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configs/sim/axis/remap/cycle/README

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+This shows how cycles can be made out of O-word subroutines or directly coded in Python.
+
+# Assume G84.2 is remapped to Python g842 like so in the [RS274NGC] ini section:
+# REMAP=G84.2 argspec=xyzqp python=g842 modalgroup=1
+#
+# then executing
+#
+#    G84.2 x1 y1 (line1)
+#    x3 y3       (line2)
+#    y5          (line3)
+#    ...
+#
+#  will execute like:
+#   *G84.2 x1 y1
+#    G84.2 x3 y3
+#    G84.2 x3 y5
+#
+# until motion is cleared with G80 or some other motion is executed.
+#
+# This enables writing cycles in Python, or as Oword procedures; in the
+# latter case the self.motion_mode should be set in the Python epilog.
+#
+
+And the same thing as an Oword procedure:
+
+# a cycle with an Oword sub
+#REMAP=G84.3  modalgroup=1 argspec=xyzqp prolog=g843_prolog ngc=g843 epilog=g843_epilog
+
+
+The examples only show they parameters they are fed, and dont do anything useful - "you get the idea".
+Sticky parameters are handled properly.
+
+Usage:
+
+linuxcnc cycle.ini
+
+hit run and see what happens.
+
+To understand how things fit together:
+
+- see the REMAP statements in cycle.ini
+- python/remap.py contains the Python glue
+- nc_subroutines/g843.ngc is an example 'cycle body'

configs/sim/axis/remap/cycle/cycle.ini

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+[EMC]
+VERSION = 1.1
+MACHINE =               cycle.ini
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY =             axis
+OPEN_FILE=./nc_files/examples.ngc
+CYCLE_TIME =            0.100
+POSITION_OFFSET =       RELATIVE
+POSITION_FEEDBACK =     ACTUAL
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+GEOMETRY = XYZBCUVW
+
+[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 = python3
+
+[RS274NGC]
+PARAMETER_FILE = sim-9axis.var
+SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs
+LOG_LEVEL = 1
+
+# A cycle in Python: G84.2 <X- Y-  Z- Q- P->
+REMAP=G84.2 argspec=xyzabcuvwqplr python=g842 modalgroup=1
+
+# A cycle with an oword procedure: G84.3 <X- Y- Z- Q- P->
+REMAP=G84.3 argspec=xyzabcuvwqplr prolog=cycle_prolog ngc=g843 epilog=cycle_epilog modalgroup=1 
+
+# this is important - read common_nc_subs/reset_state.ngc
+ON_ABORT_COMMAND=O <reset_state> call 
+
+[EMCMOT]
+EMCMOT = motmod unlock_joints_mask=0x10
+COMM_TIMEOUT =          1.0
+SERVO_PERIOD =               1000000
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = locking_indexer.hal
+
+[TRAJ]
+COORDINATES =           X Y Z A B C U V W
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+POSITION_FILE = position9.txt
+MAX_LINEAR_VELOCITY =   1.2
+MAX_ANGULAR_VELOCITY =  90.0
+NO_FORCE_HOMING =       1
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 9
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_SEQUENCE = 0
+
+[AXIS_A]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[JOINT_3]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 1
+
+[AXIS_B]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+LOCKING_INDEXER_JOINT = 4
+
+[JOINT_4]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+HOME_OFFSET =                    45.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 1
+LOCKING_INDEXER = 1
+
+[AXIS_C]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[JOINT_5]
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 1
+
+[AXIS_U]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_6]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_V]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_7]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_W]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_8]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_SEQUENCE = 0
+
+
+[PYTHON]
+# code specific for this configuration	
+PATH_PREPEND=./python
+# generic support code
+PATH_APPEND=../../nc_files/remap_lib/python-stdglue
+
+# import the following Python module
+TOPLEVEL=python/toplevel.py
+
+# the higher the more verbose tracing of the Python plugin
+LOG_LEVEL = 0

configs/sim/axis/remap/cycle/nc_files/examples.ngc

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+s300 f20
+
+g84.2 x1 y2 z3  q5 r1
+
+x321 y452 p12
+z23 x10 q3 
+
+g84.3 x1 y2 z3  q5 r2
+
+x321 y452 p12
+z23 x10 q3 
+
+
+m2

configs/sim/axis/remap/cycle/nc_subroutines/g843.ngc

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+o<g843> sub
+
+(debug, in g843 x=#<x>  y=#<y>  z=#<z>  p=#<p>  q=#<q>)
+
+O100 if [exists[#<p>] NE 1.]
+     (debug, the P word was not set)
+O100 endif
+
+; signal success be returning a value > 0:
+o<g843> endsub [1]
+
+m2
+

