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grbl stream script (wip)
This commit is contained in:
Peter Boin
parent
26cd7a8e57
commit
14b7541ec2
502
scripts/grbl-stream
Executable file
502
scripts/grbl-stream
Executable file
@ -0,0 +1,502 @@
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#!/usr/bin/env python
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import curses
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import time
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import six
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# on-screen elements
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# Status
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# - status (Idle, and so on)
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# - position (as read from status)
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# - spindle (running cw/ccw, off)
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# ref: https://github.com/gnea/grbl/wiki/Grbl-v1.1-Interface
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# Joggging
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# - numpad style layout (arrows, pgup/dn)
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# - radio selection of jog rates (<,>)
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# -
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#
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# Layout (80 x 24)
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################################################################################
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class Widget(object):
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pass
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class Label(Widget):
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def __init__(self, window, row, col, len, text='', prefix=''):
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self.window = window
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self.row = row
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self.col = col
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self.len = len
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self._text = text
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self.prefix = prefix
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self.render()
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def render(self):
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text = self._text + (' ' * max(0, self.len - len(self._text)))
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self.window.addstr(self.row, self.col, self.prefix + text)
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@property
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def text(self):
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return self._text
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@text.setter
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def text(self, val):
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self._text = val
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self.render()
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class NumberLabel(Widget):
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def __init__(self, window, row, col, value=0.0):
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self.window = window
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self.row = row
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self.col = col
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self._value = value
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self.render()
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def render(self):
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val_text = "{:>8s}".format("{:.3f}".format(self.value))
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self.window.addstr(self.row, self.col, val_text)
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@property
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def value(self):
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return self._value
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@value.setter
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def value(self, v):
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self._value = v
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self.render()
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class Button(Widget):
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def __init__(self, window, label, row, col):
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self.window = window
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self.label = label
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self.row = row
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self.col = col
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self.render()
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def flash(self):
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self.render(strong=True)
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self.window.refresh()
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time.sleep(0.1)
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self.render()
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self.window.refresh()
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def render(self, strong=False):
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addstr_params = [self.row, self.col, '[{}]'.format(self.label)]
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if strong:
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addstr_params.append(curses.A_BOLD)
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self.window.addstr(*addstr_params)
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class Banner(Widget):
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label_col = 4 # <space>text<space>
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def __init__(self, window, label=None, row=0):
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self.window = window
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self._label = label
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self.row = row
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self.render()
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def render(self):
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(y, x) = self.window.getmaxyx()
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label_str = " {} ".format(self._label)
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self.window.hline(0, 0, curses.ACS_HLINE, x)
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self.window.addstr(self.row, self.label_col, " {} ".format(self._label))
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@property
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def label(self):
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return self._label
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@label.setter
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def label(self, value):
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self._label = value
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self.render()
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class Status(object):
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row = 0
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def __init__(self, screen):
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self.screen = screen
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(max_y, max_x) = self.screen.getmaxyx()
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self.window = curses.newwin(5, max_x, self.row, 0)
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self.banner = Banner(self.window, 'Status: Idle')
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# Print backdrop (to use as template)
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backdrop = [
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'Jog: [xxxx.yyy ] MPos WPos',
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' [Y+] [Z+] X |xxxx.yyy |xxxx.yyy | Spindle: On (1000rpm)',
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'[X-] [X+] Y |xxxx.yyy |xxxx.yyy | Coolant: Off',
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' [Y-] [Z-] Z |xxxx.yyy |xxxx.yyy | Feed Rate: 100',
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]
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for (row, line) in enumerate(backdrop):
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self.window.addstr(row + 1, 0, line[:max_x])
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# Widgets
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self.widgets = {
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'X+': Button(self.window, 'X+', 3, 6),
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'X-': Button(self.window, 'X-', 3, 0),
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'Y+': Button(self.window, 'Y+', 2, 3),
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'Y-': Button(self.window, 'Y-', 4, 3),
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'Z+': Button(self.window, 'Z+', 2, 11),
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'Z-': Button(self.window, 'Z-', 4, 11),
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'jog': NumberLabel(self.window, 1, 6, 0.001),
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'MPosX': NumberLabel(self.window, 2, 21),
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'MPosY': NumberLabel(self.window, 3, 21),
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'MPosZ': NumberLabel(self.window, 4, 21),
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'WPosX': NumberLabel(self.window, 2, 31),
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'WPosY': NumberLabel(self.window, 3, 31),
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'WPosZ': NumberLabel(self.window, 4, 31),
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'spindle': Label(self.window, 2, 44, len=20, prefix='Spindle: '),
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'coolant': Label(self.window, 3, 44, len=20, prefix='Coolant: '),
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'feed_rate': Label(self.window, 4, 44, len=20, prefix='Feed Rate: '),
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}
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self.refresh()
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def set_status(self, label):
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self.banner.label = "Status: {}".format(label)
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self.refresh()
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def refresh(self):
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self.window.refresh()
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# Line types:
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# gcode: <'>' if cur> <gcode> > <response>
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# info: <'>' if cur> <info text>
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class GCodeContent(object):
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def __init__(self, gcode, sent=False, status=''):
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self.gcode = gcode
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self.sent = sent
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self.status = status
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def to_str(self, width):
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gcode_w = max(0, width - 23)
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return ("{gcode:<%i.%is} {sent} {status:<20s}" % (gcode_w, gcode_w)).format(
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gcode=self.gcode,
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sent='>' if self.sent else ' ',
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status=self.status,
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)
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class ConsoleLine(object):
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def __init__(self, window, content, cur=False):
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self.window = window
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self.content = content
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self._cur = cur
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self._width = 0
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self.update_width()
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def render(self, row):
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line = '> ' if self._cur else ' '
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if isinstance(self.content, GCodeContent):
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line += self.content.to_str(max(0, self._width - len(line)))
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else:
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line += str(self.content)
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self.window.addstr(row, 0, line)
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def update_width(self):
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(_, self._width) = self.window.getmaxyx()
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@property
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def cur(self):
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return self._cur
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@cur.setter
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def cur(self, value):
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self._cur = value
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class AccordionWindow(object):
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"""
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A region of the screen that can push those above and below it around.
