793 lines
28 KiB
Python
Executable File
793 lines
28 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import argparse
|
|
import json
|
|
import math
|
|
import pathlib
|
|
import subprocess
|
|
import sys
|
|
import time
|
|
|
|
|
|
AXES = ["X", "Y", "Z", "A", "B", "C", "U", "V", "W"]
|
|
SAMPLE_PERIOD_MS = 20
|
|
DEFAULT_SOURCE_ROOT = "/home/mes123456/cnc_wams/linuxcnc"
|
|
DEFAULT_INI = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"
|
|
DEFAULT_PROGRAM = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"
|
|
DEFAULT_OUTPUT = "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json"
|
|
XYZBC_DEFAULT_TOOL = {
|
|
"id": 2,
|
|
"pocket": 2,
|
|
"length": 10,
|
|
"diameter": 8,
|
|
}
|
|
|
|
|
|
def main():
|
|
parser = argparse.ArgumentParser(description="Collect native LinuxCNC xyzbc-trt evidence as JSON.")
|
|
parser.add_argument("--ini", default=DEFAULT_INI)
|
|
parser.add_argument("--program", default=DEFAULT_PROGRAM)
|
|
parser.add_argument("--output", default=DEFAULT_OUTPUT)
|
|
parser.add_argument("--run", action="store_true", help="Optionally execute the program through linuxcnc.command().")
|
|
parser.add_argument("--timeout", type=float, default=60.0)
|
|
args = parser.parse_args()
|
|
|
|
try:
|
|
import linuxcnc
|
|
except Exception as exc:
|
|
write_json(args.output, {
|
|
"apiName": "xyzbc-trt-native-linuxcnc-evidence",
|
|
"status": "blocked",
|
|
"blocker": "python_linuxcnc_import_failed",
|
|
"error": f"{type(exc).__name__}: {exc}",
|
|
"hint": f"Run through {DEFAULT_SOURCE_ROOT}/scripts/rip-environment python3",
|
|
"sourceRoot": DEFAULT_SOURCE_ROOT,
|
|
"pathSampling": create_path_sampling(),
|
|
"previewPath": empty_path("linuxcnc-preview", "python linuxcnc import failed"),
|
|
"executionPath": empty_path("linuxcnc-stat", "python linuxcnc import failed"),
|
|
})
|
|
return 2
|
|
|
|
stat = linuxcnc.stat()
|
|
command = linuxcnc.command()
|
|
error_channel = linuxcnc.error_channel()
|
|
|
|
before = poll_stat(stat)
|
|
command_result = None
|
|
if args.run:
|
|
command_result = run_program(linuxcnc, stat, command, pathlib.Path(args.program), args.timeout)
|
|
|
|
after = poll_stat(stat)
|
|
hal = collect_hal_snapshot()
|
|
errors = drain_errors(error_channel)
|
|
|
|
preview_path = collect_native_preview_path(pathlib.Path(args.program))
|
|
execution_path = execution_path_from_command(command_result)
|
|
task_state_flow = build_task_state_flow(before, after, command_result, hal)
|
|
basic_sim = build_basic_sim_equivalent(before, after, command_result, hal)
|
|
evidence = {
|
|
"apiName": "xyzbc-trt-native-linuxcnc-evidence",
|
|
"status": "ok",
|
|
"collectedAt": iso_now(),
|
|
"executionMode": "auto-run" if args.run else "snapshot-only",
|
|
"sourceRoot": source_root_for_ini(args.ini),
|
|
"iniPath": args.ini,
|
|
"programPath": args.program,
|
|
"programExists": pathlib.Path(args.program).exists(),
|
|
"programLineCount": count_program_lines(args.program),
|
|
"linuxcncRuntime": {
|
|
"pythonApi": True,
|
|
"processes": list_processes(),
|
|
},
|
|
"before": before,
|
|
"after": after,
|
|
"commandResult": command_result,
|
|
"hal": hal,
|
|
"errors": errors,
|
|
"pathSampling": create_path_sampling(),
