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flatcam
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- fixed CNCJob and Excellon plotting in legacy graphic engine 

- in legacy graphic engine fixed the travel vs cut lines in CNCJob objects
- final fix for key shortcuts with modifier in legacy graphic engine
- refactored some of the code in the legacy graphic engine
This commit is contained in:
Marius Stanciu 2019-09-21 18:26:03 +03:00 committed by Marius
parent 9aef293a26
commit bc6dc3decf
11 changed files with 299 additions and 196 deletions
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16
FlatCAMApp.py
View File

@ -6690,7 +6690,12 @@ class App(QtCore.QObject):
if self.is_legacy is True:
# Remove plot only if the object was plotted otherwise delaxes will fail
if isPlotted:
self.plotcanvas.figure.delaxes(self.collection.get_active().axes)
try:
# self.plotcanvas.figure.delaxes(self.collection.get_active().axes)
self.plotcanvas.figure.delaxes(self.collection.get_active().shapes.axes)
except Exception as e:
log.debug("App.delete_first_selected() --> %s" % str(e))
self.plotcanvas.auto_adjust_axes()
# Remove from dictionary
@ -6740,7 +6745,12 @@ class App(QtCore.QObject):
def on_set_zero_click(self, event):
# this function will be available only for mouse left click
pos_canvas = self.plotcanvas.translate_coords(event.pos)
if self.is_legacy is False:
event_pos = event.pos
else:
event_pos = (event.xdata, event.ydata)
pos_canvas = self.plotcanvas.translate_coords(event_pos)
if event.button == 1:
if self.grid_status() == True:
pos = self.geo_editor.snap(pos_canvas[0], pos_canvas[1])
@ -11011,7 +11021,7 @@ class App(QtCore.QObject):
self.hover_shapes = ShapeCollection(parent=self.plotcanvas.view.scene, layers=1)
else:
# will use the default Matplotlib axes
self.hover_shapes = ShapeCollectionLegacy()
self.hover_shapes = ShapeCollectionLegacy(obj=self, app=self, name='hover')
def on_zoom_fit(self, event):
"""

