def auto():
"""Change mode to Auto
ActionButton syntax:
::
machine.mode.auto
"""
setTaskMode(linuxcnc.MODE_AUTO)
def mdi():
"""Change mode to MDI
ActionButton syntax:
::
machine.mode.mdi
"""
setTaskMode(linuxcnc.MODE_MDI)
def manual():
"""Change mode to Manual
ActionButton syntax:
::
machine.mode.manual
"""
setTaskMode(linuxcnc.MODE_MANUAL)
def load(fname, add_to_recents=True):
setTaskMode(linuxcnc.MODE_AUTO)
filter_prog = INFO.getFilterProgram(fname)
if not filter_prog:
LOG.debug('Loading NC program: %s', fname)
CMD.program_open(fname.encode('utf-8'))
else:
LOG.debug('Loading file with filter program: %s', fname)
openFilterProgram(fname, filter_prog)
if add_to_recents:
addToRecents(fname)
def issue_mdi(command, reset=True):
"""Issue an MDI command.
An MDI command can be issued any time the machine is homed (if not
NO_FORCE_HOMING in the INI) and the interpreter is IDLE. The task
mode will automatically be switched to MDI prior to issuing the command
and will be returned to the previous mode when the interpreter becomes IDLE.
Args:
command (str) : A valid RS274 gcode command string. Multiple MDI commands
can be separated with a ``;`` and will be issued sequentially.
rest (bool, optional): Whether to reset the Task Mode to the state
the machine was in prior to issuing the MDI command.
"""
if reset:
# save the previous mode
global PREVIOUS_MODE
PREVIOUS_MODE = STAT.task_mode
# Force `interp_state` update on next status cycle. This is needed because
# some commands might take less than `cycle_time` (50ms) to complete,
# so status would not even notice that the interp_state had changed and the
# reset mode method would not be called.
STATUS.old['interp_state'] = -1
if setTaskMode(linuxcnc.MODE_MDI):
# issue multiple MDI commands separated by ';'
for cmd in command.strip().split(';'):
LOG.info("Issuing MDI command: %s", cmd)
CMD.mdi(cmd)
else:
LOG.error("Failed to issue MDI command: {}".format(command))
def load(fname, add_to_recents=True):
if not fname:
# load a blank file. Maybe should load [DISPLAY] OPEN_FILE
clear()
setTaskMode(linuxcnc.MODE_AUTO)
filter_prog = INFO.getFilterProgram(fname)
if not filter_prog:
LOG.debug('Loading NC program: %s', fname)
CMD.program_open(fname.encode('utf-8'))
CMD.wait_complete()
else:
LOG.debug('Loading file with filter program: %s', fname)
openFilterProgram(fname, filter_prog)
if add_to_recents:
addToRecents(fname)
def step():
"""Steps program line by line
ActionButton syntax::
program.step
"""
if STAT.state == linuxcnc.RCS_EXEC and STAT.paused:
CMD.auto(linuxcnc.AUTO_STEP)
elif setTaskMode(linuxcnc.MODE_AUTO):
CMD.auto(linuxcnc.AUTO_STEP)
def run(start_line=0):
"""Runs the loaded program, optionally starting from a specific line.
ActionButton syntax::
program.run
program.run:line
Args:
start_line (int, optional) : The line to start program from. Defaults to 0.
"""
if STAT.state == linuxcnc.RCS_EXEC and STAT.paused:
CMD.auto(linuxcnc.AUTO_RESUME)
elif setTaskMode(linuxcnc.MODE_AUTO):
CMD.auto(linuxcnc.AUTO_RUN, start_line)
def _unhome_joint(jnum):
setTaskMode(linuxcnc.MODE_MANUAL)
CMD.teleop_enable(False)
CMD.unhome(jnum)
def _resetMode(interp_state):
global PREVIOUS_MODE
if PREVIOUS_MODE is not None and interp_state == linuxcnc.INTERP_IDLE:
if setTaskMode(PREVIOUS_MODE):
LOG.debug("Successfully reset task_mode after MDI")
PREVIOUS_MODE = None