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fix bug were linuxcnc would not return to manual mode
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@KurtJacobson
KurtJacobson committed Jul 26, 2017
1 parent 5f1cc77 commit 6536cd9
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Showing 2 changed files with 57 additions and 35 deletions.
87 changes: 54 additions & 33 deletions hazzy/hazzy.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,13 +39,13 @@

# Setup paths to files
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
INIFILE = sys.argv[2] # Path to .ini file
CONFIGDIR = os.path.dirname(INIFILE) # Path to config dir
INIFILE = sys.argv[2] # Path to .ini file
CONFIGDIR = os.path.dirname(INIFILE) # Path to config dir

# We use __file__ to get the file dir so we can run from any location
HAZZYDIR = os.path.dirname(os.path.realpath(__file__)) # Path to hazzy.py dir
IMAGEDIR = os.path.join(HAZZYDIR, 'images') # Path to images, glade
MODULEDIR = os.path.join(HAZZYDIR, 'modules') #
HAZZYDIR = os.path.dirname(os.path.realpath(__file__))
IMAGEDIR = os.path.join(HAZZYDIR, 'images')
MODULEDIR = os.path.join(HAZZYDIR, 'modules')
MAINDIR = os.path.dirname(HAZZYDIR)

# Set system path so we can find our own modules
Expand Down Expand Up @@ -79,7 +79,7 @@


# Now we have the path to our own modules so we can import them
import widgets # Norbert's module for geting objects quickly
import widgets # Norbert's module for geting objects
import preferences # Handles the preferences
import getiniinfo # Handles .ini file reading and value validation
import simpleeval # Used to evaluate expressions in numeric entries
Expand Down Expand Up @@ -208,7 +208,7 @@ def __init__(self):
self.axis_letters = ['X', 'Y', 'Z', 'A', 'B', 'C', 'U', 'V', 'W']
self.inifile = linuxcnc.ini(INIFILE)

# Define default button states
# Define default button states
self.cycle_start_button_state = 'start'
self.hold_resume_button_state = 'inactive'
self.is_pressed = {}
Expand Down Expand Up @@ -455,6 +455,7 @@ def __init__(self):
# Finally, show the window
self.window.show()

# Open file specified in INI [DISPLY] OPEN_FILE
self.load_gcode_file(self.get_ini_info.get_open_file())

# =========================================================
Expand Down Expand Up @@ -526,8 +527,8 @@ def _slow_periodic(self):
if self.task_mode != self.stat.task_mode:
self._update_machine_mode()

# Update interpreter state if it has changed
if self.interp_state != self.stat.interp_state:
# Update interpreter state if it has changed
if self.interp_state != self.stat.interp_state:
self._update_interp_state()

if self.motion_mode != self.stat.motion_mode:
Expand Down Expand Up @@ -569,15 +570,18 @@ def _slow_periodic(self):
if self.stat.block_delete != self.widgets.opskip.get_active():
self.widgets.opskip.set_active(self.stat.block_delete)

# If new error flash message border red for 2s
# If new error, flash message border red for 2s
if self.new_error:
self.error_flash_timer += 1
if self.error_flash_timer >= 4:
self.set_animation('error_image', None)
self.new_error = False
self.error_flash_timer = 0


if not self.is_moving():
self.set_mode(linuxcnc.MODE_MANUAL)


# =========================================================
# BEGIN - Info/Error message display
# =========================================================
Expand Down Expand Up @@ -697,20 +701,34 @@ def set_hold_resume_button_state(self, state):

# Toggle the reset button state and set the corresponding image
def on_reset_pressed(self, widget, data=None):
if self.stat.task_state != linuxcnc.STATE_ESTOP_RESET:
log.debug("Reseting E-stop")
self.set_state(linuxcnc.STATE_ESTOP_RESET)
self.stat.poll()
# Check if the machine actually reset
self.stat.poll()
if self.stat.task_state != linuxcnc.STATE_ESTOP_RESET and self.stat.task_state != linuxcnc.STATE_ON :
log.debug("Failed to bring machine out of E-stop")
return
# Turn on after reset

if self.stat.task_state != linuxcnc.STATE_ON:
log.debug("Turning machine on")
self.set_state(linuxcnc.STATE_ON)
self.set_image('reset_image', 'reset.png')
if self.stat.task_state != linuxcnc.STATE_ESTOP_RESET:
log.debug("Reseting E-stop")
self.set_state(linuxcnc.STATE_ESTOP_RESET)

# Check if the machine actually reset
self.stat.poll()
if self.stat.task_state != linuxcnc.STATE_ESTOP_RESET and self.stat.task_state != linuxcnc.STATE_ON :
log.debug("Failed to bring machine out of E-stop")
return

# Turn on after reset
if self.stat.task_state != linuxcnc.STATE_ON:
log.debug("Turning machine on")
self.set_state(linuxcnc.STATE_ON)
self.set_image('reset_image', 'reset.png')

else:
if self.is_moving():
self.command.abort()
if self.is_homed():
self.issue_mdi('M30')
self.gcode_view.set_line_number(1)
self.gremlin.clear_live_plotter()
self.gremlin.set_view('z')
self.set_mode(linuxcnc.MODE_MANUAL)


def on_abs_label_clicked(self, widget, data=None):
# Home all
Expand Down Expand Up @@ -852,7 +870,7 @@ def on_spindle_speed_entry_activate(self, widget):

