/
emcmodule.cc
2597 lines (2300 loc) · 84.1 KB
/
emcmodule.cc
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// This is a component of AXIS, a front-end for LinuxCNC
// Copyright 2004, 2005, 2006 Jeff Epler <jepler@unpythonic.net> and
// Chris Radek <chris@timeguy.com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#define PY_SSIZE_T_CLEAN
#define __STDC_FORMAT_MACROS
#include <Python.h>
#include <structseq.h>
#include <pthread.h>
#include <structmember.h>
#include <inttypes.h>
#include "config.h"
#include "rcs.hh"
#include "emc.hh"
#include "emc_nml.hh"
#include "kinematics.h"
#include "config.h"
#include "inifile.hh"
#include "timer.hh"
#include "nml_oi.hh"
#include "rcs_print.hh"
#include <rtapi_string.h>
#include <sys/types.h>
#include <unistd.h>
#include "tooldata.hh"
#include <cmath>
#include <epoxy/gl.h>
#include <epoxy/glx.h>
#define LOCAL_SPINDLE_FORWARD (1)
#define LOCAL_SPINDLE_REVERSE (-1)
#define LOCAL_SPINDLE_OFF (0)
#define LOCAL_SPINDLE_INCREASE (10)
#define LOCAL_SPINDLE_DECREASE (11)
#define LOCAL_SPINDLE_CONSTANT (12)
#define LOCAL_MIST_ON (1)
#define LOCAL_MIST_OFF (0)
#define LOCAL_FLOOD_ON (1)
#define LOCAL_FLOOD_OFF (0)
#define LOCAL_BRAKE_ENGAGE (1)
#define LOCAL_BRAKE_RELEASE (0)
#define LOCAL_JOG_STOP (0)
#define LOCAL_JOG_CONTINUOUS (1)
#define LOCAL_JOG_INCREMENT (2)
#define LOCAL_AUTO_RUN (0)
#define LOCAL_AUTO_PAUSE (1)
#define LOCAL_AUTO_RESUME (2)
#define LOCAL_AUTO_STEP (3)
#define LOCAL_AUTO_REVERSE (4)
#define LOCAL_AUTO_FORWARD (5)
/* This definition of offsetof avoids the g++ warning
* 'invalid offsetof from non-POD type'.
*/
#pragma GCC diagnostic ignored "-Winvalid-offsetof"
struct pyIniFile {
PyObject_HEAD
IniFile *i;
};
struct pyStatChannel {
PyObject_HEAD
RCS_STAT_CHANNEL *c;
EMC_STAT status;
};
struct pyCommandChannel {
PyObject_HEAD
RCS_CMD_CHANNEL *c;
RCS_STAT_CHANNEL *s;
int serial;
};
struct pyErrorChannel {
PyObject_HEAD
NML *c;
};
static PyObject *m = NULL, *error = NULL;
static int Ini_init(pyIniFile *self, PyObject *a, PyObject *k) {
char *inifile;
if(!PyArg_ParseTuple(a, "s", &inifile)) return -1;
if(!self->i)
self->i = new IniFile();
if (!self->i->Open(inifile)) {
PyErr_Format( error, "inifile.open(%s) failed", inifile);
return -1;
}
return 0;
}
static PyObject *Ini_find(pyIniFile *self, PyObject *args) {
const char *s1, *s2, *out;
int num = 1;
if(!PyArg_ParseTuple(args, "ss|i:find", &s1, &s2, &num)) return NULL;
out = self->i->Find(s2, s1, num);
if(out == NULL) {
Py_INCREF(Py_None);
return Py_None;
}
return PyUnicode_FromString(const_cast<char*>(out));
}
static PyObject *Ini_findall(pyIniFile *self, PyObject *args) {
const char *s1, *s2, *out;
int num = 1;
if(!PyArg_ParseTuple(args, "ss:findall", &s1, &s2)) return NULL;
PyObject *result = PyList_New(0);
while(1) {
out = self->i->Find(s2, s1, num);
if(out == NULL) {
break;
}
PyList_Append(result, PyUnicode_FromString(const_cast<char*>(out)));
num++;
}
return result;
}
static void Ini_dealloc(pyIniFile *self) {
if (self->i)
self->i->Close();
delete self->i;
PyObject_Del(self);
}
static PyMethodDef Ini_methods[] = {
{"find", (PyCFunction)Ini_find, METH_VARARGS,
"Find value in inifile as string. This uses the ConfigParser-style "
"(section,option) order, not the linuxcnc order."},
{"findall", (PyCFunction)Ini_findall, METH_VARARGS,
"Find value in inifile as a list. This uses the ConfigParser-style "
"(section,option) order, not the linuxcnc order."},
{NULL}
};
static PyTypeObject Ini_Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"linuxcnc.ini", /*tp_name*/
sizeof(pyIniFile), /*tp_basicsize*/
0, /*tp_itemsize*/
/* methods */
(destructor)Ini_dealloc,/*tp_dealloc*/
0, /*tp_print*/
0, /*tp_getattr*/
0, /*tp_setattr*/
0, /*tp_compare*/
0, /*tp_repr*/
0, /*tp_as_number*/
0, /*tp_as_sequence*/
