axis.py,glcanon.py rework icons display (JA)
whac-a-mole to work better with permutations of
trivkins with omitted axis letter (example: xz lathe with dummy y)
gentrivkins with duplicated axis letters (example: gantry)
Known JA Issue:
An axis coordinate may specify a corresponding
locking indexer joint. Jogging is not allowed
on this joint. Currently, the axis can be jogged
in teleop mode. This should be disallowed too.
Signed-off-by: Dewey Garrett <dgarrett@panix.com>
This commit is contained in:
Dewey Garrett
Sebastian Kuzminsky
parent
9931f1b1dc
commit
ac063ef2bd
2 changed files with 207 additions and 68 deletions
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@ -382,6 +382,8 @@ class GlCanonDraw:
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self.cached_tool = -1
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self.initialised = 0
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self.no_joint_display = False
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self.kinstype = "UNKNOWN"
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self.trajcoordinates = "unknown"
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def realize(self):
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self.hershey = hershey.Hershey()
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@ -923,7 +925,7 @@ class GlCanonDraw:
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def axes_count(self):
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ct = 0
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for i in range(linuxcnc.MAX_JOINTS):
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for i in range(self.stat.joints):
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if self.stat.axis_mask & (1<<i): ct +=1
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return ct
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@ -1172,7 +1174,9 @@ class GlCanonDraw:
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glPushMatrix()
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glLoadIdentity()
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limit, homed, posstrs, droposstrs = self.posstrs(self.no_joint_display)
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limit, homed, posstrs, droposstrs = self.posstrs(self.no_joint_display,
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self.kinstype,
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self.trajcoordinates)
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charwidth, linespace, base = self.get_font_info()
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@ -1198,7 +1202,7 @@ class GlCanonDraw:
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maxlen = 0
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ypos -= linespace+5
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i=0
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sline = 0 # zeroth line of string in posstrs
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glColor3f(*self.colors['overlay_foreground'])
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if not self.get_show_offsets():
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for string in posstrs:
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@ -1207,40 +1211,67 @@ class GlCanonDraw:
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for char in string:
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glCallList(base + ord(char))
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if i < len(homed) and homed[i]:
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if "Dia" in string:
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# use line below
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glRasterPos2i(pixel_width + 8, ypos - linespace)
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glBitmap(13, 16, 0, 3, 17, 0, homeicon)
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else:
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if ( ( self.get_joints_mode()
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if ( ("Dia" in string)
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or ("Vel" in string)
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or ("DTG" in string)
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or (len(string) == 0)
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):
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ypos -= linespace
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continue
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aletter = string.replace(" ","").split(":")[0]
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if ( aletter in ["X","Y","Z","A","B","C","U","V","W"]
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and self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY
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):
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idx = self.jnum_for_aletter(aletter,
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self.kinstype,
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self.trajcoordinates)
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elif aletter == "Rad":
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idx = 0; # specialcase
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else: idx = sline
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# print "!!!sline=%d aletter=%s idx=%d kinstype=%s"%(sline,aletter,idx,self.kinstype)
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if homed[idx]:
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if ( self.get_joints_mode()
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or (self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY)
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or all_joints_homed
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)
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and not (("Vel" in string) or ("DTG" in string))
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):
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glRasterPos2i(pixel_width + 8, ypos)
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glBitmap(13, 16, 0, 3, 17, 0, homeicon)
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if i < len(homed) and limit[i]:
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if limit[idx]:
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if ( self.get_joints_mode()
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or ( (self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY)
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and (i < axes_count)
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# pathological case may have more limits than axis letters
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# but rejecting i >=_axes count prevents some wrong display
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)
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or self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY
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):
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glBitmap(13, 16, 0, 1, 17, 0, limiticon)
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ypos -= linespace
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i = i + 1
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sline = sline + 1
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#-----------------------------------------------------------------------
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if self.get_show_offsets():
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i=0
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sline = 0 # zeroth line in droposstrs
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for string in droposstrs:
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maxlen = max(maxlen, len(string))
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glRasterPos2i(5, ypos)
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for char in string:
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glCallList(base + ord(char))
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if i < len(homed) and homed[i]:
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if ( ("G5" in string)
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or ("TL" in string)
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or ("Dia" in string)
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or (len(string) == 0)
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):
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ypos -= linespace
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continue
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aletter = string.replace(" ","").split(":")[0]
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if ( aletter in ["X","Y","Z","A","B","C","U","V","W"]
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and self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY
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):
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idx = self.jnum_for_aletter(aletter,
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self.kinstype,
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self.trajcoordinates)
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elif aletter == "Rad":
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idx = 0; # specialcase
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else: idx = sline
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if homed[idx]:
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if ( ( self.get_joints_mode()
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or (self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY)
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or all_joints_homed
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@ -1251,7 +1282,7 @@ class GlCanonDraw:
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glBitmap(13, 16, 0, 3, 17, 0, homeicon)
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ypos -= linespace
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i = i + 1
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sline = sline + 1
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glDepthFunc(GL_LESS)
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glDepthMask(GL_TRUE)
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@ -1287,7 +1318,31 @@ class GlCanonDraw:
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gluDeleteQuadric(q)
