adding files

my-emco/gladevcp-handler.py

@@ -0,0 +1,138 @@
+#!/usr/bin/ python
+
+import gtk
+import gobject
+import linuxcnc
+import hal
+import hal_glib
+import xml.etree.ElementTree as ET
+
+debug = 0
+
+class ToolTableParser:
+    def __init__(self, f):
+        self.f = open(f, 'r')
+        self.list = gtk.ListStore(int, str, str)
+        self._parse_file()
+        self.f.close()
+
+    def __repr__(self):
+        ret_str = ''
+        for l in self.list:
+            ret_str += str(l) + '\n'
+        return ret_str
+
+    def get_parsed_data(self):
+        return self.list
+
+    def _parse_file(self):
+        lines = self.f.readlines()
+
+        i = 0
+        for line in lines:
+            tool_nbr = line.split(' ')[0]
+            tool_descr = tool_nbr + ' ' + line.split(';')[1]
+            self.list.append([i, tool_descr, tool_nbr])
+            i = i+1
+
+class XmlParser:
+    def __init__(self, f):
+        self.tree = []
+        self.list = gtk.ListStore(int, str, str)
+
+        self._parse_file(f)
+      
+    def get_parsed_data(self):
+        return self.list
+   
+    def _parse_file(self, f):
+        self.tree = ET.parse(f)
+        root = self.tree.getroot()
+            
+        i = 0
+        for func in root.iter('function'):
+            gcode = func.find('gcode')
+      
+            # create the LinuxCNC hal pin and create mapping dictionary binding incomming events with data and the hal pins
+            if gcode is not None:
+                self.list.append([i, func.text, gcode.text])
+                i = i+1
+
+class HandlerClass:
+
+    def on_destroy(self,obj,data=None):
+        print "on_destroy, combobox active=%d" %(self.combo.get_active())
+        self.halcomp.exit() # avoid lingering HAL component
+        gtk.main_quit()
+
+    def on_changed(self, combobox, data=None):
+        if self.tool_combo_initiated:
+            model = combobox.get_model()
+            tool_change_cmd = 'M6' + ' ' + model[combobox.get_active()][2] + ' ' + 'G43'
+            self._send_mdi(tool_change_cmd)
+            print tool_change_cmd
+
+    def __init__(self, halcomp, builder, useropts):
+        self.linuxcnc_status = linuxcnc.stat()
+        self.linuxcnc_cmd = linuxcnc.command()
+        self.halcomp = halcomp
+        self.builder = builder
+        self.useropts = useropts
+
+        self.trigger1 = hal_glib.GPin(halcomp.newpin('trigger_pin', hal.HAL_BIT, hal.HAL_IN))
+        self.trigger1.connect('value-changed', self._trigger_change)
+
+        self.trigger2 = hal_glib.GPin(halcomp.newpin('saved-tool-pin', hal.HAL_U32, hal.HAL_IN))
+        self.trigger2.connect('value-changed', self._init_tool_combo)
+
+        func_list = XmlParser('func-btn.xml').get_parsed_data()
+        self.func_combo = self.builder.get_object('func-btn-combo')
+        self.func_combo.set_model(func_list)
+        self.func_combo.set_entry_text_column(1)
+        self.func_combo.set_active(0)
+
+        tool_list = ToolTableParser('tool.tbl').get_parsed_data()
+        self.tool_combo = self.builder.get_object('tool-combo')
+        self.tool_combo.set_model(tool_list)
+        self.tool_combo.set_entry_text_column(2)
+        self.tool_combo.set_active(0)
+
+        renderer_text = gtk.CellRendererText()      
+        self.func_combo.pack_start(renderer_text, True)
+        self.tool_combo.pack_start(renderer_text, True)
+        self.tool_combo_initiated = False
+
+    def _trigger_change(self, pin, userdata = None):
+        #setp gladevcp.trigger_pin 1
+        #print "pin value changed to: " + str(pin.get())
+        #print "pin name= " + pin.get_name()
+        #print "pin type= " + str(pin.get_type())
+        #print "active " + str(self.combo.get_active())
+        if pin.get() is True:
+            model = self.func_combo.get_model()
+            self._send_mdi(model[self.func_combo.get_active()][2])
+
+    def _init_tool_combo(self, pin, userdata = None):
+        #setp gladevcp.saved_tool_pin 2
+        self.tool_combo.set_active(pin.get())
+        self.tool_combo_initiated = True
+        
+
+    def _ok_for_mdi(self):
+        self.linuxcnc_status.poll()
+        return not self.linuxcnc_status.estop and self.linuxcnc_status.enabled and (self.linuxcnc_status.homed.count(1) == self.linuxcnc_status.joints) and (self.linuxcnc_status.interp_state == linuxcnc.INTERP_IDLE)
+
+    def _send_mdi(self, mdi_cmd_str):
+        if self._ok_for_mdi():
+            self.linuxcnc_cmd.mode(linuxcnc.MODE_MDI)
+            self.linuxcnc_cmd.wait_complete() # wait until mode switch executed
+            self.linuxcnc_cmd.mdi(mdi_cmd_str)
+		
+def get_handlers(halcomp, builder, useropts):
+
+    global debug
+    for cmd in useropts:
+        exec cmd in globals()
+
+    return [HandlerClass(halcomp, builder, useropts)]
+