Import LinuxCNC source tree

tests/classicladder/estop/checkresult

@@ -0,0 +1,10 @@
+#!/bin/sh
+
+result=$1
+
+if grep -qi error: "$result" ; then
+    echo "found string 'error' in $result"
+    exit 1
+fi
+
+exit 0

tests/classicladder/estop/classicladder-estop-ui.py

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+#!/usr/bin/env python3
+
+import os
+import sys
+import time
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+def wait_for_hal_pin(name, value, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        if hal.get_value(name) == value:
+            return
+        time.sleep(0.1)
+    raise RuntimeError("error: hal pin %s didn't get to %s after %.3f seconds" % (name, value, timeout))
+
+
+# unbuffer stdout
+sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
+
+retval = 0
+
+h = hal.component("python-ui")
+h.newpin("ext-estop-button", hal.HAL_BIT, hal.HAL_OUT)
+h.ready() # mark the component as 'ready'
+
+hal.connect('python-ui.ext-estop-button', 'ext-estop')
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.wait_complete()
+
+if False == hal.get_value('estop-all-ok'):
+    print("error: estop not OK before ext-estop-button is touched")
+    retval = 1
+
+h['ext-estop-button'] = 1
+
+# Give HAL and classicladder time to react
+try:
+    wait_for_hal_pin('estop-all-ok', False)
+except RuntimeError as e:
+    print("error: estop still OK after ext-estop-button is set")
+    retval = 1
+
+h['ext-estop-button'] = 0
+c.state(linuxcnc.STATE_ESTOP_RESET)
+
+# Give HAL and classicladder time to react
+try:
+    wait_for_hal_pin('estop-all-ok', True)
+except RuntimeError as e:
+    print("error: estop not OK aftet ext-estop-button is unset")
+    retval = 1
+
+print("exiting linuxcnc")
+
+sys.exit(retval)

