Import LinuxCNC source tree

tests/halui/.gitignore

@@ -0,0 +1,2 @@
+sim.var.bak
+sim.var

tests/halui/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh 
+exit 0 # test failure is indicated by test.sh exit value 

tests/halui/jogging/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/halui/jogging/halui.ini

@@ -0,0 +1,101 @@
+[EMC]
+DEBUG = 0x7fffffff
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:core_sim.hal
+POSTGUI_HALFILE = postgui.hal
+
+[TRAJ]
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[AXIS_X]
+HOME =             0.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+
+[AXIS_Y]
+HOME =             0.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+
+[AXIS_Z]
+HOME =             0.0
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+

tests/halui/jogging/postgui.hal

@@ -0,0 +1,89 @@
+
+
+setp halui.joint.jog-speed 100
+
+
+net jog-selected-minus <= python-ui.jog-selected-minus
+net jog-selected-minus => halui.joint.selected.minus
+
+net jog-selected-plus <= python-ui.jog-selected-plus
+net jog-selected-plus => halui.joint.selected.plus
+
+
+net joint-0-home   <= python-ui.joint-0-home
+net joint-0-home   => halui.joint.0.home
+
+net joint-0-homed <= halui.joint.0.is-homed
+net joint-0-homed => python-ui.joint-0-homed
+
+net joint-0-select   <= python-ui.joint-0-select
+net joint-0-select   => halui.joint.0.select
+
+net joint-0-selected <= halui.joint.0.is-selected
+net joint-0-selected => python-ui.joint-0-selected
+
+net joint-0-velocity <= joint.0.vel-cmd
+net joint-0-velocity => python-ui.joint-0-velocity
+
+net joint-0-jog-plus <= python-ui.joint-0-jog-plus
+net joint-0-jog-plus => halui.joint.0.plus
+
+net joint-0-jog-minus <= python-ui.joint-0-jog-minus
+net joint-0-jog-minus => halui.joint.0.minus
+
+net Xpos => python-ui.joint-0-position
+
+
+net joint-1-home   <= python-ui.joint-1-home
+net joint-1-home   => halui.joint.1.home
+
+net joint-1-homed <= halui.joint.1.is-homed
+net joint-1-homed => python-ui.joint-1-homed
+
+net joint-1-select   <= python-ui.joint-1-select
+net joint-1-select   => halui.joint.1.select
+
+net joint-1-selected <= halui.joint.1.is-selected
+net joint-1-selected => python-ui.joint-1-selected
+
+net joint-1-velocity <= joint.1.vel-cmd
+net joint-1-velocity => python-ui.joint-1-velocity
+
+net joint-1-jog-plus <= python-ui.joint-1-jog-plus
+net joint-1-jog-plus => halui.joint.1.plus
+
+net joint-1-jog-minus <= python-ui.joint-1-jog-minus
+net joint-1-jog-minus => halui.joint.1.minus
+
+net Ypos => python-ui.joint-1-position
+
+
+net joint-2-home   <= python-ui.joint-2-home
+net joint-2-home   => halui.joint.2.home
+
+net joint-2-homed <= halui.joint.2.is-homed
+net joint-2-homed => python-ui.joint-2-homed
+
+net joint-2-select   <= python-ui.joint-2-select
+net joint-2-select   => halui.joint.2.select
+
+net joint-2-selected <= halui.joint.2.is-selected
+net joint-2-selected => python-ui.joint-2-selected
+
+net joint-2-velocity <= joint.2.vel-cmd
+net joint-2-velocity => python-ui.joint-2-velocity
+
+net joint-2-jog-plus <= python-ui.joint-2-jog-plus
+net joint-2-jog-plus => halui.joint.2.plus
+
+net joint-2-jog-minus <= python-ui.joint-2-jog-minus
+net joint-2-jog-minus => halui.joint.2.minus
+
+net Zpos => python-ui.joint-2-position
+
+net motion-mode-joint <= python-ui.motion-mode-joint
+net motion-mode-joint => halui.mode.joint
+
+net motion-mode-is-joint <= python-ui.motion-mode-is-joint
+net motion-mode-is-joint => halui.mode.is-joint
+

