Re: [Emc-users] Controlling LinuxCNC externally with C++ program
On Sun, Nov 03, 2013 at 09:12:06AM -0700, Sebastian Kuzminsky wrote: Then in linuxcncrsh you can read HAL pins signals like this: set mdi (debug, #_hal[axis.1.f-error-lim]) get operator_display OPERATOR_DISPLAY 0.01 Personally, I discourage use of this feature, because it ignores one of the main points of linuxcnc's hal: the relationship between pins is created not by hardcoding the name of the pin whose value you are interested in in your program, but by allowing the user/integrator to connect pins to other pins via signals. As a concrete example: suppose you have some kind of signal you want to wait on from gcode. If you have a O-while loop on #_hal[parport.0.pin-10-in then your part programs are not portable to a machine which uses mesa hardware instead. gcode provides proper access to digital and analog inputs and outputs via M62 through M67. These correspond to pins on the motion controller that you can properly connect via hal 'net' commands. Jeff -- Android is increasing in popularity, but the open development platform that developers love is also attractive to malware creators. Download this white paper to learn more about secure code signing practices that can help keep Android apps secure. http://pubads.g.doubleclick.net/gampad/clk?id=65839951iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Controlling LinuxCNC externally with C++ program
On 4 November 2013 13:33, Jeff Epler jep...@unpythonic.net wrote: set mdi (debug, #_hal[axis.1.f-error-lim]) get operator_display OPERATOR_DISPLAY 0.01 Personally, I discourage use of this feature, because it ignores one of the main points of linuxcnc's hal: ... As a concrete example: suppose you have some kind of signal you want to wait on from gcode. If you have a O-while loop on #_hal[parport.0.pin-10-in then your part programs are not portable to a machine which uses mesa hardware instead. I am not sure if the feature can read signals as well as pins. Using a signal would address the portability problem. I see your point, but also suspect that any setup using this system with this degree G-code-to-HAL linkage is likely to be rather importable anyway. I used this for my lathe macros as an easy way to get values from a GladeVCP GUI into G-code. Reading the spinbox values into G-code without any hal-coding being needed suited my laziness, while admittedly undermining the whole point of HAL being the mediator of data transactions. I guess I should at the very least have had the G-code reading signal values so that there was the option of re-directing them. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Android is increasing in popularity, but the open development platform that developers love is also attractive to malware creators. Download this white paper to learn more about secure code signing practices that can help keep Android apps secure. http://pubads.g.doubleclick.net/gampad/clk?id=65839951iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Controlling LinuxCNC externally with C++ program
Hi again, So, I have played with the xemc.cc code to uncover some C++ interfaces and I have also played with using linuxcncrsh to control remotely, which is obviously simpler. In my situation, I also need to monitor an analog input which will return a voltage. I have an example of doing something similar in Axis, with signals defined in the HAL file and the appropriate overlay file definition. Is there a way of accessing this same type of data through linuxcncrsh, or will I need to code this specific access myself? thanks again, Walter On Mon, Oct 21, 2013 at 5:45 PM, Frank Tkalcevic fr...@franksworkshop.com.au wrote: As has been mentioned before, using linuxcncrsh may do all that you need. It can open files, start/stop runs, return status etc. It is a simple telnet interface, so you just need a socket connection and then send text commands down the line. There is a Java example in the forum http://www.linuxcnc.org/index.php/english/forum/21-axis/21678-controlling-li nuxcncrsh-from-a-java-program Or, you can look at the linuxcncrsh source to see an example of remote control. Be careful though, the linuxcncrsh code has been changed so that it must be the only GUI. If you try to run it with axis at the same time, linuxcnc will eventually fail. The documentation still says that you can run it with axis. -Original Message- From: Walter Cigana [mailto:walter.cig...