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glEndList()
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def posstrs(self,no_joint_display=False):
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def aletter_for_jnum(self,jnum,kinstype,trajcoordinates):
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if kinstype == "trivkins":
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if not (self.stat.axis_mask & (1<<jnum)):
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return "NOALETTER"
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else:
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return "XYZABCUVW"[jnum]
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elif "gentrivkins" in kinstype:
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return trajcoordinates[jnum]
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else:
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guess = trajcoordinates[jnum]
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return guess
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def jnum_for_aletter(self,aletter,kinstype,trajcoordinates):
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aletter = aletter.upper()
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if kinstype == "trivkins":
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return "XYZABCUVW".index(aletter)
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elif "gentrivkins" in kinstype:
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return trajcoordinates.index(aletter)
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else:
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guess = trajcoordinates.index(aletter)
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return guess
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def posstrs(self,no_joint_display=False,kinstype="UNKNOWN",trajcoordinates="UNKNOWN"):
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self.kinstype = kinstype
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self.trajcoordinates = trajcoordinates.upper()
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s = self.stat
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self.no_joint_display = no_joint_display
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limit = list(s.limit[:])
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@ -1369,32 +1424,57 @@ class GlCanonDraw:
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rotformat = "% 5s %1s:% 9.4f"
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diaformat = " " + format
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coord_letters = []
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for l in self.trajcoordinates.upper():
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if l == " ": continue
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coord_letters.append(l)
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traj_letters = []
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for l in self.trajcoordinates: traj_letters.append(l)
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posstrs = []
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droposstrs = []
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for i in range(9):
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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posstrs.append(format % (a, positions[i]))
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droposstrs.append(droformat % (a, positions[i], a, axisdtg[i]))
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used_letters = []
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for i in range(self.stat.joints):
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if self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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a = self.aletter_for_jnum(i,self.kinstype,self.trajcoordinates)
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else:
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a = self.trajcoordinates.upper()[i]
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if a == "NOALETTER": continue
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idx = "XYZABCUVW".index(a)
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if ((a not in used_letters) and (a in traj_letters)):
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posstrs.append(format % (a, positions[idx]))
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droposstrs.append(droformat % (a, positions[idx], a, axisdtg[idx]))
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used_letters.append(a)
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droposstrs.append("")
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for i in range(9):
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for i in range(self.stat.joints):
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index = s.g5x_index
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if index<7:
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label = "G5%d" % (index+3)
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else:
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label = "G59.%d" % (index-6)
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if self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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a = self.aletter_for_jnum(i,self.kinstype,self.trajcoordinates)
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else:
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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if a == "NOALETTER": continue
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if (a in traj_letters):
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# if s.axis_mask & (1<<i):
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droposstrs.append(offsetformat % (label, a, g5x_offset[i], a, g92_offset[i]))
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droposstrs.append(rotformat % (label, 'R', s.rotation_xy))
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droposstrs.append("")
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for i in range(9):
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for i in range(self.stat.joints):
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if self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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a = self.aletter_for_jnum(i,self.kinstype,self.trajcoordinates)
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else:
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a = "XYZABCUVW"[i]
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if s.axis_mask & (1<<i):
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if a == "NOALETTER": continue
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if (a in traj_letters):
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# if s.axis_mask & (1<<i):
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droposstrs.append(rotformat % ("TLO", a, tlo_offset[i]))
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@ -568,7 +568,9 @@ class MyOpengl(GlCanonDraw, Opengl):
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def redraw_dro(self):
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self.stat.poll()
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limit, homed, posstrs, droposstrs = self.posstrs(no_joint_display)
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limit, homed, posstrs, droposstrs = self.posstrs(no_joint_display,
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kinstype,
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trajcoordinates)
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text = widgets.numbers_text
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@ -584,40 +586,60 @@ class MyOpengl(GlCanonDraw, Opengl):
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text.delete("0.0", "end")
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t = droposstrs[:]
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i = 0
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sline = 0 # zeroth line in t string
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axes_count = masked_axes_count()
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for ts in t:
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idx = sline
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aletter = ts.replace(" ","").split(":")[0]
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if ( ("Dia" in ts)
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or ("Vel" in ts)
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or ("G5" in ts)
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or ("TLO" in ts)
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or (len(ts) == 0)
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):
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sline += 1
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continue
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if ( aletter in ["X","Y","Z","A","B","C","U","V","W"]
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and self.stat.kinematics_type == linuxcnc.KINEMATICS_IDENTITY
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):
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idx = jnum_for_aletter(aletter)
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elif aletter == "Rad":
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idx = 0; # specialcase
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else: idx = sline
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if s.motion_mode == linuxcnc.TRAJ_MODE_FREE:
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imax = len(homed)
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if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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imax = axes_count
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if i < imax and homed[i]:
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t[i] += "*"
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if homed[idx]:
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t[sline] += "*"
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else:
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t[i] += " "
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if i < imax and limit[i]:
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t[i] += "!"
