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#!/usr/bin/env python3
# This is a component of AXIS, a front-end for linuxcnc
# Copyright 2004, 2005, 2006 Jeff Epler <jepler@unpythonic.net>
# and Chris Radek <chris@timeguy.com>
#
# 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
import sys, os
import linuxcnc, time
import rs274.options
import gettext
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
gettext.install("linuxcnc", localedir=os.path.join(BASE, "share", "locale"))
if len(sys.argv) > 1 and sys.argv[1] == '-ini':
ini = linuxcnc.ini(sys.argv[2])
linuxcnc.nmlfile = ini.find("EMC", "NML_FILE") or linuxcnc.nmlfile
del sys.argv[1:3]
s = linuxcnc.stat(); s.poll()
def show_spindles(l):
ct = 0; s = ""
for d in l:
for key in d:
s = s+"%d %20s %s\n"% (ct,key,d[key])
ct = ct+1
return s
def show_mcodes(l):
return " ".join(["M%g" % i for i in l[1:] if i != -1])
def show_gcodes(l):
return " ".join(["G%g" % (i/10.) for i in l[1:] if i != -1])
def show_position(p):
return " ".join(["%-8.4f" % n for i, n in enumerate(p) if s.axis_mask & (1<<i)])
joint_position = " ".join(["%-8.4f"] * s.joints)
def show_joint_position(p):
return joint_position % p[:s.joints]
perjoint = " ".join(["%s"] * s.joints)
def show_perjoint(p):
return perjoint % p[:s.joints]
def show_float(p): return "%-8.4f" % p
def show_floats(s): return " ".join(show_float(p) for p in s)
def show_ints(s): return " ".join(str(bool(p)) for p in s)
maps = {
'exec_state': {linuxcnc.EXEC_ERROR: 'error',
linuxcnc.EXEC_DONE: 'done',
linuxcnc.EXEC_WAITING_FOR_MOTION: 'motion',
linuxcnc.EXEC_WAITING_FOR_MOTION_QUEUE: 'motion queue',
linuxcnc.EXEC_WAITING_FOR_IO: 'io',
linuxcnc.EXEC_WAITING_FOR_MOTION_AND_IO: 'motion and io',
linuxcnc.EXEC_WAITING_FOR_DELAY: 'delay',
linuxcnc.EXEC_WAITING_FOR_SYSTEM_CMD: 'system command',
linuxcnc.EXEC_WAITING_FOR_SPINDLE_ORIENTED: 'spindle orient'},
'motion_mode':{linuxcnc.TRAJ_MODE_FREE: 'free', linuxcnc.TRAJ_MODE_COORD: 'coord',
linuxcnc.TRAJ_MODE_TELEOP: 'teleop'},
'interp_state':{linuxcnc.INTERP_IDLE: 'idle', linuxcnc.INTERP_PAUSED: 'paused',
linuxcnc.INTERP_READING: 'reading', linuxcnc.INTERP_WAITING: 'waiting'},
'task_state': {linuxcnc.STATE_ESTOP: 'estop', linuxcnc.STATE_ESTOP_RESET: 'estop reset',
linuxcnc.STATE_ON: 'on', linuxcnc.STATE_OFF: 'off'},
'task_mode': {linuxcnc.MODE_AUTO: 'auto', linuxcnc.MODE_MDI: 'mdi',
linuxcnc.MODE_MANUAL: 'manual'},
'state': {1: 'rcs_done', 2: 'rcs_exec', 3: 'rcs_error'},
'motion_type': {0: 'none', 1: 'traverse', 2: 'feed', 3: 'arc', 4: 'toolchange', 5: 'probing'},
'program_units': {1: 'inch', 2: 'mm'},
'kinematics_type': {linuxcnc.KINEMATICS_IDENTITY: 'identity', linuxcnc.KINEMATICS_FORWARD_ONLY: 'forward_only',
linuxcnc.KINEMATICS_INVERSE_ONLY: 'inverse_only', linuxcnc.KINEMATICS_BOTH: 'both'},
'mcodes': show_mcodes, 'gcodes': show_gcodes, 'poll': None, 'tool_table': None,
'spindle':show_spindles,
'axis': None, 'joint': None, 'gettaskfile': None,
'actual_position': show_position,
'position': show_position,
'dtg': show_position,
'origin': show_position,
'rotation_xy': show_float,
'probed_position': show_position,
'tool_offset': show_position,
'g5x_offset': show_position,
