76 lines
1.9 KiB
Python
Executable File
76 lines
1.9 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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def wait_for_linuxcnc_startup(status, timeout=10.0):
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"""Poll the Status buffer waiting for it to look initialized,
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rather than just allocated (all-zero). Returns on success, throws
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RuntimeError on failure."""
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start_time = time.time()
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while time.time() - start_time < timeout:
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status.poll()
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if (status.angular_units == 0.0) \
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or (status.axis_mask == 0) \
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or (status.cycle_time == 0.0) \
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or (status.exec_state != linuxcnc.EXEC_DONE) \
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or (status.interp_state != linuxcnc.INTERP_IDLE) \
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or (status.inpos == False) \
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or (status.linear_units == 0.0) \
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or (status.max_acceleration == 0.0) \
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or (status.max_velocity == 0.0) \
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or (status.program_units == 0.0) \
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or (status.rapidrate == 0.0) \
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or (status.state != linuxcnc.RCS_DONE) \
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or (status.task_state != linuxcnc.STATE_ESTOP):
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time.sleep(0.1)
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else:
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# looks good
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return
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# timeout, throw an exception
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raise RuntimeError
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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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# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
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wait_for_linuxcnc_startup(s)
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#time.sleep(9999)
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c.state(linuxcnc.STATE_ESTOP_RESET)
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c.state(linuxcnc.STATE_ON)
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c.home(-1)
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c.wait_complete()
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c.mode(linuxcnc.MODE_MDI)
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c.mdi('g0 x0.1 y0.2 z0.3')
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c.mdi('g41.1 d0.1')
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c.mdi('g40')
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c.mdi('g0 x0.9 ; surprise motion on Y and Z, to 0!!')
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c.wait_complete()
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s.poll()
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print("position: {}".format(s.position))
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assert(math.fabs(s.position[0] - 0.9) < 0.0000001)
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assert(math.fabs(s.position[1] - 0.2) < 0.0000001)
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assert(math.fabs(s.position[2] - 0.3) < 0.0000001)
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sys.exit(0)
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