Remapped M code in python mdi command

#!/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)

#!/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)

#!/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 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 *