#!/usr/bin/env python3 # Qtvcp widget # # Copyright (c) 2017 Chris Morley # # This program 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. # # This program 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. # ################################################################################# from PyQt5.QtCore import pyqtProperty import hal from qtvcp.widgets.led_widget import LED from qtvcp.core import Status from qtvcp import logger # Instantiate the libraries with global reference # STATUS gives us status messages from linuxcnc # LOG is for running code logging STATUS = Status() LOG = logger.getLogger(__name__) # Force the log level for this module # LOG.setLevel(logger.INFO) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL class StateLED(LED): ''' Widget to display a colored LED based on a linuxcnc state. ''' def __init__(self, parent=None): super(StateLED, self).__init__(parent) self.setState(False) self.is_estopped = False self.is_on = False self.is_homed = False self.is_idle = False self.is_paused = False self.invert_state = False self.is_flood = False self.is_mist = False self.is_block_delete = False self.is_optional_stop = False self.is_joint_homed = False self.is_limits_overridden = False self.is_manual = False self.is_mdi = False self.is_auto = False self.is_spindle_stopped = False self.is_spindle_fwd = False self.is_spindle_rev = False self.is_spindle_at_speed = False self.is_neg_limit_tripped = False self.is_pos_limit_tripped = False self.is_limits_tripped = False self._halpin_option = True self._follow_halpin = False self.joint_number = 0 self._halpin_name = '' self._override = 1 self._at_speed_percent = .1 def _hal_init(self): def only_false(data): if data: return self._flip_state(False) # optional output HAL pin reflecting state if self._halpin_option: if self._halpin_name == '': pname = self.HAL_NAME_ else: pname = self._halpin_name self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.HAL_BIT, hal.HAL_OUT) if self.is_estopped: STATUS.connect('state-estop', lambda w: self._flip_state(True)) STATUS.connect('state-estop-reset', lambda w: self._flip_state(False)) elif self.is_on: STATUS.connect('state-on', lambda w: self._flip_state(True)) STATUS.connect('state-off', lambda w: self._flip_state(False)) elif self.is_homed: STATUS.connect('all-homed', lambda w: self._flip_state(True)) STATUS.connect('not-all-homed', lambda w, axis: self._flip_state(False)) elif self.is_idle: STATUS.connect('interp-idle', lambda w: self._flip_state(True)) STATUS.connect('interp-run', lambda w: self._flip_state(False)) elif self.is_paused: STATUS.connect('program-pause-changed', lambda w, data: self._flip_state(data)) elif self.is_flood: STATUS.connect('flood-changed', lambda w, data: self._flip_state(data)) elif self.is_mist: STATUS.connect('mist-changed', lambda w, data: self._flip_state(data)) elif self.is_block_delete: STATUS.connect('block-delete-changed', lambda w, data: self._flip_state(data)) elif self.is_optional_stop: STATUS.connect('optional-stop-changed', lambda w, data: self._flip_state(data)) elif self.is_joint_homed: STATUS.connect('homed', lambda w, data: self.joint_homed(data)) STATUS.connect('not-all-homed', lambda w, data: self.joints_unhomed(data)) elif self.is_limits_overridden: STATUS.connect('override-limits-changed', self.check_override_limits) STATUS.connect('hard-limits-tripped', lambda w, data, group: only_false(data)) elif self.is_manual or self.is_mdi or self.is_auto: STATUS.connect('mode-manual', lambda w: self.mode_changed(0)) STATUS.connect('mode-mdi', lambda w: self.mode_changed(1)) STATUS.connect('mode-auto', lambda w: self.mode_changed(2)) elif self.is_spindle_stopped or self.is_spindle_fwd or self.is_spindle_rev: STATUS.connect('spindle-control-changed', lambda w, num, state, speed, upto: self.spindle_changed(speed)) elif self.is_spindle_at_speed: STATUS.connect('requested-spindle-speed-changed', lambda w, speed: self.spindle_requested_changed(speed)) STATUS.connect('spindle-override-changed', lambda w, rate: self.spindle_override_changed(rate)) STATUS.connect('actual-spindle-speed-changed',lambda w, speed: self.spindle_actual_changed(speed)) elif self.is_neg_limit_tripped or \ self.is_pos_limit_tripped or \ self.is_limits_tripped: STATUS.connect('hard-limits-tripped', lambda w, data, group: self.switch_on_hard_limits(data, group)) elif self._follow_halpin: STATUS.connect('periodic', lambda w: self._set_halpin_text()) def _flip_state(self, data): if self.invert_state: data = not data self.change_state(data) def change_state(self, state): super(StateLED, self).change_state(state) if self._halpin_option: self.hal_pin.set(state) def joint_homed(self, joint): if int(joint) == self.joint_number: self._flip_state(True) def joints_unhomed(self, jlist): if str(self.joint_number) in jlist: self._flip_state(False) def check_override_limits(self, w, state, data): for i in data: if i == 1: self._flip_state(True) return self._flip_state(False) def mode_changed(self, mode): if self.is_manual and mode == 0: self._flip_state(True) elif self.is_mdi and mode == 1: self._flip_state(True) elif self.is_auto and mode == 2: self._flip_state(True) else: self._flip_state(False) def spindle_changed(self, state): if self.is_spindle_stopped and state == 0: self._flip_state(True) elif self.is_spindle_rev and state < 0: self._flip_state(True) elif self.is_spindle_fwd and state > 0: self._flip_state(True) else: self._flip_state(False) def spindle_off(self, state): if state == 0: if self.invert_state: self.change_state(True) else: self.change_state(False) def spindle_requested_changed(self, speed): self._requested = speed state = STATUS.is_spindle_on() self.setState(state) def spindle_override_changed(self, rate): self._override = rate/100.0 def spindle_actual_changed(self, speed): self._actual = speed if not STATUS.is_spindle_on(): if self._halpin_option: self.hal_pin.set(False) self.setFlashing(False) return flash = self.spindle_near_check() self.setFlashing(flash) if self._halpin_option: self.hal_pin.set(not flash) def spindle_near_check(self): req = self._requested * self._override upper = abs(req * (1+self._at_speed_percent)) lower = abs(req * (1-self._at_speed_percent)) value = abs(self._actual) #print(req,lower,value,upper,lower <= value <= upper) if lower <= value <= upper: return False return True def switch_on_hard_limits(self, data, group): ''' Switch LED state based on hard limits state of selected joint. Args: data (bool): combined limits state. group (list): list of all joints negative and positive hard limits state. ''' pair = group[self.joint_number] if self.is_neg_limit_tripped: data = pair[0] elif self.is_pos_limit_tripped: data = pair[1] else: data = pair[0]+pair[1] self._flip_state(data) def _set_halpin_text(self): try: state = bool(self.HAL_GCOMP_.hal.get_value(self._halpin_name)) except Exception as e: return self._flip_state(state) ######################################################################### # This is how designer can interact with our widget properties. # designer will show the pyqtProperty properties in the editor # it will use the get set and reset calls to do those actions # # _toggle_properties makes it so we can only select one option ######################################################################## def _toggle_properties(self, picked): data = ('is_paused', 'is_estopped', 'is_on', 'is_idle', 'is_homed', 'is_flood', 'is_mist', 'is_block_delete', 'is_optional_stop', 'is_joint_homed', 'is_limits_overridden','is_manual', 'is_mdi', 'is_auto', 'is_spindle_stopped', 'is_spindle_fwd', 'is_spindle_rev','is_spindle_at_speed','neg_hard_limit_state', 'pos_hard_limit_state','hard_limits_state','followhalpin') for i in data: if not i == picked: if i in('neg_hard_limit_state', 'pos_hard_limit_state','hard_limits_state'): self[i] = False else: self[i+'_status'] = False # property getter/setters # invert status def set_invert_state(self, data): self.invert_state = data def get_invert_state(self): return self.invert_state def reset_invert_state(self): self.invert_state = False # machine is paused status def set_is_paused(self, data): self.is_paused = data if data: self._toggle_properties('is_paused') def get_is_paused(self): return self.is_paused def reset_is_paused(self): self.is_paused = False # machine is estopped status def set_is_estopped(self, data): self.is_estopped = data if data: self._toggle_properties('is_estopped') def get_is_estopped(self): return self.is_estopped def reset_is_estopped(self): self.is_estopped = False # machine is on