54 lines
1.1 KiB
Python
Executable File
54 lines
1.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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import os
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import sys
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import linuxcnc
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import linuxcnc_util
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import hal
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sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
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c = linuxcnc.command()
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s = linuxcnc.stat()
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e = linuxcnc.error_channel
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l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
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print("info: Turning machine on")
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c.state(linuxcnc.STATE_ESTOP_RESET)
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c.state(linuxcnc.STATE_ON)
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c.wait_complete()
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c.home(0)
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c.home(1)
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c.home(2)
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print("info: Waiting for homing to complete")
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l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
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c.mode(linuxcnc.MODE_MDI)
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print("info: Moving to X1")
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c.mdi("G0 X1Y0Z0")
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c.wait_complete()
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s.poll()
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h = hal.component("python-ui")
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# Wait for next MQTT publication
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name='mqtt-publisher.lastpublish'
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timeout = 10
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lastpublish = hal.get_value(name)
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start_time = time.time()
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while (time.time() - start_time) < timeout and \
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hal.get_value(name) == lastpublish:
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time.sleep(0.1)
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if hal.get_value(name) == lastpublish:
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raise RuntimeError(f"error: no MQTT publishing happened within {timeout} seconds")
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print("info: Turning machine off")
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c.state(linuxcnc.STATE_OFF)
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sys.exit(0)
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