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

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+#   This is a component of LinuxCNC
+#   Copyright 2012, 2013 Dewey Garrett <dgarrett@panix.com>, Michael
+#   Haberler <git@mah.priv.at>
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#   This program is distributed in the hope that it will be useful,
+#   but WITHOUT ANY WARRANTY; without even the implied warranty of
+#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#   GNU General Public License for more details.
+#
+#   You should have received a copy of the GNU General Public License
+#   along with this program; if not, write to the Free Software
+#   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#
+from interpreter import *
+from emccanon import MESSAGE
+
+from stdglue import cycle_prolog, cycle_epilog, init_stdglue
+
+# This shows how to create a remapped G-code  which can be used as a cycle
+# written in Python
+#
+# Example:
+# Assume G84.2 is remapped to Python g842 like so in the [RS274NGC] ini section:
+# REMAP=G84.2 argspec=xyzqp python=g842 modalgroup=1
+#    
+# then executing
+#   
+#    G84.2 x1 y1 (line1)
+#    x3 y3       (line2)
+#    y5          (line3)
+#    ...
+#
+#  will execute like:
+#   *G84.2 x1 y1
+#    G84.2 x3 y3
+#    G84.2 x3 y5
+#    
+# until motion is cleared with G80 or some other motion is executed.
+#   
+# This enables writing cycles in Python, or as Oword procedures; in the
+# latter case the self.motion_mode should be set in the Python epilog.
+#
+# for a more through example of a cycle prolog, see cycle_prolog in stdglue.py
+
+_sticky_params = dict()
+
+def g842(self,**words):
+ 
+    global _sticky_params
+
+    firstcall = False
+    
+    # determine whether this is the first or a subsequent call
+    c = self.blocks[self.remap_level]
+    r = c.executing_remap
+    if c.g_modes[1] == r.motion_code:
+        # this was the first call.
+        # clear the dict to remember all sticky parameters.
+        _sticky_params[r.name] = dict()
+        text = "*" + r.name
+    else:
+        text = r.name
+    # merge in new parameters
+    _sticky_params[r.name].update(words) 
+
+    # insert your cycle actions here
+    for (key,value) in _sticky_params[r.name].items():
+        text += "%s%.1f " % (key, value)
+    MESSAGE(text)
+
+    # retain the current motion mode
+    self.motion_mode = c.executing_remap.motion_code 
+    return INTERP_OK
+

configs/sim/axis/remap/cycle/python/toplevel.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 2012, 2013 Dewey Garrett <dgarrett@panix.com>,
+#   Michael Haberler <git@mah.priv.at>
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#   This program is distributed in the hope that it will be useful,
+#   but WITHOUT ANY WARRANTY; without even the implied warranty of
+#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#   GNU General Public License for more details.
+#
+#   You should have received a copy of the GNU General Public License
+#   along with this program; if not, write to the Free Software
+#   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#
+import remap
+import os
+
+def __init__(self):
+    # handle any per-module initialisation tasks here
+    remap.init_stdglue(self)
+    print("interp __init__",self.task,os.getpid())
+
+def __delete__(self):
+     # handle any per-module shutdown tasks here
+     print("interp __delete__",self.task,os.getpid())

configs/sim/axis/remap/cycle/tool.tbl

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+T1 P11 D0.125000 Z+0.511000 ;1/8 end mill
+T2 P12 D0.062500 Z+0.100000 ;1/16 end mill
+T3 P13 D0.201000 Z+1.273000 ;#7 tap drill
+T4 P14 D0.345 Z+1.11 ;#random drill