Thanks Michael, I really appreciate the help. For clarity, could you tell
me why calling G64/G65 to set a pin results in recursion? In the example
code you sent on line 49 that is done:
self.execute("G64 P0.001",lineno())
Also, while I have your attention. :) Would this job [1] be better done in
C++, and would that be a better target for my energy? If so, what's a
trailhead to get started on that path?
Rod
[1] implementing a rack-toolchanger with input signal lines for
tool-released, tool-clamped, and spindle-stopped, also perhaps touch-off of
the tool with sensors on the rack to indicate if a tool has been removed
out-of-turn (and therefore needs touchoff)
On Tue, Apr 1, 2014 at 9:12 PM, Michael Haberler <[email protected]> wrote:
>
> Am 02.04.2014 um 02:26 schrieb Rod Fitzsimmons Frey <[email protected]>:
>
> > 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.
>
> I suggest to avoid recursive interpreter invocations from remaps if you can
>
> it works but, but the interpreter C++ code positively was not designed
> with this in mind
>
> meaning: pretty easy to get to border cases where strange things happen
> (hi Norbert ;)
>
> the canon route is robust - recommended
>
> - Michael
>
>
>
> >
> >
> >
> >
> > 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
> >>>>>>>>>>>>>>
> >>>>>>>
> >>>>>
> >>
> ------------------------------------------------------------------------------
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