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eg: as an active accordion window's content grows, it can push the window
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below it down, and make it smaller.
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"""
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def __init__(self, screen, title, soft_height=2, min_height=0):
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self.screen = screen
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self.title = title
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self.soft_height = soft_height
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self.min_height = min_height
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self.focus = False
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self.lines = [] # list of ConsoleLine instances (first are at the top)
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self.window = None
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self.banner = None
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def init_window(self, row, height):
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self.window = curses.newwin(height, self.screen.getmaxyx()[1], row, 0)
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self.banner = Banner(self.window, self.title)
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def add_line(self, line):
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self.lines.append(line)
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def move_window(self, row, height):
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self.window.resize(height, self.screen.getmaxyx()[1])
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self.window.mvwin(row, 0)
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self.window.clear()
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#self.window.box()
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#self.window.addstr(0, 5, self.title)
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self.banner.render()
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self.refresh()
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def __eq__(self, other):
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return self.title == other.title
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def refresh(self):
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self.window.refresh()
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class AccordionWindowManager(object):
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def __init__(self, screen, windows, header_height, footer_height=0):
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self.screen = screen
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self.windows = windows
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self.header_height = header_height
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self.footer_height = footer_height
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self._focus_index = 0
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self._log = []
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# Initialize accordion window's curses.Window instance
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cur_row = self.header_height
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for (i, window) in enumerate(self.windows):
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window.init_window(cur_row, window.soft_height)
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window.refresh()
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cur_row += window.soft_height
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@property
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def focus(self):
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return self.windows[self._focus_index]
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@focus.setter
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def focus(self, value):
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self._focus_index = self.windows.index(value)
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self.update_distrobution()
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def update_distrobution(self):
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# rows available across space
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rows = self.screen.getmaxyx()[0] - (self.header_height + self.footer_height)
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min_occupied = sum(w.min_height for w in self.windows)
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available = rows - min_occupied
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if rows - min_occupied < 3:
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pass # TODO: not enough room to respect min_heights
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# focussed window height
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# - self.focus.min_height
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# - len(self.focus.lines) + 1
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# - available + self.focus.min_height # max available space
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extra_alocate = max(0, (len(self.focus.lines) + 1) - self.focus.min_height)
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height_f = min(available, extra_alocate) + self.focus.min_height
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available -= height_f - self.focus.min_height
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cur_row = self.header_height
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for w in self.windows:
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if w == self.focus:
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height = height_f
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else:
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extra_alocate = max(0, (len(w.lines) + 1) - w.min_height)
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height = min(available, extra_alocate) + w.min_height
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available -= height - w.min_height
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w.move_window(cur_row, height)
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cur_row += height
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#rows_available = self.screen.getmaxyx()[0] - (self.header_height + self.footer_height)
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#
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#focus_rows_available = rows_available - sum(w.min_height for (i, w) in enumerate(self.windows) if i != self._focus_index)
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#focus_rows = min(focus_rows_available, max(self.focus.min_height, len(self.focus.lines) + 1))
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#non_focus_rows_available = rows_available - focus_rows
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#cur_row = self.header_height
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#heights = []
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#for (i, window) in enumerate(self.windows):
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# if i == self._focus_index:
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# height = focus_rows
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# else:
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# height = min(non_focus_rows_available, max(window.min_height, len(window.lines) + 1))
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# non_focus_rows_available -= height
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#
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# heights.append(height)
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# try:
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# window.move_window(cur_row, max(1, height))
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# except Exception as e:
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# raise RuntimeError({
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# 'rows_available': rows_available,
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# 'focus_rows_available': focus_rows_available,
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# 'non_focus_rows_available': non_focus_rows_available,
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# 'cur_row': cur_row,
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# 'height': height,
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# 'window': window,
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# 'focus': self.focus,
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# })
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# cur_row += height
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#self.screen.addstr(0, 0, "heights = %s" % str(heights))
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class InitWindow(AccordionWindow):
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pass
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class JoggingWindow(AccordionWindow):
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pass
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class StreamWindow(AccordionWindow):