@gmail.com] Sent: Monday, 21 October 2013 5:22 PM To: Enhanced Machine Controller (EMC) Subject: [Emc-users] Controlling LinuxCNC externally with C++ program Hi all, I am still Learning LinuxCNC and I again have a few questions. I am trying to figure out the best way to drive LinuxCNC from a C++ program. This program would receive general commands from the user, something like: execute procedure 1 and translate this into telling LinuxCNC to open a specific file and run the G-code therein. I saw that there is a Python interface: http://www.linuxcnc.org/docs/html/common/python-interface.html#_the_linuxcnc _python_module The doc states that Programmatic access to NML is through a C++ API; however, the most important parts of the NML interface to Linuxcnc are also available to Python programs through the linxuxcnc module. I do not really feel like learning Python, but I cannot find the C++ way to do this. I have seen some documentation, but nothing specific and I cannot find any examples. Ideally, I could just use an API from my program. Can someone point me in the right direction??? thanks, Walter -- October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60135031iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60135991iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Android is increasing in popularity, but the open development platform that developers love is also attractive to malware creators. Download this white paper to learn more about secure code signing practices that can help keep Android apps secure. http://pubads.g.doubleclick.net/gampad/clk?id=65839951iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Controlling LinuxCNC externally with C++ program
On 11/03/2013 08:04 AM, Walter Cigana wrote: So, I have played with the xemc.cc code to uncover some C++ interfaces and I have also played with using linuxcncrsh to control remotely, which is obviously simpler. In my situation, I also need to monitor an analog input which will return a voltage. I have an example of doing something similar in Axis, with signals defined in the HAL file and the appropriate overlay file definition. Is there a way of accessing this same type of data through linuxcncrsh, or will I need to code this specific access myself? If you're on the master branch (not 2.5) you can do this. In you .ini file, add this: [RS274NGC] FEATURES=8 Then in linuxcncrsh you can read HAL pins signals like this: set mdi (debug, #_hal[axis.1.f-error-lim]) get operator_display OPERATOR_DISPLAY 0.01 Partial docs for this feature are here: http://www.linuxcnc.org/docs/devel/html/remap/structure.html#_named_parameters_and_hal_items_a_id_remap_referto_hal_items_a -- Sebastian Kuzminsky -- Android is increasing in popularity, but the open development platform that developers love is also attractive to malware creators. Download this white paper to learn more about secure code signing practices that can help keep Android apps secure. http://pubads.g.doubleclick.net/gampad/clk?id=65839951iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Controlling LinuxCNC externally with C++ program
I am trying to figure out the best way to drive LinuxCNC from a C++ program. This program would receive general commands from the user, something like: execute procedure 1 and translate this into telling LinuxCNC to open a specific file and run the G-code therein. If you are using Linuxcnc to control a CNC machine in the normal manner, but just want to be able to make it run a program from another application, axis-remote could be the simplest method from a system() call There is even an Axis hack and modified axis-remote here http://www.linuxcnc.org/index.php/english/forum/38-general-linuxcnc-questions/26061-automated-change-nc-program-possible#28920 which I wrote to allow a program to be loaded and then run remotely. This was for someone who wanted to be able to script the generation of G Code to engrave incrementing serial numbers and then output it to Axis and automatically run the program. You can write programs in C++ which directly control everything, I wrote Qt libraries which do that, but it is non trivial and depending upon what you wish to achieve, perhaps not necessary If you want to dig into it, look at the sources for xemc, halui halcmd. They will uncover most of the calls and show how they are used regards -- October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60135031iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Controlling LinuxCNC externally with C++ program
xemc.cc is a C++ program that uses the relevant APIs. It is far from
being tutorial documentation, but at present we don't *have* any
tutorial documentation about using these APIs.
