problem for use remap

mahdi2001h
Topic Author
Offline
Junior Member

6 years 4 months ago - 6 years 4 months ago #172000 by mahdi2001h

Replied by mahdi2001h on topic problem for use remap

oow

I've seen this before

It didn't help me

Because it did the same

But I'm reviewing it now

thanks

Last edit: 6 years 4 months ago by mahdi2001h.

Please Log in or Create an account to join the conversation.

Aciera
Offline
Administrator

6 years 4 months ago #172020 by Aciera

Replied by Aciera on topic problem for use remap

Ok I've only done remaps with python script once before. My INI contains this:

Code:

        REMAP=G91.2 modalgroup=1 argspec=xyzabc python=g912
        REMAP=G91.3 modalgroup=1 argspec=xyzabc python=g913

Then my config folder contains a folder called python and inside that folder lives my remap.py (contains my python scripts for g912 and g913), toplevel.py, oword.py, stdglue.py and util.py.

toplevel.py contains

Code:

import oword
import remap

oword.py contains:

Code:

from util import call_pydevd

def foo(*args):
    print "foo!"


# make debugger available as oword procedure
def pydevd(self,*args):
    call_pydevd()



# this would be defined in the oword module
def mysub(self, *args):
    print "number of parameters passed:", len(args)
    for a in args:
	print a

stdglue.py is an empty file

util.py contains:

Code:

import inspect
import emccanon

# O-word procedure to trap into the Pydevd debugger
# start debug server in Eclipse, then
# call as 'O<pydevd> call' from MDI

# example setup for debugging embedded Python code
# see http://pydev.org/manual_adv_remote_debugger.html
# if this points to a valid directory,

def call_pydevd():
    """ trap into the pydevd debugger"""
    
    import os,sys
    
    pydevdir= '/home/mah/.eclipse/org.eclipse.platform_3.5.0_155965261/plugins/org.python.pydev.debug_2.0.0.2011040403/pysrc/'

    # the 'emctask' module is present only in the milltask instance, otherwise both the UI and
    # milltask would try to connect to the debug server.

    if os.path.isdir(pydevdir) and  'emctask' in sys.builtin_module_names:
        sys.path.append(pydevdir)
        sys.path.insert(0,pydevdir)
        try:
            import pydevd
            emccanon.MESSAGE("pydevd imported, connecting to Eclipse debug server...")
            pydevd.settrace()
        except:
            emccanon.MESSAGE("no pydevd module found")
            pass



def lineno():
    """ return line number in the current Python script """
    return inspect.currentframe().f_back.f_lineno

def error_stack(self):
    """ print the Interpreters error stack (function names) """
    print "error stack level=%d" % (self.stack_index)
    for s in self.stack():
        print "--'%s'" % (s)

def callstack(self):
    """ print the O-Word call stack """
    for i in range(self.call_level):
        c = self.sub_context[i]
        print "%d: pos=%d seq=%d filename=%s sub=%s" % (i,c.position, c.sequence_number,c.filename,c.subname)
        

   

The following user(s) said Thank You: mahdi2001h

Please Log in or Create an account to join the conversation.

mahdi2001h
Topic Author
Offline
Junior Member

6 years 4 months ago #172220 by mahdi2001h

Replied by mahdi2001h on topic problem for use remap

Please also send your remap.py file

Please Log in or Create an account to join the conversation.

Aciera
Offline
Administrator

6 years 4 months ago #172222 by Aciera

Replied by Aciera on topic problem for use remap

remap.py:

Warning: Spoiler!

import sys
import traceback
import numpy
#import pprint
from math import sin,cos,atan2,sqrt,pi,degrees
from interpreter import *
from emccanon import MESSAGE, SET_MOTION_OUTPUT_BIT, CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT

from util import lineno, call_pydevd

throw_exceptions = 1 # raises InterpreterException if execute() or read() fail

#Remap for Incremental moves in tool coordinates "G91.2 x y z a b c
def g912(self, **words):

