proof of concept

author: Michael Haberler <git@mah.priv.at> 2011-07-29 09:22:59 +0200
committer: Michael Haberler <git@mah.priv.at> 2011-10-28 08:25:56 +0200
commit: 603620b814d1fd6acd030e2a6763dbf08606a04d (patch)
tree: 60c1f0982aa6d542e3304132b3448c325e8a41b4
parent: 6e98f7a68825d1f29ac56c43cd7403768a5791ab (diff)
download: linuxcnc-603620b814d1fd6acd030e2a6763dbf08606a04d.tar.gz
linuxcnc-603620b814d1fd6acd030e2a6763dbf08606a04d.zip
15 files changed, 381 insertions, 137 deletions
diff --git a/configs/sim/nstools.tbl b/configs/sim/nstools.tbl
index bedf193ea..b8dd66dcd 100644
--- a/configs/sim/nstools.tbl
+++ b/configs/sim/nstools.tbl
@@ -1,24 +1,24 @@
-T1 P31 D1 Z101
-T2 P32 D2 Z102
-T3 P33 D3 Z103
-T4 P34 D4 Z104 ;added 20110413
-T5 P35 D5 Z105 ;added 20110413
-T6 P36 D6 Z106 ;added 20110413
-T7 P37 D7 Z107 ;added 20110413
-T8 P38 D8 Z108 ;added 20110413
-T9 P39 D9 Z109 ;added 20110413
-T10 P40 D10 Z110 ;added 20110413
-T11 P41 D11 Z111 ;added 20110413
-T12 P42 Z112 D4 ;3d taster elektronisch
-T13 P43 Z113 D13 ;3-schneider schaftfrÃ¤ser
-T14 P44 Z114 D10 ;3 schneiden stufenbohrer 5.5 auf 10
-T15 P45 Z115 D10 ;tin bohrer
-T16 P46 Z116 D12.5 ;3 schneiden stufenbohrer 6.8 auf 12.5
-T17 P47 Z117 D6.5 ;stufenbohrer 4.2 auf 6.5 mit 45 grad Ã¼bergang
-T18 P48 Z118 D4 ;schaftfrÃ¤ser 4 schneider
-T19 P49 Z119 D11 ;bohrer
-T20 P50 Z120 D50.1 ;messerkopf 4 platten
-T21 P51 Z121 D7.8 ;bohrer poliert
-T22 P52 Z122 D16.15 ;messerkopf zweischneider
-T23 P53 Z123 D3.3 ;bohrer poliert
-T24 P54 Z124 D12 ;positionierstift
+T3 P0 D3.000000 Z+103.000000
+T1 P2 D1.000000 Z+101.000000
+T2 P3 D2.000000 Z+102.000000
+T4 P4 D4.000000 Z+104.000000
+T5 P5 D5.000000 X+4711.000000 Z+105.000000
+T6 P6 D6.000000 Z+106.000000
+T7 P7 D7.000000 Z+107.000000
+T8 P8 D8.000000 Z+108.000000
+T9 P9 D9.000000 Z+109.000000
+T10 P10 D10.000000 Z+110.000000
+T11 P11 D11.000000 Z+111.000000
+T12 P12 D4.000000 Z+112.000000
+T13 P13 D13.000000 Z+113.000000
+T14 P14 D10.000000 Z+114.000000
+T15 P15 D10.000000 Z+115.000000
+T16 P16 D12.500000 Z+116.000000
+T17 P17 D6.500000 Z+117.000000
+T18 P18 D4.000000 Z+118.000000
+T19 P19 D11.000000 Z+119.000000
+T20 P20 D50.100000 Z+120.000000
+T21 P21 D7.800000 Z+121.000000
+T22 P22 D16.150000 Z+122.000000
+T23 P23 D3.300000 Z+123.000000
+T24 P24 D12.000000 Z+124.000000
diff --git a/configs/sim/py.ini b/configs/sim/py.ini
index ecce8cd13..003d55c8e 100644
--- a/configs/sim/py.ini
+++ b/configs/sim/py.ini
@@ -20,11 +20,11 @@ MACHINE =               EMC-HAL-SIM-AXIS
 #DEBUG =               0x7FFFDEFF  #no interp,oword
 #DEBUG  =   	       0x00008000 # py only
 #DEBUG  =   	       0x0000E000 # py + remap + Oword
-#DEBUG  =   	       0x0000C000 # py + remap
+DEBUG  =   	       0x0000C000 # py + remap
 #DEBUG  =   	       0x0000C100 # py + remap + Interpreter
 #DEBUG  =   	       0x0000C140 # py + remap + Interpreter + NML msgs
 #DEBUG  =   	        0x0000C040 # py + remap + NML
-DEBUG  =   	       0x0003E100 # py + remap + Interpreter + oword + signals + namedparams
+#DEBUG  =   	       0x0003E100 # py + remap + Interpreter + oword + signals + namedparams
 #DEBUG =                0x00008000
 #DEBUG = 0 # 0x00000100
 #    0x00000001 Ausgabe ungültige Meldungen
@@ -124,6 +124,7 @@ RELOAD_ON_CHANGE=1
 #LOG_FILE= py.log
 LOG_LEVEL = 3
 
