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# Touchy is Copyright (c) 2009 Chris Radek <chris@timeguy.com>
#
# Touchy 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.
#
# Touchy 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.
import hal
class hal_interface:
def __init__(self, gui, emc_control, mdi_control, emc):
self.gui = gui
self.emc_control = emc_control
self.emc = emc
self.emc_stat = self.emc.stat()
self.mdi_control = mdi_control
self.c = hal.component("touchy")
self.c.newpin("status-indicator", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.active", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.x", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.y", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.z", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.a", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.b", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.c", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.u", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.v", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.w", hal.HAL_BIT, hal.HAL_OUT)
self.c.newpin("jog.wheel.increment", hal.HAL_FLOAT, hal.HAL_OUT)
self.c.newpin("jog.continuous.x.positive", hal.HAL_BIT, hal.HAL_IN)
self.xp = 0
self.c.newpin("jog.continuous.x.negative", hal.HAL_BIT, hal.HAL_IN)
self.xn = 0
self.c.newpin("jog.continuous.y.positive", hal.HAL_BIT, hal.HAL_IN)
self.yp = 0
self.c.newpin("jog.continuous.y.negative", hal.HAL_BIT, hal.HAL_IN)
self.yn = 0
self.c.newpin("jog.continuous.z.positive", hal.HAL_BIT, hal.HAL_IN)
self.zp = 0
self.c.newpin("jog.continuous.z.negative", hal.HAL_BIT, hal.HAL_IN)
self.zn = 0
self.c.newpin("jog.continuous.a.positive", hal.HAL_BIT, hal.HAL_IN)
self.ap = 0
self.c.newpin("jog.continuous.a.negative", hal.HAL_BIT, hal.HAL_IN)
self.an = 0
self.c.newpin("jog.continuous.b.positive", hal.HAL_BIT, hal.HAL_IN)
self.bp = 0
self.c.newpin("jog.continuous.b.negative", hal.HAL_BIT, hal.HAL_IN)
self.bn = 0
self.c.newpin("jog.continuous.c.positive", hal.HAL_BIT, hal.HAL_IN)
self.cp = 0
self.c.newpin("jog.continuous.c.negative", hal.HAL_BIT, hal.HAL_IN)
self.cn = 0
self.c.newpin("jog.continuous.u.positive", hal.HAL_BIT, hal.HAL_IN)
self.up = 0
self.c.newpin("jog.continuous.u.negative", hal.HAL_BIT, hal.HAL_IN)
self.un = 0
self.c.newpin("jog.continuous.v.positive", hal.HAL_BIT, hal.HAL_IN)
self.vp = 0
self.c.newpin("jog.continuous.v.negative", hal.HAL_BIT, hal.HAL_IN)
self.vn = 0
self.c.newpin("jog.continuous.w.positive", hal.HAL_BIT, hal.HAL_IN)
self.wp = 0
self.c.newpin("jog.continuous.w.negative", hal.HAL_BIT, hal.HAL_IN)
self.wn = 0
self.c.newpin("quill-up", hal.HAL_BIT, hal.HAL_IN)
self.quillup = 0
self.c.newpin("cycle-start", hal.HAL_BIT, hal.HAL_IN)
self.cyclestart = 0
self.c.newpin("abort", hal.HAL_BIT, hal.HAL_IN)
self.abort = 0
self.c.newpin("single-block", hal.HAL_BIT, hal.HAL_IN)
self.singleblock = 0
self.c.newpin("wheel-counts", hal.HAL_S32, hal.HAL_IN)
self.counts = 0
self.jog_velocity = 1
self.c.ready()
self.active = 0
self.jogaxis(0)
def wheel(self):
counts = self.c["wheel-counts"]/4
ret = counts - self.counts
self.counts = counts
return ret
def jogaxis(self, n):
self.c["jog.wheel.x"] = n == 0 and self.active
self.c["jog.wheel.y"] = n == 1 and self.active
self.c["jog.wheel.z"] = n == 2 and self.active
self.c["jog.wheel.a"] = n == 3 and self.active
self.c["jog.wheel.b"] = n == 4 and self.active