tests/halui/jogging/test-ui.py

@@ -0,0 +1,387 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+import time
+import sys
+import os
+
+
+# this is how long we wait for linuxcnc to do our bidding
+timeout = 10.0
+
+
+# unbuffer stdout
+sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
+
+
+program_start = time.time()
+
+def log(msg):
+    delta_t = time.time() - program_start;
+    print("%.3f: %s" % (delta_t, msg))
+    sys.stdout.flush()
+
+
+def introspect(h):
+    os.system("halcmd show pin halui")
+    os.system("halcmd show pin python-ui")
+    os.system("halcmd show sig")
+
+
+def home_joint(name):
+    log("    homing %s" % name)
+
+    h[name + '-home'] = 1
+    start = time.time()
+    while (h[name + '-homed'] == 0) and ((time.time() - start) < timeout):
+        time.sleep(0.1)
+
+    if h[name + '-homed'] == 0:
+        log("failed to home %s in halui" % name)
+        introspect(h)
+        sys.exit(1)
+
+    h[name + '-home'] = 0
+
+
+def select_joint(name, deassert=True):
+    log("    selecting %s" % name)
+
+    h[name + '-select'] = 1
+    start = time.time()
+    while (h[name + '-selected'] == 0) and ((time.time() - start) < timeout):
+        time.sleep(0.1)
+
+    if h[name + '-selected'] == 0:
+        log("failed to select %s in halui" % name)
+        introspect(h)
+        sys.exit(1)
+
+    if deassert:
+        h[name + '-select'] = 0
+
+
+def jog_minus(name, target):
+    start_position = h[name + '-position']
+    log("    jogging %s negative: to %.3f" % (name, target))
+
+    h['jog-selected-minus'] = 1
+
+    start = time.time()
+    while (h[name + '-position'] > target) and ((time.time() - start) < timeout):
+        time.sleep(0.1)
+
+    if h[name + '-position'] > target:
+        log("failed to jog %s to %.3f (timed out at %.3f after %.3f seconds)" % (name, target, h[name + '-position'], timeout))
+        introspect(h)
+        sys.exit(1)
+
+    h['jog-selected-minus'] = 0
+
+    log("    jogged %s negative past target %.3f" % (name, target))
+
+    return True
+
+
+def jog_plus(name, target):
+    start_position = h[name + '-position']
+    log("    jogging %s positive: to %.3f" % (name, target))
+
+    h['jog-selected-plus'] = 1
+
+    start = time.time()
+    while (h[name + '-position'] < target) and ((time.time() - start) < timeout):
+        time.sleep(0.1)
+
+    if h[name + '-position'] < target:
+        log("failed to jog %s to %.3f (timed out at %.3f after %.3f seconds)" % (name, target, h[name + '-position'], timeout))
+        introspect(h)
+        sys.exit(1)
+
+    h['jog-selected-plus'] = 0
+
+    log("    jogged %s positive past target %.3f" % (name, target))
+
+    return True
+
+
+def wait_for_pin_value(pin_name, target_value, timeout=2.0):
+    start_time = time.time()
+    while h[pin_name] != target_value:
+        if (time.time() - start_time) > timeout:
+            log("Error: pin %s didn't reach target value %s!" % (pin_name, target_value))
+            log("pin value is %s at timeout after %.3f seconds" % (h[pin_value], timeout))
+            sys.exit(1)
+        time.sleep(0.1)
+
+
+def wait_for_joint_to_stop(joint_number):
+    pos_pin = 'joint-%d-position' % joint_number
+    vel_pin = 'joint-%d-velocity' % joint_number
+    start_time = time.time()
+    prev_pos = h[pos_pin]
+    while (time.time() - start_time) < timeout:
+        time.sleep(0.1)
+        new_pos = h[pos_pin]
+        if new_pos == prev_pos and h[vel_pin] == 0.0:
+            log("joint %d stopped jogging" % joint_number)
+            return
+        prev_pos = new_pos
+    log("Error: joint didn't stop jogging!")
+    log("joint %d is at %.3f %.3f seconds after reaching target (prev_pos=%.3f, val=%.3f)" % (joint_number, h[pos_pin], timeout, prev_pos, h[vel_pin]))
+    sys.exit(1)
+
+
+def jog_joint(joint_number, target):
+    success = True
+
+    joint = []
+    for j in range(0,3):
+        joint.append(h['joint-%d-position' % j])
+
+    name = 'joint-%d' % joint_number
+
+    log("jogging %s to %.3f" % (name, target))
+    select_joint(name)
+
+    if h[name + '-position'] > target:
+        jog_minus(name, target)
+    else:
+        jog_plus(name, target)
+
+    for j in range(0,3):
+        pin_name = 'joint-%d-position' % j
+        if j == joint_number:
+            if joint[j] == h[pin_name]:
+                log("joint %d didn't move but should have!" % j)
+                success = False
+        else:
+            if joint[j] != h[pin_name]:
