCI,ENCM): for name in human_encoder_input_names:model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_sensitive(0) self.widgets[ptype].set_sensitive(0) self.widgets[p].set_active(0) # if the data stored ptype is the encoder family then use the data stored signal name # else set to unused_encoder signal name if self.data[ptype] in (ENCA,ENCB,ENCI,ENCM): #print self.data[p] self.widgets[p].set_active(0) model = self.widgets[p].get_model() for search,item in enumerate(model): if model[search][0] == human_encoder_input_names[hal_encoder_input_names.index(self.data[p])]: self.widgets[p].set_active(search) break else: self.data[p] = UNUSED_ENCODER self.data[ptype] = firmptype self.widgets[p].set_active(0) continue else: # user requested this encoder component to be GPIO instead # We cheat a little and tell the rest of the method that the firmware says # it should be GPIO firmptype = GPIOI # ---SETUP GUI FOR PWM FAMILY COMPONENT--- elif firmptype in ( PWMP,PWMD,PWME,PDMP,PDMD,PDME ): if numofpwmgens >= (compnum+1): if not self.widgets[ptype].get_active_text() in ( PWMP,PWMD,PWME,PDMP,PDMD,PDME ): self.widgets[pinv].set_sensitive(0) self.widgets[pinv].set_active(0) self.widgets[ptype].handler_block(self.intrnldata[ptypeblocksignal]) model = self.widgets[ptype].get_model() model.clear() model.append((firmptype,)) temp = pintype_names[12] model.append((temp,)) self.widgets[ptype].handler_unblock(self.intrnldata[ptypeblocksignal]) self.widgets[p].handler_block(self.intrnldata[blocksignal]) model = self.widgets[p].get_model() model.clear() if firmptype in(PWMP,PDMP): temp = -1 for name in human_pwm_output_names: temp = temp +1 if temp == 2: continue if temp == 3: temp = 0 continue model.append((name,)) self.widgets[ptype].set_sensitive(1) self.widgets[p].set_sensitive(1) self.widgets[p].set_active(0) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) elif firmptype in (PWMD,PWME,PDMD,PDME): self.widgets[p].set_sensitive(0) for name in human_pwm_output_names: model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_active(0) self.widgets[ptype].set_sensitive(0) # This is for GPIO to PWM conversion # check to see data is already set to PWM family # if in PWM family - set to data signal name # if in GPIO family - changed to unused_PWM signal name if self.data[ptype] in (PWMP,PWMD,PWME,PDMP,PDMD,PDME): if self.data[ptype] in (PWMP,PWMD,PWME):self.widgets[ptype].set_active(0) else:self.widgets[ptype].set_active(1) self.widgets[p].set_active(0) model = self.widgets[p].get_model() for search,item in enumerate(model): if model[search][0] == human_pwm_output_names[hal_pwm_output_names.index(self.data[p])]: self.widgets[p].set_active(search) break else: self.data[p] = UNUSED_PWM self.data[ptype] = firmptype self.widgets[p].set_active(0) if firmptype in (PWMP,PWMD,PWME):self.widgets[ptype].set_active(0) else:self.widgets[ptype].set_active(1) continue else: firmptype = GPIOI # ---SETUP FOR STEPPER FAMILY COMPONENT--- elif firmptype in (STEPA,STEPB): if numofstepgens >= (compnum+1): if not self.widgets[ptype].get_active_text() in (STEPA,STEPB): self.widgets[pinv].set_sensitive(0) self.widgets[pinv].set_active(0) self.widgets[ptype].handler_block(self.intrnldata[ptypeblocksignal]) model = self.widgets[ptype].get_model() model.clear() model.append((firmptype,)) self.widgets[ptype].handler_unblock(self.intrnldata[ptypeblocksignal]) self.widgets[p].handler_block(self.intrnldata[blocksignal]) model = self.widgets[p].get_model() model.clear() # We have to step over some extra signalnames that hostmot2 currently # doesn't support yet. support missing for direct coil control stepping if firmptype == STEPA: temp = -1 for name in (human_stepper_names): temp = temp + 1 if temp in(2,3,4,5): continue if temp == 6: temp = 0 continue model.append((name,)) self.widgets[p].set_sensitive(1) self.widgets[ptype].set_sensitive(1) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) elif firmptype == STEPB: for name in human_stepper_names: model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_sensitive(0) self.widgets[p].set_active(0) self.widgets[ptype].set_sensitive(0) self.widgets[p].set_wrap_width(1) if self.data[ptype] in (STEPA,STEPB): self.widgets[ptype].set_active(0) self.widgets[p].set_active(0) model = self.widgets[p].get_model() for search,item in enumerate(model): if model[search][0] == human_stepper_names[hal_stepper_names.index(self.data[p])]: self.widgets[p].set_active(search) break else: self.data[p] = UNUSED_STEPGEN self.data[pinv] = 0 self.data[ptype] = firmptype self.widgets[p].set_active(0) self.widgets[ptype].set_active(0) continue else:firmptype = GPIOI # ---SETUP FOR GPIO FAMILY COMPONENT--- # first check to see if firmware says it should be in GPIO family # note this can be because firmware says it should be some other # type but the user wants to deselect it so as to use it as GPIO # this is done in the firmtype checks before this check. # They will change firmtype variable to GPIOI # check if firmtype is in GPIO family # check if widget is already configured # check to see if data says it is in GPIO family # if not change datatype to GPIOI and signal to unused input # block GTK signals from widget pintype and add names to ptype combobox # block GTK signals from widget pin # if GPIOI then add input signal names to pin combobox exclude unselected signal names # if not then add output signal names if firmptype in (GPIOI,GPIOO,GPIOD): if not self.widgets[ptype].get_active_text() in (GPIOI,GPIOO,GPIOD): if not self.data[ptype] in (GPIOI,GPIOO,GPIOD): self.data[p] = UNUSED_INPUT self.data[pinv] = 0 self.data[ptype] = GPIOI self.widgets[p].set_sensitive(1) self.widgets[pinv].set_sensitive(1) self.widgets[ptype].set_sensitive(1) self.widgets[ptype].handler_block(self.intrnldata[ptypeblocksignal]) model = self.widgets[ptype].get_model() model.clear() # add 'input, output, and open drain' names to GPIO combobox for j in (0,1,2): temp = pintype_names[j] model.append((temp,)) self.widgets[ptype].handler_unblock(self.intrnldata[ptypeblocksignal]) self.widgets[p].handler_block(self.intrnldata[blocksignal]) model = self.widgets[p].get_model() model.clear() # signal names for GPIO INPUT # add human names to widget excluding signalnames specified in homing limit and spindle if self.data[ptype] == GPIOI: self.widgets[ptype].set_active(0) for name in human_input_names: if self.data.limitshared or self.data.limitsnone: if name in human_names_limit_only: continue if self.data.limitswitch or self.data.limitsnone: if name in human_names_shared_home: continue if self.data.homenone or self.data.limitshared: if name in (_("Home X"), _("Home Y"), _("Home Z"), _("Home A"),_("All home")): continue model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) #self.widgets[p].set_active(0) model = self.widgets[p].get_model() for search,item in enumerate(model): if model[search][0] == human_input_names[hal_input_names.index(self.data[p])]: self.widgets[p].set_active(search) break self.widgets[p].set_wrap_width(3) self.widgets[pinv].set_active(self.data[pinv]) continue # signal names for GPIO OUTPUT and OPEN DRAIN OUTPUT elif self.data[ptype] in (GPIOO,GPIOD): if firmptype == GPIOO:self.widgets[ptype].set_active(2) else:self.widgets[ptype].set_active(1) for name in human_output_names: model.append((name,)) self.widgets[p].handler_unblock(self.intrnldata[blocksignal]) self.widgets[p].set_active(0) model = self.widgets[p].get_model() for search,item in enumerate(model): if model[search][0] == human_output_names[hal_output_names.index(self.data[p])]: self.widgets[p].set_active(search) break self.widgets[p].set_wrap_width(3) self.widgets[pinv].set_active(self.data[pinv]) continue self.data.numof_mesa_stepgens = numofstepgens self.data.numof_mesa_pwmgens = numofpwmgens self.data.numof_mesa_encodergens = numofencoders temp = (numofstepgens * self.data.mesa_currentfirmwaredata[6]) temp1 = (numofencoders * self.data.mesa_currentfirmwaredata[5]) temp2 = (numofpwmgens * 3) total = (self.data.mesa_currentfirmwaredata[8]-temp-temp1-temp2) self.data.numof_mesa_gpio = total self.widgets.numof_mesa_stepgens.set_value(numofstepgens) self.widgets.numof_mesa_encodergens.set_value(numofencoders) self.widgets.numof_mesa_pwmgens.set_value(numofpwmgens) self.in_mesa_prepare = False self.intrnldata.mesa_configured = True def on_mesa_pin_changed(self, widget, connector, pin): #if self.in_mesa_prepare == True: return p = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} pinchanged = self.widgets[p].get_active_text() dataptype = self.data[ptype] used = 0 #print"pin change method ",ptype," = ",dataptype,"active ",pinchanged,"\n" if dataptype in (ENCB,ENCI,ENCM,STEPB,PWMD,PWME,GPIOI,GPIOO,GPIOD):return # for stepgen pins if dataptype == STEPA: #print"ptype step\n" for index, name in enumerate(human_stepper_names): if name == pinchanged: if not pinchanged == "Unused StepGen":used = 1 tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+1} self.widgets[tochange].set_active((index+1)*used) return # for encoder pins elif dataptype == ENCA: #print"ptype encoder\n" nametocheck = human_encoder_input_names signaltocheck = hal_encoder_input_names addsignalto = self.data.halencoderinputsignames unusedcheck = "Unused Encoder" # for PWM pins elif dataptype == PWMP: #print"ptype pwmp\n" nametocheck = human_pwm_output_names signaltocheck = hal_pwm_output_names addsignalto = self.data.halpwmoutputsignames unusedcheck = "Unused PWM Gen" else: print" pintype not found\n" return foundit = False for index, name in enumerate(nametocheck): if name == pinchanged: if not pinchanged == unusedcheck:used = 1 # for encoder 0 amd 2 pins if pin in (1,13): # print"changing encoder b" tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin-1} self.widgets[tochange].set_active((index+1)*used) tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+3} self.widgets[tochange].set_active((index+2)*used) # for encoder 1 and 3 pins elif pin in (3,15): #print"changing encoder i" tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin-1} self.widgets[tochange].set_active((index+1)*used) tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+2} self.widgets[tochange].set_active((index+2)*used) # for encoder mask pins if self.data.mesa_currentfirmwaredata[5] == 4: for count, name in enumerate((1,3,13,15)): if name == pin: if connector == 3: count=count+4 tochange = 'm5i20c%(con)dpin%(num)d' % {'con':4 ,'num': count} self.widgets[tochange].set_active((index+3)*used) # for pwm pins d and e if pin in (6,7,18,19): tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+2} self.widgets[tochange].set_active((index+1)*used) tochange = 'm5i20c%(con)dpin%(num)d' % {'con':connector ,'num': pin+4} self.widgets[tochange].set_active((index+2)*used) def on_pp1pport_prepare(self, *args): self.data.help = 5 self.in_pport_prepare = True self.prepare_parport("pp1") c = self.data.pp1_direction if c: self.widgets.pp1pport.set_title(_("First Parallel Port set for OUTPUT")) else: self.widgets.pp1pport.set_title(_("First Parallel Port set for INPUT")) def on_pp1pport_next(self, *args): self.next_parport("pp1") #self.findsignal("all-home") #on_pport_back = on_pport_next if self.data.number_pports<2: self.widgets.druid1.set_page(self.widgets.xaxismotor) return True def on_pp1pport_back(self, *args): if not self.data.mesa5i20 : self.widgets.druid1.set_page(self.widgets.GUIconfig) return True def on_pp2pport_prepare(self, *args): self.data.help = 5 self.prepare_parport("pp2") c = self.data.pp2_direction if c: self.widgets.pp2pport.set_title(_("Second Parallel Port set for OUTPUT")) else: self.widgets.pp2pport.set_title(_("Second Parallel Port set for INPUT")) def on_pp2pport_next(self, *args): self.next_parport("pp2") if self.data.number_pports<3: self.widgets.druid1.set_page(self.widgets.xaxismotor) return True def on_pp3pport_prepare(self, *args): self.prepare_parport("pp3") c = self.data.pp3_direction if c: self.widgets.pp3pport.set_title(_("Third Parallel Port set for OUTPUT")) else: self.widgets.pp3pport.set_title(_("Third Parallel Port set for INPUT")) def on_pp3pport_next(self, *args): self.data.help = 5 self.next_parport("pp3") def prepare_parport(self,portname): for pin in (1,2,3,4,5,6,7,8,9,14,16,17): p = '%sOpin%d' % (portname,pin) model = self.widgets[p].get_model() model.clear() for name in human_output_names: model.append((name,)) self.widgets[p].set_active(hal_output_names.index(self.data[p])) p = '%sOpin%dinv' % (portname, pin) self.widgets[p].set_active(self.data[p]) for pin in (2,3,4,5,6,7,8,9,10,11,12,13,15): p = '%sIpin%d' % (portname, pin) model = self.widgets[p].get_model() model.clear() for name in human_input_names: if self.data.limitshared or self.data.limitsnone: if name in human_names_limit_only: continue if self.data.limitswitch or self.data.limitsnone: if name in human_names_shared_home: continue if self.data.homenone or self.data.limitshared: if name in (_("Home X"), _("Home Y"), _("Home Z"), _("Home A"),_("All home")): continue model.append((name,)) for search,item in enumerate(model): if model[search][0] == human_input_names[hal_input_names.index(self.data[p])]: self.widgets[p].set_active(search) p = '%sIpin%dinv' % (portname, pin) self.widgets[p].set_active(self.data[p]) self.in_pport_prepare = False c = self.data[portname+"_direction"] for pin in (2,3,4,5,6,7,8,9): p = '%sOpin%dlabel' % (portname, pin) self.widgets[p].set_sensitive(c) p = '%sOpin%dinv' % (portname, pin) self.widgets[p].set_sensitive(c) p = '%sOpin%d' % (portname, pin) self.widgets[p].set_sensitive(c) if not c :self.widgets[p].set_active(hal_output_names.index("unused-output")) p = '%sIpin%dlabel' % (portname, pin) self.widgets[p].set_sensitive(not c) p = '%sIpin%d' % (portname, pin) self.widgets[p].set_sensitive(not c) if c :self.widgets[p].set_active(hal_input_names.index("unused-input")) p = '%sIpin%dinv' % (portname, pin) self.widgets[p].set_sensitive(not c) def next_parport(self,portname): #check input pins for pin in (2,3,4,5,6,7,8,9,10,11,12,13,15): p = '%sIpin%d' % (portname, pin) foundit = 0 selection = self.widgets[p].get_active_text() for index , i in enumerate(human_input_names): if selection == i : foundit = True break if not foundit: model = self.widgets[p].get_model() model.append((selection,)) g = human_input_names g.append ((selection)) hal_input_names.append ((selection)) self.data.halinputsignames.append ((selection)) self.data[p] = hal_input_names[index] p = '%sIpin%dinv' % (portname, pin) self.data[p] = self.widgets[p].get_active() # check output pins for pin in (1,2,3,4,5,6,7,8,9,14,16,17): foundit = 0 p = '%sOpin%d' % (portname, pin) selection = self.widgets[p].get_active_text() for i in human_output_names: if selection == i : foundit = 1 if not foundit: model = self.widgets[p].get_model() model.append((selection,)) g = human_output_names g.append ((selection)) hal_output_names.append ((selection)) self.data.haloutputsignames.append ((selection)) self.data[p] = hal_output_names[self.widgets[p].get_active()] p = '%sOpin%dinv' % (portname, pin) self.data[p] = self.widgets[p].get_active() def on_parportpanel_clicked(self, *args):self.parporttest(self) def on_xaxismotor_prepare(self, *args): self.data.help = "help-axismotor.txt" self.signal_sanity_check() self.axis_prepare('x') def signal_sanity_check(self, *args): warnings = [] do_warning = False for i in self.data.available_axes: if i == 's': continue step = self.data.findsignal(i+"-stepgen-step") enc = self.data.findsignal(i+"-encoder-a") pwm = self.data.findsignal(i+"-pwm-pulse") if step == "false" and pwm == "false" and enc =="false": warnings.append(_("You forgot to designate a stepper or pwm signal for axis %s\n")% i) do_warning = True if not pwm == "false" and enc == "false": warnings.append(_("You forgot to designate a servo encoder signal for axis %s\n")% i) do_warning = True if pwm == "false" and not enc == "false": warnings.append(_("You forgot to designate a servo pwm signal for axis %s\n")% i) do_warning = True if not step == "false" and not enc == "false": warnings.append(_("You can not have encoders with steppers for axis %s\n")% i) do_warning = True if not step == "false" and not pwm == "false": warnings.append(_("You can not have both steppers and pwm signals for axis %s\n")% i) do_warning = True if do_warning: self.warning_dialog("\n".join(warnings),True) def on_xaxismotor_next(self, *args): self.data.help = "help-axisconfig.txt" self.axis_done('x') self.widgets.druid1.set_page(self.widgets.xaxis) return True def on_xaxismotor_back(self, *args): if self.data.number_pports==1: self.widgets.druid1.set_page(self.widgets.pp1pport) return True elif self.data.number_pports==2: self.widgets.druid1.set_page(self.widgets.pp2pport) return True elif self.data.number_pports==3: self.widgets.druid1.set_page(self.widgets.pp3pport) return True elif self.data.mesa5i20 : self.widgets.druid1.set_page(self.widgets.mesa5i20) return True def on_yaxismotor_prepare(self, *args): self.data.help = "help-axismotor.txt" self.axis_prepare('y') def on_yaxismotor_next(self, *args): self.data.help = "help-axisconfig.txt" self.axis_done('y') self.widgets.druid1.set_page(self.widgets.yaxis) return True def on_yaxismotor_back(self, *args): self.widgets.druid1.set_page(self.widgets.xaxis) return True def on_zaxismotor_prepare(self, *args): self.data.help = "help-axismotor.txt" self.axis_prepare('z') def on_zaxismotor_next(self, *args): self.data.help = "help-axisconfig.txt" self.axis_done('z') self.widgets.druid1.set_page(self.widgets.zaxis) return True def on_zaxismotor_back(self, *args): if self.data.axes == 2: self.widgets.druid1.set_page(self.widgets.xaxis) return True else: self.widgets.druid1.set_page(self.widgets.yaxis) return True def on_aaxismotor_prepare(self, *args): self.data.help = "help-axismotor.txt" self.axis_prepare('a') def on_aaxismotor_next(self, *args): self.data.help = "help-axisconfig.txt" self.axis_done('a') self.widgets.druid1.set_page(self.widgets.aaxis) return True def on_aaxismotor_back(self, *args): self.widgets.druid1.set_page(self.widgets.zaxis) return True def axis_prepare(self, axis): test = self.data.findsignal(axis+"-stepgen-step") stepdriven = 1 if test == "false":stepdriven = 0 d = self.data w = self.widgets def set_text(n): w[axis + n].set_text("%s" % d[axis + n]) def set_value(n): w[axis + n].set_value(d[axis + n]) def set_active(n): w[axis + n].set_active(d[axis + n]) model = w[axis+"drivertype"].get_model() model.clear() for i in drivertypes: model.append((i[1],)) model.append((_("Custom"),)) set_text("steprev") set_text("microstep") set_value("P") set_value("I") set_value("D") set_value("FF0") set_value("FF1") set_value("FF2") set_text("bias") set_text("deadband") set_text("steptime") set_text("stepspace") set_text("dirhold") set_text("dirsetup") set_text("maxferror") set_text("minferror") set_text("outputscale") set_value("outputoffset") set_active("invertmotor") set_active("invertencoder") set_text("maxoutput") set_text("pulleynum") set_text("pulleyden") set_text("leadscrew") set_text("compfilename") set_active("comptype") set_value("backlash") set_active("usecomp") w[axis+"encoderlines"].set_text("%d" % (d[axis+"encodercounts"]/4)) set_text("encodercounts") w[axis+"maxvel"].set_text("%d" % (d[axis+"maxvel"]*60)) set_text("maxacc") set_text("homepos") set_text("minlim") set_text("maxlim") set_text("homesw") w[axis+"homesearchvel"].set_text("%d" % (d[axis+"homesearchvel"]*60)) w[axis+"homelatchvel"].set_text("%d" % (d[axis+"homelatchvel"]*60)) w[axis+"homefinalvel"].set_text("%d" % (d[axis+"homefinalvel"]*60)) set_active("searchdir") set_active("latchdir") set_active("usehomeindex") if axis == "a": w[axis + "leadscrewlabel"].set_text(_("Reduction Ratio")) w[axis + "screwunits"].set_text(_("degrees / rev")) w[axis + "velunits"].set_text(_("degrees / min")) w[axis + "accunits"].set_text(_("degrees / sec²")) w[axis + "homevelunits"].set_text(_("degrees / min")) w[axis + "homelatchvelunits"].set_text(_("degrees / min")) w[axis + "homefinalvelunits"].set_text(_("degrees / min")) w[axis + "accdistunits"].set_text(_("degrees")) if stepdriven: w[axis + "resolutionunits1"].set_text(_("degree / Step")) w[axis + "scaleunits"].set_text(_("Steps / degree")) else: w[axis + "resolutionunits1"].set_text(_("degrees / encoder pulse")) w[axis + "scaleunits"].set_text(_("Encoder pulses / degree")) w[axis + "minfollowunits"].set_text(_("degrees")) w[axis + "maxfollowunits"].set_text(_("degrees")) elif d.units: w[axis + "leadscrewlabel"].set_text(_("Leadscrew Pitch")) w[axis + "screwunits"].set_text(_("(mm / rev)")) w[axis + "velunits"].set_text(_("mm / min")) w[axis + "accunits"].set_text(_("mm / sec²")) w[axis + "homevelunits"].set_text(_("mm / min")) w[axis + "homelatchvelunits"].set_text(_("mm / min")) w[axis + "homefinalvelunits"].set_text(_("mm / min")) w[axis + "accdistunits"].set_text(_("mm")) if stepdriven: w[axis + "resolutionunits1"].set_text(_("mm / Step")) w[axis + "scaleunits"].set_text(_("Steps / mm")) else: w[axis + "resolutionunits1"].set_text(_("mm / encoder pulse")) w[axis + "scaleunits"].set_text(_("Encoder pulses / mm")) w[axis + "minfollowunits"].set_text(_("mm")) w[axis + "maxfollowunits"].set_text(_("mm")) else: w[axis + "leadscrewlabel"].set_text(_("Leadscrew TPI")) w[axis + "screwunits"].set_text(_("(rev / inch)")) w[axis + "velunits"].set_text(_("inches / min")) w[axis + "accunits"].set_text(_("inches / sec²")) w[axis + "homevelunits"].set_text(_("inches / min")) w[axis + "homelatchvelunits"].set_text(_("inches / min")) w[axis + "homefinalvelunits"].set_text(_("inches / min")) w[axis + "accdistunits"].set_text(_("inches")) if stepdriven: w[axis + "resolutionunits1"].set_text(_("inches / Step")) w[axis + "scaleunits"].set_text(_("Steps / inch")) else: w[axis + "resolutionunits1"].set_text(_("inches / encoder pulse")) w[axis + "scaleunits"].set_text(_("Encoder pulses / inch")) w[axis + "minfollowunits"].set_text(_("inches")) w[axis + "maxfollowunits"].set_text(_("inches")) w[axis + "servo_info"].set_sensitive(not stepdriven) w[axis + "stepper_info"].set_sensitive(stepdriven) w[axis + "drivertype"].set_active(self.drivertype_toindex(axis)) if w[axis + "drivertype"].get_active_text() == _("Custom"): w[axis + "steptime"].set_value(d[axis + "steptime"]) w[axis + "stepspace"].set_value(d[axis + "stepspace"]) w[axis + "dirhold"].set_value(d[axis + "dirhold"]) w[axis + "dirsetup"].set_value(d[axis + "dirsetup"]) thisaxishome = set(("all-home", "home-" + axis, "min-home-" + axis,"max-home-" + axis, "both-home-" + axis)) homes = False for i in thisaxishome: test = self.data.findsignal(i) if not test == "false": homes = True w[axis + "homesw"].set_sensitive(homes) w[axis + "homesearchvel"].set_sensitive(homes) w[axis + "searchdir"].set_sensitive(homes) w[axis + "latchdir"].set_sensitive(homes) w[axis + "usehomeindex"].set_sensitive(homes) w[axis + "homefinalvel"].set_sensitive(homes) w[axis + "homelatchvel"].set_sensitive(homes) i = d[axis + "usecomp"] w[axis + "comptype"].set_sensitive(i) w[axis + "compfilename"].set_sensitive(i) i = d[axis + "usebacklash"] w[axis + "backlash"].set_sensitive(i) # w[axis + "steprev"].grab_focus() gobject.idle_add(lambda: self.update_pps(axis)) def on_xusecomp_toggled(self, *args): self.comp_toggle('x') def on_yusecomp_toggled(self, *args): self.comp_toggle('y') def on_zusecomp_toggled(self, *args): self.comp_toggle('z') def on_ausecomp_toggled(self, *args): self.comp_toggle('a') def on_xusebacklash_toggled(self, *args): self.backlash_toggle('x') def on_yusebacklash_toggled(self, *args): self.backlash_toggle('y') def on_zusebacklash_toggled(self, *args): self.backlash_toggle('z') def on_ausebacklash_toggled(self, *args): self.backlash_toggle('a') def on_xdrivertype_changed(self, *args): self.driver_changed('x') def on_ydrivertype_changed(self, *args): self.driver_changed('y') def on_zdrivertype_changed(self, *args): self.driver_changed('z') def on_adrivertype_changed(self, *args): self.driver_changed('a') def on_sdrivertype_changed(self, *args): self.driver_changed('s') def driver_changed(self, axis): d = self.data w = self.widgets v = w[axis + "drivertype"].get_active() if v < len(drivertypes): d = drivertypes[v] w[axis + "steptime"].set_value(d[2]) w[axis + "stepspace"].set_value(d[3]) w[axis + "dirhold"].set_value(d[4]) w[axis + "dirsetup"].set_value(d[5]) w[axis + "steptime"].set_sensitive(0) w[axis + "stepspace"].set_sensitive(0) w[axis + "dirhold"].set_sensitive(0) w[axis + "dirsetup"].set_sensitive(0) else: w[axis + "steptime"].set_sensitive(1) w[axis + "stepspace"].set_sensitive(1) w[axis + "dirhold"].set_sensitive(1) w[axis + "dirsetup"].set_sensitive(1) #self.on_calculate_ideal_period() def drivertype_toindex(self, axis, what=None): if what is None: what = self.data[axis + "drivertype"] for i, d in enumerate(drivertypes): if d[0] == what: return i return len(drivertypes) def drivertype_toid(self, axis, what=None): if not isinstance(what, int): what = self.drivertype_toindex(axis, what) if what < len(drivertypes): return drivertypes[what][0] return "custom" def drivertype_fromindex(self, axis): i = self.widgets[axis + "drivertype"].get_active() if i < len(drivertypes): return drivertypes[i][1] return _("Custom") def comp_toggle(self, axis): i = self.widgets[axis + "usecomp"].get_active() self.widgets[axis + "compfilename"].set_sensitive(i) self.widgets[axis + "comptype"].set_sensitive(i) if i: self.widgets[axis + "backlash"].set_sensitive(0) self.widgets[axis + "usebacklash"].set_active(0) def backlash_toggle(self, axis): i = self.widgets[axis + "usebacklash"].get_active() self.widgets[axis + "backlash"].set_sensitive(i) if i: self.widgets[axis + "compfilename"].set_sensitive(0) self.widgets[axis + "comptype"].set_sensitive(0) self.widgets[axis + "usecomp"].set_active(0) def axis_done(self, axis): d = self.data w = self.widgets def get_text(n): d[axis + n] = float(w[axis + n].get_text()) def get_active(n): d[axis + n] = w[axis + n].get_active() get_text("steprev") get_text("microstep") get_text("P") get_text("I") get_text("D") get_text("FF0") get_text("FF1") get_text("FF2") get_text("bias") get_text("deadband") get_text("steptime") get_text("stepspace") get_text("dirhold") get_text("dirsetup") get_text("maxferror") get_text("minferror") get_text("outputscale") get_text("outputoffset") get_text("maxoutput") get_text("encodercounts") get_active("invertmotor") get_active("invertencoder") get_text("pulleynum") get_text("pulleyden") get_text("leadscrew") d[axis + "compfilename"] = w[axis + "compfilename"].get_text() get_active("comptype") d[axis + "backlash"]= w[axis + "backlash"].get_value() get_active("usecomp") get_active("usebacklash") d[axis + "maxvel"] = (float(w[axis + "maxvel"].get_text())/60) get_text("maxacc") get_text("homepos") get_text("minlim") get_text("maxlim") get_text("homesw") d[axis + "homesearchvel"] = (float(w[axis + "homesearchvel"].get_text())/60) d[axis + "homelatchvel"] = (float(w[axis + "homelatchvel"].get_text())/60) d[axis + "homefinalvel"] = (float(w[axis + "homefinalvel"].get_text())/60) get_active("searchdir") get_active("latchdir") get_active("usehomeindex") d[axis + "drivertype"] = self.drivertype_toid(axis, w[axis + "drivertype"].get_active()) def update_pps(self, axis): #return # temp change w = self.widgets d = self.data def get(n): return float(w[axis + n].get_text()) try: pitch = get("leadscrew") if d.units == 1 or axis =='a' : pitch = 1./pitch pps = (pitch * (get("pulleynum") / get("pulleyden")) * (get("maxvel")/60)) if pps == 0: raise ValueError pps = abs(pps) w[axis + "hz"].set_text("%.1f" % pps) acctime = (get("maxvel")/60) / get("maxacc") accdist = acctime * .5 * (get("maxvel")/60) w[axis + "acctime"].set_text("%.4f" % acctime) if not axis == 's': w[axis + "accdist"].set_text("%.4f" % accdist) w[axis + "encodercounts"].set_text( "%d" % ( 4 * float(w[axis+"encoderlines"].get_text()))) test = self.data.findsignal(axis+"-stepgen-step") if test == "false": scale = self.data[axis + "scale"] = ( ( pitch) * get("encodercounts") * (get("pulleynum") / get("pulleyden"))) else: scale = self.data[axis + "scale"] = (1.0 * pitch * get("steprev") * get("microstep") * (get("pulleynum") / get("pulleyden"))) w[axis + "scale"].set_text("%.1f" % scale) w[axis + "chartresolution"].set_text("%.7f" % (1.0 / scale)) self.widgets.druid1.set_buttons_sensitive(1,1,1,1) w[axis + "axistune"].set_sensitive(1) except (ValueError, ZeroDivisionError): # Some entries not numbers or not valid w[axis + "chartresolution"].set_text("") w[axis + "acctime"].set_text("") if not axis == 's': w[axis + "accdist"].set_text("") w[axis + "hz"].set_text("") w[axis + "scale"].set_text("") self.widgets.druid1.set_buttons_sensitive(1,0,1,1) w[axis + "axistune"].set_sensitive(0) def on_spindle_info_changed(self, *args): self.update_pps('s') def on_xsteprev_changed(self, *args): self.update_pps('x') def on_ysteprev_changed(self, *args): self.update_pps('y') def on_zsteprev_changed(self, *args): self.update_pps('z') def on_asteprev_changed(self, *args): self.update_pps('a') def on_xmicrostep_changed(self, *args): self.update_pps('x') def on_ymicrostep_changed(self, *args): self.update_pps('y') def on_zmicrostep_changed(self, *args): self.update_pps('z') def on_amicrostep_changed(self, *args): self.update_pps('a') def on_xpulleynum_changed(self, *args): self.update_pps('x') def on_ypulleynum_changed(self, *args): self.update_pps('y') def on_zpulleynum_changed(self, *args): self.update_pps('z') def on_apulleynum_changed(self, *args): self.update_pps('a') def on_xencoderlines_changed(self, *args):self.update_pps('x') def on_yencoderlines_changed(self, *args):self.update_pps('y') def on_zencoderlines_changed(self, *args):self.update_pps('z') def on_aencoderlines_changed(self, *args):self.update_pps('a') def on_xpulleyden_changed(self, *args): self.update_pps('x') def