teach-in.py

CNC 的开放码,EMC2 V2.2.8版

#!/usr/bin/python
"""Usage:
    python teach-in nmlfile outputfile
If outputfile is not specified, writes to standard output.
You must ". scripts/emc-environment" before running this script, if you use
run-in-place.
"""
#    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 emc
import Tkinter
import sys
 
if len(sys.argv) > 1:
    emc.nmlfile = sys.argv[1]
 
if len(sys.argv) > 2:
    outfile = sys.argv[2]
    sys.stdout = open(outfile, 'w')
 
s = emc.stat()
 
def get_cart():
    s.poll()
    position = " ".join(["%-8.4f"] * s.axes)
    return position % s.position[:s.axes]
    
def get_joint():
    s.poll()
    position = " ".join(["%-8.4f"] * s.axes)
    return position % s.joint_actual_position[:s.axes]
 
def log():
    if world.get():
        p = get_cart()
    else:
        p = get_joint()
    label1.configure(text='Learned:  %s' % p)
    print p
 
def show():
    s.poll()
    if world.get():
        p = get_cart()
    else:
        p = get_joint()
    label2.configure(text='Position: %s' % p)
    app.after(100, show)
 
app = Tkinter.Tk(); app.wm_title('EMC2 Teach-In')
 
world = Tkinter.IntVar(app)
 
button = Tkinter.Button(app, command=log, text='Learn', font=("helvetica", 14))
button.pack(side='left')
 
label2 = Tkinter.Label(app, width=60, font='fixed', anchor="w")
label2.pack(side='top')
 
label1 = Tkinter.Label(app, width=60, font='fixed', text="Learned:  (nothing yet)", anchor="w")
label1.pack(side='top')
 
r1 = Tkinter.Radiobutton(app, text="Joint", variable=world, value=0)
r1.pack(side='left')
r2 = Tkinter.Radiobutton(app, text="World", variable=world, value=1)
r2.pack(side='left')
 
show()
app.mainloop()