Code:
#!/usr/bin/python
# call shell script from the python script
print('___________________start M150___________________')
import os
import subprocess
import time
import math
def write_hal_signal(hal_signal , value):
command = ['halcmd','sets',hal_signal,str(value)]
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
output = process.communicate() #Launch the shell command
# print 'output:',output[0]
# print 'outputF:', output
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
return 'success'
else:
print(command, 'failure')
return 'failure'
def write_hal_pin(hal_pin , value):
command = ['halcmd','setp',hal_pin,str(value)]
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
output = process.communicate() #Launch the shell command
# print 'output:',output[0]
# print 'outputF:', output
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
return 'success'
else:
print(command, 'failure')
return 'failure'
def read_hal_signal(hal_signal):
command = ['halcmd','gets',hal_signal]
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
(command_output, error) = process.communicate() #Launch the shell command
value_str = str.strip(command_output)
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
if value_str == 'FALSE':
value = 0
elif value_str == 'TRUE':
value = 1
else:
try:
value = float(value_str)
except:
value = None
# print 'Vaue Error!'
# print 'value: ', value
else:
print(command, 'failure')
value = None
return value
def read_hal_pin(hal_pin):
command = ['halcmd','getp',hal_pin]
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
(command_output, error) = process.communicate() #Launch the shell command
value_str = str.strip(command_output)
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
if value_str == 'FALSE':
value = 0
elif value_str == 'TRUE':
value = 1
else:
try:
value = float(value_str)
except:
value = None
# print 'Vaue Error!'
# print 'value: ', value
else:
print(command, 'failure')
value = None
return value
def wait_hal_signal(hal_signal, value):
# import time
if read_hal_signal(hal_signal) is None:
wait_success = 0
else:
while read_hal_signal(hal_signal) != value:
wait_success = 0
time.sleep(0.1)
print 'Waiting for {}: {} == {}'.format(hal_signal, read_hal_signal(hal_signal),value)
print 'wait_success'
wait_success = 1
return wait_success
def machine_command(*command_string): #executes G-code / M-code machine commands # can't take debug commands
start_time = time.time()
print('>>>>>>>>>>>>>>> execute g-code: ', command_string)
'''Edit the subroutine .ngc file used by the halui.mdi-command'''
writeMode = "w"
a_file = open("./nc_subroutines/m502.ngc", writeMode) #write mode
writeMode = "a"
remap_header = '''
; this file is auto-generated by python code in M150
; argspec Values are set by shell script via python (eg. M150)
; include these in the .ini file:
; [RS274NGC]
; REMAP=M502 modalgroup=10 argspec=(none) ngc=m502
; [HALUI]
; MDI_COMMAND = M502 (halui.mdi-command-02: machine_command_trigger)
o<m502> sub
'''
# print remap_header.splitlines()
remap_header_list = remap_header.splitlines()
for line in remap_header_list:
a_file.writelines(line)
a_file.writelines('\n')
for command in command_string:
a_file.writelines('\n')
a_file.writelines(command)
# a_file.writelines('\n')
# a_file.writelines('(DEBUG, exectued m502: {})'.format(command))
a_file.writelines('\n')
remap_footer = '''
o<m502> endsub
M2
'''
remap_footer_list = remap_footer.splitlines()
for line in remap_footer_list:
a_file.writelines(line)
a_file.writelines('\n')
a_file.close()
''' execute the halui.mdi-command '''
write_hal_signal('machine_command_trigger',1)
time.sleep(0.1) #pulse signal time
write_hal_signal('machine_command_trigger',0)
print("--- %s seconds ---" % (time.time() - start_time))
def delayed_machine_command(*command_string): #executes G-code / M-code machine commands
start_time = time.time()
print('>>>>>>>>>>>>>>> execute g-code: ', command_string)
'''Edit the subroutine .ngc file used by the halui.mdi-command'''
writeMode = "w"
a_file = open("./nc_subroutines/m504.ngc", writeMode) #write mode
writeMode = "a"
remap_header = '''
; this file is auto-generated by python code in M140