247
FlatCAMObj.py
View File

@ -85,7 +85,7 @@ class FlatCAMObj(QtCore.QObject):
if self.app.is_legacy is False:
self.shapes = self.app.plotcanvas.new_shape_group()
else:
self.shapes = ShapeCollectionLegacy()
self.shapes = ShapeCollectionLegacy(obj=self, app=self.app)
# self.mark_shapes = self.app.plotcanvas.new_shape_collection(layers=2)
self.mark_shapes = {}
@ -339,22 +339,7 @@ class FlatCAMObj(QtCore.QObject):
if self.deleted:
return False
if self.app.is_legacy:
# 2D mode
# Axes must exist and be attached to canvas.
if self.axes is None or self.axes not in self.app.plotcanvas.figure.axes:
self.axes = self.app.plotcanvas.new_axes(self.options['name'])
if not self.options["plot"]:
self.axes.cla()
self.app.plotcanvas.auto_adjust_axes()
return False
# Clear axes or we will plot on top of them.
self.axes.cla()
else:
# 3D mode
self.clear()
self.clear()
return True
def single_object_plot(self):
@ -414,11 +399,12 @@ class FlatCAMObj(QtCore.QObject):
def worker_task(app_obj):
self.shapes.visible = value
# Not all object types has annotations
try:
self.annotation.visible = value
except Exception as e:
pass
if self.app.is_legacy is False:
# Not all object types has annotations
try:
self.annotation.visible = value
except Exception as e:
pass
if threaded is False:
worker_task(app_obj=self.app)
@ -655,7 +641,8 @@ class FlatCAMGerber(FlatCAMObj, Gerber):
self.mark_shapes[ap_code] = self.app.plotcanvas.new_shape_collection(layers=2)
else:
for ap_code in self.apertures:
self.mark_shapes[ap_code] = ShapeCollectionLegacy()
self.mark_shapes[ap_code] = ShapeCollectionLegacy(obj=self, app=self.app,
name=self.options['name'] + str(ap_code))
# set initial state of the aperture table and associated widgets
self.on_aperture_table_visibility_change()
@ -1369,73 +1356,45 @@ class FlatCAMGerber(FlatCAMObj, Gerber):
except TypeError:
geometry = [geometry]
if self.app.is_legacy is False:
def random_color():
color = np.random.rand(4)
color[3] = 1
return color
# if self.app.is_legacy is False:
def random_color():
color = np.random.rand(4)
color[3] = 1
return color
try:
if self.options["solid"]:
for g in geometry:
if type(g) == Polygon or type(g) == LineString:
try:
if self.options["solid"]:
for g in geometry:
if type(g) == Polygon or type(g) == LineString:
self.add_shape(shape=g, color=color,
face_color=random_color() if self.options['multicolored']
else face_color, visible=visible)
elif type(g) == Point:
pass
else:
try:
for el in g:
self.add_shape(shape=el, color=color,
face_color=random_color() if self.options['multicolored']
else face_color, visible=visible)
except TypeError:
self.add_shape(shape=g, color=color,
face_color=random_color() if self.options['multicolored']
else face_color, visible=visible)
elif type(g) == Point:
pass
else:
try:
for el in g:
self.add_shape(shape=el, color=color,
face_color=random_color() if self.options['multicolored']
else face_color, visible=visible)
except TypeError:
self.add_shape(shape=g, color=color,
face_color=random_color() if self.options['multicolored']
else face_color, visible=visible)
else:
for g in geometry:
if type(g) == Polygon or type(g) == LineString:
self.add_shape(shape=g, color=random_color() if self.options['multicolored'] else 'black',
else:
for g in geometry:
if type(g) == Polygon or type(g) == LineString:
self.add_shape(shape=g, color=random_color() if self.options['multicolored'] else 'black',
visible=visible)
elif type(g) == Point:
pass
else:
for el in g:
self.add_shape(shape=el, color=random_color() if self.options['multicolored'] else 'black',
visible=visible)
elif type(g) == Point:
pass
else:
for el in g:
self.add_shape(shape=el, color=random_color() if self.options['multicolored'] else 'black',
visible=visible)
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
else:
if self.options["multicolored"]:
linespec = '-'
else:
linespec = 'k-'
if self.options["solid"]:
for poly in geometry:
# TODO: Too many things hardcoded.
try:
patch = PolygonPatch(poly,
facecolor="#BBF268",
edgecolor="#006E20",
alpha=0.75,
zorder=2)
self.axes.add_patch(patch)
except AssertionError:
FlatCAMApp.App.log.warning("A geometry component was not a polygon:")
FlatCAMApp.App.log.warning(str(poly))
else:
for poly in geometry:
x, y = poly.exterior.xy
self.axes.plot(x, y, linespec)
for ints in poly.interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, linespec)
self.app.plotcanvas.auto_adjust_axes()
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
# experimental plot() when the solid_geometry is stored in the self.apertures
def plot_aperture(self, **kwargs):
@ -3164,42 +3123,22 @@ class FlatCAMExcellon(FlatCAMObj, Excellon):
visible = visible if visible else self.options['plot']
if self.app.is_legacy is False:
try:
# Plot Excellon (All polygons?)
if self.options["solid"]:
for geo in self.solid_geometry:
self.add_shape(shape=geo, color='#750000BF', face_color='#C40000BF',