on_ypulleyden_changed(self, *args): self.update_pps('y') def on_zpulleyden_changed(self, *args): self.update_pps('z') def on_apulleyden_changed(self, *args): self.update_pps('a') def on_xleadscrew_changed(self, *args): self.update_pps('x') def on_yleadscrew_changed(self, *args): self.update_pps('y') def on_zleadscrew_changed(self, *args): self.update_pps('z') def on_aleadscrew_changed(self, *args): self.update_pps('a') def on_xmaxvel_changed(self, *args): self.update_pps('x') def on_ymaxvel_changed(self, *args): self.update_pps('y') def on_zmaxvel_changed(self, *args): self.update_pps('z') def on_amaxvel_changed(self, *args): self.update_pps('a') def on_xmaxacc_changed(self, *args): self.update_pps('x') def on_ymaxacc_changed(self, *args): self.update_pps('y') def on_zmaxacc_changed(self, *args): self.update_pps('z') def on_amaxacc_changed(self, *args): self.update_pps('a') def on_xaxis_prepare(self, *args): self.axis_prepare('x') def on_yaxis_prepare(self, *args): self.axis_prepare('y') def on_zaxis_prepare(self, *args): self.axis_prepare('z') def on_aaxis_prepare(self, *args): self.axis_prepare('a') def on_xaxis_next(self, *args): self.axis_done('x') if self.data.axes == 2: self.widgets.druid1.set_page(self.widgets.zaxismotor) return True else: self.widgets.druid1.set_page(self.widgets.yaxismotor) return True def on_yaxis_next(self, *args): self.axis_done('y') self.widgets.druid1.set_page(self.widgets.zaxismotor) return True def on_xaxis_back(self, *args): self.axis_done('x') self.widgets.druid1.set_page(self.widgets.xaxismotor) return True def on_yaxis_back(self, *args): self.axis_done('y') self.widgets.druid1.set_page(self.widgets.yaxismotor) return True def on_zaxis_next(self, *args): self.axis_done('z') if self.data.axes != 1 : if self.has_spindle_speed_control(): self.widgets.druid1.set_page(self.widgets.spindle) return True else: self.widgets.druid1.set_page(self.widgets.advanced) return True else: self.widgets.druid1.set_page(self.widgets.aaxismotor) return True def on_zaxis_back(self, *args): self.axis_done('z') self.widgets.druid1.set_page(self.widgets.zaxismotor) return True def on_aaxis_next(self, *args): self.axis_done('a') if self.has_spindle_speed_control(): self.widgets.druid1.set_page(self.widgets.spindle) else: self.widgets.druid1.set_page(self.widgets.advanced) return True def on_aaxis_back(self, *args): self.axis_done('a') self.widgets.druid1.set_page(self.widgets.aaxismotor) return True def on_xaxistest_clicked(self, *args): self.test_axis('x') def on_yaxistest_clicked(self, *args): self.test_axis('y') def on_zaxistest_clicked(self, *args): self.test_axis('z') def on_aaxistest_clicked(self, *args): self.test_axis('a') def on_saxistest_clicked(self, *args): self.test_axis('s') def on_xaxistune_clicked(self, *args): self.tune_axis('x') def on_yaxistune_clicked(self, *args): self.tune_axis('y') def on_zaxistune_clicked(self, *args): self.tune_axis('z') def on_aaxistune_clicked(self, *args): self.tune_axis('a') def on_spindle_prepare(self, *args): d = self.data w = self.widgets self.widgets.spidcontrol.set_active( self.data.spidcontrol ) test = self.data.findsignal("s-stepgen-step") stepdriven = 1 if test == "false":stepdriven = 0 test = self.data.findsignal("s-pwm-pulse") pwmdriven = 1 if test == "false":pwmdriven = 0 def set_text(n): w[n].set_text("%s" % d[n]) def set_value(n): w[n].set_value(d[n]) def set_active(n): w[n].set_active(d[n]) model = w["sdrivertype"].get_model() model.clear() for i in drivertypes: model.append((i[1],)) model.append((_("Custom"),)) if stepdriven: w["sresolutionunits"].set_text(_("revolution / Step")) w["sscaleunits"].set_text(_("Steps / revolution")) else: w["sresolutionunits"].set_text(_("revolution / encoder pulse")) w["sscaleunits"].set_text(_("Encoder pulses / revolution")) #self.widgets['spindlecarrier'].set_text("%s" % self.data.spindlecarrier) w['spindlespeed1'].set_text("%s" % d.spindlespeed1) w['spindlespeed2'].set_text("%s" % d.spindlespeed2) w['spindlepwm1'].set_text("%s" % d.spindlepwm1) w['spindlepwm2'].set_text("%s" % d.spindlepwm2) #self.widgets['spindlecpr'].set_text("%s" % self.data.spindlecpr) has_spindle_pha = self.data.findsignal("s-encoder-a") if has_spindle_pha == "false": w.sencoderlines.set_sensitive(0) w.sencodercounts.set_sensitive(0) else: w.sencoderlines.set_sensitive(1) w.sencodercounts.set_sensitive(1) w["soutputscale"].set_sensitive(pwmdriven) w["soutputoffset"].set_sensitive(pwmdriven) w["smaxoutput"].set_sensitive(pwmdriven) w["sservo_info"].set_sensitive(pwmdriven) self.on_spidcontrol_toggled() w["saxistest"].set_sensitive(pwmdriven) w["sstepper_info"].set_sensitive(stepdriven) w["sdrivertype"].set_active(self.drivertype_toindex('s')) set_text("ssteprev") set_text("smicrostep") set_value("sP") set_value("sI") set_value("sD") set_value("sFF0") set_value("sFF1") set_value("sFF2") set_text("sbias") set_text("sdeadband") set_text("ssteptime") set_text("sstepspace") set_text("sdirhold") set_text("sdirsetup") set_text("soutputscale") set_text("soutputoffset") set_active("sinvertmotor") set_active("sinvertencoder") set_text("smaxoutput") set_text("spulleynum") set_text("spulleyden") w["sencoderlines"].set_text("%d" % (d["sencodercounts"]/4)) set_text("sencodercounts") w["smaxvel"].set_text("%d" % (d["smaxvel"]*60)) set_text("smaxacc") def on_spindle_next(self, *args): d = self.data w = self.widgets def get_text(n): d["s" + n] = float(w["s" + n].get_text()) def get_active(n): d["s" + n] = w["s" + n].get_active() get_text("steprev") get_text("microstep") get_text("P") get_text("I") get_text("D") get_text("FF0") get_text("FF1") get_text("FF2") get_text("bias") get_text("deadband") get_text("steptime") get_text("stepspace") get_text("dirhold") get_text("dirsetup") get_text("outputscale") get_text("outputoffset") get_text("maxoutput") get_text("encodercounts") get_active("invertmotor") get_active("invertencoder") get_active("pidcontrol") get_text("pulleynum") get_text("pulleyden") d["smaxvel"] = (float(w["smaxvel"].get_text())/60) get_text("maxacc") d["sdrivertype"] = self.drivertype_toid('s', w["sdrivertype"].get_active()) #self.data.spindlecarrier = float(self.widgets.spindlecarrier.get_text()) self.data.spindlespeed1 = float(self.widgets.spindlespeed1.get_text()) self.data.spindlespeed2 = float(self.widgets.spindlespeed2.get_text()) self.data.spindlepwm1 = float(self.widgets.spindlepwm1.get_text()) self.data.spindlepwm2 = float(self.widgets.spindlepwm2.get_text()) #self.data.spindlecpr = float(self.widgets.spindlecpr.get_text()) def on_spindle_back(self, *args): self.on_spindle_next() if self.data.axes != 1: self.widgets.druid1.set_page(self.widgets.zaxis) else: self.widgets.druid1.set_page(self.widgets.aaxis) return True def has_spindle_speed_control(self): for test in ("s-pwm", "s-pwm-pulse", "s-encoder-a", "spindle-on", "spindle-cw", "spindle-ccw", "spindle-brake"): has_spindle = self.data.findsignal(test) if not has_spindle == "false": return True return False def on_spidcontrol_toggled(self, *args): test = self.data.findsignal("s-pwm-pulse") pwmdriven = 1 if test == "false":pwmdriven = 0 if self.widgets.spidcontrol.get_active() == False: pwmdriven = 0 self.widgets.sP.set_sensitive(pwmdriven) self.widgets.sI.set_sensitive(pwmdriven) self.widgets.sD.set_sensitive(pwmdriven) self.widgets.sFF0.set_sensitive(pwmdriven) self.widgets.sFF1.set_sensitive(pwmdriven) self.widgets.sFF2.set_sensitive(pwmdriven) self.widgets.sbias.set_sensitive(pwmdriven) self.widgets.sdeadband.set_sensitive(pwmdriven) def on_advanced_prepare(self, *args): self.data.help = "help-advanced.txt" self.widgets.classicladder.set_active(self.data.classicladder) self.widgets.modbus.set_active(self.data.modbus) self.widgets.digitsin.set_value(self.data.digitsin) self.widgets.digitsout.set_value(self.data.digitsout) self.widgets.s32in.set_value(self.data.s32in) self.widgets.s32out.set_value(self.data.s32out) self.widgets.floatsin.set_value(self.data.floatsin) self.widgets.floatsout.set_value(self.data.floatsout) self.widgets.halui.set_active(self.data.halui) self.on_halui_toggled() for i in range(1,16): self.widgets["halui_cmd"+str(i)].set_text(self.data["halui_cmd"+str(i)]) self.widgets.ladderconnect.set_active(self.data.ladderconnect) self.on_classicladder_toggled() if not self.widgets.createconfig.get_active(): if os.path.exists(os.path.expanduser("~/emc2/configs/%s/custom.clp" % self.data.machinename)): self.widgets.ladderexist.set_active(True) def on_advanced_next(self, *args): self.data.classicladder = self.widgets.classicladder.get_active() self.data.modbus = self.widgets.modbus.get_active() self.data.digitsin = self.widgets.digitsin.get_value() self.data.digitsout = self.widgets.digitsout.get_value() self.data.s32in = self.widgets.s32in.get_value() self.data.s32out = self.widgets.s32out.get_value() self.data.floatsin = self.widgets.floatsin.get_value() self.data.floatsout = self.widgets.floatsout.get_value() self.data.halui = self.widgets.halui.get_active() for i in range(1,16): self.data["halui_cmd"+str(i)] = self.widgets["halui_cmd"+str(i)].get_text() self.data.ladderconnect = self.widgets.ladderconnect.get_active() if self.data.classicladder: if self.widgets.ladderblank.get_active() == True: if self.data.tempexists: self.data.laddername='TEMP.clp' else: self.data.laddername= 'blank.clp' self.data.ladderhaltype = 0 if self.widgets.ladder1.get_active() == True: self.data.laddername = 'estop.clp' has_estop = self.data.findsignal("estop-ext") if has_estop == "false": self.warning_dialog(_("You need to designate an E-stop input pin for this ladder program."),True) self.widgets.druid1.set_page(self.widgets.advanced) return True self.data.ladderhaltype = 1 if self.widgets.ladder2.get_active() == True: self.data.laddername = 'serialmodbus.clp' self.data.modbus = 1 self.widgets.modbus.set_active(self.data.modbus) self.data.ladderhaltype = 0 if self.widgets.ladderexist.get_active() == True: self.data.laddername='custom.clp' else: if os.path.exists(os.path.expanduser("~/emc2/configs/%s/custom.clp" % self.data.machinename)): if not self.warning_dialog(_("OK to replace existing custom ladder program?