Python - yield INTERP_EXECUTE_FINISH

REMAP=M6 modalgroup=10 python=test_finish

def test_finish(self, **words):
    print("Hello")
    self.execute("G1 X10 Y10 f50")   
    print("I moved")
    self.execute("G1 X20 Y20 f50")   
    print("I moved to second place")
    yield INTERP_OK

def test_finish(self, **words):
    print("Hello")
    self.execute("G1 X10 Y10 f50")   
    yield INTERP_EXECUTE_FINISH
    print("I moved")
    self.execute("G1 X20 Y20 f50")   
    yield INTERP_EXECUTE_FINISH
    print("I moved to second place")
    yield INTERP_OK

# orient the tool to the current twp (No TCP)
def g531(self):
    if self.task == 0:
        yield INTERP_OK
    global saved_work_offset
    global twp_flag
    # reset the twp build 
    twp_flag = [0, 'empty']
    # switch to identity kins
    hal.set_p("motion.switchkins-type",str(0))
    yield INTERP_EXECUTE_FINISH

    # calculate the required rotary joint positions and 
    # pre_rotation for the requested tool-orientation 
    a_j, b_j, pre_rot = twp_calc_jnts_pos_and_pre_rot(self)
    gui_update_twp(self)
    kins_comp_set_pre_rot(self, pre_rot)
    yield INTERP_EXECUTE_FINISH

    print(" mdi moving joints A, B: ", a_j, b_j)
    # store current coordiantes because emccanon wants values for all nine axes
    x_pos = emccanon.GET_EXTERNAL_POSITION_X()
    y_pos = emccanon.GET_EXTERNAL_POSITION_Y()
    z_pos = emccanon.GET_EXTERNAL_POSITION_Z()
    c_pos = emccanon.GET_EXTERNAL_POSITION_C()
    emccanon.STRAIGHT_TRAVERSE(2, x_pos, y_pos, z_pos, a_j*(180/pi), b_j*(180/pi), c_pos, 0,0,0)
    yield INTERP_EXECUTE_FINISH

    # calculate the work offset in tool-coords
    P = matrix_to_point(kins_calc_tool_transformation(self, point_to_matrix(saved_work_offset)))
    print("Setting transformed work-offsets in tool-kins: ", P)
    emccanon.SET_G5X_OFFSET(0, P[0], P[1], P[2], 0,0,0,0,0,0)
    # same as above but for twp-offsets used for twp origin as set by g68.2 (x,y,z)-words
    # g69 will set the twp-offsets to zero.
    current_twp_offset = params_get_current_twp_offset(self)
    P = matrix_to_point(kins_calc_tool_transformation(self, point_to_matrix(current_twp_offset)))
    print("Setting transformed twp-offset in tool-kins: ", P)
    hal.set_p("xyzabc_trsrn_kins.twp-x",str(P[0]))
    hal.set_p("xyzabc_trsrn_kins.twp-y",str(P[1]))
    hal.set_p("xyzabc_trsrn_kins.twp-z",str(P[2]))
    yield INTERP_EXECUTE_FINISH

    # switch to tool kins
    hal.set_p("motion.switchkins-type",str(2))
    yield INTERP_EXECUTE_FINISH

    # we only want to update the offsets as those get rotated by rotary-joint positions
    # while the twp is rotated using the method chosen by the g68.2 p-word
    gui_update_offsets(self)

    yield INTERP_OK

1) Print "Hello"
2) move to x10 y10
3) Print "I moved"
4) move to x20 y20
5) Print "I moved to second place"

def test_finish(self, **words):
    print("Hello")
    self.execute("G1 X10 Y10 f50")   
    yield INTERP_EXECUTE_FINISH
    print("I moved")
    emccanon.STRAIGHT_TRAVERSE(2, 20, 20, 0, 0, 0, 0, 0, 0, 0)
    yield INTERP_EXECUTE_FINISH
    print("I moved to second place")
    yield INTERP_OK

    c.mode(linuxcnc.MODE_MDI)
    c.wait_complete() # wait until mode switch executed
    c.mdi("G0 X10 Y20 Z30")

def remap_m6_test(self, **words):
    print("Hello")
    self.execute("G1 X10 Y10 f50")
    
    s = linuxcnc.stat() # create a connection to the status channel
    s.poll() # get current values
    while (s.actual_position[0] != 10):
        print("HAFHAF1")
        time.sleep(0.1)
        print("HAFHAF2")
        s.poll() # get current values

    print("I moved")
    self.execute("G1 X20 Y20 f50")

    s.poll() # get current values
    while (s.actual_position[0] != 20):
        time.sleep(0.1)
        s.poll() # get current values
       
    print("I moved to second place")
    return INTERP_OK