visible=visible,
layer=2)
else:
for geo in self.solid_geometry:
self.add_shape(shape=geo.exterior, color='red', visible=visible)
for ints in geo.interiors:
self.add_shape(shape=ints, color='orange', visible=visible)
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
else:
# Plot excellon (All polygons?)
try:
# Plot Excellon (All polygons?)
if self.options["solid"]:
for geo in self.solid_geometry:
patch = PolygonPatch(geo,
facecolor="#C40000",
edgecolor="#750000",
alpha=0.75,
zorder=3)
self.axes.add_patch(patch)
self.add_shape(shape=geo, color='#750000BF', face_color='#C40000BF',
visible=visible,
layer=2)
else:
for geo in self.solid_geometry:
x, y = geo.exterior.coords.xy
self.axes.plot(x, y, 'r-')
self.add_shape(shape=geo.exterior, color='red', visible=visible)
for ints in geo.interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, 'g-')
self.add_shape(shape=ints, color='orange', visible=visible)
self.app.plotcanvas.auto_adjust_axes()
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
class FlatCAMGeometry(FlatCAMObj, Geometry):
@ -5434,21 +5373,21 @@ class FlatCAMGeometry(FlatCAMObj, Geometry):
self.plot_element(sub_el)
except TypeError: # Element is not iterable...
if self.app.is_legacy is False:
self.add_shape(shape=element, color=color, visible=visible, layer=0)
else:
if type(element) == Polygon:
x, y = element.exterior.coords.xy
self.axes.plot(x, y, 'r-')
for ints in element.interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, 'r-')
return
if type(element) == LineString or type(element) == LinearRing:
x, y = element.coords.xy
self.axes.plot(x, y, 'r-')
return
# if self.app.is_legacy is False:
self.add_shape(shape=element, color=color, visible=visible, layer=0)
# else:
# if type(element) == Polygon:
# x, y = element.exterior.coords.xy
# self.axes.plot(x, y, 'r-')
# for ints in element.interiors:
# x, y = ints.coords.xy
# self.axes.plot(x, y, 'r-')
# return
#
# if type(element) == LineString or type(element) == LinearRing:
# x, y = element.coords.xy
# self.axes.plot(x, y, 'r-')
# return
def plot(self, visible=None, kind=None):
"""
@ -5479,10 +5418,9 @@ class FlatCAMGeometry(FlatCAMObj, Geometry):
self.plot_element(self.solid_geometry, visible=visible)
# self.plot_element(self.solid_geometry, visible=self.options['plot'])
if self.app.is_legacy is False:
self.shapes.redraw()
else:
self.app.plotcanvas.auto_adjust_axes()
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
@ -5644,9 +5582,10 @@ class FlatCAMCNCjob(FlatCAMObj, CNCjob):
# from predecessors.
self.ser_attrs += ['options', 'kind', 'cnc_tools', 'multitool']
self.text_col = self.app.plotcanvas.new_text_collection()
self.text_col.enabled = True
self.annotation = self.app.plotcanvas.new_text_group(collection=self.text_col)
if self.app.is_legacy is False:
self.text_col = self.app.plotcanvas.new_text_collection()
self.text_col.enabled = True
self.annotation = self.app.plotcanvas.new_text_group(collection=self.text_col)
def build_ui(self):
self.ui_disconnect()
@ -5821,8 +5760,9 @@ class FlatCAMCNCjob(FlatCAMObj, CNCjob):
pass
self.ui.annotation_cb.stateChanged.connect(self.on_annotation_change)
# set if to display text annotations
self.ui.annotation_cb.set_value(self.app.defaults["cncjob_annotation"])
if self.app.is_legacy is False:
# set if to display text annotations
self.ui.annotation_cb.set_value(self.app.defaults["cncjob_annotation"])
# Show/Hide Advanced Options
if self.app.defaults["global_app_level"] == 'b':
@ -6271,11 +6211,12 @@ class FlatCAMCNCjob(FlatCAMObj, CNCjob):
visible = visible if visible else self.options['plot']
if self.ui.annotation_cb.get_value() and self.ui.plot_cb.get_value():
self.text_col.enabled = True
else:
self.text_col.enabled = False
self.annotation.redraw()
if self.app.is_legacy is False:
if self.ui.annotation_cb.get_value() and self.ui.plot_cb.get_value():
self.text_col.enabled = True
else:
self.text_col.enabled = False
self.annotation.redraw()
try:
if self.multitool is False: # single tool usage
@ -6294,16 +6235,20 @@ class FlatCAMCNCjob(FlatCAMObj, CNCjob):
self.shapes.redraw()
except (ObjectDeleted, AttributeError):
self.shapes.clear(update=True)
self.annotation.clear(update=True)
if self.app.is_legacy is False:
self.annotation.clear(update=True)
def on_annotation_change(self):
if self.ui.annotation_cb.get_value():
self.text_col.enabled = True
if self.app.is_legacy is False:
if self.ui.annotation_cb.get_value():
self.text_col.enabled = True
else:
self.text_col.enabled = False
# kind = self.ui.cncplot_method_combo.get_value()
# self.plot(kind=kind)
self.annotation.redraw()
else:
self.text_col.enabled = False
# kind = self.ui.cncplot_method_combo.get_value()
# self.plot(kind=kind)
self.annotation.redraw()
self.inform.emit(_("Not available with the current Graphic Engine Legacy(2D)."))
def convert_units(self, units):
log.debug("FlatCAMObj.FlatCAMECNCjob.convert_units()")

