1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
|
import os
import signal
from interpreter import *
import emccanon
#
# to remap Tx (prepare) to an NGC file 'prepare.ngc', incantate like so:
#
# REMAP=T prolog=prepare_prolog epilog=prepare_epilog ngc=prepare
# This means:
#
# prolog=prepare_prolog
# before calling prepare.ngc, execute the Python function 'prepare_prolog'
# ngc=prepare
# your O-word procedure goes to prepare.ngc
# epilog=prepare_epilog
# after calling prepare.ngc, execute the Python function 'prepare_epilog'
#
def prepare_prolog(self, userdata,**words):
self.params[5599] = 1 # turn on DEBUG, output
self._tool = int(words['t'])
if self._tool:
(status,self._pocket) = self.find_tool_pocket(self._tool)
if status != INTERP_OK:
self.set_errormsg("T%d: pocket not found" % (self._tool))
return status
else:
self._pocket = -1 # this is an T0 - tool unload
# these variables will be visible in the ngc oword sub
# as #<tool> and #<pocket> as local variables
self.params["tool"] = self._tool
self.params["pocket"] = self._pocket
return INTERP_OK
# The minimal ngc prepare procedure looks like so:
#
# o<r_prepare> sub
# (debug, r_prepare tool=#<tool> pocket=#<pocket>)
#
# returning a negative value fails the prepare command
# returning a positive value sets this value as the new pocket:
# o<r_prepare> endsub [#<pocket>]
# m2
# the prepare epilog looks at the return value from the NGC procedure
# and does the right thing:
def prepare_epilog(self, userdata, **words):
#print "prepare_epilog cl=",self.call_level, self._pocket
retval = self.return_value
if retval >= 0:
self.selected_pocket = self._pocket
self.selected_tool = self._tool
emccanon.SELECT_POCKET( self._pocket, self._tool)
return INTERP_OK
else:
self.set_errormsg("T%d: aborted (return code %.4f)" % (self._tool,retval))
return INTERP_ERROR
#
# 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(self, userdata,**words):
if self.selected_pocket < 0:
self.set_errormsg("Need tool prepared -Txx- for toolchange")
return INTERP_ERROR
if self.cutter_comp_side:
self.set_errormsg("Cannot change tools with cutter radius compensation on")
return INTERP_ERROR
# bug in interp_convert.cc: WONT WORK - isnt valid anymore
## settings->selected_pocket);
## settings->tool_table[0].toolno, <--- BROKEN
## block->t_number,
#self.params["prepared" ] = 2
self.params["tool_in_spindle"] = self.current_tool
self.params["selected_pocket"] = self.selected_pocket
return INTERP_OK
def change_epilog(self, userdata,**words):
retval = self.return_value
print "change_epilog retval=% selected_pocket=%d" %(retval,self.selected_pocket)
if retval > 0:
# commit change
#emccanon.CHANGE_TOOL(self.selected_pocket)
emccanon.CHANGE_TOOL(self.selected_tool)
self.current_pocket = self.selected_pocket
# cause a sync()
self.tool_change_flag = True
self.set_tool_parameters()
return INTERP_OK
else:
self.set_errormsg("M6 aborted (return code %.4f)" % (retval))
return INTERP_ERROR
# M61 remapped to an all-Python handler
# demo - this really does the same thing as the builtin (non-remapped) M61
#
# Incantation:
#
# REMAP=M61 python=set_tool_number
#
# This means:
#
# argspec=Q- :
# a mandatory Q parameter word is required, others are ignored
#
# python=set_tool_number
# the following function is executed on M61:
#
def set_tool_number(self, userdata,**words):
toolno = int(words['q'])
(status,pocket) = self.find_tool_pocket(toolno)
if status != INTERP_OK:
self.set_errormsg("M61 failed: requested tool %d not in table" % (toolno))
return status
if words['q'] > -TOLERANCE_EQUAL:
self.current_pocket = pocket
emccanon.CHANGE_TOOL_NUMBER(pocket)
# test: self.tool_table[0].offset.tran.z = self.tool_table[pocket].offset.tran.z
# cause a sync()
self.tool_change_flag = True
self.set_tool_parameters()
return INTERP_OK
else:
self.set_errormsg("M61 failed: Q=%4" % (toolno))