status def set_is_on(self, data): self.is_on = data if data: self._toggle_properties('is_on') def get_is_on(self): return self.is_on def reset_is_on(self): self.is_on = False # machine is idle status def set_is_idle(self, data): self.is_idle = data if data: self._toggle_properties('is_idle') def get_is_idle(self): return self.is_idle def reset_is_idle(self): self.is_idle = False # machine_is_homed status def set_is_homed(self, data): self.is_homed = data if data: self._toggle_properties('is_homed') def get_is_homed(self): return self.is_homed def reset_is_homed(self): self.is_homed = False # machine is_flood status def set_is_flood(self, data): self.is_flood = data if data: self._toggle_properties('is_flood') def get_is_flood(self): return self.is_flood def reset_is_flood(self): self.is_flood = False # machine is_mist status def set_is_mist(self, data): self.is_mist = data if data: self._toggle_properties('is_mist') def get_is_mist(self): return self.is_mist def reset_is_mist(self): self.is_mist = False # machine_is_block_delete status def set_is_block_delete(self, data): self.is_block_delete = data if data: self._toggle_properties('is_block_delete') def get_is_block_delete(self): return self.is_block_delete def reset_is_block_delete(self): self.is_block_delete = False # machine_is_optional_stop status def set_is_optional_stop(self, data): self.is_optional_stop = data if data: self._toggle_properties('is_optional_stop') def get_is_optional_stop(self): return self.is_optional_stop def reset_is_optional_stop(self): self.is_optional_stop = False # machine_is_joint_homed status def set_is_joint_homed(self, data): self.is_joint_homed = data if data: self._toggle_properties('is_joint_homed') def get_is_joint_homed(self): return self.is_joint_homed def reset_is_joint_homed(self): self.is_joint_homed = False # machine_is_limits_overridden status def set_is_limits_overridden(self, data): self.is_limits_overridden = data if data: self._toggle_properties('is_limits_overridden') def get_is_limits_overridden(self): return self.is_limits_overridden def reset_is_limits_overridden(self): self.is_limits_overridden = False # machine is manual status def set_is_manual(self, data): self.is_manual = data if data: self._toggle_properties('is_manual') def get_is_manual(self): return self.is_manual def reset_is_manual(self): self.is_manual = False # machine is mdi status def set_is_mdi(self, data): self.is_mdi = data if data: self._toggle_properties('is_mdi') def get_is_mdi(self): return self.is_mdi def reset_is_mdi(self): self.is_mdi = False # machine is auto status def set_is_auto(self, data): self.is_auto = data if data: self._toggle_properties('is_auto') def get_is_auto(self): return self.is_auto def reset_is_auto(self): self.is_auto = False # machine is spindle_stopped status def set_is_spindle_stopped(self, data): self.is_spindle_stopped = data if data: self._toggle_properties('is_spindle_stopped') def get_is_spindle_stopped(self): return self.is_spindle_stopped def reset_is_spindle_stopped(self): self.is_spindle_stopped = False # machine is spindle_fwd status def set_is_spindle_fwd(self, data): self.is_spindle_fwd = data if data: self._toggle_properties('is_spindle_fwd') def get_is_spindle_fwd(self): return self.is_spindle_fwd def reset_is_spindle_fwd(self): self.is_spindle_fwd = False # machine is spindle_rev status def set_is_spindle_rev(self, data): self.is_spindle_rev = data if data: self._toggle_properties('is_spindle_rev') def get_is_spindle_rev(self): return self.is_spindle_rev def reset_is_spindle_rev(self): self.is_spindle_rev = False # machine is spindle_at_speed status def set_is_spindle_at_speed(self, data): self.is_spindle_at_speed = data if data: self._toggle_properties('is_spindle_at_speed') def get_is_spindle_at_speed(self): return self.is_spindle_at_speed def reset_is_spindle_at_speed(self): self.is_spindle_at_speed = False # machine hard limits_tripped status def set_neg_limit_tripped(self, data): self.is_neg_limit_tripped = data if data: self._toggle_properties('neg_hard_limit_state') def get_neg_limit_tripped(self): return self.is_neg_limit_tripped def reset_neg_limit_tripped(self): self.is_neg_limit_tripped = False # machine hard limits_tripped status def set_pos_limit_tripped(self, data): self.is_pos_limit_tripped = data if data: self._toggle_properties('pos_hard_limit_state') def get_pos_limit_tripped(self): return self.is_pos_limit_tripped def reset_pos_limit_tripped(self): self.is_pos_limit_tripped = False # machine hard limits_tripped status def set_limits_tripped(self, data): self.is_limits_tripped = data if data: self._toggle_properties('hard_limits_state') def get_limits_tripped(self): return self.is_limits_tripped def reset_limits_tripped(self): self.is_limits_tripped = False def set_follow_pin(self, data): self._follow_halpin = data if data: self._toggle_properties('follow_halpin') def get_follow_pin(self): return self._follow_halpin def reset_follow_pin(self): self._follow_halpin = False # Non bool # machine_joint_number status def set_joint_number(self, data): self.joint_number = data def get_joint_number(self): return self.joint_number def reset_joint_number(self): self.joint_number = 0 def set_spindle_near_percent(self, data): if data < 0: data = 0 if data> 100: data = 100 self._at_speed_percent = data/100.0 def get_spindle_near_percent(self): return int(self._at_speed_percent * 100) def reset_spindle_near_percent(self): self._at_speed_percen = 0.10 def set_halpin_name(self, data): self._halpin_name = data def get_halpin_name(self): return self._halpin_name def reset_halpin_name(self): self._halpin_name = '' # designer will show these properties in this order: # BOOL invert_state_status = pyqtProperty(bool, get_invert_state, set_invert_state, reset_invert_state) is_paused_status = pyqtProperty(bool, get_is_paused, set_is_paused, reset_is_paused) is_estopped_status = pyqtProperty(bool, get_is_estopped, set_is_estopped, reset_is_estopped) is_on_status = pyqtProperty(bool, get_is_on, set_is_on, reset_is_on) is_idle_status = pyqtProperty(bool, get_is_idle, set_is_idle, reset_is_idle) is_homed_status = pyqtProperty(bool, get_is_homed, set_is_homed, reset_is_homed) is_flood_status = pyqtProperty(bool, get_is_flood, set_is_flood, reset_is_flood) is_mist_status = pyqtProperty(bool, get_is_mist, set_is_mist, reset_is_mist) is_block_delete_status = pyqtProperty(bool, get_is_block_delete, set_is_block_delete, reset_is_block_delete) is_optional_stop_status = pyqtProperty(bool, get_is_optional_stop, set_is_optional_stop, reset_is_optional_stop) is_joint_homed_status = pyqtProperty(bool, get_is_joint_homed, set_is_joint_homed, reset_is_joint_homed) is_limits_overridden_status = pyqtProperty(bool, get_is_limits_overridden, set_is_limits_overridden, reset_is_limits_overridden) is_manual_status = pyqtProperty(bool, get_is_manual, set_is_manual, reset_is_manual) is_mdi_status = pyqtProperty(bool, get_is_mdi, set_is_mdi, reset_is_mdi) is_auto_status = pyqtProperty(bool, get_is_auto, set_is_auto, reset_is_auto) is_spindle_stopped_status = pyqtProperty(bool, get_is_spindle_stopped, set_is_spindle_stopped, reset_is_spindle_stopped) is_spindle_fwd_status = pyqtProperty(bool, get_is_spindle_fwd, set_is_spindle_fwd, reset_is_spindle_fwd) is_spindle_rev_status = pyqtProperty(bool, get_is_spindle_rev, set_is_spindle_rev, reset_is_spindle_rev) is_spindle_at_speed_status = pyqtProperty(bool, get_is_spindle_at_speed, set_is_spindle_at_speed, reset_is_spindle_at_speed) neg_hard_limit_state = pyqtProperty(bool, get_neg_limit_tripped, set_neg_limit_tripped, reset_neg_limit_tripped) pos_hard_limit_state = pyqtProperty(bool, get_pos_limit_tripped, set_pos_limit_tripped, reset_pos_limit_tripped) hard_limits_state = pyqtProperty(bool, get_limits_tripped, set_limits_tripped, reset_limits_tripped) follow_halpin_state = pyqtProperty(bool, get_follow_pin, set_follow_pin, reset_follow_pin) # NON BOOL joint_number_status = pyqtProperty(int, get_joint_number, set_joint_number, reset_joint_number) spindle_near_percent_status = pyqtProperty(int, get_spindle_near_percent, set_spindle_near_percent, reset_spindle_near_percent) halpin_name = pyqtProperty(str, get_halpin_name, set_halpin_name, reset_halpin_name) # boilder code def __getitem__(self, item): return getattr(self, item) def __setitem__(self, item, value): return setattr(self, item, value) if __name__ == "__main__": import sys from PyQt5.QtGui import QApplication app = QApplication(sys.argv) led = StateLED() led.show() #led.startFlashing() sys.exit(app.exec_())