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pygrbl.pyw
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#!/usr/bin/env python
# Copyright (c) 2007-8 Qtrac Ltd. All rights reserved.
# This program or module 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
# version 3 of the License, or (at your option) any later version. It is
# provided for educational purposes and 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 os
import platform
import sys
from PyQt4.QtCore import *
from PyQt4.QtGui import *
import logging
import time
#import helpform
#import newimagedlg
import commandwidget
import helpform
from gcodeedit import gcodeEdit
import grblserial
from gcparser import gcParser
from joginterface import JogInterfaceWidget
import ogl_window
import preferences
logger = logging.getLogger('grblserial')
__version__ = "0.1.0"
(GE_EMPTY, GE_LOADING, GE_RUNNING, GE_STOPPING, GE_STOPPED, GE_SINGLESTEP) = range(6)
(MODE_JOG, MODE_MANUAL, MODE_AUTO) = range(3)
#***********************************************************************************
class MainWindow(QMainWindow):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
#State:
self.recentFiles = []
self.activeLine = -1
self.filename = 'gcode files/cncweb.txt'
self.play = False
self.machineRunning = True
self.moveMode = None
self.latestLineSent = 0
self.preferences = preferences.prefsClass()
# Create the right hand widget, give it a layout
# and put the viewer and the geometry/view controls into it.
rwidget = QWidget()
rlayout = QVBoxLayout(rwidget)
self.gcViewer = ogl_window.GLWidget()#twidget)
self.glWidgetArea = QScrollArea()
self.gcViewer.setFocusPolicy(Qt.NoFocus)
self.glWidgetArea.setWidget(self.gcViewer)
self.glWidgetArea.setWidgetResizable(True)
self.glWidgetArea.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self.glWidgetArea.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self.glWidgetArea.setSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored)
self.glWidgetArea.setMinimumSize(600, 400)
# Load a default file for debugging purposes:
parser = gcParser()
parser.load(self.filename)
center, radius = parser.getGLLimits(parser.gl_list)
self.gcViewer.initDrawList(parser.gl_list)
# print 'In pygrbl main, center: ', center, ', radius %.3f' % (radius,)
self.gcViewer.setLimits(center, radius)
self.gcViewer.setTopView()
# self.gcViewer.resizeGL(self.gcViewer.width(), self.gcViewer.height())
# self.gcViewer.setMinimumSize(300, 300)
# self.gcViewer.setContextMenuPolicy(Qt.ActionsContextMenu)
self.grbl = grblserial.grblSerial()
self.connect(self.grbl, SIGNAL('statusChanged'), self.updateStatus)
self.connect(self.grbl, SIGNAL("CommandSent(PyQt_PyObject)"), self.commandSent)
self.connect(self.grbl, SIGNAL("CommandFailed(PyQt_PyObject)"), self.commandFailed)
self.timerInterval = 200
self.timer = QTimer()
self.connect(self.timer, SIGNAL("timeout()"), self.grbl.tick)
self.timer.start(self.timerInterval);
rlayout.addWidget(self.glWidgetArea)
rlayout.addWidget(self.createViewerToolbar())
# Create a left hand TAB widget that contains controls
# and editing stuff
self.codeEntryPage = commandwidget.CommandWidget()
self.connect(self.codeEntryPage, SIGNAL('goCommand'), self.goOneLine)
self.Tabs = QTabWidget()
self.connect(self.Tabs, SIGNAL('currentChanged'), self.tabChanged)
self.Tabs.addTab(self.codeEntryPage, "Manual (F5)")
#Jog control page:
self.controlPage = QWidget()
self.controlLayout = QVBoxLayout(self.controlPage)
clabel = QLabel("My controls")
self.controlLayout.addWidget(clabel)
self.jog = JogInterfaceWidget()
