151 lines
5.3 KiB
Python
151 lines
5.3 KiB
Python
import os
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import linuxcnc
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from enum import Enum
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from qtpy import uic
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from qtpy.QtCore import Qt
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from qtpy.QtWidgets import QWidget, QPushButton
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from qtpyvcp.actions import machine_actions
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from qtpyvcp.plugins import getPlugin
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from qtpyvcp.utilities import logger
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from widgets.conversational.float_line_edit import FloatLineEdit
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LOG = logger.getLogger(__name__)
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STATUS = getPlugin('status')
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TOOL_TABLE = getPlugin('tooltable')
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INI_FILE = linuxcnc.ini(os.getenv('INI_FILE_NAME'))
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CMD = linuxcnc.command()
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class MoveMode(Enum):
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"""Defines the available movement modes (absolute, work coordinate system, relative)."""
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ABS = 1
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WCS = 2
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REL = 3
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class UserTab(QWidget):
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"""A sidebar widget for controlling machine axis movements."""
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def __init__(self, parent=None):
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super(UserTab, self).__init__(parent)
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ui_file = os.path.splitext(os.path.basename(__file__))[0] + ".ui"
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uic.loadUi(os.path.join(os.path.dirname(__file__), ui_file), self)
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self.position_inputs: list[FloatLineEdit] = self.findChildren(FloatLineEdit)
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self.move_buttons: list[QPushButton] = self.findChildren(QPushButton)
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self._connect_signals()
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self.update_wcs_label()
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def _connect_signals(self):
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"""Connects widget signals to corresponding slots."""
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STATUS.on.notify(self._update_control_states)
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STATUS.all_axes_homed.notify(self._update_control_states)
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STATUS.g5x_index.notify(self.update_wcs_label)
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for line_edit in self.position_inputs:
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line_edit.setEnabled(False)
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line_edit.editingFinished.connect(self._format_sender_float_value)
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for button in self.move_buttons:
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button.setEnabled(False)
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button.clicked.connect(self._on_move_button_clicked)
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def _format_sender_float_value(self):
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"""Formats the text of the sending FloatLineEdit to its specified format."""
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sender_widget = self.sender()
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if not isinstance(sender_widget, FloatLineEdit):
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return
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LOG.debug(f"Formatting float for {sender_widget.objectName()}")
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value = sender_widget.value()
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formatted_value = sender_widget.format_string.format(value)
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sender_widget.setText(formatted_value)
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def update_wcs_label(self, *args):
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"""Updates the WCS status label with the current coordinate system."""
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wcs_index = STATUS.g5x_index
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self.wcs_status_label.setText(f"WCS {wcs_index}")
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def _on_move_button_clicked(self):
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"""Handles clicks on any of the move buttons."""
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sender = self.sender()
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if not isinstance(sender, QPushButton):
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return
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button_name = sender.objectName()
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LOG.debug(f"Move button clicked: {button_name}")
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try:
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_, mode_str, axes_str = button_name.replace('_button', '').split('_')
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except ValueError:
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LOG.error(f"Could not parse button name: {button_name}")
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return
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move_configs = {
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'abs': (MoveMode.ABS, self.abs_x_input, self.abs_y_input, self.abs_z_input),
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'wcs': (MoveMode.WCS, self.wcs_x_input, self.wcs_y_input, self.wcs_z_input),
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'rel': (MoveMode.REL, self.rel_x_input, self.rel_y_input, self.rel_z_input)
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}
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if mode_str not in move_configs:
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LOG.error(f"Unknown move mode '{mode_str}' in button name: {button_name}")
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return
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mode, x_input, y_input, z_input = move_configs[mode_str]
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x, y, z = None, None, None
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if 'x' in axes_str or 'all' in axes_str:
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x = x_input.value()
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if 'y' in axes_str or 'all' in axes_str:
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y = y_input.value()
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if 'z' in axes_str or 'all' in axes_str:
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z = z_input.value()
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self._execute_move_command(mode, x, y, z)
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LOG.debug(f"Executed move: {mode.name}, X={x}, Y={y}, Z={z}")
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def _execute_move_command(self, mode: MoveMode, x=None, y=None, z=None):
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"""Builds and sends an MDI command for the specified movement."""
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mdi_command = ""
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match mode:
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case MoveMode.ABS:
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mdi_command = "G53 G0"
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case MoveMode.WCS:
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mdi_command = "G0"
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case MoveMode.REL:
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mdi_command = "G91 G0"
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if x is not None:
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mdi_command += f" X{x}"
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if y is not None:
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mdi_command += f" Y{y}"
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if z is not None:
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mdi_command += f" Z{z}"
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if mode == MoveMode.REL:
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mdi_command += " ;G90"
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LOG.debug(f"Sending MDI command: {mdi_command}")
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machine_actions.issue_mdi(mdi_command)
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def _is_machine_ready(self) -> bool:
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"""Checks if the machine is on and all axes are homed."""
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is_ready = STATUS.on() and STATUS.all_axes_homed()
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LOG.debug(f"Machine ready check: on={STATUS.on()}, homed={STATUS.all_axes_homed()} -> {is_ready}")
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return is_ready
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def _update_control_states(self, *args):
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"""Enables or disables UI controls based on the machine's ready state."""
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is_ready = self._is_machine_ready()
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LOG.debug(f"Updating control states. Machine ready: {is_ready}")
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for button in self.move_buttons:
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button.setEnabled(is_ready)
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for line_edit in self.position_inputs:
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line_edit.setEnabled(is_ready) |