path: root/src/emc/usr_intf/mdro/mdro.py

#!/usr/bin/python3
#
# Copyright (c) 2022  Robert Bond
#
# Mdro 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.
#
# Mdro 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.
#
# Manual DRO
# Hook this one directly to the dro pins

from __future__ import print_function
import sys
import os
if sys.version_info[0] == 2:
    import Tkinter as tk
else:
    import tkinter as tk
import argparse
import time
import linuxcnc
import hal

root = tk.Tk()

# Linux cnc interface
class lc():
    def __init__(self):
        try:
            self.s = linuxcnc.stat()
            self.s.poll()
            self.c = linuxcnc.command()
            self.h = hal.component("mdro")
            self.pins = ["axis."+str(p) for p in range(params["naxes"])]
            for pin in self.pins:
                self.h.newpin(pin, hal.HAL_FLOAT, hal.HAL_IN)
            self.indexes = ["index-enable."+str(p) for p in range(params["naxes"])]
            for pin in self.indexes:
                self.h.newpin(pin, hal.HAL_BIT, hal.HAL_IO)
            self.h.ready()
            if params["verbose"]:
                print("Linuxcnc interface up")
        except:
            print("mdro: Linuxcnc interface aborted")
            exit(1)

    def poll(self):
        self.s.poll()

    def get_pins(self):
        pins = [self.h[pin] for pin in self.pins]
        if params["very_verbose"]:
            print("pins:", pins)
        return pins

    def index_ready(self, row):
        pin_name = self.indexes[row]
        return self.h[pin_name] == 0

    def set_index_enable(self, row):
        pin_name = self.indexes[row]
        if params["verbose"]:
            print(pin_name, "= 1")
        self.h[pin_name] = 1

# One of these for each DRO row
class axis_row_gui():
    def __init__(self, frame, row, text, entry_callback, index_callback):
        px = 10
        self.row = row
        self.text = text
        self.value = tk.StringVar()
        if params["mm"] == 0:
            self.cur_format = params["inch_format"]
        else:
            self.cur_format = params["mm_format"]
        self.value.set(self.cur_format.format(0.0))
        self.entry_callback = entry_callback
        self.index_callback = index_callback
        self.title = tk.Label(frame, justify=tk.RIGHT, anchor=tk.E, text=text, font=params["font1"])
        self.title.grid(row=row, column=0, columnspan=1, sticky=tk.W)
        self.vlabel = tk.Label(frame, width=10, justify=tk.RIGHT, anchor=tk.E,
                            textvariable=self.value, font=params["font1"])
        self.vlabel.grid(row=row, column=1, columnspan=1, sticky=tk.W)
        self.zero = tk.Button(frame, text="0", font=params["font2"])
        self.zero.bind("<ButtonRelease-1>", lambda event: self.zero_up(event))
        self.zero.grid(row=row, column=2, columnspan=1, padx=px, sticky=tk.W)
        self.half = tk.Button(frame, text="1/2", font=params["font2"])
        self.half.bind("<ButtonRelease-1>", lambda event: self.half_up(event))
        self.half.grid(row=row, column=3, columnspan=1, padx=px, sticky=tk.W)
        self.entry = tk.Entry(frame, width=10, justify=tk.RIGHT, font=params["font1"], bg='light gray')
        self.entry.bind("<Return>", lambda event: self.enter_hit())
        self.entry.bind("<ButtonPress-1>", lambda event: self.enter_clicked())
        self.entry.grid(row=row, column=4, columnspan=1, sticky=tk.W, padx=px)
        self.index = tk.Button(frame, text="I", font=params["font2"])
        self.index.bind("<ButtonRelease-1>", lambda event: self.index_up(event))
        self.index.grid(row=row, column=5, columnspan=1, padx=px, sticky=tk.W)
        self.disable_entry()

    def enter_hit(self):
        if params["verbose"]:
            print("enter_hit")
        try:
            v = float(self.entry.get())
        except:
            print('\a')
            return
        self.entry_callback(self.row, v)
        self.entry.delete(0, tk.END)

    def enter_clicked(self):
        if params["verbose"]:
            print("enter_clicked")
        self.entry_callback(self.row, None)