tests/classicladder/estop/classicladder-estop.clp

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+_FILES_CLASSICLADDER
+_FILE-symbols.csv
+#VER=1.0
+%I0,GUI-E,
+%I1,EXT-E,
+%I2,E-RESET,
+%I3,I3,
+%I4,I4,
+%I5,I5,
+%I6,I6,
+%I7,I7,
+%I8,I8,
+%I9, ,
+%Q0,EMC-E,
+%Q1,Q1,
+%Q2,Q2,
+%Q3,Q3,
+%Q4,Q4,
+%Q5,Q5,
+%Q6,Q6,
+%Q7,Q7,
+%Q8,Q8,
+%Q9,Q9,
+%T0,T0,
+%T1,T1,
+%T2,T2,
+%B0,reset,reset off timer
+%B1,%B1,
+%B2,%B2,
+%B3,%B3,
+%B4,%B4,
+%B5,%B5,
+%B6,%B6,
+%B7,%B7,
+%B8,%B8,
+%B9,%B9,
+%B10,%B10,
+%B11,%B11,
+%B12,%B12,
+%B13,%B13,
+%B14,%B14,
+%B15,%B15,
+%B16,%B16,
+%B17,%B17,
+%B18,%B18,
+%B19,%B19,
+%W0,%W0,
+%W1,%W1,
+%W2,%W2,
+%W3,%W3,
+%IW0,%IW0,
+%IW1,%IW1,
+%IW2,%IW2,
+%IW3,%IW3,
+%IW4,%IW4,
+%IW5,%IW5,
+%IW6,%IW6,
+%IW7,%IW7,
+%IW8,%IW8,
+%IW9,%IW9,
+%QW0,%QW0,
+%QW1,%QW1,
+%QW2,%QW2,
+%QW3,%QW3,
+%QW4,%QW4,
+%QW5,%QW5,
+%QW6,%QW6,
+%QW7,%QW7,
+%QW8,%QW8,
+%QW9,%QW9,
+%IF0,%IF0,
+%IF1,%IF1,
+%IF2,%IF2,
+%IF3,%IF3,
+%IF4,%IF4,
+%IF5,%IF5,
+%IF6,%IF6,
+%IF7,%IF7,
+%IF8,%IF8,
+%IF9,%IF9,
+%QF0,%QF0,
+%QF1,%QF1,
+%QF2,%QF2,
+%QF3,%QF3,
+%QF4,%QF4,
+%QF5,%QF5,
+%QF6,%QF6,
+%QF7,%QF7,
+%QF8,%QF8,
+%QF9,%QF9,
+%T3,%T3,Old Timer
+%T4,%T4,Old Timer
+%TM0,%TM0,New Timer
+%TM1,%TM1,New Timer
+%TM2,%TM2,New Timer
+%TM3,%TM3,New Timer
+%TM4,%TM4,New Timer
+%TM5,%TM5,New Timer
+%TM6,%TM6,New Timer
+%TM7,%TM7,New Timer
+%TM8,%TM8,New Timer
+%TM9,%TM9,New Timer
+%M0,%M0,One-shot
+%M1,%M1,One-shot
+%C0,%C0,Counter
+%C1,%C1,Counter
+%C2,%C2,Counter
+%C3,%C3,Counter
+%C4,%C4,Counter
+%C5,%C5,Counter
+%C6,%C6,Counter
+%C7,%C7,Counter
+%C8,%C8,Counter
+%C9,%C9,Counter
+%E0,%E0,Error Flag Bit
+%E1,%E1,Error Flag Bit
+%E2,%E2,Error Flag Bit
+%E3,%E3,Error Flag Bit
+%E4,%E4,Error Flag Bit
+%E5,%E5,Error Flag Bit
+%E6,%E6,Error Flag Bit
+%E7,%E7,Error Flag Bit
+%E8,%E8,Error Flag Bit
+%E9,%E9,Error Flag Bit
+_/FILE-symbols.csv
+_FILE-modbusioconf.csv
+#VER=1.0
+_/FILE-modbusioconf.csv
+_FILE-ioconf.csv
+#VER=1.0
+_/FILE-ioconf.csv
+_FILE-sequential.csv
+#VER=1.0
+_/FILE-sequential.csv
+_FILE-sections.csv
+#VER=1.0
+#NAME000=Prog1
+000,0,-1,1,1,0
+_/FILE-sections.csv
+_FILE-rung_1.csv
+#VER=2.0
+#LABEL=Rung 1
+#COMMENT=Stepper Estop Chain
+#PREVRUNG=0
+#NEXTRUNG=-1
+0-0-50/0 , 1-0-50/0 , 9-0-50/0 , 9-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-60/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0
+0-0-0/0 , 2-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-50/2 , 9-0-0/0 , 9-0-0/0 , 0-1-60/1
+0-0-50/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/1 , 9-0-0/0 , 0-1-60/1
+9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 1-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0
+0-0-60/1 , 0-0-0/0 , 0-0-0/0 , 1-1-50/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/6
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_1.csv
+_FILE-rung_0.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=0
+#NEXTRUNG=1
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_0.csv
+_FILE-arithmetic_expressions.csv
+#VER=2.0
+_/FILE-arithmetic_expressions.csv
+_FILE-timers_iec.csv
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+_/FILE-timers_iec.csv
+_FILE-counters.csv
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+_/FILE-counters.csv
+_FILE-monostables.csv
+1,10
+1,20
+_/FILE-monostables.csv
+_FILE-timers.csv
+1,10
+1,20
+0,20
+2,1
+2,5
+_/FILE-timers.csv
+_FILE-com_params.txt
+MODBUS_MASTER_SERIAL_PORT=
+MODBUS_MASTER_SERIAL_SPEED=9600
+MODBUS_MASTER_SERIAL_DATABITS=8
+MODBUS_MASTER_SERIAL_STOPBITS=1
+MODBUS_MASTER_SERIAL_PARITY=0
+MODBUS_ELEMENT_OFFSET=0
+MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
+MODBUS_MASTER_TIME_INTER_FRAME=100
+MODBUS_MASTER_TIME_OUT_RECEIPT=500
+MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
+MODBUS_DEBUG_LEVEL=0
+MODBUS_MAP_COIL_READ=0
+MODBUS_MAP_COIL_WRITE=0
+MODBUS_MAP_INPUT=0
+MODBUS_MAP_HOLDING=0
+MODBUS_MAP_REGISTER_READ=0
+MODBUS_MAP_REGISTER_WRITE=0
+_/FILE-com_params.txt
+_FILE-general.txt
+PERIODIC_REFRESH=1
+SIZE_NBR_RUNGS=12
+SIZE_NBR_BITS=20
+SIZE_NBR_WORDS=4
+SIZE_NBR_TIMERS=5
+SIZE_NBR_MONOSTABLES=2
+SIZE_NBR_COUNTERS=10
+SIZE_NBR_TIMERS_IEC=10
+SIZE_NBR_PHYS_INPUTS=10
+SIZE_NBR_PHYS_OUTPUTS=10
+SIZE_NBR_ARITHM_EXPR=4
+SIZE_NBR_SECTIONS=4
+SIZE_NBR_SYMBOLS=121
+_/FILE-general.txt
+_/FILES_CLASSICLADDER

