Remapped M code in python mdi command

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21 Jul 2022 13:53 #247941 by AndrewL
I have a remapped M code written in python. I'm having trouble with the parts of the code using linuxcnc.command() - the M-Code will work when run from the mdi, but not when it is inside another .ngc program.

Example error messages:
can't do that (EMC_TOOL_LOAD_TOOL_TABLE) in auto mode with interpreter waiting
can't do that (EMC_TASK_PLAN_EXECUTE) in auto mode with interpreter reading
Must be in MDI mode to issue MDI command

The main question I have is:
Is there a workaround for executing a motion command (eg.  G0 Z0) from #!/usr/bin/python code?



Here is a simplified remapped M-Code that is condensed down to the problematic sections:
#!/usr/bin/python

import linuxcnc
s = linuxcnc.stat()
c = linuxcnc.command()



#Problem Command (solved):
# c.set_digital_output(16,1)
#Error Message: can't do that (EMC_MOTION_SET_DOUT) in auto mode with the interpreter waiting
#Solution: use shell command

#Problem Command:
linuxcnc.command().load_tool_table()
# can't do that (EMC_TOOL_LOAD_TOOL_TABLE) in auto mode with interpreter waiting

#Problem Command:
# c.mdi("M127")
carouselZ = -1.3192
c.mdi('G53 G90 G0 Z{}'.format(carouselZ))
# Must be in MDI mode to issue MDI command

exit(0)


(Note: On other code, I tried omitting #!/usr/bin/python and let python do: print(G0 Z0) to linuxcnc but then there is a tkinter import problem:
import-im6.q16: attempt to perform an operation that is not allowed by the security policy 'PS' @ error/constitute.c/IsCoderAuthorized/408.)
 

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21 Jul 2022 19:41 #247983 by andypugh
If you are in a _remap_ and want to move an axis then use canonical commands.

import emccanon

There is an example in the testsuite:

github.com/LinuxCNC/linuxcnc/blob/2e75b0...terp/pymove/oword.py

I think you would need to look through emccanon.cc to find the list of canonical commands

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26 Jul 2022 17:28 #248353 by AndrewL
Thank you for your reply.

I can get this code to work inside test.ngc. But how do you execute it from python?

for example:

m159
#!/usr/bin/python


print('m159 test')

import sys
sys.path.append('./python/oword.py')

import imp

oword = imp.load_source('oword', './python/oword.py')
oword.canonmove(X1, Y3, Z0)


exit(0)



... fails with:
Traceback (most recent call last):
  File "./nc_files//M159", line 11, in <module>
    oword = imp.load_source('oword', './python/oword.py')
  File "./python/oword.py", line 21, in <module>
    from util import call_pydevd
ImportError: No module named util
is_callable(oword.on_abort) = FALSE

 

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31 Jul 2022 10:01 #248711 by andypugh
You probably can’t run it outside of a remap routine. It needs to run in the context of an active interpreter.

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17 Aug 2022 15:39 #249952 by AndrewL
I have solutions for most of these problems
Error Messages:
can't do that (EMC_MOTION_SET_DOUT) in auto mode with the interpreter waiting
Must be in MDI mode to issue MDI command
My solution:
create M-code M150:
#!/usr/bin/python

# call shell script from the python script


print('___________________start M150___________________')



import os

import subprocess
import time
import math




def write_hal_signal(hal_signal , value):

    command = ['halcmd','sets',hal_signal,str(value)]

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    output = process.communicate()        #Launch the shell command

    # print 'output:',output[0]
    # print 'outputF:', output
    # print 'poll', process.poll()
    if process.poll() == 0:
        # print(command, 'success')
        return 'success'
    else:
        print(command, 'failure')
        return 'failure'


def write_hal_pin(hal_pin , value):

    command = ['halcmd','setp',hal_pin,str(value)]

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    output = process.communicate()        #Launch the shell command

    # print 'output:',output[0]
    # print 'outputF:', output
    # print 'poll', process.poll()
    if process.poll() == 0:
        # print(command, 'success')
        return 'success'
    else:
        print(command, 'failure')
        return 'failure'


def read_hal_signal(hal_signal):


    command = ['halcmd','gets',hal_signal]

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    (command_output, error) = process.communicate()        #Launch the shell command
    value_str = str.strip(command_output)

