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#!/usr/bin/env python3
'''
This class is used to get information from a config.ini file,
It will return cleared information, so the checks for valid values
is away from the GUI code
Copyright 2014 Norbert Schechner
nieson@web.de
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.
'''
from linuxcnc import ini
import os
import operator
# Set up logging
from qtvcp import logger
LOG = logger.getLogger(__name__)
# Force the log level for this module
# LOG.setLevel(logger.DEBUG) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL
CONFIGPATH = os.environ['CONFIG_DIR']
class GetIniInfo:
def __init__(self):
inipath = os.environ["INI_FILE_NAME"]
self.inifile = ini(inipath)
if not self.inifile:
LOG.critical("Error, no INI File given !!")
sys.exit()
def get_cycle_time(self):
temp = self.inifile.find("DISPLAY", "CYCLE_TIME")
try:
return int(temp)
except:
message = ("Wrong entry [DISPLAY] CYCLE_TIME in INI File! ")
message += ("Will use gmoccapy default 150")
LOG.warning(message)
return 150
def get_postgui_halfile(self):
postgui_halfile = self.inifile.findall("HAL", "POSTGUI_HALFILE") or None
return postgui_halfile
def get_preference_file_path(self):
# we get the preference file, if there is none given in the INI
# we use gmoccapy.pref in the config dir
temp = self.inifile.find("DISPLAY", "PREFERENCE_FILE_PATH")
if not temp:
machinename = self.inifile.find("EMC", "MACHINE")
if not machinename:
temp = os.path.join(CONFIGPATH, "gmoccapy.pref")
else:
machinename = machinename.replace(" ", "_")
temp = os.path.join(CONFIGPATH, "%s.pref" % machinename)
LOG.info("Preference file path: %s" % temp)
return temp
def get_coordinates(self):
temp = self.inifile.find("TRAJ", "COORDINATES")
# get rid of the spaces, if there are some
temp = temp.replace(' ','')
if not temp:
LOG.warning("No coordinates entry found in [TRAJ] of INI file, will use XYZ as default")
temp = "xyz"
return temp.lower()
def get_joints(self):
temp = self.inifile.find("KINS", "JOINTS")
if not temp:
LOG.warning("No JOINTS entry found in [KINS] of INI file, will use 3 as default")
return (3)
return int(temp)
def get_axis_list(self):
axis_list = []
coordinates = self.get_coordinates()
for joint, axisletter in enumerate(coordinates):
if axisletter in axis_list:
continue
axis_list.append(axisletter)
# to much axes given, can only handle 9
if len(axis_list) > 9:
message = _("**** gmoccapy can only handle 9 axis, but you have given {0} through your INI file. ").format(len(axis_list))
message += _("gmoccapy will not start ****\n")
LOG.critical(message)
#dialogs.warning_dialog(self, _("Very critical situation"), message, sound = False)
sys.exit()
return axis_list
def get_joint_axis_relation(self):
# we will find out the relation between joint and axis.
temp = self.inifile.find("KINS", "KINEMATICS").split()
# follow the order given in $ man trivkins
# Joint numbers are assigned sequentially according to the axis letters
# specified with the coordinates parameter.
#
# If the coordinates parameter is omitted, joint numbers are assigned
# sequentially to every known axis letter ("xyzabcuvw").
joint_axis_dic = {}
coordinates = None
for entry in temp:
LOG.debug("Entry = {0}".format(entry))
if "coordinates" in entry.lower():
coordinates = entry.split("=")[1].lower()
LOG.debug("found the following coordinates {0}".format(coordinates))
if not coordinates:
LOG.warning("No coordinates found in [KINS] KINEMATICS, we will use order from [TRAJ] COORDINATES.")
