ATC: M100..M103 preprocessor + Mach MDI rewrite + hook handlers
ATC pneumatics in g-code (drop tool / grab tool / release clamp / engage clamp) are expressed as M100..M103. AuxPreprocessor rewrites those into (MSG,HOOK:droptool:) etc on file upload + on planner load + on MDI input, so the Hooks layer (B1) can dispatch them via registered ATC handlers in Ctrl. - AuxPreprocessor.py: regex-based file rewriter, idempotent. - FileHandler: invoke preprocessor on every upload. - Planner.init: also re-preprocess on load (catches files written before this version). - Mach.mdi: same rewrite for ad-hoc MDI input so M101 typed at the console produces a HOOK message. - Ctrl: register the four ATC hooks (droptool/grabtool/release/clamp) with block_unpause + auto_resume so programs using them pause at the right point and resume cleanly. aux_home retained as a legacy alias for older preprocessed files.
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src/py/bbctrl/AuxPreprocessor.py
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183
src/py/bbctrl/AuxPreprocessor.py
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################################################################################
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#
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# AuxPreprocessor - rewrite ATC M-codes into hook calls
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#
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# History
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# -------
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# v1: rewrote W tokens into (MSG,HOOK:aux:N) lines because the bbctrl
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# planner only understood XYZABC and the W axis was driven via a
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# side-channel.
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# v2: W is now exposed to gplan as a virtual A axis (see ExternalAxis),
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# so gplan handles W motion natively. The preprocessor no longer
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# touches W tokens. ATC pneumatics still go through the hook
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# channel because they're events, not motion.
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#
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# What this still does
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# --------------------
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# Maps four user-defined M-codes onto pneumatic-tool-changer events:
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#
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# M100 DROPTOOL -> (MSG,HOOK:droptool:)
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# M101 GRABTOOL -> (MSG,HOOK:grabtool:)
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# M102 RELEASE -> (MSG,HOOK:release:)
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# M103 CLAMP -> (MSG,HOOK:clamp:)
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#
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# M100-M103 are in LinuxCNC/Buildbotics' user-defined range, so the
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# planner won't error if the codes leak through unrewritten - it just
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# won't *do* anything. We strip them out and emit the matching hook
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# line in their place.
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#
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# The preprocessor is intentionally conservative: anything it doesn't
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# understand is left alone.
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#
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################################################################################
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import os
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import re
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import shutil
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import tempfile
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# Strip line comments so we don't get fooled by "(M100 not really)".
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_PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')
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# ATC pneumatics M-codes mapped onto hook events.
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_ATC_M_CODES = {
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100: 'droptool',
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101: 'grabtool',
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102: 'release',
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103: 'clamp',
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}
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_ATC_M_RE = re.compile(
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r'(?<![A-Za-z_0-9])[Mm]\s*0*(' +
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'|'.join(str(n) for n in _ATC_M_CODES) +
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r')(?![\w.])'
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)
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# Detect a W axis token. We no longer rewrite W to A automatically;
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# instead we warn so the user knows their old gcode needs migration.
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# (The W support was removed when the axis was integrated as a real
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# A axis through gplan.)
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_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*[-+]?\d*\.?\d+')
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class AuxPreprocessorError(Exception):
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pass
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class AuxPreprocessor(object):
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def __init__(self, log=None):
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self.log = log
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self._w_warned = False
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def _info(self, msg):
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if self.log: self.log.info(msg)
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def _warn(self, msg):
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if self.log: self.log.warning(msg)
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# ------------------------------------------------------------------ scan
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@staticmethod
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def file_uses_aux(path):
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"""Quick check: does this file contain anything the preprocessor
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would rewrite (currently: just ATC M-codes)?"""
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try:
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with open(path, 'r', encoding='utf-8', errors='replace') as f:
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for line in f:
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code = _PAREN_COMMENT_RE.sub('', line)
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code = code.split(';', 1)[0]
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if _ATC_M_RE.search(code):
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return True
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except Exception:
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pass
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return False
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# Backwards-compat alias.
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file_uses_w = file_uses_aux
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# ------------------------------------------------------------------ run
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def process(self, src_path, dst_path):
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"""Read src_path, write rewritten G-code to dst_path. Returns
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True if any rewrite happened."""
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rewrote_any = False
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with open(src_path, 'r', encoding='utf-8', errors='replace') as fin, \
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open(dst_path, 'w', encoding='utf-8') as fout:
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for raw in fin:
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line = raw.rstrip('\n')
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# Comment-only or blank lines pass through verbatim.
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code = _PAREN_COMMENT_RE.sub('', line)
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code = code.split(';', 1)[0]
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if not code.strip():
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fout.write(raw)
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continue
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# Warn (once) if the file still uses W tokens. The
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# standard way is now G1 A<value>; old files must be
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# migrated by hand.
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if (not self._w_warned) and _W_TOKEN_RE.search(code):
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self._warn('Found W axis token in gcode; W is no '
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'longer recognized by bbctrl. Use A '
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'instead. (warning suppressed for '
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'subsequent W tokens in this file)')
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self._w_warned = True
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# ATC M-codes (M100-M103). Each ATC M-code on the line
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# is replaced with its (MSG,HOOK:<event>:) line and
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# stripped from the residual.
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atc_matches = list(_ATC_M_RE.finditer(line))
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if atc_matches:
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rewrote_any = True
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for m in atc_matches:
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try: num = int(m.group(1))
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except ValueError: continue
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event = _ATC_M_CODES.get(num)
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if event:
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fout.write('(MSG,HOOK:%s:)\n' % event)
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line = _ATC_M_RE.sub('', line)
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code = _PAREN_COMMENT_RE.sub('', line)
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code = code.split(';', 1)[0]
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if not code.strip():
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# Nothing meaningful left; preserve any trailing
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# comment text but skip empty lines.
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rest = line.rstrip()
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if rest:
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fout.write(rest + '\n')
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continue
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# Other gcode remains on the line - emit it.
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fout.write(line + '\n')
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continue
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# No rewrite needed.
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fout.write(raw)
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return rewrote_any
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def preprocess_file(src_path, log=None, **_unused):
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"""Convenience: rewrite src_path in place if it contains ATC
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M-codes. Returns True if the file was rewritten.
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Extra keyword args are accepted for backwards compat (the old
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w_first arg is no longer used)."""
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if not AuxPreprocessor.file_uses_aux(src_path):
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return False
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pre = AuxPreprocessor(log=log)
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fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
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dir=os.path.dirname(src_path) or None)
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os.close(fd)
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try:
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rewrote = pre.process(src_path, tmp)
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if rewrote:
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shutil.move(tmp, src_path)
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return True
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os.unlink(tmp)
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return False
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except Exception:
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try:
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os.unlink(tmp)
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except OSError:
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pass
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raise
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