+TASK=task = task.customtask.CustomTask()
 # Part program interpreter section --------------------------------------------
 [RS274NGC]
 #PRINT_CODES = 1
diff --git a/configs/sim/pysubs/customtask.py b/configs/sim/pysubs/customtask.py
new file mode 100644
index 000000000..c65909981
--- /dev/null
+++ b/configs/sim/pysubs/customtask.py
@@ -0,0 +1,52 @@
+import emctask
+
+
+# int test(int arg);
+# int emcToolPrepare(int p, int tool);
+# int emcToolLoad();
+# int emcToolUnload();
+# int emcToolSetNumber(int number);
+
+# virtual but not yet wrapped
+# void load_tool(int pocket);
+# int saveToolTable(const char *filename,			      CANON_TOOL_TABLE toolTable[]);
+
+class CustomTask(emctask.Task):
+    def __init__(self):
+        emctask.Task.__init__(self)
+        print "Py CustomTask.init"
+
+
+    # example Python pre & post-call hooks
+    def test(self, arg):
+        # do your pre-call Python thing
+        print "Py pre test(%d)" % (arg)
+        # call the default ethod (C)
+        rc = super(CustomTask,self).test(arg)
+        # do your post-call Python thing
+        print "Py post test(%d)" % (arg)
+        return rc
+
+    def emcToolPrepare(self,p,tool):
+        print "--Py pre-hook: emcToolPrepare()",p, tool
+        emctask.operator_text("foo!",id=4711)
+        rc = super(CustomTask,self).emcToolPrepare(p,tool)
+        emctask.operator_error("bar!")
+        print "--Py post-hook: emcToolPrepare()",p, tool
+        return rc
+
+    def emcToolLoad(self):
+        print "--Py pre-hook: emcToolLoad()"
+        rc = super(CustomTask,self).emcToolLoad()
+        return rc
+
+    def emcToolUnload(self):
+        print "--Py pre-hook: emcToolUnload()"
+        rc = super(CustomTask,self).emcTooUnload()
+        return rc
+
+
+    def emcToolSetNumber(self,n):
+        print "--Py pre-hook: emcToolSetNumber()",n
+        rc = super(CustomTask,self).emcToolSetNumber(n)
+        return rc
diff --git a/configs/sim/pysubs/plugins.py b/configs/sim/pysubs/plugins.py
index 950d2ac65..014247509 100644
--- a/configs/sim/pysubs/plugins.py
+++ b/configs/sim/pysubs/plugins.py
@@ -1,9 +1,12 @@
 import interpreter
 import canon
 have_emctask = False
-if 'emctask' in sys.builtin_module_names:
+try:
     import emctask
     have_task = True
+except ImportError:
+    pass
+
 
 import task
 import oword
diff --git a/configs/sim/pysubs/task.py b/configs/sim/pysubs/task.py
index ef9eeb109..11652c46c 100644
--- a/configs/sim/pysubs/task.py
+++ b/configs/sim/pysubs/task.py
@@ -1,8 +1,16 @@
+import sys
 import hal
 import canon
 import interpreter
 
 try:
+    import emctask
+    import customtask
+    print "-- emctask & customtask imported"
+except ImportError:
+    pass
+
+try:
     import cPickle as pickle
 except ImportError:
     import pickle
@@ -110,8 +118,7 @@ class EnqueueCall(object):
         self._name = name
         return self._encode
 
-
-
 execute = Execute()
 enqueue = EnqueueCall(execute)
 
+
diff --git a/src/emc/pythonplugin/python_plugin.cc b/src/emc/pythonplugin/python_plugin.cc
index a5c4139d7..cfa148fca 100644
--- a/src/emc/pythonplugin/python_plugin.cc
+++ b/src/emc/pythonplugin/python_plugin.cc
@@ -161,7 +161,8 @@ int PythonPlugin::reload()
 }
 
 // decode a Python exception into a string.
-std::string PythonPlugin::handle_pyerror()
+// Free function usable without working plugin instance.
+std::string handle_pyerror()
 {
     PyObject *exc, *val, *tb;
     bp::object formatted_list, formatted;
diff --git a/src/emc/pythonplugin/python_plugin.hh b/src/emc/pythonplugin/python_plugin.hh
index e83d3ca6f..6bff3eed4 100644
--- a/src/emc/pythonplugin/python_plugin.hh
+++ b/src/emc/pythonplugin/python_plugin.hh
@@ -11,6 +11,9 @@ namespace bp = boost::python;
 #include <sys/types.h>
 