coordinates = self.get_coordinates()
# at this point we should have the coordinates of the config, we will check if the amount of
# coordinates does match the [KINS] JOINTS part
LOG.debug("Number of joints = {0}".format(self.get_joints()))
LOG.debug("{0} COORDINATES found = {1}".format(len(coordinates), coordinates))
# let us check if there are double letters, as that would be a gantry machine
double_axis_letter = []
for axisletter in ["x", "y", "z", "a", "b", "c", "u", "v", "w"]:
if coordinates.count(axisletter) > 1:
# OK we have a special case here, we need to take care off
# i.e. a Gantry XYYZ config
double_axis_letter.append(axisletter)
LOG.debug("Found double letter {0}".format(double_axis_letter))
if self.get_joints() == len(coordinates):
prev_double_axis_leter = ""
for joint, axisletter in enumerate(coordinates):
if axisletter in double_axis_letter:
if axisletter != prev_double_axis_leter:
count = 0
prev_double_axis_leter = axisletter
axisletter = axisletter + str(count)
count += 1
joint_axis_dic[joint] = axisletter
LOG.debug("joint {0} = axis {1}".format(joint, joint_axis_dic[joint]))
else:
LOG.warning("Amount of joints from [KINS]JOINTS= is not identical with axisletters "
"given in [TRAJ]COORDINATES or [KINS]KINEMATICS.\n"
"Will use the old style used prior to joint axis branch merge, see man trivkins for details.\n"
"It is strongly recommended to update your config.\n"
"For all unused joints an entry like [JOINT_3]HOME_SEQUENCE = 0 in your "
"INI File is needed to get the <<all homed>> signal and be able "
"to switch to MDI or AUTO Mode.")
for joint, axisletter in enumerate(["x", "y", "z", "a", "b", "c", "u", "v", "w"]):
if axisletter in coordinates:
joint_axis_dic[joint] = axisletter
LOG.debug(joint_axis_dic)
#return sorted(joint_axis_dic, key=joint_axis_dic.get, reverse=False)
return joint_axis_dic, double_axis_letter
def get_trivial_kinematics(self):
temp = self.inifile.find("KINS", "KINEMATICS").split()
LOG.debug("[KINS] KINESTYPE is {0}".format(temp[0]))
if temp[0].lower() == "trivkins":
for element in temp:
if "BOTH" in element.upper():
LOG.warning("Found kinstype=BOTH but using trivkins. "
"It is not recommended to do so! "
"Will use mode to switch between Joints and World mode, "
"hopefully supported by the used <<{0}>> module.".format(temp[0]))
return False
return True
else:
LOG.debug("Will use mode to switch between Joints and World mode")
LOG.debug("hopefully supported by the used <<{0}>> module\n".format(temp[0]))
# I.e.
# pumakins = 6 axis XYZABC
# scarakins = 4 axis XYZA
# genhexkins = 6 axis XYZABC
return False
def get_no_force_homing(self):
temp = self.inifile.find("TRAJ", "NO_FORCE_HOMING")
if not temp or temp == "0":
return False
return True
def get_position_feedback_actual(self):
temp = self.inifile.find("DISPLAY", "POSITION_FEEDBACK")
if not temp or temp == "0":
return True
if temp.lower() == "actual":
return True
else:
return False
def get_lathe(self):
temp = self.inifile.find("DISPLAY", "LATHE")
if not temp or temp == "0":
return False
return True
def get_backtool_lathe(self):
temp = self.inifile.find("DISPLAY", "BACK_TOOL_LATHE")
if not temp or temp == "0":
return False
return True
def get_lathe_wear_offsets(self):
temp = self.inifile.find("DISPLAY", "LATHE_WEAR_OFFSETS")
if not temp or temp == "0":
return False
return True
def get_jog_vel(self):
# get default jog velocity
# must convert from INI's units per second to gmoccapy's units per minute
temp = self.inifile.find("TRAJ", "DEFAULT_LINEAR_VELOCITY")
if not temp:
temp = self.inifile.find("TRAJ", "MAX_LINEAR_VELOCITY" )
if temp:
temp = float(temp) / 2
LOG.warning("No DEFAULT_LINEAR_VELOCITY entry found in [TRAJ] of INI file. Using half on MAX_LINEAR_VELOCITY.")
else:
temp = 3.0
LOG.warning("No DEFAULT_LINEAR_VELOCITY entry found in [TRAJ] of INI file. Using default value of 180 units / min.")
return float(temp) * 60
def get_max_jog_vel(self):
# get max jog velocity
# must convert from INI's units per second to gmoccapy's units per minute
temp = self.inifile.find("TRAJ", "MAX_LINEAR_VELOCITY")
if not temp:
temp = 10.0
LOG.warning("No MAX_LINEAR_VELOCITY entry found in [TRAJ] of INI file. Using default value of 600 units / min.")
