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configs/sim/axis/laser/python/remap.py

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+from pyhal import *
+from raster import *
+from interpreter import INTERP_EXECUTE_FINISH, INTERP_OK
+
+rasterProgrammer = None
+
+def init(self):
+    global rasterProgrammer
+    rasterProgrammer = RasterProgrammer("raster-programmer")
+    print("raster initialized")
+       
+        
+def rasterBegin(self, **words):
+    global rasterProgrammer
+    #machine must be in position before begin issued
+    #make motion complete queue prior to begin program
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        offset = float(words['p'])
+        bpp = int(words['q'])
+        ppu = float(words['r'])
+        count = int(words['s'])
+        rasterProgrammer.begin(offset, bpp, ppu, count)
+
+
+def rasterData(self, **words):
+    global rasterProgrammer
+    if rasterProgrammer:
+        comment = self.blocks[self.remap_level].comment.strip()
+        rasterProgrammer.data(comment)
+    return INTERP_OK
+
+
+def rasterStart(self, **words):
+    global rasterProgrammer
+    #machine must be in position before run issued
+    #make motion complete queue prior to run program command
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        rasterProgrammer.start()
+
+def rasterStop(self, **words):
+    global rasterProgrammer
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        rasterProgrammer.stop()
+    
+