0, /*tp_as_mapping*/
0, /*tp_hash*/
0, /*tp_call*/
0, /*tp_str*/
0, /*tp_getattro*/
0, /*tp_setattro*/
0, /*tp_as_buffer*/
Py_TPFLAGS_DEFAULT, /*tp_flags*/
0, /*tp_doc*/
0, /*tp_traverse*/
0, /*tp_clear*/
0, /*tp_richcompare*/
0, /*tp_weaklistoffset*/
0, /*tp_iter*/
0, /*tp_iternext*/
Ini_methods, /*tp_methods*/
0, /*tp_members*/
0, /*tp_getset*/
0, /*tp_base*/
0, /*tp_dict*/
0, /*tp_descr_get*/
0, /*tp_descr_set*/
0, /*tp_dictoffset*/
(initproc)Ini_init, /*tp_init*/
0, /*tp_alloc*/
PyType_GenericNew, /*tp_new*/
0, /*tp_free*/
0, /*tp_is_gc*/
};
#define EMC_COMMAND_TIMEOUT 5.0 // how long to wait until timeout
#define EMC_COMMAND_DELAY 0.01 // how long to sleep between checks
static int emcWaitCommandComplete(pyCommandChannel *s, double timeout) {
double start = etime();
do {
double now = etime();
if(s->s->peek() == EMC_STAT_TYPE) {
EMC_STAT *stat = (EMC_STAT*)s->s->get_address();
int serial_diff = stat->echo_serial_number - s->serial;
if (serial_diff > 0) {
return RCS_DONE;
}
if (serial_diff == 0 &&
( stat->status == RCS_DONE || stat->status == RCS_ERROR )) {
return stat->status;
}
}
esleep(fmin(timeout - (now - start), EMC_COMMAND_DELAY));
} while (etime() - start < timeout);
return -1;
}
static int emcSendCommand(pyCommandChannel *s, RCS_CMD_MSG & cmd) {
if (s->c->write(&cmd)) {
return -1;
}
s->serial = cmd.serial_number;
double start = etime();
while (etime() - start < EMC_COMMAND_TIMEOUT) {
EMC_STAT *stat = (EMC_STAT*)s->s->get_address();
int serial_diff = stat->echo_serial_number - s->serial;
if(s->s->peek() == EMC_STAT_TYPE &&
serial_diff >= 0) {
return 0;
}
esleep(EMC_COMMAND_DELAY);
}
return -1;
}
static const char *get_nmlfile(void) {
PyObject *fileobj = PyObject_GetAttrString(m, "nmlfile");
if(fileobj == NULL) return NULL;
return PyUnicode_AsUTF8(fileobj);
}
static int Stat_init(pyStatChannel *self, PyObject *a, PyObject *k) {
const char *file = get_nmlfile();
if(file == NULL) return -1;
RCS_STAT_CHANNEL *c =
new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc", file);
if(!c) {
PyErr_Format( error, "new RCS_STAT_CHANNEL failed");
return -1;
}
self->c = c;
return 0;
}
static void Stat_dealloc(PyObject *self) {
delete ((pyStatChannel*)self)->c;
PyObject_Del(self);
}
static bool check_stat(RCS_STAT_CHANNEL *emcStatusBuffer) {
if(!emcStatusBuffer->valid()) {
PyErr_Format( error, "emcStatusBuffer invalid err=%d", emcStatusBuffer->error_type);
return false;
}
return true;
}
static bool initialized=0;
static PyObject *poll(pyStatChannel *s, PyObject *o) {
#ifdef TOOL_NML //{
if (!initialized) {
//fprintf(stderr,"%8d tool_nml_register\n",getpid());
tool_nml_register( (CANON_TOOL_TABLE*)&s->status.io.tool.toolTable);
initialized=1;
}
#else //}{
static bool mmap_available = 1;
if (!mmap_available) return NULL;
if (!initialized) {
initialized=1;
if (tool_mmap_user()) {
mmap_available = 0;
fprintf(stderr,"poll(): continuing without tool mmap data\n");
}
}
#endif //}
if(!check_stat(s->c)) return NULL;
if(s->c->peek() == EMC_STAT_TYPE) {
EMC_STAT *emcStatus = static_cast<EMC_STAT*>(s->c->get_address());
memcpy((char*)&s->status, emcStatus, sizeof(EMC_STAT));
}
Py_INCREF(Py_None);
return Py_None;
}
static void dict_add(PyObject *d, const char *name, unsigned char v) {
PyObject *o;
PyDict_SetItemString(d, name, o = PyLong_FromLong(v));
Py_XDECREF(o);
}
static void dict_add(PyObject *d, const char *name, double v) {
PyObject *o;
PyDict_SetItemString(d, name, o = PyFloat_FromDouble(v));
Py_XDECREF(o);
}
static void dict_add(PyObject *d, const char *name, bool v) {
PyObject *o;
PyDict_SetItemString(d, name, o = PyBool_FromLong((long)v));
Py_XDECREF(o);
}
static void dict_add(PyObject *d, const char *name, int v) {
PyObject *o;
PyDict_SetItemString(d, name, o = PyLong_FromLong((long)v));
Py_XDECREF(o);
