diff options
| author | Michael Haberler <git@mah.priv.at> | 2011-08-13 08:14:30 +0200 |
|---|---|---|
| committer | Michael Haberler <git@mah.priv.at> | 2011-10-28 08:26:08 +0200 |
| commit | 58bf1c38dc6c054e935df917b856627cf7590c47 (patch) | |
| tree | 5b72906ef93f212da089fec6d3f255348b0705d3 | |
| parent | 211212da0d851bdc1b4bb1d65507daafe5afe9ad (diff) | |
| download | linuxcnc-58bf1c38dc6c054e935df917b856627cf7590c47.tar.gz linuxcnc-58bf1c38dc6c054e935df917b856627cf7590c47.zip | |
catchup
| -rw-r--r-- | configs/sim/pysubs/customtask.py | 226 | ||||
| -rw-r--r-- | configs/sim/pysubs/sqltooltable.py | 46 | ||||
| -rw-r--r-- | src/emc/task/emctaskmain.cc | 2 | ||||
| -rw-r--r-- | src/emc/toolstore/sql/schema-simple.sql | 46 |
4 files changed, 203 insertions, 117 deletions
diff --git a/configs/sim/pysubs/customtask.py b/configs/sim/pysubs/customtask.py index 0ced4aa8e..010cb29ec 100644 --- a/configs/sim/pysubs/customtask.py +++ b/configs/sim/pysubs/customtask.py @@ -7,6 +7,7 @@ import hal import tooltable import sqltooltable import emc # ini only +import sys, traceback try: import cPickle as pickle @@ -21,67 +22,90 @@ except ImportError: def debug(): return interpreter.this.debugmask & 0x00040000 # EMC_DEBUG_PYTHON_TASK -class CustomTask(emctask.Task,UserFuncs): +def myexcepthook(exctype, value, traceback): + if exctype == KeyboardInterrupt: + print "Handler code goes here" + else: + _old_excepthook(exctype, value, traceback) - def __init__(self): - if debug(): print "py: CustomTask()" - emctask.Task.__init__(self) +import signal, time - self.inifile = emc.ini(emctask.ini_filename()) - yn = self.inifile.find("PYTHON", "TASK_TOOLCHANGE_PINS") - self.tcpins = int(yn) if yn else 0 - yn = self.inifile.find("PYTHON", "TASK_START_CHANGE_PINS") - self.startchange_pins = self.tcpins and (int(yn) if yn else 0) - yn = self.inifile.find("PYTHON", "TASK_TOOLCHANGE_FAULT_PINS") - self.fault_pins = self.tcpins and (int(yn) if yn else 0) +def handler(signum, frame): + print 'I just clicked on CTRL-C ' - h = hal.component("iocontrol.0") - h.newpin("coolant-flood", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("coolant-mist", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("lube-level", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("lube", hal.HAL_BIT, hal.HAL_OUT) +class CustomTask(emctask.Task,UserFuncs): - h.newpin("emc-enable-in", hal.HAL_BIT, hal.HAL_IN) - h.newpin("user-enable-out", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("user-request-enable", hal.HAL_BIT, hal.HAL_OUT) + def __init__(self): + ## global _old_excepthook + ## _old_excepthook = sys.excepthook + ## sys.excepthook = myexcepthook + signal.signal(signal.SIGINT, handler) + signal.signal(signal.SIGTERM, handler) + + + try: + if debug(): print "py: CustomTask()" + emctask.Task.__init__(self) + self.inifile = emc.ini(emctask.ini_filename()) + #self.random_toolchanger = int(self.inifile.find("EMCIO", "RANDOM_TOOLCHANGER") or 0) + self.tcpins = int(self.inifile.find("PYTHON", "TASK_TOOLCHANGE_PINS") or 0) + self.startchange_pins = int(self.inifile.find("PYTHON", "TASK_START_CHANGE_PINS") or 0) + self.fault_pins = int(self.inifile.find("PYTHON", "TASK_TOOLCHANGE_FAULT_PINS") or 0) + + h = hal.component("iocontrol.0") + h.newpin("coolant-flood", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("coolant-mist", hal.HAL_BIT, hal.HAL_OUT) + + h.newpin("lube-level", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("lube", hal.HAL_BIT, hal.HAL_OUT) + + h.newpin("emc-enable-in", hal.HAL_BIT, hal.HAL_IN) + h.newpin("user-enable-out", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("user-request-enable", hal.HAL_BIT, hal.HAL_OUT) + + if self.tcpins: + h.newpin("tool-change", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_IN) + h.newpin("tool-number", hal.HAL_S32, hal.HAL_OUT) + h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_OUT) + h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_OUT) + h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_IN) + if self.startchange_pins: + h.newpin("start-change", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("start-change-ack", hal.HAL_BIT, hal.HAL_IN) + if self.fault_pins: + h.newpin("emc-abort", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("emc-abort-ack", hal.HAL_BIT, hal.HAL_IN) + h.newpin("emc-reason", hal.HAL_S32, hal.HAL_OUT) + h.newpin("toolchanger-fault", hal.HAL_BIT, hal.HAL_IN) + h.newpin("toolchanger-fault-ack", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("toolchanger-reason", hal.HAL_S32, hal.HAL_IN) + h.newpin("toolchanger-faulted", hal.HAL_BIT, hal.HAL_OUT) + h.newpin("toolchanger-clear-fault", hal.HAL_BIT, hal.HAL_IN) + + h.ready() + self.components = dict() + self.components["iocontrol.0"] = h + self.hal = h + self.hal_init_pins() + self.e = emctask.emcstat + self.e.io.aux.estop = 1 + self._callback = None + self._check = None + tt = self.e.io.tool.toolTable + for p in range(0,len(tt)): + tt[p].zero() + UserFuncs.__init__(self) + self.enqueue = EnqueueCall(self) + except Exception,e: + print "__init__" + print_exc_plus() + self.e.io.status = emctask.RCS_STATUS.RCS_ERROR + else: + self.e.io.status = emctask.RCS_STATUS.RCS_DONE - if self.tcpins: - h.newpin("tool-change", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_IN) - h.newpin("tool-number", hal.HAL_S32, hal.HAL_OUT) - h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_OUT) - h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_OUT) - h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_IN) - if self.startchange_pins: - h.newpin("start-change", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("start-change-ack", hal.HAL_BIT, hal.HAL_IN) - if self.fault_pins: - h.newpin("emc-abort", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("emc-abort-ack", hal.HAL_BIT, hal.HAL_IN) - h.newpin("emc-reason", hal.HAL_S32, hal.HAL_OUT) - h.newpin("toolchanger-fault", hal.HAL_BIT, hal.HAL_IN) - h.newpin("toolchanger-fault-ack", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("toolchanger-reason", hal.HAL_S32, hal.HAL_IN) - h.newpin("toolchanger-faulted", hal.HAL_BIT, hal.HAL_OUT) - h.newpin("toolchanger-clear-fault", hal.HAL_BIT, hal.HAL_IN) - - h.ready() - self.components = dict() - self.components["iocontrol.0"] = h - self.hal = h - self.hal_init_pins() - self.e = emctask.emcstat - self.e.io.aux.estop = 1 - self._callback = None - self._check = None - tt = self.e.io.tool.toolTable - for p in range(0,len(tt)): - tt[p].zero() - UserFuncs.