stepconf.py

来自「CNC 的开放码,EMC2 V2.2.8版」· Python 代码 · 共 1,576 行 · 第 1/4 页

#!/usr/bin/python2.4
# -*- encoding: utf-8 -*-
#    This is stepconf, a graphical configuration editor for emc2
#    Copyright 2007 Jeff Epler <[e-mail]>
#
#    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.
#
#    You should have received a copy of the GNU General Public License
#    along with this program; if not, write to the Free Software
#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
import sys
import os
import pwd
import errno
import time
import md5
import pickle
import shutil
import math
import getopt
import textwrap

import gtk
import gtk.glade
import gobject
import gnome.ui

import xml.dom.minidom

import traceback

# otherwise, on hardy the user is shown spurious "[application] closed
# unexpectedly" messages but denied the ability to actually "report [the]
# problem"
def excepthook(exc_type, exc_obj, exc_tb):
    try:
        w = app.widgets.window1
    except NameError:
        w = None
    lines = traceback.format_exception(exc_type, exc_obj, exc_tb)
    m = gtk.MessageDialog(w,
                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
                gtk.MESSAGE_ERROR, gtk.BUTTONS_OK,
                _("Stepconf encountered an error.  The following "
                "information may be useful in troubleshooting:\n\n")
                + "".join(lines))
    m.show()
    m.run()
    m.destroy()
sys.excepthook = excepthook

BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
LOCALEDIR = os.path.join(BASE, "share", "locale")
import gettext;
#def _(x): return x
gettext.install("axis", localedir=LOCALEDIR, unicode=True)
gtk.glade.bindtextdomain("axis", LOCALEDIR)
gtk.glade.textdomain("axis")

def iceil(x):
    if isinstance(x, (int, long)): return x
    if isinstance(x, basestring): x = float(x)
    return int(math.ceil(x))

datadir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "emc")

wizard = os.path.join(datadir, "emc2-wizard.gif")
if not os.path.isfile(wizard):
    wizard = os.path.join("/etc/emc2/emc2-wizard.gif")
if not os.path.isfile(wizard):
    wizdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..")
    wizard = os.path.join(wizdir, "emc2-wizard.gif")

distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "configs", "common")
if not os.path.isdir(distdir):
    distdir = "/etc/emc2/sample-configs/common"


(ESTOP_IN, PROBE, PPR, PHA, PHB,
HOME_X, HOME_Y, HOME_Z, HOME_A,
MIN_HOME_X, MIN_HOME_Y, MIN_HOME_Z, MIN_HOME_A,
MAX_HOME_X, MAX_HOME_Y, MAX_HOME_Z, MAX_HOME_A,
BOTH_HOME_X, BOTH_HOME_Y, BOTH_HOME_Z, BOTH_HOME_A,
MIN_X, MIN_Y, MIN_Z, MIN_A,
MAX_X, MAX_Y, MAX_Z, MAX_A,
BOTH_X, BOTH_Y, BOTH_Z, BOTH_A,
ALL_LIMIT, ALL_HOME, UNUSED_INPUT) = range(36)

(XSTEP, XDIR, YSTEP, YDIR,
ZSTEP, ZDIR, ASTEP, ADIR, CW, CCW, PWM,
MIST, FLOOD, ESTOP, AMP, PUMP, UNUSED_OUTPUT) = range(17)

hal_output_names = ("xstep", "xdir", "ystep", "ydir",
"zstep", "zdir", "astep", "adir",
"spindle-cw", "spindle-ccw", "spindle-pwm",
"coolant-mist", "coolant-flood", "estop-out", "xenable",
"charge-pump")

hal_input_names = ("estop-ext", "probe-in",
"spindle-index", "spindle-phase-a", "spindle-phase-b",
"home-x", "home-y", "home-z", "home-a",
"min-home-x", "min-home-y", "min-home-z", "min-home-a",
"max-home-x", "max-home-y", "max-home-z", "max-home-a",
"both-home-x", "both-home-y", "both-home-z", "both-home-a",
"min-x", "min-y", "min-z", "min-a",
"max-x", "max-y", "max-z", "max-a",
"both-x", "both-y", "both-z", "both-a",
"all-limit", "all-home")

human_output_names = (_("X Step"), _("X Direction"), _("Y Step"), _("Y Direction"),
_("Z Step"), _("Z Direction"), _("A Step"), _("A Direction"),
_("Spindle CW"), _("Spindle CCW"), _("Spindle PWM"),
_("Coolant Mist"), _("Coolant Flood"), _("ESTOP Out"), _("Amplifier Enable"),
_("Charge Pump"), _("Unused"))