}
static PyObject *toolinfo(pyStatChannel *s, PyObject *o) {
/*Note: this method uses the tooldata interface and is included
** as a Stat method for convenience.
** pyStatChannel is not used but an initial stat poll()
** is required for initialization of mmap
*/
PyObject *res = PyDict_New();
CANON_TOOL_TABLE tdata = tooldata_entry_init();
int toolno;
if (!initialized) {
PyErr_Format(PyExc_ValueError,"toolinfo: NOT READY (initial poll reqd)\n");
return NULL;
}
if(!PyArg_ParseTuple(o, "i", &toolno)) return NULL;
#define TOOL_0_EXCEPTION
#ifdef TOOL_0_EXCEPTION
/* toolno == 0 is not supported here because it would likely be too confusing
** (ref docs/code/code-notes.adoc):
** nonrandom toolchanger: tool 0 means "no tool"
** random toolchanger: tool 0 is like any other *but* conventionally means "no tool"
**
** tool_in_spindle data is available using idx=0 with
** linuxcnc.stat.tool_table[idx]
*/
if (toolno == 0) {
PyErr_Format(PyExc_ValueError,"toolinfo: for tool in spindle: use linuxnc.stat.tool_table[0]");
return NULL;
}
#endif
int idx = tooldata_find_index_for_tool(toolno);
if (tooldata_get(&tdata,idx) != IDX_OK) {
PyErr_Format(PyExc_ValueError,"toolinfo: NO tooldata for toolno=%d",toolno);
return NULL;
}
dict_add(res, "toolno", tdata.toolno);
dict_add(res, "pocketno", tdata.pocketno);
dict_add(res, "diameter", tdata.diameter);
dict_add(res, "frontangle", tdata.frontangle);
dict_add(res, "backangle", tdata.backangle);
dict_add(res,"orientation", tdata.orientation);
dict_add(res, "xoffset", tdata.offset.tran.x);
dict_add(res, "yoffset", tdata.offset.tran.y);
dict_add(res, "zoffset", tdata.offset.tran.z);
dict_add(res, "aoffset", tdata.offset.a);
dict_add(res, "boffset", tdata.offset.b);
dict_add(res, "coffset", tdata.offset.c);
dict_add(res, "uoffset", tdata.offset.u);
dict_add(res, "voffset", tdata.offset.v);
dict_add(res, "woffset", tdata.offset.w);
PyDict_SetItemString(res, "comment", o= PyUnicode_FromString(tdata.comment));
Py_DECREF(o);
return res;
}
static PyMethodDef Stat_methods[] = {
{"poll", (PyCFunction)poll, METH_NOARGS, "Update current machine state"},
{"toolinfo", (PyCFunction)toolinfo, METH_VARARGS,
"toolinfo(toolnumber):\n"
" returns dict for toolnumber parameters (pocket,offsets,etc)\n"
" ValueError Exception if toolnumber not available"
},
{NULL}
};
#define O(x) offsetof(pyStatChannel,status.x)
static PyMemberDef Stat_members[] = {
// stat
{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
{(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
{(char*)"state", T_INT, O(status), READONLY},
// task
{(char*)"task_mode", T_INT, O(task.mode), READONLY},
{(char*)"task_state", T_INT, O(task.state), READONLY,
"Current Task state. Possible values:\n"
" STATE_ESTOP: E-Stop is active.\n"
" STATE_ESTOP_RESET: E-Stop is reset (cleared) but machine is off.\n"
" STATE_OFF: Same as STATE_ESTOP_RESET, this one is not used.\n"
" STATE_ON: Machine is out of E-Stop and is powered on.\n"
},
{(char*)"exec_state", T_INT, O(task.execState), READONLY},
{(char*)"interp_state", T_INT, O(task.interpState), READONLY},
{(char*)"call_level", T_INT, O(task.callLevel), READONLY},
{(char*)"read_line", T_INT, O(task.readLine), READONLY},
{(char*)"motion_line", T_INT, O(task.motionLine), READONLY},
{(char*)"current_line", T_INT, O(task.currentLine), READONLY},
{(char*)"file", T_STRING_INPLACE, O(task.file), READONLY},
{(char*)"command", T_STRING_INPLACE, O(task.command), READONLY},
{(char*)"program_units", T_INT, O(task.programUnits), READONLY},
{(char*)"interpreter_errcode", T_INT, O(task.interpreter_errcode), READONLY},