 
+extern std::string handle_pyerror();
+
+
 // PY_EXCEPTION: both exception_msg and error_msg are set
 // PY_ERROR:  error_msg is set
 enum pp_status   {
@@ -51,6 +54,7 @@ public:
     void initialize(bool reload = false, Interp *interp = NULL);
     std::string last_exception() { return exception_msg; };
     std::string last_errmsg() { return error_msg; };
+    bp::object main_namespace;
 
 private:
     PythonPlugin(const char *iniFilename,         // no public constructor
@@ -62,7 +66,6 @@ private:
     ~PythonPlugin() {};
 
     int reload();
-    std::string handle_pyerror();
     std::vector<std::string> inittab_entries;
     int status;
     time_t module_mtime;                  // toplevel module - last modification time
@@ -73,7 +76,6 @@ private:
     const char *module_basename;          // toplevel module
     const char *plugin_dir;               // directory prefix
     const char *abs_path;                 // normalized path to toplevel module, ProgramName
-    bp::object main_namespace;
     std::string exception_msg;
     std::string error_msg;
     int log_level;
diff --git a/src/emc/sai/Submakefile b/src/emc/sai/Submakefile
index 157ea1731..e786dbc69 100644
--- a/src/emc/sai/Submakefile
+++ b/src/emc/sai/Submakefile
@@ -1,9 +1,9 @@
 TARGETS += ../bin/rs274
 SAISRCS := $(addprefix emc/sai/, saicanon.cc driver.cc dummyemcstat.cc builtin_modules.cc) \
-	emc/rs274ngc/tool_parse.cc emc/task/taskmodule.cc
+	emc/rs274ngc/tool_parse.cc emc/task/taskmodule.cc emc/task/taskclass.cc
 USERSRCS += $(SAISRCS)
 
-$(call TOOBJSDEPS,$(SAISRCS)) : 
+$(call TOOBJSDEPS,$(SAISRCS)) :
 ../bin/rs274: $(call TOOBJS, $(SAISRCS)) ../lib/librs274.so.0 ../lib/libemc.a ../lib/libnml.so.0
 	$(ECHO) Linking $(notdir $@)
 	$(CC) $(LDFLAGS)  -o $@ $^ $(ULFLAGS) /usr/lib/libpython2.6.a
diff --git a/src/emc/sai/dummyemcstat.cc b/src/emc/sai/dummyemcstat.cc
index 373be116a..43336e22b 100644
--- a/src/emc/sai/dummyemcstat.cc
+++ b/src/emc/sai/dummyemcstat.cc
@@ -4,5 +4,7 @@
 #include "emc.hh"		// EMC NML
 #include "emc_nml.hh"
 
-static EMC_STAT dummy_emcstat;
-EMC_STAT *emcStatus = &dummy_emcstat;
+
+EMC_STAT *emcStatus = new EMC_STAT;
+
+EMC_IO_STAT *emcIoStatus = new EMC_IO_STAT;
diff --git a/src/emc/task/Submakefile b/src/emc/task/Submakefile
index 1c04d809f..6631f0d22 100644
--- a/src/emc/task/Submakefile
+++ b/src/emc/task/Submakefile
@@ -22,6 +22,7 @@ MILLTASKSRCS := \
 	emc/rs274ngc/tool_parse.cc \
 	emc/task/taskmodule.cc \
 	emc/task/signalhandler.cc \
+	emc/task/taskclass.cc \
 	$(ULAPISRCS)
 USERSRCS += $(MILLTASKSRCS)
 
diff --git a/src/emc/task/emctask.cc b/src/emc/task/emctask.cc
index 71aa90d78..53e78c883 100644
--- a/src/emc/task/emctask.cc
+++ b/src/emc/task/emctask.cc
@@ -31,6 +31,8 @@
 #include "rcs_print.hh"
 #include "task.hh"		// emcTaskCommand etc
 #include "python_plugin.hh"
+#include "taskclass.hh"
+
 
 #define TASK_MODULE "task"
 #define TASK_INIT "task_init"
@@ -41,6 +43,7 @@ extern PythonPlugin *python_plugin;
 
 static int emcPythonReturnValue(const char *funcname, bp::object &retval);
 
+
 #define USER_DEFINED_FUNCTION_MAX_DIRS 5
 #define MAX_M_DIRS (USER_DEFINED_FUNCTION_MAX_DIRS+1)
 //note:the +1 is for the PROGRAM_PREFIX or default directory==nc_files
@@ -660,21 +663,54 @@ int emcAbortCleanup(int reason, const char *message)
     return status;
 }
 