self.connect(self.jog, SIGNAL("jogEvent(char, int)"), self.goJog)
self.controlLayout.addWidget(self.jog)
self.controlLayout.addSpacing(200)
self.Tabs.insertTab(0, self.controlPage, "Jog (F4)")
#Bottom area that contains the text file:
self.editPage = QWidget()
self.editLayout = QVBoxLayout(self.editPage)
self.editor = gcodeEdit()
self.editLayout.addWidget(self.editor)
editToolbar = QToolBar()
self.editLayout.addWidget(editToolbar)
self.Tabs.addTab(self.editPage, "Program (F6)")
self.Tabs.setCurrentWidget(self.editPage)
# Create the splitters that manage space of all
# the sub places
self.leftrightSplit = QSplitter()
self.leftrightSplit.addWidget(self.Tabs)
self.leftrightSplit.addWidget(rwidget)
self.setCentralWidget(self.leftrightSplit)
self.printer = None
#Stuff across the bottom
self.sizeLabel = QLabel()
self.sizeLabel.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.sizeLabel.setAlignment(Qt.AlignLeft)
status = self.statusBar()
status.setSizeGripEnabled(False)
# status.addPermanentWidget(self.sizeLabel)
status.showMessage("Ready", 5000)
# self.progress = QProgressBar()
# self.progress.setAlignment(Qt.AlignRight)
# self.progress.setMinimum(0)
# self.progress.setMaximum(80)
# self.progress.setValue(40)
# status.addPermanentWidget(self.progress)
self.sizeLabel.setText('Label')
fileOpenAction = self.createAction("&Open...", self.fileOpen,
QKeySequence.Open, "fileopen",
"Open an existing G-code file")
fileSaveAction = self.createAction("&Save", self.fileSave,
QKeySequence.Save, "filesave", "Save the gcode file")
filePreferencesAction = self.createAction('&Preferences', self.displayPrefs)
# '', 'fileopen', 'Set application preferences')
fileSaveAsAction = self.createAction("Save &As...",
self.fileSaveAs, icon="filesaveas",
tip="Save the gcode file using a new name")
fileQuitAction = self.createAction("&Quit",
self.fileQuit,
"Ctrl+Q", "system-exit", "Close the application")
fileQuitAction.MenuRole = QAction.QuitRole
fileMenu = self.menuBar().addMenu("&File")
# fileQuitAction gets put on the application menu on the Mac,
# where it belongs!
# self.addActions(fileMenu, (fileOpenAction, fileSaveAction, None, fileQuitAction))
self.addActions(fileMenu, (fileOpenAction, fileQuitAction))
self.emergencyStopAction = self.createAction("&Stop",
self.emergencyStop,
QKeySequence("F1"), "process-stop-2",
"Stop the machine (F1)")
helpAboutAction = self.createAction("&About Image Changer",
self.helpAbout)
helpHelpAction = self.createAction("&Help", self.helpHelp,
QKeySequence.HelpContents,
"help-contents-5",
"Help"
)
helpMenu = self.menuBar().addMenu("&Help")
self.addActions(helpMenu, (helpAboutAction, helpHelpAction, filePreferencesAction))
self.runPlayPause = self.createAction("&PlayPause", self.playPause,
QKeySequence("F2"),
"media-playback-start-2",
"Play or pause G-Code file (F2)")
# self.runBackOne = self.createAction("&BackOne", self.decFrame,
# None, "media-seek-backward-2",
# "Step back one line")
self.runForwardOne = self.createAction("&ForwardOne", self.sendLine,
QKeySequence("F3"),
"media-seek-forward-2",
"Step forward one line (F)")
fileToolbar = self.addToolBar("File")
fileToolbar.setObjectName("FileToolBar")
fileToolbar.setMovable(False)
# self.addActions(fileToolbar, (fileQuitAction,
# fileOpenAction,
# fileSaveAction,
# fileSaveAsAction))
fileToolbar.addAction(fileOpenAction)
fileToolbar.addAction(fileQuitAction)
fileToolbar.addSeparator()
fileToolbar.addSeparator()
fileToolbar.addAction(helpHelpAction)
fileToolbar.addAction(self.emergencyStopAction)