{(char*)"optional_stop", T_BOOL, O(task.optional_stop_state), READONLY},
{(char*)"block_delete", T_BOOL, O(task.block_delete_state), READONLY},
{(char*)"task_paused", T_INT, O(task.task_paused), READONLY},
{(char*)"input_timeout", T_BOOL, O(task.input_timeout), READONLY},
{(char*)"rotation_xy", T_DOUBLE, O(task.rotation_xy), READONLY},
{(char*)"ini_filename", T_STRING_INPLACE, O(task.ini_filename), READONLY},
{(char*)"delay_left", T_DOUBLE, O(task.delayLeft), READONLY},
{(char*)"queued_mdi_commands", T_INT, O(task.queuedMDIcommands), READONLY, (char*)"Number of MDI commands queued waiting to run." },
// EMC_TRAJ_STAT traj
{(char*)"linear_units", T_DOUBLE, O(motion.traj.linearUnits), READONLY},
{(char*)"angular_units", T_DOUBLE, O(motion.traj.angularUnits), READONLY},
{(char*)"cycle_time", T_DOUBLE, O(motion.traj.cycleTime), READONLY},
{(char*)"joints", T_INT, O(motion.traj.joints), READONLY},
{(char*)"spindles", T_INT, O(motion.traj.spindles), READONLY},
{(char*)"axis_mask", T_INT, O(motion.traj.axis_mask), READONLY},
{(char*)"motion_mode", T_INT, O(motion.traj.mode), READONLY, (char*)"The current mode of the Motion controller. One of TRAJ_MODE_FREE,\n"
"TRAJ_MODE_COORD, or TRAJ_MODE_TELEOP." },
{(char*)"enabled", T_BOOL, O(motion.traj.enabled), READONLY},
{(char*)"inpos", T_BOOL, O(motion.traj.inpos), READONLY},
{(char*)"queue", T_INT, O(motion.traj.queue), READONLY},
{(char*)"active_queue", T_INT, O(motion.traj.activeQueue), READONLY},
{(char*)"queue_full", T_BOOL, O(motion.traj.queueFull), READONLY},
{(char*)"motion_id", T_INT, O(motion.traj.id), READONLY},
{(char*)"paused", T_BOOL, O(motion.traj.paused), READONLY},
{(char*)"feedrate", T_DOUBLE, O(motion.traj.scale), READONLY},
{(char*)"rapidrate", T_DOUBLE, O(motion.traj.rapid_scale), READONLY},
{(char*)"velocity", T_DOUBLE, O(motion.traj.velocity), READONLY},
{(char*)"acceleration", T_DOUBLE, O(motion.traj.acceleration), READONLY},
{(char*)"max_velocity", T_DOUBLE, O(motion.traj.maxVelocity), READONLY},
{(char*)"max_acceleration", T_DOUBLE, O(motion.traj.maxAcceleration), READONLY},
{(char*)"probe_tripped", T_BOOL, O(motion.traj.probe_tripped), READONLY},
{(char*)"probing", T_BOOL, O(motion.traj.probing), READONLY},
{(char*)"probe_val", T_INT, O(motion.traj.probeval), READONLY},
{(char*)"kinematics_type", T_INT, O(motion.traj.kinematics_type), READONLY},
{(char*)"motion_type", T_INT, O(motion.traj.motion_type), READONLY, (char*)"The type of the currently executing motion (one of MOTION_TYPE_TRAVERSE,\n"
"MOTION_TYPE_FEED, MOTION_TYPE_ARC, MOTION_TYPE_TOOLCHANGE,\n"
"MOTION_TYPE_PROBING, or MOTION_TYPE_INDEXROTARY), or 0 if no motion is\n"
"currently taking place."},
{(char*)"distance_to_go", T_DOUBLE, O(motion.traj.distance_to_go), READONLY},
{(char*)"current_vel", T_DOUBLE, O(motion.traj.current_vel), READONLY},
{(char*)"feed_override_enabled", T_BOOL, O(motion.traj.feed_override_enabled), READONLY},
{(char*)"adaptive_feed_enabled", T_BOOL, O(motion.traj.adaptive_feed_enabled), READONLY},
{(char*)"feed_hold_enabled", T_BOOL, O(motion.traj.feed_hold_enabled), READONLY},
{(char*)"num_extrajoints", T_INT, O(motion.numExtraJoints), READONLY},
// EMC_SPINDLE_STAT motion.spindle
// MOVED TO THE "spindle" TUPLE OF DICTS
// io
// EMC_TOOL_STAT io.tool
{(char*)"pocket_prepped", T_INT, O(io.tool.pocketPrepped), READONLY,
(char*)"The index into the stat.tool_table list of the tool currently prepped for\n"
"tool change, or -1 no tool is prepped. On a Random toolchanger this is the\n"
"same as the tool's pocket number. On a Non-random toolchanger it's a random\n"
"small integer."