-int emcTaskOnce()
+ Task *task_methods;
+
+int emcTaskOnce(const char *python_taskinit)
 {
     bp::object retval;
     bp::tuple arg;
     bp::dict kwarg;
+    int plugin_status;
+    Task *tmp = NULL;
 
     // At this point, the interpreter must be done configuring and have instantiated the
     // Python plugin
 
     if (PYUSABLE && python_plugin->is_callable(TASK_MODULE, TASK_INIT)) {
 	python_plugin->call(TASK_MODULE, TASK_INIT, arg, kwarg, retval);
-	return emcPythonReturnValue(TASK_INIT, retval);
-    } else {
-	fprintf(stderr,"emcTaskOnce: Python task plugin not available|n");
+	plugin_status = emcPythonReturnValue(TASK_INIT, retval);
+	if (plugin_status != PLUGIN_OK)  // FIXME - NO_CALLABLE?
+	    printf("plugin_status = %d '%s'\n'%s'\n", plugin_status,
+		   python_plugin->last_errmsg().c_str(),
+		   python_plugin->last_exception().c_str());
+	if (PYUSABLE && (python_taskinit != NULL)) {
+	    //  fprintf(stderr, "---------- should run '%s'\n", python_taskinit);
+	    try {
+		bp::object result = bp::exec(python_taskinit, python_plugin->main_namespace, python_plugin->main_namespace);
+		tmp = bp::extract< Task * >(python_plugin->main_namespace["task"]);
+		//	tmp = bp::extract< Task * >(result); //hm, doesnt work for bp::eval() ?
+
+	    } catch( bp::error_already_set ) {
+		std::string msg = handle_pyerror();
+		printf("exec(%s): %s\n", python_taskinit,msg.c_str());
+		PyErr_Clear();
+	    }
+	    if (tmp == NULL) {
+		printf("no Python Task() instance available\n");
+	    }
+	}
     }
+    if (tmp == NULL)
+	tmp = new Task();
+    try {
+	tmp->test(4711);
+    } catch( bp::error_already_set ) {
+	std::string msg = handle_pyerror();
+	printf("call t->test(): %s\n", msg.c_str());
+	PyErr_Clear();
+    }
+    //    fprintf(stderr,"emcTaskOnce: Python task plugin not available|n");
+    task_methods = tmp;
     return 0;
 }
 
diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
index f13dd73bf..60eec5f6b 100644
--- a/src/emc/task/emctaskmain.cc
+++ b/src/emc/task/emctaskmain.cc
@@ -78,6 +78,7 @@ fpu_control_t __fpu_control = _FPU_IEEE & ~(_FPU_MASK_IM | _FPU_MASK_ZM | _FPU_M
 #include "timer.hh"
 #include "nml_oi.hh"
 #include "task.hh"		// emcTaskCommand etc
+#include "taskclass.hh"
 
 /* time after which the user interface is declared dead
  * because it would'nt read any more messages
@@ -135,6 +136,7 @@ static int pseudoMdiLineNumber = INT_MIN;
 // for operator display on iocontrol signalling a toolchanger fault if io.fault is set
 // %d receives io.reason
 static const char *io_error = "toolchanger error %d";
+static const char *python_taskinit;
 
 extern void setup_signal_handlers(); // backtrace, gdb-in-new-window supportx
 
@@ -2895,10 +2897,10 @@ static int emctask_startup()
 	rcs_print_error("can't initialize interpreter\n");
 	return -1;
     }
-    // let her know she's running under task
-    emcTaskOnce();
+    // inistantiate task methods object, too
+    emcTaskOnce(python_taskinit);
 
-    if (done) {
+    if (done || (task_methods == NULL)) {
 	emctask_shutdown();
 	exit(1);
     }
@@ -3080,6 +3082,11 @@ static int iniLoad(const char *filename)
     if (NULL != (inistring = inifile.Find("IO_ERROR", "TASK"))) {
 	io_error = strdup(inistring);
     }
+
+    // configurable template for iocontrol reason display
+    if (NULL != (inistring = inifile.Find( "TASK","PYTHON"))) {
+	python_taskinit = strdup(inistring);
+    }
     // close it
     inifile.Close();
 
diff --git a/src/emc/task/iotaskintf.cc b/src/emc/task/iotaskintf.cc
index be2823bcd..bd1e0ca7c 100644
--- a/src/emc/task/iotaskintf.cc
+++ b/src/emc/task/iotaskintf.cc
@@ -4,7 +4,6 @@
 
 
 
-
 /********************************************************************
 * Description: iotaskintf.cc
 *   NML interface functions for IO
@@ -35,6 +34,9 @@
 #include "inifile.hh"
 #include "initool.hh"
 #include "tool_parse.h"
+#include "python_plugin.hh"
+#include "taskclass.hh"
+#include <string>
 
 
 // we just keep emcIoStatus to keep task happy
@@ -123,47 +125,62 @@ int emcIoSetDebug(int debug)
     return 0;
 }
 