\nExisting Custom.clp will be renamed custom_backup.clp.\nAny existing file named -custom_backup.clp- will be lost. "),False): self.widgets.druid1.set_page(self.widgets.advanced) return True if self.widgets.ladderexist.get_active() == False: if os.path.exists(os.path.join(distdir, "configurable_options/ladder/TEMP.clp")): if not self.warning_dialog(_("You edited a ladder program and have selected a different program to copy to your configuration file.\nThe edited program will be lost.\n\nAre you sure? "),False): self.widgets.druid1.set_page(self.widgets.advanced) return True def on_advanced_back(self, *args): if self.has_spindle_speed_control(): self.widgets.druid1.set_page(self.widgets.spindle) elif self.data.axes != 1: self.widgets.druid1.set_page(self.widgets.zaxis) else: self.widgets.druid1.set_page(self.widgets.aaxis) return True def on_loadladder_clicked(self, *args):self.load_ladder(self) def on_halui_toggled(self, *args): i= self.widgets.halui.get_active() self.widgets.haluitable.set_sensitive(i) def on_classicladder_toggled(self, *args): i= self.widgets.classicladder.get_active() self.widgets.digitsin.set_sensitive(i) self.widgets.digitsout.set_sensitive(i) self.widgets.s32in.set_sensitive(i) self.widgets.s32out.set_sensitive(i) self.widgets.floatsin.set_sensitive(i) self.widgets.floatsout.set_sensitive(i) self.widgets.modbus.set_sensitive(i) self.widgets.ladderblank.set_sensitive(i) self.widgets.ladder1.set_sensitive(i) self.widgets.ladder2.set_sensitive(i) if self.widgets.createconfig.get_active(): self.widgets.ladderexist.set_sensitive(False) else: self.widgets.ladderexist.set_sensitive(i) self.widgets.loadladder.set_sensitive(i) self.widgets.label_digin.set_sensitive(i) self.widgets.label_digout.set_sensitive(i) self.widgets.label_s32in.set_sensitive(i) self.widgets.label_s32out.set_sensitive(i) self.widgets.label_floatin.set_sensitive(i) self.widgets.label_floatout.set_sensitive(i) self.widgets.ladderconnect.set_sensitive(i) def on_pyvcp_toggled(self,*args): i= self.widgets.pyvcp.get_active() self.widgets.pyvcpblank.set_sensitive(i) self.widgets.pyvcp1.set_sensitive(i) self.widgets.pyvcp2.set_sensitive(i) self.widgets.pyvcpgeometry.set_sensitive(i) if self.widgets.createconfig.get_active(): self.widgets.pyvcpexist.set_sensitive(False) else: self.widgets.pyvcpexist.set_sensitive(i) self.widgets.displaypanel.set_sensitive(i) self.widgets.pyvcpconnect.set_sensitive(i) def on_displaypanel_clicked(self,*args): self.testpanel(self) def on_realtime_components_prepare(self,*args): self.data.help = "help-realtime.txt" self.widgets.userneededpid.set_value(self.data.userneededpid) if not self.intrnldata.components_is_prepared: textbuffer = self.widgets.loadcompservo.get_buffer() for i in self.data.loadcompservo: if i == '': continue textbuffer.insert_at_cursor(i+"\n" ) textbuffer = self.widgets.addcompservo.get_buffer() for i in self.data.addcompservo: if i == '': continue textbuffer.insert_at_cursor(i+"\n" ) textbuffer = self.widgets.loadcompbase.get_buffer() for i in self.data.loadcompbase: textbuffer.insert_at_cursor(i+"\n" ) textbuffer = self.widgets.addcompbase.get_buffer() for i in self.data.addcompbase: if i == '': continue textbuffer.insert_at_cursor(i+"\n" ) self.intrnldata.components_is_prepared = True def on_realtime_components_next(self,*args): self.data.userneededpid = self.widgets.userneededpid.get_value() textbuffer = self.widgets.loadcompservo.get_buffer() startiter = textbuffer.get_start_iter() enditer = textbuffer.get_end_iter() test = textbuffer.get_text(startiter,enditer) i = test.split('\n') print "loadcompservo ",i self.data.loadcompservo = i textbuffer = self.widgets.addcompservo.get_buffer() startiter = textbuffer.get_start_iter() enditer = textbuffer.get_end_iter() test = textbuffer.get_text(startiter,enditer) i = test.split('\n') print "addcompservo ",i self.data.addcompservo = i def on_complete_back(self, *args): self.widgets.druid1.set_page(self.widgets.advanced) return True def on_complete_finish(self, *args): # if parallel ports not used clear all signals parportnames = ("pp1","pp2","pp3") for check,connector in enumerate(parportnames): if self.data.number_pports >= (check+1):continue # initialize parport input / inv pins for i in (1,2,3,4,5,6,7,8,10,11,12,13,15): pinname ="%sIpin%d"% (connector,i) self.data[pinname] = UNUSED_INPUT pinname ="%sIpin%dinv"% (connector,i) self.data[pinname] = False # initialize parport output / inv pins for i in (1,2,3,4,5,6,7,8,9,14,16,17): pinname ="%sOpin%d"% (connector,i) self.data[pinname] = UNUSED_OUTPUT pinname ="%sOpin%dinv"% (connector,i) self.data[pinname] = False # if mesa card not used clear all signals if self.data.mesa5i20 == 0: for connector in(2,3,4,5): # This initializes GPIO input pins for i in range(0,16): pinname ="m5i20c%dpin%d"% (connector,i) self.data[pinname] = UNUSED_INPUT pinname ="m5i20c%dpin%dtype"% (connector,i) self.data[pinname] = GPIOI # This initializes GPIO output pins for i in range(16,24): pinname ="m5i20c%dpin%d"% (connector,i) self.data[pinname] = UNUSED_OUTPUT pinname ="m5i20c%dpin%dtype"% (connector,i) self.data[pinname] = GPIOO # This initializes the mesa inverse pins for i in range(0,24): pinname ="m5i20c%dpin%dinv"% (connector,i) self.data[pinname] = False self.data.save() if self.data.classicladder: if not self.data.laddername == "custom.clp": filename = os.path.join(distdir, "configurable_options/ladder/%s" % self.data.laddername) original = os.path.expanduser("~/emc2/configs/%s/custom.clp" % self.data.machinename) if os.path.exists(filename): if os.path.exists(original): print "custom file already exists" shutil.copy( original,os.path.expanduser("~/emc2/configs/%s/custom_backup.clp" % self.data.machinename) ) print "made backup of existing custom" shutil.copy( filename,original) print "copied ladder program to usr directory" print"%s" % filename else: print "Master or temp ladder files missing from configurable_options dir" if self.data.pyvcp and not self.widgets.pyvcpexist.get_active() == True: panelname = os.path.join(distdir, "configurable_options/pyvcp/%s" % self.data.pyvcpname) originalname = os.path.expanduser("~/emc2/configs/%s/custompanel.xml" % self.data.machinename) if os.path.exists(panelname): if os.path.exists(originalname): print "custom PYVCP file already exists" shutil.copy( originalname,os.path.expanduser("~/emc2/configs/%s/custompanel_backup.xml" % self.data.machinename) ) print "made backup of existing custom" shutil.copy( panelname,originalname) print "copied PYVCP program to usr directory" print"%s" % panelname else: print "Master PYVCP files missing from configurable_options dir" gtk.main_quit() def on_calculate_ideal_period(self, *args): steptime = self.widgets.steptime.get_value() stepspace = self.widgets.stepspace.get_value() latency = self.widgets.latency.get_value() minperiod = self.data.minperiod(steptime, stepspace, latency) maxhz = int(1e9 / minperiod) if not self.data.doublestep(steptime): maxhz /= 2 self.widgets.baseperiod.set_text("%d ns" % minperiod) self.widgets.maxsteprate.set_text("%d Hz" % maxhz) def on_latency_test_clicked(self, w): self.latency_pid = os.spawnvp(os.P_NOWAIT, "latency-test", ["latency-test"]) self.widgets['window1'].set_sensitive(0) gobject.timeout_add(1, self.latency_running_callback) def latency_running_callback(self): pid, status = os.waitpid(self.latency_pid, os.WNOHANG) if pid: self.widgets['window1'].set_sensitive(1) return False return True def m5i20test(self,w): board = self.data.mesa_currentfirmwaredata[0] firmware = self.data.mesa_currentfirmwaredata[1] print "-%s-%s-"% (firmware, self.data.mesa_firmware) if board in( "5i22", "7i43"): self.warning_dialog( _(" The test panel for this board and/or firmware should work fine for GPIO but maybe not so fine for other components.\n work in progress. \n You must have the board installed for it to work.") , True) #self.widgets['window1'].set_sensitive(0) panelname = os.path.join(distdir, "configurable_options/pyvcp") #self.terminal = terminal = os.popen("gnome-terminal --title=joystick_search -x less /proc/bus/input/devices", "w" ) self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -sf > /dev/null"% {'panelname':panelname,}, "w" ) halrun.write("loadrt threads period1=200000 name1=fast fp1=0 period2=1000000 name2=slow\n") halrun.write("loadrt hostmot2\n") halrun.write("""loadrt hm2_pci config="firmware=hm2-trunk/%s/%s.BIT num_encoders=%d num_pwmgens=%d num_stepgens=%d"\n""" % (board, firmware, self.data.numof_mesa_encodergens, self.data.numof_mesa_pwmgens, self.data.numof_mesa_stepgens )) halrun.write("loadrt or2 count=72\n") halrun.write("addf hm2_%s.0.read slow\n"% board) for i in range(0,72): halrun.write("addf or2.%d slow\n"% i) halrun.write("addf hm2_%s.0.write slow\n"% board) halrun.write("addf hm2_%s.0.pet_watchdog fast\n"% board) halrun.write("start\n") halrun.write("loadusr -Wn m5i20test pyvcp -g +700+0 -c m5i20test %(panel)s\n" %{'panel':"m5i20panel.xml",}) halrun.write("loadusr halmeter -g 0 500\n") halrun.write("loadusr halmeter -g 0 620\n") for concount,connector in enumerate(self.data.mesa_currentfirmwaredata[11]) : for pin in range (0,24): firmptype,compnum = self.data.mesa_currentfirmwaredata[12+pin+(concount*24)] pinv = 'm5i20c%(con)dpin%(num)dinv' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} pintype = self.widgets[ptype].get_active_text() pininv = self.widgets[pinv].get_active() truepinnum = (concount*24) + pin # for output / open drain pins if pintype in (GPIOO,GPIOD): halrun.write("setp m5i20test.led.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.button.%d.disable false\n"% truepinnum ) halrun.write("setp hm2_%s.0.gpio.%03d.is_output true\n"% (board,truepinnum )) if pininv: halrun.write("setp hm2_%s.0.gpio.