    # print 'poll', process.poll()

    if process.poll() == 0:
        # print(command, 'success')
        if value_str == 'FALSE':
            value = 0
        elif value_str == 'TRUE':
            value = 1
        else:
            try:
                value = float(value_str)
            except:
                value = None
                # print 'Vaue Error!'
        # print 'value: ', value
    else:
        print(command, 'failure')
        value = None

    return value


def read_hal_pin(hal_pin):


    command = ['halcmd','getp',hal_pin]

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    (command_output, error) = process.communicate()        #Launch the shell command
    value_str = str.strip(command_output)

    # print 'poll', process.poll()

    if process.poll() == 0:
        # print(command, 'success')
        if value_str == 'FALSE':
            value = 0
        elif value_str == 'TRUE':
            value = 1
        else:
            try:
                value = float(value_str)
            except:
                value = None
                # print 'Vaue Error!'
        # print 'value: ', value
    else:
        print(command, 'failure')
        value = None

    return value




def wait_hal_signal(hal_signal, value):
    # import time
    if read_hal_signal(hal_signal) is None:
        wait_success = 0
    else:
        while read_hal_signal(hal_signal) != value:
            wait_success = 0
            time.sleep(0.1)
            print 'Waiting for {}: {} == {}'.format(hal_signal, read_hal_signal(hal_signal),value)
        print 'wait_success'
        wait_success = 1
    return wait_success



def machine_command(*command_string):         #executes G-code / M-code machine commands        # can't take debug commands
    start_time = time.time()
    print('>>>>>>>>>>>>>>> execute g-code: ', command_string)

    '''Edit the subroutine .ngc file used by the halui.mdi-command'''
    writeMode = "w"
    a_file = open("./nc_subroutines/m502.ngc", writeMode)    #write mode
    writeMode = "a"


    remap_header = '''
; this file is auto-generated by python code in M150
; argspec Values are set by shell script via python (eg. M150)

; include these in the .ini file:
; [RS274NGC]
; REMAP=M502  modalgroup=10 argspec=(none) ngc=m502

; [HALUI]
; MDI_COMMAND = M502        (halui.mdi-command-02: machine_command_trigger)

o<m502> sub
'''


    # print remap_header.splitlines()
    remap_header_list = remap_header.splitlines()
    for line in remap_header_list:
        a_file.writelines(line)
        a_file.writelines('\n')

    for command in command_string:
        a_file.writelines('\n')
        a_file.writelines(command)
        # a_file.writelines('\n')
        # a_file.writelines('(DEBUG, exectued m502: {})'.format(command))
        a_file.writelines('\n')


    remap_footer = '''
o<m502> endsub
M2
'''

    remap_footer_list = remap_footer.splitlines()
    for line in remap_footer_list:
        a_file.writelines(line)
        a_file.writelines('\n')

    a_file.close()
    
    
    ''' execute the halui.mdi-command '''
    write_hal_signal('machine_command_trigger',1)
    time.sleep(0.1)        #pulse signal time
    write_hal_signal('machine_command_trigger',0)
    
    

    print("--- %s seconds ---" % (time.time() - start_time))


def delayed_machine_command(*command_string):         #executes G-code / M-code machine commands        
    start_time = time.time()
    print('>>>>>>>>>>>>>>> execute g-code: ', command_string)

    '''Edit the subroutine .ngc file used by the halui.mdi-command'''
    writeMode = "w"
    a_file = open("./nc_subroutines/m504.ngc", writeMode)    #write mode
    writeMode = "a"


    remap_header = '''
; this file is auto-generated by python code in M140
; argspec Values are set by shell script via python (eg. M140)

; include these in the .ini file:
; [RS274NGC]
; REMAP=M504  modalgroup=10 argspec=(none) ngc=m504

; [HALUI]
; MDI_COMMAND = M504        (halui.mdi-command-04: execute_delayed_command)

o<m504> sub
'''


    # print remap_header.splitlines()
    remap_header_list = remap_header.splitlines()
    for line in remap_header_list:
        a_file.writelines(line)
        a_file.writelines('\n')

    for command in command_string:
        a_file.writelines('\n')
        a_file.writelines(command)
        a_file.writelines('\n')
        # a_file.writelines('(DEBUG, exectued m504: {})'.format(command))
        # a_file.writelines('\n')


    remap_footer = '''
o<m504> endsub
M2
'''

    remap_footer_list = remap_footer.splitlines()
    for line in remap_footer_list:
        a_file.writelines(line)
        a_file.writelines('\n')

    a_file.close()
    