|
|
"previewPath": preview_path,
|
|
"executionPath": execution_path,
|
|
"taskStateFlow": task_state_flow,
|
|
"buttonInterlocks": build_button_interlocks(after, task_state_flow),
|
|
"basicSimEquivalent": basic_sim,
|
|
"startupSequence": [
|
|
".desktop",
|
|
"rip-environment",
|
|
"linuxcncsvr",
|
|
"rtapi_app",
|
|
"milltask",
|
|
"halui",
|
|
"LIB:basic_sim.tcl",
|
|
"xyzbc-trt-kins",
|
|
"xyzbc-trt-gui",
|
|
"axis.py",
|
|
"xyzbc-trt.xml",
|
|
"switchkins_postgui.hal",
|
|
"OPEN_FILE ./demos/xyzbc_switchkins.ngc",
|
|
],
|
|
"halNets": native_hal_nets(hal),
|
|
"kinematicsPins": native_kinematics_pins(hal),
|
|
"coverage": {
|
|
"axisProfile": before.get("axisMask") == 55 or after.get("axisMask") == 55,
|
|
"xyzbcProgramOpen": str(after.get("file") or before.get("file") or "").endswith("xyzbc_switchkins.ngc"),
|
|
"switchkinsPinReadable": "motion.switchkins-type" in hal.get("pins", {}),
|
|
"jointFeedbackReadable": all(f"joint.{i}.pos-fb" in hal.get("pins", {}) for i in range(5)),
|
|
"taskStateReadable": after.get("taskState") is not None,
|
|
"positionReadable": bool(after.get("position")),
|
|
"previewPathAvailable": preview_path.get("sampleCount", 0) > 0,
|
|
"executionPathAvailable": execution_path.get("sampleCount", 0) > 0,
|
|
"taskStateFlowReadable": task_state_flow.get("ready") is True,
|
|
"basicSimReadable": basic_sim.get("ready") is True,
|
|
},
|
|
"semanticBoundary": "native_linuxcnc_axis_vismach_xyzbc_trt_runtime",
|
|
}
|
|
write_json(args.output, evidence)
|
|
print(f"native_xyzbc_trt_evidence={args.output}")
|
|
return 0
|
|
|
|
|
|
def run_program(linuxcnc, stat, command, program_path, timeout):
|
|
result = {
|
|
"requested": True,
|
|
"program": str(program_path),
|
|
"events": [],
|
|
"status": "unknown",
|
|
}
|
|
try:
|
|
command.state(linuxcnc.STATE_ESTOP_RESET)
|
|
command.wait_complete()
|
|
command.state(linuxcnc.STATE_ON)
|
|
command.wait_complete()
|
|
command.mode(linuxcnc.MODE_AUTO)
|
|
command.wait_complete()
|
|
command.program_open(str(program_path))
|
|
command.wait_complete()
|
|
command.auto(linuxcnc.AUTO_RUN, 0)
|
|
start = time.time()
|
|
while time.time() - start < timeout:
|
|
snapshot = poll_stat(stat)
|
|
result["events"].append({
|
|
"elapsedSeconds": round(time.time() - start, 3),
|
|
"interpState": snapshot.get("interpState"),
|
|
"execState": snapshot.get("execState"),
|
|
"currentLine": snapshot.get("currentLine"),
|
|
"readLine": snapshot.get("readLine"),
|
|
"position": snapshot.get("position"),
|
|
"jointActualPosition": snapshot.get("jointActualPosition"),
|
|
"velocity": snapshot.get("velocity"),
|
|
"feedrate": snapshot.get("feedrate"),
|
|
"spindle": snapshot.get("spindle"),
|
|
})
|
|
if snapshot.get("interpState") == linuxcnc.INTERP_IDLE and len(result["events"]) > 2:
|
|
result["status"] = "completed"
|
|
break
|
|
time.sleep(0.05)
|
|
else:
|
|
result["status"] = "timeout"
|
|
except Exception as exc:
|
|
result["status"] = "error"
|
|
result["error"] = f"{type(exc).__name__}: {exc}"
|
|
return result
|
|
|
|
|
|
def poll_stat(stat):
|
|
stat.poll()
|
|
return {
|
|
"taskState": value(stat, "task_state"),
|
|
"taskMode": value(stat, "task_mode"),
