path: root/configs/sim/axis/orphans/pyiocontrol.ini.notworking

# EMC controller parameters for a simulated machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section -------------------------------------------------------------
[EMC]

# make emcsrv not create tool rcs channels if not using iocontrol
TOOL_CHANNELS = 0

# Name of NML file to use, default is emc.nml
NML_FILE =              no-iotask.nml

# Version of this INI file
VERSION =               $Revision$

# Name of machine, for use with display, etc.
MACHINE =               pyiocontrol.ini

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =               0x7FFFFFFF
#DEBUG =               0x7FFFDEFF  #no interp,oword
#DEBUG  =   	       0x00008000 # py only
#DEBUG  =   	       0x0000E000 # py + remap + Oword
#DEBUG  =   	       0x0000C000 # py + remap
#DEBUG  =   	       0x0000C100 # py + remap + Interpreter
#DEBUG  =   	       0x0000C140 # py + remap + Interpreter + NML msgs
DEBUG  =   	       0x0004C140 # py + remap + Interpreter + NML msgs + PythonTask
#DEBUG  =   	       0x0000C040 # py + remap + NML
#DEBUG  =   	       0x0004C040 # py + remap + NML + PythonTask
#DEBUG  =   	       0x0003E100 # py + remap + Interpreter + oword + signals + namedparams
#DEBUG =                0x00008000
#DEBUG = 0 # 0x00000100
#    0x00000001 Ausgabe ungültige Meldungen
#    0x00000002 Ausgabe Konfigurations-Settings
#    0x00000004 Ausgabe Defaults
#    0x00000008 Ausgabe Version
#    0x00000010 Ausgabe Task Meldungen
#    0x00000020 Ausgabe IO-Points
#    0x00000040 Ausgabe NML-Messages
#    0x00000080 Ausgabe Zeit zur Beendigung einer Motorbewegung
#    0x00000100 Ausgabe Intepreter Debugging
#    0x00000200 Ausgabe RCS-Debugging
#    0x00000400 Ausgabe Roh-Bahn-Daten
#    0x00000800 Ausgabe Interpreter List
#define EMC_DEBUG_IOCONTROL         0x00001000
#define EMC_DEBUG_OWORD             0x00002000
#define EMC_DEBUG_REMAP             0x00004000
#define EMC_DEBUG_PYTHON            0x00008000
#define EMC_DEBUG_NAMEDPARAM        0x00010000
#define EMC_DEBUG_GDBONSIGNAL 	    0x00020000
#define EMC_DEBUG_PYTHON_TASK       0x00040000


#    0x7FFFFFFF Ausgabe alle Debugging Messages

# Sections for display options ------------------------------------------------
[DISPLAY]
# how to use the Firefox SQlite manager plugin as tooltable editor:
#
# 0: read http://code.google.com/p/sqlite-manager/wiki/XulrunnerApplication#More_details
#
# 1. download the zip file  'SQLiteManager 0.7.6 as XULRunner App '
#    or whatever is the latest from http://code.google.com/p/sqlite-manager/downloads/list
#
# 2. Install like so:
#    sudo xulrunner --install-app /path/to/zipfile
#    This will install an app in /usr/local/lib/lazierthanthou/sqlite-manager/sqlite-manager .
#    (note this path recently change - please verify)
#
# 3. try the following command line with an appropriate path to the tooltable database:
#
TOOL_EDITOR= firefox -app  /usr/lib/lazierthanthou/sqlite-manager/application.ini -f /home/mah/emc2-tc/configs/sim/tooltable.sqlite

#GLADEVCP=osubdemo-ns.ui

# Name of display program, e.g., xemc
DISPLAY =             axis

#OPEN_FILE=../../nc_files/m66test.ngc
#OPEN_FILE=/home/mah/emc2-tc/nc_files/arcspiral.ngc
#OPEN_FILE=/home/mah/emc2-tc/nc_files/taskcall.ngc
OPEN_FILE=./taskcall.ngc

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2
MAX_SPINDLE_OVERRIDE =  1.0
# Prefix to be used
#PROGRAM_PREFIX = /home/mah/emc2-tc/nc_files/
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
#INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0

EDITOR = gedit

INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

# Task controller section -----------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.001


# the Python plugins serves the interpreter as well as task

[PYTHON]

#PLUGIN_DIR=/home/mah/emc2-tc/configs/sim/pysubs
PLUGIN_DIR=./pysubs

# import the following Python modules
MODULE_BASENAME=plugins



# if this is set:
RELOAD_ON_CHANGE=1
# and the file specified in MODULE_BASENAME was changed, it will be reloaded before
# executing any Python calls
# This is handy for debugging because you dont need to restart EMC
# BUT it incurs a bit of overhead per call so you might want to turn
# it off in production mode
# the Python reload_on_change variable may be used to toggle this
# at runtime
#LOG_FILE= py.log
LOG_LEVEL = 2

# start a Python (really IO) Task class
# see end of $PLUGIN_DIR/$MODULE_BASENAME/task.py to see how it's instantiated
PYTHON_TASK=1