+int handle_exception(const char *method)
+{
+    std::string msg = handle_pyerror();
+    printf("executing %s(): %s\n", method,msg.c_str());
+    PyErr_Clear();
+    return RCS_ERROR;
+}
+
 int emcToolPrepare(int p, int tool)
 {
+    int retval;
+    try {
+	retval = task_methods->emcToolPrepare(p,tool);
+    } catch( bp::error_already_set ) {
+	retval =  handle_exception("emcToolPrepare");
+    }
+    return 0;
 
-    // it doesn't make sense to prep the spindle pocket
-    if (random_toolchanger && p == 0)
-	return 0;
+    // // it doesn't make sense to prep the spindle pocket
+    // if (random_toolchanger && p == 0)
+    // 	return 0;
 
 
-    /* set tool number first */
-    int prep_number;
-    //*(iocontrol_data->tool_prep_pocket) = p;
-    if (!random_toolchanger && p == 0) {
-	//	*(iocontrol_data->tool_prep_number) = 0;
-	prep_number = 0;
-    } else {
-	// *(iocontrol_data->tool_prep_number) = emcIoStatus->tool.toolTable[p].toolno;
-	prep_number = emcIoStatus->tool.toolTable[p].toolno;
-    }
-    fprintf(stderr,"emcToolPrepare: raise prepare, prep_number=%d, wait for prepared\n",prep_number);
+    // /* set tool number first */
+    // int prep_number;
+    // //*(iocontrol_data->tool_prep_pocket) = p;
+    // if (!random_toolchanger && p == 0) {
+    // 	//	*(iocontrol_data->tool_prep_number) = 0;
+    // 	prep_number = 0;
+    // } else {
+    // 	// *(iocontrol_data->tool_prep_number) = emcIoStatus->tool.toolTable[p].toolno;
+    // 	prep_number = emcIoStatus->tool.toolTable[p].toolno;
+    // }
+    // fprintf(stderr,"emcToolPrepare: raise prepare, prep_number=%d, wait for prepared\n",prep_number);
 
-    emcIoStatus->tool.pocketPrepped = p; // *(iocontrol_data->tool_prep_pocket); //check if tool has been prepared
-    emcIoStatus->status = RCS_DONE;
+    // emcIoStatus->tool.pocketPrepped = p; // *(iocontrol_data->tool_prep_pocket); //check if tool has been prepared
+    // emcIoStatus->status = RCS_DONE;
 
-    // *(iocontrol_data->tool_prepare) = 0;
+    // // *(iocontrol_data->tool_prepare) = 0;
 
-    // if ((proto > V1) && *(iocontrol_data->toolchanger_faulted)) { // informational
-    // 	rtapi_print_msg(RTAPI_MSG_DBG, "%s: prepare: toolchanger faulted (reason=%d), next M6 will %s\n",
-    // 			progname,toolchanger_reason,
-    // 			toolchanger_reason > 0 ? "set fault code and reason" : "abort program");
-    // }
-    // // then set the prepare pin to tell external logic to get started
-    // *(iocontrol_data->tool_prepare) = 1;
-    // *(iocontrol_data->state) = ST_PREPARING;
+    // // if ((proto > V1) && *(iocontrol_data->toolchanger_faulted)) { // informational
+    // // 	rtapi_print_msg(RTAPI_MSG_DBG, "%s: prepare: toolchanger faulted (reason=%d), next M6 will %s\n",
+    // // 			progname,toolchanger_reason,
+    // // 			toolchanger_reason > 0 ? "set fault code and reason" : "abort program");
+    // // }
+    // // // then set the prepare pin to tell external logic to get started
+    // // *(iocontrol_data->tool_prepare) = 1;
+    // // *(iocontrol_data->state) = ST_PREPARING;
 
-    // // delay fetching the next message until prepare done
-    // if (!(input_status & TI_PREPARE_COMPLETE)) {
-    // 	emcIoStatus->status = RCS_EXEC;
-    // }
+    // // // delay fetching the next message until prepare done
+    // // if (!(input_status & TI_PREPARE_COMPLETE)) {
+    // // 	emcIoStatus->status = RCS_EXEC;
+    // // }
 
 
-    return 0;
+    // return 0;
 }
 
 
@@ -179,53 +196,64 @@ int emcToolStartChange()
 
 int emcToolLoad()
 {
-
-    fprintf(stderr,"emcToolLoad()\n");
-
-    // it doesn't make sense to load a tool from the spindle pocket
-    if (random_toolchanger && emcIoStatus->tool.pocketPrepped == 0) {
-	return 0;
+    int retval;
+    try {
+	retval = task_methods->emcToolLoad();
+    } catch( bp::error_already_set ) {
+	retval =  handle_exception("emcToolLoad");
     }
+    emcIoStatus->status = retval;
+    return 0;
 
