Hello everybody,
I spent the whole day thinking about what to conclude from the previous test.
First half of the test:
If I run the command Python Interface and then run the command "HALUI - MDI COMMAND" the Python Interface and "HALUI - MDI COMMAND" is aborted.
I decided to consider this LCNC behavior and not do anything about it. If one wants to avoid this condition, one runs HALUI MDI-COMMAND via the and2 component and the is-idle pin.
Second half of the test:
If I do it the other way round I run HALUI - MDI COMMAND and then run Python Interface command "HALUI - MDI COMMAND" is executed and Python Interface is not executed This produces a message: "Must be in MDI mode to issue MDI command".
Avoiding this situation is not so simple. All GUIs containing the python interface would have to be rewritten. Therefore, I would like to make a modification of the LCNC source codes.
First I will explain where the problem is.
Now the self.command.wait_complete() function waits for commands from the python interface to complete.
I would like self.command.wait_complete() to wait for commands from python interface to be completed AND to wait for MDI-COMMANDS from HALUI to be completed.
I wanted to write a FIX, but unfortunately I couldn't. I will write what I did to explain my thought process.
Here is code for waiting python commands:
github.com/LinuxCNC/linuxcnc/blob/17208c...cmodule.cc#L212-L231
I edited it like this:
Code:
static int emcWaitCommandComplete(pyCommandChannel *s, double timeout) {
double start = etime();
do {
double now = etime();
if(s->s->peek() == EMC_STAT_TYPE) {
EMC_STAT *stat = (EMC_STAT*)s->s->get_address();
int serial_diff = stat->echo_serial_number - s->serial;
if (serial_diff > 0) {
if (halui_sent_mdi == 0) {
return RCS_DONE;
}
}
if (serial_diff == 0 &&
( stat->status == RCS_DONE || stat->status == RCS_ERROR )) {
return stat->status;
}
}
esleep(fmin(timeout - (now - start), EMC_COMMAND_DELAY));
} while (etime() - start < timeout);
return -1;
}
+
Code:
#include "../../halui.hh"
Now I will explain why I added IF with halui_sent_mdi == 0.
I don't want to use the condition emcStatus->task.interpState == EMC_TASK_INTERP_IDLE.
When HALUI starts MDI-COMMANDS it switches the MDI mode from the default mode and returns to the default mode after executing MDI-COMMANDS.
If we used the condition emcStatus->task.interpState == EMC_TASK_INTERP_IDLE, we could again create an unpredictable LCNC behavior. Again, it might work for some and it would behave randomly for some.
That's why I want to use the variable halui_sent_mdi.
github.com/LinuxCNC/linuxcnc/blob/17208c...r_intf/halui.cc#L253
Since the variable halui_sent_mdi is in a different file than emcmodule.cc, I made halui.hh which contains:
Code:
extern int halui_sent_mdi;
In halui.cc I modified:
Code:
#include "halui.hh"
+
Code:
int halui_sent_mdi = 0;
It could be compiled but could not be run.
Code:
jarda@CNC:~/Plocha$ linuxcnc
LINUXCNC - 2.9.0~pre1
Machine configuration directory is '/home/jarda/linuxcnc/linuxcnc-2.9/configs/sim/gmoccapy'
Machine configuration file is 'gmoccapy.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX non-realtime
Found file(REL): ./core_sim.hal
Found file(REL): ./spindle_sim.hal
Found file(REL): ./simulated_home.hal
Traceback (most recent call last):
File "/home/jarda/linuxcnc/linuxcnc-2.9/bin/gmoccapy", line 39, in <module>
import hal_glib # needed to make our own hal pins
^^^^^^^^^^^^^^^
File "/home/jarda/linuxcnc/linuxcnc-2.9/lib/python/hal_glib.py", line 5, in <module>
import linuxcnc
ImportError: /home/jarda/linuxcnc/linuxcnc-2.9/lib/python/linuxcnc.so: undefined symbol: halui_sent_mdi
Shutting down and cleaning up LinuxCNC...
task: 246 cycles, min=0.000006, max=0.001306, avg=0.000950, 0 latency excursions (> 10x expected cycle time of 0.001000s)
Note: Using POSIX non-realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/jarda/linuxcnc_debug.txt
and
/home/jarda/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
I would like to ask for help.
