Python - yield INTERP_EXECUTE_FINISH

REMAP=M6 modalgroup=10 python=test_finish

def test_finish(self, **words):     print("Hello")     self.execute("G1 X10 Y10 f50")        print("I moved")     self.execute("G1 X20 Y20 f50")        print("I moved to second place")     yield INTERP_OK

def test_finish(self, **words):     print("Hello")     self.execute("G1 X10 Y10 f50")        yield INTERP_EXECUTE_FINISH     print("I moved")     self.execute("G1 X20 Y20 f50")        yield INTERP_EXECUTE_FINISH     print("I moved to second place")     yield INTERP_OK

# orient the tool to the current twp (No TCP) def g531(self): if self.task == 0: yield INTERP_OK global saved_work_offset global twp_flag # reset the twp build twp_flag = [0, 'empty'] # switch to identity kins hal.set_p("motion.switchkins-type",str(0)) yield INTERP_EXECUTE_FINISH # calculate the required rotary joint positions and # pre_rotation for the requested tool-orientation a_j, b_j, pre_rot = twp_calc_jnts_pos_and_pre_rot(self) gui_update_twp(self) kins_comp_set_pre_rot(self, pre_rot) yield INTERP_EXECUTE_FINISH print(" mdi moving joints A, B: ", a_j, b_j) # store current coordiantes because emccanon wants values for all nine axes x_pos = emccanon.GET_EXTERNAL_POSITION_X() y_pos = emccanon.GET_EXTERNAL_POSITION_Y() z_pos = emccanon.GET_EXTERNAL_POSITION_Z() c_pos = emccanon.GET_EXTERNAL_POSITION_C() emccanon.STRAIGHT_TRAVERSE(2, x_pos, y_pos, z_pos, a_j*(180/pi), b_j*(180/pi), c_pos, 0,0,0) yield INTERP_EXECUTE_FINISH # calculate the work offset in tool-coords P = matrix_to_point(kins_calc_tool_transformation(self, point_to_matrix(saved_work_offset))) print("Setting transformed work-offsets in tool-kins: ", P) emccanon.SET_G5X_OFFSET(0, P[0], P[1], P[2], 0,0,0,0,0,0) # same as above but for twp-offsets used for twp origin as set by g68.2 (x,y,z)-words # g69 will set the twp-offsets to zero. current_twp_offset = params_get_current_twp_offset(self) P = matrix_to_point(kins_calc_tool_transformation(self, point_to_matrix(current_twp_offset))) print("Setting transformed twp-offset in tool-kins: ", P) hal.set_p("xyzabc_trsrn_kins.twp-x",str(P[0])) hal.set_p("xyzabc_trsrn_kins.twp-y",str(P[1])) hal.set_p("xyzabc_trsrn_kins.twp-z",str(P[2])) yield INTERP_EXECUTE_FINISH # switch to tool kins hal.set_p("motion.switchkins-type",str(2)) yield INTERP_EXECUTE_FINISH # we only want to update the offsets as those get rotated by rotary-joint positions # while the twp is rotated using the method chosen by the g68.2 p-word gui_update_offsets(self) yield INTERP_OK

1) Print "Hello" 2) move to x10 y10 3) Print "I moved" 4) move to x20 y20 5) Print "I moved to second place"

def test_finish(self, **words):     print("Hello")     self.execute("G1 X10 Y10 f50")        yield INTERP_EXECUTE_FINISH     print("I moved")     emccanon.STRAIGHT_TRAVERSE(2, 20, 20, 0, 0, 0, 0, 0, 0, 0)     yield INTERP_EXECUTE_FINISH     print("I moved to second place")     yield INTERP_OK

    c.mode(linuxcnc.MODE_MDI)     c.wait_complete() # wait until mode switch executed     c.mdi("G0 X10 Y20 Z30")

def remap_m6_test(self, **words):     print("Hello")     self.execute("G1 X10 Y10 f50")          s = linuxcnc.stat() # create a connection to the status channel     s.poll() # get current values     while (s.actual_position[0] != 10):         print("HAFHAF1")         time.sleep(0.1)         print("HAFHAF2")         s.poll() # get current values     print("I moved")     self.execute("G1 X20 Y20 f50")     s.poll() # get current values     while (s.actual_position[0] != 20):         time.sleep(0.1)         s.poll() # get current values             print("I moved to second place")     return INTERP_OK