    def zero_up(self, event):
        if params["verbose"]:
            print("zero_up")
        self.entry_callback(self.row, 0.0)

    def half_up(self, event):
        if params["verbose"]:
            print("half_up")
        self.entry_callback(self.row, float(self.value.get())/2.0)

    def index_up(self, event):
        if params["verbose"]:
            print("index_up")
        self.index_callback(self.row)

    def set_value(self, v):
        self.value.set(self.cur_format.format(v))

    def kp_entry(self, key):
        if key == 'E':
            self.enter_hit()
            return
        if key == 'C':
            self.entry.delete(0, tk.END)
            return
        if key == '<':
            s = self.entry.get()
            self.entry.delete(0, tk.END)
            self.entry.insert(tk.END, s[:-1])
            return
        self.entry.insert(tk.END, key)

    def disable_entry(self):
        self.entry.config(state=tk.DISABLED)

    def enable_entry(self):
        self.entry.config(state=tk.NORMAL)

    def disable_index(self):
        self.index.config(state=tk.DISABLED)

    def enable_index(self):
        self.index.config(state=tk.NORMAL)

    def update_units(self, units):
        if units == "inch":
            self.cur_format = params["inch_format"]
        else:
            self.cur_format = params["mm_format"]

# The keypad
class keypad_gui():
    def __init__(self, frame, callback):
        self.kp_var = tk.StringVar()
        self.callback = callback
        rows = ((('7','7'),('8','8'),('9','9')),
                (('4','4'),('5','5'),('6','6')),
                (('1','1'),('2','2'),('3','3')),
                (('0','0'),('.','.'),('-','-')),
                (('C','C'),('\u232B','<'),('\u23CE','E')))
        px = 5
        for row, values in enumerate(rows):
            for col, e in enumerate(values):
                t, v = e
                rb = tk.Radiobutton(frame, text=t, variable=self.kp_var, value=v, width=4,
                                 indicatoron=0, command=lambda: self.kp_hit(),
                                 font=params["font1"])
                rb.grid(row=row, column=col, padx=px)

    def kp_hit(self):
        key = self.kp_var.get()
        if params["verbose"]:
            print("kp_hit", key, "0x{:04x}".format(ord(key)))
        self.callback(key)
        self.kp_var.set("")

class coord_systems():
    def __init__(self, frame, callback):
        self.callback = callback
        self.rb_var = tk.IntVar()
        self.rb_var.set(1)
        if not params["preload"] is None:
            self.coord_sys = ['MCS', 'G54', 'G55', 'G56', 'G57']
        else:
            self.coord_sys = ['MCS', 'CS1', 'CS2', 'CS3', 'CS4']
        self.coords = []
        for i in range(len(self.coord_sys)):
            self.coords.append([0.0]*params["naxes"])
        if not params["preload"] is None:
            self.preload_cs()
        self.cur_idx = 1
        self.cur_sys = self.coords[self.cur_idx]
        for row, cs in enumerate(self.coord_sys):
            rb = tk.Radiobutton(frame, text=cs, variable=self.rb_var, value=row, width=6,
                     indicatoron=0, command=lambda: self.rb_hit(),
                     font=params["font1"])
            rb.grid(row=row, column=0, columnspan=1, padx=5)
        self.last_units_factor = 1.0

    def rb_hit(self):
        self.cur_idx = self.rb_var.get()
        if params["verbose"]:
            print("rb_hit", self.coord_sys[self.cur_idx])
        self.cur_sys = self.coords[self.cur_idx]
        self.callback(self.cur_idx)

    def update_units(self, units_factor):
        for i in range(len(self.coords)):
            for j in range(len(self.coords[i])):
                self.coords[i][j] /= self.last_units_factor
                self.coords[i][j] *= units_factor
        self.last_units_factor = units_factor