# editToolbar was defined up the page somewhere,
# and appears below the g-code edit window.
editToolbar.addAction(self.runPlayPause)
editToolbar.addAction(self.runForwardOne)
editToolbar.addAction(self.emergencyStopAction)
# def tick(self):
# pass
def displayPrefs(self):
prefsWidget = preferences.PreferencesDialog(self.preferences)
if prefsWidget.exec_():
self.preferences = prefsWidget.getPrefs()
def tabChanged(self, event):
print 'Tab changed - state change code to follow'
if self.Tabs.currentWidget()==self.controlPage:
self.jog.setFocus()
pass
def keyPressEvent(self, event):
processed = False
if event.key() == QKeySequence("F4"):
self.Tabs.setCurrentWidget(self.controlPage)
processed = True
elif event.key() == QKeySequence("F5"):
self.Tabs.setCurrentWidget(self.codeEntryPage)
processed = True
elif event.key() == QKeySequence("F6"):
self.Tabs.setCurrentWidget(self.editPage)
processed = True
if not processed:
QMainWindow.keyPressEvent(self, event)
def goJog(self, axis, speed):
'''Instructs stepper to take one jog step.
Gets called by jog widget, with axis ('x', 'y' or 'z'
and speed, from -2 to 2. Doesn't return until jog is
done.
'''
# print 'Speed in goJog is ', speed
jogstep=self.preferences.jogSizeByIndex(speed)
# print 'which gives jogstep: ', jogstep
status = self.grbl.getFreshStatus()
if status.machineRunning:
return
if axis == 'x':
target = status.x
elif axis == 'y':
target = status.y
elif axis == 'z':
target = status.z
target += jogstep
commandstring = 'g1%s%.2f' % (axis, target)
# print 'Jog command: ', commandstring
try:
self.grbl.sendCommand(commandstring)
except:
QMessageBox.warning(self, "Error",
"Error sending jog command to grbl")
return
status = self.grbl.getFreshStatus()
while status.machineRunning:
time.sleep(0.1)
status = self.grbl.getFreshStatus()
def test(self):
pass
def playPause(self):
if self.play:
self.goPause()
else:
self.goPlay()
def goPlay(self):
cursorLine = self.editor.getActiveLine()
print 'Current row: ', cursorLine
self.editor.setState(GE_RUNNING)
logger.debug('About to start goPlay()()()()()()()()()()()()()()()()()')
self.play = True
self.runPlayPause.setIcon(QIcon('images/media-playback-pause-2.png'))
for lineNumber, block in self.editor.lines(cursorLine):
self.initiateMove('AUTO', block, lineNumber = lineNumber)
logger.debug('Leaving goPlay()()()()()()()()()()()()()()()()()()()()')
def goPause(self):
self.editor.setState(GE_STOPPED)
self.play = False;
self.emergencyStop()
self.runPlayPause.setIcon(QIcon('images/media-playback-start-2.png'))
def lineNumberFromCommand(self, command):
'''Helper that gets line number from a command string'''
if command[0] == 'N':
i = 1
while command[i].isdigit():
i += 1
return int(command[1:i])
else:
return -1
def commandSent(self, command):
'''
Called when a command is acknowledged by grbl
'''
lineNumber = self.lineNumberFromCommand(command)
if lineNumber>0:
self.editor.markSent(lineNumber)
def commandFailed(self, command):
'''
Called when a command generates an error
when sent to grbl. The error is in a particular
line
'''
if self.moveMode == 'AUTO':
self.editor.setState(GE_STOPPING)
self.play = False;
self.runPlayPause.setIcon(QIcon('images/media-playback-start-2.png'))
lineNumber = self.lineNumberFromCommand(command)
if lineNumber>0:
self.editor.markError(lineNumber)
QMessageBox.critical(self,
"Error in gcode",
"Error in line: " + str(command),
)
def initiateMove(self, source, command, lineNumber=-1):
# print 'initiateMove, Command: ', command,
# print 'lineNumber: ', lineNumber
self.moveMode = source
self.grbl.queueCommand(command, lineNumber=lineNumber)
def updateStatus(self, status):
'''Called when grbl returns a change in status, typically
a change in position, but includes a change in line number,
buffer ready or machine running
'''
# print 'In updateStatus in main, line: ', status.lineNumber
self.gcViewer.setPosition(status)
self.editor.setActiveLine(status.lineNumber)
if status.lineNumber>self.latestLineSent:
for i in range(self.latestLineSent, status.lineNumber):
self.editor.markDone(i+1)
self.latestLineSent = status.lineNumber
if self.machineRunning!=status.machineRunning:
self.machineRunning=status.machineRunning
if status.machineRunning:
self.emergencyStopAction.setIcon(QIcon('images/process-stop-2'))
else:
self.emergencyStopAction.setIcon(QIcon('images/process-stop-2-bw'))
def sendLine(self):
lineNumber = self.editor.getActiveLine()
# print 'Line number is: ', lineNumber
line = self.editor.getLine(lineNumber)
# print 'Activeline is: ', line
self.initiateMove('SINGLE_STEP', str(line), lineNumber = lineNumber)
# self.grbl.queueCommand(str(line), lineNumber = lineNumber)
self.editor.setActiveLine(lineNumber+1)
def emergencyStop(self):
self.grbl.emergencyStop()
#----------------------------------------------------------------------
# Utility routines
def createAction(self, text, slot=None, shortcut=None, icon=None,
tip=None, checkable=False, signal="triggered()"):
action = QAction(text, self)
if icon is not None:
action.setIcon(QIcon('./images/%s.png' % icon)) #":/%s.png" % icon))
if shortcut is not None:
action.setShortcut(shortcut)
if tip is not None:
action.setToolTip(tip)
action.setStatusTip(tip)
if slot is not None:
self.connect(action, SIGNAL(signal), slot)
if checkable:
action.setCheckable(True)
return action
def createButton(self, IconFile, Text, slotName):
button = QPushButton(QIcon(IconFile), Text)
button.setFixedSize(QSize(32, 32))
button.setIconSize(QSize(25, 25))
self.connect(button, SIGNAL('clicked()'), slotName)
return button
def addActions(self, target, actions):
for action in actions:
if action is None:
target.addSeparator()
else:
target.addAction(action)
def goOneLine(self, text):
''' Send the command in the commandLine to grbl,
and append it to the historyText window above.
