import sys import importlib from qtvcp.core import Path, Qhal, Action, Status PATH = Path() QHAL = Qhal() ACTION = Action() STATUS = Status() # get reference to original handler file so we can subclass it sys.path.insert(0, PATH.SCREENDIR) module = "{}.{}_handler".format(PATH.BASEPATH,PATH.BASEPATH) mod = importlib.import_module(module, PATH.SCREENDIR) sys.path.remove(PATH.SCREENDIR) HandlerClass = mod.HandlerClass # return our subclassed handler object def get_handlers(halcomp, widgets, paths): return [UserHandlerClass(halcomp, widgets, paths)] class UserHandlerClass(HandlerClass): def __init__(self, halcomp, widgets, paths): super().__init__(halcomp, widgets, paths) self._linear_jog_step = 0 self._linear_jog_last_count = 0 self._angular_jog_step = 0 self._angular_jog_last_count = 0 self._feed_step = 0 self._feed_last_count = 0 self._spindle_step = 0 self._spindle_last_count = 0 self._rapid_step = 0 self._rapid_last_count = 0 self._max_vel_step = 0 self._max_vel_last_count = 0 self._mpg_last_count = 0 print('Custom subclassed handler loaded\n') def init_pins(self): super().init_pins() self.FEED_RATE_ENABLE = 0 self.SPINDLE_RATE_ENABLE = 0 self.ANGULAR_JOG_RATE_ENABLE = 0 self.JOG_RATE_ENABLE = 0 self.RAPID_RATE_ENABLE = 0 self.MAX_VEL_OVERALL_ENABLE = 0 self.MPG_ENABLE = 0 # jog pins X axis pin = QHAL.newpin("jog.axis.x.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 0, 1, fast = False, linear = True)) pin = QHAL.newpin("jog.axis.x.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 0, -1, fast = False, linear = True)) # jog pins Y axis pin = QHAL.newpin("jog.axis.y.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 1, 1, fast = False, linear = True)) pin = QHAL.newpin("jog.axis.y.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 1, -1, fast = False, linear = True)) # jog pins Z axis pin = QHAL.newpin("jog.axis.z.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 2, 1, fast = False, linear = True)) pin = QHAL.newpin("jog.axis.z.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 2, -1, fast = False, linear = True)) # jog pins A axis pin = QHAL.newpin("jog.axis.a.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 3, 1, fast = False, linear = False)) pin = QHAL.newpin("jog.axis.a.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 3, -1, fast = False, linear = False)) # jog pins B axis pin = QHAL.newpin("jog.axis.b.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 4, 1, fast = False, linear = False)) pin = QHAL.newpin("jog.axis.b.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 4, -1, fast = False, linear = False)) # jog pins C axis pin = QHAL.newpin("jog.axis.c.plus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 5, 1, fast = False, linear = False)) pin = QHAL.newpin("jog.axis.c.minus", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 5, -1, fast = False, linear = False)) # generate the pins to connect counter inputs for slider ANGULAR_JOG pin = QHAL.newpin("jog.override-angular.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"ANGULAR_JOG_RATE")) pin = QHAL.newpin("jog.override-angular.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"ANGULAR_JOG_RATE")) # make a pin to set turtle jog angular pin = QHAL.newpin("jog.override-angular.turtle", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.togle_jog_range_a(s)) # make a pin to indicated slow/fast button pin = QHAL.newpin("jog.override-angular.turtle-led", QHAL.HAL_BIT, QHAL.HAL_OUT) # make a pin to step value for ANGULAR_JOG_RATE pin = QHAL.newpin("jog.override-angular.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s,"ANGULAR_JOG_RATE")) # generate the pins to connect counter inputs for slider JOG_RATE pin = QHAL.newpin("jog.override-linear.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"JOG_RATE")) pin = QHAL.newpin("jog.override-linear.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"JOG_RATE")) # make a pin to set turtle jog vel pin = QHAL.newpin("jog.override-linear.turtle", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.togle_jog_range_l(s)) # make a pin to indicated slow/fast button pin = QHAL.newpin("jog.override-linear.turtle-led", QHAL.HAL_BIT, QHAL.HAL_OUT) # make a pin to step value for JOG_RATE pin = QHAL.newpin("jog.override-linear.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s,"JOG_RATE")) # generate the pins to connect counter inputs for slider FEED_RATE pin = QHAL.newpin("feed.override.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"FEED_RATE")) pin = QHAL.newpin("feed.override.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"FEED_RATE")) # make a pin to set feed override 100% pin = QHAL.newpin("feed.override.btn-100", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda: self.btn_feed_100_clicked()) # make a pin to step value for FEED_RATE pin = QHAL.newpin("feed.override.