return float(temp) * 60
def get_default_ang_jog_vel(self):
# get default angular jog velocity
temp = self.inifile.find("DISPLAY", "DEFAULT_ANGULAR_VELOCITY")
if not temp:
temp = 360.0
LOG.warning("No DEFAULT_ANGULAR_VELOCITY entry found in [DISPLAY] of INI file. Using default value of 360 degree / min.")
return float(temp)
def get_max_ang_jog_vel(self):
# get max angular velocity
temp = self.inifile.find("DISPLAY", "MAX_ANGULAR_VELOCITY")
if not temp:
temp = 3600.0
LOG.warning("No MAX_ANGULAR_VELOCITY entry found in [DISPLAY] of INI file. Using default value of 3600 degree / min.")
return float(temp)
def get_min_ang_jog_vel(self):
# get min angular velocity
temp = self.inifile.find("DISPLAY", "MIN_ANGULAR_VELOCITY")
if not temp:
temp = 0.1
LOG.warning("No MIN_ANGULAR_VELOCITY entry found in [DISPLAY] of INI file. Using default value of 0.1 degree / min.")
return float(temp)
def get_default_spindle_speed(self):
# check for default spindle speed settings
temp = self.inifile.find("DISPLAY", "DEFAULT_SPINDLE_SPEED")
if not temp:
temp = 300
LOG.warning("No DEFAULT_SPINDLE_SPEED entry found in [DISPLAY] of INI file")
return float(temp)
def get_max_spindle_override(self):
# check for override settings
temp = self.inifile.find("DISPLAY", "MAX_SPINDLE_OVERRIDE")
if not temp:
temp = 1.0
LOG.warning("No MAX_SPINDLE_OVERRIDE entry found in [DISPLAY] of INI file")
return float(temp)
def get_min_spindle_override(self):
temp = self.inifile.find("DISPLAY", "MIN_SPINDLE_OVERRIDE")
if not temp:
temp = 0.1
LOG.warning("No MIN_SPINDLE_OVERRIDE entry found in [DISPLAY] of INI file")
return float(temp)
def get_max_feed_override(self):
temp = self.inifile.find("DISPLAY", "MAX_FEED_OVERRIDE")
if not temp:
temp = 1.0
LOG.warning("No MAX_FEED_OVERRIDE entry found in [DISPLAY] of INI file")
return float(temp)
def get_embedded_tabs(self):
# Check INI file for embed commands
# NAME is used as the tab label if a notebook is used
# LOCATION is the widgets name from the gladefile.
# COMMAND is the actual program command
# if no location is specified the main notebook is used
tab_names = self.inifile.findall("DISPLAY", "EMBED_TAB_NAME")
tab_location = self.inifile.findall("DISPLAY", "EMBED_TAB_LOCATION")
tab_cmd = self.inifile.findall("DISPLAY", "EMBED_TAB_COMMAND")
if len(tab_names) != len(tab_cmd):
return False, False, False
if len(tab_location) != len(tab_names):
for num, i in enumerate(tab_names):
try:
if tab_location[num]:
continue
except:
tab_location.append("notebook_mode")
return tab_names, tab_location, tab_cmd
def get_parameter_file(self):
temp = self.inifile.find("RS274NGC", "PARAMETER_FILE")
if not temp:
return False
return temp
def get_program_prefix(self):
# and we want to set the default path
default_path = self.inifile.find("DISPLAY", "PROGRAM_PREFIX")
if not default_path:
LOG.warning("Path {0} from DISPLAY , PROGRAM_PREFIX does not exist, ".format(default_path)\
+ "trying default path...")
default_path = "~/linuxcnc/nc_files/"
if not os.path.exists(os.path.expanduser(default_path)):
LOG.warning("Default path to ~/linuxcnc/nc_files does not exist, setting now home as path.")
default_path = os.path.expanduser("~/")
return default_path
def get_file_ext(self):
file_ext = self.inifile.findall("FILTER", "PROGRAM_EXTENSION")
if file_ext:
ext_list = ["*.ngc"]
for data in file_ext:
raw_ext = data.split(",")
for extension in raw_ext:
ext = extension.split()
ext_list.append(ext[0].replace(".", "*."))