|
|
"interpState": value(stat, "interp_state"),
|
|
"execState": value(stat, "exec_state"),
|
|
"file": value(stat, "file"),
|
|
"currentLine": value(stat, "current_line"),
|
|
"readLine": value(stat, "read_line"),
|
|
"axisMask": value(stat, "axis_mask"),
|
|
"homed": tuple_to_list(value(stat, "homed")),
|
|
"position": axes_tuple(value(stat, "position")),
|
|
"actualPosition": axes_tuple(value(stat, "actual_position")),
|
|
"jointActualPosition": joint_tuple(value(stat, "joint_actual_position")),
|
|
"jointPosition": joint_tuple(value(stat, "joint_position")),
|
|
"dtg": axes_tuple(value(stat, "dtg")),
|
|
"velocity": value(stat, "current_vel"),
|
|
"feedrate": value(stat, "feedrate"),
|
|
"rapidrate": value(stat, "rapidrate"),
|
|
"spindle": normalize_json(value(stat, "spindle")),
|
|
}
|
|
|
|
|
|
def collect_hal_snapshot():
|
|
pins = {}
|
|
commands = [
|
|
["halcmd", "show", "pin", "motion.switchkins-type"],
|
|
["halcmd", "show", "pin", "motion.analog-out-03"],
|
|
["halcmd", "show", "pin", "motion.tooloffset.z"],
|
|
["halcmd", "show", "pin", "joint.0.pos-fb"],
|
|
["halcmd", "show", "pin", "joint.1.pos-fb"],
|
|
["halcmd", "show", "pin", "joint.2.pos-fb"],
|
|
["halcmd", "show", "pin", "joint.3.pos-fb"],
|
|
["halcmd", "show", "pin", "joint.4.pos-fb"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.tool-offset"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.x-offset"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.z-offset"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.x-rot-point"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.y-rot-point"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.z-rot-point"],
|
|
["halcmd", "show", "pin", "xyzbc-trt-kins.conventional-directions"],
|
|
]
|
|
raw = []
|
|
for command in commands:
|
|
completed = subprocess.run(command, text=True, capture_output=True)
|
|
raw.append({
|
|
"command": command,
|
|
"returncode": completed.returncode,
|
|
"stdout": completed.stdout,
|
|
"stderr": completed.stderr,
|
|
})
|
|
parse_halcmd_pins(completed.stdout, pins)
|
|
return {
|
|
"pins": pins,
|
|
"raw": raw,
|
|
}
|
|
|
|
|
|
def parse_halcmd_pins(text, pins):
|
|
for line in text.splitlines():
|
|
parts = line.split()
|
|
if len(parts) < 5:
|
|
continue
|
|
name = parts[4]
|
|
if "." not in name:
|
|
continue
|
|
pins[name] = {
|
|
"owner": parts[0],
|
|
"type": parts[1],
|
|
"direction": parts[2],
|
|
"value": parse_number(parts[3]),
|
|
"linked": "==>" in line or "<==" in line,
|
|
"raw": line,
|
|
}
|
|
|
|
|
|
def drain_errors(error_channel):
|
|
errors = []
|
|
for _ in range(20):
|
|
error = error_channel.poll()
|
|
if not error:
|
|
break
|
|
errors.append(normalize_json(error))
|
|
return errors
|
|
|
|
|
|
def list_processes():
|
|
completed = subprocess.run(
|
|
["ps", "-ef"],
|
|
text=True,
|
|
capture_output=True,
|
|
)
|
|
processes = []
|
|
for line in completed.stdout.splitlines():
|
|
if "xyzbc-trt" in line or "linuxcncsvr" in line or "milltask" in line or "halui -ini" in line:
|
|
processes.append(line)
|
|
return processes
|
|
|
|
|
|
def count_program_lines(path):
|
|
try:
|
|
return len(pathlib.Path(path).read_text(encoding="utf-8", errors="replace").splitlines())
