interp/remap: complete T/M6 example using py pro/epilogs and NGC handlers

also sports M61 handler in all-Python
author: Michael Haberler <git@mah.priv.at> 2011-05-25 08:13:16 +0200
committer: Michael Haberler <git@mah.priv.at> 2011-10-28 08:25:34 +0200
commit: 766a841b38cfaf78b72b501ca52d490e8d3aaddc (patch)
tree: 91071f50cc3c9fef9b27d0422fe5c1f066a16f6b
parent: 8cebf72782b9c25957b7ce2607c424814d8bfbf5 (diff)
download: linuxcnc-766a841b38cfaf78b72b501ca52d490e8d3aaddc.tar.gz
linuxcnc-766a841b38cfaf78b72b501ca52d490e8d3aaddc.zip
4 files changed, 63 insertions, 132 deletions
diff --git a/configs/sim/py.ini b/configs/sim/py.ini
index d5602c44a..91265a564 100644
--- a/configs/sim/py.ini
+++ b/configs/sim/py.ini
@@ -14,11 +14,11 @@ VERSION =               $Revision$
 MACHINE =               EMC-HAL-SIM-AXIS
 
 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
-DEBUG =               0x7FFFFFFF
+#DEBUG =               0x7FFFFFFF
 #DEBUG =               0x7FFFDEFF  #no interp,oword
 #DEBUG  =   	       0x00008000 # py only
 #DEBUG  =   	       0x0000E000 # py + remap + Oword
-#DEBUG  =   	       0x0000C000 # py + remap
+DEBUG  =   	       0x0000C000 # py + remap
 #DEBUG  =   	       0x0000C100 # py + remap + Interpreter
 #DEBUG  =   	       0x0000E100 # py + remap + Interpreter + oword
 #DEBUG =                0x00008000
@@ -170,13 +170,13 @@ PARAMETER_FILE =        sim_mm.var
 #REMAP=F argspec=-  python=blah deppert -aanix
 
 REMAP=G88.1 modalgroup=1  argspec=xyzpqr  ngc=g881min
+
+
 REMAP=G88.2 modalgroup=1  argspec=xyzpqr  ngc=g882min prolog=addlocals
 #prolog=fooprolog epilog=fooepilog
 REMAP=G88.6 modalgroup=1  argspec=XYZ-    python=g886
 REMAP=G88.8 modalgroup=1  argspec=XYZ-    python=m315
 
-REMAP=M6    modalgroup=6  argspec=-       ngc=change
-#  prolog=whoami
 
 REMAP=M75   modalgroup=10 argspec=-       python=m250
 REMAP=M250  modalgroup=10 argspec=xyzpqr- python=whoami prolog=fooprolog epilog=fooepilog
@@ -189,19 +189,11 @@ REMAP=M316  modalgroup=10 ngc=null_sub
 REMAP=F argspec=-  ngc=null_sub # python=null_remap
 REMAP=S argspec=-  python=null_remap
 
+# see pythonsubs.py and nc_files/remap-subroutines
 REMAP=T argspec=T-  prolog=prepare_prolog epilog=prepare_epilog ngc=prepare
 REMAP=M61  modalgroup=6  argspec=Q-    python=set_tool_number
 REMAP=M6   modalgroup=6  argspec=-     prolog=change_prolog ngc=change epilog=change_epilog
 
-#prepare
-#REMAP=M400 argspec=tq-  python=prepare
-
-#REMAP=T argspec=tq-  ngc=tdemo prolog=prepare_ngc_prolog epilog=prepare_ngc_epilog
-
-#REMAP=T argspec=tq-  ngc=tdemo
-#prolog=whoami
-
-
 # a plain .ngc sub call by M42:
 #
 #REMAP= code=M42 modalgroup=9 argspec= prolog=noargs remapto=m42.ngc epilog=failon_notzero
diff --git a/configs/sim/pysubs/pythonsubs.py b/configs/sim/pysubs/pythonsubs.py
index bc557ed44..aa9f460ab 100644
--- a/configs/sim/pysubs/pythonsubs.py
+++ b/configs/sim/pysubs/pythonsubs.py
@@ -37,7 +37,6 @@ TOLERANCE_EQUAL = 0.0001
 
 def prepare_prolog(userdata,**words):
 	toolno = words['t']
-	p = params
 	(status,pocket) = interp.find_tool_pocket(toolno)
 	if status != INTERP_OK:
 		interp.push_errormsg("T%d: pocket not found" % (toolno))
@@ -45,15 +44,14 @@ def prepare_prolog(userdata,**words):
 
 	# these variables will be visible in the following ngc oword sub
 	# as #<tool> and #<pocket> as local variables
-	p["tool"] = toolno
-	p["pocket"] = pocket
+	params["tool"] = toolno
+	params["pocket"] = pocket
 	return (INTERP_OK,)
 