8
README.md
View File

@ -12,8 +12,12 @@ CAD program, and create G-Code for Isolation routing.
21.09.2019
- fixed Measuring Tool in legacy graphic engine
- fixed Gerber plotting
- fixed Geometry plotting
- fixed Gerber plotting in legacy graphic engine
- fixed Geometry plotting in legacy graphic engine
- fixed CNCJob and Excellon plotting in legacy graphic engine
- in legacy graphic engine fixed the travel vs cut lines in CNCJob objects
- final fix for key shortcuts with modifier in legacy graphic engine
- refactored some of the code in the legacy graphic engine
20.09.2019

2
camlib.py
View File

@ -125,7 +125,7 @@ class Geometry(object):
self.temp_shapes = self.app.plotcanvas.new_shape_group()
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.temp_shapes = ShapeCollectionLegacy()
self.temp_shapes = ShapeCollectionLegacy(obj=self, app=self.app, name='camlib.geometry')
# if geo_steps_per_circle is None:
# geo_steps_per_circle = int(Geometry.defaults["geo_steps_per_circle"])

4
flatcamEditors/FlatCAMExcEditor.py
View File

@ -2017,8 +2017,8 @@ class FlatCAMExcEditor(QtCore.QObject):
self.tool_shape = self.app.plotcanvas.new_shape_collection(layers=1)
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.shapes = ShapeCollectionLegacy()
self.tool_shape = ShapeCollectionLegacy()
self.shapes = ShapeCollectionLegacy(obj=self, app=self.app, name='shapes_exc_editor')
self.tool_shape = ShapeCollectionLegacy(obj=self, app=self.app, name='tool_shapes_exc_editor')
self.app.pool_recreated.connect(self.pool_recreated)

4
flatcamEditors/FlatCAMGeoEditor.py
View File

@ -3030,8 +3030,8 @@ class FlatCAMGeoEditor(QtCore.QObject):
self.tool_shape = self.app.plotcanvas.new_shape_collection(layers=1)
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.shapes = ShapeCollectionLegacy()
self.tool_shape = ShapeCollectionLegacy()
self.shapes = ShapeCollectionLegacy(obj=self, app=self.app, name='shapes_geo_editor')
self.tool_shape = ShapeCollectionLegacy(obj=self, app=self.app, name='tool_shapes_geo_editor')
self.app.pool_recreated.connect(self.pool_recreated)

6
flatcamEditors/FlatCAMGrbEditor.py
View File

@ -2827,9 +2827,9 @@ class FlatCAMGrbEditor(QtCore.QObject):
self.ma_annotation = self.canvas.new_text_group()
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.shapes = ShapeCollectionLegacy()
self.tool_shape = ShapeCollectionLegacy()
self.ma_annotation = ShapeCollectionLegacy()
self.shapes = ShapeCollectionLegacy(obj=self, app=self.app, name='shapes_grb_editor')
self.tool_shape = ShapeCollectionLegacy(obj=self, app=self.app, name='tool_shapes_grb_editor')
self.ma_annotation = ShapeCollectionLegacy(obj=self, app=self.app, name='ma_anno_grb_editor')
self.app.pool_recreated.connect(self.pool_recreated)

