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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))
+