I have defined multiple remapping codes (M702 is used to set the parameters of external devices, and M200 is used to receive ethercat's io signal and control the movement of the Z axis).
I use (yield INTERP_EXECUTE_FINISH) in the remapping code, which allows my code to be executed sequentially in the file, but when I tested it, I found that only the M702 defined by me would not destroy the G code file.
When using other remapping codes Line skipping will occur (for example, skip the line of G code before M200 when using M200).
Is there a problem with the use of the (yield INTERP_EXECUTE_FINISH) function?
How can I solve it? I use Linuxcnc 2.9
Thank you in advance for any reply.
Below is part of my code and configuration：
remap.py
Code:
#!/usr/bin/env python3
import sys
import os
from interpreter import *
from emccanon import MESSAGE
import re
import math
import hal
import linuxcnc
import time
import thread
def m200(self,**words):
yield INTERP_EXECUTE_FINISH
if self.task:
a = int(words['p'])
print('a=',a)
x = hal.get_value(lcec.0.5.TXPDO-0)
print("xr ==",x)
if x == 1:
self.execute("G0 Z %d"%a)
print("MDI_Xxxxx")
def m702(self, **words):
yield INTERP_EXECUTE_FINISH
if self.task:
list = []
for key in words:
print("word '%s' = %f" % (key, words[key]))
list.append(key+str(words[key]))
res=str(list[0]+' '+list[1]+' '+list[2])
print ('res=',res)
i=0
while i <= 2:
x=list[i].find("f")
if x != -1:
a = re.sub('[a-zA-Z]',"",list[i])
y=list[i].find("p")
if y != -1:
b = re.sub('[a-zA-Z]',"",list[i])
z=list[i].find("q")
if z != -1:
c = re.sub('[a-zA-Z]',"",list[i])
i+=1
par = str(a+' '+b+' '+c)
print ('parameters=',str(a+' '+b+' '+c))
#main = "/home/.../.../aa" #Executable
#os.system(main +' '+ par)
ini
Code:
[PYTHON]
TOPLEVEL = /home/.../linuxcnc/configs/sim.axis/python/toplevel.py
PATH_APPEND = /home/.../linuxcnc/configs/sim.axis/python
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = /home/.../linuxcnc/configs//python
REMAP=M702 modalgroup=10 argspec=FPQ python=m702
REMAP=M200 modalgroup=10 argspec=P python=m200
ngc
Code:
G90
G17
G21
G64 p0.001
F1000
G1 x10 y10 z0
G1 x10 y-10 z0
G1 x0 y0 z0
;M702 F20 P50 Q1
M200 P-5 ;remap code
G2 i5 j0 f1000
M2
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