else:
LOG.warning("Error converting the file extensions from INI file [FILTER]PROGRAM_PREFIX, "
"using as default '*.ngc'")
ext_list = ["*.ngc"]
return ext_list
def get_increments(self):
jog_increments = []
increments = self.inifile.find("DISPLAY", "INCREMENTS")
if increments:
if "," in increments:
for i in increments.split(","):
jog_increments.append(i.strip())
else:
jog_increments = increments.split()
jog_increments.insert(0, 0)
else:
jog_increments = [0, "1.000", "0.100", "0.010", "0.001"]
LOG.warning("No default jog increments entry found in [DISPLAY] of INI file. Using default values.")
return jog_increments
def get_toolfile(self):
temp = self.inifile.find("EMCIO", "TOOL_TABLE")
if not temp:
return False
return temp
def get_tool_sensor_data(self):
xpos = self.inifile.find("TOOLSENSOR", "X")
ypos = self.inifile.find("TOOLSENSOR", "Y")
zpos = self.inifile.find("TOOLSENSOR", "Z")
maxprobe = self.inifile.find("TOOLSENSOR", "MAXPROBE")
return xpos, ypos, zpos, maxprobe
def get_macros(self):
# lets look in the INI file, if there are any entries
macros = self.inifile.findall("MACROS", "MACRO")
# If there are no entries we will return False
if not macros:
return False
# we need the subroutine paths to check where to search for the macro files
subroutine_paths = self.get_subroutine_paths()
if not subroutine_paths:
return False
# we do check, if the corresponding files to the macros do exist
checked_macros =[]
for macro in macros:
found = False
for path in subroutine_paths.split(":"):
file = path + "/" + macro.split()[0] + ".ngc"
if os.path.isfile( file ):
checked_macros.append(macro)
found = True
break
if not found: # report error!
message = ("File %s of the macro %s could not be found. " %((str(macro.split()[0]) + ".ngc"),[macro]) )
message += ("We searched in subdirectories: %s" %subroutine_paths.split(":"))
LOG.info(message)
return checked_macros
def get_subroutine_paths(self):
subroutines_paths = self.inifile.find("RS274NGC", "SUBROUTINE_PATH")
if not subroutines_paths:
message = _("No subroutine folder or program prefix is given in the INI file!")
LOG.warning(message)
subroutines_paths = self.get_program_prefix()
if not subroutines_paths:
return False
return subroutines_paths
def get_axis_2_min_limit(self):
# needed to calculate the offset for automated tool measurement
temp = self.inifile.find("AXIS_2", "MIN_LIMIT")
if not temp:
return False
return float(temp)
def get_RS274_start_code(self):
temp = self.inifile.find("RS274NGC", "RS274NGC_STARTUP_CODE")
if not temp:
temp = ""
return temp
def get_user_messages(self):
message_text = self.inifile.findall("DISPLAY", "MESSAGE_TEXT")
message_type = self.inifile.findall("DISPLAY", "MESSAGE_TYPE")
message_pinname = self.inifile.findall("DISPLAY", "MESSAGE_PINNAME")
if len(message_text) != len(message_type) or len(message_text) != len(message_pinname):
LOG.warning("ERROR in user message setup")
return None
else:
for element in message_pinname:
if " " in element:
LOG.warning("ERROR in user message setup. Pin name should not contain spaces.")
return None
messages = list(zip(message_text, message_type, message_pinname))
return messages
def get_machine_units(self):
units = self.inifile.find("TRAJ", "LINEAR_UNITS")
if units == "mm" or units == "cm" or units == "inch":
return units
else:
LOG.warning("ERROR getting machine units. "
"Please check [TRAJ] LINEAR_UNITS for a valid entry, found {0}.".format(units))
return None
def get_user_command_file(self):
temp = self.inifile.find("DISPLAY", "USER_COMMAND_FILE")
if temp:
LOG.info("USER_COMMAND_FILE = " + temp)
return temp
def get_user_css_file(self):
temp = self.inifile.find("DISPLAY", "USER_CSS_FILE")
if temp:
LOG.info("USER_CSS_FILE = " + temp)
return temp
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