#!/usr/bin/python # -*- encoding: utf-8 -*- # This is 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 commands 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, _("Stepconf 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") # 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], ] 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 = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "doc", "emc2", "examples", "sample-configs", "common") if not os.path.isdir(distdir): distdir = "/usr/share/doc/emc2/examples/sample-configs/common" (XSTEP, XDIR, YSTEP, YDIR, ZSTEP, ZDIR, ASTEP, ADIR, ON, CW, CCW, PWM, BRAKE, MIST, FLOOD, ESTOP, AMP, PUMP, DOUT0, DOUT1, DOUT2, DOUT3, UNUSED_OUTPUT) = hal_output_names = [ "xstep", "xdir", "ystep", "ydir", "zstep", "zdir", "astep", "adir", "spindle-on", "spindle-cw", "spindle-ccw", "spindle-pwm", "spindle-brake", "coolant-mist", "coolant-flood", "estop-out", "xenable", "charge-pump", "dout-00", "dout-01", "dout-02", "dout-03", "unused-output"] (ESTOP_IN, PROBE, PPR, PHA, PHB, 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, UNUSED_INPUT) = hal_input_names = [ "estop-ext", "probe-in", "spindle-index", "spindle-phase-a", "spindle-phase-b", "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", "unused-input"] human_output_names = (_("X Step"), _("X Direction"), _("Y Step"), _("Y Direction"), _("Z Step"), _("Z Direction"), _("A Step"), _("A Direction"), _("Spindle ON"),_("Spindle CW"), _("Spindle CCW"), _("Spindle PWM"), _("Spindle Brake"), _("Coolant Mist"), _("Coolant Flood"), _("ESTOP Out"), _("Amplifier Enable"), _("Charge Pump"), _("Digital out 0"), _("Digital out 1"), _("Digital out 2"), _("Digital out 3"), _("Unused")) human_input_names = (_("ESTOP In"), _("Probe In"), _("Spindle Index"), _("Spindle Phase A"), _("Spindle Phase B"), _("Home X"), _("Home Y"), _("Home Z"), _("Home A"), _("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"), _("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"), _("Digital in 0"), _("Digital in 1"), _("Digital in 2"), _("Digital in 3"), _("Unused")) 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 Data: def __init__(self): pw = pwd.getpwuid(os.getuid()) self.machinename = _("my-mill") self.axes = 0 # XYZ self.units = 0 # inch self.drivertype = "other" self.steptime = 5000 self.stepspace = 5000 self.dirhold = 20000 self.dirsetup = 20000 self.latency = 15000 self.period = 25000 self.ioaddr = "0x378" self.ioaddr2 = _("Enter Address") self.pp2_direction = 0 # input self.ioaddr3 = _("Enter Address") self.pp3_direction = 0 # input self.number_pports = 1 self.manualtoolchange = 1 self.customhal = 1 # include custom hal file self.pyvcp = 0 # not included self.pyvcpname = "custom.xml" self.pyvcphaltype = 0 # no HAL connections specified self.pyvcpconnect = 1 # HAL connections allowed self.classicladder = 0 # not included self.tempexists = 0 # not present self.laddername = "custom.clp" self.modbus = 0 self.ladderhaltype = 0 # no HAL connections specified self.ladderconnect = 1 # HAL connections allowed self.pin1inv = 0 self.pin2inv = 0 self.pin3inv = 0 self.pin4inv = 0 self.pin5inv = 0 self.pin6inv = 0 self.pin7inv = 0 self.pin8inv = 0 self.pin9inv = 0 self.pin10inv = 0 self.pin11inv = 0 self.pin12inv = 0 self.pin13inv = 0 self.pin14inv = 0 self.pin15inv = 0 self.pin16inv = 0 self.pin17inv = 0 self.pin1 = ESTOP self.pin2 = XSTEP self.pin3 = XDIR self.pin4 = YSTEP self.pin5 = YDIR self.pin6 = ZSTEP self.pin7 = ZDIR self.pin8 = ASTEP self.pin9 = ADIR self.pin14 = CW self.pin16 = PWM self.pin17 = AMP self.pin10 = UNUSED_INPUT self.pin11 = UNUSED_INPUT self.pin12 = UNUSED_INPUT self.pin13 = UNUSED_INPUT self.pin15 = UNUSED_INPUT self.xsteprev = 200 self.xmicrostep = 2 self.xpulleynum = 1 self.xpulleyden = 1 self.xleadscrew = 20 self.xmaxvel = 1 self.xmaxacc = 30 self.xhomepos = 0 self.xminlim = 0 self.xmaxlim = 8 self.xhomesw = 0 self.xhomevel = .05 self.xlatchdir = 0 self.xscale = 0 self.ysteprev = 200 self.ymicrostep = 2 self.ypulleynum = 1 self.ypulleyden = 1 self.yleadscrew = 20 self.ymaxvel = 1 self.ymaxacc = 30 self.yhomepos = 0 self.yminlim = 0 self.ymaxlim = 8 self.yhomesw = 0 self.yhomevel = .05 self.ylatchdir = 0 self.yscale = 0 self.zsteprev = 200 self.zmicrostep = 2 self.zpulleynum = 1 self.zpulleyden = 1 self.zleadscrew = 20 self.zmaxvel = 1 self.zmaxacc = 30 self.zhomepos = 0 self.zminlim = -4 self.zmaxlim = 0 self.zhomesw = 0 self.zhomevel = .05 self.zlatchdir = 0 self.zscale = 0 self.asteprev = 200 self.amicrostep = 2 self.apulleynum = 1 self.apulleyden = 1 self.aleadscrew = 8 self.amaxvel = 360 self.amaxacc = 1200 self.ahomepos = 0 self.aminlim = -9999 self.amaxlim = 9999 self.ahomesw = 0 self.ahomevel = .05 self.alatchdir = 0 self.ascale = 0 self.spindlecarrier = 100 self.spindlecpr = 100 self.spindlespeed1 = 100 self.spindlespeed2 = 800 self.spindlepwm1 = .2 self.spindlepwm2 = .8 self.digitsin = 15 self.digitsout = 15 self.s32in = 10 self.s32out = 10 self.floatsin = 10 self.floatsout = 10 self.halui = 0 self.createsymlink = 1 self.createshortcut = 1 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)) 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 stepconf") % f) if warnings: warnings.append("") warnings.append(_("Saving this configuration file will discard configuration changes made outside stepconf.")) 