If you do not need to interact with a running gcode program then you could simply use the pyhton interface to send mdi commands
Code:
import linuxcnc
s = linuxcnc.stat()
c = linuxcnc.command()
def ok_for_mdi():
s.poll()
return not s.estop and s.enabled and (s.homed.count(1) == s.joints) and (s.interp_state == linuxcnc.INTERP_IDLE)
x = 1.23
y = 2.34
if ok_for_mdi():
c.mode(linuxcnc.MODE_MDI)
c.wait_complete() # wait until mode switch executed
c.mdi("G0 X%s Y%s " % (x, y))
If you need to interact with running Gcode then use 'motion.*' pins.
1. Get your python script to create hal pins. Example:
Code:
import hal
self.hal = hal.component("vision")
self.hal.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("done", hal.HAL_BIT, hal.HAL_OUT)
self.hal.newpin("input_value", hal.HAL_FLOAT, hal.HAL_IN)
self.hal.newpin("output_value", hal.HAL_FLOAT, hal.HAL_OUT)
self.hal.ready()
2. Connect those hal pins to motion.* pins. Example:
Code:
net camera-enable <= motion.digital-out-00 => vision.enable
net camera-done <= vision.done => motion.digital-in-00
net camera-val-in <= motion.analog-out-00 => vision.input-value
net camera-val-out <= vision.output-value => motion.analog-in-00
3. in gcode read the motion.* pins and store in a variable:
Code:
m66 p0 l3 q2 ; wait for vision.done to go HIGH with 2 seconds timeout
o100 if [#5399 le 0] ; timeout occured
#1000 = 0
(DEBUG, vision: timeout)
o100 else
m66 e0 l0 ; read vision.output-value which is stored in #5399
#1000 = [#5399]
o100 endif