%03d.invert_output true\n"% (board,truepinnum )) halrun.write("net signal_out%d or2.%d.out hm2_%s.0.gpio.%03d.out\n"% (truepinnum,truepinnum,board,truepinnum)) halrun.write("net pushbutton.%d or2.%d.in1 m5i20test.button.%d\n"% (truepinnum,truepinnum,truepinnum)) halrun.write("net latchbutton.%d or2.%d.in0 m5i20test.checkbutton.%d\n"% (truepinnum,truepinnum,truepinnum)) # for input pins elif pintype == GPIOI: halrun.write("setp m5i20test.button.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.led.%d.disable false\n"% truepinnum ) if pininv: halrun.write("net blue_in%d hm2_%s.0.gpio.%03d.in_not m5i20test.led.%d\n"% (truepinnum,board,truepinnum,truepinnum)) else: halrun.write("net blue_in%d hm2_%s.0.gpio.%03d.in m5i20test.led.%d\n"% (truepinnum,board,truepinnum,truepinnum)) # for encoder pins elif pintype in (ENCA,ENCB,ENCI,ENCM): halrun.write("setp m5i20test.led.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.button.%d.disable true\n"% truepinnum ) if not pintype == ENCA: continue if pin == 3 :encpinnum = (connector-2)*4 elif pin == 1 :encpinnum = 1+((connector-2)*4) elif pin == 15 :encpinnum = 2+((connector-2)*4) elif pin == 13 :encpinnum = 3+((connector-2)*4) halrun.write("setp m5i20test.enc.%d.reset.disable false\n"% encpinnum ) halrun.write("net yellow_reset%d hm2_%s.0.encoder.%02d.reset m5i20test.enc.%d.reset\n"% (encpinnum,board,encpinnum,encpinnum)) halrun.write("net yellow_count%d hm2_%s.0.encoder.%02d.count m5i20test.number.%d\n"% (encpinnum,board,encpinnum,encpinnum)) # for PWM pins elif pintype in (PWMP,PWMD,PWME,PDMP,PDMD,PDME): halrun.write("setp m5i20test.led.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.button.%d.disable true\n"% truepinnum ) if not pintype in (PWMP,PDMP): continue if pin == 7 :encpinnum = (connector-2)*4 elif pin == 6 :encpinnum = 1 + ((connector-2)*4) elif pin == 19 :encpinnum = 2 + ((connector-2)*4) elif pin == 18 :encpinnum = 3 + ((connector-2)*4) halrun.write("net green_enable%d hm2_%s.0.pwmgen.%02d.enable m5i20test.dac.%d.enbl\n"% (encpinnum,board,encpinnum,encpinnum)) halrun.write("net green_value%d hm2_%s.0.pwmgen.%02d.value m5i20test.dac.%d-f\n"% (encpinnum,board,encpinnum,encpinnum)) halrun.write("setp hm2_%s.0.pwmgen.%02d.scale 10\n"% (board,encpinnum)) # for Stepgen pins elif pintype in (STEPA,STEPB): halrun.write("setp m5i20test.led.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.button.%d.disable true\n"% truepinnum ) if not pintype == STEPA : continue halrun.write("net brown_enable%d hm2_%s.0.stepgen.%02d.enable m5i20test.step.%d.enbl\n"% (compnum,board,compnum,compnum)) halrun.write("net brown_value%d hm2_%s.0.stepgen.%02d.position-cmd m5i20test.anaout.%d\n"% (compnum,board,compnum,compnum)) halrun.write("setp hm2_%s.0.stepgen.%02d.maxaccel 0 \n"% (board,compnum)) halrun.write("setp hm2_%s.0.stepgen.%02d.maxvel 0 \n"% (board,compnum)) else: print "pintype error IN mesa test panel method %s"% pintype if not board == "5i22": for pin in range (0,24): truepinnum = (72) + pin halrun.write("setp m5i20test.led.%d.disable true\n"% truepinnum ) halrun.write("setp m5i20test.button.%d.disable true\n"% truepinnum ) for pin in range (8,12): halrun.write("setp m5i20test.enc.%d.reset.disable true\n"% pin ) halrun.write("waitusr m5i20test\n"); halrun.flush() halrun.close() #terminal.close() self.widgets['window1'].set_sensitive(1) def on_address_search_clicked(self,w): match = os.popen('lspci -v').read() self.widgets.helpwindow.set_title(_("PCI Board Info Search")) textbuffer = self.widgets.helpview.get_buffer() try : textbuffer.set_text(match) self.widgets.helpwindow.show_all() except: text = _("PCI search page is unavailable\n") self.warning_dialog(text,True) def parporttest(self,w): panelname = os.path.join(distdir, "configurable_options/pyvcp") self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -sf > /dev/null"% {'panelname':panelname,}, "w" ) halrun.write("loadrt threads period1=100000 name1=fast fp1=0 period2=%d name2=slow\n"% self.data.servoperiod) halrun.write("loadrt probe_parport\n") if self.data.number_pports>0: port3name = port2name = port1name = port3dir = port2dir = port1dir = "" if self.data.number_pports>2: port3name = " " + self.ioaddr3 if self.data.pp3_direction: port3dir =" out" else: port3dir =" in" if self.data.number_pports>1: port2name = " " + self.data.ioaddr2 if self.data.pp2_direction: port2dir =" out" else: port2dir =" in" port1name = self.data.ioaddr if self.data.pp1_direction: port1dir =" out" else: port1dir =" in" halrun.write( "loadrt hal_parport cfg=\"%s%s%s%s%s%s\"\n" % (port1name, port1dir, port2name, port2dir, port3name, port3dir)) halrun.write("loadrt or2 count=12\n") if self.data.number_pports > 0: halrun.write( "addf parport.0.read fast\n") if self.data.number_pports > 1: halrun.write("addf parport.1.read fast\n") if self.data.number_pports > 2: halrun.write("addf parport.2.read fast\n") for i in range(0,12): halrun.write("addf or2.%d fast\n"% i) if self.data.number_pports > 0: halrun.write( "addf parport.0.write fast\n") if self.data.number_pports > 1: halrun.write("addf parport.1.write fast\n") if self.data.number_pports > 2: halrun.write("addf parport.2.write fast\n") halrun.write("loadusr -Wn parporttest pyvcp -c parporttest %(panel)s\n" %{'panel':"parportpanel.xml\n",}) halrun.write("loadusr halmeter\n") templist = ("pp1","pp2","pp3") for j, k in enumerate(templist): if self.data.number_pports < (j+1): break if self.data[k+"_direction"] == 1: inputpins = (10,11,12,13,15) outputpins = (1,2,3,4,5,6,7,8,9,14,16,17) for x in (2,3,4,5,6,7,8,9): halrun.write( "setp parporttest.%s_led.%d.disable true\n"%(k, x)) halrun.write( "setp parporttest.%s_led_text.%d.disable true\n"%(k, x)) else: inputpins = (2,3,4,5,6,7,8,9,10,11,12,13,15) outputpins = (1,14,16,17) for x in (2,3,4,5,6,7,8,9): halrun.write( "setp parporttest.%s_button.%d.disable true\n"% (k, x)) halrun.write( "setp parporttest.%s_button_text.%d.disable true\n"% (k, x)) for x in inputpins: i = self.data["%sIpin%dinv" % (k, x)] if i: halrun.write( "net red_in_not.%d parporttest.%s_led.%d <= parport.%d.pin-%02d-in-not\n" % (x, k, x, j, x)) else: halrun.write( "net red_in.%d parporttest.%s_led.%d <= parport.%d.pin-%02d-in\n" % (x, k, x, j , x)) for num, x in enumerate(outputpins): i = self.data["%sOpin%dinv" % (k, x)] if i: halrun.write( "setp parport.%d.pin-%02d-out-invert true\n" %(j, x)) halrun.write("net signal_out%d or2.%d.out parport.%d.pin-%02d-out\n"% (x, num, j, x)) halrun.write("net pushbutton.%d or2.%d.in1 parporttest.%s_button.%d\n"% (x, num, k, x)) halrun.write("net latchbutton.%d or2.%d.in0 parporttest.%s_checkbutton.%d\n"% (x, num, k, x)) halrun.write("start\n") halrun.write("waitusr parporttest\n"); halrun.flush() halrun.close() #terminal.close() self.widgets['window1'].set_sensitive(1) def testpanel(self,w): pos = "+0+0" size = "" panelname = os.path.join(distdir, "configurable_options/pyvcp") if self.widgets.pyvcpblank.get_active() == True: return True if self.widgets.pyvcp1.get_active() == True: panel = "spindle.xml" if self.widgets.pyvcp2.get_active() == True: panel = "xyzjog.xml" if self.widgets.pyvcpexist.get_active() == True: panel = "custompanel.xml" panelname = os.path.expanduser("~/emc2/configs/%s" % self.data.machinename) if self.widgets.pyvcpposcheckbutton.get_active() == True: xpos = self.widgets.pyvcpxpos.get_value() ypos = self.widgets.pyvcpypos.get_value() pos = "+%d+%d"% (xpos,ypos) if self.widgets.pyvcpsizecheckbutton.get_active() == True: width = self.widgets.pyvcpwidth.get_value() height = self.widgets.pyvcpheight.get_value() size = "%dx%d"% (width,height) self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -sf > /dev/null"% {'panelname':panelname,}, "w" ) halrun.write("loadusr -Wn displaytest pyvcp -g %(size)s%(pos)s -c displaytest %(panel)s\n" %{'size':size,'pos':pos,'panel':panel,}) if self.widgets.pyvcp1.get_active() == True: halrun.write("setp displaytest.spindle-speed 1000\n") #halrun.write("setp displaytest.toolnumber 4\n") halrun.write("waitusr displaytest\n"); halrun.flush() halrun.close() def load_ladder(self,w): newfilename = os.path.join(distdir, "configurable_options/ladder/TEMP.clp") self.data.modbus = self.widgets.modbus.get_active() self.halrun = halrun = os.popen("halrun -sf > /dev/null", "w") halrun.write(""" loadrt classicladder_rt numPhysInputs=%(din)d numPhysOutputs=%(dout)d numS32in=%(sin)d numS32out=%(sout)d numFloatIn=%(fin)d numFloatOut=%(fout)d\n""" % { 'din': self.widgets.digitsin.get_value(), 'dout': self.widgets.digitsout.get_value(), 'sin': self.widgets.s32in.get_value(), 'sout': self.widgets.s32out.get_value(), 'fin':self.widgets.floatsin.get_value(), 'fout':self.widgets.floatsout.get_value(), }) if self.widgets.ladderexist.get_active() == True: if self.data.tempexists: self.data.laddername='TEMP.clp' else: self.data.laddername= 'blank.clp' if self.widgets.ladder1.get_active() == True: self.data.laddername= 'estop.clp' if self.widgets.ladder2.get_active() == True: self.data.laddername = 'serialmodbus.clp' self.data.modbus = True self.widgets.modbus.set_active(self.data.modbus) if self.widgets.ladderexist.get_active() == True: self.data.laddername='custom.clp' originalfile = filename = os.path.expanduser("~/emc2/configs/%s/custom.clp" % self.data.machinename) else: filename = os.path.join(distdir, "configurable_options/ladder/"+ self.data.laddername) if self.data.modbus == True: halrun.write("loadusr -w classicladder --modmaster --newpath=%(newfilename)s %(filename)s\n" % { 'newfilename':newfilename ,'filename':filename }) else: halrun.write("loadusr -w classicladder --newpath=%(newfilename)s %(filename)s\n" % { 'newfilename':newfilename ,'filename':filename }) halrun.write("start\n"); halrun.flush() halrun.close() if os.path.exists(newfilename): self.data.tempexists = True self.widgets.newladder.set_text('Edited ladder program') self.widgets.ladderexist.set_active(True) else: self.data.tempexists = 0 def tune_axis(self, axis): d = self.data w = self.widgets axnum = "xyza".index(axis) self.axis_under_tune = axis board = self.data.mesa_currentfirmwaredata[0] firmware = self.data.mesa_currentfirmwaredata[1] w.notebook2.set_current_page(axnum) stepgen = self.data.stepgen_sig(axis) print axis,stepgen if not stepgen == "false": w.notebook3.set_current_page(1) w[axis+"pid"].set_sensitive(0) else: w.notebook3.set_current_page(0) w[axis+"step"].set_sensitive(0) if axis == "a": w[axis + "tunedistunits"].set_text(_("degrees")) w[axis + "tunevelunits"].set_text(_("degrees / minute")) w[axis + "tuneaccunits"].set_text(_("degrees / second²")) elif d.units: w[axis + "tunedistunits"].set_text(_("mm")) w[axis + "tunevelunits"].set_text(_("mm / minute")) w[axis + "tuneaccunits"].set_text(_("mm / second²")) else: w[axis + "tunedistunits"].set_text(_("inches")) w[axis + "tunevelunits"].set_text(_("inches / minute")) w[axis + "tuneaccunits"].set_text(_("inches / second²")) w[axis+"tunevel"].set_value(float(w[axis+"maxvel"].get_text())) w[axis+"tuneacc"].set_value(float(w[axis+"maxacc"].get_text())) w[axis+"tunecurrentP"].set_value(w[axis+"P"].get_value()) w[axis+"tuneorigP"].set_text("%s" % w[axis+"P"].get_value()) w[axis+"tunecurrentI"].set_value(w[axis+"I"].get_value()) w[axis+"tuneorigI"].set_text("%s" % w[axis+"I"].get_value()) w[axis+"tunecurrentD"].set_value(w[axis+"D"].get_value()) w[axis+"tuneorigD"].set_text("%s" % w[axis+"D"].get_value()) w[axis+"tunecurrentFF0"].set_value(w[axis+"FF0"].get_value()) w[axis+"tuneorigFF0"].set_text("%s" % w[axis+"FF0"].get_value()) w[axis+"tunecurrentFF1"].set_value(w[axis+"FF1"].get_value()) w[axis+"tuneorigFF1"].set_text("%s" % w[axis+"FF1"].get_value()) w[axis+"tunecurrentFF2"].set_value(w[axis+"FF2"].get_value()) w[axis+"tuneorigFF2"].set_text("%s" % w[axis+"FF2"].get_value()) w[axis+"tunecurrentsteptime"].set_value(w[axis+"steptime"].get_value()) w[axis+"tuneorigsteptime"].set_text("%s" % w[axis+"steptime"].get_value()) w[axis+"tunecurrentstepspace"].set_value(float(w[axis+"stepspace"].get_text())) w[axis+"tuneorigstepspace"].set_text("%s" % w[axis+"stepspace"].get_value()) w[axis+"tunecurrentdirhold"].set_value(float(w[axis+"dirhold"].get_text())) w[axis+"tuneorigdirhold"].set_text("%s" % w[axis+"dirhold"].get_value()) w[axis+"tunecurrentdirsetup"].set_value(float(w[axis+"dirsetup"].get_text())) w[axis+"tuneorigdirsetup"].set_text("%s" % w[axis+"dirsetup"].get_value()) self.tunejogplus = self.tunejogminus = 0 w[axis+"tunedir"].set_active(0) w[axis+"tunerun"].set_active(0) w[axis+"tuneinvertmotor"].set_active(w[axis+"invertmotor"].get_active()) w[axis+"tuneinvertencoder"].set_active(w[axis+"invertencoder"].get_active()) self.halrun = halrun = os.popen("halrun -sf > /dev/null", "w") halrun.write(""" loadrt threads period1=%(period)d name1=fast fp1=0 period2=%(period2)d name2=slow loadusr halscope loadrt steptest loadrt probe_parport loadrt hostmot2 """ % {'period':100000, 'period2':self.data.servoperiod }) halrun.write(""" loadrt hm2_pci config="firmware=hm2-trunk/%s/%s.BIT num_encoders=%d num_pwmgens=%d num_stepgens=%d" addf hm2_%s.0.read slow addf steptest.0 slow addf hm2_%s.0.write slow addf hm2_%s.0.pet_watchdog fast """ % (board, firmware, self.data.numof_mesa_encodergens, self.data.numof_mesa_pwmgens, self.data.numof_mesa_stepgens, board,board,board)) for concount,connector in enumerate(self.data.mesa_currentfirmwaredata[11]) : for pin in range (0,24): firmptype,compnum = self.data.mesa_currentfirmwaredata[12+pin+(concount*24)] pinv = 'm5i20c%(con)dpin%(num)dinv' % {'con':connector ,'num': pin} ptype = 'm5i20c%(con)dpin%(num)dtype' % {'con':connector ,'num': pin} pintype = self.widgets[ptype].get_active_text() pininv = self.widgets[pinv].get_active() truepinnum = (concount*24) + pin if pintype in (GPIOI,GPIOO,GPIOD): continue # for encoder pins if pintype in (ENCA,ENCB,ENCI,ENCM): if not pintype == ENCA: continue if pin == 3 :encpinnum = (connector-2)*4 elif pin == 1 :encpinnum = 1+((connector-2)*4) elif pin == 15 :encpinnum = 2+((connector-2)*4) elif pin == 13 :encpinnum = 3+((connector-2)*4) halrun.write("net yellow_reset%d hm2_%s.0.encoder.%02d.reset \n"% (encpinnum,board,encpinnum)) halrun.write("net yellow_count%d hm2_%s.0.encoder.%02d.count \n"% (encpinnum,board,encpinnum)) # for PWM pins elif pintype in (PWMP,PWMD,PWME,PDMP,PDMD,PDME): if not pintype in (PWMP,PDMP): continue if pin == 7 :encpinnum = (connector-2)*4 elif pin == 6 :encpinnum = 1 + ((connector-2)*4) elif pin == 19 :encpinnum = 2 + ((connector-2)*4) elif pin == 18 :encpinnum = 3 + ((connector-2)*4) halrun.write("net green_enable%d hm2_%s.0.pwmgen.%02d.enable \n"% (encpinnum,board,encpinnum)) halrun.write("net green_value%d hm2_%s.0.pwmgen.%02d.value \n"% (encpinnum,board,encpinnum)) halrun.write("setp hm2_%s.0.pwmgen.%02d.scale 10\n"% (board,encpinnum)) # for Stepgen pins elif pintype in (STEPA,STEPB): if not pintype == STEPA : continue if "m5i20" in stepgen: # check current component number to signal's component number if pin == int(stepgen[10:]): self.currentstepgen = compnum self.boardname = board self.stepinvert = concount*24+1 halrun.write("setp hm2_%s.0.gpio.%03d.invert_output %d \n"% (board,self.stepinvert,w[axis+"invertmotor"].get_active())) halrun.write("setp hm2_%s.0.stepgen.%02d.step_type 0 \n"% (board,compnum)) halrun.write("setp hm2_%s.0.stepgen.%02d.position-scale %f \n"% (board,compnum,float(w[axis + "scale"].get_text()) )) halrun.write("setp hm2_%s.0.stepgen.%02d.enable true \n"% (board,compnum)) halrun.write("net cmd steptest.0.position-cmd => hm2_%s.0.stepgen.%02d.position-cmd \n"% (board,compnum)) halrun.write("net feedback steptest.0.position-fb <= hm2_%s.0.stepgen.%02d.position-fb \n"% (board,compnum)) halrun.write("setp hm2_%s.0.stepgen.%02d.steplen %d \n"% (board,compnum,w[axis+"steptime"].get_value())) halrun.write("setp hm2_%s.0.stepgen.%02d.stepspace %d \n"% (board,compnum,w[axis+"stepspace"].get_value())) halrun.write("setp hm2_%s.0.stepgen.%02d.dirhold %d \n"% (board,compnum,w[axis+"dirhold"].get_value())) halrun.write("setp hm2_%s.0.stepgen.%02d.dirsetup %d \n"% (board,compnum,w[axis+"dirsetup"].get_value())) halrun.write("setp steptest.0.epsilon %f\n"% abs(1. / float(w[axis + "scale"].get_text())) ) halrun.write("setp hm2_%s.0.stepgen.%02d.maxaccel 0 \n"% (board,compnum)) halrun.write("setp hm2_%s.0.stepgen.%02d.maxvel 0 \n"% (board,compnum)) halrun.write("loadusr halmeter pin hm2_%s.0.stepgen.%02d.velocity-fb -g 0 500\n"% (board,compnum)) else: print "pintype error in mesa test panel method pintype:%s connector %d pin %d\n"% (pintype, connector,pin) temp = self.data.findsignal( "enable") amp = self.data.make_pinname(temp) if not amp == "false": if "HOSTMOT2" in amp: amp = amp.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("setp %s true\n"% (amp + ".is_output")) halrun.write("setp %s true\n"% (amp + ".out")) if self.data[temp+"inv"] == True: halrun.write("setp %s true\n"% (amp + ".invert_output")) temp = self.data.findsignal( "estop-out") estop = self.data.make_pinname(temp) if not estop =="false": if "HOSTMOT2" in estop: estop = estop.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("setp %s true\n"% (estop + ".is_output")) halrun.write("setp %s true\n"% (estop + ".out")) if self.data[temp+"inv"] == True: halrun.write("setp %s true\n"% (estop + ".invert_output")) halrun.write("start\n"); halrun.flush() w.servotunedialog.set_title(_("%s Axis Tune") % axis.upper()) w.servotunedialog.show_all() self.widgets['window1'].set_sensitive(0) result = w.servotunedialog.run() w.servotunedialog.hide() if result == gtk.RESPONSE_OK: w[axis+"maxvel"].set_text("%s" % w[axis+"tunevel"].get_value()) w[axis+"maxacc"].set_text("%s" % w[axis+"tuneacc"].get_value()) w[axis+"P"].set_value( float(w[axis+"tunecurrentP"].get_text())) w[axis+"I"].set_value( float(w[axis+"tunecurrentI"].get_text())) w[axis+"D"].set_value( float(w[axis+"tunecurrentD"].get_text())) w[axis+"FF0"].set_value( float(w[axis+"tunecurrentFF0"].get_text())) w[axis+"FF1"].set_value( float(w[axis+"tunecurrentFF1"].get_text())) w[axis+"FF2"].set_value( float(w[axis+"tunecurrentFF2"].get_text())) w[axis+"steptime"].set_value(float(w[axis+"tunecurrentsteptime"].get_text())) w[axis+"stepspace"].set_value(float(w[axis+"tunecurrentstepspace"].get_text())) w[axis+"dirhold"].set_value(float(w[axis+"tunecurrentdirhold"].get_text())) w[axis+"dirsetup"].set_value(float(w[axis+"tunecurrentdirsetup"].get_text())) w[axis+"invertmotor"].set_active(w[axis+"tuneinvertmotor"].get_active()) w[axis+"invertencoder"].set_active(w[axis+"tuneinvertencoder"].get_active()) if not amp == "false": halrun.write("setp %s false\n"% (amp + ".out")) if not estop == "false": halrun.write("setp %s false\n"% (estop + ".out")) time.sleep(.001) halrun.close() self.widgets['window1'].set_sensitive(1) def update_tune_axis_params(self, *args): axis = self.axis_under_tune compnum = self.currentstepgen board = self.boardname if axis is None: return halrun = self.halrun halrun.write(""" setp hm2_%(board)s.0.gpio.%(gpio)03d.invert_output %(invert)d setp hm2_%(board)s.0.stepgen.%(num)02d.steplen %(len)d setp hm2_%(board)s.0.stepgen.%(num)02d.stepspace %(space)d setp hm2_%(board)s.0.stepgen.%(num)02d.dirhold %(hold)d setp hm2_%(board)s.0.stepgen.%(num)02d.dirsetup %(setup)d setp hm2_%(board)s.0.stepgen.%(num)02d.maxaccel %(accel)f setp hm2_%(board)s.0.stepgen.