Thanks, Michael! I had read much of the C++ code but not that bit... I got
to SET_DIGITAL_OUTPUT_BIT and thought that was as good as it got. It
seemed at that point I might as well just execute("G64 P01") etc.
On Tue, Apr 1, 2014 at 6:53 PM, Michael Haberler <[email protected]> wrote:
> here is an example for what I described below:
>
>
> http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commit;h=d426cc90b5e1338f1a2b8ad403ea11e0a24f3b50
>
> try 'M465 P0Q1' and 'M465 P0Q0' and watch motion.digital-out-00
>
> - Michael
>
> Am 01.04.2014 um 22:10 schrieb Michael Haberler <[email protected]>:
>
> > Rod,
> >
> > Am 31.03.2014 um 21:22 schrieb Rod Fitzsimmons Frey <[email protected]>:
> >
> >> I've looked at this and see where the bitmask, but it seems I can only
> read
> >> pins with the hal component, not set them?
> >
> > that is correct
> >
> >> How can I turn on my power drawbar valve, trigger the blow valve, etc?
> >
> > you can do pretty much everything in embedded Python what the NGC
> interpreter 'above' can do.
> >
> > So in the context of setting pins, what you can do is the same thing the
> interpreter does with M62-M65 pin operations.
> >
> > The way you do that is: you read up on the C++ code what the interpreter
> does, and do the same thing in Python
> >
> > in the context of setting pins, this means reading
> src/emc/rs274ng/interp_convert.cc Interp_convert_m() and what the canon
> calls do which result from there, for example M62 does this:
> >
> > SET_MOTION_OUTPUT_BIT(round_to_int(block->p_number));
> >
> > now for each C++ canon all like this one there is an equivalent Python
> method emccanon.SET_MOTION_OUTPUT_BIT(p) with the same signature - see
> src/emc/rs274ng/canonmodule.cc
> >
> >
> > sorry - there is just no way to document all this - you are extending an
> interpreter written in C++, so you are expected to read the C++ internals
> and understand them before you go about it
> >
> > The embedded python code is primarily there as glue for remapped codes
> as document - with Oword subs; that is documented and works.
> >
> > If you go beyond that, you are on your own - it is possible but not
> necessarily easy.
> >
> > If you find a method which is useful, please contribute examples and
> documentation.
> >
> > - Michael
> >
> >
> >> I feel like I'm missing some obvious insight... this feeling of
> >> incompetence is very uncomfortable.
> >>
> >>
> >> On Mon, Mar 31, 2014 at 2:12 PM, Niemand Sonst <[email protected]> wrote:
> >>
> >>> Hallo Rod,
> >>>
> >>> my name is Norbert ;-)
> >>>
> >>> Have you taken a look to
> >>>
> >>>
> >>>
> http://www.linuxcnc.org/docs/devel/html/remap/structure.html#_optional_interpreter_features_ini_file_configuration_a_id_sub_ini_features_a
> >>>
> >>> Special section 18.
> >>>
> >>> Norbert
> >>>
> >>> Am 31.03.2014 19:42, schrieb Rod Fitzsimmons Frey:
> >>>> Thanks, Niemand! I'll try that. Where should I look for documentation
> >>> that
> >>>> would tell me features available in rs274ngc? I've looked through the
> >>>> source as best I can but don't know how you found that features=12
> >>>> parameter.
> >>>>
> >>>>
> >>>> On Mon, Mar 31, 2014 at 11:50 AM, Niemand Sonst <[email protected]>
> wrote:
> >>>>
> >>>>> Rod,
> >>>>>
> >>>>> it is easy to access hal pin from ngc code, if you enable features in
> >>>>> your INI [RS274NGC] with FEATURES = 12 (enables INI and Hal reading)
> >>>>> And the needed pins can be created in a python handler file. You
> might
> >>>>> want to check gmoccapy and gmoccapy_tool_sensor.ini for an example,
> >>>>> please see also /macros(change.ngc for INI and Hal checking.
> >>>>>
> >>>>> Norbert
> >>>>>
> >>>>> Am 31.03.2014 17:39, schrieb Rod Fitzsimmons Frey:
> >>>>>> Oh! But it works now! I can move the spindle where I want it, I
> can
> >>>>> setp
> >>>>>> on the pins to release the tool, etc. M6T1 does exactly that with
> this
> >>>>>> code. I just can't signal to EMC that the tool has been changed,
> so on
> >>>>> the
> >>>>>> *next* call to M6 it reports that the current tool is -1.