'g92_offset': show_position,
'linear_units': show_float,
'max_acceleration': show_float,
'max_velocity': show_float,
'angular_units': show_float,
'distance_to_go': show_float,
'current_vel': show_float,
'ain': show_floats,
'aout': show_floats,
'din': show_ints,
'dout': show_ints,
'settings': show_floats,
'limit': show_perjoint,
'homed': show_perjoint,
'joint_position': show_joint_position,
'joint_actual_position': show_joint_position,
}
if s.kinematics_type == 1:
maps['joint_position'] = None
maps['joint_actual_position'] = None
def gui():
import tkinter
from _tkinter import TclError
root = tkinter.Tk(className="LinuxCNCTop")
rs274.options.install(root)
root.title(_("LinuxCNC Status"))
t = tkinter.Text(wrap="word")
sb = tkinter.Scrollbar(command=t.yview)
t.configure(yscrollcommand=sb.set)
t.configure(tabs=150)
base_font = t.tk.call("set", "BASE_FONT")
fixed_font = t.tk.call("set", "FIXED_FONT")
t.tag_configure("key", foreground="blue", font=base_font)
t.tag_configure("value", foreground="black", font=fixed_font, lmargin1=150, lmargin2=150)
t.tag_configure("changedvalue", foreground="black", background="red", font=fixed_font, lmargin1=150, lmargin2=150)
t.tag_configure("sel", foreground="white")
t.tag_raise("sel")
t.bind("<KeyPress>", "break")
b = tkinter.Button(text=_("Copy All"),
command="%s tag add sel 0.0 end; tk_textCopy %s" % (t, t))
b.pack(side="bottom", anchor="sw")
t.pack(side="left", expand=1, fill="both")
sb.pack(side="left", expand=0, fill="y")
changetime = {}
oldvalues = {}
def timer():
try:
s.poll()
except linuxcnc.error:
root.destroy()
selection = t.tag_ranges("sel")
insert_point = t.index("insert")
insert_gravity = t.mark_gravity("insert")
try:
anchor_point = t.index("anchor")
anchor_gravity = t.mark_gravity("anchor")
except TclError:
anchor_point = None
first = True
now = time.time()
for k in dir(s):
if k.startswith("_"): continue
if k in maps and maps[k] == None: continue
v = getattr(s, k)
if k in maps:
m = maps[k]
if callable(m):
v = m(v)
else:
v = m.get(v, v)
v = str(v)
v = v.strip()
v = v or "-"
changed = oldvalues.get(k, None) != v
if changed: changetime[k] = time.time() + 2
oldvalues[k] = v
if changed:
vtag = "changedvalue"
elif k in changetime and changetime[k] < now:
vtag = "value"
if k in changetime: del changetime[k]
elif not changed:
continue
vranges = t.tag_ranges(k)
if vranges:
t.tk.call(t, "replace", "%s.first" % k, "%s.last" % k, v, (k, vtag))
else:
if first: first = False
else: t.insert("end", "\n")
t.insert("end", k, "key", "\t")
t.insert("end", v, (k, vtag))
if selection:
t.tag_add("sel", *selection)
t.mark_set("insert", insert_point)
t.mark_gravity("insert", insert_gravity)
if anchor_point is not None:
t.mark_set("anchor", anchor_point)
t.mark_gravity("anchor", anchor_gravity)
t.after(100, timer)
timer()
t.mainloop()
def text():
s.poll()
for k in dir(s):
if k.startswith("_"): continue
if k in maps and maps[k] == None: continue
v = getattr(s, k)
if k in maps:
m = maps[k]
if callable(m):
v = m(v)
else:
v = m.get(v, v)
print("%-20s %-.58s" % (k, v))
if len(sys.argv) > 1 and sys.argv[1] == '-t':
text()
else:
gui()
# vim:sw=4:sts=4:et
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