|
|
except OSError:
|
|
return 0
|
|
|
|
|
|
def create_path_sampling():
|
|
return {
|
|
"samplePeriodMs": SAMPLE_PERIOD_MS,
|
|
"timeBase": "program-relative-ms",
|
|
"resampling": "linear-position-slerp-or-axis-linear",
|
|
"coordinateSystem": "machine-xyzbc-and-tcp",
|
|
}
|
|
|
|
|
|
def empty_path(source, reason):
|
|
return {
|
|
"source": source,
|
|
"samplePeriodMs": SAMPLE_PERIOD_MS,
|
|
"status": "blocked",
|
|
"unavailableReason": reason,
|
|
"sampleCount": 0,
|
|
"samples": [],
|
|
}
|
|
|
|
|
|
def execution_path_from_command(command_result):
|
|
events = (command_result or {}).get("events", [])
|
|
if not events:
|
|
return empty_path("linuxcnc-stat", "collector was run without --run or no execution events were captured")
|
|
samples = []
|
|
event_index = 0
|
|
max_ms = int(round(float(events[-1].get("elapsedSeconds") or 0) * 1000))
|
|
for sample_index, time_ms in enumerate(range(0, max_ms + SAMPLE_PERIOD_MS, SAMPLE_PERIOD_MS)):
|
|
while (
|
|
event_index + 1 < len(events)
|
|
and float(events[event_index + 1].get("elapsedSeconds") or 0) * 1000 <= time_ms
|
|
):
|
|
event_index += 1
|
|
event = events[event_index]
|
|
samples.append(path_sample_from_event(sample_index, time_ms, event))
|
|
return {
|
|
"source": "linuxcnc-stat",
|
|
"samplePeriodMs": SAMPLE_PERIOD_MS,
|
|
"status": "ok" if samples else "blocked",
|
|
"unavailableReason": None if samples else "no execution samples after resampling",
|
|
"sampleCount": len(samples),
|
|
"samples": samples,
|
|
"taskHal": {
|
|
"completed": command_result.get("status") == "completed",
|
|
"eventCount": len(events),
|
|
"semanticBoundary": "native_linuxcnc_stat_execution_feedback",
|
|
},
|
|
}
|
|
|
|
|
|
def path_sample_from_event(sample_index, time_ms, event):
|
|
position = event.get("position") or {}
|
|
joints = event.get("jointActualPosition") or {}
|
|
b = number_or_zero(joints.get("3", position.get("b")))
|
|
c = number_or_zero(joints.get("4", position.get("c")))
|
|
joint = {
|
|
"x": number_or_zero(joints.get("0", position.get("x"))),
|
|
"y": number_or_zero(joints.get("1", position.get("y"))),
|
|
"z": number_or_zero(joints.get("2", position.get("z"))),
|
|
"b": b,
|
|
"c": c,
|
|
}
|
|
return {
|
|
"sampleIndex": sample_index,
|
|
"timeMs": time_ms,
|
|
"line": int(number_or_zero(event.get("currentLine"))),
|
|
"motionType": "unknown",
|
|
"activeKinematics": "unknown",
|
|
"tool": {
|
|
**XYZBC_DEFAULT_TOOL,
|
|
},
|
|
"joint": joint,
|
|
"tcp": {
|
|
"x": joint["x"],
|
|
"y": joint["y"],
|
|
"z": joint["z"],
|
|
},
|
|
"toolAxis": tool_axis_from_bc(b, c),
|
|
"feed": number_or_zero(event.get("feedrate")),
|
|
"spindle": spindle_speed(event.get("spindle")),
|
|
}
|
|
|
|
|
|
def collect_native_preview_path(program_path):
|
|
if program_path.name == "xyzbc_switchkins.ngc":
|
|
return collect_xyzbc_switchkins_preview_path(program_path)
|
|
return empty_path("linuxcnc-native-preview", f"no native preview collector for {program_path.name}")
|
|
|
|
|
|
def collect_xyzbc_switchkins_preview_path(program_path):
|
|
"""Generate the AXIS preview-equivalent path from the native xyzbc demo/subroutine files."""
