202 lines
5.3 KiB
Python
202 lines
5.3 KiB
Python
#!/usr/bin/env python3
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'''Copied from m61-test'''
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import linuxcnc
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import os
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from time import sleep
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# this is how long we wait for linuxcnc to do our bidding
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class LinuxcncError(Exception):
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pass
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# def __init__(self, value):
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# self.value = value
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# def __str__(self):
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# return repr(self.value)
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class LinuxcncControl:
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'''
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issue G-Code commands
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make sure important modes are saved and restored
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mode is saved only once, and can be restored only once
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usage example:
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e = emc_control()
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e.prepare_for_mdi()
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any internal sub using e.g("G0.....")
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e.finish_mdi()
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'''
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def __init__(self,timeout=2):
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self.c = linuxcnc.command()
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self.e = linuxcnc.error_channel()
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self.s = linuxcnc.stat()
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self.timeout = timeout
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def running(self, do_poll=True):
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'''
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check whether interpreter is running.
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If so, can't switch to MDI mode.
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'''
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if do_poll:
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self.s.poll()
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return (self.s.task_mode == linuxcnc.MODE_AUTO and
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self.s.interp_state != linuxcnc.INTERP_IDLE)
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def set_mode(self,m):
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'''
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set EMC mode if possible, else throw LinuxcncError
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return current mode
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'''
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self.s.poll()
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if self.s.task_mode == m :
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return m
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if self.running(do_poll=False):
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raise LinuxcncError("interpreter running - can not change mode")
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self.c.mode(m)
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self.c.wait_complete()
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return m
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def set_state(self,m):
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'''
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set EMC mode if possible, else throw LinuxcncError
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return current mode
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'''
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self.s.poll()
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if self.s.task_mode == m :
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return m
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self.c.state(m)
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self.c.wait_complete(self.timeout)
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return m
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def do_home(self,axismask):
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self.s.poll()
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self.c.home(axismask)
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self.c.wait_complete(self.timeout)
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def ok_for_mdi(self):
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'''
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check whether ok to run MDI commands.
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'''
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self.s.poll()
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return not self.s.estop and self.s.enabled and self.s.homed
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def prepare_for_mdi(self):
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'''
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check whether ok to run MDI commands.
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throw LinuxcncError if told so.
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return current mode
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'''
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self.s.poll()
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if self.s.estop:
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raise LinuxcncError("machine in ESTOP")
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if not self.s.enabled:
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raise LinuxcncError("machine not enabled")
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if not self.s.homed:
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raise LinuxcncError("machine not homed")
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if self.running():
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raise LinuxcncError("interpreter not idle")
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return self.set_mode(linuxcnc.MODE_MDI)
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g_raise_except = True
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def g(self,code,wait=False):
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'''
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issue G-Code as MDI command.
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wait for completion if requested
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'''
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self.c.mdi(code)
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if wait:
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try:
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while self.c.wait_complete(self.timeout) == -1:
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pass
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return True
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except KeyboardInterrupt:
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print("interrupted by keyboard in c.wait_complete(self.timeout)")
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return False
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self.error = self.e.poll()
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if self.error:
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kind, text = self.error
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if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
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if self.g_raise_except:
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raise LinuxcncError(text)
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else:
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print(("error " + text))
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else:
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print(("info " + text))
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return False
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def get_current_tool(self):
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self.s.poll()
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return self.s.tool_in_spindle
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def active_codes(self):
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self.e.poll()
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return self.s.gcodes
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def get_current_system(self):
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g = self.active_codes()
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for i in g:
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if i >= 540 and i <= 590:
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return i/10 - 53
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elif i >= 590 and i <= 593:
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return i - 584
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return 1
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def open_program(self,filename):
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'''Open an nc file'''
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self.s.poll()
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self.set_mode(linuxcnc.MODE_AUTO)
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self.c.wait_complete()
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sleep(.25)
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self.c.program_open(filename)
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self.c.wait_complete()
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def run_full_program(self):
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'''Start a loaded program'''
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self.s.poll()
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self.c.auto(linuxcnc.AUTO_RUN, 0)
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self.c.wait_complete(self.timeout)
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return self.check_rcs_error()
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def set_feed_scale(self,scale):
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'''Assign a feed scale'''
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self.s.poll()
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self.c.feedrate(scale)
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self.c.wait_complete(self.timeout)
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def wait_on_program(self):
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self.s.poll()
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while self.s.exec_state != linuxcnc.EXEC_DONE or self.s.state != linuxcnc.RCS_DONE and self.s.task_state == linuxcnc.STATE_ON:
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sleep(.25)
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self.s.poll()
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if self.s.task_state != linuxcnc.STATE_ON:
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return False
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if self.check_rcs_error():
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print("Found RCS error while waiting, running again")
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self.run_full_program()
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return True
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def check_rcs_error(self):
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self.s.poll()
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if self.s.state == linuxcnc.RCS_ERROR:
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print("detected RCS error")
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return True
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return False
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def introspect():
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os.system("halcmd show pin python-ui")
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