# section for everything tool related
# relevant only if NOT using iocontrol - see EMCIO in that case

[TOOL]




# how to connect to a toolstore in an SQL database
ODBC_CONNECT= Driver=SQLite3;Database=tooltable.sqlite

# legacy tool table filename
TOOL_TABLE = foo.tbl

# if nonzero, save tool-in-spindle and pocket-prepped on exit, and restore on startup
SAVE_TOOLSTATE=1

# manual, random, any other
CHANGER_TYPE= manual


# if TASK_TOOLCHANGE_PINS=1, the task Python plugin will emulate the
# following iocontrol.0 pins:
#   tool-change
#   tool-changed
#   tool-number
#   tool-prep-number
#   tool-prep-pocket
#   tool-prepare
#   tool-prepared
#
TASK_TOOLCHANGE_PINS=1

# if TASK_START_CHANGE_PINS=1,  the task Python plugin will emulate the
# start-change/start-change-ack pins and their protocol as per iocontrolv2:
TASK_START_CHANGE_PINS=1

# if TASK_TOOLCHANGE_FAULT_PINS=1 the task Python plugin will emulate the iocontrolv2 pins:
# emc-abort
# emc-abort-ack
# emc-reason
# toolchanger-fault
# toolchanger-fault-ack
# toolchanger-reason
# toolchanger-faulted
# toolchanger-clear-fault
TASK_TOOLCHANGE_FAULT_PINS=1


# Part program interpreter section --------------------------------------------
[RS274NGC]
#PRINT_CODES = 1

SUBROUTINE_PATH = ../../nc_files/remap_lib/common_nc_subs


#RS274NGC_STARTUP_CODE = G21
# this bombs - machine not on yet so no 'I/O' possible
#RS274NGC_STARTUP_CODE = M61Q3


# handler procedure called on aborts - to cleanup HAL pins etc
#ON_ABORT_COMMAND=o<on_abort>call

#LOG_FILE= py.log
LOG_LEVEL = 9
# File containing interpreter variables
PARAMETER_FILE =        sim_mm.var

# generalized  remapping
#------------------------

# currently only unused M- and G-codes may be activated as per below, except for the
# T,M6,M61,S and F codes.

# G: currently supported modal group: 1
# M:currently supported modal groups: 5,6,7,8,9,10
# for T,S,F remaps the modal group is fixed and any modalgroup= option is ignored


# An argument specification (keyword 'argspec') describes required and  permitted words,
# and precondtions for that code to execute.
#
# It consists of 0-n characters of the class [@A-KMNP-Za-kmnp-z^>] .
#
# parameter words:
#   an uppercase letter for each required parameter 'word'
#   a lowercase letter for each optional parameter 'word'
#
# Preconditions:
#   an '^' means: speed must be > 0
#   an '>' means: feed must be > 0
#
# if calling an NGC oword function (ngc=<funcname>), the parameters are passed
# as local named parameters which are already set when the function starts
# optional words are passed if set in the block, and may be tested for existence
# by # EXISTS(#<..>) .
#
# example:
# REMAP=M400  modalgroup=10 argspec=Px ngc=demosub
#
# executing 'M400 P2 X3' will result in the call
# o<demosub> call
#
# the demosub.ngc body might look as follows:
#-------------------------
# o<demosub> sub
#
# (debug, P=#<x>)   (note: P is required since it's uppercase in the argspec)
#
# (the x argspec is optional since its lowercase in the argspec. Use as follows:)
#
# o100 if [EXISTS[#<x>]]
#     (debug, X param set: #<x>)
# o100 endif
#
# o<demosub> endsub
# M2
#-------------------------
#
# Calling with traditional positioal parameter lists:
#
# To do so, add the '@' character to the argspec.
# In this case, the arguments (required or optional) will be passed tradional-style
# ini example:
# REMAP=M400  modalgroup=10 argspec=@XYp ngc=demosub
#
# executing 'M400 X2 Y3' will result in the call
# o<demosub> call [2] [3]
#
# executing 'M400 X2 Y3 P4' will result in the call
# o<demosub> call [2] [3] [4]
#
# NB: you lose the capability to distinguish more than one optional parameter word!
#
# if calling a Python function, the actual words present in the block as
# required or optional are passed in the words dictionary; no positional
# parameters are passed in this case.


