dodalem pozycjonowanie relatawne. wszystko dziala

configs/probe_basic/user_tabs/template_sidebar/template_sidebar.py

@@ -1,5 +1,6 @@
 import os
 import linuxcnc
+from enum import Enum
 
 from qtpy import uic
 from qtpy.QtCore import Qt
@@ -18,6 +19,10 @@ TOOL_TABLE = getPlugin('tooltable')
 INI_FILE = linuxcnc.ini(os.getenv('INI_FILE_NAME'))
 CMD = linuxcnc.command()
 
+class MoveMode(Enum):
+    ABS = 1
+    WCS = 2
+    REL = 3
 
 class UserTab(QWidget):
     def __init__(self, parent=None):
@@ -31,10 +36,6 @@ class UserTab(QWidget):
         STATUS.g5x_index.notify(self.update_wcs_label)
         self.update_wcs_label()
         
-        # self.btn_wcs_x.clicked.connect(lambda: self.move_wcs(x=self.fle_wcs_x.value()))
-        # self.btn_wcs_y.clicked.connect(lambda: self.move_wcs(y=self.fle_wcs_y.value()))
-        # self.fle_wcs_x.editingFinished.connect(self._format_x)
-
         self.edits: list[FloatLineEdit] = self.findChildren(FloatLineEdit)
 
         for fle in self.edits:
@@ -47,6 +48,7 @@ class UserTab(QWidget):
             btn.setEnabled(False)
             btn.clicked.connect(self.move_axis)
 
+
     def format_float(self):
         if not isinstance(self.sender(), FloatLineEdit):
             return
@@ -69,9 +71,10 @@ class UserTab(QWidget):
         self.statuslabel_wcs.setText(f"WCS {idx}")
         # 'G54' if ch[0] == 1 else 'G55' if ch[0] == 2 else 'G56' if ch[0] == 3 else 'none'
 
-    def move_x(self):
+    def move_relative(self):
-        machine_actions.jog.axis(axis='x', direction=1, distance=0.5)
+        # machine_actions.jog.axis(axis='x', direction=1, distance=0.5)
-        LOG.debug(f"fn: move_x. fle_wcs_x:{self.fle_wcs_x.value()}")
+        machine_actions.issue_mdi(f"G91 G0 X{self.fle_rel_x.value()}; G90")
+        LOG.debug(f"fn: move_x. fle_wcs_x:{self.fle_rel_x.value()}")
 
 
     def move_axis(self):
@@ -86,43 +89,59 @@ class UserTab(QWidget):
             dest_x = self.fle_abs_x.value()
             dest_y = self.fle_abs_y.value()
             dest_z = self.fle_abs_z.value()
-            if "_x" in btn_name:
+            if "x" == btn_name[-1]:
-                self.move_wcs(x=dest_x, abs=True)
+                self.move_wcs(MoveMode.ABS, x=dest_x)
                 return
-            if "_y" in btn_name:
+            if "y" == btn_name[-1]:
-                self.move_wcs(y=dest_y, abs=True)
+                self.move_wcs(MoveMode.ABS, y=dest_y)
                 return
-            if "_z" in btn_name:
+            if "z" == btn_name[-1]:
-                self.move_wcs(z=dest_z, abs=True)
+                self.move_wcs(MoveMode.ABS, z=dest_z)
                 return
-            self.move_wcs(dest_x, dest_y, dest_z, abs=True)
+            self.move_wcs(MoveMode.ABS, dest_x, dest_y, dest_z)
             LOG.debug(f"fn: move_wcs[ABS] x:{dest_x}, y:{dest_y}, z:{dest_z}")
 
         if "wcs" in btn_name:
             dest_x = self.fle_wcs_x.value()
             dest_y = self.fle_wcs_y.value()
             dest_z = self.fle_wcs_z.value()
-            if "_x" in btn_name:
+            if "x" == btn_name[-1]:
-                self.move_wcs(x=dest_x)
+                self.move_wcs(MoveMode.WCS, x=dest_x)
                 return
-            if "_y" in btn_name:
+            if "y" == btn_name[-1]:
-                self.move_wcs(y=dest_y)
+                self.move_wcs(MoveMode.WCS, y=dest_y)
                 return
-            if "_z" in btn_name:
+            if "z" == btn_name[-1]:
-                self.move_wcs(z=dest_z)
+                self.move_wcs(MoveMode.WCS, z=dest_z)
                 return
             
