#! /usr/bin/python import sys, os import traceback from math import sin,cos from interpreter import * import emccanon from util import lineno, call_pydevd #from configparser import ConfigParser import linuxcnc, hal #from stdglue import * # raises InterpreterException if execute() or read() fails throw_exceptions = 1 def queuebuster(self, **words): yield INTERP_EXECUTE_FINISH def M6_remap(self, **words): #-------------------------------------------------- # if in preview mode exit without doing anything and all ok #---------------------------------------------------------- if self.task==0: return INTERP_OK change_prolog1(self, **words) """ if self.selected_pocket < 0: return "M6: no tool prepared" if self.cutter_comp_side: return "Cannot change tools with cutter radius compensation on" self.params["tool_in_spindle"] = self.current_tool self.params["selected_tool"] = self.selected_tool self.params["current_pocket"] = self.current_pocket self.params["selected_pocket"] = self.selected_pocket """ #self.execute("G53 G0 Z0.0",lineno()) #INTERP_EXECUTE_FINISH #print("Moved to Z = 0.0") #return INTERP_OK try: # stop readhead to ensure correct data #emccanon.WAIT(10, 1, 3, 0.01) #yield INTERP_EXECUTE_FINISH #emccanon.GET_EXTERNAL_DIGITAL_INPUT(10, 1) # read and remember coordinates in the begining of the operation self.x_init = round(emccanon.GET_EXTERNAL_POSITION_X(), 3) self.y_init = round(emccanon.GET_EXTERNAL_POSITION_Y(), 3) self.z_init = round(emccanon.GET_EXTERNAL_POSITION_Z(), 3) # check the spindle state and stop it if needed; self.spindle_speed = emccanon.GET_EXTERNAL_SPEED(0) if self.spindle_speed: #emccanon.SET_SPINDLE_SPEED(0, 0) StopSpindleNow(self) if self.params[5399] < 0: msg = "Spindle has not stopped even after M66" self.set_errormsg(msg) return ReturnERROR() #----------------------- # raise the Z #----------------------- #MoveZtoZero(self) self.execute("G53 G0 Z0.0",lineno()) #yield INTERP_EXECUTE_FINISH print("Moved to Z = 0.0") #---------------------------------------------- #process_file = '/home/cnc/HALO/config/config-inc/process.inc' #self.config_process = ConfigParser() #self.config_process.optionxform = str #self.config_process.read(process_file) self.i = linuxcnc.ini(os.environ['INI_FILE_NAME']) #print(os.environ['INI_FILE_NAME']) self.params['xy_speed'] = float(self.i.find('POCKETS','XYSPEED')) self.params['z_speed'] = float(self.i.find('POCKETS','ZSPEED')) if int(self.current_pocket) > 0: print('setting up drop off pocket') self.params['cp_x_out'] = float(self.i.find('POCKETS','X{}OUT'.format(self.current_pocket))) or 0 self.params['cp_y_out'] = float(self.i.find('POCKETS','Y{}OUT'.format(self.current_pocket))) or 0 self.params['cp_z_out'] = float(self.i.find('POCKETS','Z{}OUT'.format(self.current_pocket))) or 0 self.params['cp_x_in'] = float(self.i.find('POCKETS','X{}IN'.format(self.current_pocket))) or 0 self.params['cp_y_in'] = float(self.i.find('POCKETS','Y{}IN'.format(self.current_pocket))) or 0 self.params['cp_z_in'] = float(self.i.find('POCKETS','Z{}IN'.format(self.current_pocket))) or 0 if self.params['cp_x_out'] == 0 or self.params['cp_y_out'] == 0 or self.params['cp_z_out'] == 0 or\ self.params['cp_x_in'] == 0 or self.params['cp_y_in'] == 0 or self.params['cp_z_in'] == 0: msg = "invalid pocket parameters for current tool" self.set_errormsg(msg) return ReturnERROR() # drop off current tool here DropTool(self) if int(self.selected_pocket) > 0: print('setting up pick up pocket') self.params['sp_x_out'] = float(self.i.find('POCKETS','X{}OUT'.format(self.selected_pocket))) or 0 