Import LinuxCNC source tree

configs/sim/axis/remap/getting-started/demo.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = getting-started:demo.ini
+# Debug level, 0 means no messages. See src/emc/nml_intf/debugflags.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+OPEN_FILE= ./nc_files/examples.ngc
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+TOOL_EDITOR = tooledit
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 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 = python3
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs
+LOG_LEVEL = 0
+
+# generalized  remapping of RS274NGC codes
+#-----------------------------------------
+# currently only unused M- and G-codes may be activated as per below, plus 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 preconditions 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 1:
+REMAP= M400  modalgroup=10 argspec=Pq ngc=m400
+# see nc_subroutines/m400.ngc
+# to exercise, try:
+# M400
+# M400 P123
+# M400 P123 Q456
+# ---------------
+#
+# Example 2:
+#
+# 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
+#
+REMAP= M410  modalgroup=10 argspec=@Pq ngc=m410
+# see nc_subroutines/m410.ngc
+#
+# to exercise, try:
+# M410
+# M410 P123
+# M410 P123 Q456
+#
+# NB: you lose the capability to distinguish more than one optional parameter word!
+# since you can't tell whether Q was passed as 'Q0' or no Q word was set.
+#
+# -------------------------------------------------------------------------
+#
+# up to here you wouldn't need the PYTHON section to be defined since no
+# Python code was used.
+# Examples below refer to Python handlers and hence need the plugin configured.
+#
+# instead of calling an NGC procedure, we call the remap.g886() Python function:
+#
+REMAP= G88.6  modalgroup=1 argspec=XYZp  py=g886
+# see python/remap.py function g886
+# to exercise, try:
+# g88.6 x1 y2 z3
+# g88.6 x1 y2 z3 p33 (a comment here)
+
+# a more complex example
+# based on nc_files/involute.py example and can it as a G-code
+# all checking is done in the Python procedure by directly accessing interpreter internals
+#
+REMAP= G88.1 modalgroup=1   py=involute
+# see python/remap.py function involute
+#
+#
+# pin wiggling example - equivalent of M62
+# usgage : M462 P<pin-number> Q<0 or 1>
+REMAP= M462  modalgroup=10 argspec=PQ py=m462
+
+# pin wiggling example - equivalent of M65
+# usgage : M465 P<pin-number> Q<0 or 1>
+REMAP= M465  modalgroup=10 argspec=PQ py=m465
+
+# this is important - read nc_subroutines/on_abort.ngc
+ON_ABORT_COMMAND= O <on_abort> call
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -8.0
+MAX_LIMIT = 8.00
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 8.00
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0
+
+[PYTHON]
+PATH_PREPEND= python
+
+# import the following Python module
+TOPLEVEL= python/toplevel.py
+
+# the higher the more verbose tracing of the Python plugin
+LOG_LEVEL = 8

configs/sim/axis/remap/getting-started/nc_files/examples.ngc

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+; you might want to single step this file
+
+; M400 will fail - try in MDI window
+m400 p10
+m400 p10 q43
+m400p10
+; M410 will fail - try in MDI window
+m410 p10
+m400 p10 q43
+;
+F60 S2000 M3
+;
+g88.1 x0
+;
+g88.1 x1 y2 z3 p4
+;
+m2

configs/sim/axis/remap/getting-started/nc_subroutines/change_min.ngc

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+o<change_min> sub
+(debug, change_min: loaded tool=#<current_tool> selected_pocket=#<selected_pocket>)
+
+; show aborting a change on tool 2 by returning a negative value
+;	o100 if [#<tool> EQ 2]
+;           o100 return [-1]
+;	o100 endif
+
+; succeed by returning a positive value
+; which will inspected by the epilog handler
+o<change_min> endsub [1]
+m2

configs/sim/axis/remap/getting-started/nc_subroutines/m400.ngc

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+; configured by:
+; [RS274NGC]
+; REMAP=M400  modalgroup=10 argspec=Pq ngc=m400
+;
+o<m400> sub
+#5599 = 1  (turn on debug, output)
+(P is required since it's uppercase in the argspec)
+(debug, P word=#<P>)
+(the q argspec is optional since its lowercase in the argspec. Use as follows:)
+o100 if [EXISTS[#<q>]]
+    (debug, Q word set: #<q>)
+o100 endif
+o<m400> endsub
+M2

configs/sim/axis/remap/getting-started/nc_subroutines/m410.ngc

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+o<m410> sub
+(debug, m410.ngc: [1]=#1 [2]=#2)
+o<m410> endsub
+M2

configs/sim/axis/remap/getting-started/nc_subroutines/prepare_min.ngc

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+o<prepare_min> sub
+(debug, prepare_min: loaded tool=#<current_tool>, selected pocket=#<selected_pocket>)
+(debug, prepare tool #<new_tool> from pocket=#<new_pocket>)
+
+; show aborting a prepare on tool 2 by returning a negative value
+;	o100 if [#<tool> EQ 2]
+;           o100 return [-1]
+;	o100 endif
+
+; succeed by returning a positive value
+; which will inspected by the epilog handler
+o<prepare_min> endsub [1]
+m2

configs/sim/axis/remap/getting-started/python/oword.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 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 util import call_pydevd
+
+def foo(*args):
+    print("foo!")
+
+
+# make debugger available as oword procedure
+def pydevd(self,*args):
+    call_pydevd()
+
+
+
+# this would be defined in the oword module
+def mysub(self, *args):
+    print("number of parameters passed:", len(args))
+    for a in args:
+        print(a)

