Import LinuxCNC source tree

lib/python/tooldb.py

@@ -0,0 +1,161 @@
+import sys
+import traceback
+
+# A python interface for LinuxCNC tool database usage
+
+#Notes
+#  1) host (LinuxCNC) pushes commands to this program
+#  2) all writes to stdout go to host
+#     (caller: use stderr for debug prints)
+#-----------------------------------------------------------
+DB_VERSION = 'v2.1'
+
+#-----------------------------------------------------------
+# functions for import by user
+# tooldb_callbacks
+# tooldb_tools
+# tooldb_loop
+#-----------------------------------------------------------
+
+def do_reply(msg):
+    sys.stdout.write("%s\n"%msg)
+    sys.stdout.flush()
+
+def saveline(line):
+    global theline
+    theline = line
+
+def currentline():
+    global theline
+    return theline
+
+def nak_reply(msg):
+    theline = currentline()
+    if msg != "empty_line": sys.stderr.write(traceback.format_exc()+"\n")
+    sys.stdout.write("NAK %s <%s>\n"%(msg,theline))
+    sys.stdout.flush()
+
+def tool_cmd(cmd,params):
+    # debug usage: return info for tool
+    # parms is toolno
+    if not len(params):
+        nak_reply("no toolno")
+        return
+    if len(params.split()) != 1:
+        nak_reply("too many parms")
+        return
+    try:
+        toolno = int(params)
+    except Exception as e:
+        nak_reply("non-integer toolno")
+        return
+    if toolno not in tools:
+        nak_reply("toolno out-of-range")
+        return
+    do_reply(get_tool(toolno))
+
+def get_cmd(cmd,params):
+    for tno in tools:
+        try: msg = get_tool(tno)
+        except Exception as e:
+            nak_reply( "get_cmd():Exception:%s"%str(e))
+            return
+        try: do_reply(msg)
+        except:
+            if (tno==0):
+                if debug: sys.stderr.write("no tool in spindle\n")
+                pass
+    do_reply("FINI (get_cmd)")
+
+def put_cmds(cmd,params):
+    # note: checks are mainly for commandline debugging,
+    #       expect host to always provide a valid toolline
+    uparams = params.upper()
+    if len(uparams) == 0:
+        raise Exception("cmd=%s: requires tool entry line"%cmd)
+    try:
+        toolno   = int(uparams[0:uparams.index(" ")].strip("T"))
+        toolline = uparams
+    except Exception as e:
+        sys.stderr.write("cmd=%s: %s:\n"%(cmd,e))
+        raise Exception("cmd=%s: failed to parse <%s>"%(cmd,params))
+    # require at least "Tvalue Pvalue"
+    try: toolline.index("T");toolline.index(" P")
+    except Exception as e:
+        sys.stderr.write("cmd=%s: %s:\n"%(cmd,e))
+        raise Exception("cmd=%s: failed to parse <%s>"%(cmd,params))
+
+    try:
+        if   cmd == "p": put_tool(      toolno,toolline)
+        elif cmd == "l": load_spindle(  toolno,toolline)
+        elif cmd == "u": unload_spindle(toolno,toolline)
+    except Exception as e:
+        nak_reply( "cmd=%s: Exception:%s"%(cmd,str(e)))
+        return
+    do_reply("FINI (update recvd) %s"%params)
+
+def unknown_cmd(cmd,params):
+    nak_reply("unknown cmd")
+    return
+    
+def do_cmd(line):
+    global debug
+    if debug: sys.stderr.write("!!line=<%s>\n"%line)
+    linelist = line.strip().split()
+    cmd = linelist[0]
+    params = ""
+    if len(linelist) > 1:
+        # params is everything after first " ":0
+        params = line.strip()[line.index(" "):].strip()
+    switcher = {
+               "g": get_cmd,   # get (all tools)
+               "p": put_cmds,  # put (update one tool offsets)
+               "u": put_cmds,  # unload spindle
+               "l": put_cmds,  #   load spindle
+               "t": tool_cmd, # debug usage
+               }
+    thecmd = switcher.get(cmd) or unknown_cmd
+    thecmd(cmd,params)
+
+def startup_ack():
+    global debug
+    debug = 0
+    do_reply("%s"%DB_VERSION);
+    if (len(sys.argv)>1 and sys.argv[1] == 'debug'): debug = 1
+
+#-----------------------------------------------------------
+# Begin functions that can be imported
+
+def tooldb_callbacks(tool_getter,tool_putter,spindle_loader,spindle_unloader):
+    """Specify callback functions"""
+    global get_tool, put_tool, load_spindle, unload_spindle
+    get_tool       = tool_getter
+    put_tool       = tool_putter
+    load_spindle   = spindle_loader
+    unload_spindle = spindle_unloader
+
+def tooldb_tools(tool_list):
+    """Specify list = available toolnumers"""
+    global tools
+    tools = tool_list
+
+def tooldb_loop():
+    """Loop forever:
+       1) send startup acknowledgment
+       2) read line from stdino
+       3) parse line
+             execute command if valid
+             nak command     if invalid
+       4) repeat
+    """
+    startup_ack()
+    while True:
+        try:
+            line=sys.stdin.readline().strip()
+
+            saveline(line)
+            if (line == ""): nak_reply("empty_line")
+            else:            do_cmd(line)
+        except BrokenPipeError: sys.stdout.close()
+        except Exception as e:
+            nak_reply("_exception=%s"%e)