Fix spindle speed for remap

configs/sim/axis/remap/getting-started/python/remap.py

@@ -45,7 +45,7 @@ def involute(self, **words):
         self.set_errormsg("feedrate > 0 required")
         return INTERP_ERROR
 
-    if equal(self.speed,0.0):
+    if equal(self.speed[0], 0.0):
         self.set_errormsg("spindle speed > 0 required")
         return INTERP_ERROR
 

docs/src/remap/remap.txt

@@ -578,7 +578,7 @@ def involute(self, **words):
     if equal(self.feed_rate,0.0):
         return "feedrate > 0 required"
 
-    if equal(self.speed,0.0):
+    if equal(self.speed[0],0.0):
         return "spindle speed > 0 required"
 
     plunge = 0.1 # if Z word was given, plunge - with reduced feed

nc_files/remap_lib/python-stdglue/stdglue.py

@@ -44,8 +44,8 @@ def setspeed_epilog(self,**words):
             pass
             #print "---------- S builtin recursion, nothing to do"
         else:
-            self.speed = self.params["speed"]
-            emccanon.enqueue_SET_SPINDLE_SPEED(self.speed)
+            self.speed[0] = self.params["speed"]
+            emccanon.enqueue_SET_SPINDLE_SPEED(self.speed[0])
         return INTERP_OK
     except Exception,e:
         self.set_errormsg("S/setspeed_epilog: %s)" % (e))

src/emc/rs274ngc/interp_array_types.hh

@@ -25,6 +25,7 @@
 
 namespace pp = pyplusplus::containers::static_sized;
 
+typedef pp::array_1_t<double, EMCMOT_MAX_SPINDLES> spindle_speed_array, (*spindle_speed_w)(Interp &);
 typedef pp::array_1_t< int, ACTIVE_G_CODES> active_g_codes_array, (*active_g_codes_w)( Interp & );
 typedef pp::array_1_t< int, ACTIVE_M_CODES> active_m_codes_array, (*active_m_codes_w)( Interp & );
 typedef pp::array_1_t< double, ACTIVE_SETTINGS> active_settings_array, (*active_settings_w)( Interp & );

src/emc/rs274ngc/interpmodule.cc

@@ -55,6 +55,10 @@ namespace pp = pyplusplus::containers::static_sized;
 #define IS_STRING(x) (PyObject_IsInstance(x.ptr(), (PyObject*)&PyString_Type))
 #define IS_INT(x) (PyObject_IsInstance(x.ptr(), (PyObject*)&PyInt_Type))
 
+static  spindle_speed_array spindle_speed_wrapper (Interp & inst) {
+    return spindle_speed_array(inst._setup.speed);
+}
+
 static  active_g_codes_array active_g_codes_wrapper ( Interp & inst) {
     return active_g_codes_array(inst._setup.active_g_codes);
 }
@@ -366,6 +370,14 @@ static inline double get_CC_origin_offset (Interp &interp)  {
 static inline void set_CC_origin_offset(Interp &interp, double value)  {
     interp._setup.CC_origin_offset = value;
 }
+
+static inline int get_active_spindle (Interp const & interp)  {
+    return interp._setup.active_spindle;
+}
+static inline void set_active_spindle(Interp & interp, int value)  {
+    interp._setup.active_spindle = value;
+}
+
 static inline double get_axis_offset_x (Interp &interp)  {
     return interp._setup.axis_offset_x;
 }
@@ -510,12 +522,6 @@ static inline double get_rotation_xy (Interp &interp)  {
 static inline void set_rotation_xy(Interp &interp, double value)  {
     interp._setup.rotation_xy = value;
 }
-static inline double get_speed (Interp &interp, int spindle)  {
-    return interp._setup.speed[spindle];
-}
-static inline void set_speed(Interp &interp, int spindle, double value)  {
-    interp._setup.speed[spindle] = value;
-}
 static inline double get_traverse_rate (Interp &interp)  {
     return interp._setup.traverse_rate;
 }
@@ -896,6 +902,7 @@ BOOST_PYTHON_MODULE(interpreter) {
 	.add_property("CC_axis_offset", &get_CC_axis_offset, &set_CC_axis_offset)
 	.add_property("CC_current", &get_CC_current, &set_CC_current)
 	.add_property("CC_origin_offset", &get_CC_origin_offset, &set_CC_origin_offset)
+        .add_property("active_spindle", &get_active_spindle, &set_active_spindle)
 	.add_property("axis_offset_x", &get_axis_offset_x, &set_axis_offset_x)
 	.add_property("axis_offset_y", &get_axis_offset_y, &set_axis_offset_y)
 	.add_property("axis_offset_z", &get_axis_offset_z, &set_axis_offset_z)
@@ -920,7 +927,6 @@ BOOST_PYTHON_MODULE(interpreter) {
 	.add_property("program_z", &get_program_z, &set_program_z)
 	.add_property("return_value", &get_return_value, &set_return_value)
 	.add_property("rotation_xy", &get_rotation_xy, &set_rotation_xy)
-	.add_property("speed", &get_speed, &set_speed)
 	.add_property("traverse_rate", &get_traverse_rate, &set_traverse_rate)
 	.add_property("u_axis_offset", &get_u_axis_offset, &set_u_axis_offset)
 	.add_property("u_origin_offset", &get_u_origin_offset, &set_u_origin_offset)
@@ -974,6 +980,14 @@ BOOST_PYTHON_MODULE(interpreter) {
 