# =========================================================
# MDI entry handlers

def on_mdi_entry_gets_focus(self, widget, event):
# if self.dro_is_locked:
# self.window.set_focus(None)
Expand Down Expand Up @@ -1385,7 +1403,7 @@ def _update_interp_state(self):
self.widgets.emc_interp_label.set_text("Interp: {0}".format(state_str))

def _update_motion_mode(self):
if self.stat.motion_mode == linuxcnc.TRAJ_MODE_COORD:
if self.stat.motion_mode == linuxcnc.TRAJ_MODE_COORD:
self.motion_mode = linuxcnc.TRAJ_MODE_COORD
motion_str = "COORD"
elif self.stat.motion_mode == linuxcnc.TRAJ_MODE_FREE:
Expand Down Expand Up @@ -1456,7 +1474,7 @@ def _update_joint_dros(self):
# Convert DRO units back and forth from in to mm
def convert_dro_units(self, values):
out = [0]*9
for axis, value in enumerate(values) :
for axis, value in enumerate(values):
out[axis] = values[axis] * self.conversion[axis]
return out

Expand Down Expand Up @@ -1552,7 +1570,7 @@ def _update_cutting_parameters(self):
self.chip_load = self.stat.current_vel * 60 / (self.spindle_speed + .01) * 2
self.widgets.surface_speed.set_text('{:.1f}'.format(self.surface_speed))
self.widgets.chip_load.set_text('{:.4f}'.format(self.chip_load))
else:
else:
self.widgets.surface_speed.set_text("-")
self.widgets.chip_load.set_text("-")

Expand All @@ -1565,14 +1583,14 @@ def _get_axis_list(self):
if axis_letter in self.axis_letter_list:
continue
self.axis_letter_list.append(axis_letter)

self.num_axes = len(self.axis_letter_list)

# Axis number list (Ex. [0, 1, 2, 4])
for axis in self.axis_letter_list:
axis_number = self.axis_letters.index(axis)
self.axis_number_list.append(axis_number)

# Joint:Axis dict (Ex. {0:0, 1:1, 2:2, 3:4})
for jnum, aletter in enumerate(coordinates):
anum = self.axis_letters.index(aletter)
Expand Down Expand Up @@ -1635,13 +1653,13 @@ def _update_homing_status(self):
self.abs_dro_dict[axis].modify_fg(gtk.STATE_NORMAL, gtk.gdk.Color('red'))
self.homed_joints = homed_joints

#TODO Make so does not run if it does not need to
#TODO Make so does not run if it does not need to
def _updade_dro_status(self):
if self.is_moving() or not self.is_homed(): # or not self.no_force_homing:
# An eventbox is placed over the editable DROs, if it is visible it blocks them from events
self.widgets.dro_mask.set_visible(True)
for anum, dro in self.rel_dro_dict.iteritems():
dro.modify_base(gtk.STATE_NORMAL, gtk.gdk.Color('#908e8e'))
dro.modify_base(gtk.STATE_NORMAL, gtk.gdk.Color('#908e8e'))
else:
self.widgets.dro_mask.set_visible(False)
for joint, dro in self.rel_dro_dict.iteritems():
Expand Down Expand Up @@ -1751,20 +1769,23 @@ def jog_stop(self, axis):
# =========================================================

def set_mode(self, mode):
self.stat.poll()
if self.stat.task_mode == mode:
return True
self.command.mode(mode)
self.command.wait_complete()
return True

def set_state(self, state):
self.stat.poll()
if self.stat.state == state:
return True
self.command.state(state)
self.command.wait_complete()
return True

def set_motion_mode(self, mode):
self.stat.poll()
if self.stat.motion_mode == mode:
return True
self.command.teleop_enable(0)
Expand Down
5 changes: 3 additions & 2 deletions hazzy/modules/gcodeview/gcodeview.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ def __init__(self, preview=False):
self.gtksourceview.connect('key-press-event', self.on_key_press)

# Set line highlight styles
self.gtksourceview.set_mark_category_background('none', gtk.gdk.Color('#ffffff'))
self.gtksourceview.set_mark_category_background('motion', gtk.gdk.Color('#c5c5c5'))
self.gtksourceview.set_mark_category_background('selected', gtk.gdk.Color('#96fef6'))
self.gtksourceview.set_mark_category_background('error', gtk.gdk.Color('#ff7373'))
Expand Down Expand Up @@ -118,7 +119,7 @@ def load_file(self, fn=None):
self.highlight_line(None)


def highlight_line(self, lnum, style='motion'):
def highlight_line(self, lnum, style='none'):
if not lnum or lnum == -1:
if self.mark:
self.buf.delete_mark(self.mark)
Expand Down Expand Up @@ -147,7 +148,7 @@ def set_modified(self, data):
self.buf.set_modified(data)

def set_line_number(self, lnum):
self.highlight_line(None, int(lnum))
self.highlight_line(int(lnum))

def get_program_length(self):
return self.buf.get_line_count()
Expand Down

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