#genserkins.c uses Rot[X,Y,Z] fixed angles rotation also called XYZ-Tait-Bryan angles
#First rotation: "c"-rotation is equal to rotation around z = Z-world-axis
#Second rotation: "b"-rotation is equal to rotation around the y'-axis
# "a"-rotation is always equal to rotation around x'' = X-tool-axis

#requested increments
c = self.blocks[self.remap_level]
dx = c.x_number if c.x_flag else 0
dy = c.y_number if c.y_flag else 0
dz = c.z_number if c.z_flag else 0
da = c.a_number if c.a_flag else 0
db = c.b_number if c.b_flag else 0
dc = c.c_number if c.c_flag else 0

#current position and orientation
old_x = self.current_x
old_y = self.current_y
old_z = self.current_z
old_a = self.AA_current
old_b = self.BB_current
old_c = self.CC_current

#calculate terms for rotation matrices
sa = sin(old_a*(pi/180))
sb = sin(old_b*(pi/180))
sc = sin(old_c*(pi/180))
ca = cos(old_a*(pi/180))
cb = cos(old_b*(pi/180))
cc = cos(old_c*(pi/180))

sda = sin(da*(pi/180))
sdb = sin(db*(pi/180))
sdc = sin(dc*(pi/180))
cda = cos(da*(pi/180))
cdb = cos(db*(pi/180))
cdc = cos(dc*(pi/180))

#---Calculation of the new position---:

#This is used to calculate the new POSITION in world coordinates according to the
#requested incremental moves along the tool coordinate axis (G91.2 x y z ...)

#Transformation matrix for the kinematics used in genserkins
A = [[ cb*cc , sa*sb*cc - ca*sc , ca*sb*cc + sa*sc ],
[ cb*sc , sa*sb*sc + ca*cc , ca*sb*sc - sa*cc ],
[ -sb , sa*cb , ca*cb ]]
#requested move in vector form
Pd = [[ dx ],
[ dy ],
[ dz ]]
#A*Pd - matrix multiplication (the order is important! A*Pd != Pd*A)
#'import numpy' is required for this
P = [[sum(a*b for a,b in zip(A_row,Pd_col)) for Pd_col in zip(*Pd)] for A_row in A]
#position in world coordinates is the sum of the old position and the rotated increments
x_new = old_x + P[0][0]
y_new = old_y + P[1][0]
z_new = old_z + P[2][0]

#pp = pprint.PrettyPrinter(indent=4)
#pp.pprint(A)

#---Calculation of the new orientation---

#This is used to calculate the new ORIENTATION in world coordinates according to the
#requested incremental moves along the tool coordinate axis (G91.2 ... a b c)
#matrix for rotation by angle 'c' around z-axis
Rz = [[ cdc, -sdc, 0 ],
[ sdc, cdc, 0 ],
[ 0, 0 , 1 ]]
#matrix for rotation by angle 'b' around y-axis
Ry = [[ cdb , 0, sdb ],
[ 0 , 1, 0 ],
[-sdb , 0, cdb ]]
#matrix for rotation by angle 'a' around y-axis
Rx = [[ 1 , 0 , 0 ],
[ 0 , cda, -sda ],
[ 0 , sda, cda ]]

'''
#--Incremental rotation in WORLD-coordinates--
#this rotates the Tool-center-point around the X-,Y-,Z-axis of the WORLD-coordinate-system
#Matrix multiplications Rx*Ry*Rz*A (starting from right to left)
#multiply Rz * A
A = [[sum(a*b for a,b in zip(Rz_row,A_col)) for A_col in zip(*A)] for Rz_row in Rz]
#multiply Ry * A
A = [[sum(a*b for a,b in zip(Ry_row,A_col)) for A_col in zip(*A)] for Ry_row in Ry]
#multiply Rx * A
A = [[sum(a*b for a,b in zip(Rx_row,A_col)) for A_col in zip(*A)] for Rx_row in Rx]
'''