 # The actual ngc procedure looks like so:
 #
 # o<r_prepare> sub
-# (debug, r_prepare call_level= #<_call_level> remap_level=#<_remap_level>)
-# (debug, n_args=#<n_args> tool=#<tool> pocket=#<pocket>)
+# (debug, r_prepare call_level= #<_call_level> remap_level=#<_remap_level> tool=#<tool> pocket=#<pocket>)
 #
 # 	; show aborting a prepare on tool 2 by returning a negative value
 # 	o<testabort> if [#<tool> EQ 2]
@@ -71,7 +69,50 @@ def prepare_epilog(userdata,**words):
 		CanonMod.INTERP_ABORT(int(retval),"T%d: aborted (return code %.4f)" % (words['t'],retval))
 	return (INTERP_OK,)
 
-# M61 remapped to a python handler
+
+#
+# M6 remapped to a NGC handler, with Python prolog+epilog
+#
+# Incantation:
+# REMAP=M6   modalgroup=6  argspec=-     prolog=change_prolog ngc=change epilog=change_epilog
+#
+def change_prolog(userdata,**words):
+	if interp.selected_pocket < 0:
+		interp.push_errormsg("Need tool prepared -Txx- for toolchange")
+		return (INTERP_ERROR,)
+	if interp.cutter_comp_side:
+		interp.push_errormsg("Cannot change tools with cutter radius compensation on")
+		return (INTERP_ERROR,)
+	params["tool_in_spindle" ] = interp.current_tool
+
+	# bug in interp_convert.cc: WONT WORK - isnt valid anymore
+	## 	    settings->selected_pocket);
+	## 	    settings->tool_table[0].toolno, <--- BROKEN
+	## 	    block->t_number,
+	#params["prepared" ] = 2
+
+	params["pocket" ] = interp.selected_pocket
+	return (INTERP_OK,)
+
+def change_epilog(userdata,**words):
+	retval = interp.return_value
+	if retval > 0:
+		# commit change
+		CanonMod.CHANGE_TOOL(interp.selected_pocket)
+		interp.current_pocket = interp.selected_pocket
+		# cause a sync()
+		interp.tool_change_flag = True
+		interp.set_tool_parameters();
+	else:
+		# abort
+		CanonMod.INTERP_ABORT(int(retval),"M6 aborted (return code %.4f)" % (retval))
+	return (INTERP_OK,)
+
+
+#
+# M61 remapped to an all-Python handler
+# demo - this really does the same thing as the builtin (non-remapped) M61
+#
 # Incantation:
 #
 # REMAP=M61  modalgroup=6  argspec=Q-  python=set_tool_number
@@ -90,8 +131,8 @@ def set_tool_number(userdata,**words):
 	if status != INTERP_OK:
 		return (status,)
 	if words['q'] > -TOLERANCE_EQUAL:
-		interp.current_pocket = toolno
-		CanonMod.SELECT_POCKET(toolno)
+		interp.current_pocket = pocket
+		CanonMod.CHANGE_TOOL_NUMBER(pocket)
 		# cause a sync()
 		interp.tool_change_flag = True
 		return (INTERP_OK,)
@@ -99,27 +140,3 @@ def set_tool_number(userdata,**words):
 		interp.push_errormsg("M61 failed: Q=%4" % (toolno))
 		return (INTERP_ERROR,)
 
-
-# REMAP=M6   modalgroup=6  argspec=-     prolog=change_prolog ngc=change epilog=change_epilog
-# (DEBUG, executing M6 O-word sub, tool-in-spindle=#1 prepared=#2 pocket=#3)
-def change_prolog(userdata,**words):
-
-	p["tool_in_spindle" ] = 1
-	p["prepared" ] = 2
-	p["pocket" ] = 3
-	return (INTERP_OK,)
-
-def change_epilog(userdata,**words):
-	retval = interp.return_value
-	if retval > 0:
-		# commit change
-		CanonMod.CHANGE_TOOL(interp.selected_pocket)
-		interp.current_pocket = interp.selected_pocket
-		# cause a sync()
-		interp.tool_change_flag = True
-	else:
-		# abort
-		CanonMod.INTERP_ABORT(int(retval),"M6 aborted (return code %.4f)" % (retval))
-	return (INTERP_OK,)
-
-
diff --git a/nc_files/remap-subroutines/change.ngc b/nc_files/remap-subroutines/change.ngc
index a73c37e54..e01e28590 100644
--- a/nc_files/remap-subroutines/change.ngc
+++ b/nc_files/remap-subroutines/change.ngc
@@ -1,88 +1,11 @@
-; This demonstrates doing an M6 remapped to a named oword sub
-;
-; to activate, incantate as follows in the ini file:
-;
-; [RS274NGC]
+o<change> sub
+(debug, change call_level= #<_call_level> remap_level=#<_remap_level>)
+(debug, change tool_in_spindle=#<tool_in_spindle> pocket=#<pocket>)
 