(such documentation would be a great contribution to LinuxCNC. You
could start with a new page on the wiki and later work with someone like
John Thornton to get it integrated into the offical documentation. if
you are so inclined)
Anyway, here's a complete program that uses the C++ interface to log the
position at about 10Hz:
#include emc.hh
#include emc_nml.hh
#include unistd.h
#include iostream
#include cstdlib
int main(int argc, char **argv) {
if(argc 2) { std::cerr Usage: argv[0] NMLFILE\n; abort(); }
const char *nmlfile = argv[1];
RCS_STAT_CHANNEL *stat = new RCS_STAT_CHANNEL(emcFormat, emcStatus,
xemc, nmlfile);
while(1) {
usleep(100*1000);
if(!stat-valid()) continue;
if(stat-peek() != EMC_STAT_TYPE) continue;
EMC_STAT *emcStatus = static_castEMC_STAT*(stat-get_address());
std::cout emcStatus-motion.traj.position.tran.x
emcStatus-motion.traj.position.tran.y
emcStatus-motion.traj.position.tran.z \n;
}
return 0;
}
In a run-in-place version of v2.5_branch it builds with this commandline:
g++ -o nml-position-logger nml-position-logger.cc -Iinclude -Llib -lnml
-llinuxcnc
(and probably it will build from the package version if you have the -dev
package installed, but I didn't test this)
in master branch it looks like we have a regression so the commandline required
is:
g++ -o nml-position-logger nml-position-logger.cc -Iinclude
-Isrc/emc/rs274ngc -Llib -lnml -llinuxcnc
and a -dev package will not include at least one of the required headers.
To use this program you would start linuxcnc with a traditional UI and
then execute the program with the path to linuxcnc.nml. For example
if you're at the top dirctory of a run-in-place linuxcnc:
./nml-position-logger configs/common/linuxcnc.nml
.. press ctrl-c to exit.
To send commands you will use an RCS_CMD_CHANNEL:
// command channel
RCS_CMD_CHANNEL *cmd =
new RCS_CMD_CHANNEL(emcFormat, emcCommand, xemc, file);
int emcCommandSerialNumber = 0;
and sending a command consists of something like
EMC_TASK_ABORT m;
m.serial_number = ++emcCommandSerialNumber;
// most commands have other fields that must be initialized
// such as EMC_TASK_SET_MODE::mode
cmd-write(m);
// at this point, many UIs have logic to wait for task to receive
// the command, though xemc does not
To recieve error notices create an error connection
// error channel
NML *error = new NML(emcFormat, emcError, xemc, file);
and poll it like yo usee in xemc.cc:updateError(). Note that when
multiple UIs exist which poll for errors, only one of them will receive
the error.
The string xemc which occurs in several places is a magic string; you
will just want to leave it unchanged.
Jeff
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Re: [Emc-users] Controlling LinuxCNC externally with C++ program
As has been mentioned before, using linuxcncrsh may do all that you need. It can open files, start/stop runs, return status etc. It is a simple telnet interface, so you just need a socket connection and then send text commands down the line. There is a Java example in the forum http://www.linuxcnc.org/index.php/english/forum/21-axis/21678-controlling-li nuxcncrsh-from-a-java-program Or, you can look at the linuxcncrsh source to see an example of remote control. Be careful though, the linuxcncrsh code has been changed so that it must be the only GUI. If you try to run it with axis at the same time, linuxcnc will eventually fail. The documentation still says that you can run it with axis. -Original Message- From: Walter Cigana [mailto:walter.cig...@gmail.com] Sent: Monday, 21 October 2013 5:22 PM To: Enhanced Machine Controller (EMC) Subject: [Emc-users] Controlling LinuxCNC externally with C++ program Hi all, I am still Learning LinuxCNC and I again have a few questions. I am trying to figure out the best way to drive LinuxCNC from a C++ program. This program would receive general commands from the user, something like: execute procedure 1 and translate this into telling LinuxCNC to open a specific file and run the G-code therein. I saw that there is a Python interface: http://www.linuxcnc.org/docs/html/common/python-interface.html#_the_linuxcnc _python_module The doc states that Programmatic access to NML is through a C++ API; however, the most important parts of the NML interface to Linuxcnc are also available to Python programs through the linxuxcnc module. I do not really feel like learning Python, but I cannot find the C++ way to do this. I have seen some documentation, but nothing specific and I cannot find any examples. Ideally, I could just use an API from my program. Can someone point me in the right direction??? thanks, Walter -- October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60135031iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60135991iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