-    // it's not necessary to load the tool already in the spindle
-    if (!random_toolchanger && emcIoStatus->tool.pocketPrepped > 0 &&
-	emcIoStatus->tool.toolInSpindle == emcIoStatus->tool.toolTable[emcIoStatus->tool.pocketPrepped].toolno) {
-		return 0;
-    }
+    // fprintf(stderr,"emcToolLoad()\n");
+
+    // // it doesn't make sense to load a tool from the spindle pocket
+    // if (random_toolchanger && emcIoStatus->tool.pocketPrepped == 0) {
+    // 	return 0;
+    // }
 
-    if (emcIoStatus->tool.pocketPrepped != -1) {
-	fprintf(stderr,"emcToolLoad() raise change, wait for changed\n");
-
-	// Assume changed=true:
-        if(!random_toolchanger && emcIoStatus->tool.pocketPrepped == 0) {
-            emcIoStatus->tool.toolInSpindle = 0;
-        } else {
-            // the tool now in the spindle is the one that was prepared
-            emcIoStatus->tool.toolInSpindle = emcIoStatus->tool.toolTable[emcIoStatus->tool.pocketPrepped].toolno;
-        }
-	// *(iocontrol_data->tool_number) = emcIoStatus->tool.toolInSpindle; //likewise in HAL
-	load_tool(emcIoStatus->tool.pocketPrepped);
-	emcIoStatus->tool.pocketPrepped = -1; //reset the tool preped number, -1 to permit tool 0 to be loaded
-	// *(iocontrol_data->tool_prep_number) = 0; //likewise in HAL
-	// *(iocontrol_data->tool_prep_pocket) = 0; //likewise in HAL
-	// *(iocontrol_data->tool_change) = 0; //also reset the tool change signal
-	emcIoStatus->status = RCS_DONE;	// we finally finished to do tool-changing, signal task with RCS_DONE
-	emcIoStatus->tool.pocketPrepped = -1; // reset the tool prepped number, -1 to permit tool 0 to be loaded
+    // // it's not necessary to load the tool already in the spindle
+    // if (!random_toolchanger && emcIoStatus->tool.pocketPrepped > 0 &&
+    // 	emcIoStatus->tool.toolInSpindle == emcIoStatus->tool.toolTable[emcIoStatus->tool.pocketPrepped].toolno) {
+    // 		return 0;
+    // }
 
-    } else {
-	fprintf(stderr,"emcToolLoad() no pocket prepped, failing\n");
-	emcIoStatus->status = RCS_ERROR;
+    // if (emcIoStatus->tool.pocketPrepped != -1) {
+    // 	fprintf(stderr,"emcToolLoad() raise change, wait for changed\n");
+
+    // 	// Assume changed=true:
+    //     if(!random_toolchanger && emcIoStatus->tool.pocketPrepped == 0) {
+    //         emcIoStatus->tool.toolInSpindle = 0;
+    //     } else {
+    //         // the tool now in the spindle is the one that was prepared
+    //         emcIoStatus->tool.toolInSpindle = emcIoStatus->tool.toolTable[emcIoStatus->tool.pocketPrepped].toolno;
+    //     }
+    // 	// *(iocontrol_data->tool_number) = emcIoStatus->tool.toolInSpindle; //likewise in HAL
+    // 	load_tool(emcIoStatus->tool.pocketPrepped);
+    // 	emcIoStatus->tool.pocketPrepped = -1; //reset the tool preped number, -1 to permit tool 0 to be loaded
+    // 	// *(iocontrol_data->tool_prep_number) = 0; //likewise in HAL
+    // 	// *(iocontrol_data->tool_prep_pocket) = 0; //likewise in HAL
+    // 	// *(iocontrol_data->tool_change) = 0; //also reset the tool change signal
+    // 	emcIoStatus->status = RCS_DONE;	// we finally finished to do tool-changing, signal task with RCS_DONE
+    // 	emcIoStatus->tool.pocketPrepped = -1; // reset the tool prepped number, -1 to permit tool 0 to be loaded
+
+    // } else {
+    // 	fprintf(stderr,"emcToolLoad() no pocket prepped, failing\n");
+    // 	emcIoStatus->status = RCS_ERROR;
 
-    }
-    return 0;
+    // }
+    // return 0;
 }
 
 int emcToolUnload()
 {
-
-    fprintf(stderr,"emcToolUnLoad()\n");
-    emcIoStatus->status = RCS_DONE;
-
+    int retval;
+    try {
+	retval = task_methods->emcToolUnload();
+    } catch( bp::error_already_set ) {
+	retval =  handle_exception("emcToolUnload");
+    }
+    emcIoStatus->status = retval;
     return 0;
 }
 