    def preload_cs(self):
        valid_axes = list("XYZABCUVW")
        for a in params["axes"]:
            if not (a in valid_axes or a.upper() in valid_axes):
                print('mdro: Axes must be one of "XYZABCUVW"')
                exit(1)
        if not os.path.isfile(params["preload"]):
            print("mdro: Could not find", params["preload"])
            exit(1)
        number_to_load = (len(self.coord_sys) - 1)*20
        max_idx = 5221 + number_to_load
        self.vc = [0.0] * number_to_load
        with open(params["preload"], 'r') as f:
            for line in f:
                line = line.strip()
                fields = line.split()
                try:
                    idx = int(fields[0])
                    v = float(fields[1])
                except:
                    print("mdro: Invalid parameter file:", var_file)
                    exit(1)
                if idx >= max_idx:
                    break
                if idx >= 5221:
                    self.vc[idx - 5221] = v
        axis_idx = {}
        for i, a in enumerate(valid_axes):
            axis_idx[a] = i
            axis_idx[a.lower()] = i
        for i in range(1, len(self.coord_sys)):
            for j, a in enumerate(params["axes"]):
                self.coords[i][j] = -(self.vc[(i - 1) * 20 + axis_idx[a]])

class main_gui():
    def __init__(self, lcnc):
        self.lcnc = lcnc

        px = 5
        py = 15

        root.title("mdro")
        self.dro_frame = tk.Frame(root)
        self.axis_row = dict()
        self.last_row = None
        self.disp_inch = tk.IntVar()
        if params["mm"]:
            self.disp_inch.set(2)
        else:
            self.disp_inch.set(0)
        self.mm_adj = [1.0, 1.0/25.4, 25.4, 1.0]
        self.units_factor = 1.0

        for row, name in enumerate(params["axes"]):
            self.axis_row[row] = axis_row_gui(self.dro_frame, row, name,
                                              self.entry_callback,
                                              self.index_callback)
            self.axis_row[row].enable_entry()
        self.dro_frame.grid(row=0, column=0, columnspan=2, padx=px, pady=py, sticky=tk.NW)

        self.keypad_frame = tk.Frame(root)
        self.keypad = keypad_gui(self.keypad_frame, self.keypad_callback)
        self.keypad_frame.grid(row=1, column=0, padx=px, pady=py, sticky=tk.NW)

        self.coord_frame = tk.Frame(root)
        self.coords = coord_systems(self.coord_frame, self.coord_callback)
        self.coord_frame.grid(row=1, column=1, padx=px, pady=py, sticky=tk.N)

        self.inch_frame = tk.Frame(root)
        self.inches = tk.Radiobutton(self.inch_frame, text="inch",
                                     variable=self.disp_inch, value=0,
                                     command=lambda: self.units_hit(),
                                     font=params["font1"])
        self.inches.grid(row=0, column=0)
        self.inches = tk.Radiobutton(self.inch_frame, text="mm",
                                     variable=self.disp_inch, value=2,
                                     command=lambda: self.units_hit(),
                                     font=params["font1"])
        self.inches.grid(row=0, column=1)
        self.inch_frame.grid(row=2, column=0, padx=px, pady=py, sticky=tk.NW)

    def units_hit(self):
        if params["verbose"]:
            print("units_hit", self.disp_inch.get())
        self.units_factor = self.mm_adj[params["mm"] + self.disp_inch.get()]
        self.coords.update_units(self.units_factor)
        if self.disp_inch.get() == 0:
            new_units = "inch"
        else:
            new_units = "mm"
        for i in range(params["naxes"]):
            self.axis_row[i].update_units(new_units)

    def entry_callback(self, row, value):
        if params["verbose"]:
            print("Entry callback", row, value)
        if value is None:
            # just a click
            if not self.last_row is None:
                self.axis_row[self.last_row].entry.config(bg='light gray')
            self.axis_row[row].entry.config(bg='white')
            self.last_row = row
            return
        # Enter
        self.lcnc.poll()
        pins = self.lcnc.get_pins()
        # Can't change the mcs entry
        if self.coords.cur_idx != 0:
            pin = pins[row] * self.units_factor
            self.coords.cur_sys[row] = value - pin
        if not self.last_row is None:
            self.axis_row[self.last_row].entry.config(bg='light gray')
        self.last_row = None

    def coord_callback(self, coord_sys_idx):
        if params["verbose"]:
            print("coord_callback", coord_sys_idx)
        if coord_sys_idx == 0:
            for row in range(params["naxes"]):
                self.axis_row[row].disable_entry()
        else:
            for row in range(params["naxes"]):
                self.axis_row[row].enable_entry()