self.params['sp_y_out'] = float(self.i.find('POCKETS','Y{}OUT'.format(self.selected_pocket))) or 0 self.params['sp_z_out'] = float(self.i.find('POCKETS','Z{}OUT'.format(self.selected_pocket))) or 0 self.params['sp_x_in'] = float(self.i.find('POCKETS','X{}IN'.format(self.selected_pocket))) or 0 self.params['sp_y_in'] = float(self.i.find('POCKETS','Y{}IN'.format(self.selected_pocket))) or 0 self.params['sp_z_in'] = float(self.i.find('POCKETS','Z{}IN'.format(self.selected_pocket))) or 0 if self.params['sp_x_out'] == 0 or self.params['sp_y_out'] == 0 or self.params['sp_z_out'] == 0 or\ self.params['sp_x_in'] == 0 or self.params['sp_y_in'] == 0 or self.params['sp_z_in'] == 0: msg = "invalid pocket parameters for selected tool" self.set_errormsg(msg) return ReturnERROR() # pick up new tool here GetTool(self) # end your subroutine with #----------------------------------------- # We have errors ! catch and return error #----------------------------------------- except InterpreterException,e: msg = "BOB look at this error : %d: '%s' - %s" % (e.line_number,e.line_text, e.error_message) self.set_errormsg(msg) # replace builtin error message print("%s" % msg) return ReturnERROR() except IOError as e: print "I/O error({0}): {1}".format(e.errno, e.strerror) return ReturnERROR() except ValueError: print "Could not convert data to an integer." return ReturnERROR() except ZeroDivisionError as detail: print 'Handling run-time error:', detail return ReturnERROR() except: print "Unexpected error:", sys.exc_info()[0] raise finally: print 'Hold on, off to epilog coming up!' print("Current pocket = %s" % self.current_pocket) print("Selected pocket = %s" % self.selected_pocket) print("Param.Selected pocket = %s" % int(self.params["selected_pocket"])) print("Current tool in spindle = %s" % self.current_tool) print("Selected tool = %s" % self.selected_tool) self.return_value = self.selected_tool #----------------------- # all fine, return ok ! #----------------------- # This is the change_epilog within remap body print("Self return value = %s" % self.return_value) print('Doing epilog') #print("Current pocket = %s" % self.current_pocket) #print("Selected pocket = %s" % self.selected_pocket) #print("Param.Selected pocket = %s" % int(self.params["selected_pocket"])) #print("Current tool in spindle = %s" % self.current_tool) #print("Selected tool = %s" % self.selected_tool) self.selected_pocket = int(self.params["selected_pocket"]) print("before emccannon CHANGE TOOL") emccanon.CHANGE_TOOL(self.selected_pocket) print("emccannon CHANGE TOOL sent") self.current_pocket = self.selected_pocket #self.selected_pocket = -1 #self.selected_tool = -1 # cause a sync() print("Syncing tool parameter") self.set_tool_parameters() self.toolchange_flag = True print('Completed epilog') print("Current pocket = %s" % self.current_pocket) print("Selected pocket = %s" % self.selected_pocket) print("Param.Selected pocket = %s" % int(self.params["selected_pocket"])) print("Current tool in spindle = %s" % self.current_tool) print("Selected tool = %s" % self.selected_tool) return INTERP_OK #---------------------------------------------------------- def DropTool(self): print('moving to front of current tool pocket') self.execute('G53 G0 X%f Y%f' % (self.params['cp_x_out'], self.params['cp_y_out'])) self.execute('G53 G0 Z%f' % (self.params['cp_z_out'])) print('moving into current tool pocket') self.execute('G53 G1 X%f Y%f Z%f F%f' % (self.params['cp_x_in'], self.params['cp_y_in'], self.params['cp_z_in'], self.params['xy_speed'])) # open collet print('opening collet') self.execute('M64 P0') # check if collet open