#--Incremental rotation in TOOL-coordinates--
#this rotates the Tool-center-point around the X-,Y-,Z-axis of the TOOL-coordinate-system
#Matrix multiplications A*Rx*Ry*Rz (starting from right to left)
#multiply Ry * Rz
C = [[sum(a*b for a,b in zip(Ry_row,Rz_col)) for Rz_col in zip(*Rz)] for Ry_row in Ry]
#multiply Rx * C
B = [[sum(a*b for a,b in zip(Rx_row,C_col)) for C_col in zip(*C)] for Rx_row in Rx]
#multiply A * B
A = [[sum(a*b for a,b in zip(A_row,B_col)) for B_col in zip(*

] for A_row in A]

#now the required numerical results of all the elements of the transformation matrix have
#been calculated and we can solve the equations for the required angles a,b,c

#calculate new Euler angles a,b,c
c_new_r = atan2((A[1][0]),A[0][0])
c_new = degrees(c_new_r)

b_new_r = atan2(-A[2][0],sqrt(A[2][1]*A[2][1]+A[2][2]*A[2][2]))
b_new = degrees(b_new_r)

a_new_r = atan2((A[2][1]),A[2][2])
a_new = degrees(a_new_r)

#print(x_new,y_new,z_new,a_new,b_new,c_new)
#send new coordinates as G0 move to LinuxCNC
self.execute("G0 X%f Y%f Z%f A%f B%f C%f" % (x_new,y_new,z_new,a_new,b_new,c_new),lineno())

return INTERP_OK

#Remap for Incremental xyz-moves in TOOL coordinates , and incremental abc-moves in WORLD - coordinates
#"G91.2 x y z a b c
def g913(self, **words):

#genserkins.c uses Rot[X,Y,Z] fixed angles rotation also called XYZ-Tait-Bryan angles
#First rotation: "c"-rotation is equal to rotation around z = Z-world-axis
#Second rotation: "b"-rotation is equal to rotation around the y'-axis
# "a"-rotation is always equal to rotation around x'' = X-tool-axis

#requested increments
c = self.blocks[self.remap_level]
dx = c.x_number if c.x_flag else 0
dy = c.y_number if c.y_flag else 0
dz = c.z_number if c.z_flag else 0
da = c.a_number if c.a_flag else 0
db = c.b_number if c.b_flag else 0
dc = c.c_number if c.c_flag else 0

#current position and orientation
old_x = self.current_x
old_y = self.current_y
old_z = self.current_z
old_a = self.AA_current
old_b = self.BB_current
old_c = self.CC_current

#calculate terms for rotation matrices
sa = sin(old_a*(pi/180))
sb = sin(old_b*(pi/180))
sc = sin(old_c*(pi/180))
ca = cos(old_a*(pi/180))
cb = cos(old_b*(pi/180))
cc = cos(old_c*(pi/180))

sda = sin(da*(pi/180))
sdb = sin(db*(pi/180))
sdc = sin(dc*(pi/180))
cda = cos(da*(pi/180))
cdb = cos(db*(pi/180))
cdc = cos(dc*(pi/180))

#---Calculation of the new position---:

#This is used to calculate the new POSITION in world coordinates according to the
#requested incremental moves along the tool coordinate axis (G91.2 x y z ...)

#Transformation matrix for the kinematics used in genserkins
A = [[ cb*cc , sa*sb*cc - ca*sc , ca*sb*cc + sa*sc ],
[ cb*sc , sa*sb*sc + ca*cc , ca*sb*sc - sa*cc ],
[ -sb , sa*cb , ca*cb ]]
#requested move in vector form
Pd = [[ dx ],
[ dy ],
[ dz ]]
#A*Pd - matrix multiplication (the order is important! A*Pd != Pd*A)
#'import numpy' is required for this
P = [[sum(a*b for a,b in zip(A_row,Pd_col)) for Pd_col in zip(*Pd)] for A_row in A]
#position in world coordinates is the sum of the old position and the rotated increments
x_new = old_x + P[0][0]
y_new = old_y + P[1][0]
z_new = old_z + P[2][0]