__init__(self) - self.enqueue = EnqueueCall(self) - self.e.io.status = emctask.RCS_STATUS.RCS_DONE def emcIoInit(self): if debug(): print "py: emcIoInit tt=",self.tooltable_filename @@ -105,22 +129,26 @@ class CustomTask(emctask.Task,UserFuncs): self.fms = dict() self.tt.load(self.e.io.tool.toolTable,self.comments,self.fms) #self.tt.save(self.e.io.tool.toolTable,self.comments,self.fms) + # self.e.io.tool.toolInSpindle = 2 # works self.reload_tool_number(self.e.io.tool.toolInSpindle) except Exception,e: - print "emcIoInit:",e + print "emcIoInit",e + print_exc_plus() self.e.io.status = emctask.RCS_STATUS.RCS_ERROR else: self.e.io.status = emctask.RCS_STATUS.RCS_DONE return 0 def emcToolLoadToolTable(self,file): + # triggered by UI if tooltable was edited if debug(): print "py: emcToolLoadToolTable file =",file self.comments = dict() self.fms = dict() try: self.tt.load(self.e.io.tool.toolTable,self.comments,self.fms) except Exception,e: + print_exc_plus() self.e.io.status = emctask.RCS_STATUS.RCS_ERROR else: self.reload_tool_number(self.e.io.tool.toolInSpindle) @@ -194,7 +222,10 @@ class CustomTask(emctask.Task,UserFuncs): self.e.io.status = emctask.RCS_STATUS.RCS_DONE return 0 - if not self.random_toolchanger and (self.e.io.tool.pocketPrepped > 0) and self.e.io.tool.toolInSpindle == self.e.io.tool.toolTable[self.e.io.tool.pocketPrepped].toolno: + if not self.random_toolchanger and (self.e.io.tool.pocketPrepped > 0) and ( + self.e.io.tool.toolInSpindle == + self.e.io.tool.toolTable[self.e.io.tool.pocketPrepped].toolno): + self.e.io.status = emctask.RCS_STATUS.RCS_DONE return 0 @@ -372,24 +403,36 @@ class CustomTask(emctask.Task,UserFuncs): return 0 def emcIoUpdate(self): - # if debug(): print "py: emcIoUpdate" - self.hal["user-request-enable"] = 0 - self.e.io.aux.estop = not self.hal["emc-enable-in"] - if self.fault_pins: - if self.hal["toolchanger-fault"]: - self.e.io.reason = self.hal["toolchanger-reason"] - self.hal["toolchanger-fault-ack"] = 1 - self.hal["toolchanger-faulted"] = 1 # fault indicator latch - self.e.io.fault = 1 + try: + #if debug(): print "py: emcIoUpdate" + self.hal["user-request-enable"] = 0 + self.e.io.aux.estop = not self.hal["emc-enable-in"] + if self.fault_pins: + if self.hal["toolchanger-fault"]: + self.e.io.reason = self.hal["toolchanger-reason"] + self.hal["toolchanger-fault-ack"] = 1 + self.hal["toolchanger-faulted"] = 1 # fault indicator latch + self.e.io.fault = 1 + return 0 + else: + self.hal["toolchanger-fault-ack"] = 0 + if self.hal["toolchanger-clear-fault"]: + self.hal["toolchanger-faulted"] = 0 # reset fault indicator latch + self.e.io.reason = 0 + if self._check: + self.e.io.status = self._check() return 0 - else: - self.hal["toolchanger-fault-ack"] = 0 - if self.hal["toolchanger-clear-fault"]: - self.hal["toolchanger-faulted"] = 0 # reset fault indicator latch - self.e.io.reason = 0 - if self._check: - self.e.io.status = self._check() - return 0 + except KeyboardInterrupt: # shutting down + print "emcIoUpdate----KeyboardInterrupt:" + + return -1 + pass + except Exception, e: + print "emcIoUpdate----:" + print_exc_plus() + return -1 + else: + return 0 def wait_for_named_pin_callback(self): if self._comp[self._pin] == self._value: @@ -459,3 +502,38 @@ class EnqueueCall(object): def __getattr__(self, name): self._name = name return self._encode + +## {{{ http://code.activestate.com/recipes/52215/ (r1) + +def print_exc_plus(): + """ + Print the