 
 	// _setup arrays
+        .add_property(
+            "speed",
+            bp::make_function(
+                spindle_speed_w(&spindle_speed_wrapper),
+                bp::with_custodian_and_ward_postcall<0, 1>()
+            )
+        )
+
 	.add_property( "active_g_codes",
 		       bp::make_function( active_g_codes_w(&active_g_codes_wrapper),
 					  bp::with_custodian_and_ward_postcall< 0, 1 >()))

src/emc/rs274ngc/pyarrays.cc

@@ -39,6 +39,7 @@ void export_Arrays()
     using namespace boost::python;
     using namespace boost;
 
+    pp::register_array_1<double, EMCMOT_MAX_SPINDLES>("SpindleSpeedArray");
     pp::register_array_1< int, ACTIVE_G_CODES> ("ActiveGcodesArray" );
     pp::register_array_1< int, ACTIVE_M_CODES> ("ActiveMcodesArray" );
     pp::register_array_1< double, ACTIVE_SETTINGS> ("ActiveSettingsArray");

tests/remap/spindle/README

@@ -0,0 +1 @@
+Test remap's ability to introspect about spindles.

tests/remap/spindle/expected

@@ -0,0 +1,35 @@
+executing
+    1 N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+    2 N..... SET_G5X_OFFSET(1, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+    3 N..... SET_G92_OFFSET(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+    4 N..... SET_XY_ROTATION(0.0000)
+    5 N..... SET_FEED_REFERENCE(CANON_XYZ)
+    6 N..... ON_RESET()
+M500 P0 {
+  active spindle:  0
+  spindle speeds:  [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+}
+    7 N..... SET_SPINDLE_SPEED(0, 1000.0000)
+    8 N..... START_SPINDLE_CLOCKWISE(0)
+M500 P1 {
+  active spindle:  0
+  spindle speeds:  [1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+}
+    9 N..... SET_SPINDLE_SPEED(1, 2000.0000)
+   10 N..... START_SPINDLE_COUNTERCLOCKWISE(1)
+M500 P2 {
+  active spindle:  0
+  spindle speeds:  [1000.0, 2000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+}
+   11 N..... SET_G5X_OFFSET(1, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+   12 N..... SET_XY_ROTATION(0.0000)
+   13 N..... SET_FEED_MODE(0, 0)
+   14 N..... SET_FEED_RATE(0.0000)
+   15 N..... STOP_SPINDLE_TURNING(0)
+   16 N..... SET_SPINDLE_MODE(0 0.0000)
+   17 N..... STOP_SPINDLE_TURNING(1)
+   18 N..... SET_SPINDLE_MODE(1 0.0000)
+   19 N..... STOP_SPINDLE_TURNING(2)
+   20 N..... SET_SPINDLE_MODE(2 0.0000)
+   21 N..... PROGRAM_END()
+   22 N..... ON_RESET()

tests/remap/spindle/remap.py

@@ -0,0 +1,7 @@
+from __future__ import print_function
+
+def m500(self, **words):
+    print("M500 P{} {{".format(int(words['p'])))
+    print("  active spindle: ", self.active_spindle)
+    print("  spindle speeds: ", list(self.speed))
+    print("}")

tests/remap/spindle/test.ini

@@ -0,0 +1,14 @@
+[EMC]
+DEBUG=0
+
+[RS274NGC]
+SUBROUTINE_PATH = .
+LOG_LEVEL=0
+REMAP= M500 py=m500 modalgroup=10 argspec=P
+
+[TRAJ]
+SPINDLES=3
+
+[PYTHON]
+PATH_PREPEND=.
+TOPLEVEL=toplevel.py

tests/remap/spindle/test.ngc

@@ -0,0 +1,13 @@
+M500 P0
+
+S1000
+M3
+
+M500 P1
+
+S2000 $1
+M4 $1
+
+M500 P2
+
+M2

tests/remap/spindle/test.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+rs274 -i test.ini -n 0 -g test.ngc 2>&1
+exit $?

tests/remap/spindle/toplevel.py

@@ -0,0 +1,2 @@
+import interpreter
+import remap