#pp = pprint.PrettyPrinter(indent=4)
#pp.pprint(A)

#---Calculation of the new orientation---

#This is used to calculate the new ORIENTATION in world coordinates according to the
#requested incremental moves along the tool coordinate axis (G91.2 ... a b c)
#matrix for rotation by angle 'c' around z-axis
Rz = [[ cdc, -sdc, 0 ],
[ sdc, cdc, 0 ],
[ 0, 0 , 1 ]]
#matrix for rotation by angle 'b' around y-axis
Ry = [[ cdb , 0, sdb ],
[ 0 , 1, 0 ],
[-sdb , 0, cdb ]]
#matrix for rotation by angle 'a' around y-axis
Rx = [[ 1 , 0 , 0 ],
[ 0 , cda, -sda ],
[ 0 , sda, cda ]]

#--Incremental rotation in WORLD-coordinates--
#this rotates the Tool-center-point around the X-,Y-,Z-axis of the WORLD-coordinate-system
#Matrix multiplications Rx*Ry*Rz*A (starting from right to left)
#multiply Rz * A
A = [[sum(a*b for a,b in zip(Rz_row,A_col)) for A_col in zip(*A)] for Rz_row in Rz]
#multiply Ry * A
A = [[sum(a*b for a,b in zip(Ry_row,A_col)) for A_col in zip(*A)] for Ry_row in Ry]
#multiply Rx * A
A = [[sum(a*b for a,b in zip(Rx_row,A_col)) for A_col in zip(*A)] for Rx_row in Rx]

#now the required numerical results of all the elements of the transformation matrix have
#been calculated and we can solve the equations for the required angles a,b,c

#calculate new Euler angles a,b,c
c_new_r = atan2((A[1][0]),A[0][0])
c_new = degrees(c_new_r)

b_new_r = atan2(-A[2][0],sqrt(A[2][1]*A[2][1]+A[2][2]*A[2][2]))
b_new = degrees(b_new_r)

a_new_r = atan2((A[2][1]),A[2][2])
a_new = degrees(a_new_r)

#print(x_new,y_new,z_new,a_new,b_new,c_new)
#send new coordinates as G0 move to LinuxCNC
self.execute("G0 X%f Y%f Z%f A%f B%f C%f" % (x_new,y_new,z_new,a_new,b_new,c_new),lineno())

return INTERP_OK

The following user(s) said Thank You: mahdi2001h

Please Log in or Create an account to join the conversation.

mahdi2001h
Topic Author
Offline
Junior Member

6 years 4 months ago - 6 years 4 months ago #172445 by mahdi2001h

Replied by mahdi2001h on topic problem for use remap

thanks alot for your reply

I checked your code

but my problem not solved

also I using Sim with remapping setup and add a line for log to terminal
And I saw the same problem there

I will tell you my problem again

when linuxcnc opening the ngc file , in one step all remap function run
and when maching start , in a moment all remap python function run

in fact I want to remaped a g-code to send a serial command by python
and the G-codes should run in own place but its not worked

i think when first run (when ngc file open) is for draw shape for preview and can solve it with check machine power status
but for second run i don't know what should to do

Last edit: 6 years 4 months ago by mahdi2001h.

Please Log in or Create an account to join the conversation.

Aciera
Offline
Administrator

6 years 4 months ago - 6 years 4 months ago #172453 by Aciera

Replied by Aciera on topic problem for use remap

Do you mean that these codes for G70 and G70.1 are running without being called?

def g700(self, **words):
s.poll()
if s.estop == 0:
print "test p =" , words["p"]
return INTERP_OK

def g701(self, **words):
s.poll()
if s.estop == 0:
print "test1"
return INTERP_OK

Last edit: 6 years 4 months ago by Aciera.

Please Log in or Create an account to join the conversation.

Time to create page: 0.277 seconds

Forum Menu

problem for use remap