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#!/usr/bin/env python
'''Copied from m61-test'''
import linuxcnc
import os
from time import sleep
# this is how long we wait for linuxcnc to do our bidding
class LinuxcncError(Exception):
pass
# def __init__(self, value):
# self.value = value
# def __str__(self):
# return repr(self.value)
class LinuxcncControl:
'''
issue G-Code commands
make sure important modes are saved and restored
mode is saved only once, and can be restored only once
usage example:
e = emc_control()
e.prepare_for_mdi()
any internal sub using e.g("G0.....")
e.finish_mdi()
'''
def __init__(self,timeout=2):
self.c = linuxcnc.command()
self.e = linuxcnc.error_channel()
self.s = linuxcnc.stat()
self.timeout = timeout
def running(self, do_poll=True):
'''
check wether interpreter is running.
If so, cant switch to MDI mode.
'''
if do_poll:
self.s.poll()
return (self.s.task_mode == linuxcnc.MODE_AUTO and
self.s.interp_state != linuxcnc.INTERP_IDLE)
def set_mode(self,m):
'''
set EMC mode if possible, else throw LinuxcncError
return current mode
'''
self.s.poll()
if self.s.task_mode == m :
return m
if self.running(do_poll=False):
raise LinuxcncError("interpreter running - cant change mode")
self.c.mode(m)
self.c.wait_complete()
return m
def set_state(self,m):
'''
set EMC mode if possible, else throw LinuxcncError
return current mode
'''
self.s.poll()
if self.s.task_mode == m :
return m
self.c.state(m)
self.c.wait_complete(self.timeout)
return m
def do_home(self,axismask):
self.s.poll()
self.c.home(axismask)
self.c.wait_complete(self.timeout)
def ok_for_mdi(self):
'''
check wether ok to run MDI commands.
'''
self.s.poll()
return not self.s.estop and self.s.enabled and self.s.homed
def prepare_for_mdi(self):
'''
check wether ok to run MDI commands.
throw LinuxcncError if told so.
return current mode
'''
self.s.poll()
if self.s.estop:
raise LinuxcncError("machine in ESTOP")
if not self.s.enabled:
raise LinuxcncError("machine not enabled")
if not self.s.homed:
raise LinuxcncError("machine not homed")
if self.running():
raise LinuxcncError("interpreter not idle")
return self.set_mode(linuxcnc.MODE_MDI)
g_raise_except = True
def g(self,code,wait=False):
'''
issue G-Code as MDI command.
wait for completion if reqested
'''
self.c.mdi(code)
if wait:
try:
while self.c.wait_complete(self.timeout) == -1:
pass
return True
except KeyboardInterrupt:
print "interrupted by keyboard in c.wait_complete(self.timeout)"
return False
self.error = self.e.poll()
if self.error:
kind, text = self.error
if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
if self.g_raise_except:
raise LinuxcncError(text)
else:
print ("error " + text)
else:
print ("info " + text)
return False
def get_current_tool(self):
self.s.poll()
return self.s.tool_in_spindle
def active_codes(self):
self.e.poll()
return self.s.gcodes
def get_current_system(self):
g = self.active_codes()
for i in g:
if i >= 540 and i <= 590:
return i/10 - 53
elif i >= 590 and i <= 593:
return i - 584
return 1
def open_program(self,filename):
'''Open an nc file'''
self.s.poll()
self.set_mode(linuxcnc.MODE_AUTO)
self.c.wait_complete()
sleep(.25)
self.c.program_open(filename)
self.c.wait_complete()
def run_full_program(self):
'''Start a loaded program'''
self.s.poll()
self.c.auto(linuxcnc.AUTO_RUN, 0)
self.c.wait_complete(self.timeout)
return self.check_rcs_error()
def set_feed_scale(self,scale):
'''Assign a feed scale'''
self.s.poll()
self.c.feedrate(scale)
self.c.wait_complete(self.timeout)
def wait_on_program(self):
self.s.poll()
while self.s.exec_state != linuxcnc.EXEC_DONE or self.s.state != linuxcnc.RCS_DONE and self.s.task_state == linuxcnc.STATE_ON:
sleep(.25)
self.s.poll()
if self.s.task_state != linuxcnc.STATE_ON:
return False
if self.check_rcs_error():
print "Found RCS error while waiting, running again"
self.run_full_program()
return True
def check_rcs_error(self):
self.s.poll()
if self.s.state == linuxcnc.RCS_ERROR:
print "detected RCS error"
return True
return False
def introspect():
os.system("halcmd show pin python-ui")
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