},
{(char*)"tool_in_spindle", T_INT, O(io.tool.toolInSpindle), READONLY,
(char*)"The tool number of the currently loaded tool, or 0 if no tool is loaded."
},
{(char*)"tool_from_pocket", T_INT, O(io.tool.toolFromPocket), READONLY,
(char*)"The pocket number that the currently loaded tool was retrieved from,\n"
"or 0 if no tool is loaded."
},
// EMC_COOLANT_STAT io.cooland
{(char*)"mist", T_INT, O(io.coolant.mist), READONLY},
{(char*)"flood", T_INT, O(io.coolant.flood), READONLY},
// EMC_AUX_STAT io.aux
{(char*)"estop", T_INT, O(io.aux.estop), READONLY},
// EMC_LUBE_STAT io.lube
{(char*)"lube", T_INT, O(io.lube.on), READONLY},
{(char*)"lube_level", T_INT, O(io.lube.level), READONLY},
{(char*)"debug", T_INT, O(debug), READONLY},
{NULL}
};
static PyObject *int_array(int *arr, int sz) {
PyObject *res = PyTuple_New(sz);
for(int i = 0; i < sz; i++) {
PyTuple_SET_ITEM(res, i, PyLong_FromLong(arr[i]));
}
return res;
}
static PyObject *double_array(double *arr, int sz) {
PyObject *res = PyTuple_New(sz);
for(int i = 0; i < sz; i++) {
PyTuple_SET_ITEM(res, i, PyFloat_FromDouble(arr[i]));
}
return res;
}
static PyObject *pose(const EmcPose &p) {
PyObject *res = PyTuple_New(9);
PyTuple_SET_ITEM(res, 0, PyFloat_FromDouble(p.tran.x));
PyTuple_SET_ITEM(res, 1, PyFloat_FromDouble(p.tran.y));
PyTuple_SET_ITEM(res, 2, PyFloat_FromDouble(p.tran.z));
PyTuple_SET_ITEM(res, 3, PyFloat_FromDouble(p.a));
PyTuple_SET_ITEM(res, 4, PyFloat_FromDouble(p.b));
PyTuple_SET_ITEM(res, 5, PyFloat_FromDouble(p.c));
PyTuple_SET_ITEM(res, 6, PyFloat_FromDouble(p.u));
PyTuple_SET_ITEM(res, 7, PyFloat_FromDouble(p.v));
PyTuple_SET_ITEM(res, 8, PyFloat_FromDouble(p.w));
return res;
}
static PyObject *Stat_g5x_index(pyStatChannel *s) {
return PyLong_FromLong(s->status.task.g5x_index);
}
static PyObject *Stat_g5x_offset(pyStatChannel *s) {
return pose(s->status.task.g5x_offset);
}
static PyObject *Stat_g92_offset(pyStatChannel *s) {
return pose(s->status.task.g92_offset);
}
static PyObject *Stat_tool_offset(pyStatChannel *s) {
return pose(s->status.task.toolOffset);
}
static PyObject *Stat_position(pyStatChannel *s) {
return pose(s->status.motion.traj.position);
}
static PyObject *Stat_dtg(pyStatChannel *s) {
return pose(s->status.motion.traj.dtg);
}
static PyObject *Stat_actual(pyStatChannel *s) {
return pose(s->status.motion.traj.actualPosition);
}
static PyObject *Stat_joint_position(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_JOINTS);
for(int i=0; i<EMCMOT_MAX_JOINTS; i++) {
PyTuple_SetItem(res, i,
PyFloat_FromDouble(s->status.motion.joint[i].output));
}
return res;
}
static PyObject *Stat_joint_actual(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_JOINTS);
for(int i=0; i<EMCMOT_MAX_JOINTS; i++) {
PyTuple_SetItem(res, i,
PyFloat_FromDouble(s->status.motion.joint[i].input));
}
return res;
}
static PyObject *Stat_probed(pyStatChannel *s) {
return pose(s->status.motion.traj.probedPosition);
}
static PyObject *Stat_activegcodes(pyStatChannel *s) {
return int_array(s->status.task.activeGCodes, ACTIVE_G_CODES);
}
static PyObject *Stat_activemcodes(pyStatChannel *s) {
return int_array(s->status.task.activeMCodes, ACTIVE_M_CODES);
}
static PyObject *Stat_activesettings(pyStatChannel *s) {
return double_array(s->status.task.activeSettings, ACTIVE_SETTINGS);
}
static PyObject *Stat_din(pyStatChannel *s) {