return INTERP_ERROR
#
# This demonstrates how queuebusters
# (toolchange, wait for input, probe) can be dealt with in Python handlers.
#
# on the initial call, userdata equals zero.
# if a queuebuster is executed, the function is expected to return
# (INTERP_EXECUTE_FINISH,<optional new userdata value>
#
# Post sync, the function is called again with the userdata value
# returned previously for continuation.
#
def test_reschedule(self, userdata,**words):
if userdata > 0:
# we were called post-sync():
pin_status = emccanon.GET_EXTERNAL_DIGITAL_INPUT(0,0);
print "pin status=",pin_status
return INTERP_OK # done
else:
# wait for digital-input 00 to go hi for 5secs
emccanon.WAIT(0,1,2,5.0)
# pls call again after sync() with new userdata value
return (INTERP_EXECUTE_FINISH,userdata + 1)
#------ demonstrate task signal handlers --
def gen_backtrace(self, userdata,**words):
if 'emctask' in sys.builtin_module_names:
os.kill(os.getpid(), signal.SIGUSR2)
return INTERP_OK
def gdb_window(self, userdata,**words):
if 'emctask' in sys.builtin_module_names:
os.kill(os.getpid(), signal.SIGUSR1)
return INTERP_OK
#---------------- debugging fluff ----------
# named parameters table
def symbols(self, userdata, **words):
self.print_named_params(words.has_key('p'))
return INTERP_OK
# tool table access
def print_tool(self, userdata, **words):
n = 0
if words['p']:
n = int(words['p'])
print "tool %d:" % (n)
print "tool number:", self.tool_table[n].toolno
print "tool offset x:", self.tool_table[n].offset.tran.x
print "tool offset y:", self.tool_table[n].offset.tran.y
print "tool offset z:", self.tool_table[n].offset.tran.z
return INTERP_OK
def set_tool_zoffset(self, userdata, **words):
n = int(words['p'])
self.tool_table[n].offset.tran.z = words['q']
if n == 0:
self.set_tool_parameters()
return INTERP_OK
def printobj(b,header=""):
print "object ",header,":"
for a in dir(b):
if not a.startswith('_'):
if hasattr(b,a):
print a,getattr(b,a)
def introspect(args,**kwargs):
print "----- introspect:"
r = self.remap_level
print "call_level=",self.call_level, "remap_level=",self.remap_level
print "selected_pocket=",self.selected_pocket
print "blocks[r].comment=",self.blocks[r].comment
print "blocks[r].seq=",self.blocks[r].line_number
print "blocks[r].p_flag=",self.blocks[r].p_flag
print "blocks[r].p_number=",self.blocks[r].p_number
print "blocks[r].q_flag=",self.blocks[r].q_flag
print "blocks[r].q_number=",self.blocks[r].q_number
#printobj(interp,"interp")
printobj(self.tool_offset,"tool_offset")
callstack()
for i in [5220,"_metric","_absolute","_tool_offset","_feed","_rpm"]:
print "param",i,"=",self.params[i]
print "blocks[r].executing_remap:",
print "name=",self.blocks[r].executing_remap.name
print "argspec=",self.blocks[r].executing_remap.argspec
print "prolog=",self.blocks[r].executing_remap.prolog_func
print "py=",self.blocks[r].executing_remap.remap_py
print "ngc=",self.blocks[r].executing_remap.remap_ngc
print "epilog=",self.blocks[r].executing_remap.epilog_func
return INTERP_OK
def null(args,**kwargs):
return INTERP_OK
def callstack():
for i in range(len(self.sub_context)):
print "-------- call_level: ",i
print "position=",self.sub_context[i].position
print "sequence_number=",self.sub_context[i].sequence_number
print "filenameposition=",self.sub_context[i].filename
print "subname=",self.sub_context[i].subname
print "context_status=",self.sub_context[i].context_status
return INTERP_OK
|
