unable to toggle machine power by python interface

giantstone
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Senior Member

10 years 1 month ago #79807 by giantstone

unable to toggle machine power by python interface was created by giantstone

HI, I'm using python interface trying to automatically run linuxcnc,
when I used
if task_state !=2 :
c.state(linuxcnc.STATE_ON) #
c.wait_complete() # wait until mode switch executed
print 'state changed to', getattr(s, 'task_state' )
the machine's task state made no change. I have to manually click on the toggle machine power.

here is my script:

import linuxcnc
import numpy as np

if __name__ == '__main__':

try:

e = linuxcnc.error_channel()
s = linuxcnc.stat() # create a connection to the status channel
c = linuxcnc.command()
c.wait_complete() # wait until mode switch executed

c.reset_interpreter()
c.teleop_enable(1)
c.wait_complete() # wait until mode switch executed

task_state = getattr(s, 'task_state' )
task_mode = getattr(s, 'task_mode' )
homed = getattr(s, 'homed' )
current_line = getattr(s, 'motion_line' )
## motion_mode = getattr(s, 'motion_mode' )
motion_type = getattr(s, 'motion_type' )
paused = getattr(s, 'paused' )
print 'task_state',task_state,'task_mode',task_mode, 'homed',homed
print 'current_line',current_line,'paused',paused

if task_state !=2 :
c.state(linuxcnc.STATE_ON) #
c.wait_complete() # wait until mode switch executed
print 'state changed to', getattr(s, 'task_state' )

## if np.sum(homed)<4: # X Y Z A
## if task_mode !=1: #(MODE_MDI, MODE_MANUAL, MODE_AUTO).
## c.mode(linuxcnc.MODE_MANUAL ) #linuxcnc.MODE_AUTO
## c.wait_complete() # wait until mode switch executed
## c.home(0)
## c.home(1)
## c.home(2)
## c.home(3)
## c.wait_complete() # wait until mode switch executed
## print 'homed', getattr(s, 'homed' )

if task_mode !=2: #(MODE_MDI, MODE_MANUAL, MODE_AUTO).
c.mode(linuxcnc.MODE_AUTO) #linuxcnc.MODE_AUTO
c.wait_complete() # wait until mode switch executed
print 'mode changed to', getattr(s, 'task_mode' )

print 'working'
c.abort()
c.reset_interpreter()
c.program_open("/home/sam3/linuxcnc/NGC_file/fur_cut1.ngc")
c.auto(linuxcnc.AUTO_RUN, 0)

flag = 0
while 1:
error = e.poll()
print_error(error)
s.poll() # get current values
## print getattr(s, 'dtg' )
motion_type = getattr(s, 'motion_type' )
task_mode = getattr(s, 'task_mode' )
print 'motion_type',motion_type,'task_mode',task_mode

if motion_type == 2 and flag==0 :#0 = idle 1: Traverse 2: Linear feed 3: Arc feed 4: Tool change 5: Probing 6: Rotary axis indexing)
c.auto(linuxcnc.AUTO_PAUSE) #run, step, pause or resume a program
c.wait_complete() # wait until mode switch executed

c.auto(linuxcnc.AUTO_RESUME) #run, step, pause or resume a program
flag=1

except linuxcnc.error, detail:
print "error", detail
sys.exit(1)

finally:
c.abort()

I also tried to home axes, but it didn't work neither. ( see the commented section above).

could someone help me to address these issues?

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cmorley
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Platinum Member

10 years 1 month ago #79811 by cmorley

Replied by cmorley on topic unable to toggle machine power by python interface

You must poll before checking task state.