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s, "FEED_RATE")) # generate the pins to connect counter inputs for slider SPINDLE_RATE pin = QHAL.newpin("spindle.override.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"SPINDLE_RATE")) pin = QHAL.newpin("spindle.override.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"SPINDLE_RATE")) # make a pin to set spindle 100% pin = QHAL.newpin("spindle.override.btn-100", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda: self.btn_spindle_100_clicked()) # make a pin to step value for SPINDLE_RATE pin = QHAL.newpin("spindle.override.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s, "SPINDLE_RATE")) # generate the pins to connect counter inputs for slider RAPID_RATE pin = QHAL.newpin("rapid.override.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"RAPID_RATE")) pin = QHAL.newpin("rapid.override.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"RAPID_RATE")) # make a pin to set rapid 100% pin = QHAL.newpin("rapid.override.btn-100", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda: self.btn_rapid_100_clicked()) # make a pin to step value for RAPID_RATE pin = QHAL.newpin("rapid.override.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s, "RAPID_RATE")) # generate the pins to connect counter inputs for slider MAX_VEL_OVERALL pin = QHAL.newpin("maxvel.override.count-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_count_enable_changed(s,"MAX_VEL_OVERALL")) pin = QHAL.newpin("maxvel.override.counts", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._on_counts_value_changed(s,"MAX_VEL_OVERALL")) # make a pin to set max velocity 100% pin = QHAL.newpin("maxvel.override.btn-100", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda: self.btn_maxv_100_clicked()) # make a pin to step value for MAX_VEL_OVERALL pin = QHAL.newpin("maxvel.override.step", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._step_value_set(s, "MAX_VEL_OVERALL")) #make a pin for enable MPG pin = QHAL.newpin("mpg.mpg-enable", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_enable_changed(s)) #make a pins for jog increments pin = QHAL.newpin("mpg.mpg-inc.1", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) pin = QHAL.newpin("mpg.mpg-inc.2", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) pin = QHAL.newpin("mpg.mpg-inc.3", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) #make a pins for jog angular increments pin = QHAL.newpin("mpg.mpg-angular-inc.1", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) pin = QHAL.newpin("mpg.mpg-angular-inc.2", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) pin = QHAL.newpin("mpg.mpg-angular-inc.3", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_icr_selected()) #make a pins for axis select pin = QHAL.newpin("mpg.axis.x", QHAL.HAL_BIT, QHAL.HAL_IN) pin = QHAL.newpin("mpg.axis.y", QHAL.HAL_BIT, QHAL.HAL_IN) pin = QHAL.newpin("mpg.axis.z", QHAL.HAL_BIT, QHAL.HAL_IN) pin = QHAL.newpin("mpg.axis.a", QHAL.HAL_BIT, QHAL.HAL_IN) pin = QHAL.newpin("mpg.axis.b", QHAL.HAL_BIT, QHAL.HAL_IN) pin = QHAL.newpin("mpg.axis.c", QHAL.HAL_BIT, QHAL.HAL_IN) #make a MPG encoder pin pin = QHAL.newpin("mpg.encoder-count", QHAL.HAL_S32, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_on_counts_changed(s)) #make a pin to cycle change increments pin = QHAL.newpin("mpg.mpg-inc.cycle", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_inr_cycle(s)) pin = QHAL.newpin("mpg.mpg-angular-inc.cycle", QHAL.HAL_BIT, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self._mpg_inr_angular_cycle(s)) def _on_count_enable_changed(self, state, command): self['{}_ENABLE'.format(command)] = state def _step_value_set(self, step, command): if command == "FEED_RATE": self._feed_step = step elif command == "SPINDLE_RATE": self._spindle_step = step elif command == "RAPID_RATE": self._rapid_step = step elif command == "MAX_VEL_OVERALL": self._max_vel_step = step elif command == "JOG_RATE": self._linear_jog_step = step elif command == "ANGULAR_JOG_RATE": self._angular_jog_step = step def _on_counts_value_changed(self, counts, command): #print(counts,command,self['{}_ENABLE'.format(command)]) if self['{}_ENABLE'.format(command)]: if command == 'JOG_RATE': if counts == self._linear_jog_last_count: self.w.slider_jog_linear.setValue(self.w.slider_jog_linear.value()) elif counts > self._linear_jog_last_count: self.w.slider_jog_linear.setValue(self.w.slider_jog_linear.value() + self.w.slider_jog_linear.maximum() / 100 * self._linear_jog_step) else: self.w.slider_jog_linear.setValue(self.w.slider_jog_linear.value() - self.w.slider_jog_linear.maximum() / 100 * self._linear_jog_step) self._linear_jog_last_count = counts elif command == 'ANGULAR_JOG_RATE': if counts == self._angular_jog_last_count: self.w.slider_jog_angular.setValue(self.w.slider_jog_angular.value()) elif counts > self._angular_jog_last_count: self.w.slider_jog_angular.setValue(self.w.slider_jog_angular.value() + self.w.slider_jog_angular.maximum() / 100 * self._angular_jog_step) else: self.w.slider_jog_angular.setValue(self.w.slider_jog_angular.value() - self.w.slider_jog_angular.maximum() / 100 * self._angular_jog_step) self._angular_jog_last_count = counts elif command == "FEED_RATE": if counts == self._feed_last_count: self.w.slider_feed_ovr.setValue(100) elif counts > self._feed_last_count: self.w.slider_feed_ovr.setValue(self.w.slider_feed_ovr.value() + self._feed_step) else: self.w.slider_feed_ovr.setValue(self.w.slider_feed_ovr.value() - self._feed_step) self._feed_last_count = counts elif command == "SPINDLE_RATE": if counts == self._spindle_last_count: self.w.slider_spindle_ovr.setValue(100) elif counts > self._spindle_last_count: self.w.slider_spindle_ovr.setValue(self.w.slider_spindle_ovr.value() + self._spindle_step) else: self.w.slider_spindle_ovr.setValue(self.w.slider_spindle_ovr.value() - self._spindle_step) self._spindle_last_count = counts elif command == "RAPID_RATE": if counts == self._rapid_last_count: self.w.slider_rapid_ovr.setValue(100) elif counts > self._rapid_last_count: self.w.slider_rapid_ovr.setValue(self.w.slider_rapid_ovr.value() + self._rapid_step) else: self.w.slider_rapid_ovr.setValue(self.w.slider_rapid_ovr.value() - self._rapid_step) self._rapid_last_count = counts elif command == "MAX_VEL_OVERALL": #print("slider max_vel value: ", self.w.slider_maxv_ovr.value()) if counts == self._max_vel_last_count: self.w.slider_maxv_ovr.setValue(100) elif counts > self._max_vel_last_count: self.w.slider_maxv_ovr.setValue(self.w.slider_maxv_ovr.value() + self.w.slider_maxv_ovr.maximum() / 100 * self._max_vel_step) else: self.w.slider_maxv_ovr.setValue(self.w.slider_maxv_ovr.value() - self.w.slider_maxv_ovr.maximum() / 100 * self._max_vel_step) self._max_vel_last_count = counts else: ACTION['SET_{}'.format(command)](counts*100) def btn_feed_100_clicked(self): self.w.slider_feed_ovr.setValue(100) def btn_spindle_100_clicked(self): self.w.slider_spindle_ovr.setValue(100) def btn_rapid_100_clicked(self): self.w.slider_rapid_ovr.setValue(100) def togle_jog_range_l(self, state): self.w.btn_jog_l_slow.setChecked(state) self.w.btn_jog_l_slow.clicked.emit(state) def togle_jog_range_a(self, state): self.w.btn_jog_a_slow.setChecked(state) self.w.btn_jog_a_slow.clicked.emit(state) def _mpg_enable_changed(self, state): self.MPG_ENABLE = state if self.MPG_ENABLE: self.w.jogincrements_linear.setEnabled(0) self.w.jogincrements_angular.setEnabled(0) self.h["mpg.mpg-enable"] = 1 else: self.w.jogincrements_linear.setEnabled(1) self.w.jogincrements_angular.setEnabled(1) self.h["mpg.mpg-enable"] = 0 def _mpg_icr_selected(self): #verification that the hal increments pins match screen increment #if no, set it equal screen value to the active hal pin for i in range(1, 4): if self.h[f"mpg.mpg-inc.{i}"]: if i != self.w.jogincrements_linear.currentIndex(): self.w.jogincrements_linear.setCurrentIndex(i) if self.h[f"mpg.mpg-angular-inc.{i}"]: if i != self.w.jogincrements_angular.currentIndex(): self.w.jogincrements_angular.setCurrentIndex(i) def _mpg_on_counts_changed(self, counts): linear = True if self.MPG_ENABLE and STATUS.is_man_mode() and STATUS.is_all_homed(): if self.h["mpg.axis.x"]: joint = 0 elif self.h["mpg.axis.y"]: joint = 1 elif self.h["mpg.axis.z"]: joint = 2 elif self.h["mpg.axis.a"]: joint = 3 linear = False elif self.h["mpg.axis.b"]: joint = 4 linear = False elif self.h["mpg.axis.c"]: joint = 5 linear = False else: joint = -1 if linear: distance = STATUS.get_jog_increment() rate = STATUS.get_jograte()/60 else: distance = STATUS.get_jog_increment_angular() rate = STATUS.get_jograte_angular()/60 if counts > self._mpg_last_count: direction = 1 else: direction = -1 if joint >= 0 and self.w.jogincrements_linear.currentIndex() != 0: ACTION.JOG(joint, direction, rate, distance) self._mpg_last_count = counts def _mpg_inr_cycle(self, state): if state: i = self.w.jogincrements_linear.currentIndex() if i < self.w.jogincrements_linear.count()-1: self.w.jogincrements_linear.setCurrentIndex(i+1) else: if i == self.w.jogincrements_linear.count()-1: self.w.jogincrements_linear.setCurrentIndex(0) def _mpg_inr_angular_cycle(self, state): if state: n = self.w.jogincrements_angular.currentIndex() if n < self.w.jogincrements_angular.count()-1: self.w.jogincrements_angular.setCurrentIndex(n+1) else: if n == self.w.jogincrements_angular.count()-1: self.w.jogincrements_angular.setCurrentIndex(0)