-; # remap M6 to a named oword subroutine.
-; M6_COMMAND=o<change>call
-;
-; parameter #1: the current tool-in-spindle
-; parameter #2: the tool number requested in the last T (prepare) command
-; parameter #3: pocket of new tool
-;
-;
-;
-O<change> sub
-;
-(DEBUG, executing M6 O-word sub, tool-in-spindle=#1 prepared=#2 pocket=#3)
-;
-M66 P2 L0
-;(debug, digital-input-02=#5399)
+; demonstrate aborting a change on pocket  3 by returning a negative value
+	o<testabort> if [#<tool> EQ 3]
+		     o<testabort> return [-1]
+	o<testabort> endif
 
-#<tool_change_with_spindle_on> = 0
-#<tool_change_quill_up> = 0
-#<tool_change_at_g30> = 0
-
-; number of seconds to wait for 'tool-changed' equivalent
-#<timeout> = 9999
-;
-O<change_spindle_off> if [#<tool_change_with_spindle_on>] EQ 0
-    M5
-O<change_spindle_off> endif
-
-O<change_quill_up> if [#<tool_change_quill_up> NE 0]
-    G0 G53 Z0
-O<change_quill_up> endif
-
-O<change_tc_at_g30> if [#<tool_change_at_g30> NE 0]
-    G30
-O<change_tc_at_g30> endif
-
-; set analog output pin #2 to signal the pocket number
-; iocontrol.tool-number becomes motion.analog-out-02
-M68 E2 Q[#2]
-;(DEBUG, set current tool number on motion.analog-out-02: #2)
-;
-; assert the equivalent of the iocontrol.tool-change pin
-; which is now motion.digital-out-01
-M64 P1
-;(DEBUG, motion.digital-out-01 set high, waiting for motion.digital-in-01)
-
-
-; wait for the equivalent of the iocontrol.tool-changed pin to go high
-; we use motion.digital-in-01
-;
-M66 P1 L3 Q#<timeout>
-;
-; if we waited too long, fail change and abort.
-;
-O<change_timeout> if [#5399 EQ -1]
-    (DEBUG, timeout waiting for digital-in-01 to become true - failing change )
-    O<change> return [-1]
-O<change_timeout> endif
-
-; retract iocontrol.tool-change equivalent
-;(DEBUG, deasserting motion.digital-out-01)
-M65 P1
-;
-
-; test fail-change line from gladevcp
-M66 P2 L0
-; (debug, digital-input-02=#5399)
-O<change_fail> if [#5399 EQ 1]
-    (DEBUG, returning -1 to fail change)
-    O<change> return [-1]
-O<change_fail> else
-    (debug, change ok, returning +1 to commit change)
-    ; a positive return value commits the tool change
-    O<change> return [1]
-O<change_fail> endif
-;
-; return a positive value commit the change.
-; a negative return value will fail the change and
-; abort the interpreter with a message like
-; "M6 failed (<return value>)"
-;
-O<change> endsub
+o<change> endsub [1]
 m2
diff --git a/nc_files/remap-subroutines/prepare.ngc b/nc_files/remap-subroutines/prepare.ngc
index 3e087aa83..9a59e27b7 100644
--- a/nc_files/remap-subroutines/prepare.ngc
+++ b/nc_files/remap-subroutines/prepare.ngc
@@ -1,6 +1,5 @@
 o<prepare> sub
-(debug, prepare call_level= #<_call_level> remap_level=#<_remap_level>)
-(debug, n_args=#<n_args> tool=#<tool> pocket=#<pocket>)
+(debug, prepare call_level= #<_call_level> remap_level=#<_remap_level> tool=#<tool> pocket=#<pocket>)
 
 	; show aborting a prepare on tool 2 by returning a negative value
 	o<testabort> if [#<tool> EQ 2]
author	Michael Haberler <git@mah.priv.at>	2011-05-25 08:13:16 +0200
committer	Michael Haberler <git@mah.priv.at>	2011-10-28 08:25:34 +0200
commit	766a841b38cfaf78b72b501ca52d490e8d3aaddc (patch)
tree	91071f50cc3c9fef9b27d0422fe5c1f066a16f6b
parent	8cebf72782b9c25957b7ce2607c424814d8bfbf5 (diff)
download	linuxcnc-766a841b38cfaf78b72b501ca52d490e8d3aaddc.tar.gz linuxcnc-766a841b38cfaf78b72b501ca52d490e8d3aaddc.zip