106 lines
2.2 KiB
Python
Executable File
106 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import linuxcnc
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import hal
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import math
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import time
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import sys
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import subprocess
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import os
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import signal
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import glob
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import re
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retval = 0
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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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c.state(linuxcnc.STATE_ESTOP_RESET)
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c.state(linuxcnc.STATE_ON)
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c.mode(linuxcnc.MODE_AUTO)
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c.program_open('test.ngc')
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c.mode(linuxcnc.MODE_MDI)
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c.mdi('G10 L2 P1 X0 Y0 Z-4 (Set G54)')
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c.mdi('G10 L2 P2 X0 Y0 Z-5 (Set G55)')
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c.mdi('G10 L2 P3 X0 Y0 Z-6 (Set G56)')
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c.mdi('G54 (Use G54)')
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c.mdi('G0 X0 Y0 Z0 (Move to 0,0,0)')
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c.wait_complete()
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# FIXME: this is lame
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time.sleep(1)
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c.mode(linuxcnc.MODE_AUTO)
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c.auto(linuxcnc.AUTO_RUN, 0)
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# FIXME: this is lame
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time.sleep(1)
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c.abort()
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c.wait_complete()
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s.poll()
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# The program was aborted in g55; check
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if not 550 in s.gcodes:
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print("Current coordinate system is G%d, not G55" % \
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([i/10 for i in s.gcodes if i >= 540 and i < 600] + [None])[0])
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retval = 1
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else:
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print("Current coordinate system is G55")
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# MDI G0 takes us to the programmed location in G54
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c.mode(linuxcnc.MODE_MDI)
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c.mdi('G0 X0 Y0 Z0 (Move to 0,0,0)')
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c.wait_complete()
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s.poll()
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if math.fabs(s.position[0]) > 0.000001:
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print("'G0 X0 Y0 Z0' took us to X=%.6f, should be 0" % s.position[0])
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retval = 1
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if math.fabs(s.position[1]) > 0.000001:
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print("'G0 X0 Y0 Z0' took us to Y=%.6f, should be 0" % s.position[1])
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retval = 1
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if math.fabs(s.position[2] + 5) > 0.000001:
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print("'G0 X0 Y0 Z0' took us to Z=%.6f, should be -5" % s.position[2])
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retval = 1
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c.mdi('(debug,G53+#5220 ?= G55; Z#5422 ?= Z0.0)')
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c.wait_complete()
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err = e.poll()
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print(err)
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s.poll()
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if s.g5x_index != 2:
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print("status has wrong g5x index: %d (expected 2)" % s.g5x_index)
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retval = 1
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else:
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print("status has correct g5x index: 2")
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if math.fabs(s.g5x_offset[0]) > 0.000001:
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print("g5x_offset.x is %.6f, should be 0" % s.g5x_offset[0])
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retval = 1
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if math.fabs(s.g5x_offset[1]) > 0.000001:
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print("g5x_offset.y is %.6f, should be 0" % s.g5x_offset[1])
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retval = 1
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if math.fabs(s.g5x_offset[2] + 5) > 0.000001:
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print("g5x_offset.z is %.6f, should be -5" % s.g5x_offset[2])
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retval = 1
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if retval == 0:
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print("Everything ok!")
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sys.exit(retval)
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