def starttask(): global pytask import emc ini = emc.ini(emctask.ini_filename()) t = ini.find("PYTHON", "PYTHON_TASK") if int(t) if t else 0: pytask = customtask.CustomTask()
def starttask(): global pytask try: import emc except ImportError: import linuxcnc as emc # ini only ini = emc.ini(emctask.ini_filename()) t = ini.find("PYTHON", "PYTHON_TASK") if int(t) if t else 0: pytask = customtask.CustomTask()
def __init__(self): signal.signal(signal.SIGINT, handler) signal.signal(signal.SIGTERM, handler) try: if debug(): print("py: CustomTask()") emctask.Task.__init__(self) self.inifile = emc.ini(emctask.ini_filename()) self.tcpins = int( self.inifile.find("TOOL", "TASK_TOOLCHANGE_PINS") or 0) self.startchange_pins = int( self.inifile.find("TOOL", "TASK_START_CHANGE_PINS") or 0) self.fault_pins = int( self.inifile.find("TOOL", "TASK_TOOLCHANGE_FAULT_PINS") or 0) h = hal.component("iocontrol.0") h.newpin("coolant-flood", hal.HAL_BIT, hal.HAL_OUT) h.newpin("coolant-mist", hal.HAL_BIT, hal.HAL_OUT) h.newpin("lube-level", hal.HAL_BIT, hal.HAL_OUT) h.newpin("lube", hal.HAL_BIT, hal.HAL_OUT) h.newpin("emc-enable-in", hal.HAL_BIT, hal.HAL_IN) h.newpin("user-enable-out", hal.HAL_BIT, hal.HAL_OUT) h.newpin("user-request-enable", hal.HAL_BIT, hal.HAL_OUT) if self.tcpins: h.newpin("tool-change", hal.HAL_BIT, hal.HAL_OUT) h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_IN) h.newpin("tool-number", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_OUT) h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_IN) if self.startchange_pins: h.newpin("start-change", hal.HAL_BIT, hal.HAL_OUT) h.newpin("start-change-ack", hal.HAL_BIT, hal.HAL_IN) if self.fault_pins: h.newpin("emc-abort", hal.HAL_BIT, hal.HAL_OUT) h.newpin("emc-abort-ack", hal.HAL_BIT, hal.HAL_IN) h.newpin("emc-reason", hal.HAL_S32, hal.HAL_OUT) h.newpin("toolchanger-fault", hal.HAL_BIT, hal.HAL_IN) h.newpin("toolchanger-fault-ack", hal.HAL_BIT, hal.HAL_OUT) h.newpin("toolchanger-reason", hal.HAL_S32, hal.HAL_IN) h.newpin("toolchanger-faulted", hal.HAL_BIT, hal.HAL_OUT) h.newpin("toolchanger-clear-fault", hal.HAL_BIT, hal.HAL_IN) h.ready() self.components = dict() self.components["iocontrol.0"] = h self.hal = h self.hal_init_pins() self.io = emctask.emcstat.io self.io.aux.estop = 1 self._callback = None self._check = None tt = self.io.tool.toolTable for p in range(0, len(tt)): tt[p].zero() UserFuncs.__init__(self) self.enqueue = EnqueueCall(self) except Exception as e: print("__init__") print_exc_plus() self.io.status = emctask.RCS_STATUS.RCS_ERROR else: self.io.status = emctask.RCS_STATUS.RCS_DONE
def __init__(self): signal.signal(signal.SIGINT, handler) signal.signal(signal.SIGTERM, handler) try: if debug(): print "py: CustomTask()" emctask.Task.__init__(self) self.inifile = emc.ini(emctask.ini_filename()) self.tcpins = int(self.inifile.find("TOOL", "TASK_TOOLCHANGE_PINS") or 0) self.startchange_pins = int(self.inifile.find("TOOL", "TASK_START_CHANGE_PINS") or 0) self.fault_pins = int(self.inifile.find("TOOL", "TASK_TOOLCHANGE_FAULT_PINS") or 0) h = hal.component("iocontrol.0") h.newpin("coolant-flood", hal.HAL_BIT, hal.HAL_OUT) h.newpin("coolant-mist", hal.HAL_BIT, hal.HAL_OUT) h.newpin("lube-level", hal.HAL_BIT, hal.HAL_OUT) h.newpin("lube", hal.HAL_BIT, hal.HAL_OUT) h.newpin("emc-enable-in", hal.HAL_BIT, hal.HAL_IN) h.newpin("user-enable-out", hal.HAL_BIT, hal.HAL_OUT) h.newpin("user-request-enable", hal.HAL_BIT, hal.HAL_OUT) if self.tcpins: h.newpin("tool-change", hal.HAL_BIT, hal.HAL_OUT) h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_IN) h.newpin("tool-number", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_OUT) h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_OUT) h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_IN) if self.startchange_pins: h.newpin("start-change", hal.HAL_BIT, hal.HAL_OUT) h.newpin("start-change-ack", hal.HAL_BIT, hal.HAL_IN) if self.fault_pins: h.newpin("emc-abort", hal.HAL_BIT, hal.HAL_OUT) h.newpin("emc-abort-ack", hal.HAL_BIT, hal.HAL_IN) h.newpin("emc-reason", hal.HAL_S32, hal.HAL_OUT) h.newpin("toolchanger-fault", hal.HAL_BIT, hal.HAL_IN) h.newpin("toolchanger-fault-ack", hal.HAL_BIT, hal.HAL_OUT) h.newpin("toolchanger-reason", hal.HAL_S32, hal.HAL_IN) h.newpin("toolchanger-faulted", hal.HAL_BIT, hal.HAL_OUT) h.newpin("toolchanger-clear-fault", hal.HAL_BIT, hal.HAL_IN) h.ready() self.components = dict() self.components["iocontrol.0"] = h self.hal = h self.hal_init_pins() self.io = emctask.emcstat.io self.io.aux.estop = 1 self._callback = None self._check = None tt = self.io.tool.toolTable for p in range(0,len(tt)): tt[p].zero() UserFuncs.__init__(self) self.enqueue = EnqueueCall(self) except Exception,e: print "__init__" print_exc_plus() self.io.status = emctask.RCS_STATUS.RCS_ERROR