return int_array(s->status.motion.synch_di, EMCMOT_MAX_AIO);
}
static PyObject *Stat_dout(pyStatChannel *s) {
return int_array(s->status.motion.synch_do, EMCMOT_MAX_AIO);
}
static PyObject *Stat_limit(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_JOINTS);
for(int i = 0; i < EMCMOT_MAX_JOINTS; i++) {
int v = 0;
if(s->status.motion.joint[i].minHardLimit) v |= 1;
if(s->status.motion.joint[i].maxHardLimit) v |= 2;
if(s->status.motion.joint[i].minSoftLimit) v |= 4;
if(s->status.motion.joint[i].maxSoftLimit) v |= 8;
PyTuple_SET_ITEM(res, i, PyLong_FromLong(v));
}
return res;
}
static PyObject *Stat_homed(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_JOINTS);
for(int i = 0; i < EMCMOT_MAX_JOINTS; i++) {
PyTuple_SET_ITEM(res, i, PyLong_FromLong(s->status.motion.joint[i].homed));
}
return res;
}
static PyObject *Stat_ain(pyStatChannel *s) {
return double_array(s->status.motion.analog_input, EMCMOT_MAX_AIO);
}
static PyObject *Stat_aout(pyStatChannel *s) {
return double_array(s->status.motion.analog_output, EMCMOT_MAX_AIO);
}
static PyObject *Stat_misc_error(pyStatChannel *s){
return int_array(s->status.motion.misc_error, EMCMOT_MAX_MISC_ERROR);
}
#define F(x) F2(#x, x)
#define F2(y,x) dict_add(res, y, s->status.motion.joint[jointno].x)
static PyObject *Stat_joint_one(pyStatChannel *s, int jointno) {
PyObject *res = PyDict_New();
F(jointType);
F(units);
F(backlash);
F2("min_position_limit", minPositionLimit);
F2("max_position_limit", maxPositionLimit);
F2("max_ferror", maxFerror);
F2("min_ferror", minFerror);
F2("ferror_current", ferrorCurrent);
F2("ferror_highmark", ferrorHighMark);
F(output);
F(input);
F(velocity);
F(inpos);
F(homing);
F(homed);
F(fault);
F(enabled);
F2("min_soft_limit", minSoftLimit);
F2("max_soft_limit", maxSoftLimit);
F2("min_hard_limit", minHardLimit);
F2("max_hard_limit", maxHardLimit);
F2("override_limits", overrideLimits);
return res;
}
#undef F
#undef F2
static PyObject *Stat_joint(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_JOINTS);
for(int i=0; i<EMCMOT_MAX_JOINTS; i++) {
PyTuple_SetItem(res, i, Stat_joint_one(s, i));
}
return res;
}
#define F(x) F2(#x, x)
#define F2(y,x) dict_add(res, y, s->status.motion.axis[axisno].x)
static PyObject *Stat_axis_one(pyStatChannel *s, int axisno) {
PyObject *res = PyDict_New();
F(velocity);
F2("min_position_limit", minPositionLimit);
F2("max_position_limit", maxPositionLimit);
return res;
}
#undef F
#undef F2
static PyObject *Stat_axis(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_AXIS);
for(int i=0; i<EMCMOT_MAX_AXIS; i++) {
PyTuple_SetItem(res, i, Stat_axis_one(s, i));
}
return res;
}
#define F(x) F2(#x, x)
#define F2(y,x) dict_add(res, y, s->status.motion.spindle[spindleno].x)
static PyObject *Stat_spindle_one(pyStatChannel *s, int spindleno) {
PyObject *res = PyDict_New();
F(brake);
F(direction);
F(enabled);
F2("override_enabled", spindle_override_enabled);
F(speed);
F2("override", spindle_scale);
F(homed);
F(orient_state);
F(orient_fault);
return res;
}
#undef F
#undef F2
static PyObject *Stat_spindle(pyStatChannel *s) {
PyObject *res = PyTuple_New(EMCMOT_MAX_SPINDLES);
for(int i=0; i<EMCMOT_MAX_SPINDLES; i++) {
PyTuple_SetItem(res, i, Stat_spindle_one(s, i));
}
return res;
}
static PyStructSequence_Field tool_fields[] = {
{(char*)"id", },
{(char*)"xoffset", },
{(char*)"yoffset", },
{(char*)"zoffset", },
{(char*)"aoffset", },