configs/sim/axis/remap/getting-started/python/remap.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 2013, 2014 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 sys
+import traceback
+from math import sin,cos
+
+from interpreter import *
+from emccanon import MESSAGE, SET_MOTION_OUTPUT_BIT, CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT
+
+from util import lineno, call_pydevd
+
+throw_exceptions = 1 # raises InterpreterException if execute() or read() fail
+
+def g886(self, **words):
+    for key in words:
+        MESSAGE("word '%s' = %f" % (key, words[key]))
+    if words.has_key('p'):
+        MESSAGE("the P word was present")
+    MESSAGE("comment on this line: '%s'" % (self.blocks[self.remap_level].comment))
+    return INTERP_OK
+
+
+def involute(self, **words):
+    """ remap function with raw access to Interpreter internals """
+
+    if self.debugmask & 0x20000000: call_pydevd() # USER2 debug flag
+
+    if equal(self.feed_rate,0.0):
+        self.set_errormsg("feedrate > 0 required")
+        return INTERP_ERROR
+
+    if equal(self.speed[0], 0.0):
+        self.set_errormsg("spindle speed > 0 required")
+        return INTERP_ERROR
+
+    plunge = 0.1 # if Z word was given, plunge - with reduced feed
+
+    # inspect controlling block for relevant words
+    c = self.blocks[self.remap_level]
+    x0 = c.x_number if c.x_flag else 0
+    y0 = c.y_number if c.y_flag else 0
+    a  = c.p_number if c.p_flag else 10
+    old_z = self.current_z
+
+    if self.debugmask & 0x10000000:   # USER1 debug flag
+        print("x0=%f y0=%f a=%f old_z=%f" % (x0,y0,a,old_z))
+
+    try:
+        #self.execute("G3456")  # would raise InterpreterException
+        self.execute("G21",lineno())
+        self.execute("G64 P0.001",lineno())
+        self.execute("G0 X%f Y%f" % (x0,y0),lineno())
+
+        if c.z_flag:
+            feed = self.feed_rate
+            self.execute("F%f G1 Z%f" % (feed * plunge, c.z_number),lineno())
+            self.execute("F%f" % (feed),lineno())
+
+        for i in range(100):
+            t = i/10.
+            x = x0 + a * (cos(t) + t * sin(t))
+            y = y0 + a * (sin(t) - t * cos(t))
+            self.execute("G1 X%f Y%f" % (x,y),lineno())
+
+        if c.z_flag: # retract to starting height
+            self.execute("G0 Z%f" % (old_z),lineno())
+
+    except InterpreterException as e:
+        msg = "%d: '%s' - %s" % (e.line_number,e.line_text, e.error_message)
+        self.set_errormsg(msg) # replace builtin error message
+        return INTERP_ERROR
+
+    return INTERP_OK
+
+
+def m462(self, **words):
+    """ remap function which does the equivalent of M62, but via Python """
+
+    p = int(words['p'])
+    q = int(words['q'])
+
+    if q:
+        SET_MOTION_OUTPUT_BIT(p)
+    else:
+        CLEAR_MOTION_OUTPUT_BIT(p)
+    return INTERP_OK
+
+def m465(self, **words):
+    """ remap function which does the equivalent of M65, but via Python """
+
+    p = int(words['p'])
+    q = int(words['q'])
+
+    if q:
+        SET_AUX_OUTPUT_BIT(p)
+    else:
+        CLEAR_AUX_OUTPUT_BIT(p)
+    return INTERP_OK

configs/sim/axis/remap/getting-started/python/toplevel.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 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 oword
+import remap

configs/sim/axis/remap/getting-started/python/util.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 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 inspect
+import emccanon
+
+# O-word procedure to trap into the Pydevd debugger
+# start debug server in Eclipse, then
+# call as 'O<pydevd> call' from MDI
+
+# example setup for debugging embedded Python code
+# see http://pydev.org/manual_adv_remote_debugger.html
+# if this points to a valid directory,
+
+def call_pydevd():
+    """ trap into the pydevd debugger"""
+
+    import os,sys
+
+    pydevdir= '/home/mah/.eclipse/org.eclipse.platform_3.5.0_155965261/plugins/org.python.pydev.debug_2.0.0.2011040403/pysrc/'
+
+    # the 'emctask' module is present only in the milltask instance, otherwise both the UI and
+    # milltask would try to connect to the debug server.
+
+    if os.path.isdir(pydevdir) and  'emctask' in sys.builtin_module_names:
+        sys.path.append(pydevdir)
+        sys.path.insert(0,pydevdir)
+        try:
+            import pydevd
+            emccanon.MESSAGE("pydevd imported, connecting to Eclipse debug server...")
+            pydevd.settrace()
+        except:
+            emccanon.MESSAGE("no pydevd module found")
+            pass
+
+
+
+def lineno():
+    """ return line number in the current Python script """
+    return inspect.currentframe().f_back.f_lineno
+
+def error_stack(self):
+    """ print the Interpreters error stack (function names) """
+    print("error stack level=%d" % (self.stack_index))
+    for s in self.stack():
+        print("--'%s'" % (s))
+
+def callstack(self):
+    """ print the O-Word call stack """
+    for i in range(self.call_level):
+        c = self.sub_context[i]
+        print("%d: pos=%d seq=%d filename=%s sub=%s" % (i,c.position, c.sequence_number,c.filename,c.subname))
+

configs/sim/axis/remap/getting-started/tool.tbl

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+../tool.tbl