self.c["jog.wheel.c"] = n == 5 and self.active
self.c["jog.wheel.u"] = n == 6 and self.active
self.c["jog.wheel.v"] = n == 7 and self.active
self.c["jog.wheel.w"] = n == 8 and self.active
def jogincrement(self, inc, incs):
self.c["jog.wheel.increment"] = incs[inc]
def jogactive(self, active):
self.active = active
def periodic(self, mdi_mode):
# edge detection
xp = self.c["jog.continuous.x.positive"]
if xp ^ self.xp: self.emc_control.continuous_jog(0, xp)
self.xp = xp
xn = self.c["jog.continuous.x.negative"]
if xn ^ self.xn: self.emc_control.continuous_jog(0, -xn)
self.xn = xn
yp = self.c["jog.continuous.y.positive"]
if yp ^ self.yp: self.emc_control.continuous_jog(1, yp)
self.yp = yp
yn = self.c["jog.continuous.y.negative"]
if yn ^ self.yn: self.emc_control.continuous_jog(1, -yn)
self.yn = yn
zp = self.c["jog.continuous.z.positive"]
if zp ^ self.zp: self.emc_control.continuous_jog(2, zp)
self.zp = zp
zn = self.c["jog.continuous.z.negative"]
if zn ^ self.zn: self.emc_control.continuous_jog(2, -zn)
self.zn = zn
ap = self.c["jog.continuous.a.positive"]
if ap ^ self.ap: self.emc_control.continuous_jog(3, ap)
self.ap = ap
an = self.c["jog.continuous.a.negative"]
if an ^ self.an: self.emc_control.continuous_jog(3, -an)
self.an = an
bp = self.c["jog.continuous.b.positive"]
if bp ^ self.bp: self.emc_control.continuous_jog(4, bp)
self.bp = bp
bn = self.c["jog.continuous.b.negative"]
if bn ^ self.bn: self.emc_control.continuous_jog(4, -bn)
self.bn = bn
cp = self.c["jog.continuous.c.positive"]
if cp ^ self.cp: self.emc_control.continuous_jog(5, cp)
self.cp = cp
cn = self.c["jog.continuous.c.negative"]
if cn ^ self.cn: self.emc_control.continuous_jog(5, -cn)
self.cn = cn
up = self.c["jog.continuous.u.positive"]
if up ^ self.up: self.emc_control.continuous_jog(6, up)
self.up = up
un = self.c["jog.continuous.u.negative"]
if un ^ self.un: self.emc_control.continuous_jog(6, -un)
self.un = un
vp = self.c["jog.continuous.v.positive"]
if vp ^ self.vp: self.emc_control.continuous_jog(7, vp)
self.vp = vp
vn = self.c["jog.continuous.v.negative"]
if vn ^ self.vn: self.emc_control.continuous_jog(7, -vn)
self.vn = vn
wp = self.c["jog.continuous.w.positive"]
if wp ^ self.wp: self.emc_control.continuous_jog(8, wp)
self.wp = wp
wn = self.c["jog.continuous.w.negative"]
if wn ^ self.wn: self.emc_control.continuous_jog(8, -wn)
self.wn = wn
quillup = self.c["quill-up"]
if quillup and not self.quillup:
self.emc_control.quill_up()
self.quillup = quillup
singleblock = self.c["single-block"]
if singleblock ^ self.singleblock: self.emc_control.single_block(singleblock)
self.singleblock = singleblock
cyclestart = self.c["cycle-start"]
if cyclestart and not self.cyclestart:
if self.gui.wheel == "jogging": self.gui.wheel = "mv"
self.gui.jogsettings_activate(0)
if mdi_mode:
if not self.singleblock: self.mdi_control.ok(0)
else:
self.emc_control.cycle_start()
self.cyclestart = cyclestart
abort = self.c["abort"]
if abort and not self.abort: self.emc_control.abort()
self.abort = abort
self.emc_stat.poll()
self.c["jog.active"] = self.emc_stat.task_mode == self.emc.MODE_MANUAL
if self.emc_stat.paused:
# blink
self.c["status-indicator"] = not self.c["status-indicator"]
else:
if self.emc_stat.queue > 0 or self.emc_stat.interp_state != self.emc.INTERP_IDLE:
# something is running
self.c["status-indicator"] = 1
else:
# nothing is happening
self.c["status-indicator"] = 0
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