{(char*)"boffset", },
{(char*)"coffset", },
{(char*)"uoffset", },
{(char*)"voffset", },
{(char*)"woffset", },
{(char*)"diameter", },
{(char*)"frontangle", },
{(char*)"backangle", },
{(char*)"orientation", },
{0,},
};
static PyStructSequence_Desc tool_result_desc = {
(char*)"tool_result", /* name */
(char*)"", /* doc */
tool_fields,
14
};
static PyTypeObject ToolResultType;
static PyObject *Stat_tool_table(pyStatChannel *s) {
PyObject *res;
int j = 0;
if (!initialized) {
// invalid until initialized (by poll())
res = PyTuple_New(0);
return res;
}
int idxmax = tooldata_last_index_get() + 1;
res = PyTuple_New(idxmax);
for(int idx=0; idx < idxmax; idx++) {
struct CANON_TOOL_TABLE tdata;
if (tooldata_get(&tdata,idx) != IDX_OK) {
fprintf(stderr,"UNEXPECTED idx %s %d\n",__FILE__,__LINE__);
}
struct CANON_TOOL_TABLE &t = tdata;
PyObject *tool = PyStructSequence_New(&ToolResultType);
PyStructSequence_SET_ITEM(tool, 0, PyLong_FromLong(t.toolno));
PyStructSequence_SET_ITEM(tool, 1, PyFloat_FromDouble(t.offset.tran.x));
PyStructSequence_SET_ITEM(tool, 2, PyFloat_FromDouble(t.offset.tran.y));
PyStructSequence_SET_ITEM(tool, 3, PyFloat_FromDouble(t.offset.tran.z));
PyStructSequence_SET_ITEM(tool, 4, PyFloat_FromDouble(t.offset.a));
PyStructSequence_SET_ITEM(tool, 5, PyFloat_FromDouble(t.offset.b));
PyStructSequence_SET_ITEM(tool, 6, PyFloat_FromDouble(t.offset.c));
PyStructSequence_SET_ITEM(tool, 7, PyFloat_FromDouble(t.offset.u));
PyStructSequence_SET_ITEM(tool, 8, PyFloat_FromDouble(t.offset.v));
PyStructSequence_SET_ITEM(tool, 9, PyFloat_FromDouble(t.offset.w));
PyStructSequence_SET_ITEM(tool, 10, PyFloat_FromDouble(t.diameter));
PyStructSequence_SET_ITEM(tool, 11, PyFloat_FromDouble(t.frontangle));
PyStructSequence_SET_ITEM(tool, 12, PyFloat_FromDouble(t.backangle));
PyStructSequence_SET_ITEM(tool, 13, PyLong_FromLong(t.orientation));
PyTuple_SetItem(res, j, tool);
j++;
}
_PyTuple_Resize(&res, j);
return res;
}
static PyGetSetDef Stat_getsetlist[] = {
{(char*)"actual_position", (getter)Stat_actual},
{(char*)"ain", (getter)Stat_ain},
{(char*)"aout", (getter)Stat_aout},
{(char*)"joint", (getter)Stat_joint},
{(char*)"axis", (getter)Stat_axis},
{(char*)"spindle", (getter)Stat_spindle},
{(char*)"din", (getter)Stat_din},
{(char*)"dout", (getter)Stat_dout},
{(char*)"gcodes", (getter)Stat_activegcodes},
{(char*)"homed", (getter)Stat_homed},
{(char*)"limit", (getter)Stat_limit},
{(char*)"mcodes", (getter)Stat_activemcodes},
{(char*)"misc_error", (getter)Stat_misc_error},
{(char*)"g5x_offset", (getter)Stat_g5x_offset},
{(char*)"g5x_index", (getter)Stat_g5x_index},
{(char*)"g92_offset", (getter)Stat_g92_offset},
{(char*)"position", (getter)Stat_position},
{(char*)"dtg", (getter)Stat_dtg},
{(char*)"joint_position", (getter)Stat_joint_position},
{(char*)"joint_actual_position", (getter)Stat_joint_actual},
{(char*)"probed_position", (getter)Stat_probed},
{(char*)"settings", (getter)Stat_activesettings, (setter)NULL,
(char*)"This is an array containing the Interp active settings: sequence number,\n"
"feed rate, spindle speed, and G64 blend and naive CAM tolerances."
},
{(char*)"tool_offset", (getter)Stat_tool_offset},
{(char*)"tool_table", (getter)Stat_tool_table, (setter)NULL,
(char*)"The tooltable, expressed as a list of tools. Each tool is a dict with the\n"
"tool id (tool number), diameter, offsets, etc."
