Import LinuxCNC source tree

configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/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
+

configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py

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+#!/usr/bin/env python3
+
+import hal
+import linuxcnc
+
+h = hal.component("twp-helper-comp")
+
+# this pin reflects the machine.analog pin used for the
+# twp-status
+h.newpin("twp-status", hal.HAL_FLOAT, hal.HAL_IN)
+# these pins are created here from 'twp-status''
+h.newpin("twp-is-redefined", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("twp-is-defined", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("twp-is-active", hal.HAL_BIT, hal.HAL_OUT)
+
+# twp origin vector
+h.newpin("twp-ox-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-oy-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-oz-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-ox", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-oy", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-oz", hal.HAL_FLOAT, hal.HAL_OUT)
+# twp x-orientation vector
+h.newpin("twp-xx-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-xy-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-xz-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-xx", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-xy", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-xz", hal.HAL_FLOAT, hal.HAL_OUT)
+# twp z-orientation vector
+h.newpin("twp-zx-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-zy-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-zz-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-zx", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-zy", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-zz", hal.HAL_FLOAT, hal.HAL_OUT)
+# twp origin vector in machine coordinate system
+h.newpin("twp-ox-world-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-oy-world-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-oz-world-in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("twp-ox-world", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-oy-world", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("twp-oz-world", hal.HAL_FLOAT, hal.HAL_OUT)
+
+h.ready()
+
+# create a connection to the status channel
+s = linuxcnc.stat()
+
+try:
+    while 1:
+        # publish twp-status
+        if h['twp-status'] == 1:
+            h['twp-is-defined'] = 1
+            h['twp-is-active']  = 0
+        elif h['twp-status'] == 2:
+            h['twp-is-defined'] = 1
+            h['twp-is-active']  = 1
+        else:
+            h['twp-is-defined'] = 0
+            h['twp-is-active']  = 0
+
+        # passthrough the twp arguments
+        h['twp-ox'] = h['twp-ox-in']
+        h['twp-oy'] = h['twp-oy-in']
+        h['twp-oz'] = h['twp-oz-in']
+        h['twp-xx'] = h['twp-xx-in']
+        h['twp-xy'] = h['twp-xy-in']
+        h['twp-xz'] = h['twp-xz-in']
+        h['twp-zx'] = h['twp-zx-in']
+        h['twp-zy'] = h['twp-zy-in']
+        h['twp-zz'] = h['twp-zz-in']
+
+        # we only want to expose offsets when twp is not defined
+        if not h['twp-is-defined']:
+            s.poll() # get current values
+            g5x_offset = s.g5x_offset
+            h['twp-ox-world']  = g5x_offset[0]
+            h['twp-oy-world']  = g5x_offset[1]
+            h['twp-oz-world']  = g5x_offset[2]
+        else : # use the values from the remap
+            h['twp-ox-world'] = h['twp-ox-world-in']
+            h['twp-oy-world'] = h['twp-oy-world-in']
+            h['twp-oz-world'] = h['twp-oz-world-in']
+
+except KeyboardInterrupt:
+    raise SystemExit

configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/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))