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# linuxcnc-configs
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/topics/git/add_files/#add-files-to-a-git-repository) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin http://gitlab.example.com:8929/johan/linuxcnc-configs.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](http://gitlab.example.com:8929/johan/linuxcnc-configs/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Set auto-merge](https://docs.gitlab.com/user/project/merge_requests/auto_merge/)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
## Name
Choose a self-explaining name for your project.
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
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## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
## Support
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## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
## Contributing
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For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

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#!/usr/bin/python3
import getopt
import hal
import sys
import comms
import time
class HalAdapter:
def __init__(self, name):
self.hal = hal.component(name) # instanciate the HAL-component
self.hal.newpin("ref-temp", hal.HAL_U32, hal.HAL_IN)
self.hal.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
self.hal.newpin("curr-temp", hal.HAL_U32, hal.HAL_OUT)
self.hal.newpin("ref-temp-out", hal.HAL_U32, hal.HAL_OUT)
self.hal.ready()
def setReady(self):
self.hal.ready()
def readHAL_refTemp(self):
"""read values from LinuxCNC HAL"""
return self.hal['ref-temp']
def readHAL_enable(self):
"""read values from LinuxCNC HAL"""
return self.hal['enable']
def writeHAL_currTemp(self, val):
""" write internal wrapper pin values to LinuxCNC HAL """
self.hal['curr-temp'] = val
def writeHAL_refTemp(self, val):
""" write internal wrapper pin values to LinuxCNC HAL """
self.hal['ref-temp-out'] = val
class TempControllerFacade:
def __init__(self, port):
self.tempController = comms.instrument(port, self.msgHandler) #serial adaptor
self.currTemp = 100
self.refTemp = 100
self.enable = False
def __repr__(self):
return 'curr temp: ' + str(self.currTemp) + ', ref temp: ' + str(self.refTemp) + ' , enabled; ' + str(self.enable) + '\n'
def msgHandler(self, m):
if (m.name == 'mv'):
self.currTemp = int(m.data)
def setEnable(self, en):
self.enable = en
print('extruder temp controller enable: ' + str(self.enable))
if en == True:
self.tempController.writeMessage(comms.Message('en' , '1'))
else:
self.tempController.writeMessage(comms.Message('en' , '0'))
def setRefTemp(self, refT):
if self.enable == True:
if self.refTemp != refT:
self.tempController.writeMessage(comms.Message('sp' , str(refT)))
self.refTemp = refT
def main():
name = 'my-extruder'
port = '/dev/ttyUSB0' # default serial port to use
try:
opts, args = getopt.getopt(sys.argv[1:], "hp:c:", ["port="])
except getopt.GetoptError as err:
# print help information and exit:
print(err) # will print something like "option -a not recognized"
sys.exit(2)
for o, a in opts:
if o == "-h":
sys.exit()
if o == "-c":
name = a
elif o in ("-p", "--port"):
port = a
else:
print(o)
assert False, "unhandled option"
h = HalAdapter(name)
tc = TempControllerFacade(port)
#tc.setEnable(True)
print(tc)
try:
while 1:
tc.tempController.readMessages()
if h.readHAL_enable() == 1:
if tc.enable == False:
tc.setEnable(True)
else:
if tc.enable == True:
tc.setEnable(False)
if tc.enable == True:
refTemp = h.readHAL_refTemp()
tc.setRefTemp(refTemp)
h.writeHAL_currTemp(tc.currTemp)
h.writeHAL_refTemp(tc.refTemp)
#
time.sleep(1)
except KeyboardInterrupt:
raise SystemExit
if __name__ == '__main__':
main()

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# Generated by stepconf 1.1 at Fri May 1 19:07:04 2020
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
#loadrt pwmgen output_type=0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
#addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-at-speed => spindle.0.at-speed
net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ydir => parport.0.pin-04-out
net ystep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
setp parport.0.pin-06-out-invert 1
net zdir => parport.0.pin-06-out
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
setp parport.0.pin-08-out-invert 1
net min-home-x <= parport.0.pin-11-in
net max-home-y <= parport.0.pin-10-in
net max-home-z <= parport.0.pin-12-in
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net max-home-y => joint.1.home-sw-in
net max-home-y => joint.1.pos-lim-sw-in
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net max-home-z => joint.2.home-sw-in
net max-home-z => joint.2.pos-lim-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
sets spindle-at-speed true
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
### enable steppers
net and-in1 halui.machine.is-on => parport.0.pin-17-out
#disable hot bed
setp parport.0.pin-14-out 0
#disable extruderfan
setp parport.0.pin-16-out 0