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 legacy_hal_output_names = ["xstep", "xdir", "ystep", "ydir", "zstep", "zdir", "astep", "adir", "spindle-on", "spindle-cw", "spindle-ccw", "spindle-pwm", "coolant-mist", "coolant-flood", "estop-out", "xenable", "charge-pump", "unused-output"] legacy_hal_input_names = ["estop-ext", "probe-in", "spindle-index", "spindle-phase-a", "spindle-phase-b", "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", "unused-input"] for p in (10,11,12,13,15): pin = "pin%d" % p p = self[pin] if isinstance(p, int): self[pin] = legacy_hal_input_names[p] for p in (1,2,3,4,5,6,7,8,9,14,16,17): pin = "pin%d" % p p = self[pin] if isinstance(p, int): self[pin] = legacy_hal_output_names[p] legacy_driver_type = [ # Must exactly match texts in drivertypes "gecko201", "l297", "pmdx150", "sherline", "xylotex", "oem750", ] if isinstance(self.drivertype, int): if self.drivertype < len(legacy_driver_type): self.drivertype = legacy_driver_type[self.drivertype] else: self.drivertype = "other" 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 stepconf at %s") % time.asctime() print >>file, _("# If you make changes to this file, they will be") print >>file, _("# overwritten when you run stepconf again") print >>file print >>file, "[EMC]" print >>file, "MACHINE = %s" % self.machinename print >>file, "DEBUG = 0" print >>file print >>file, "[DISPLAY]" print >>file, "DISPLAY = axis" print >>file, "EDITOR = gedit" print >>file, "POSITION_OFFSET = RELATIVE" print >>file, "POSITION_FEEDBACK = ACTUAL" print >>file, "MAX_FEED_OVERRIDE = 1.2" print >>file, "INTRO_GRAPHIC = emc2.gif" print >>file, "INTRO_TIME = 5" print >>file, "PROGRAM_PREFIX = %s" % \ os.path.expanduser("~/emc2/nc_files") if self.units: print >>file, "INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm" else: print >>file, "INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in" if self.pyvcp: print >>file, "PYVCP = custompanel.xml" if self.axes == 2: print >>file, "LATHE = 1" 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, "[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]" print >>file, _("# add halui MDI commands here (max 64) ") 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 print >>file print >>file, "[EMCIO]" print >>file, "EMCIO = io" print >>file, "CYCLE_TIME = 0.100" print >>file, "TOOL_TABLE = tool.tbl" 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) 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) if self.doublestep(): base_period = 1e9 / pps else: base_period = .5e9 / pps if base_period > 100000: base_period = 100000 if base_period < self.minperiod(): base_period = self.minperiod() return int(base_period) def ideal_maxvel(self, scale): if self.doublestep(): return abs(.95 * 1e9 / self.ideal_period() / scale) else: return abs(.95 * .5 * 1e9 / self.ideal_period() / scale) def write_one_axis(self, file, num, letter, type, all_homes): order = "1203" def get(s): return self[letter + s] scale = get("scale") vel = min(get("maxvel"), self.ideal_maxvel(scale)) print >>file print >>file, "[AXIS_%d]" % num print >>file, "TYPE = %s" % type print >>file, "HOME = %s" % get("homepos") print >>file, "MAX_VELOCITY = %s" % vel print >>file, "MAX_ACCELERATION = %s" % get("maxacc") print >>file, "STEPGEN_MAXACCEL = %s" % (1.25 * get("maxacc")) print >>file, "SCALE = %s" % scale if num == 3: print >>file, "FERROR = 1" print >>file, "MIN_FERROR = .25" elif self.units: print >>file, "FERROR = 1" print >>file, "MIN_FERROR = .25" else: print >>file, "FERROR = 0.05" print >>file, "MIN_FERROR = 0.01" # emc2 doesn't like having home right on an end of travel, # so extend the travel limit by up to .01in or .1mm minlim = 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 inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) 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 = bool(inputs & thisaxishome) if homes: print >>file, "HOME_OFFSET = %f" % get("homesw") print >>file, "HOME_SEARCH_VEL = %f" % get("homevel") latchvel = get("homevel") / abs(get("homevel")) if get("latchdir"): latchvel = -latchvel # set latch velocity to one step every two servo periods # to ensure that we can capture the position to within one step latchvel = latchvel * 500 / get("scale") # don't do the latch move faster than the search move if abs(latchvel) > abs(get("homevel")): latchvel = latchvel * (abs(get("homevel"))/abs(latchvel)) print >>file, "HOME_LATCH_VEL = %f" % latchvel if inputs & ignore: print >>file, "HOME_IGNORE_LIMITS = YES" if all_homes: print >>file, "HOME_SEQUENCE = %s" % order[num] else: print >>file, "HOME_OFFSET = %s" % get("homepos") def home_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) thisaxishome = set((ALL_HOME, "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis)) for i in inputs: if i in thisaxishome: return i def min_lim_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) thisaxisminlimits = set((ALL_LIMIT, "min-" + axis, "min-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in inputs: if i in thisaxisminlimits: return i def max_lim_sig(self, axis): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) thisaxismaxlimits = set((ALL_LIMIT, "max-" + axis, "max-home-" + axis, "both-" + axis, "both-home-" + axis)) for i in inputs: if i in thisaxismaxlimits: return i def connect_axis(self, file, num, let): axnum = "xyza".index(let) lat = self.latency print >>file print >>file, "setp stepgen.%d.position-scale [AXIS_%d]SCALE" % (num, axnum) print >>file, "setp stepgen.%d.steplen 1" % num if self.doublestep(): print >>file, "setp stepgen.%d.stepspace 0" % num else: print >>file, "setp stepgen.%d.stepspace 1" % num print >>file, "setp stepgen.%d.dirhold %d" % (num, self.dirhold + lat) print >>file, "setp stepgen.%d.dirsetup %d" % (num, self.dirsetup + lat) print >>file, "setp stepgen.%d.maxaccel [AXIS_%d]STEPGEN_MAXACCEL" % (num, axnum) print >>file, "net %spos-cmd axis.%d.motor-pos-cmd => stepgen.%d.position-cmd" % (let, axnum, num) print >>file, "net %spos-fb stepgen.%d.position-fb => axis.%d.motor-pos-fb" % (let, num, axnum) print >>file, "net %sstep <= stepgen.%d.step" % (let, num) print >>file, "net %sdir <= stepgen.%d.dir" % (let, num) print >>file, "net %senable axis.%d.amp-enable-out => stepgen.%d.enable" % (let, axnum, num) homesig = self.home_sig(let) if homesig: print >>file, "net %s => axis.%d.home-sw-in" % (homesig, axnum) min_limsig = self.min_lim_sig(let) if min_limsig: print >>file, "net %s => axis.%d.neg-lim-sw-in" % (min_limsig, axnum) max_limsig = self.max_lim_sig(let) if max_limsig: print >>file, "net %s => axis.%d.pos-lim-sw-in" % (max_limsig, axnum) def connect_input(self, file, num): p = self['pin%d' % num] i = self['pin%dinv' % num] if p == UNUSED_INPUT: return if i: print >>file, "net %s <= parport.0.pin-%02d-in-not" \ % (p, num) else: print >>file, "net %s <= parport.0.pin-%02d-in" \ % (p, num) def find_input(self, input): inputs = set((10, 11, 12, 13, 15)) for i in inputs: pin = getattr(self, "pin%d" % i) inv = getattr(self, "pin%dinv" % i) if pin == input: return i return None def find_output(self, output): outputs = set((1, 2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 17)) for i in outputs: pin = getattr(self, "pin%d" % i) inv = getattr(self, "pin%dinv" % i) if pin == output: return i return None def connect_output(self, file, num): p = self['pin%d' % num] i = self['pin%dinv' % num] if p == UNUSED_OUTPUT: return if i: print >>file, "setp parport.0.pin-%02d-out-invert 1" % num print >>file, "net %s => parport.0.pin-%02d-out" % (p, num) if self.doublestep(): if p in (XSTEP, YSTEP, ZSTEP, ASTEP): print >>file, "setp parport.0.pin-%02d-out-reset 1" % num def write_halfile(self, base): inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15)) outputs = set((self.pin1, self.pin2, self.pin3, self.pin4, self.pin5, self.pin6, self.pin7, self.pin8, self.pin9, self.pin14, self.pin16, self.pin17)) filename = os.path.join(base, self.machinename + ".hal") file = open(filename, "w") print >>file, _("# Generated by stepconf at %s") % time.asctime() print >>file, _("# If you make changes to this file, they will be") print >>file, _("# overwritten when you run stepconf again") 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" port3name=port2name=port2dir=port3dir="" if self.number_pports>2: port3name = self.ioaddr3 if self.pp3_direction: port3dir =" in" else: port3dir =" out" if self.number_pports>1: port2name = self.ioaddr2 if self.pp2_direction: port2dir =" in" else: port2dir =" out" print >>file, "loadrt hal_parport cfg=\"%s out %s%s %s%s\"" % (self.ioaddr, port2name, port2dir, port3name, port3dir) if self.doublestep(): print >>file, "setp parport.0.reset-time %d" % self.steptime encoder = PHA in inputs counter = PHB not in inputs probe = PROBE in inputs pwm = PWM in outputs pump = PUMP in outputs if self.axes == 2: print >>file, "loadrt stepgen step_type=0,0" elif self.axes == 1: print >>file, "loadrt stepgen step_type=0,0,0,0" else: print >>file, "loadrt stepgen step_type=0,0,0" if encoder: print >>file, "loadrt encoder num_chan=1" if self.pyvcphaltype == 1 and self.pyvcpconnect == 1: print >>file, "loadrt abs count=1" if encoder: print >>file, "loadrt scale count=1" if pump: print >>file, "loadrt charge_pump" print >>file, "net estop-out charge-pump.enable iocontrol.0.user-enable-out" print >>file, "net charge-pump <= charge-pump.out" 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) print >>file 