    
    # ''' execute the halui.mdi-command '''
    # write_hal_signal('machine_command_trigger',1)
    # time.sleep(0.1)        #pulse signal time
    # write_hal_signal('machine_command_trigger',0)
    
    

    print("--- %s seconds ---" % (time.time() - start_time))



def testprint(*strings):
    for string in strings:
        print string


def viewPockets():

    command = ['/home/weeke1/linuxcnc/configs/Weeke1/nc_files/M118']

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    output = process.communicate()        #Launch the shell command

    # print 'output:',output[0]
    # print 'outputF:', output
    # print 'poll', process.poll()
    if process.poll() == 0:
        # print(command, 'success')
        return 'openPocketView success'
    else:
        print(command, 'openPocketView failure')
        return 'failure'
        
def showRotation():

    command = ['/home/weeke1/linuxcnc/configs/Weeke1/nc_files/M117']

    process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=None)
    output = process.communicate()        #Launch the shell command

    # print 'output:',output[0]
    # print 'outputF:', output
    # print 'poll', process.poll()
    if process.poll() == 0:
        # print(command, 'success')
        return 'showRotation success'
    else:
        print(command, 'showRotation failure')
        return 'failure'
# import threading

# def printit():
    # threading.Timer(5.0, printit).start()
    # #print "Hello, World!"
    # print 'Weeke1Logic.0.loadA4State', read_hal_pin('Weeke1Logic.0.loadA4State')
    # return read_hal_pin('Weeke1Logic.0.loadA4State')





# from threading import *
# import time
 
# def thread_1():
    # #for i in range(8):
    # while True:
        # print 'Weeke1Logic.0.loadA4State', read_hal_pin('Weeke1Logic.0.loadA4State')
        # return read_hal_pin('Weeke1Logic.0.loadA4State')
        # time.sleep(0.1)
 
# T = Thread(target = thread_1)        # creating a thread
# T.setDaemon(True)            # change T to daemon
# T.start()        # starting of Thread T
# time.sleep(5)
# print('this is Main Thread')

# ''' expand functionality with examples here:
# https://stackoverflow.com/questions/3393612/run-certain-code-every-n-seconds
# '''






if __name__ == "__main__":
    
    """ Run test commands here """
    
    # print 'WRITE', write_hal_signal('areaLeftUnlock',1)
    # print 'WRITE', write_hal_signal('changeCommand',1)

    # print 'READ',read_hal_signal('areaLeftUnlock')


    # print 'WAIT', wait_hal_signal('223_Foot_Switch_A4',1)


    ##### signal's pin to be read by M502
    # write_hal_signal('pyPosValueX',23.123)


    ##### move to enabled axis values via pyPosMoveCmd => halui.mdi-command-02 => M502
    # write_hal_signal('pyPosMoveCmd',1)
    # time.sleep(1)
    # write_hal_signal('pyPosMoveCmd',0)



    # g_code_string_cmd('G53 g90 G0 X4 Z-0.125')
    # g_code_string_cmd('G53 G1 X20  F100')
    # g_code_string_cmd('X4 Z-0.125')

    # machine_command('G53 G0 X10 Y-5')
    # machine_command('G53 G0 X10 Y-5','G53 G0 X20 Y-10')


    #can't do this# machine_command('(DEBUG, M150 machine_command)')

    # machine_command('M127')

    # write_hal_signal('testMoveCmd',1)
    # time.sleep(1)
    # write_hal_signal('testMoveCmd',0)

    # write_hal_signal('m140active',0)
    # write_hal_signal('router1CylPosMuxIn1',0)
    
    # printit()
    
    # machine_command("G58 G91 G2 X0 Y0 I0.0001 P1 F150","G90")
    # machine_command("M550 P1 Q2")
    # openPocketView()


    
    
    
    
    
    
    print ("M150 is being run directly")
    print ("M150 __name__ = %s" %__name__)
    print('___________________end M150___________________')

    exit(0)            # If a M1nn command exits with nonzero status, the gcode program exits.  Exit 0 for success
else:
    print ("M150 is being imported")
    print('___________________end M150___________________')

M150 can be called from another M code:
""" M150 import """
# import sys
sys.path.append('/path_to_file/nc_files/M151')
import imp
M150 = imp.load_source('M150', '/home/weeke1/linuxcnc/configs/Weeke1/nc_files/M150')
from M150 import *

If the execution order gets problematic, I use
delayed_machine_command inside python a M code
M504 in a .ngc to make sure it gets executed at the right time
 

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