34
flatcamGUI/FlatCAMGUI.py
View File

@ -2272,31 +2272,23 @@ class FlatCAMGUI(QtWidgets.QMainWindow):
# events from the GUI are of type QKeyEvent
elif type(event) == QtGui.QKeyEvent:
key = event.key()
elif isinstance(event, mpl_key_event):
elif isinstance(event, mpl_key_event): # MatPlotLib key events are tricky to interpret as the rest
key = event.key
# if modifiers == QtCore.Qt.NoModifier:
try:
key = ord(key.upper())
except TypeError:
key = key.upper()
if 'ctrl' in key.lower():
key = QtGui.QKeySequence(key)
# check for modifiers
key_string = key.toString().lower()
if '+' in key_string:
mod, __, key_text = key_string.rpartition('+')
if mod.lower() == 'ctrl':
modifiers = QtCore.Qt.ControlModifier
try:
key = ord(key.rpartition('+')[2].upper())
except TypeError:
pass
elif 'alt' in key.lower():
elif mod.lower() == 'alt':
modifiers = QtCore.Qt.AltModifier
try:
key = ord(key.rpartition('+')[2].upper())
except TypeError:
pass
elif 'shift' in key.lower():
elif mod.lower() == 'shift':
modifiers = QtCore.Qt.ShiftModifier
try:
key = ord(key.rpartition('+')[2].upper())
except TypeError:
pass
else:
modifiers = QtCore.Qt.NoModifier
key = QtGui.QKeySequence(key_text)
# events from Vispy are of type KeyEvent
else:

170
flatcamGUI/PlotCanvasLegacy.py
View File

@ -16,7 +16,14 @@ from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.backends.backend_agg import FigureCanvasAgg
from matplotlib.widgets import Cursor
# needed for legacy mode
# Used for solid polygons in Matplotlib
from descartes.patch import PolygonPatch
from shapely.geometry import Polygon, LineString, LinearRing, Point, MultiPolygon, MultiLineString
import FlatCAMApp
from copy import deepcopy
import logging
mpl_use("Qt5Agg")
@ -679,26 +686,171 @@ class MplCursor(Cursor):
class ShapeCollectionLegacy():
def __init__(self):
self._shapes = []
def __init__(self, obj, app, name=None):
self.obj = obj
self.app = app
self._shapes = dict()
self.shape_dict = dict()
self.shape_id = 0
self._color = None
self._face_color = None
self._visible = True
self._update = False
self._obj = None
self._gcode_parsed = None
if name is None:
axes_name = self.obj.options['name']
else:
axes_name = name
# Axes must exist and be attached to canvas.
if axes_name not in self.app.plotcanvas.figure.axes:
self.axes = self.app.plotcanvas.new_axes(axes_name)
def add(self, shape=None, color=None, face_color=None, alpha=None, visible=True,
update=False, layer=1, tolerance=0.01):
update=False, layer=1, tolerance=0.01, obj=None, gcode_parsed=None, tool_tolerance=None, tooldia=None):
self._color = color[:-2] if color is not None else None
self._face_color = face_color[:-2] if face_color is not None else None
self._visible = visible
self._update = update
# CNCJob oject related arguments
self._obj = obj
self._gcode_parsed = gcode_parsed
self._tool_tolerance = tool_tolerance
self._tooldia = tooldia
try:
for sh in shape:
self._shapes.append(sh)
except TypeError:
self._shapes.append(shape)
self.shape_id += 1
self.shape_dict.update({
'color': self._color,
'face_color': self._face_color,
'shape': sh
})
return len(self._shapes) - 1
self._shapes.update({
self.shape_id: deepcopy(self.shape_dict)
})
except TypeError:
self.shape_id += 1
self.shape_dict.update({
'color': self._color,
'face_color': self._face_color,
'shape': shape
})
self._shapes.update({
self.shape_id: deepcopy(self.shape_dict)
})
return self.shape_id
def clear(self, update=None):
self._shapes[:] = []
self._shapes.clear()
self.shape_id = 0
self.axes.cla()
self.app.plotcanvas.auto_adjust_axes()
if update is True:
self.redraw()
def redraw(self):
pass
path_num = 0
if self._visible:
for element in self._shapes:
if self.obj.kind == 'excellon':
# Plot excellon (All polygons?)
if self.obj.options["solid"]:
patch = PolygonPatch(self._shapes[element]['shape'],
facecolor="#C40000",
edgecolor="#750000",
alpha=0.75,
zorder=3)
self.axes.add_patch(patch)
else:
x, y = self._shapes[element]['shape'].exterior.coords.xy
self.axes.plot(x, y, 'r-')
for ints in self._shapes[element]['shape'].interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, 'o-')
elif self.obj.kind == 'geometry':
if type(self._shapes[element]['shape']) == Polygon:
x, y = self._shapes[element]['shape'].exterior.coords.xy
self.axes.plot(x, y, self._shapes[element]['color'], linestyle='-')
for ints in self._shapes[element]['shape'].interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, self._shapes[element]['color'], linestyle='-')
elif type(element) == LineString or type(element) == LinearRing:
x, y = element.coords.xy
self.axes.plot(x, y, self._shapes[element]['color'], marker='-')
return
elif self.obj.kind == 'gerber':
if self.obj.options["multicolored"]:
linespec = '-'
else:
linespec = 'k-'
if self.obj.options["solid"]:
try:
patch = PolygonPatch(self._shapes[element]['shape'],
facecolor=self._shapes[element]['face_color'],
edgecolor=self._shapes[element]['color'],
alpha=0.75,
zorder=2)
self.axes.add_patch(patch)
except AssertionError:
FlatCAMApp.App.log.warning("A geometry component was not a polygon:")
FlatCAMApp.App.log.warning(str(element))
else:
x, y = self._shapes[element]['shape'].exterior.xy
self.axes.plot(x, y, linespec)
for ints in self._shapes[element]['shape'].interiors:
x, y = ints.coords.xy
self.axes.plot(x, y, linespec)
elif self.obj.kind == 'cncjob':
if self._shapes[element]['face_color'] is None:
linespec = '--'
linecolor = self._shapes[element]['color']
# if geo['kind'][0] == 'C':
# linespec = 'k-'
x, y = self._shapes[element]['shape'].coords.xy
self.axes.plot(x, y, linespec, color=linecolor)
else:
path_num += 1
if isinstance(self._shapes[element]['shape'], Polygon):
self.axes.annotate(str(path_num), xy=self._shapes[element]['shape'].exterior.coords[0],
xycoords='data')
else:
self.axes.annotate(str(path_num), xy=self._shapes[element]['shape'].coords[0],
xycoords='data')
patch = PolygonPatch(self._shapes[element]['shape'],
facecolor=self._shapes[element]['face_color'],
edgecolor=self._shapes[element]['color'],
alpha=0.75, zorder=2)
self.axes.add_patch(patch)
self.app.plotcanvas.auto_adjust_axes()
@property
def visible(self):
return self._visible
@visible.setter
def visible(self, value):
if value is False:
self.axes.cla()
self.app.plotcanvas.auto_adjust_axes()
else:
if self._visible is False:
self.redraw()
self._visible = value

2
flatcamTools/ToolMeasurement.py
View File

@ -117,7 +117,7 @@ class Measurement(FlatCAMTool):
self.sel_shapes = ShapeCollection(parent=self.app.plotcanvas.view.scene, layers=1)
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.sel_shapes = ShapeCollectionLegacy()
self.sel_shapes = ShapeCollectionLegacy(obj=self, app=self.app, name='measurement')
self.measure_btn.clicked.connect(self.activate_measure_tool)

2
flatcamTools/ToolMove.py
View File

@ -48,7 +48,7 @@ class ToolMove(FlatCAMTool):
self.sel_shapes = ShapeCollection(parent=self.app.plotcanvas.view.scene, layers=1)
else:
from flatcamGUI.PlotCanvasLegacy import ShapeCollectionLegacy
self.sel_shapes = ShapeCollectionLegacy()
self.sel_shapes = ShapeCollectionLegacy(obj=self, app=self.app, name="move")
self.replot_signal[list].connect(self.replot)