Remap M6: Is this philosophy possible?

#!/usr/bin/env python3
import hal, time
import linuxcnc
import sys
import emccanon
from interpreter import *
from emccanon import MESSAGE
#throw_exceptions = 1



def change_prolog(self, **words):
    try:
        if self.selected_pocket < 0:
            self.set_errormsg("M6: žádný nástroj není zvolen")
            return INTERP_ERROR
        if self.cutter_comp_side:
            self.set_errormsg("Nemůže proběhnout výměna nástrojů se zapnutou korekcí")
            return INTERP_ERROR
        s = linuxcnc.stat() # create a connection to the status channel
        s.poll() # get current values
        if s.actual_position[2] > 0.1:
            self.set_errormsg("Nejdříve sjeď osou Z dolů")
            return INTERP_ERROR
        if not (s.homed.count(1) == s.joints):
            self.set_errormsg("Zreferuj nejdříve stroj")
            return INTERP_ERROR
        otacky = hal.get_value("hm2_7i96.0.encoder.00.velocity")
        if (otacky > 0.1 or otacky < -0.1):
            self.set_errormsg("Vřeteno se stále točí")
            return INTERP_ERROR
        self.params["tool_in_spindle"] = self.current_tool
        self.params["selected_tool"] = self.selected_tool
        self.params["current_pocket"] = self.current_pocket
        self.params["selected_pocket"] = self.selected_pocket
    except Exception as e:
        self.set_errormsg("M6/change prolog: %s" % (e))
        return INTERP_ERROR


def remap_m6(self, **words):
    try:
        self.execute("G53 G0 Z0")  #najeti do polohy pro zacatek vymeny
        self.execute("G49")  #zruseni korekcí nástroje
        self.execute("M19 R90 Q20")  #natočení vřetene
        hal.set_p("atc.0.py-z-limit-atc","True")  #zvetseni soft limitu
        time.sleep(30)
        self.execute("G53 G1 Z195 f2000")  #vyjeti vretenem nahoru
        #cekani-kontrola najeti horniho snimace ATC)
        self.execute("f50")  #nastaveni minimalni rychlosti
        
       
        hal.set_p("atc.0.py-carousel-en","1")  #spuštění otáčení karuselu
        
        #čekání dokud se karusel nedotočí
        carousel_enable = hal.get_value("carousel.0.ready")
        while (carousel_enable == 0):
            time.sleep(0.1)
            carousel_enable = hal.get_value("carousel.0.ready")
      
        self.execute("G53 G1 Z0 f2000")  #najeti do polohy pro vymenu
        hal.set_p("atc.0.py-z-limit-atc","False")  #puvodni soft limit
        self.execute("G43") #zapnuti korekce nástroje
        self.execute("M5") #vypnutí polohování vřetene             
        self.execute("f50") #nastaveni minimalni rychlosti        
        
        return INTERP_OK


        
    except Exception as e:
        self.set_errormsg("M6/change: %s" % (e))
        
        #hal.set_p("atc.0.py-z-limit-atc","0")  #puvodni soft limit
        
        return INTERP_ERROR
        



def change_epilog(self, **words):
    try:
        if not self.value_returned:
            r = self.blocks[self.remap_level].executing_remap
            self.set_errormsg("the %s remap procedure %s did not return a value"
                             % (r.name,r.remap_ngc if r.remap_ngc else r.remap_py))
            yield INTERP_ERROR

        if self.blocks[self.remap_level].builtin_used:
            #print "---------- M6 builtin recursion, nothing to do"
            yield INTERP_OK
        else:
            if self.return_value > 0.0:
                # commit change
                self.selected_pocket =  int(self.params["selected_pocket"])
                emccanon.CHANGE_TOOL(self.selected_pocket)
                self.current_pocket = self.selected_pocket
                self.selected_pocket = -1
                self.selected_tool = -1
                # cause a sync()
                self.set_tool_parameters()
                self.toolchange_flag = True
                yield INTERP_EXECUTE_FINISH
            else:
                # yield to print any messages from the NGC program
                yield INTERP_EXECUTE_FINISH
                self.set_errormsg("M6 aborted (return code %.1f)" % (self.return_value))
                yield INTERP_ERROR
    except Exception as e:
        self.set_errormsg("M6/change epilog: %s" % (e))
        yield INTERP_ERROR

hal.set_p("atc.0.py-carousel-en","1") 

#!/usr/bin/env python3
import hal, time
import linuxcnc
import emccanon
from interpreter import *
from emccanon import MESSAGE
from util import lineno
throw_exceptions = 1



def remap_m6(self, **words):
    try:
        if self.selected_pocket < 0:
            self.set_errormsg("M6: žádný nástroj není zvolen")
            yield INTERP_ERROR
        if self.cutter_comp_side:
            self.set_errormsg("Nemůže proběhnout výměna nástrojů se zapnutou korekcí")
            yield INTERP_ERROR
        s = linuxcnc.stat() # create a connection to the status channel
        s.poll() # get current values
        if s.actual_position[2] > 0.1:
            self.set_errormsg("Nejdříve sjeď osou Z dolů")
            yield INTERP_ERROR
        if not (s.homed.count(1) == s.joints):
            self.set_errormsg("Zreferuj nejdříve stroj")
            yield INTERP_ERROR
        #otacky = hal.get_value("hm2_7i96.0.encoder.00.velocity")
        #if (otacky > 0.1 or otacky < -0.1):
        #    self.set_errormsg("Vřeteno se stále točí")
        #    yield INTERP_ERROR
        self.params["tool_in_spindle"] = self.current_tool
        self.params["selected_tool"] = self.selected_tool
        self.params["current_pocket"] = self.current_pocket
        self.params["selected_pocket"] = self.selected_pocket



        self.execute("G53 G0 Z0",lineno())  #najeti do polohy pro zacatek vymeny
        self.execute("G49",lineno())  #zruseni korekcí nástroje
        #self.execute("M19 R90 Q20",lineno())  #natočení vřetene
        
        hal.set_p("atc.0.py-z-limit-atc","True")  #zvetseni soft limitu
        hal.set_p("ini.z.max_limit","200")
        
        # Wait for results
        #yield INTERP_EXECUTE_FINISH
        
        self.execute("G53 G1 Z-195 f2000",lineno())  #vyjeti vretenem nahoru
        #cekani-kontrola najeti horniho snimace ATC)
        self.execute("f50",lineno())  #nastaveni minimalni rychlosti
        
        """
        hal.set_p("atc.0.py-carousel-en","1")  #spuštění otáčení karuselu
        
        #čekání dokud se karusel nedotočí
        carousel_enable = hal.get_value("carousel.0.ready")
        while (carousel_enable == 0):
            time.sleep(0.1)
            carousel_enable = hal.get_value("carousel.0.ready")
        """
        self.execute("G53 G1 Z0 f2000",lineno())  #najeti do polohy pro vymenu
        
        # Wait for results
        yield INTERP_EXECUTE_FINISH
        
        hal.set_p("atc.0.py-z-limit-atc","False")  #puvodni soft limit
        hal.set_p("ini.z.max_limit","10")
        time.sleep(0.1)
        
        self.execute("G43",lineno()) #zapnuti korekce nástroje
        self.execute("M5",lineno()) #vypnutí polohování vřetene             
        self.execute("f50",lineno()) #nastaveni minimalni rychlosti        
        
        yield INTERP_OK


        
    except Exception as e:
        self.set_errormsg("M6/change: %s" % (e))
        
        #hal.set_p("atc.0.py-z-limit-atc","0")  #puvodni soft limit
        
        yield INTERP_ERROR