> >>>>>>
> >>>>>> But I readily accept that even if it is moving, I *shouldn't* do it
> >>> this
> >>>>>> way. I can use the ngc code if necessary, but I couldn't find a
> way to
> >>>>>> access the signals from my spindle... i went this way so I could
> create
> >>>>> the
> >>>>>> pins I needed to detect if the tool was secure, etc.
> >>>>>>
> >>>>>> The documentation seemed to suggest a full toolchanger could be done
> >>> with
> >>>>>> only python, I'm just not grokking how to structure that.
> >>>>>>
> >>>>>>
> >>>>>> On Mon, Mar 31, 2014 at 11:30 AM, Michael Haberler <
> [email protected]
> >>>>>> wrote:
> >>>>>>
> >>>>>>> Am 31.03.2014 um 17:15 schrieb Rod Fitzsimmons Frey <
> >>> [email protected]
> >>>>>> :
> >>>>>>>> Thanks!
> >>>>>>>>
> >>>>>>>> .ini file: http://pastebin.com/VsnQFuzt
> >>>>>>>> .hal file: http://pastebin.com/RHEJYqJB
> >>>>>>>> hal file hook (hal_racktoolchange): http://pastebin.com/njTUZAqS
> >>>>>>>> tool change python code: http://pastebin.com/1EZy0Pur
> >>>>>>> this is a normal userland HAL comp, not embedded in the interpreter
> >>>>>>> you write:
> >>>>>>>
> >>>>>>> * # These libraries not found - copied from stdglue.py
> >>>>>>> * import emccanon
> >>>>>>> * from interpreter import *
> >>>>>>>
> >>>>>>> those are available only _within_ the interpreter, you cannot use
> them
> >>>>> in
> >>>>>>> a normal userland HALcomp
> >>>>>>>
> >>>>>>> oh I see what you are trying to do: interpreter.execute("G53 G1 X%i
> >>> Y%i
> >>>>>>> F%i" % (x_pos, y_pos, rack_params["Z_RETRACT_SPEED"]))
> >>>>>>>
> >>>>>>> well this will not work (unfortunately), this is the reason:
> >>>>>>>
> >>>>>>> task and motion can handle one running interpreter at a time only;
> you
> >>>>> try
> >>>>>>> to use a second one from outside - even if it were possible to do
> >>> that,
> >>>>> the
> >>>>>>> commands it generated would be ignored because task wouldnt listen
> to
> >>>>> them,
> >>>>>>> it listens only to the interpreter built into milltask
> >>>>>>>
> >>>>>>> so any sequenced move operations involving the interpreter must
> come
> >>>>> from
> >>>>>>> the running program - that was one of the reasons why remapping
> >>> enables
> >>>>>>> calling on NGC subroutines to do just that
> >>>>>>>
> >>>>>>> sorry, you need to remain with the setup as outlined in the
> >>>>>>> manualtoolchange example; you can replace some ngc by python, but
> you
> >>>>> cant
> >>>>>>> move that code outside the interp into another halcomp
> >>>>>>>
> >>>>>>>
> >>>>>>> - Michael
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>
> >>>>>>>> Console output: http://pastebin.com/jNHZbxAE
> >>>>>>>>
> >>>>>>>>
> >>>>>>>>
> >>>>>>>>
> >>>>>>>> On Mon, Mar 31, 2014 at 10:59 AM, Michael Haberler <
> >>> [email protected]
> >>>>>>>> wrote:
> >>>>>>>>
> >>>>>>>>> Am 31.03.2014 um 16:03 schrieb Rod Fitzsimmons Frey <
> >>>>> [email protected]
> >>>>>>>> :
> >>>>>>>>>> Hey! After a couple days away I'm back at this. And
> immediately
> >>>>>>>>> stalled!
> >>>>>>>>>> :)
> >>>>>>>>>>
> >>>>>>>>>> stdglue.py returns INTERP_ERROR and other constants that I just
> >>> can't
> >>>>>>>>> seem
> >>>>>>>>>> to locate! When I try to
> >>>>>>>>>>
> >>>>>>>>>> import emccanon
> >>>>>>>>>> from interpreter import *
> >>>>>>>>>>
> >>>>>>>>>> in my own handler code linuxcnc complains that neither of those
> >>>>> modules
> >>>>>>>>> can
> >>>>>>>>>> be found. I've gone through the source looking for the
> constants
> >>> but
> >>>>>>> no
> >>>>>>>>>> luck.