#REMAP=F  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   ngc=g886
#REMAP=G88.8 modalgroup=1  argspec=XYZ    python=m315

# cone cycle
# abcdefhijklpqrstuvwxyz
REMAP=G88.9 modalgroup=1  argspec=@XZIJKLPQRABC  ngc=rcone


# ( o<cone> call [X1][Z1][X2][Z2][step][feed][EngageZ][ClearAxial][ClearRadial][feedF][outflag])
# O<cone> sub
# (Startpoint)
# #<X1>		= [#1] X
# #<Z1>		= [#2] Z
# (Endpoint)
# #<X2>		= [#3] I
# #<Z2>		= [#4] J
# #<step>		= [#5] 	(Radial stepdown) K
# #<feed>		= [#6] 	(Roughing feed rate) L
# #<EngageZ>	= [#7] 	(Clearance to stock) P
# #<ClearAxial>	= [#8]	(Axial rest material for finishing) Q
# #<ClearRadial>	= [#9]	(Radial rest material for finishing) R
# #<feedF>	= [#10]	(Finishing feed rate) A
# #<outflag>	= [#11]	(Lead out move) B
# #<actX>		= [#3]	(Start position in X) C




#REMAP=M75   modalgroup=10 python=m250
#REMAP=M250  modalgroup=10 argspec=xyzpqr python=whoami prolog=fooprolog epilog=fooepilog
#REMAP=M251  modalgroup=6  argspec=xyzpqr python=whoami

#REMAP=M315  modalgroup=10 python=m315
REMAP=M400  modalgroup=10 prolog=introspect ngc=nestremap
REMAP=M401  modalgroup=10 prolog=introspect ngc=null_sub
REMAP=M402  modalgroup=10 argspec=p python=test_reschedule
REMAP=M403  modalgroup=10 argspec=p python=print_tool
REMAP=M404  modalgroup=10 argspec=PQ python=set_tool_zoffset

#REMAP=S  ngc=sdemo prolog=sprolog
#REMAP=F   ngc=null_sub # python=null_remap
#REMAP=S   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       prolog=change_prolog ngc=change epilog=change_epilog

# for a
#REMAP=T   argspec=T      prolog=prepare_prolog ngc=rtdemo  epilog=prepare_epilog
#REMAP=M6  modalgroup=6   prolog=change_prolog  ngc=rm6demo epilog=change_epilog
#REMAP=M61 modalgroup=6  prolog=change_prolog  ngc=rm6demo.ngc epilog=change_epilog
#REMAP=M61  modalgroup=6  argspec=Q    python=set_tool_number

# this needs work..
#RETAIN_G43=1

REMAP=M900 python=gen_backtrace  modalgroup=10
REMAP=M901 python=gdb_window 	 modalgroup=10

REMAP=M950 argspec=p python=symbols  modalgroup=10
# a plain .ngc sub call by M42:
#
#REMAP=M42 modalgroup=9  prolog=setup_m42 ngc=m42.ngc epilog=finish_m42
#
# semantics:
# if M42 is encountered, execute it in modal group 9.
# Fail if other group 9 codes are present in the current block.
# the setup_m42 prolog Python function will be called before executing 'o<m42> call'
# Then the O-word sub m42.ngc is executed.
# The finish_m42 epilog Python function will be executed after m42.ngc finishes.
#

[VARS]
# accessible in interp as #<_[section]name>
FOO = 47.11
X=3
Y=4
Z=5
TOOL_CHANGE_POSITION_X = 1
TOOL_CHANGE_POSITION_Y = 2
TOOL_CHANGE_POSITION_Z = 3


# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT =              motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD  =               0
# Servo task period, in nano-seconds
SERVO_PERIOD =               1000000

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
#HALFILE =                    core_sim_noio.hal
#HALFILE =                    core_sim.hal

POSTTASK_HALFILE =     core_sim_test.hal
POSTTASK_HALFILE =     axis_manualtoolchange.hal
POSTTASK_HALFILE = iov2.hal
#HALFILE = axis_owordsub_manualtoolchange.hal
#HALFILE = simulated_home.hal
POSTTASK_HALFILE = simulated_home.hal
#HALFILE = gamepad.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal
#POSTGUI_HALFILE = v2_oword_gladevcp_postgui_noio.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[TRAJ]

AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      30.48
MAX_VELOCITY =          53.34
DEFAULT_ACCELERATION =  508
MAX_ACCELERATION =      508
POSITION_FILE = position_mm.txt
NO_FORCE_HOMING =       1

# Axes sections ---------------------------------------------------------------

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -254
MAX_LIMIT =                     254
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -254
MAX_LIMIT =                     254
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -50.8
MAX_LIMIT =                     101.6
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    25.4
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

# section for main IO controller parameters -----------------------------------
[EMCIO]

# Name of IO controller program, e.g., io

#  explicitly support the start-change protocol.
#  needs to be explicitly enabled for backwards compatibility.
#  NB: if the start-change pin isnt used it needs to be looped like below to
#  start-change-ack or an M6 will hang waiting for start-change-ack:
#  net start-change iocontrol.0.start-change  iocontrol.0.start-change-ack
#EMCIO = 		iov2 -support-start-change

# starting iov2 like so will create the start-change and start-change-ack pins
# but the start-change protocol remains disabled - start-change remains low and
# start-change-ack is ignored:
#EMCIO = 		iov2

# cycle time, in seconds
CYCLE_TIME =    0.100

# tool table file
#TOOL_TABLE =    sim_mm_test.tbl
TOOL_TABLE =    nstools.tbl
TOOL_CHANGE_POSITION = 0 0 50.8

RANDOM_TOOLCHANGER = 0