    def keypad_callback(self, key):
        if params["verbose"]:
            print("keypad_callback", key)
        if self.last_row is None:
            return
        self.axis_row[self.last_row].kp_entry(key)

    def index_callback(self, row):
        if params["verbose"]:
            print("main_index_callback", row)
        self.lcnc.poll()
        if self.lcnc.index_ready(row):
            self.lcnc.set_index_enable(row)
        else:
            if params["verbose"]:
                print("index seq not ready", row)

    def poll(self):
        self.lcnc.poll()
        pins = self.lcnc.get_pins()
        for i in range(len(pins)):
            pin = pins[i] * self.units_factor
            self.axis_row[i].set_value(pin + self.coords.cur_sys[i])
            if self.lcnc.index_ready(i):
                self.axis_row[i].enable_index()
            else:
                self.axis_row[i].disable_index()

def run_postgui():
    # Run the postgui HAL files if called from DISPLAY section of INI file
    if params["ini"] is None or params["inifile"] is None:
        print("mdro inifile missing!")
        exit(1)
    if params["verbose"]:
        print("mdro INI file: ", params["ini"])
    postgui_halfiles = params["inifile"].findall("HAL", "POSTGUI_HALFILE") or None
    if not postgui_halfiles is None:
        for f in postgui_halfiles:
            if params["verbose"]:
                halcmd_args = ["halcmd", "-V", "-i", args.ini, "-f", f]
                print("halcmd", halcmd_args)
            else:
                halcmd_args = ["halcmd", "-i", args.ini, "-f", f]
        res = os.spawnvp(os.P_WAIT, "halcmd", halcmd_args)
        if res:
            print("Error processing halfile:", f, "mdro exiting")
            exit(1)

def call_polls():
    global gui
    gui.poll()
    root.after(100, call_polls);

def get_params(args):
    params = dict()
    params["verbose"] = False
    params["very_verbose"] = False
    if args.verbose > 0:
        params["verbose"] = True
    if args.verbose > 1:
        params["very_verbose"] = True
    params["is_display"] = not args.ini is None
    params["ini"] = args.ini
    if not args.ini is None:
        inifile = linuxcnc.ini(params["ini"])
        params["inifile"] = inifile
    options = [
        ["GEOMETRY", args.axes, "axes"],
        ["MDRO_VAR_FILE", args.load_cs, "preload"],
        ["POINT_SIZE", args.point_size, "point_size"],
        ["MM", args.mm, "mm"]
    ]
    if params["ini"] is None:
        for d, a, p in options:
            params[p] = a
    else:
        for d, a, p in options:
            params[p] = a
            dv = inifile.find("DISPLAY", d) or None
            if params["verbose"]:
                print("get_params", d, a, p, dv)
            if not dv is None:
                params[p] = dv

    params["axes"] = list(params["axes"])
    params["naxes"] = len(params["axes"])

    params["mm"] = int(params["mm"])
    if params["mm"] < 0 or params["mm"] > 1:
        print("MM argument must be 0 or 1")
        exit(1)

    try:
        params["point_size"] = int(params["point_size"])
    except:
        print("Point size must be an integer")
    params["font1"] = ("Helvetica", params["point_size"])
    params["font2"] = ("Helvetica", int(params["point_size"] / 2))
    params["inch_format"] = "{:.4f}"
    params["mm_format"] = "{:.2f}"

    return params

if __name__ == '__main__':
    parser = argparse.ArgumentParser()
    parser.add_argument('--verbose', '-v', action='count', default=0,
                    help='print debug info')
    parser.add_argument('--point_size', '-p', dest='point_size', type=int,
                    default=20, help='font point size, default: 20')
    parser.add_argument('--mm', '-m', action='store_const', const=1, default=0,
                    help='dro values in mm')
    parser.add_argument("--load_cs", "-l", type=str,
                    help="load g5x coordinate system")
    parser.add_argument("--ini", "-ini", type=str, help="INI file name")
    parser.add_argument("axes", nargs='?', type=str, default='XYZ',
                    help="Axes (example: XYZ)")

    args = parser.parse_args()
    params = get_params(args)

    lcnc = lc()

    gui = main_gui(lcnc)

    if params["is_display"]:
        run_postgui()

    root.after(20, call_polls);
    root.mainloop()