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 encoder: 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" 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" print >>file print >>file, "addf stepgen.capture-position servo-thread" if encoder: print >>file, "addf encoder.capture-position servo-thread" print >>file, "addf motion-command-handler servo-thread" print >>file, "addf motion-controller servo-thread" 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 encoder: print >>file, "addf scale.0 servo-thread" if pwm: 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, "net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value" print >>file, "net spindle-enable <= motion.spindle-on => pwmgen.0.enable" print >>file, "net spindle-pwm <= pwmgen.0.pwm" 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" else: print >>file, "net spindle-cmd <= motion.spindle-speed-out" if ON in outputs: print >>file, "net spindle-on <= motion.spindle-on" if CW in outputs: print >>file, "net spindle-cw <= motion.spindle-forward" if CCW in outputs: print >>file, "net spindle-ccw <= motion.spindle-reverse" if BRAKE in outputs: print >>file, "net spindle-brake <= motion.spindle-brake" if MIST in outputs: print >>file, "net coolant-mist <= iocontrol.0.coolant-mist" if FLOOD in outputs: print >>file, "net coolant-flood <= iocontrol.0.coolant-flood" if encoder: print >>file if PHB not in inputs: print >>file, "setp encoder.0.position-scale %f"\ % self.spindlecpr print >>file, "setp encoder.0.counter-mode 1" else: print >>file, "setp encoder.0.position-scale %f" \ % ( 4.0 * int(self.spindlecpr)) print >>file, "net spindle-position encoder.0.position => motion.spindle-revs" print >>file, "net spindle-velocity encoder.0.velocity => motion.spindle-speed-in" print >>file, "net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable" print >>file, "net spindle-phase-a encoder.0.phase-A" print >>file, "net spindle-phase-b encoder.0.phase-B" print >>file, "net spindle-index encoder.0.phase-Z" if probe: print >>file print >>file, "net probe-in => motion.probe-input" for i in range(4): dout = "dout-%02d" % i if dout in outputs: print >>file, "net %s <= motion.digital-out-%02d" % (dout, i) for i in range(4): din = "din-%02d" % i if din in inputs: print >>file, "net %s => motion.digital-in-%02d" % (din, i) print >>file for o in (1,2,3,4,5,6,7,8,9,14,16,17): self.connect_output(file, o) print >>file print >>file for i in (10,11,12,13,15): self.connect_input(file, i) print >>file if self.axes == 2: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'z') elif self.axes == 0: self.connect_axis(file, 0, 'x') self.connect_axis(file, 1, 'y') self.connect_axis(file, 2, 'z') 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') print >>file 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_IN in inputs: print >>file, "net estop-ext => iocontrol.0.emc-enable-in" else: print >>file, "net estop-out => iocontrol.0.emc-enable-in" print >>file if self.manualtoolchange: print >>file, "loadusr -W hal_manualtoolchange" print >>file, "net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change" print >>file, "net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed" print >>file, "net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number" else: print >>file, "net tool-number <= iocontrol.0.tool-prep-number" print >>file, "net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed" print >>file, "net tool-prepare-loopback iocontrol.0.tool-prepare => 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 encoder: 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") 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 stepconf 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 stepconf at %s") % time.asctime() 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") filename = "%s.stepconf" % 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) # see http://freedesktop.org/wiki/Software/xdg-user-dirs desktop = commands.getoutput(""" test -f ${XDG_CONFIG_HOME:-~/.config}/user-dirs.dirs && . ${XDG_CONFIG_HOME:-~/.config}/user-dirs.dirs echo ${XDG_DESKTOP_DIR:-$HOME/Desktop}""") if self.createsymlink: shortcut = os.path.join(desktop, self.machinename) if os.path.exists(desktop) and not os.path.exists(shortcut): os.symlink(base,shortcut) if self.createshortcut and os.path.exists(desktop): if os.path.exists(BASE + "/scripts/emc"): scriptspath = (BASE + "/scripts/emc") else: scriptspath ="emc" filename = os.path.join(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 Stepconf") 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) class App: fname = 'stepconf.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 __init__(self): gnome.init("stepconf", "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') 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.dialog1.