> Because of this I also tried a bash script
> that called the C program and got the same result (no response). Both work
> from the command line. I get no errors from EMC2.
> I have entered a echo command in the bash script that is shown when I run it
> from the command prompt. When run from EMC2 should it appear in a terminal
> window?
>
Hi
I think you are heading down the classic ladder path to achieve your
overall end, but I don't recall seeing your having solved the initial
problem of executing scripts etc from a M1XX command.
I had some problems getting hal commands to run within a bash script
called from M1xx, a while ago.
First off, unless your controller computer is permanently connected to
the internet, (why would you, hardly going to improve latency) just log
in as, install as and run everything as root.
Sorts out all the problems with permissions, ownership etc. The
'middle-man will get you' paranoids will argue against it, but for a
stand alone computer, I really do not see the problem.
Obviously ensure that M1xx file is in the path pointed to by
PROGRAM_PREFIX in your .ini file
If somehow you have 2 entries in your .ini file, EMC only reads the
first one.
Wonder how I found that out!
If you launch EMC as child process within a terminal (ie without the
trailing & ) you will get stderr etc from emc and any processes launched
from within it, eg bash or your C program.
It was seeing this and using debug outputs, that enabled me to discover
that EMC reads M101 P3 and then passes 3.000000 instead of just 3, to my
M101 script!
As an example the below M101 script uses calls to halcmd to adjust the
scale and stepgen associated with my spindle, to account for pulley changes.
regards
Schooner
/#!/bin/bash
## sets scale gain to make output speed accurate
## for each of 4 pulley settings
if [ ! $# == 1 ]; then
echo "Usage: M101 n - where n is speed range 1 - 4"
exit 1
fi
## emc takes the M101 P3 for example and passes 3.000000
## to this script!!!
## need to convert first
float=$1
int=${float/\.*}
# DEBUG echo "$float converted to $int"
case $int in
1 ) halcmd setp scale.0.gain 0.8
halcmd setp stepgen.4.maxvel 2400;;
2 ) halcmd setp scale.0.gain 1.24
halcmd setp stepgen.4.maxvel 1200;;
3 ) halcmd setp scale.0.gain 3.55
halcmd setp stepgen.4.maxvel 600;;
4 ) halcmd setp scale.0.gain 6
halcmd setp stepgen.4.maxvel 300;;
esac
exit 0/
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