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t[sline] += " "
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if limit[idx]:
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t[sline] += "!"
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else:
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t[i] += " "
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t[sline] += " "
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else: # teleop mode
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if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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if i < axes_count and homed[i]:
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t[i] += "*"
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if idx < axes_count and homed[idx]:
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t[sline] += "*"
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else:
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t[i] += " "
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if i < axes_count and limit[i]:
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t[i] += "!"
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t[sline] += " "
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if idx < axes_count and limit[idx]:
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t[sline] += "!"
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else:
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t[i] += " "
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t[sline] += " "
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else: # non-identity kinematics
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all_joints_homed = all_homed()
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if i < axes_count and all_joints_homed:
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t[i] += "*"
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#if idx < axes_count and all_joints_homed:
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if all_joints_homed:
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t[sline] += "*"
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else:
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t[i] += " "
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t[sline] += " "
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# Note: teleop and non-identity:
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# don't try to display joint limits
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i+=1
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sline+=1
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text.insert("end", "\n".join(t))
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@ -1802,7 +1824,6 @@ def go_home(num):
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def switch_to_teleop(ct,delta_secs,max_wait_secs):
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import threading
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s.poll()
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#print ct,get_states()
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if s.task_state != linuxcnc.STATE_ON:
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print("AUTO_TELEOP: ABANDON (task_state=%s)"
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% task_statename(s.task_state))
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@ -2543,10 +2564,12 @@ class TclCommands(nf.TclCommands):
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c.unhome(jnum)
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def home_joint_number(num):
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# invoked by machine menu/home widgets
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ensure_mode(linuxcnc.MODE_MANUAL)
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go_home(num)
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def unhome_joint_number(num):
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# invoked by machine menu/unhome widgets
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ensure_mode(linuxcnc.MODE_MANUAL)
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c.unhome(num)
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@ -3225,6 +3248,8 @@ root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end", _("Unhome All
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trajcoordinates=inifile.find("TRAJ", "COORDINATES").lower().replace(" ","")
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vars.trajcoordinates.set(trajcoordinates)
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kinstype=inifile.find("KINS", "KINEMATICS").lower()
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duplicate_coord_letters = ""
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for i in range(len(trajcoordinates)):
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if trajcoordinates[i] == " ": continue
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@ -3259,16 +3284,50 @@ while s.joints == 0:
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"More information may be available when running from a terminal.")
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s.poll()
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num_joints = s.joints
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for i in range(num_joints):
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#if not (s.axis_mask & (1<<i)): continue # ja:not needed for consecutive joints
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widgets.homemenu.add_command(command=lambda i=i: commands.home_joint_number(i))
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widgets.unhomemenu.add_command(command=lambda i=i: commands.unhome_joint_number(i))
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if i >= len(trajcoordinates): break
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if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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ja_name = "Axis"; ja_id = trajcoordinates[i].upper()
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def jnum_for_aletter(aletter):
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if s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
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raise SystemExit("jnum_for_aletter: Must be KINEMATICS_IDENTITY")
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aletter = aletter.lower()
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if kinstype == "trivkins":
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return "xyzabcuvw".index(aletter)
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elif "gentrivkins" in kinstype:
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return trajcoordinates.index(aletter)
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else:
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ja_name = "Joint"; ja_id = i
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guess = trajcoordinates.index(aletter)
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print "jnum_for_aletter guessing %s --> %d"%(aletter,guess)
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return guess
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def aletter_for_jnum(jnum):
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if s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
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raise SystemExit("aletter_for_jnum: Must be KINEMATICS_IDENTITY")
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if kinstype == "trivkins":
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if not (s.axis_mask & (1<<jnum)):
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return "NOALETTER"
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else:
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return "XYZABCUVW"[jnum]
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elif "gentrivkins" in kinstype:
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return trajcoordinates.upper()[jnum]
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else:
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guess = trajcoordinates.upper()[jnum]
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print "aletter_for_jnum guessing %d --> %s"%(jnum,guess)
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return guess
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num_joints = s.joints
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for jnum in range(num_joints):
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if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
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ja_name = "Axis"
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ja_id = aletter_for_jnum(jnum)
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if ja_id == "NOALETTER": continue
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widgets.homemenu.add_command(
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command=lambda jnum=jnum: commands.home_joint_number(jnum))
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widgets.unhomemenu.add_command(
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command=lambda jnum=jnum: commands.unhome_joint_number(jnum))
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else:
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widgets.homemenu.add_command(
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command=lambda jnum=jnum: commands.home_joint_number(jnum))
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widgets.unhomemenu.add_command(
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command=lambda jnum=jnum: commands.unhome_joint_number(jnum))
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ja_name = "Joint"; ja_id = jnum
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root_window.tk.call("setup_menu_accel", widgets.homemenu, "end",
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_("Home %(name)s _%(id)s") % {"name":ja_name, "id":ja_id})
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root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end",
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