I started linuxcnc, then opened a python terminal:

Code:

>>> import linuxcnc
>>> c = linuxcnc.command()
>>> c.state(linuxcnc.STATE_ESTOP_RESET)
>>> c.state(linuxcnc.STATE_ON)
>>> s = linuxcnc.stat()
>>> s.poll()
>>> task_state = getattr(s, 'task_state' )
>>> print task_state
4

worked fine.
Also would recommend not using code like this:
if task_state !=4 :
instead use:
if task_state !=linuxcnc.STATE_ON:

It's safer, in the future the enumeration may change but the command name should not.
Chris M

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giantstone
Topic Author
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Senior Member

10 years 1 month ago #79813 by giantstone

Replied by giantstone on topic unable to toggle machine power by python interface

Hi, Chris, Thanks for your reply,
I solved the issue now. here is my updated scripts:

Code:

import linuxcnc
import numpy as np

if __name__ == '__main__':
    try:

        e = linuxcnc.error_channel()
        s = linuxcnc.stat() # create a connection to the status channel
        s.poll() # get current values        
        c = linuxcnc.command()
        c.wait_complete() # wait until mode switch executed
        
        c.reset_interpreter() 
        c.teleop_enable(1)
        c.wait_complete() # wait until mode switch executed        
        
        task_state = getattr(s, 'task_state' )
        task_mode = getattr(s, 'task_mode' )    
        homed =  getattr(s, 'homed' )
        current_line =  getattr(s, 'motion_line' )
##        motion_mode =  getattr(s, 'motion_mode' )
        motion_type  =  getattr(s, 'motion_type' )            
        paused =  getattr(s, 'paused' ) 
        print 'task_state',task_state,'task_mode',task_mode, 'homed',homed
        print 'current_line',current_line,'paused',paused    

        if task_state != linuxcnc.STATE_ON :
            c.state(linuxcnc.STATE_ESTOP_RESET)            
            c.state(linuxcnc.STATE_ON) #
            c.wait_complete() # wait until mode switch executed
            s.poll() # get current values
            task_state = getattr(s, 'task_state' )            
            print 'state changed to', task_state 

        if np.sum(homed)<4:
            if  task_mode !=linuxcnc.MODE_MANUAL : #(MODE_MDI, MODE_MANUAL, MODE_AUTO). 
                c.mode(linuxcnc.MODE_MANUAL )     #linuxcnc.MODE_AUTO
                c.wait_complete() # wait until mode switch executed
            c.home(0)
            c.wait_complete() # wait until mode switch executed            
            c.home(1)
            c.wait_complete() # wait until mode switch executed            
            c.home(2)
            c.wait_complete() # wait until mode switch executed            
            c.home(3)
            c.wait_complete() # wait until mode switch executed
            s.poll() # get current values
            homed =  getattr(s, 'homed' )            
            print 'homed',  homed

        if  task_mode !=linuxcnc.MODE_AUTO: #(MODE_MDI, MODE_MANUAL, MODE_AUTO).
            c.mode(linuxcnc.MODE_AUTO)     #linuxcnc.MODE_AUTO
            c.wait_complete() # wait until mode switch executed
            s.poll() # get current values
            task_mode = getattr(s, 'task_mode' )              
            print 'mode changed to', task_mode
            
        print 'working'
        c.abort()
        c.reset_interpreter()         
        c.program_open("/home/sam3/linuxcnc/NGC_file/fur_cut1.ngc")
        c.auto(linuxcnc.AUTO_RUN, 0)

        flag = 0
        while 1:
            error = e.poll()
            print_error(error)
            s.poll() # get current values
##            print getattr(s, 'dtg' )
            motion_type  =  getattr(s, 'motion_type' )
            task_mode = getattr(s, 'task_mode' )                
            print 'motion_type',motion_type,'task_mode',task_mode
            
            if motion_type == 2 and flag==0 :#0 = idle 1: Traverse 2: Linear feed 3: Arc feed 4: Tool change 5: Probing 6: Rotary axis indexing)
                c.auto(linuxcnc.AUTO_PAUSE) #run, step, pause or resume a program
                c.wait_complete() # wait until mode switch executed                     
                c.auto(linuxcnc.AUTO_RESUME) #run, step, pause or resume a program
                flag=1


    except linuxcnc.error, detail:
        print "error", detail
        sys.exit(1)

    finally:

        c.abort()

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BigJohnT
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Administrator

10 years 1 month ago #79969 by BigJohnT

Replied by BigJohnT on topic unable to toggle machine power by python interface

It's much clearer to read if you just do a straight compare of the status. There is no need to use getattr in this example.

Code:

task_state = getattr(s, 'task_state' )
if task_state != linuxcnc.STATE_ON :

if s.task_state != linuxcnc.STATE_ON:

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