Custom Hal Component

Todd Zuercher
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2 years 5 months ago #301348 by Todd Zuercher

Custom Hal Component was created by Todd Zuercher

How would one go about building a hal component that would read the values of several Z tool offsets from the tool table, then place those values on individual hal pins? I need to get the values saved for the Z offset of tools 1-8 and have them exposed as hal pins.

This is for an 8 spindle gang router that has individual Z axis joints for each of the 8 spindles. I want to be able to apply, save, and change the a tool offset for each spindle. The tool offset will not be applied using G43. They will be permanently connected in hal with each spindle joint along with the Z axis command.

At this point the only thing I can do is load each tool offset one at a time with G43Hn, and parameter #5403 then save that value to a hal pin using M68. But I don't want to have to go through that for each spindle joint every time the machine is started or an offset is changed.

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cmorley
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2 years 5 months ago #301350 by cmorley

Replied by cmorley on topic Custom Hal Component

Read the tool file directly with python and make HAL pins for them.
The only problem is that the info can become stale as the motion controller doesn't save info immediately.
This is how the GUIs do it.

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Todd Zuercher
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2 years 5 months ago #301646 by Todd Zuercher

Replied by Todd Zuercher on topic Custom Hal Component

Thanks, for the suggestion but I'm afraid that coding it might be beyond my ability.

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Aciera
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2 years 5 months ago #301647 by Aciera

Replied by Aciera on topic Custom Hal Component

Why not use the tool_table information from the python status channel?

Attachment not found

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Aciera
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2 years 5 months ago #301649 by Aciera

Replied by Aciera on topic Custom Hal Component

Just tested it:

Code:

#!/usr/bin/env python3

import hal
import linuxcnc

h = hal.component("tool-info-comp")

h.newpin("z_offset_tool_1", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_2", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_3", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_4", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_5", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_6", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_7", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_8", hal.HAL_FLOAT, hal.HAL_OUT)

h.ready()

# create a connection to the status channel
s = linuxcnc.stat()

try:
while 1:
s.poll() # get current values
if s.tool_table[1]:
h['z_offset_tool_1'] = float(s.tool_table[1].zoffset)
h['z_offset_tool_2'] = float(s.tool_table[2].zoffset)
h['z_offset_tool_3'] = float(s.tool_table[3].zoffset)
h['z_offset_tool_4'] = float(s.tool_table[4].zoffset)
h['z_offset_tool_5'] = float(s.tool_table[5].zoffset)
h['z_offset_tool_6'] = float(s.tool_table[6].zoffset)
h['z_offset_tool_7'] = float(s.tool_table[7].zoffset)
h['z_offset_tool_8'] = float(s.tool_table[8].zoffset)


except KeyboardInterrupt:
raise SystemExit

gives me:

Attachment not found

[edit]
Had to add this line in the code above otherwise the component would crash if the tool table was changed:
if s.tool_table[1]:

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Todd Zuercher
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2 years 5 months ago #301673 by Todd Zuercher

Replied by Todd Zuercher on topic Custom Hal Component

Thank you very much. I'm eager to test it out.

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Aciera
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2 years 5 months ago #301674 by Aciera

Replied by Aciera on topic Custom Hal Component

This version is a bit more concise. (I hope it retains the indentation)

Warning: Spoiler!

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Todd Zuercher
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2 years 5 months ago #301679 by Todd Zuercher

Replied by Todd Zuercher on topic Custom Hal Component

I am having trouble making your 2nd version work, for some reason no hal pins are created.

The first version works fine, once I put in some appropriate indenting. (Stupid forum editor.)

Code:

#!/usr/bin/env python3

import hal
import linuxcnc

h = hal.component("tool-info-comp")

h.newpin("z_offset_tool_1", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_2", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_3", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_4", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_5", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_6", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_7", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("z_offset_tool_8", hal.HAL_FLOAT, hal.HAL_OUT)

h.ready()

# create a connection to the status channel
s = linuxcnc.stat()

try:
    while 1:
          s.poll() # get current values
          if s.tool_table[1]:
               h['z_offset_tool_1'] = float(s.tool_table[1].zoffset)
               h['z_offset_tool_2'] = float(s.tool_table[2].zoffset)
               h['z_offset_tool_3'] = float(s.tool_table[3].zoffset)
               h['z_offset_tool_4'] = float(s.tool_table[4].zoffset)
               h['z_offset_tool_5'] = float(s.tool_table[5].zoffset)
               h['z_offset_tool_6'] = float(s.tool_table[6].zoffset)
               h['z_offset_tool_7'] = float(s.tool_table[7].zoffset)
               h['z_offset_tool_8'] = float(s.tool_table[8].zoffset)


except KeyboardInterrupt:
     raise SystemExit

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Todd Zuercher
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2 years 5 months ago #301680 by Todd Zuercher

Replied by Todd Zuercher on topic Custom Hal Component

This seems to work (see code below).
The problem was line 21, I had to change from:

Code:

                h = float(s.tool_table[t].zoffset)

this to this:

Code:

                h['z_offset_tool_' + str(t)] = float(s.tool_table[t].zoffset)

Code:

#!/usr/bin/env python3

import hal
import linuxcnc

h = hal.component("tool-info-comp")
# number of tools to expose
n = 8
for t in range(1, n+1):
    h.newpin("z_offset_tool_" + str(t), hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()

# create a connection to the status channel
s = linuxcnc.stat()

try:
    while 1:
        s.poll() # get current values
        if s.tool_table[1]:
            for t in range(1, n+1):
                h['z_offset_tool_' + str(t)] = float(s.tool_table[t].zoffset)

except KeyboardInterrupt:
    raise SystemExit

 

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Aciera
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2 years 5 months ago #301683 by Aciera

Replied by Aciera on topic Custom Hal Component

Oh, my apologies, the editor consumes the contents of the rectangular brackets. Although not the [t]

How did you get the indenting to stay in the code window?

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