fb59d73627
Optional args (10 max) can be used to specify startup parameters for the [EMCIO]DB_PROGRAM DB_VERSION=v2.1 Interface is backwards compatible, but DB_VERSION is bumped in case applications used undocumented argv[1]==DB_VERSION that was originally passed to DB_PROGRAM
161 lines
4.7 KiB
Python
161 lines
4.7 KiB
Python
import sys
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import traceback
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# A python interface for LinuxCNC tool database usage
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#Notes
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# 1) host (LinuxCNC) pushes commands to this program
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# 2) all writes to stdout go to host
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# (caller: use stderr for debug prints)
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#-----------------------------------------------------------
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DB_VERSION = 'v2.1'
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#-----------------------------------------------------------
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# functions for import by user
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# tooldb_callbacks
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# tooldb_tools
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# tooldb_loop
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#-----------------------------------------------------------
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def do_reply(msg):
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sys.stdout.write("%s\n"%msg)
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sys.stdout.flush()
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def saveline(line):
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global theline
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theline = line
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def currentline():
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global theline
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return theline
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def nak_reply(msg):
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theline = currentline()
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if msg != "empty_line": sys.stderr.write(traceback.format_exc()+"\n")
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sys.stdout.write("NAK %s <%s>\n"%(msg,theline))
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sys.stdout.flush()
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def tool_cmd(cmd,params):
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# debug usage: return info for tool
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# parms is toolno
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if not len(params):
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nak_reply("no toolno")
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return
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if len(params.split()) != 1:
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nak_reply("too many parms")
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return
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try:
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toolno = int(params)
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except Exception as e:
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nak_reply("non-integer toolno")
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return
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if toolno not in tools:
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nak_reply("toolno out-of-range")
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return
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do_reply(get_tool(toolno))
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def get_cmd(cmd,params):
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for tno in tools:
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try: msg = get_tool(tno)
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except Exception as e:
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nak_reply( "get_cmd():Exception:%s"%str(e))
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return
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try: do_reply(msg)
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except:
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if (tno==0):
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if debug: sys.stderr.write("no tool in spindle\n")
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pass
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do_reply("FINI (get_cmd)")
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def put_cmds(cmd,params):
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# note: checks are mainly for commandline debugging,
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# expect host to always provide a valid toolline
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uparams = params.upper()
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if len(uparams) == 0:
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raise Exception("cmd=%s: requires tool entry line"%cmd)
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try:
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toolno = int(uparams[0:uparams.index(" ")].strip("T"))
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toolline = uparams
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except Exception as e:
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sys.stderr.write("cmd=%s: %s:\n"%(cmd,e))
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raise Exception("cmd=%s: failed to parse <%s>"%(cmd,params))
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# require at least "Tvalue Pvalue"
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try: toolline.index("T");toolline.index(" P")
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except Exception as e:
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sys.stderr.write("cmd=%s: %s:\n"%(cmd,e))
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raise Exception("cmd=%s: failed to parse <%s>"%(cmd,params))
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try:
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if cmd == "p": put_tool( toolno,toolline)
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elif cmd == "l": load_spindle( toolno,toolline)
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elif cmd == "u": unload_spindle(toolno,toolline)
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except Exception as e:
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nak_reply( "cmd=%s: Exception:%s"%(cmd,str(e)))
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return
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do_reply("FINI (update recvd) %s"%params)
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def unknown_cmd(cmd,params):
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nak_reply("unknown cmd")
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return
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def do_cmd(line):
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global debug
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if debug: sys.stderr.write("!!line=<%s>\n"%line)
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linelist = line.strip().split()
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cmd = linelist[0]
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params = ""
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if len(linelist) > 1:
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# params is everything after first " ":0
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params = line.strip()[line.index(" "):].strip()
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switcher = {
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"g": get_cmd, # get (all tools)
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"p": put_cmds, # put (update one tool offsets)
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"u": put_cmds, # unload spindle
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"l": put_cmds, # load spindle
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"t": tool_cmd, # debug usage
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}
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thecmd = switcher.get(cmd) or unknown_cmd
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thecmd(cmd,params)
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def startup_ack():
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global debug
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debug = 0
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do_reply("%s"%DB_VERSION);
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if (len(sys.argv)>1 and sys.argv[1] == 'debug'): debug = 1
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#-----------------------------------------------------------
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# Begin functions that can be imported
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def tooldb_callbacks(tool_getter,tool_putter,spindle_loader,spindle_unloader):
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"""Specify callback functions"""
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global get_tool, put_tool, load_spindle, unload_spindle
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get_tool = tool_getter
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put_tool = tool_putter
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load_spindle = spindle_loader
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unload_spindle = spindle_unloader
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def tooldb_tools(tool_list):
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"""Specify list = available toolnumers"""
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global tools
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tools = tool_list
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def tooldb_loop():
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"""Loop forever:
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1) send startup acknowledgment
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2) read line from stdino
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3) parse line
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execute command if valid
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nak command if invalid
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4) repeat
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"""
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startup_ack()
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while True:
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try:
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line=sys.stdin.readline().strip()
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saveline(line)
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if (line == ""): nak_reply("empty_line")
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else: do_cmd(line)
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except BrokenPipeError: sys.stdout.close()
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except Exception as e:
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nak_reply("_exception=%s"%e)
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