tests/classicladder/estop/classicladder-estop.hal

@@ -0,0 +1,35 @@
+# HAL config file for using classic ladder
+
+# The core_sim.hal file sets up motion, stepgen and other common items
+# Remove core_sim.hal connections for the following pins and implement
+# using classic latter functionality instead:
+unlinkp iocontrol.0.user-enable-out
+unlinkp iocontrol.0.emc-enable-in
+
+# This file adds:
+# the possibility of an external momentary or sustained NC estop button
+
+# (load the realtime portion)
+# these classicladder parameters need to be optimized after ladder completion
+loadrt classicladder_rt numRungs=12 numBits=20 numWords=4 numTimers=5 numMonostables=2 numPhysInputs=10 numPhysOutputs=10 numArithmExpr=4 numSections=4
+# We kick ladder into a thread at the slower servo rate rather than base rate
+addf classicladder.0.refresh        servo-thread 1
+
+# invoke the user part of CL to silently load the program
+# later we will need to add the clp file mentioned below
+# to the ini file so that we do not need to hardcode it here.
+loadusr -w classicladder --nogui classicladder-estop.clp
+
+# three axis motion allows 6 other outputs on pins 8,9,1,14,16,17
+# five additional input pins are available 10,11,12,13,15
+# these are setup by the work they perform below
+
+# estop signals
+# signal is the internal or gui estop command from EMC
+net gui-estop iocontrol.0.user-enable-out classicladder.0.in-00
+# one-shot on  timer when signal above goes high.
+net estop-strobe iocontrol.0.user-request-enable  classicladder.0.in-02
+# this bit is an external estop button connected to parport pin 11 and ground
+net ext-estop classicladder.0.in-01
+# This bit signal is command to estop from CL to EMC
+net estop-all-ok iocontrol.0.emc-enable-in classicladder.0.out-00

tests/classicladder/estop/classicladder-estop.ini

@@ -0,0 +1,35 @@
+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-test-classicladder-estop
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = ./classicladder-estop-ui.py
+CYCLE_TIME = 0.200
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD = 50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALFILE = core_sim.hal
+HALFILE = classicladder-estop.hal
+HALFILE = simulated_home.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3

tests/classicladder/estop/test.sh

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# Test setup based on configs/sim/axis/classicladder/
+#
+
+# Disable eatmydata, as it do not seem to work with classicladder
+if [ "libeatmydata.so" = "$LD_PRELOAD" ] ; then
+    unset LD_PRELOAD
+fi
+exec linuxcnc "$(dirname "$0")/classicladder-estop.ini"