self.execute('M66 P0 L3 Q3') #INTERP_EXECUTE_FINISH if self.params[5399] < 0: msg = 'collet failed to open - toolchange aborted' self.set_errormsg(msg) return ReturnERROR() # move up if tool released print('collet released, moving up') self.execute('G53 G0 Z0') # turn off tool release signal print('closing collet') self.execute('M65 P0') #yield INTERP_EXECUTE_FINISH #---------------------------------------------------------- def GetTool(self): self.execute('G53 G0 Z0') self.execute('G53 G0 X%f Y%f' % (self.params['sp_x_in'], self.params['sp_y_in'])) # open collet self.execute('M64 P0') # check if collet open self.execute('M66 P0 L3 Q3') #INTERP_EXECUTE_FINISH if self.params[5399] < 0: msg = 'collet failed to open' self.set_errormsg(msg) return ReturnERROR() # move down onto tool self.execute('G53 G1 Z%d F%d' % (self.params['sp_z_in'], self.params['z_speed'])) # close collet self.execute('M65 P0') # wait for collet to close self.execute('M66 P0 L4 Q3') if self.params[5399] < 0: msg = 'collet failed to close - toolchange aborted' self.set_errormsg(msg) return ReturnERROR() # move out of pocket self.execute('G53 G1 X%d Y%d Z%d F%f' % (self.params['sp_x_out'], self.params['sp_y_out'], self.params['sp_z_out'], self.params['xy_speed'])) self.execute('G0 Z0') #yield INTERP_EXECUTE_FINISH #---------------------------------------------------------- def MoveZtoZero(self): self.execute("G53 G0 Z0.0",lineno()) #yield INTERP_EXECUTE_FINISH print("Moved to Z = 0.0") #---------------------------------------------------------- def StopSpindleNow(self): self.execute("M5", lineno()) self.execute("M66 P2 L3 Q15") #yield INTERP_EXECUTE_FINISH print("Stop Spindle command sent") #--------------------------------------------------------------------------------------- # ReturnOK() #--------------------------------------------------------------------------------------- def ReturnOK(): print("Calling DoYield()") DoYield() print("After DoYield(), before return INTERP_OK") return INTERP_OK #--------------------------------------------------------------------------------------- # ReturnERROR() #--------------------------------------------------------------------------------------- def ReturnERROR(): # if DoYield() is needed but I think not #DoYield() print("Before return INTERP_ERROR") return INTERP_ERROR #---------------------------------------------------------- #---------------------------------------------------------- def change_prolog1(self, **words): try: if self.selected_pocket < 0: return "M6: no tool prepared" if self.cutter_comp_side: return "Cannot change tools with cutter radius compensation on" self.params["tool_in_spindle"] = self.current_tool self.params["selected_tool"] = self.selected_tool self.params["current_pocket"] = self.current_pocket self.params["selected_pocket"] = self.selected_pocket return INTERP_OK except Exception, e: return "M6/change_prolog: %s" % (e) def change_epilog(self, **words): try: #print("Change epilog executing....") if self.return_value > 0.0: print("pass return value") self.selected_pocket = int(self.params["selected_pocket"]) print("before emccannon CHANGE TOOL") emccanon.CHANGE_TOOL(self.selected_pocket) print("emccannon CHANGE TOOL sent") self.current_pocket = self.selected_pocket self.selected_pocket = -1 self.selected_tool = -1 # cause a sync() print("Syncing tool parameters now") self.set_tool_parameters() self.toolchange_flag = True yield INTERP_EXECUTE_FINISH else: self.set_errormsg("M6 aborted (return code %.1f)" % (self.return_value)) return except Exception, e: self.set_errormsg("M6/change_epilog: %s" % (e)) return