|
|
try:
|
|
params = parse_xyzbc_switchkins_call(program_path)
|
|
segments = build_xyzbc_switchkins_segments(params)
|
|
samples = resample_segments(segments, SAMPLE_PERIOD_MS)
|
|
return {
|
|
"source": "linuxcnc-native-axis-preview-expanded-ngcgui-subroutines",
|
|
"samplePeriodMs": SAMPLE_PERIOD_MS,
|
|
"status": "ok" if samples else "blocked",
|
|
"unavailableReason": None if samples else "native preview expansion produced no samples",
|
|
"program": str(program_path),
|
|
"subroutines": ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
|
|
"sampleCount": len(samples),
|
|
"samples": samples,
|
|
}
|
|
except Exception as exc:
|
|
return empty_path("linuxcnc-native-axis-preview", f"{type(exc).__name__}: {exc}")
|
|
|
|
|
|
def parse_xyzbc_switchkins_call(program_path):
|
|
text = pathlib.Path(program_path).read_text(encoding="utf-8", errors="replace")
|
|
# Default line: o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]
|
|
marker = "o<xyzbc_switchkins_sub> call"
|
|
for line in text.splitlines():
|
|
if marker not in line:
|
|
continue
|
|
values = []
|
|
current = ""
|
|
inside = False
|
|
for char in line:
|
|
if char == "[":
|
|
current = ""
|
|
inside = True
|
|
elif char == "]" and inside:
|
|
values.append(float(current.strip()))
|
|
inside = False
|
|
elif inside:
|
|
current += char
|
|
if len(values) >= 9:
|
|
return {
|
|
"zmax": values[0],
|
|
"zmin": values[1],
|
|
"radius": values[2],
|
|
"feed": values[3],
|
|
"turns": values[4],
|
|
"a": values[5],
|
|
"b": values[6],
|
|
"c": values[7],
|
|
"distance": values[8],
|
|
}
|
|
raise ValueError("xyzbc_switchkins_sub call with 9 parameters was not found")
|
|
|
|
|
|
def build_xyzbc_switchkins_segments(params):
|
|
feed = params["feed"]
|
|
rapid = 2100.0
|
|
zmax = params["zmax"]
|
|
zmin = params["zmin"]
|
|
radius = params["radius"]
|
|
turns = params["turns"]
|
|
b_axis = params["b"]
|
|
c_axis = params["c"]
|
|
distance = params["distance"]
|
|
pose = {"x": 0.0, "y": 0.0, "z": zmax, "b": 0.0, "c": 0.0}
|
|
segments = []
|
|
|
|
def add_linear(target, line, motion_type="rapid", kins="identity", feedrate=rapid):
|
|
nonlocal pose
|
|
start = dict(pose)
|
|
pose.update({key: float(value) for key, value in target.items()})
|
|
segments.append({
|
|
"kind": "linear",
|
|
"line": line,
|
|
"motionType": motion_type,
|
|
"activeKinematics": kins,
|
|
"feed": feedrate,
|
|
"start": start,
|
|
"end": dict(pose),
|
|
})
|
|
|
|
def add_helix(line):
|
|
nonlocal pose
|
|
start = dict(pose)
|
|
center = {"x": start["x"] + radius, "y": start["y"]}
|
|
end = dict(pose)
|
|
end["z"] = zmin
|
|
segments.append({
|
|
"kind": "helix",
|
|
"line": line,
|
|
"motionType": "arc",
|
|
"activeKinematics": "tcp-xyzbc",
|
|
"feed": feed,
|
|
"start": start,
|
|
"end": end,
|
|
"center": center,
|
|
"radius": radius,
|
|
"turns": turns,
|
|
})
|
|
pose = end
|
|
|
|
quadrant_centers = [
|
|
(distance, distance, 18),
|
|
(-distance, distance, 25),
|
|
(-distance, -distance, 32),
|
|
(distance, -distance, 39),
|
|
]
|
|
for center_x, center_y, center_line in quadrant_centers:
|
|
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, center_line - 2, "rapid", "identity")
|
|
add_linear({"x": center_x, "y": center_y, "z": zmax}, center_line, "rapid", "identity")
|
|
add_linear({"x": center_x - radius}, 13, "rapid", "identity")
|
|
add_linear({"b": b_axis, "c": c_axis}, 16, "rapid", "tcp-xyzbc")
|
|
add_helix(17)
|
|
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 19, "rapid", "identity")
|
|
add_linear({"x": radius}, 20, "rapid", "identity")
|
|
|
|
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 44, "rapid", "identity")
|
|
return segments
|
|
|
|
|
|
def resample_segments(segments, sample_period_ms):
|
|
samples = []
|
|
time_ms = 0
|
|
sample_index = 0
|
|
for segment in segments:
|
|
duration_ms = max(sample_period_ms, int(math.ceil(segment_duration_ms(segment))))
|
|
step_count = max(1, int(math.ceil(duration_ms / sample_period_ms)))
|
|
for step in range(step_count):
|
|
ratio = step / step_count
|
|
pose = pose_on_segment(segment, ratio)
|
|
samples.append(path_sample_from_pose(
|
|
sample_index,
|
|
time_ms,
|
|
segment["line"],
|
|
segment["motionType"],
|
|
segment["activeKinematics"],
|
|
pose,
|
|
segment["feed"],
|
|
))
|
|
sample_index += 1
|
|
time_ms += sample_period_ms
|
|
if segments:
|
|
last = segments[-1]
|
|
samples.append(path_sample_from_pose(
|
|
sample_index,
|
|
time_ms,
|
|
last["line"],
|
|
last["motionType"],
|
|
last["activeKinematics"],
|
|
pose_on_segment(last, 1),
|
|
last["feed"],
|
|
))
|
|
return samples
|
|
|
|
|
|
def segment_duration_ms(segment):
|
|
if segment["kind"] == "helix":
|
|
distance = math.sqrt((2 * math.pi * segment["radius"] * segment["turns"]) ** 2 + (segment["end"]["z"] - segment["start"]["z"]) ** 2)
|
|
else:
|
|
distance = math.sqrt(sum((segment["end"][axis] - segment["start"][axis]) ** 2 for axis in ["x", "y", "z", "b", "c"]))
|
|
feed = max(1.0, number_or_zero(segment.get("feed")))
|
|
return distance / feed * 60_000
|
|
|
|
|
|
def pose_on_segment(segment, ratio):
|
|
ratio = max(0, min(1, ratio))
|
|
if segment["kind"] == "helix":
|
|
angle = 2 * math.pi * segment["turns"] * ratio
|
|
start = segment["start"]
|
|
return {
|
|
"x": segment["center"]["x"] - segment["radius"] * math.cos(angle),
|
|
"y": segment["center"]["y"] - segment["radius"] * math.sin(angle),
|
|
"z": start["z"] + (segment["end"]["z"] - start["z"]) * ratio,
|
|
"b": start["b"] + (segment["end"]["b"] - start["b"]) * ratio,
|
|
"c": start["c"] + (segment["end"]["c"] - start["c"]) * ratio,
|
|
}
|
|
return {
|
|
axis: segment["start"][axis] + (segment["end"][axis] - segment["start"][axis]) * ratio
|
|
for axis in ["x", "y", "z", "b", "c"]
|
|
}
|
|
|
|
|
|
def path_sample_from_pose(sample_index, time_ms, line, motion_type, active_kinematics, pose, feed):
|
|
joint = {axis: number_or_zero(pose.get(axis)) for axis in ["x", "y", "z", "b", "c"]}
|
|
return {
|
|
"sampleIndex": sample_index,
|
|
"timeMs": time_ms,
|
|
"line": int(line),
|
|
"motionType": motion_type,
|
|
"activeKinematics": active_kinematics,
|
|
"tool": {**XYZBC_DEFAULT_TOOL},
|
|
"joint": joint,
|
|
"tcp": {
|
|
"x": joint["x"],
|
|
"y": joint["y"],
|
|
"z": joint["z"],
|
|
},
|
|
"toolAxis": tool_axis_from_bc(joint["b"], joint["c"]),
|
|
"feed": number_or_zero(feed),
|
|
"spindle": 0,
|
|
}
|
|
|
|
|
|
def build_task_state_flow(before, after, command_result, hal):
|
|
events = (command_result or {}).get("events", [])
|
|
states = [
|
|
{
|
|
"name": "before",
|
|
"taskState": before.get("taskState"),
|
|
"taskMode": before.get("taskMode"),
|
|
"interpState": before.get("interpState"),
|
|
"execState": before.get("execState"),
|
|
"homed": first_five_homed(before),
|
|
"file": before.get("file"),
|
|
},
|
|
{
|
|
"name": "after",
|
|
"taskState": after.get("taskState"),
|
|
"taskMode": after.get("taskMode"),
|
|
"interpState": after.get("interpState"),
|
|
"execState": after.get("execState"),
|
|
"homed": first_five_homed(after),
|
|
"file": after.get("file"),
|
|
},
|
|
]
|
|
return {
|
|
"ready": after.get("taskState") is not None and after.get("interpState") is not None,
|
|
"executionCompleted": (command_result or {}).get("status") == "completed",
|
|
"eventCount": len(events),
|
|
"states": states,
|
|
"kinstype": hal_pin_value(hal.get("pins", {}), "motion.switchkins-type"),
|
|
"semanticBoundary": "native_linuxcnc_estop_power_home_auto_mdi_interlock_state_flow",
|
|
}
|
|
|
|
|
|
def build_button_interlocks(snapshot, task_state_flow):
|
|
homed = all(first_five_homed(snapshot))
|
|
powered = snapshot.get("taskState") == 4
|
|
idle = snapshot.get("interpState") == 1
|
|
file_loaded = bool(snapshot.get("file"))
|
|
return {
|
|
"estopReset": True,
|
|
"machinePower": True,
|
|
"canHome": powered,
|
|
"canJog": powered and homed,
|
|
"canExecuteMdi": powered and idle,
|
|
"canRunAuto": powered and homed and idle and file_loaded,
|
|
"canSwitchKins": powered and idle,
|
|
"source": task_state_flow.get("semanticBoundary"),
|
|
}
|
|
|
|
|
|
def build_basic_sim_equivalent(before, after, command_result, hal):
|
|
pins = hal.get("pins", {})
|
|
return {
|
|
"ready": True,
|
|
"source": "LIB:basic_sim.tcl native runtime",
|
|
"jointFeedback": {
|
|
f"joint.{index}.pos-fb": hal_pin_value(pins, f"joint.{index}.pos-fb")
|
|
for index in range(5)
|
|
},
|
|
"homing": {
|
|
"firstFiveHomedBefore": first_five_homed(before),
|
|
"firstFiveHomedAfter": first_five_homed(after),
|
|
"allConfiguredAxesHomed": all(first_five_homed(after)),
|
|
},
|
|
"manualToolChange": {
|
|
"toolOffsetZ": hal_pin_value(pins, "motion.tooloffset.z"),
|
|
"toolOffsetLinked": "motion.tooloffset.z" in pins or "xyzbc-trt-kins.tool-offset" in pins,
|
|
},
|
|
"spindle": {
|
|
"speed": spindle_speed(after.get("spindle")),
|
|
"feedrate": after.get("feedrate"),
|
|
"rapidrate": after.get("rapidrate"),
|
|
},
|
|
"execution": {
|
|
"completed": (command_result or {}).get("status") == "completed",
|
|
"eventCount": len((command_result or {}).get("events", [])),
|
|
},
|
|
"semanticBoundary": "native_basic_sim_joint_home_spindle_manualtoolchange_feedback",
|
|
}
|
|
|
|
|
|
def first_five_homed(snapshot):
|
|
values = snapshot.get("homed") or []
|
|
return [bool(value) for value in values[:5]]
|
|
|
|
|
|
def tool_axis_from_bc(b_deg, c_deg):
|
|
b = math.radians(number_or_zero(b_deg))
|
|
c = math.radians(number_or_zero(c_deg))
|
|
return {
|
|
"i": math.sin(b) * math.cos(c),
|
|
"j": math.sin(b) * math.sin(c),
|
|
"k": math.cos(b),
|
|
}
|
|
|
|
|
|
def spindle_speed(spindle):
|
|
if isinstance(spindle, list) and spindle:
|
|
first = spindle[0]
|
|
if isinstance(first, dict):
|
|
return number_or_zero(first.get("speed"))
|
|
if isinstance(spindle, dict):
|
|
return number_or_zero(spindle.get("speed"))
|
|
return 0
|
|
|
|
|
|
def native_hal_nets(hal):
|
|
pins = hal.get("pins", {})
|
|
return [
|
|
{
|
|
"signal": "kinstype-select",
|
|
"source": "motion.analog-out-03",
|
|
"target": "motion.switchkins-type",
|
|
"present": "motion.switchkins-type" in pins,
|
|
},
|
|
*[
|
|
{
|
|
"signal": f"joint-{index}-feedback",
|
|
"source": f"joint.{index}.pos-fb",
|
|
"target": ["table-x", "saddle-y", "spindle-z", "tilt-b", "rotate-c"][index],
|
|
"present": f"joint.{index}.pos-fb" in pins,
|
|
}
|
|
for index in range(5)
|
|
],
|
|
{
|
|
"signal": "tool-offset",
|
|
"source": "motion.tooloffset.z",
|
|
"target": "xyzbc-trt-kins.tool-offset",
|
|
"present": "motion.tooloffset.z" in pins or "xyzbc-trt-kins.tool-offset" in pins,
|
|
},
|
|
]
|
|
|
|
|
|
def native_kinematics_pins(hal):
|
|
pins = hal.get("pins", {})
|
|
return {
|
|
"xOffset": hal_pin_value(pins, "xyzbc-trt-kins.x-offset"),
|
|
"zOffset": hal_pin_value(pins, "xyzbc-trt-kins.z-offset"),
|
|
"xRotPoint": hal_pin_value(pins, "xyzbc-trt-kins.x-rot-point"),
|
|
"yRotPoint": hal_pin_value(pins, "xyzbc-trt-kins.y-rot-point"),
|
|
"zRotPoint": hal_pin_value(pins, "xyzbc-trt-kins.z-rot-point"),
|
|
"conventionalDirections": hal_pin_value(pins, "xyzbc-trt-kins.conventional-directions"),
|
|
"toolOffset": hal_pin_value(pins, "xyzbc-trt-kins.tool-offset"),
|
|
}
|
|
|
|
|
|
def hal_pin_value(pins, name):
|
|
return (pins.get(name) or {}).get("value")
|
|
|
|
|
|
def source_root_for_ini(ini_path):
|
|
marker = "/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"
|
|
value = str(ini_path)
|
|
if value.endswith(marker):
|
|
return value[: -len(marker)]
|
|
return DEFAULT_SOURCE_ROOT
|
|
|
|
|
|
def value(obj, attr):
|
|
return normalize_json(getattr(obj, attr, None))
|
|
|
|
|
|
def axes_tuple(values):
|
|
values = tuple_to_list(values)
|
|
return {axis.lower(): values[index] for index, axis in enumerate(AXES) if index < len(values)}
|
|
|
|
|
|
def joint_tuple(values):
|
|
values = tuple_to_list(values)
|
|
return {str(index): values[index] for index in range(min(5, len(values)))}
|
|
|
|
|
|
def tuple_to_list(values):
|
|
if values is None:
|
|
return []
|
|
return [normalize_json(value) for value in values]
|
|
|
|
|
|
def normalize_json(value):
|
|
if isinstance(value, float):
|
|
if math.isnan(value) or math.isinf(value):
|
|
return None
|
|
return value
|
|
if isinstance(value, (str, int, bool)) or value is None:
|
|
return value
|
|
if isinstance(value, tuple):
|
|
return [normalize_json(item) for item in value]
|
|
if isinstance(value, list):
|
|
return [normalize_json(item) for item in value]
|
|
if isinstance(value, dict):
|
|
return {str(key): normalize_json(item) for key, item in value.items()}
|
|
return str(value)
|
|
|
|
|
|
def parse_number(value):
|
|
try:
|
|
return float(value)
|
|
except ValueError:
|
|
return value
|
|
|
|
|
|
def number_or_zero(value):
|
|
try:
|
|
number = float(value)
|
|
except (TypeError, ValueError):
|
|
return 0
|
|
if math.isnan(number) or math.isinf(number):
|
|
return 0
|
|
return number
|
|
|
|
|
|
def write_json(path, payload):
|
|
output = pathlib.Path(path)
|
|
output.parent.mkdir(parents=True, exist_ok=True)
|
|
output.write_text(json.dumps(payload, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
|
|
|
|
|
|
def iso_now():
|
|
return time.strftime("%Y-%m-%dT%H:%M:%S%z")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
sys.exit(main())
|