; argspec Values are set by shell script via python (eg. M140)
; include these in the .ini file:
; [RS274NGC]
; REMAP=M504 modalgroup=10 argspec=(none) ngc=m504
; [HALUI]
; MDI_COMMAND = M504 (halui.mdi-command-04: execute_delayed_command)
o<m504> sub
'''
# print remap_header.splitlines()
remap_header_list = remap_header.splitlines()
for line in remap_header_list:
a_file.writelines(line)
a_file.writelines('\n')
for command in command_string:
a_file.writelines('\n')
a_file.writelines(command)
a_file.writelines('\n')
# a_file.writelines('(DEBUG, exectued m504: {})'.format(command))
# a_file.writelines('\n')
remap_footer = '''
o<m504> endsub
M2
'''
remap_footer_list = remap_footer.splitlines()
for line in remap_footer_list:
a_file.writelines(line)
a_file.writelines('\n')
a_file.close()
# ''' execute the halui.mdi-command '''
# write_hal_signal('machine_command_trigger',1)
# time.sleep(0.1) #pulse signal time
# write_hal_signal('machine_command_trigger',0)
print("--- %s seconds ---" % (time.time() - start_time))
def testprint(*strings):
for string in strings:
print string
def viewPockets():
command = ['/home/weeke1/linuxcnc/configs/Weeke1/nc_files/M118']
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
output = process.communicate() #Launch the shell command
# print 'output:',output[0]
# print 'outputF:', output
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
return 'openPocketView success'
else:
print(command, 'openPocketView failure')
return 'failure'
def showRotation():
command = ['/home/weeke1/linuxcnc/configs/Weeke1/nc_files/M117']
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
output = process.communicate() #Launch the shell command
# print 'output:',output[0]
# print 'outputF:', output
# print 'poll', process.poll()
if process.poll() == 0:
# print(command, 'success')
return 'showRotation success'
else:
print(command, 'showRotation failure')
return 'failure'
# import threading
# def printit():
# threading.Timer(5.0, printit).start()
# #print "Hello, World!"
# print 'Weeke1Logic.0.loadA4State', read_hal_pin('Weeke1Logic.0.loadA4State')
# return read_hal_pin('Weeke1Logic.0.loadA4State')
# from threading import *
# import time
# def thread_1():
# #for i in range(8):
# while True:
# print 'Weeke1Logic.0.loadA4State', read_hal_pin('Weeke1Logic.0.loadA4State')
# return read_hal_pin('Weeke1Logic.0.loadA4State')
# time.sleep(0.1)
# T = Thread(target = thread_1) # creating a thread
# T.setDaemon(True) # change T to daemon
# T.start() # starting of Thread T
# time.sleep(5)
# print('this is Main Thread')
# ''' expand functionality with examples here:
# https://stackoverflow.com/questions/3393612/run-certain-code-every-n-seconds
# '''
if __name__ == "__main__":
""" Run test commands here """
# print 'WRITE', write_hal_signal('areaLeftUnlock',1)
# print 'WRITE', write_hal_signal('changeCommand',1)
# print 'READ',read_hal_signal('areaLeftUnlock')
# print 'WAIT', wait_hal_signal('223_Foot_Switch_A4',1)
##### signal's pin to be read by M502
# write_hal_signal('pyPosValueX',23.123)
##### move to enabled axis values via pyPosMoveCmd => halui.mdi-command-02 => M502
# write_hal_signal('pyPosMoveCmd',1)
# time.sleep(1)
# write_hal_signal('pyPosMoveCmd',0)
# g_code_string_cmd('G53 g90 G0 X4 Z-0.125')
# g_code_string_cmd('G53 G1 X20 F100')
# g_code_string_cmd('X4 Z-0.125')
# machine_command('G53 G0 X10 Y-5')
# machine_command('G53 G0 X10 Y-5','G53 G0 X20 Y-10')
#can't do this# machine_command('(DEBUG, M150 machine_command)')
# machine_command('M127')
# write_hal_signal('testMoveCmd',1)
# time.sleep(1)
# write_hal_signal('testMoveCmd',0)
# write_hal_signal('m140active',0)
# write_hal_signal('router1CylPosMuxIn1',0)
# printit()
# machine_command("G58 G91 G2 X0 Y0 I0.0001 P1 F150","G90")
# machine_command("M550 P1 Q2")
# openPocketView()
print ("M150 is being run directly")
print ("M150 __name__ = %s" %__name__)
print('___________________end M150___________________')
exit(0) # If a M1nn command exits with nonzero status, the gcode program exits. Exit 0 for success
else:
print ("M150 is being imported")
print('___________________end M150___________________')