},
{NULL}
};
static PyTypeObject Stat_Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"linuxcnc.stat", /*tp_name*/
sizeof(pyStatChannel), /*tp_basicsize*/
0, /*tp_itemsize*/
/* methods */
(destructor)Stat_dealloc, /*tp_dealloc*/
0, /*tp_print*/
0, /*tp_getattr*/
0, /*tp_setattr*/
0, /*tp_compare*/
0, /*tp_repr*/
0, /*tp_as_number*/
0, /*tp_as_sequence*/
0, /*tp_as_mapping*/
0, /*tp_hash*/
0, /*tp_call*/
0, /*tp_str*/
0, /*tp_getattro*/
0, /*tp_setattro*/
0, /*tp_as_buffer*/
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE, /*tp_flags*/ // need to make sure we need Py_TPFLAGS_BASETYPE here
0, /*tp_doc*/
0, /*tp_traverse*/
0, /*tp_clear*/
0, /*tp_richcompare*/
0, /*tp_weaklistoffset*/
0, /*tp_iter*/
0, /*tp_iternext*/
Stat_methods, /*tp_methods*/
Stat_members, /*tp_members*/
Stat_getsetlist, /*tp_getset*/
0, /*tp_base*/
0, /*tp_dict*/
0, /*tp_descr_get*/
0, /*tp_descr_set*/
0, /*tp_dictoffset*/
(initproc)Stat_init, /*tp_init*/
0, /*tp_alloc*/
PyType_GenericNew, /*tp_new*/
0, /*tp_free*/
0, /*tp_is_gc*/
};
static int Command_init(pyCommandChannel *self, PyObject *a, PyObject *k) {
const char *file = get_nmlfile();
if(file == NULL) return -1;
RCS_CMD_CHANNEL *c =
new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc", file);
if(!c) {
PyErr_Format( error, "new RCS_CMD_CHANNEL failed");
return -1;
}
RCS_STAT_CHANNEL *s =
new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc", file);
if(!c) {
delete s;
PyErr_Format( error, "new RCS_STAT_CHANNEL failed");
return -1;
}
self->s = s;
self->c = c;
return 0;
}
static void Command_dealloc(PyObject *self) {
delete ((pyCommandChannel*)self)->c;
PyObject_Del(self);
}
static PyObject *block_delete(pyCommandChannel *s, PyObject *o) {
int t;
EMC_TASK_PLAN_SET_BLOCK_DELETE m;
if(!PyArg_ParseTuple(o, "i", &t)) return NULL;
m.state = t;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *optional_stop(pyCommandChannel *s, PyObject *o) {
int t;
EMC_TASK_PLAN_SET_OPTIONAL_STOP m;
if(!PyArg_ParseTuple(o, "i", &t)) return NULL;
m.state = t;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *mode(pyCommandChannel *s, PyObject *o) {
EMC_TASK_SET_MODE m;
if(!PyArg_ParseTuple(o, "i", &m.mode)) return NULL;
switch(m.mode) {
case EMC_TASK_MODE_MDI:
case EMC_TASK_MODE_MANUAL:
case EMC_TASK_MODE_AUTO:
break;
default:
PyErr_Format(PyExc_ValueError,"Mode should be MODE_MDI, MODE_MANUAL, or MODE_AUTO");
return NULL;
}
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *task_plan_synch(pyCommandChannel *s) {
EMC_TASK_PLAN_SYNCH synch;
emcSendCommand(s, synch);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *maxvel(pyCommandChannel *s, PyObject *o) {
EMC_TRAJ_SET_MAX_VELOCITY m;
if(!PyArg_ParseTuple(o, "d", &m.velocity)) return NULL;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *feedrate(pyCommandChannel *s, PyObject *o) {
EMC_TRAJ_SET_SCALE m;
if(!PyArg_ParseTuple(o, "d", &m.scale)) return NULL;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *rapidrate(pyCommandChannel *s, PyObject *o) {
EMC_TRAJ_SET_RAPID_SCALE m;
if(!PyArg_ParseTuple(o, "d", &m.scale)) return NULL;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *spindleoverride(pyCommandChannel *s, PyObject *o) {
EMC_TRAJ_SET_SPINDLE_SCALE m;
m.spindle = 0;
if(!PyArg_ParseTuple(o, "d|i", &m.scale, &m.spindle)) return NULL;
emcSendCommand(s, m);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *spindle(pyCommandChannel *s, PyObject *o) {
int dir;
double arg1 = 0,arg2 = 0;
int arg3 = 0;
if(!PyArg_ParseTuple(o, "i|ddi", &dir, &arg1, &arg2, &arg3)) return NULL;
switch(dir) {
case LOCAL_SPINDLE_FORWARD:
case LOCAL_SPINDLE_REVERSE:
{
EMC_SPINDLE_ON m;
m.speed = dir * arg1;
m.spindle = (int)arg2;
m.wait_for_spindle_at_speed = arg3;
emcSendCommand(s, m);