human_input_names = (_("ESTOP In"), _("Probe In"),
_("Spindle Index"), _("Spindle Phase A"), _("Spindle Phase B"),
_("Home X"), _("Home Y"), _("Home Z"), _("Home A"),
_("Minimum Limit + Home X"), _("Minimum Limit + Home Y"),
_("Minimum Limit + Home Z"), _("Minimum Limit + Home A"),
_("Maximum Limit + Home X"), _("Maximum Limit + Home Y"),
_("Maximum Limit + Home Z"), _("Maximum Limit + Home A"),
_("Both Limit + Home X"), _("Both Limit + Home Y"),
_("Both Limit + Home Z"), _("Both Limit + Home A"),
_("Minimum Limit X"), _("Minimum Limit Y"),
_("Minimum Limit Z"), _("Minimum Limit A"),
_("Maximum Limit X"), _("Maximum Limit Y"),
_("Maximum Limit Z"), _("Maximum Limit A"),
_("Both Limit X"), _("Both Limit Y"),
_("Both Limit Z"), _("Both Limit A"),
_("All limits"), _("All home"), _("Unused"))

def md5sum(filename):
    try:
	f = open(filename, "rb")
    except IOError:
	return None
    else:
	return md5.new(f.read()).hexdigest()

class Widgets:
    def __init__(self, xml):
	self._xml = xml
    def __getattr__(self, attr):
	r = self._xml.get_widget(attr)
	if r is None: raise AttributeError, "No widget %r" % attr
	return r
    def __getitem__(self, attr):
	r = self._xml.get_widget(attr)
	if r is None: raise IndexError, "No widget %r" % attr
	return r

class Data:
    def __init__(self):
	pw = pwd.getpwuid(os.getuid())
	self.machinename = _("my-mill")
	self.axes = 0 # XYZ
	self.units = 0 # inch
	self.drivertype = 6 # Other
	self.steptime = self.stepspace = 5000
	self.dirhold = self.dirsetup = 20000
        self.latency = 15000
        self.period = 25000

        self.ioaddr = "0x378"

	self.manualtoolchange = 1
	self.customhal = 1
	self.pyvcp = 0

	self.pin1inv = 0
	self.pin2inv = 0
	self.pin3inv = 0
	self.pin4inv = 0
	self.pin5inv = 0
	self.pin6inv = 0
	self.pin7inv = 0
	self.pin8inv = 0
	self.pin9inv = 0
	self.pin10inv = 0
	self.pin11inv = 0
	self.pin12inv = 0
	self.pin13inv = 0
	self.pin14inv = 0
	self.pin15inv = 0
	self.pin16inv = 0
	self.pin17inv = 0

	self.pin1 = ESTOP
	self.pin2 = XSTEP
	self.pin3 = XDIR
	self.pin4 = YSTEP
	self.pin5 = YDIR
	self.pin6 = ZSTEP
	self.pin7 = ZDIR
	self.pin8 = ASTEP
	self.pin9 = ADIR
	self.pin14 = CW
	self.pin16 = PWM
	self.pin17 = AMP

	self.pin10 = BOTH_HOME_X
	self.pin11 = BOTH_HOME_Y
	self.pin12 = BOTH_HOME_Z
	self.pin13 = BOTH_HOME_A
	self.pin15 = PROBE

	self.xsteprev = 200
	self.xmicrostep = 2
	self.xpulleynum = 1
	self.xpulleyden = 1
	self.xleadscrew = 20
	self.xmaxvel = 1
	self.xmaxacc = 30

	self.xhomepos = 0
	self.xminlim =  0
	self.xmaxlim =  8
	self.xhomesw =  0
	self.xhomevel = .05
	self.xlatchdir = 0
	self.xscale = 0

	self.ysteprev = 200
	self.ymicrostep = 2
	self.ypulleynum = 1
	self.ypulleyden = 1
	self.yleadscrew = 20
	self.ymaxvel = 1
	self.ymaxacc = 30

	self.yhomepos = 0
	self.yminlim =  0
	self.ymaxlim =  8
	self.yhomesw =  0
	self.yhomevel = .05
	self.ylatchdir = 0
	self.yscale = 0


	self.zsteprev = 200
	self.zmicrostep = 2
	self.zpulleynum = 1
	self.zpulleyden = 1
	self.zleadscrew = 20
	self.zmaxvel = 1
	self.zmaxacc = 30

	self.zhomepos = 0
	self.zminlim = -4
	self.zmaxlim =  0
	self.zhomesw = 0
	self.zhomevel = .05
	self.zlatchdir = 0
	self.zscale = 0


