Interfacing with Pocket NC V2-50 via WebSockets

jadrian · July 3, 2023, 12:37pm

Hi all,

I am currently trying to control our Pocket NC via web sockets in order to control it via an application on our side.

I have already researched the “put” and “get” sections in the respective server control on GitHub:

PocketNC/Rockhopper/blob/emcapplication/LinuxCNCWebSktSvr.py#L2878-L2995


      
          CommandItems = {}
          
          
# Pre-defined Command Items
          CommandItem( name='auto',                    paramTypes=[ {'pname':'auto', 'ptype':'lookup', 'lookup-vals':['AUTO_RUN','AUTO_STEP','AUTO_RESUME','AUTO_PAUSE'], 'optional':False }, {'pname':'run_from', 'ptype':'int', 'optional':True} ],      help='run, step, pause or resume a program.  auto legal values: AUTO_RUN, AUTO_STEP, AUTO_RESUME, AUTO_PAUSE' ).register_in_dict( CommandItems )
          CommandItem( name='brake',                   paramTypes=[ {'pname':'onoff', 'ptype':'lookup', 'lookup-vals':['BRAKE_ENGAGE','BRAKE_RELEASE'], 'optional':False} ],      help='engage or release spindle brake.  Legal values: BRAKE_ENGAGE or BRAKE_RELEASE' ).register_in_dict( CommandItems )
          CommandItem( name='debug',                   paramTypes=[ {'pname':'onoff', 'ptype':'int', 'optional':False} ],      help='set debug level bit-mask via EMC_SET_DEBUG message' ).register_in_dict( CommandItems )
          CommandItem( name='feedrate',                paramTypes=[ {'pname':'rate', 'ptype':'float', 'optional':False} ],      help='set the feedrate' ).register_in_dict( CommandItems )
          CommandItem( name='flood',                   paramTypes=[ {'pname':'onoff', 'ptype':'lookup', 'lookup-vals':['FLOOD_ON','FLOOD_OFF'], 'optional':False} ],      help='turn on/off flood coolant.  Legal values: FLOOD_ON, FLOOD_OFF' ).register_in_dict( CommandItems )
          CommandItem( name='home',                    paramTypes=[ {'pname':'axis', 'ptype':'int', 'optional':False} ],       help='home a given axis' ).register_in_dict( CommandItems )
          CommandItem( name='load_tool_table',         paramTypes=[],      help='reload the tool table' ).register_in_dict( CommandItems )
          CommandItem( name='maxvel',                  paramTypes=[ {'pname':'rate', 'ptype':'float', 'optional':False} ],      help='set maximum velocity' ).register_in_dict( CommandItems )
          # CommandItem( name='mdi',                     paramTypes=[ {'pname':'mdi', 'ptype':'string', 'optional':False} ],      help='send an MDI command. Maximum 255 chars' ).register_in_dict( CommandItems )
          CommandItem( name='mist',                    paramTypes=[ {'pname':'onoff', 'ptype':'lookup', 'lookup-vals':['MIST_ON','MIST_OFF'], 'optional':False} ],       help='turn on/off mist.  Legal values: MIST_ON, MIST_OFF' ).register_in_dict( CommandItems )
          CommandItem( name='mode',                    paramTypes=[ {'pname':'mode', 'ptype':'lookup', 'lookup-vals':['MODE_AUTO','MODE_MANUAL','MODE_MDI'], 'optional':False} ],      help='Set mode. Legal values: MODE_AUTO, MODE_MANUAL, MODE_MDI).' ).register_in_dict( CommandItems )
          CommandItem( name='override_limits',         paramTypes=[],      help='set the override axis limits flag.' ).register_in_dict( CommandItems )
          CommandItem( name='program_open',            paramTypes=[ {'pname':'filename', 'ptype':'string', 'optional':False}],      help='Open an NGC file.' ).register_in_dict( CommandItems )
          CommandItem( name='rapidrate',               paramTypes=[{'pname':'rate', 'ptype':'float', 'optional':False}],      help='set rapid override factor' ).register_in_dict( CommandItems )
          CommandItem( name='reset_interpreter',       paramTypes=[],      help='reset the RS274NGC interpreter' ).register_in_dict( CommandItems )
          CommandItem( name='set_adaptive_feed',       paramTypes=[ {'pname':'onoff', 'ptype':'int', 'optional':False} ],      help='set adaptive feed flag ' ).register_in_dict( CommandItems )
          CommandItem( name='set_analog_output',       paramTypes=[ {'pname':'index', 'ptype':'int', 'optional':False}, {'pname':'value', 'ptype':'float', 'optional':False} ],      help='set analog output pin to value' ).register_in_dict( CommandItems )

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github.com

PocketNC/Rockhopper/blob/emcapplication/LinuxCNCWebSktSvr.py#L1271-L1410


      
          StatusItems = {}
          StatusItem( name='acceleration',             watchable=True, valtype='float',   help='Default acceleration.  Reflects INI file value [TRAJ]DEFAULT_ACCELERATION' ).register_in_dict( StatusItems )
          StatusItem( name='active_queue',             watchable=True, valtype='int'  ,   help='Number of motions blending' ).register_in_dict( StatusItems )
          StatusItem( name='actual_position',          watchable=True, valtype='float[]', help='Current trajectory position. Array of floats: (x y z a b c u v w). In machine units.', isDifferent=isIteratorOfFloatsNotEqual ).register_in_dict( StatusItems )
          StatusItem( name='adaptive_feed_enabled',    watchable=True, valtype='int',     help='status of adaptive feedrate override' ).register_in_dict( StatusItems )
          StatusItem( name='ain',                      watchable=True, valtype='float[]', help='current value of the analog input pins' ).register_in_dict( StatusItems )
          StatusItem( name='angular_units',            watchable=True, valtype='string' , help='From [TRAJ]ANGULAR_UNITS ini value' ).register_in_dict( StatusItems )
          StatusItem( name='aout',                     watchable=True, valtype='float[]', help='Current value of the analog output pins' ).register_in_dict( StatusItems )
          StatusItem( name='axes',                     watchable=True, valtype='int' ,    help='From [TRAJ]AXES ini value' ).register_in_dict( StatusItems )
          StatusItem( name='axis_mask',                watchable=True, valtype='int' ,    help='Mask of axis available. X=1, Y=2, Z=4 etc.' ).register_in_dict( StatusItems )
          StatusItem( name='block_delete',             watchable=True, valtype='bool' ,   help='Block delete currently on/off' ).register_in_dict( StatusItems )
          StatusItem( name='command',                  watchable=True, valtype='string' , help='Currently executing command' ).register_in_dict( StatusItems )
          StatusItem( name='current_line',             watchable=True, valtype='int' ,    help='Currently executing line' ).register_in_dict( StatusItems )
          StatusItem( name='current_vel',              watchable=True, valtype='float' ,  help='Current velocity in cartesian space' ).register_in_dict( StatusItems )
          StatusItem( name='cycle_time',               watchable=True, valtype='float' ,  help='From [TRAJ]CYCLE_TIME ini value' ).register_in_dict( StatusItems )
          StatusItem( name='debug',                    watchable=True, valtype='int' ,    help='Debug flag' ).register_in_dict( StatusItems )
          StatusItem( name='delay_left',               watchable=True, valtype='float' ,  help='remaining time on dwell (G4) command, seconds' ).register_in_dict( StatusItems )
          StatusItem( name='din',                      watchable=True, valtype='int[]' ,  help='current value of the digital input pins' ).register_in_dict( StatusItems )
          StatusItem( name='distance_to_go',           watchable=True, valtype='float' ,  help='remaining distance of current move, as reported by trajectory planner, in cartesian space' ).register_in_dict( StatusItems )
          StatusItem( name='dout',                     watchable=True, valtype='int[]' ,  help='current value of the digital output pins' ).register_in_dict( StatusItems )

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I can successfully login via websocket and, e.g., set and get the E-Stop status.

But, going further, I’d like to retrieve all “get” and “put” items as described by LinuxCNC via

list_get and
list_put

For those two items, the Rockhopper server does not answer with anything and, basically, runs into a timeout. Is there a location where to find more information about the inner workings of the put and get commands?

Thanks for any advice in advance and kind regards,
jens

john · July 3, 2023, 1:21pm

Unfortunately, the list_get and list_put commands are currently not working. In the next release they will will be fixed,

jadrian · July 4, 2023, 2:19pm

Hi @john,

thanks for your feedback. Looking forward to new releases =)

Happy Independence Day and kind regards,
jens