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|
#!/bin/bash
set -x
rm -f sim.var
# reset the tool table to a known starting configuration
rm -f simpockets.tbl
cp ../../simpockets.tbl.original simpockets.tbl
rm -f gcode-output
linuxcnc -r sim.ini &
# let linuxcnc come up
TOGO=80
while [ $TOGO -gt 0 ]; do
echo trying to connect to linuxcncrsh TOGO=$TOGO
if nc -z localhost 5007; then
break
fi
sleep 0.25
TOGO=$(($TOGO - 1))
done
if [ $TOGO -eq 0 ]; then
echo connection to linuxcncrsh timed out
exit 1
fi
(
function introspect() {
SEQUENCE_NUMBER=$1
echo "set mdi m100 P6 Q$SEQUENCE_NUMBER" # sequence number
echo 'set mdi m100 P0 Q#5420' # X
echo 'set mdi m100 P1 Q#5421' # Y
echo 'set mdi m100 P2 Q#5422' # Z
echo 'set mdi m100 P3 Q#5400' # toolno
echo 'set mdi m100 P4 Q#5403' # TLO z
echo 'set mdi m100 P5' # blank line
}
echo hello EMC mt 1.0
echo set enable EMCTOO
echo set estop off
echo set machine on
echo set mode mdi
introspect 0
echo set mdi t1 m6
introspect 1
echo set mdi g43
introspect 2
echo set mdi g10 l10 p1 z.1
introspect 3
echo set mdi g43
introspect 4
echo set mdi g10 l10 p10 z.15
introspect 5
echo set mdi g43
introspect 6
echo set mdi g10 l10 p99999 z.2
introspect 7
echo set mdi g43
introspect 8
echo set mdi t10 m6
introspect 9
echo set mdi g43
introspect 10
echo set mdi g10 l10 p1 z.103
introspect 11
echo set mdi g43
introspect 12
echo set mdi g10 l10 p10 z.1035
introspect 13
echo set mdi g43
introspect 14
echo set mdi g10 l10 p99999 z.104
introspect 15
echo set mdi g43
introspect 16
echo set mdi t99999 m6
introspect 17
echo set mdi g43
introspect 18
echo set mdi g10 l10 p1 z.3
introspect 19
echo set mdi g43
introspect 20
echo set mdi g10 l10 p10 z.35
introspect 21
echo set mdi g43
introspect 22
echo set mdi g10 l10 p99999 z.4
introspect 23
echo set mdi g43
introspect 24
echo set mdi t1 m6
introspect 25
echo set mdi g43
introspect 26
echo set mdi t10 m6
introspect 27
echo set mdi g43
introspect 28
echo set mdi t99999 m6
introspect 29
echo set mdi g43
introspect 30
# give linuxcnc a second to finish
sleep 1.0
echo shutdown
) | nc localhost 5007
# wait for linuxcnc to finish
wait
exit 0
|