usual traceback information, followed by a listing of all the + local variables in each frame. + """ + tb = sys.exc_info()[2] + while 1: + if not tb.tb_next: + break + tb = tb.tb_next + stack = [] + f = tb.tb_frame + while f: + stack.append(f) + f = f.f_back + stack.reverse() + traceback.print_exc() + print "Locals by frame, innermost last" + for frame in stack: + print + print "Frame %s in %s at line %s" % (frame.f_code.co_name, + frame.f_code.co_filename, + frame.f_lineno) + for key, value in frame.f_locals.items(): + print "\t%20s = " % key, + #We have to be careful not to cause a new error in our error + #printer! Calling str() on an unknown object could cause an + #error we don't want. + try: + print value + except: + print "<ERROR WHILE PRINTING VALUE>" diff --git a/configs/sim/pysubs/sqltooltable.py b/configs/sim/pysubs/sqltooltable.py index 0816b9ade..a59c27842 100644 --- a/configs/sim/pysubs/sqltooltable.py +++ b/configs/sim/pysubs/sqltooltable.py @@ -2,6 +2,8 @@ import os import re import pyodbc +import sys, traceback + class SqlToolTable(object): ''' @@ -15,6 +17,7 @@ class SqlToolTable(object): def __init__(self,filename,random_toolchanger): print "SQL tt init" + self.filename = filename self.random_toolchanger = random_toolchanger self.conn = pyodbc.connect('Driver=SQLite3;Database=' + self.filename) @@ -28,22 +31,23 @@ class SqlToolTable(object): for row in self.cursor.fetchall(): pocket = row.pocket t = tooltable[pocket] - if row.toolno: t.toolno = row.toolno - if row.orientation: t.orientation = row.orientation - if row.diameter: t.diameter = row.diameter - if row.frontangle: t.frontangle = row.frontangle - if row.backangle: t.backangle = row.backangle - if row.x_offset: t.offset.tran.x = row.x_offset - if row.y_offset: t.offset.y = row.y_offset - if row.z_offset: t.offset.z = row.z_offset - if row.a_offset: t.offset.a = row.a_offset - if row.b_offset: t.offset.b = row.b_offset - if row.c_offset: t.offset.c = row.c_offset - if row.u_offset: t.offset.u = row.u_offset - if row.v_offset: t.offset.v = row.v_offset - if row.w_offset: t.offset.w = row.w_offset - except Exception,e: - print "---- load:",e + t.toolno = row.toolno + t.orientation = row.orientation + t.diameter = row.diameter + t.frontangle = row.frontangle + t.backangle = row.backangle + t.offset.tran.x = row.x_offset + t.offset.y = row.y_offset + t.offset.z = row.z_offset + t.offset.a = row.a_offset + t.offset.b = row.b_offset + t.offset.c = row.c_offset + t.offset.u = row.u_offset + t.offset.v = row.v_offset + t.offset.w = row.w_offset + + except pyodbc.Error, e: + traceback.print_exc(file=sys.stdout) else: start = 0 if self.random_toolchanger else 1 for p in range(start,len(tooltable)): @@ -51,7 +55,7 @@ class SqlToolTable(object): if t.toolno != -1: print str(t) def save(self, tooltable, comments,fms): - print "SQL save" + print "SQL save", try: self.cursor.execute("delete from tools;") start = 0 if self.random_toolchanger else 1 @@ -64,5 +68,9 @@ class SqlToolTable(object): t.offset.c,t.offset.u,t.offset.v,t.offset.w)) self.cursor.execute("commit;") - except Exception,e: - print "---- save:",e + print "done" + + except pyodbc.Error, msg: + traceback.print_exc(file=sys.stdout) + print "saving tooltable to %s failed" % (self.filename) + diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc index 6092d0371..699dd0d40 100644 --- a/src/emc/task/emctaskmain.cc +++ b/src/emc/task/emctaskmain.cc @@ -152,7 +152,7 @@ static void emctask_quit(int sig) { // set main's done flag done = 1; - + printf("-------------main done\n"); // restore signal handler signal(sig, emctask_quit); } diff --git a/src/emc/toolstore/sql/schema-simple.sql b/src/emc/toolstore/sql/schema-simple.sql index 15cabec6a..513a572c5 100644 --- a/src/emc/toolstore/sql/schema-simple.sql +++ b/src/emc/toolstore/sql/schema-simple.sql @@ -5,35 +5,35 @@ DROP TABLE IF EXISTS "tools"; CREATE TABLE "tools" ( - toolno INTEGER PRIMARY KEY, -- AUTOINCREMENT, + toolno INTEGER PRIMARY KEY, pocket INTEGER, - diameter REAL DEFAULT (NULL), - backangle REAL DEFAULT (NULL), - frontangle REAL DEFAULT (NULL), - orientation INTEGER DEFAULT (NULL), + diameter REAL DEFAULT (0.0), + backangle REAL DEFAULT (0.0), + frontangle REAL DEFAULT (0.0), + orientation INTEGER DEFAULT (0.0), comment TEXT DEFAULT (NULL), - x_offset REAL DEFAULT (NULL), - y_offset REAL DEFAULT (NULL), - z_offset REAL DEFAULT (NULL), - a_offset REAL DEFAULT (NULL), - b_offset REAL DEFAULT (NULL), - c_offset REAL DEFAULT (NULL), - u_offset REAL DEFAULT (NULL), - v_offset REAL DEFAULT (NULL), - w_offset REAL DEFAULT (NULL) + x_offset REAL DEFAULT (0.0), + y_offset REAL DEFAULT (0.0), + z_offset REAL DEFAULT (0.0), + a_offset REAL DEFAULT (0.0), + b_offset REAL DEFAULT (0.0), + c_offset REAL DEFAULT (0.0), + u_offset REAL DEFAULT (0.0), + v_offset REAL DEFAULT (0.0), + w_offset REAL DEFAULT (0.0) ); -INSERT INTO "tools" VALUES (1,2,4.0, NULL,NULL,NULL,"tool1",1.2,NULL,3.7,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (2,1,2.0, NULL,NULL,NULL,"tool2",0.2,NULL,1.2,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (3,7,3.3, NULL,NULL,NULL,"tool3",3.2,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (4,3,1.2, NULL,NULL,NULL,"tool4",NULL,NULL,5.9,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (5,5,6.2, NULL,NULL,NULL,"tool5",NULL,NULL,1.1,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (6,9,1.9, NULL,NULL,NULL,"tool6",NULL,NULL,3.4,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (7,8,0.3, NULL,NULL,NULL,"tool7",NULL,NULL,1.7,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (8,11,2.50, NULL,NULL,NULL,"tool8",NULL,NULL,2.7,NULL,NULL,NULL,NULL,NULL,NULL); -INSERT INTO "tools" VALUES (9,24,1.1, NULL,NULL,NULL,"tool9",NULL,NULL,4.9,NULL,NULL,NULL,NULL,NULL,NULL); +INSERT INTO "tools" VALUES (1,2,4.0, 0.0,0.0,0.0,"tool1",1.2,0.0,3.7,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (2,1,2.0, 0.0,0.0,0.0,"tool2",0.2,0.0,1.2,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (3,7,3.3, 0.0,0.0,0.0,"tool3",3.2,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (4,3,1.2, 0.0,0.0,0.0,"tool4",0.0,0.0,5.9,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (5,5,6.2, 0.0,0.0,0.0,"tool5",0.0,0.0,1.1,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (6,9,1.9, 0.0,0.0,0.0,"tool6",0.0,0.0,3.4,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (7,8,0.3, 0.0,0.0,0.0,"tool7",0.0,0.0,1.7,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (8,11,2.50, 0.0,0.0,0.0,"tool8",0.0,0.0,2.7,0.0,0.0,0.0,0.0,0.0,0.0); +INSERT INTO "tools" VALUES (9,24,1.1, 0.0,0.0,0.0,"tool9",0.0,0.0,4.9,0.0,0.0,0.0,0.0,0.0,0.0); |