'''
self.initiateMove('COMMAND_LINE', str(text))
def closeEvent(self, event):
if self.okToContinue():
settings = QSettings()
filename = QVariant(QString(self.filename)) if self.filename is not None else QVariant()
settings.setValue("LastFile", filename)
recentFiles = QVariant(self.recentFiles) if self.recentFiles else QVariant()
settings.setValue("RecentFiles", recentFiles)
settings.setValue("MainWindow/Size", QVariant(self.size()))
settings.setValue("MainWindow/Position",
QVariant(self.pos()))
settings.setValue("MainWindow/State",
QVariant(self.saveState()))
else:
event.ignore()
#
#
def okToContinue(self):
# if self.dirty:
# reply = QMessageBox.question(self,
# "Pygrbl - Unsaved Changes",
# "Save unsaved changes?",
# QMessageBox.Yes|QMessageBox.No|
# QMessageBox.Cancel)
# if reply == QMessageBox.Cancel:
# return False
# elif reply == QMessageBox.Yes:
# self.fileSave()
return True
#
#
# def loadInitialFile(self):
# settings = QSettings()
# fname = unicode(settings.value("LastFile").toString())
# if fname and QFile.exists(fname):
# self.loadFile(fname)
#
#
# def updateStatus(self, message):
# self.statusBar().showMessage(message, 5000)
# self.listWidget.addItem(message)
# if self.filename is not None:
# self.setWindowTitle("Image Changer - %s[*]" % \
# os.path.basename(self.filename))
# elif not self.image.isNull():
# self.setWindowTitle("Image Changer - Unnamed[*]")
# else:
# self.setWindowTitle("Image Changer[*]")
# self.setWindowModified(self.dirty)
#
#
# def updateFileMenu(self):
# self.fileMenu.clear()
# self.addActions(self.fileMenu, self.fileMenuActions[:-1])
# current = QString(self.filename) \
# if self.filename is not None else None
# recentFiles = []
# for fname in self.recentFiles:
# if fname != current and QFile.exists(fname):
# recentFiles.append(fname)
# if recentFiles:
# self.fileMenu.addSeparator()
# for i, fname in enumerate(recentFiles):
# action = QAction(QIcon(":/icon.png"), "&%d %s" % (
# i + 1, QFileInfo(fname).fileName()), self)
# action.setData(QVariant(fname))
# self.connect(action, SIGNAL("triggered()"),
# self.loadFile)
# self.fileMenu.addAction(action)
# self.fileMenu.addSeparator()
# self.fileMenu.addAction(self.fileMenuActions[-1])
#
#
# def fileNew(self):
# if not self.okToContinue():
# return
# dialog = newimagedlg.NewImageDlg(self)
# if dialog.exec_():
# self.addRecentFile(self.filename)
# self.image = QImage()
# for action, check in self.resetableActions:
# action.setChecked(check)
# self.image = dialog.image()
# self.filename = None
# self.dirty = True
# self.showImage()
# self.sizeLabel.setText("%d x %d" % (self.image.width(),
# self.image.height()))
# self.updateStatus("Created new image")
#
#
def fileOpen(self):
#assert False
dir = os.path.dirname(self.filename) if self.filename is not None else "."
formats = ["*.nc", "*.txt", "*.ngc"]
fname = unicode(QFileDialog.getOpenFileName(self, "Choose G-code file", dir,
"G Code (%s)" % " ".join(formats)))
if fname:
self.filename = fname
self.load()
def load(self):
exception = None
fh = None
try:
# self.statusBar().showMessage("Loading file")
# fh = QFile(self.filename)
# if not fh.open(QIODevice.ReadOnly):
# raise IOError, unicode(fh.errorString())
# stream = QTextStream(fh)
# stream.setCodec("UTF-8")
self.editor.loadNewFile(self.filename)#stream)
parser = gcParser()
parser.load(self.filename)
center, radius = parser.getGLLimits(parser.gl_list)
self.gcViewer.initDrawList(parser.gl_list)
self.gcViewer.setLimits(center, radius)
self.gcViewer.setTopView()
# print 'load: done'
except (IOError, OSError), e:
exception = e
finally:
if fh is not None:
fh.close()
if exception is not None:
raise exception
# self.statusBar().showMessage("File loading end", 1000)
# if fname is None:
# action = self.sender()
# if isinstance(action, QAction):
# fname = unicode(action.data().toString())
# if not self.okToContinue():
# return
# else:
# return
# if fname:
# self.filename = None
# image = QImage(fname)
# if image.isNull():
# message = "Failed to read %s" % fname
# else:
# self.addRecentFile(fname)
# self.image = QImage()
# for action, check in self.resetableActions:
# action.setChecked(check)
# self.image = image
# self.filename = fname
# self.showImage()
# self.dirty = False
# self.sizeLabel.setText("%d x %d" % (
# image.width(), image.height()))
# message = "Loaded %s" % os.path.basename(fname)
# self.updateStatus(message)
#
#
# def addRecentFile(self, fname):
# if fname is None:
# return
# if not self.recentFiles.contains(fname):
# self.recentFiles.prepend(QString(fname))
# while self.recentFiles.count() > 9:
# self.recentFiles.takeLast()
#
#
def fileSave(self):
if self.image.isNull():
return
if self.filename is None:
self.fileSaveAs()
else:
if self.image.save(self.filename, None):
self.updateStatus("Saved as %s" % self.filename)
self.dirty = False
else:
self.updateStatus("Failed to save %s" % self.filename)
def fileSaveAs(self):
if self.image.isNull():
return
fname = self.filename if self.filename is not None else "."
formats = ["*.%s" % unicode(format).lower() \
for format in QImageWriter.supportedImageFormats()]
fname = unicode(QFileDialog.getSaveFileName(self,
"Image Changer - Save Image", fname,
"Image files (%s)" % " ".join(formats)))
if fname:
if "." not in fname:
fname += ".png"
self.addRecentFile(fname)
self.filename = fname
self.fileSave()
#
#
# def filePrint(self):
# if self.image.isNull():
# return
# if self.printer is None:
# self.printer = QPrinter(QPrinter.HighResolution)
# self.printer.setPageSize(QPrinter.Letter)
# form = QPrintDialog(self.printer, self)
# if form.exec_():
# painter = QPainter(self.printer)
# rect = painter.viewport()
# size = self.image.size()
# size.scale(rect.size(), Qt.KeepAspectRatio)
# painter.setViewport(rect.x(), rect.y(), size.width(),
# size.height())
# painter.drawImage(0, 0, self.image)
def fileQuit(self):
self.close()
def helpAbout(self):
QMessageBox.about(self, "About PyGrbl",
"""<b>PyGrbl</b> v %s
<p>Copyright © 2011 bobgates
<p>All rights reserved.
<p>This application sequences g-code files for
the grbl application running on Arduino that
drives a CNC mill.
<p>Python %s - Qt %s - PyQt %s on %s""" % (
__version__, platform.python_version(),
QT_VERSION_STR, PYQT_VERSION_STR, platform.system()))
#
#
def helpHelp(self):
form = helpform.HelpForm("index.html", self)
form.show()
def createViewerToolbar(self):
viewTopAction = self.createAction("&Top", self.gcViewer.setTopView,
None, 'projection_top',
"View simulation from top")
viewTopRotAction = self.createAction("Top &Right", self.gcViewer.setTopRotView,
None, 'projection_toprot',
"View simulation from top rotated")
viewFrontAction = self.createAction("&Front", self.gcViewer.setFrontView,
None, 'projection_front',
"View simulation from front")
viewLeftAction = self.createAction("&Front", self.gcViewer.setLeftView,
None, 'projection_left',
"View simulation from left")
viewIsoAction = self.createAction("&Iso", self.gcViewer.setIsoView,
None, 'projection_iso',
"View simulation in isometric form")
viewZoomAll = self.createAction("&ViewAll", self.gcViewer.resetLimits,
None, 'emblem-generic',
"Centre and scale view to see all")
viewerToolbar = QToolBar("Views")
viewerToolbar.setObjectName("ViewerToolBar")
viewerToolbar.addAction(viewTopAction)
viewerToolbar.addAction(viewTopRotAction)
viewerToolbar.addAction(viewFrontAction)
viewerToolbar.addAction(viewLeftAction)
viewerToolbar.addAction(viewIsoAction)
viewerToolbar.addSeparator()
viewerToolbar.addAction(viewZoomAll)
return viewerToolbar
def main():
app = QApplication(sys.argv)
app.setOrganizationName("TSC")
app.setOrganizationDomain("github.com/bobgates")
app.setApplicationName("G-code sequencer for GRBL")
app.setWindowIcon(QIcon("images/icon.png"))
form = MainWindow()
form.show()
form.raise_()
sys.exit(app.exec_())
main()