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 for i in drivertypes: self.widgets.drivertype.append_text(i[1]) self.widgets.drivertype.append_text(_("Other")) 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 Stepconf 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_page_newormodify_prepare(self, *args): 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("*.stepconf") filter.set_name(_("EMC2 'stepconf' 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 drivertype_fromid(self): for d in drivertypes: if d[0] == self.data.drivertype: return d[1] def drivertype_toid(self, what=None): if not isinstance(what, int): what = self.drivertype_toindex(what) if what < len(drivertypes): return drivertypes[what][0] return "other" def drivertype_toindex(self, what=None): if what is None: what = self.data.drivertype for i, d in enumerate(drivertypes): if d[0] == what: return i return len(drivertypes) def drivertype_fromindex(self): i = self.widgets.drivertype.get_active() if i < len(drivertypes): return drivertypes[i][1] return _("Other") def on_basicinfo_prepare(self, *args): self.widgets.drivetime_expander.set_expanded(True) self.widgets.parport_expander.set_expanded(True) 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.steptime.set_value(self.data.steptime) self.widgets.stepspace.set_value(self.data.stepspace) self.widgets.dirsetup.set_value(self.data.dirsetup) self.widgets.dirhold.set_value(self.data.dirhold) self.widgets.drivertype.set_active(self.drivertype_toindex()) self.widgets.manualtoolchange.set_active(self.data.manualtoolchange) self.widgets.ioaddr.set_text(self.data.ioaddr) self.widgets.machinename.grab_focus() self.widgets.ioaddr2.set_text(self.data.ioaddr2) self.widgets.ioaddr3.set_text(self.data.ioaddr3) 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>2: self.widgets.pp2_checkbutton.set_active(1) self.widgets.pp3_checkbutton.set_active(1) elif self.data.number_pports>1: self.widgets.pp2_checkbutton.set_active(1) def on_basicinfo_next(self, *args): self.widgets.drivetime_expander.set_expanded(False) self.widgets.parport_expander.set_expanded(False) self.data.machinename = self.widgets.machinename.get_text() self.data.axes = self.widgets.axes.get_active() self.data.units = self.widgets.units.get_active() self.data.drivertype = self.drivertype_toid(self.widgets.drivertype.get_active()) self.data.steptime = self.widgets.steptime.get_value() self.data.stepspace = self.widgets.stepspace.get_value() self.data.dirhold = self.widgets.dirhold.get_value() self.data.latency = self.widgets.latency.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.pp2_direction = self.widgets.pp2_direction.get_active() self.data.pp3_direction = self.widgets.pp3_direction.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(): self.data.number_pports = 2 else: self.data.number_pports = 1 def on_machinename_changed(self, *args): self.widgets.confdir.set_text( "~/emc2/configs/%s" % self.widgets.machinename.get_text()) def on_drivertype_changed(self, *args): v = self.widgets.drivertype.get_active() if v < len(drivertypes): d = drivertypes[v] self.widgets.steptime.set_value(d[2]) self.widgets.stepspace.set_value(d[3]) self.widgets.dirhold.set_value(d[4]) self.widgets.dirsetup.set_value(d[5]) self.widgets.steptime.set_sensitive(0) self.widgets.stepspace.set_sensitive(0) self.widgets.dirhold.set_sensitive(0) self.widgets.dirsetup.set_sensitive(0) else: self.widgets.steptime.set_sensitive(1) self.widgets.stepspace.set_sensitive(1) self.widgets.dirhold.set_sensitive(1) self.widgets.dirsetup.set_sensitive(1) self.on_calculate_ideal_period() 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 = 'pin%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 = 'pin%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_pport_prepare(self, *args): self.in_pport_prepare = True for pin in (1,2,3,4,5,6,7,8,9,14,16,17): p = 'pin%d' % pin model = self.widgets[p].get_model() model.clear() for name in human_output_names: model.append((name,)) self.widgets[p].set_wrap_width(3) self.widgets[p].set_active(hal_output_names.index(self.data[p])) p = 'pin%dinv' % pin self.widgets[p].set_active(self.data[p]) for pin in (10,11,12,13,15): p = 'pin%d' % pin model = self.widgets[p].get_model() model.clear() for name in human_input_names: model.append((name,)) self.widgets[p].set_wrap_width(3) self.widgets[p].set_active(hal_input_names.index(self.data[p])) p = 'pin%dinv' % pin self.widgets[p].set_active(self.data[p]) self.widgets.pin1.grab_focus() self.in_pport_prepare = False def on_pp2_checkbutton_toggled(self, *args): i = self.widgets.pp2_checkbutton.get_active() 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_pport_next(self, *args): for pin in (10,11,12,13,15): p = 'pin%d' % pin self.data[p] = hal_input_names[self.widgets[p].get_active()] for pin in (1,2,3,4,5,6,7,8,9,14,16,17): p = 'pin%d' % pin self.data[p] = hal_output_names[self.widgets[p].get_active()] for pin in (1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17): p = 