Simple pygame script to test new jog feature in GRBL v1.1 (now including X,Y and Z axis)

grbl_jog_v2.py

# requires pygame and pyserial

import pygame
import os
import serial
import time


class KeyButton(object): 

    def __init__(self, key_id, name, cmd_short, cmd_long):
        self.key_id = key_id
        self.name = name
        self.last_ms_down = 0
        self.last_state = 0 # 1 = pressed
        self.active = False
        self.cmd_short = cmd_short
        self.cmd_long  = cmd_long

    def check_key_down(self, current_ms, event_key):
        if event_key == self.key_id:
            self.active = True
            self.last_ms_down = current_ms

    def check_key_up(self, current_ms, event_key):
        if event_key == self.key_id:
            self.active = False
            self.last_state = 0
            
    def is_pressed_long(self, current_ms, seconds):
        return current_ms - self.last_ms_down > seconds



def create_screen():
    if os.name == "nt":
        return pygame.display.set_mode((320, 200))
    else:
        drivers = ['fbcon', 'directfb', 'svgalib']
        found = False
        for driver in drivers:
            # Make sure that SDL_VIDEODRIVER is set
            if not os.getenv('SDL_VIDEODRIVER'):
                os.putenv('SDL_VIDEODRIVER', driver)
            try:
                pygame.display.init()
            except pygame.error:
                print 'Driver: {0} failed.'.format(driver)
                continue
            found = True
            break
        return pygame.display.set_mode((320, 200))


pygame.init()
clock = pygame.time.Clock()
screen = create_screen()

gameExit = False

print "start"

jog_active = False
speed = 400

cmd_base = "$J=G91 G21 X%d Y%d F%d\n"
cmd = "$J=G91 G21 X-1 F1500\n"

serial_enable = True

if serial_enable:
    ser = serial.Serial('/dev/ttyACM0', baudrate=115200)
    print ser.portstr


all_keys = []
all_keys.append(KeyButton(pygame.K_UP, "up", "$J=G91 G21 Y1 F500\n", "$J=G91 G21 Y1000 F4000\n"))
all_keys.append(KeyButton(pygame.K_DOWN, "down", "$J=G91 G21 Y-1 F500\n", "$J=G91 G21 Y-1000 F4000\n"))
all_keys.append(KeyButton(pygame.K_LEFT, "left", "$J=G91 G21 X-1 F500\n", "$J=G91 G21 X-1000 F4000\n"))
all_keys.append(KeyButton(pygame.K_RIGHT, "right", "$J=G91 G21 X1 F500\n", "$J=G91 G21 X1000 F4000\n"))
all_keys.append(KeyButton(pygame.K_PAGEUP, "right", "$J=G91 G21 Z0.1 F500\n", "$J=G91 G21 Z200 F1000\n"))
all_keys.append(KeyButton(pygame.K_PAGEDOWN, "right", "$J=G91 G21 Z-0.1 F500\n", "$J=G91 G21 Z-200 F1000\n"))


while not gameExit:
    last_ms = time.time()
    x_value = 0
    y_value = 0

    mods = pygame.key.get_mods();
    if mods & pygame.KMOD_CTRL:
        speed = 800
    if mods & pygame.KMOD_ALT:
        speed = 1500
    for event in pygame.event.get():
        # print(event)
        if event.type == pygame.QUIT:
            gameExit = True

        if event.type == pygame.KEYDOWN:
            if event.key == pygame.K_ESCAPE:
                gameExit = True

            for key_button in all_keys:
                key_button.check_key_down(last_ms, event.key)

        if event.type == pygame.KEYUP:

            for key_button in all_keys:
                key_button.check_key_up(last_ms, event.key)



    clock.tick(30)
    send = False
    has_action = False

    for key_button in all_keys:
        if not has_action and key_button.active:
            has_action = True

            if key_button.last_state == 0:
                key_button.last_state = 1
                print "once " + key_button.name
                cmd = key_button.cmd_short
                send = True

            if key_button.is_pressed_long(last_ms, 0.5):
                print "repeat"
                if not jog_active:
                    jog_active = True
                    print "send LONG command " + key_button.name
                    cmd = key_button.cmd_long
                    send = True
  
    if send:
        print cmd
        if serial_enable:
            ser.write(cmd)

    if not has_action and jog_active:
        jog_active = False
        print "cancel jog"
        if serial_enable:
            ser.write([0x85])

print "done"
pygame.quit()
quit()