-            self.move_wcs(dest_x, dest_y, dest_z)
+            self.move_wcs(MoveMode.WCS, dest_x, dest_y, dest_z)
             LOG.debug(f"fn: move_wcs[WCS] x:{dest_x}, y:{dest_y}, z:{dest_z}")
+        
+        if "rel" in btn_name:
+            dest_x = self.fle_rel_x.value()
+            dest_y = self.fle_rel_y.value()
+            dest_z = self.fle_rel_z.value()
+            if "x" == btn_name[-1]:
+                self.move_wcs(MoveMode.REL, x=dest_x)
+                return
+            if "y" == btn_name[-1]:
+                self.move_wcs(MoveMode.REL, y=dest_y)
+                return
+            if "z" == btn_name[-1]:
+                self.move_wcs(MoveMode.REL, z=dest_z)
+                return
+            
+            self.move_wcs(MoveMode.REL, dest_x, dest_y, dest_z)
+            LOG.debug(f"fn: move_wcs[REL] x:{dest_x}, y:{dest_y}, z:{dest_z}")
 
 
     
-    def move_wcs(self, x=None, y=None, z=None, abs=False):
+    def move_wcs(self, mode:MoveMode, x=None, y=None, z=None):
-        
+        match mode:
-        if abs:
+            case MoveMode.ABS: mdi_cmd = "G53 G0"
-            mdi_cmd = "G53 G0"
+            case MoveMode.WCS: mdi_cmd = "G0"
-        else:
+            case MoveMode.REL: mdi_cmd = "G91 G0"
-            mdi_cmd = "G0"
 
         if x is not None:
             mdi_cmd += f" X{x}"
@@ -131,6 +150,9 @@ class UserTab(QWidget):
         if z is not None:
             mdi_cmd += f" Z{z}"
 
+        if mode == MoveMode.REL:
+            mdi_cmd += " ;G90"
+        
         LOG.debug(f"fn: move_wcs. MDI:{mdi_cmd}")
         machine_actions.issue_mdi(mdi_cmd)
 

configs/probe_basic/user_tabs/template_sidebar/template_sidebar.ui

@@ -176,6 +176,19 @@
      </item>
     </layout>
    </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item>
     <layout class="QVBoxLayout" name="verticalLayout_3">
      <item>
@@ -321,7 +334,7 @@
     </layout>
    </item>
    <item>
-    <spacer name="verticalSpacer">
+    <spacer name="verticalSpacer_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
@@ -333,6 +346,150 @@
      </property>
     </spacer>
    </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_4">
+     <item>
+      <widget class="QLabel" name="label_rel">
+       <property name="styleSheet">
+        <string notr="true">QLabel{
+    color: rgb(238, 238, 236);
+	font: 16pt &quot;Bebas Kai&quot;;
+}</string>
+       </property>
+       <property name="text">
+        <string>RELATIVE</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_7">
+       <item>
+        <widget class="FloatLineEdit" name="fle_rel_x">
+         <property name="text">
+          <string>  0.0000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="security" stdset="0">
+          <number>0</number>
+         </property>
+         <property name="rules" stdset="0">
+          <string>[]</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="btn_rel_x">
+         <property name="minimumSize">
+          <size>
+           <width>50</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>50</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>GO X</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_8">
+       <item>
+        <widget class="FloatLineEdit" name="fle_rel_y">
+         <property name="text">
+          <string>  0.0000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="rules" stdset="0">
+          <string>[]</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="btn_rel_y">
+         <property name="minimumSize">
+          <size>
+           <width>50</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>50</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>GO Y</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_9">
+       <item>
+        <widget class="FloatLineEdit" name="fle_rel_z">
+         <property name="text">
+          <string>  0.0000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="rules" stdset="0">
+          <string>[]</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="btn_rel_z">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>50</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>50</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>GO Z</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="QPushButton" name="btn_rel_all">
+       <property name="text">
+        <string>GO XYZ</string>
+       </property>
+       <property name="autoDefault">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <customwidgets>