'pin%dinv' % pin self.data[p] = self.widgets[p].get_active() self.data.pp2_direction = self.widgets.pp2_direction.get_active() self.data.pp3_direction = self.widgets.pp3_direction.get_active() on_pport_back = on_pport_next def on_sherlinedefault_clicked(self, *args): self.widgets.pin2.set_active(1) self.widgets.pin3.set_active(0) self.widgets.pin4.set_active(3) self.widgets.pin5.set_active(2) self.widgets.pin6.set_active(5) self.widgets.pin7.set_active(4) self.widgets.pin8.set_active(7) self.widgets.pin9.set_active(6) def on_xylotexdefault_clicked(self, *args): self.widgets.pin2.set_active(0) self.widgets.pin3.set_active(1) self.widgets.pin4.set_active(2) self.widgets.pin5.set_active(3) self.widgets.pin6.set_active(4) self.widgets.pin7.set_active(5) self.widgets.pin8.set_active(6) self.widgets.pin9.set_active(7) def axis_prepare(self, axis): d = self.data w = self.widgets def set_text(n): w[axis + n].set_text("%s" % d[axis + n]) def set_active(n): w[axis + n].set_active(d[axis + n]) set_text("steprev") set_text("microstep") set_text("pulleynum") set_text("pulleyden") set_text("leadscrew") set_text("maxvel") set_text("maxacc") set_text("homepos") set_text("minlim") set_text("maxlim") set_text("homesw") set_text("homevel") set_active("latchdir") if axis == "a": w[axis + "screwunits"].set_text(_("degree / rev")) w[axis + "velunits"].set_text(_("deg / s")) w[axis + "accunits"].set_text(_("deg / s²")) w[axis + "accdistunits"].set_text(_("deg")) w[axis + "scaleunits"].set_text(_("Steps / deg")) elif d.units: w[axis + "screwunits"].set_text(_("mm / rev")) w[axis + "velunits"].set_text(_("mm / s")) w[axis + "accunits"].set_text(_("mm / s²")) w[axis + "accdistunits"].set_text(_("mm")) w[axis + "scaleunits"].set_text(_("Steps / mm")) else: w[axis + "screwunits"].set_text(_("rev / in")) w[axis + "velunits"].set_text(_("in / s")) w[axis + "accunits"].set_text(_("in / s²")) w[axis + "accdistunits"].set_text(_("in")) w[axis + "scaleunits"].set_text(_("Steps / in")) inputs = set((d.pin10, d.pin11, d.pin12, d.pin13, d.pin15)) thisaxishome = set((ALL_HOME, "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis)) homes = bool(inputs & thisaxishome) w[axis + "homesw"].set_sensitive(homes) w[axis + "homevel"].set_sensitive(homes) w[axis + "latchdir"].set_sensitive(homes) w[axis + "steprev"].grab_focus() gobject.idle_add(lambda: self.update_pps(axis)) 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("pulleynum") get_text("pulleyden") get_text("leadscrew") get_text("maxvel") get_text("maxacc") get_text("homepos") get_text("minlim") get_text("maxlim") get_text("homesw") get_text("homevel") get_active("latchdir") 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_back(self, *args): self.axis_done('x') def on_yaxis_back(self, *args): self.axis_done('y') def on_zaxis_back(self, *args): self.axis_done('z') if self.data.axes == 2: self.widgets.druid1.set_page(self.widgets.xaxis) return True def on_aaxis_back(self, *args): self.axis_done('a') 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_spindle_prepare(self, *args): self.widgets['spindlecarrier'].set_text("%s" % self.data.spindlecarrier) self.widgets['spindlespeed1'].set_text("%s" % self.data.spindlespeed1) self.widgets['spindlespeed2'].set_text("%s" % self.data.spindlespeed2) self.widgets['spindlepwm1'].set_text("%s" % self.data.spindlepwm1) self.widgets['spindlepwm2'].set_text("%s" % self.data.spindlepwm2) self.widgets['spindlecpr'].set_text("%s" % self.data.spindlecpr) data = self.data if PHA in (data.pin10, data.pin11, data.pin12, data.pin13, data.pin15): self.widgets.spindlecpr.set_sensitive(1) else: self.widgets.spindlecpr.set_sensitive(0) def on_spindle_next(self, *args): 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 on_advanced_prepare(self, *args): 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.radiobutton8.set_active(True) 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.widgets.ladderconnect.set_active(self.data.ladderconnect) self.widgets.pyvcpconnect.set_active(self.data.pyvcpconnect) 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.radiobutton4.set_active(True) def on_advanced_next(self, *args): self.data.pyvcp = self.widgets.pyvcp.get_active() 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() self.data.pyvcpconnect = self.widgets.pyvcpconnect.get_active() self.data.ladderconnect = self.widgets.ladderconnect.get_active() if self.data.classicladder: if self.widgets.radiobutton1.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.radiobutton2.get_active() == True: self.data.laddername = 'estop.clp' inputs = set((self.data.pin10,self.data.pin11,self.data.pin12,self.data.pin13,self.data.pin15)) if ESTOP_IN not in inputs: self.warning_dialog(_("You need to designate an E-stop input pin in the Parallel Port Setup page for this program."),True) self.widgets.druid1.set_page(self.widgets.advanced) return True self.data.ladderhaltype = 1 if self.widgets.radiobutton3.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.radiobutton4.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.radiobutton1.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 if self.data.pyvcp == True: if self.widgets.radiobutton5.get_active() == True: self.data.pyvcpname = "blank.xml" self.pyvcphaltype = 0 if self.widgets.radiobutton6.get_active() == True: self.data.pyvcpname = "spindle.xml" self.data.pyvcphaltype = 1 if self.widgets.radiobutton8.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 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_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.radiobutton1.set_sensitive(i) self.widgets.radiobutton2.set_sensitive(i) self.widgets.radiobutton3.set_sensitive(i) if self.widgets.createconfig.get_active(): self.widgets.radiobutton4.set_sensitive(False) else: self.widgets.radiobutton4.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) self.widgets.clpins_expander.set_sensitive(i) def on_pyvcp_toggled(self,*args): i= self.widgets.pyvcp.get_active() self.widgets.radiobutton5.set_sensitive(i) self.widgets.radiobutton6.set_sensitive(i) if self.widgets.createconfig.get_active(): self.widgets.radiobutton8.set_sensitive(False) else: self.widgets.radiobutton8.set_sensitive(i) self.widgets.displaypanel.set_sensitive(i) self.widgets.pyvcpconnect.set_sensitive(i) def on_displaypanel_clicked(self,*args): print"clicked" self.testpanel(self) def on_complete_back(self, *args): self.widgets.druid1.set_page(self.widgets.advanced) return True def on_xaxis_next(self, *args): self.axis_done('x') if self.data.axes == 2: self.widgets.druid1.set_page(self.widgets.zaxis) return True def on_yaxis_next(self, *args): self.axis_done('y') 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) else: self.widgets.druid1.set_page(self.widgets.advanced) 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 has_spindle_speed_control(self): d = self.data return PWM in (d.pin1, d.pin2, d.pin3, d.pin4, d.pin5, d.pin6, d.pin7, d.pin8, d.pin9, d.pin14, d.pin16) or \ PPR in (d.pin10, d.pin11, d.pin12, d.pin13, d.pin15) or \ PHA in (d.pin10, d.pin11, d.pin12, d.pin13, d.pin15) \ def update_pps(self, axis): 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("steprev") * get("microstep") * (get("pulleynum") / get("pulleyden")) * get("maxvel")) if pps == 0: raise ValueError pps = abs(pps) acctime = get("maxvel") / get("maxacc") accdist = acctime * .5 * get("maxvel") w[axis + "acctime"].set_text("%.4f" % acctime) w[axis + "accdist"].set_text("%.4f" % accdist) w[axis + "hz"].set_text("%.1f" % pps) scale = self.data[axis + "scale"] = (1.0 * pitch * get("steprev") * get("microstep") * (get("pulleynum") / get("pulleyden"))) w[axis + "scale"].set_text("%.1f" % scale) self.widgets.druid1.set_buttons_sensitive(1,1,1,1) w[axis + "axistest"].set_sensitive(1) except (ValueError, ZeroDivisionError): # Some entries not numbers or not valid w[axis + "acctime"].set_text("") 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 + "axistest"].set_sensitive(0) 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_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_complete_finish(self, *args): 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.radiobutton8.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(15, 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 update_axis_params(self, *args): axis = self.axis_under_test if axis is None: return halrun = self.halrun halrun.write(""" setp stepgen.0.maxaccel %(accel)f setp stepgen.0.maxvel %(vel)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 %(vel)f setp steptest.0.dir %(dir)s """ % { 'jogminus': self.jogminus, 'jogplus': self.jogplus, 'run': self.widgets.run.get_active(), 'amplitude': self.widgets.testamplitude.get_value(), 'accel': self.widgets.testacc.get_value(), 'vel': self.widgets.testvel.get_value(), 'dir': self.widgets.testdir.get_active(), }) 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 testpanel(self,w): panelname = os.path.join(distdir, "configurable_options/pyvcp") if self.widgets.radiobutton5.get_active() == True: return True if self.widgets.radiobutton6.get_active() == True: panel = "spindle.xml" if self.widgets.radiobutton8.get_active() == True: panel = "custompanel.xml" panelname = os.path.expanduser("~/emc2/configs/%s" % self.data.machinename) self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -sf > /dev/null"% {'panelname':panelname,}, "w" ) halrun.write("loadusr -Wn displaytest pyvcp -c displaytest %(panel)s\n" %{'panel':panel,}) if self.widgets.radiobutton6.get_active() == True: halrun.write("setp displaytest.spindle-speed 1000\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.radiobutton1.get_active() == True: if self.data.tempexists: self.data.laddername='TEMP.clp' else: self.data.laddername= 'blank.clp' if self.widgets.radiobutton2.get_active() == True: self.data.laddername= 'estop.clp' if self.widgets.radiobutton3.get_active() == True: self.data.laddername = 'serialmodbus.clp' self.data.modbus = True self.widgets.modbus.set_active(self.data.modbus) if self.widgets.radiobutton4.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.radiobutton1.set_active(True) else: self.data.tempexists = 0 def test_axis(self, axis): data = self.data widgets = self.widgets vel = float(widgets[axis + "maxvel"].get_text()) acc = float(widgets[axis + "maxacc"].get_text()) scale = data[axis + "scale"] maxvel = 1.5 * vel period = int(1e9 / maxvel / scale) steptime = self.widgets.steptime.get_value() stepspace = self.widgets.stepspace.get_value() latency = self.widgets.latency.get_value() minperiod = self.data.minperiod() if period < minperiod: period = minperiod maxvel = 1e9 / minperiod / abs(scale) if period > 100000: period = 100000 self.halrun = halrun = os.popen("halrun -sf > /dev/null", "w") axnum = "xyza".index(axis) step = axis + "step" dir = axis + "dir" halrun.write(""" loadrt steptest loadrt stepgen step_type=0 loadrt probe_parport loadrt hal_parport cfg=%(ioaddr)s loadrt threads period1=%(period)d name1=fast fp1=0 period2=1000000 name2=slow\n addf stepgen.make-pulses fast addf parport.0.write fast addf stepgen.capture-position slow addf steptest.0 slow addf stepgen.update-freq slow net step stepgen.0.step => parport.0.pin-%(steppin)02d-out net dir stepgen.0.dir => parport.0.pin-%(dirpin)02d-out net cmd steptest.0.position-cmd => stepgen.0.position-cmd net fb stepgen.0.position-fb => steptest.0.position-fb setp parport.0.pin-%(steppin)02d-out-reset 1 setp stepgen.0.steplen 1 setp stepgen.0.dirhold %(dirhold)d setp stepgen.0.dirsetup %(dirsetup)d setp stepgen.0.position-scale %(scale)f setp steptest.0.epsilon %(onestep)f setp stepgen.0.enable 1 """ % { 'period': period, 'ioaddr': data.ioaddr, 'steppin': data.find_output(step), 'dirpin': data.find_output(dir), 'dirhold': data.dirhold + data.latency, 'dirsetup': data.dirsetup + data.latency, 'onestep': abs(1. / data[axis + "scale"]), 'scale': data[axis + "scale"], }) if data.doublestep(): halrun.write(""" setp parport.0.reset-time %(resettime)d setp stepgen.0.stepspace 0 addf parport.0.reset fast """ % { 'resettime': data['steptime'] }) amp = data.find_output(AMP) if amp: halrun.write("setp parport.0.pin-%(enablepin)02d-out 1\n" % {'enablepin': amp}) estop = data.find_output(ESTOP) if estop: halrun.write("setp parport.0.pin-%(estoppin)02d-out 1\n" % {'estoppin': estop}) for pin in 1,2,3,4,5,6,7,8,9,14,16,17: inv = getattr(data, "pin%dinv" % pin) if inv: halrun.write("setp parport.0.pin-%(pin)02d-out-invert 1\n" % {'pin': pin}) widgets.dialog1.set_title(_("%s Axis Test") % axis.upper()) if axis == "a": widgets.testvelunit.set_text(_("deg / s")) widgets.testaccunit.set_text(_("deg / s²")) widgets.testampunit.set_text(_("deg")) widgets.testvel.set_increments(1,5) widgets.testacc.set_increments(1,5) widgets.testamplitude.set_increments(1,5) widgets.testvel.set_range(0, maxvel) widgets.testacc.set_range(1, 360000) widgets.testamplitude.set_range(0, 1440) widgets.testvel.set_digits(1) widgets.testacc.set_digits(1) widgets.testamplitude.set_digits(1) widgets.testamplitude.set_value(10) elif data.units: widgets.testvelunit.set_text(_("mm / s")) widgets.testaccunit.set_text(_("mm / s²")) widgets.testampunit.set_text(_("mm")) widgets.testvel.set_increments(1,5) widgets.testacc.set_increments(1,5) widgets.testamplitude.set_increments(1,5) widgets.testvel.set_range(0, maxvel) widgets.testacc.set_range(1, 100000) widgets.testamplitude.set_range(0, 1000) widgets.testvel.set_digits(2) widgets.testacc.set_digits(2) widgets.testamplitude.set_digits(2) widgets.testamplitude.set_value(.5) else: widgets.testvelunit.set_text(_("in / s")) widgets.testaccunit.set_text(_("in / s²")) widgets.testampunit.set_text(_("in")) widgets.testvel.set_increments(.1,5) widgets.testacc.set_increments(1,5) widgets.testamplitude.set_increments(.1,5) widgets.testvel.set_range(0, maxvel) widgets.testacc.set_range(1, 3600) widgets.testamplitude.set_range(0, 36) widgets.testvel.set_digits(1) widgets.testacc.set_digits(1) widgets.testamplitude.set_digits(1) widgets.testamplitude.set_value(15) self.jogplus = self.jogminus = 0 self.widgets.testdir.set_active(0) self.widgets.run.set_active(0) self.widgets.testacc.set_value(acc) self.widgets.testvel.set_value(vel) self.axis_under_test = axis self.update_axis_params() halrun.write("start\n"); halrun.flush() widgets.dialog1.show_all() result = widgets.dialog1.run() widgets.dialog1.hide() if amp: halrun.write("""setp parport.0.pin-%02d-out 0\n""" % amp) if estop: halrun.write("""setp parport.0.pin-%02d-out 0\n""" % estop) time.sleep(.001) halrun.close() if result == gtk.RESPONSE_OK: widgets[axis+"maxacc"].set_text("%s" % widgets.testacc.get_value()) widgets[axis+"maxvel"].set_text("%s" % widgets.testvel.get_value()) self.axis_under_test = None 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()