> >>>>>>>>>>
> >>>>>>>>>> Any advice?
> >>>>>>>>> yes: please upload your complete configuration, all related files
> >>> and
> >>>>>>>>> pastebin any error messages
> >>>>>>>>>
> >>>>>>>>> - Michael
> >>>>>>>>>
> >>>>>>>>>
> >>>>>>>>>> On Wed, Mar 26, 2014 at 3:15 PM, Michael Haberler <
> >>>>> [email protected]
> >>>>>>>>>> wrote:
> >>>>>>>>>>
> >>>>>>>>>>>> Am 26.03.2014 um 16:53 schrieb Rod Fitzsimmons Frey <
> >>>>>>> [email protected]
> >>>>>>>>>> :
> >>>>>>>>>>>> Hi! I'm merrily trying to remap M6 using the guidelines at
> >>>>>>>>>>>>
> >>>>>
> >>>
> http://linuxcnc.org/docs/devel/html/remap/structure.html#_configuring_iocontrol_with_a_remapped_m6
> >>>>>>>>>>> .
> >>>>>>>>>>>> I'm trying to use all-python to implement my rack toolchanger.
> >>>>>>>>>>>>
> >>>>>>>>>>>> I have some stuff working - change_epilog in stdglue.py is
> >>> called,
> >>>>> my
> >>>>>>>>>>> code
> >>>>>>>>>>>> executes and moves the spindle to the correct location for the
> >>> new
> >>>>>>>>> tool,
> >>>>>>>>>>>> etc. But change_epilog isn't called. I put a print statement
> as
> >>>>> the
> >>>>>>>>>>> first
> >>>>>>>>>>>> line in both change_prolog and change_epilog - the former is
> >>>>> executed
> >>>>>>>>> but
> >>>>>>>>>>>> the latter is not.
> >>>>>>>>>>>>
> >>>>>>>>>>>> Perhaps as a result of change_epilog not getting called, my
> >>> current
> >>>>>>>>> tool
> >>>>>>>>>>> is
> >>>>>>>>>>>> never changed from -1. (Although that could be something
> else if
> >>>>>>>>>>> there's a
> >>>>>>>>>>>> step I'm missing in my toolchange code.)
> >>>>>>>>>>>>
> >>>>>>>>>>>> My ini file line is
> >>>>>>>>>>>> REMAP=M6 modalgroup=6 prolog=change_prolog
> epilog=change_epilog
> >>>>>>>>>>>> py=toolchange
> >>>>>>>>>>>>
> >>>>>>>>>>>> and the epilog signature (unchanged from src) is
> >>>>>>>>>>>> def change_epilog(self, **words):
> >>>>>>>>>>>>
> >>>>>>>>>>>> Any advice?
> >>>>>>>>>>> yes
> >>>>>>>>>>>
> >>>>>>>>>>> what you are doing is an all-python remapped code
> >>>>>>>>>>>
> >>>>>>>>>>> now the prolog and epilog Python handlers are there to extract
> >>>>>>>>> parameters,
> >>>>>>>>>>> and set the environment for a _ngc_ remap function
> >>>>>>>>>>>
> >>>>>>>>>>> if you are doing all-python you can collapse all code into a
> >>> single
> >>>>>>>>> python
> >>>>>>>>>>> remap body (all code will go into py=toolchange)
> >>>>>>>>>>>
> >>>>>>>>>>> so just drop the prolog and epilog handlers, do it all in
> >>>>> toolchange()
> >>>>>>>>> and
> >>>>>>>>>>> you should be fine
> >>>>>>>>>>>
> >>>>>>>>>>> there was a problem with three python handlers in sequence; not
> >>> sure
> >>>>>>> if
> >>>>>>>>> it
> >>>>>>>>>>> is mentioned in the docs or just the code; since the separate
> pre-
> >>>>> and
> >>>>>>>>> post
> >>>>>>>>>>> handlers dont make sense anyway I avoided the issue by not
> calling
> >>>>>>> them
> >>>>>>>>>>> let me know if you get stuck - just push your config and coce
> >>>>>>> beforehand
> >>>>>>>>>>> so I can have a look
> >>>>>>>>>>>
> >>>>>>>>>>> - Michael
> >>>>>>>>>>>> Thanks!
> >>>>>>>>>>>> Rod
> >>>>>>>>>>>>
> >>>>>
> >>>
> ------------------------------------------------------------------------------
> >>>>>>>>>>>> Learn Graph Databases - Download FREE O'Reilly Book
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> databases
> >>>>> and
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