@@ -280,16 +308,25 @@ int emcToolSetOffset(int pocket, int toolno, EmcPose offset, double diameter,
 
 int emcToolSetNumber(int number)
 {
-    fprintf(stderr,"emcToolSetNumber(%d)\n",number);
-    if (number == 0) {
-	emcIoStatus->tool.toolInSpindle = 0;
-	emcIoStatus->tool.pocketPrepped = -1; //????? reset the tool prepped number, -1 to permit tool 0 to be loaded
-    } else {
-	emcIoStatus->tool.toolInSpindle = emcIoStatus->tool.toolTable[number].toolno;
+
+    int retval;
+    try {
+	retval = task_methods->emcToolSetNumber(number);
+    } catch( bp::error_already_set ) {
+	retval =  handle_exception("emcToolSetNumber");
     }
-    load_tool(number);
-    emcIoStatus->status = RCS_DONE;
-    return 0;
+    return retval;
+
+    // fprintf(stderr,"emcToolSetNumber(%d)\n",number);
+    // if (number == 0) {
+    // 	emcIoStatus->tool.toolInSpindle = 0;
+    // 	emcIoStatus->tool.pocketPrepped = -1; //????? reset the tool prepped number, -1 to permit tool 0 to be loaded
+    // } else {
+    // 	emcIoStatus->tool.toolInSpindle = emcIoStatus->tool.toolTable[number].toolno;
+    // }
+    // load_tool(number);
+    // emcIoStatus->status = RCS_DONE;
+    // return 0;
 }
 
 // Status functions
diff --git a/src/emc/task/task.hh b/src/emc/task/task.hh
index 579302488..81775cd7b 100644
--- a/src/emc/task/task.hh
+++ b/src/emc/task/task.hh
@@ -1,11 +1,12 @@
 #ifndef EMC_TASK_HH
 #define EMC_TASK_HH
+#include "taskclass.hh"
 extern NMLmsg *emcTaskCommand;
 extern int stepping;
 extern int steppingWait;
 extern int emcTaskQueueCommand(NMLmsg *cmd);
 extern int emcPluginCall(EMC_EXEC_PLUGIN_CALL *call_msg);
-extern int emcTaskOnce();
+extern int emcTaskOnce(const char *python_taskinit);
 
 #endif
 
diff --git a/src/emc/task/taskmodule.cc b/src/emc/task/taskmodule.cc
index e06788b55..db0391549 100644
--- a/src/emc/task/taskmodule.cc
+++ b/src/emc/task/taskmodule.cc
@@ -1,17 +1,13 @@
-    // EMC_AXIS_STAT axis[EMC_AXIS_MAX];
-    // int synch_di[EMC_MAX_DIO];  // motion inputs queried by interp
-    // int synch_do[EMC_MAX_DIO];  // motion outputs queried by interp
-    // double analog_input[EMC_MAX_AIO]; //motion analog inputs queried by interp
-    // double analog_output[EMC_MAX_AIO]; //motion analog outputs queried by interp
-//task_stat:
-
-// reuse interp converters
-
-
+// TODO: reuse interp converters
 
 #include <boost/python.hpp>
+#include <boost/python/module.hpp>
+#include <boost/python/class.hpp>
+#include <boost/ref.hpp>
+
 #include "rs274ngc.hh"
 #include "interp_internal.hh"
+#include "taskclass.hh"
 
 namespace bp = boost::python;
 
@@ -27,6 +23,64 @@ namespace pp = pyplusplus::containers::static_sized;
 
 extern EMC_STAT *emcStatus;
 
+struct TaskWrap : public Task, public bp::wrapper<Task> {
+
+    TaskWrap() : Task() {}
+    // TaskWrap()  {}
+
+   int test(int arg) {
+	if (bp::override f = this->get_override("test"))
+	    return f(arg);
+	else
+	    return  Task::test(arg);
+    }
+    int default_test(int arg) {
+	return this->Task::test(arg);
+    }
+
+    int emcToolPrepare(int p, int tool) {
+	if (bp::override f = this->get_override("emcToolPrepare"))
+	    return f(p, tool);
+	else
+	    return  Task::emcToolPrepare(p, tool);
+    }
+    int default_emcToolPrepare(int p, int tool) {
+	return this->Task::emcToolPrepare(p, tool);
+    }
+
+    int emcToolLoad() {
+	if (bp::override f = this->get_override("emcToolLoad"))
+	    return f();
+	else
+	    return  Task::emcToolLoad();
+    }
+    int default_emcToolLoad() {
+	return this->Task::emcToolLoad();
+    }
+    int emcToolUnload() {
+	if (bp::override f = this->get_override("emcToolUnload"))
+	    return f();
+	else
+	    return  Task::emcToolUnload();
+    }
+    int default_emcToolUnload() {
+	return this->Task::emcToolUnload();
+    }
+    int emcToolSetNumber(int number) {
+	if (bp::override f = this->get_override("emcToolSetNumber"))
+	    return f(number);
+	else
+	    return  Task::emcToolSetNumber(number);
+    }
+    int default_emcToolSetNumber(int number) {
+	return this->Task::emcToolSetNumber(number);
+    }
+};
+
+
+
+
+
 typedef pp::array_1_t< EMC_AXIS_STAT, EMC_AXIS_MAX> axis_array, (*axis_w)( EMC_MOTION_STAT &m );
 typedef pp::array_1_t< int, EMC_MAX_DIO> synch_dio_array, (*synch_dio_w)( EMC_MOTION_STAT &m );
 typedef pp::array_1_t< double, EMC_MAX_AIO> analog_io_array, (*analog_io_w)( EMC_MOTION_STAT &m );
@@ -67,14 +121,23 @@ static  active_settings_array activeSettings_wrapper ( EMC_TASK_STAT & m) {
     return active_settings_array(m.activeSettings);
 }
 