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pass
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JOGGING_VALUES = [
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0.001, 0.01, 0.1, 1, 10, 25, 50, 100, 250, 500
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]
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def jog_value(cur_val, dindex):
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try:
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i = JOGGING_VALUES.index(cur_val)
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except ValueError:
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i = 0
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i = max(0, min(i + dindex, len(JOGGING_VALUES) - 1))
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return JOGGING_VALUES[i]
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def main(screen):
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# Clear screen
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screen.clear()
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screen.refresh()
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status = Status(screen=screen)
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init = InitWindow(screen=screen, title='GRBL Init: /dev/ttyACM0', min_height=2)
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jogging = JoggingWindow(screen=screen, title='Jogging', min_height=2)
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stream = StreamWindow(screen=screen, title='Stream: some_file.ngc', min_height=6)
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#init.lines = list(range(100))
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#jogging.lines = list(range(100))
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#stream.lines = list(range(100))
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accordion = AccordionWindowManager(
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screen=screen,
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windows=[init, jogging, stream],
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header_height=status.window.getmaxyx()[0],
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footer_height=0, # FIXME
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)
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# ----------- Initialize GRBL
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# ----------- Jogging, user input
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while True:
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k = screen.getkey()
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if k in ('q', 'Q'):
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break
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# Jogging Keys
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elif k == "KEY_RIGHT":
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status.widgets['MPosX'].value += status.widgets['jog'].value # FIXME
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status.widgets['X+'].flash()
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elif k == "KEY_LEFT":
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status.widgets['MPosX'].value -= status.widgets['jog'].value # FIXME
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status.widgets['X-'].flash()
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elif k == "KEY_UP":
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status.widgets['MPosY'].value += status.widgets['jog'].value # FIXME
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status.widgets['Y+'].flash()
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elif k == "KEY_DOWN":
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status.widgets['MPosY'].value -= status.widgets['jog'].value # FIXME
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status.widgets['Y-'].flash()
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elif k == "KEY_PPAGE":
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status.widgets['MPosZ'].value += status.widgets['jog'].value # FIXME
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status.widgets['Z+'].flash()
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elif k == "KEY_NPAGE":
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status.widgets['MPosZ'].value -= status.widgets['jog'].value # FIXME
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status.widgets['Z-'].flash()
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# Jogging Increment (up/down)
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elif k in '[],.':
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status.widgets['jog'].value = jog_value(
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status.widgets['jog'].value,
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{'[': 1, ',': 1, ']': -1, '.': -1}[k]
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)
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# Testing
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elif k == 'a':
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init.add_line('abc')
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accordion.update_distrobution()
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elif k == 'A':
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accordion.focus = init
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elif k == 's':
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jogging.add_line('abc')
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accordion.update_distrobution()
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elif k == 'S':
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accordion.focus = jogging
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elif k == 'd':
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stream.add_line('abc')
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accordion.update_distrobution()
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elif k == 'D':
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accordion.focus = stream
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elif k == ' ':
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# Zero WPos coordinates
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status.set_status('Zero Work Offsets...') # FIXME
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elif k == '\n':
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# Jogging complete, begin stream
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status.set_status('Begin Stream...') # FIXME
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#elif k == 'KEY_RESIZE':
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# # dummy keypress on console window resize
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# pass # FIXME: re-render everything (?)
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else:
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status.set_status(k) # FIXME: remove
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status.refresh()
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curses.wrapper(main)
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""" Example Output...
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---- Status: Idle --------------------------------------------------------------
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Jog: [ xx.yyy ] MPos WPos
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[Y+] [Z+] X: | xxx.yyy | xxx.yyy | Spindle: On (1000rpm)
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[X-] [X+] Y: | xxx.yyy | xxx.yyy | Coolant: Off
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[Y-] [Z-] Z: | xxx.yyy | xxx.yyy | Feed Rate: 100
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---- GRBL Init: /dev/ttyACM0 ---------------------------------------------------
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Grbl 1.1f ['$' for help]
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[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
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---- Jogging -------------------------------------------------------------------
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G91 > ok
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G00 X-1 > ok
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G00 Y20 > ok
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> awaiting input ... [space] zero offset, [enter] start stream
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---- Stream: some_file.ngc -----------------------------------------------------
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G17 G20 G40 G49 G54 G80 G90 G94 >
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T1M06 >
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F47.244 >
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S1000 >
|
||||
G00 Z0.197 >
|
||||
M03 >
|
||||
G04 P1 >
|
||||
G00X1.0961Y0.0126Z0.1969 >
|
||||
G01 Z0.0000 F5.9055 >
|
||||
F47.2441 >
|
||||
X1.0961 Y0.0126 Z0.0000 >
|
||||
X0.3182 Y0.0126 Z0.0000 >
|
||||
X0.1454 Y0.0126 Z0.0000 >
|
||||
X0.0432 Y0.0126 Z0.0000 >
|
||||
X0.0039 Y0.0126 Z0.0000 >
|
||||
Z0.1969 >
|
||||
G00 X1.0961 Y0.0293 Z0.1969
|
||||
|
||||
"""
|
||||
Loading…
x
Reference in New Issue
Block a user