	self.asteprev = 200
	self.amicrostep = 2
	self.apulleynum = 1
	self.apulleyden = 1
	self.aleadscrew = 8
	self.amaxvel = 360
	self.amaxacc = 1200

	self.ahomepos = 0
	self.aminlim = -9999
	self.amaxlim =  9999
	self.ahomesw =  0
	self.ahomevel = .05
	self.alatchdir = 0
	self.ascale = 0

	self.spindlecarrier = 100
	self.spindlecpr = 100
	self.spindlespeed1 = 100
	self.spindlespeed2 = 800
	self.spindlepwm1 = .2
	self.spindlepwm2 = .8

    def load(self, filename, app=None, force=False):
	def str2bool(s):
	    return s == 'True'

        converters = {'string': str, 'float': float, 'int': int, 'bool': str2bool, 'eval': eval}

        d = xml.dom.minidom.parse(open(filename, "r"))
        for n in d.getElementsByTagName("property"):
            name = n.getAttribute("name")
            conv = converters[n.getAttribute('type')]
            text = n.getAttribute('value')
            setattr(self, name, conv(text))

	warnings = []
	for f, m in self.md5sums:
	    m1 = md5sum(f)
	    if m1 and m != m1:
		warnings.append(_("File %r was modified since it was written by stepconf") % f)
	if not warnings: return

        warnings.append("")
        warnings.append(_("Saving this configuration file will discard configuration changes made outside stepconf."))
        if app:
            dialog = gtk.MessageDialog(app.widgets.window1,
                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
                gtk.MESSAGE_WARNING, gtk.BUTTONS_OK,
                     "\n".join(warnings))
            dialog.show_all()
            dialog.run()
            dialog.destroy()
        else:
            for para in warnings:
                for line in textwrap.wrap(para, 78): print line
                print
            print
            if force: return
            response = raw_input(_("Continue? "))
            if response[0] not in _("yY"): raise SystemExit, 1

    def add_md5sum(self, filename, mode="r"):
	self.md5sums.append((filename, md5sum(filename)))

    def write_inifile(self, base):
	filename = os.path.join(base, self.machinename + ".ini")
	file = open(filename, "w")
	print >>file, _("# Generated by stepconf at %s") % time.asctime()
	print >>file, _("# If you make changes to this file, they will be")
	print >>file, _("# overwritten when you run stepconf again")

	print >>file
	print >>file, "[EMC]"
	print >>file, "MACHINE = %s" % self.machinename
	print >>file, "NML_FILE = emc.nml"
	print >>file, "DEBUG = 0"

	print >>file
	print >>file, "[DISPLAY]"
	print >>file, "DISPLAY = axis"
	print >>file, "EDITOR = gedit"
	print >>file, "POSITION_OFFSET = RELATIVE"
	print >>file, "POSITION_FEEDBACK = ACTUAL"
	print >>file, "MAX_FEED_OVERRIDE = 1.2"
	print >>file, "INTRO_GRAPHIC = emc2.gif"
	print >>file, "INTRO_TIME = 5"
        print >>file, "PROGRAM_PREFIX = %s" % \
                                    os.path.expanduser("~/emc2/nc_files")
	if self.units:
	    print >>file, "INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm"
	else:
	    print >>file, "INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in"
        if self.pyvcp:
            print >>file, "PYVCP = panel.xml"

        if self.axes == 2:
            print >>file, "LATHE = 1"

	print >>file
	print >>file, "[TASK]"
	print >>file, "TASK = milltask"
	print >>file, "CYCLE_TIME = 0.010"

	print >>file
	print >>file, "[RS274NGC]"
	print >>file, "PARAMETER_FILE = emc.var"

        base_period = self.ideal_period()

	print >>file
	print >>file, "[EMCMOT]"
	print >>file, "EMCMOT = motmod"
	print >>file, "SHMEM_KEY = 111"
	print >>file, "COMM_TIMEOUT = 1.0"
	print >>file, "COMM_WAIT = 0.010"
	print >>file, "BASE_PERIOD = %d" % base_period
	print >>file, "SERVO_PERIOD = 1000000"

	print >>file
	print >>file, "[HAL]"
	print >>file, "HALFILE = %s.hal" % self.machinename
	if self.customhal:
	    print >>file, "HALFILE = custom.hal"
	    print >>file, "POSTGUI_HALFILE = custom_postgui.hal"

	print >>file
	print >>file, "[TRAJ]"
	if self.axes == 1: