Remap M6: Is this philosophy possible?

#!/usr/bin/env python3 import hal, time import linuxcnc import sys import emccanon from interpreter import * from emccanon import MESSAGE #throw_exceptions = 1 def change_prolog(self, **words):     try:         if self.selected_pocket < 0:             self.set_errormsg("M6: žádný nástroj není zvolen")             return INTERP_ERROR         if self.cutter_comp_side:             self.set_errormsg("Nemůže proběhnout výměna nástrojů se zapnutou korekcí")             return INTERP_ERROR         s = linuxcnc.stat() # create a connection to the status channel         s.poll() # get current values         if s.actual_position[2] > 0.1:             self.set_errormsg("Nejdříve sjeď osou Z dolů")             return INTERP_ERROR         if not (s.homed.count(1) == s.joints):             self.set_errormsg("Zreferuj nejdříve stroj")             return INTERP_ERROR         otacky = hal.get_value("hm2_7i96.0.encoder.00.velocity")         if (otacky > 0.1 or otacky < -0.1):             self.set_errormsg("Vřeteno se stále točí")             return INTERP_ERROR         self.params["tool_in_spindle"] = self.current_tool         self.params["selected_tool"] = self.selected_tool         self.params["current_pocket"] = self.current_pocket         self.params["selected_pocket"] = self.selected_pocket     except Exception as e:         self.set_errormsg("M6/change prolog: %s" % (e))         return INTERP_ERROR def remap_m6(self, **words):     try:         self.execute("G53 G0 Z0")  #najeti do polohy pro zacatek vymeny         self.execute("G49")  #zruseni korekcí nástroje         self.execute("M19 R90 Q20")  #natočení vřetene         hal.set_p("atc.0.py-z-limit-atc","True")  #zvetseni soft limitu         time.sleep(30)         self.execute("G53 G1 Z195 f2000")  #vyjeti vretenem nahoru         #cekani-kontrola najeti horniho snimace ATC)         self.execute("f50")  #nastaveni minimalni rychlosti                          hal.set_p("atc.0.py-carousel-en","1")  #spuštění otáčení karuselu                  #čekání dokud se karusel nedotočí         carousel_enable = hal.get_value("carousel.0.ready")         while (carousel_enable == 0):             time.sleep(0.1)             carousel_enable = hal.get_value("carousel.0.ready")                self.execute("G53 G1 Z0 f2000")  #najeti do polohy pro vymenu         hal.set_p("atc.0.py-z-limit-atc","False")  #puvodni soft limit         self.execute("G43") #zapnuti korekce nástroje         self.execute("M5") #vypnutí polohování vřetene                      self.execute("f50") #nastaveni minimalni rychlosti                          return INTERP_OK              except Exception as e:         self.set_errormsg("M6/change: %s" % (e))                  #hal.set_p("atc.0.py-z-limit-atc","0")  #puvodni soft limit                  return INTERP_ERROR          def change_epilog(self, **words):     try:         if not self.value_returned:             r = self.blocks[self.remap_level].executing_remap             self.set_errormsg("the %s remap procedure %s did not return a value"                              % (r.name,r.remap_ngc if r.remap_ngc else r.remap_py))             yield INTERP_ERROR         if self.blocks[self.remap_level].builtin_used:             #print "---------- M6 builtin recursion, nothing to do"             yield INTERP_OK         else:             if self.return_value > 0.0:                 # commit change                 self.selected_pocket =  int(self.params["selected_pocket"])                 emccanon.CHANGE_TOOL(self.selected_pocket)                 self.current_pocket = self.selected_pocket                 self.selected_pocket = -1                 self.selected_tool = -1                 # cause a sync()                 self.set_tool_parameters()                 self.toolchange_flag = True                 yield INTERP_EXECUTE_FINISH             else:                 # yield to print any messages from the NGC program                 yield INTERP_EXECUTE_FINISH                 self.set_errormsg("M6 aborted (return code %.1f)" % (self.return_value))                 yield INTERP_ERROR     except Exception as e:         self.set_errormsg("M6/change epilog: %s" % (e))         yield INTERP_ERROR

hal.set_p("atc.0.py-carousel-en","1") 

#!/usr/bin/env python3 import hal, time import linuxcnc import emccanon from interpreter import * from emccanon import MESSAGE from util import lineno throw_exceptions = 1 def remap_m6(self, **words):     try:         if self.selected_pocket < 0:             self.set_errormsg("M6: žádný nástroj není zvolen")             yield INTERP_ERROR         if self.cutter_comp_side:             self.set_errormsg("Nemůže proběhnout výměna nástrojů se zapnutou korekcí")             yield INTERP_ERROR         s = linuxcnc.stat() # create a connection to the status channel         s.poll() # get current values         if s.actual_position[2] > 0.1:             self.set_errormsg("Nejdříve sjeď osou Z dolů")             yield INTERP_ERROR         if not (s.homed.count(1) == s.joints):             self.set_errormsg("Zreferuj nejdříve stroj")             yield INTERP_ERROR         #otacky = hal.get_value("hm2_7i96.0.encoder.00.velocity")         #if (otacky > 0.1 or otacky < -0.1):         #    self.set_errormsg("Vřeteno se stále točí")         #    yield INTERP_ERROR         self.params["tool_in_spindle"] = self.current_tool         self.params["selected_tool"] = self.selected_tool         self.params["current_pocket"] = self.current_pocket         self.params["selected_pocket"] = self.selected_pocket         self.execute("G53 G0 Z0",lineno())  #najeti do polohy pro zacatek vymeny         self.execute("G49",lineno())  #zruseni korekcí nástroje         #self.execute("M19 R90 Q20",lineno())  #natočení vřetene                  hal.set_p("atc.0.py-z-limit-atc","True")  #zvetseni soft limitu         hal.set_p("ini.z.max_limit","200")                  # Wait for results         #yield INTERP_EXECUTE_FINISH                  self.execute("G53 G1 Z-195 f2000",lineno())  #vyjeti vretenem nahoru         #cekani-kontrola najeti horniho snimace ATC)         self.execute("f50",lineno())  #nastaveni minimalni rychlosti                  """         hal.set_p("atc.0.py-carousel-en","1")  #spuštění otáčení karuselu                  #čekání dokud se karusel nedotočí         carousel_enable = hal.get_value("carousel.0.ready")         while (carousel_enable == 0):             time.sleep(0.1)             carousel_enable = hal.get_value("carousel.0.ready")         """         self.execute("G53 G1 Z0 f2000",lineno())  #najeti do polohy pro vymenu                  # Wait for results         yield INTERP_EXECUTE_FINISH                  hal.set_p("atc.0.py-z-limit-atc","False")  #puvodni soft limit         hal.set_p("ini.z.max_limit","10")         time.sleep(0.1)                  self.execute("G43",lineno()) #zapnuti korekce nástroje         self.execute("M5",lineno()) #vypnutí polohování vřetene                      self.execute("f50",lineno()) #nastaveni minimalni rychlosti                          yield INTERP_OK              except Exception as e:         self.set_errormsg("M6/change: %s" % (e))                  #hal.set_p("atc.0.py-z-limit-atc","0")  #puvodni soft limit                  yield INTERP_ERROR