-// TODO: wrap optional id argument
 #pragma GCC diagnostic ignored "-Wformat-security"
-static void operator_error(const char *s) {
-    int id = 0;
-    emcOperatorError(id,s);
+static void operator_error(const char *message, int id = 0) {
+    emcOperatorError(id,message);
+}
+static void operator_text(const char *message, int id = 0) {
+    emcOperatorText(id,message);
+}
+static void operator_display(const char *message, int id = 0) {
+    emcOperatorDisplay(id,message);
 }
 #pragma GCC diagnostic warning "-Wformat-security"
 
+BOOST_PYTHON_FUNCTION_OVERLOADS(operator_error_overloads, operator_error, 1,2)
+BOOST_PYTHON_FUNCTION_OVERLOADS(operator_text_overloads, operator_text, 1,2)
+BOOST_PYTHON_FUNCTION_OVERLOADS(operator_display_overloads, operator_display, 1,2)
+
+
 BOOST_PYTHON_MODULE(emctask) {
     using namespace boost::python;
     using namespace boost;
@@ -83,7 +146,38 @@ BOOST_PYTHON_MODULE(emctask) {
         "Task introspection\n"
         ;
 
-    def("operator_error", &operator_error);
+    def("operator_error",
+	operator_error,
+	operator_error_overloads ( args("id"),
+				   "send an error messsage to the operator screen with an optional message id"  ));
+    def("operator_text",
+	operator_text,
+	operator_text_overloads ( args("id"),
+				   "send a informational messsage to the operator screen"  ));
+    def("operator_display",
+	operator_display,
+	operator_display_overloads ( args("id"),
+				   "send a messsage to the operator display"  ));
+
+    scope().attr("RCS_EXEC") = (int)RCS_EXEC;
+    scope().attr("RCS_DONE") = (int)RCS_DONE;
+    scope().attr("RCS_ERROR") = (int)RCS_ERROR;
+
+    class_<Task, shared_ptr<Task>, noncopyable>("__Task",  " Pretend I Don't exist",  no_init)
+       .def("test", &Task::test)
+       .def("emcToolPrepare", &Task::emcToolPrepare)
+       .def("emcToolLoad", &Task::emcToolLoad)
+       .def("emcToolUnload", &Task::emcToolUnload)
+       .def("emcToolSetNumber", &Task::emcToolSetNumber)
+	;
+
+    class_<TaskWrap, shared_ptr<TaskWrap>, noncopyable >("Task")
+	.def("test", &Task::test, &TaskWrap::default_test)
+	.def("emcToolPrepare", &Task::emcToolPrepare, &TaskWrap::default_emcToolPrepare)
+	.def("emcToolLoad", &Task::emcToolLoad, &TaskWrap::default_emcToolLoad)
+	.def("emcToolUnload", &Task::emcToolUnload, &TaskWrap::default_emcToolUnload)
+	.def("emcToolSetNumber", &Task::emcToolSetNumber, &TaskWrap::default_emcToolSetNumber)
+	;
 
     class_<PmCartesian, noncopyable>("PmCartesian","EMC cartesian postition",no_init)
 	.def_readwrite("x",&PmCartesian::x)
author	Michael Haberler <git@mah.priv.at>	2011-07-29 09:22:59 +0200
committer	Michael Haberler <git@mah.priv.at>	2011-10-28 08:25:56 +0200
commit	603620b814d1fd6acd030e2a6763dbf08606a04d (patch)
tree	60c1f0982aa6d542e3304132b3448c325e8a41b4
parent	6e98f7a68825d1f29ac56c43cd7403768a5791ab (diff)
download	linuxcnc-603620b814d1fd6acd030e2a6763dbf08606a04d.tar.gz linuxcnc-603620b814d1fd6acd030e2a6763dbf08606a04d.zip