%(num)02d.maxvel %(velps)f setp steptest.0.jog-minus %(jogminus)s setp steptest.0.jog-plus %(jogplus)s setp steptest.0.run %(run)s setp steptest.0.amplitude %(amplitude)f setp steptest.0.maxvel %(velps)f setp steptest.0.maxaccel %(accel)f setp steptest.0.dir %(dir)s setp steptest.0.pause %(pause)d """ % { 'gpio':self.stepinvert, 'invert':self.widgets[axis+"tuneinvertmotor"].get_active(), 'len':self.widgets[axis+"tunecurrentsteptime"].get_value(), 'space':self.widgets[axis+"tunecurrentstepspace"].get_value(), 'hold':self.widgets[axis+"tunecurrentdirhold"].get_value(), 'setup':self.widgets[axis+"tunecurrentdirsetup"].get_value(), 'board': board, 'num': compnum, 'jogminus': self.tunejogminus, 'jogplus': self.tunejogplus, 'run': self.widgets[axis+"tunerun"].get_active(), 'amplitude': self.widgets[axis+"tuneamplitude"].get_value(), 'accel': self.widgets[axis+"tuneacc"].get_value(), 'vel': self.widgets[axis+"tunevel"].get_value(), 'velps': (self.widgets[axis+"tunevel"].get_value()/60), 'dir': self.widgets[axis+"tunedir"].get_active(), 'pause':int(self.widgets[axis+"tunepause"].get_value()), }) halrun.flush() def on_tunejogminus_pressed(self, w): self.tunejogminus = 1 self.update_tune_axis_params() def on_tunejogminus_released(self, w): self.tunejogminus = 0 self.update_tune_axis_params() def on_tunejogplus_pressed(self, w): self.tunejogplus = 1 self.update_tune_axis_params() def on_tunejogplus_released(self, w): self.tunejogplus = 0 self.update_tune_axis_params() def on_tuneinvertmotor_toggled(self, w): self.update_tune_axis_params() def test_axis(self, axis): data = self.data widgets = self.widgets axnum = "xyzas".index(axis) pump = False #step = axis + "step" #dir = axis + "dir" boardname = self.data.mesa_currentfirmwaredata[0] firmware = self.data.mesa_currentfirmwaredata[1] fastdac = float(widgets["fastdac"].get_text()) slowdac = float(widgets["slowdac"].get_text()) dacspeed = widgets.Dac_speed_fast.get_active() if self.data.findsignal( (axis + "-pwm-pulse")) =="false" or self.data.findsignal( (axis + "-encoder-a")) =="false": self.warning_dialog( _(" You must designate a ENCODER signal and a PWM signal for this axis test") , True) return if not self.data.findsignal("charge-pump") =="false": pump = True self.halrun = halrun = os.popen("halrun -sf > /dev/null", "w") halrun.write("""loadrt threads period1=%(period)d name1=fast fp1=0 period2=%(period2)d name2=slow \n""" % {'period': 100000,'period2': self.data.servoperiod }) halrun.write("loadrt probe_parport\n") if self.data.number_pports>0: port3name = port2name = port1name = port3dir = port2dir = port1dir = "" if self.data.number_pports>2: port3name = " " + self.data.ioaddr3 if self.data.pp3_direction: port3dir =" out" else: port3dir =" in" if self.data.number_pports>1: port2name = " " + self.data.ioaddr2 if self.data.pp2_direction: port2dir =" out" else: port2dir =" in" port1name = self.data.ioaddr if self.data.pp1_direction: port1dir =" out" else: port1dir =" in" halrun.write("loadrt hal_parport cfg=\"%s%s%s%s%s%s\"\n" % (port1name, port1dir, port2name, port2dir, port3name, port3dir)) halrun.write("loadrt hostmot2\n") halrun.write("""loadrt hm2_pci config="firmware=hm2-trunk/%s/%s.BIT num_encoders=%d num_pwmgens=%d num_stepgens=%d"\n""" % (boardname, firmware, self.data.numof_mesa_encodergens, self.data.numof_mesa_pwmgens, self.data.numof_mesa_stepgens )) halrun.write("loadrt steptest\n") halrun.write("loadusr halmeter -g 0 500\n") halrun.write("loadusr halscope\n") halrun.write("addf hm2_%s.0.pet_watchdog fast\n"% boardname) halrun.write("addf hm2_%s.0.read slow\n"% boardname) if pump: halrun.write( "loadrt charge_pump\n") halrun.write( "setp charge-pump.enable true\n") halrun.write( "net charge-pump <= charge-pump.out\n") halrun.write( "addf charge-pump slow\n") halrun.write("addf steptest.0 slow\n") halrun.write("addf hm2_%s.0.write slow\n"% boardname) #halrun.write("addf parport.0.write fast") #TODO fix this to work with parport signals temp = self.data.findsignal( "enable") self.amp = self.data.make_pinname(temp) if not self.amp == "false": if "HOSTMOT2" in self.amp: self.amp = self.amp.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("setp %s true\n"% (self.amp + ".is_output")) halrun.write("setp %s false\n"% (self.amp + ".out")) if self.data[temp+"inv"] == True: halrun.write("setp %s true\n"% (self.amp + ".invert_output")) self.amp = self.amp + ".out" if "parport" in self.amp: halrun.write(" setp %s true\n" % (self.amp )) if self.data[temp+"inv"] == True: halrun.write(" setp %s true\n" % (self.amp + "-invert")) halrun.write("loadusr halmeter -s pin %s -g 300 100 \n"% (self.amp)) temp = self.data.findsignal( "estop-out") estop = self.data.make_pinname(temp) if not estop == "false": if "HOSTMOT2" in estop: estop = estop.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("setp %s true\n"% (estop + ".is_output")) halrun.write("setp %s true\n"% (estop + ".out")) if self.data[temp+"inv"] == True: halrun.write("setp %s true\n"% (estop + ".invert_output")) estop = estop + ".out" if "parport" in estop: halrun.write(" setp %s true\n" % (estop)) if self.data[temp+"inv"] == True: halrun.write(" setp %s true\n" % (estop + "-invert")) halrun.write("loadusr halmeter -s pin %s -g 300 50 \n"% (estop)) temp = self.data.findsignal( "charge-pump") pump = self.data.make_pinname(temp) if not pump == "false": if "HOSTMOT2" in pump: pump = pump.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("setp %s true\n"% (pump + ".is_output")) #halrun.write("setp %s true\n"% (pump + ".out")) if self.data[temp+"inv"] == True: halrun.write("setp %s true\n"% (pump + ".invert_output")) pump = pump + ".out" if "parport" in pump: halrun.write(" setp %s true\n" % (pump)) if self.data[temp+"inv"] == True: halrun.write(" setp %s true\n" % (pump + "-invert")) halrun.write( "net charge-pump %s\n"%(pump)) halrun.write("loadusr halmeter -s pin %s -g 300 0 \n"% (pump)) pwm = self.data.make_pinname(self.data.findsignal( (axis + "-pwm-pulse"))) if not pwm == "false": if "HOSTMOT2" in pwm: pwm = pwm.replace("[HOSTMOT2](BOARD)",boardname) halrun.write("net dac %s \n"% (pwm +".value")) halrun.write("setp %s \n"% (pwm +".enable true")) halrun.write("setp %s \n"% (pwm +".scale 10")) halrun.write("loadusr halmeter -s pin %s -g 300 150\n"% (pwm +".value")) self.enc = self.data.make_pinname(self.data.findsignal( (axis + "-encoder-a"))) if not self.enc =="false": if "HOSTMOT2" in self.enc: self.enc = self.enc.replace("[HOSTMOT2](BOARD)",boardname) # if 'parport' in enc: halrun.write("net enc-reset %s \n"% (self.enc +".reset")) halrun.write("setp %s 1\n"% (self.enc +".scale")) halrun.write("setp %s \n"% (self.enc +".filter true")) halrun.write("loadusr halmeter -s pin %s -g 300 200\n"% (self.enc +".position")) halrun.write("loadusr halmeter -s pin %s -g 300 250\n"% (self.enc +".velocity")) widgets.openloopdialog.set_title(_("%s Axis Test") % axis.upper()) self.jogplus = self.jogminus = self.enc_reset = self.enable_amp = 0 self.enc_scale = 1 self.axis_under_test = axis widgets.testinvertmotor.set_active(widgets[axis+"invertmotor"].get_active()) widgets.testinvertencoder.set_active(widgets[axis+"invertencoder"].get_active()) widgets.testoutputoffset.set_value(widgets[axis+"outputoffset"].get_value()) self.update_axis_params() halrun.write("start\n"); halrun.flush() self.widgets['window1'].set_sensitive(0) self.widgets.jogminus.set_sensitive(0) self.widgets.jogplus.set_sensitive(0) widgets.openloopdialog.show_all() result = widgets.openloopdialog.run() widgets.openloopdialog.hide() if not self.amp == "false": halrun.write("setp %s false\n"% (self.amp)) if not estop == "false": halrun.write("setp %s false\n"% (estop)) time.sleep(.001) halrun.close() if result == gtk.RESPONSE_OK: #widgets[axis+"maxacc"].set_text("%s" % widgets.testacc.get_value()) widgets[axis+"invertmotor"].set_active(widgets.testinvertmotor.get_active()) widgets[axis+"invertencoder"].set_active(widgets.testinvertencoder.get_active()) widgets[axis+"outputoffset"].set_value(widgets.testoutputoffset.get_value()) #widgets[axis+"maxvel"].set_text("%s" % widgets.testvel.get_value()) self.axis_under_test = None self.widgets['window1'].set_sensitive(1) def update_axis_params(self, *args): axis = self.axis_under_test if axis is None: return halrun = self.halrun if self.widgets.Dac_speed_fast.get_active() == True:output = float(self.widgets.fastdac.get_text()) else: output = float(self.widgets.slowdac.get_text()) if self.jogminus == 1:output = output * -1 elif not self.jogplus == 1:output = 0 if self.widgets.testinvertmotor.get_active() == True: output = output * -1 output += float(self.widgets.testoutputoffset.get_text()) if not self.amp == "false": halrun.write("setp %s %d\n"% (self.amp, self.enable_amp)) halrun.write("""setp %(scalepin)s.scale %(scale)d\n""" % { 'scalepin':self.enc, 'scale': self.enc_scale}) halrun.write("""sets dac %(output)f\n""" % { 'output': output}) halrun.write("""sets enc-reset %(reset)d\n""" % { 'reset': self.enc_reset}) halrun.flush() def on_jogminus_pressed(self, w): self.jogminus = 1 self.update_axis_params() def on_jogminus_released(self, w): self.jogminus = 0 self.update_axis_params() def on_jogplus_pressed(self, w): self.jogplus = 1 self.update_axis_params() def on_jogplus_released(self, w): self.jogplus = 0 self.update_axis_params() def on_resetbutton_pressed(self, w): self.enc_reset = 1 self.update_axis_params() def on_resetbutton_released(self, w): self.enc_reset = 0 self.update_axis_params() def on_testinvertmotor_toggled(self, w): self.update_axis_params() def on_testinvertencoder_toggled(self, w): self.enc_scale = self.enc_scale * -1 self.update_axis_params() def on_testoutputoffset_value_changed(self, w): self.update_axis_params() def on_enableamp_toggled(self, w): self.enable_amp = self.enable_amp * -1 + 1 self.widgets.jogminus.set_sensitive(self.enable_amp) self.widgets.jogplus.set_sensitive(self.enable_amp) self.update_axis_params() def run(self, filename=None): if filename is not None: self.data.load(filename, self) self.widgets.druid1.set_page(self.widgets.basicinfo) gtk.main() def makedirs(d): try: os.makedirs(d) except os.error, detail: if detail.errno != errno.EEXIST: raise makedirs(os.path.expanduser("~/emc2/configs")) opts, args = getopt.getopt(sys.argv[1:], "fr") mode = 0 force = 0 for k, v in opts: if k == "-r": mode = 1 if k == "-f": force = 1 if mode: filename = args[0] data = Data() data.load(filename, None, force) data.save() elif args: app = App() app.run(args[0]) else: app = App() app.run()