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# This config file was created 2021-02-04 16:39:45.407451 by the update_ini script
# The original config files may be found in the /home/johan/linuxcnc/configs/test/test.old directory
# Generated by stepconf 1.1 at Fri May 1 19:07:04 2020
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = my-draw
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 2.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 360.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/johan/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
GEOMETRY = XYZ
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .gcode 3D Printer
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
USER_M_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = my-draw.hal
[HALUI]
[TRAJ]
COORDINATES = XYZ
JOINTS = 3
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 25.0
MAX_LINEAR_VELOCITY = 25.0
MAX_LINEAR_ACCELERATION = 50.0
DEFAULT_LINEAR_ACCELERATION = 50.0
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3
# X axis
#prescale = 2, steps/rev = 200, 2 mm/rev
#scale = 200*2/2 steps/mm
[AXIS_X]
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 200.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
HOME_OFFSET = -91.400000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = -1.50
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# Y axis
#prescale = 2, steps/rev = 200, 2 mm/rev
#scale = 200*2/2 steps/mm
[AXIS_Y]
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 200.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
HOME_OFFSET = 66.00000
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 2.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# Z axis
#prescale = 8, steps/rev = 200, 1 mm/rev
#scale = 200*8/1 = 1600 steps/mm
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 51.7
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 50.0
[JOINT_2]
TYPE = LINEAR
HOME = 48.0
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 1600.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10.0
MAX_LIMIT = 51.7
HOME_OFFSET = 51.7
HOME_SEARCH_VEL = 7.500000
HOME_LATCH_VEL = 0.312500
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

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#!/usr/bin/python3
import os
import subprocess
import getopt
import sys
import filecmp
import shutil
CRED = '\033[91m'
CEND = '\033[0m'
CCYAN = '\033[96m'
CBLUE = '\033[94m'
CGREEN = '\033[92m'
def _usage():
""" print command line options """
print("usage sync-file.py -h/--help -c/--compare-path=<path> -p/--print file\n"\
"file # input fil , left side of diff\n"\
"-c / -compare-path= <path> # <path> to directory to file-sync\n"\
"-p / --print # print only, dont do any actual sync\n"\
"-h / --help # Help ")
def _get_last_mod_date(file):
try:
return int(round(os.path.getmtime(file)))
except FileNotFoundError as err:
print(err)
return None
def _diff_files(src_file, dst_file):
diff_cmd = shutil.which('meld')
if diff_cmd != None:
try:
subprocess.run([diff_cmd, src_file, dst_file])
except:
print("can't start diff tool")
else:
print("can't find diff tool")
def _conditional_copy_file(src_file, dst_file):
if _ask():
os.system('cp ' + src_file + ' ' + dst_file)
def _ask():
try:
answer = lower(input('\tproceed with copy? [Y/n]: '))
except EOFError:
return False
ret_val = False
if answer == '' or answer == 'y' or answer == 'yes':
ret_val = True
return ret_val
def main():
try:
opts, args = getopt.getopt(sys.argv[1:], "dphc:", ["diff", "compare-path=", "print", "help"])
except getopt.GetoptError as err:
# print help information and exit:
print(err) # will print something like "option -a not recognized"
sys.exit(2)
file_diff = False
dry_run = False
compare_path = "."
### parse input command line
for o, a in opts:
if o in ("-h", "--help"):
_usage()
sys.exit()
elif o in ("-p", "--print"):
dry_run = True
elif o in ("-c", "--compare-path"):
compare_path = a
elif o in ("-d", "--diff"):
file_diff = True
else:
print(o, a)
assert False, "unhandled option"
for left_file in args:
#left_file contain the full path + file name. pick out filename only and apply the compare_path
right_file = compare_path + '/' + left_file #os.path.basename(left_file)
#print(left_file)
#print(right_file)
left_file_exists = os.path.isfile(left_file)
right_file_exists = os.path.isfile(right_file)
if not left_file_exists:
print(CRED + '\tno such file... ' + left_file + CEND)
if not right_file_exists:
print(CRED + '\tno such file... ' + right_file + CEND)
if not dry_run:
_conditional_copy_file(left_file, right_file)
if left_file_exists and right_file_exists:
#if left and right are different, decide which file is to be copied
if not filecmp.cmp(left_file, right_file):
left_file_mod_time = _get_last_mod_date(left_file)
right_file_mod_time = _get_last_mod_date(right_file)
if left_file_mod_time < right_file_mod_time: # left file newer
src_file = right_file
dst_file = left_file
color = CBLUE
else: # right file newer
src_file = left_file
dst_file = right_file
color = CCYAN
print(color + '\t' + src_file + ' is newer than ' + dst_file + '...' + CEND)
if not dry_run:
_conditional_copy_file(src_file, dst_file)
if file_diff:
_diff_files(left_file, right_file)
else:
print(CGREEN + '\t' + os.path.basename(left_file) + ' same same...' + CEND)
if __name__ == '__main__':
main()