+                log("joint %d moved from %.3f to %.3f but should not have!" % (j, joint[j], h[pin_name]))
+                success = False
+
+    wait_for_joint_to_stop(joint_number)
+
+    if not success:
+        sys.exit(1)
+
+
+#
+# set up pins
+# shell out to halcmd to make nets to halui and motion
+#
+
+h = hal.component("python-ui")
+
+h.newpin("joint-0-home", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-0-homed", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-0-select", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-0-selected", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-0-position", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-0-velocity", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-0-jog-plus", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-0-jog-minus", hal.HAL_BIT, hal.HAL_OUT)
+
+h.newpin("joint-1-home", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-1-homed", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-1-select", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-1-selected", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-1-position", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-1-velocity", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-1-jog-plus", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-1-jog-minus", hal.HAL_BIT, hal.HAL_OUT)
+
+h.newpin("joint-2-home", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-2-homed", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-2-select", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-2-selected", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("joint-2-position", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-2-velocity", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-2-jog-plus", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("joint-2-jog-minus", hal.HAL_BIT, hal.HAL_OUT)
+
+h.newpin("jog-selected-minus", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("jog-selected-plus", hal.HAL_BIT, hal.HAL_OUT)
+
+h.newpin("motion-mode-joint", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("motion-mode-is-joint", hal.HAL_BIT, hal.HAL_IN)
+
+h.ready() # mark the component as 'ready'
+
+os.system("halcmd source ./postgui.hal")
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.wait_complete()
+
+# Select joints 1 and 2, but do not de-assert the .select pins.
+select_joint('joint-1', deassert=False)
+select_joint('joint-2', deassert=False)
+
+# Home all the joints.  This should work fine.
+home_joint('joint-0')
+home_joint('joint-1')
+home_joint('joint-2')
+
+# Deassert the .select pins for joints 1 and 2.
+h['joint-1-select'] = 0
+h['joint-2-select'] = 0
+
+# The machine is homed and all the .joint.N.select pins are deasserted.
+c.mode(linuxcnc.MODE_MANUAL)
+c.wait_complete()
+
+h['motion-mode-joint'] = 1
+wait_for_pin_value('motion-mode-is-joint', 1, 2.0)
+h['motion-mode-joint'] = 0
+
+
+#
+# First some simple single-axis jog & stop.  Test each axis jogging in each
+# direction, one at a time.
+#
+# These jog_joint() functions will exit with a return value of 1 if
+# something goes wrong, signalling test failure.
+#
+
+jog_joint(0, -0.5)
+jog_joint(0, 0.0)
+
+jog_joint(1, -0.5)
+jog_joint(1, 0.0)
+
+jog_joint(2, -0.5)
+jog_joint(2, 0.0)
+
+
+#
+# Next try selecting a joint and jogging it with the "jog selected" pins,
+# then changing which joint is selected.  The expected behavior when
+# changing which joint is selected is that the old joint stops jogging and
+# the new one starts jogging.
+#
+# We do this while jogging yet a third joint using its private, per-joint
+# jog pins, to verify that it is unaffected by all the drama.
+#
+
+name0 = 'joint-0'
+name1 = 'joint-1'
+name2 = 'joint-2'
+
+start_position0 = h[name0 + '-position']
+start_position1 = h[name1 + '-position']
+start_position2 = h[name2 + '-position']
+
+print("%s starting at %.3f" % (name0, start_position0))
+print("%s starting at %.3f" % (name1, start_position1))
+print("%s starting at %.3f" % (name2, start_position2))
+
+
+#
+# start joint0 jogging in the positive direction
+#
+
+print("jogging %s positive using the private per-joint jog pins" % name0)
+h[name0 + '-jog-plus'] = 1
+
+# wait for this joint to come up to speed
+start = time.time()
+while (h[name0 + '-velocity'] <= 0) and ((time.time() - start) < timeout):
+    time.sleep(0.1)
+if h[name0 + '-velocity'] <= 0:
+    print("%s did not start jogging" % name0)
+    sys.exit(1)
+
+
+#
+# start the selected joint1 jogging in the negative direction
+#
+
+print("jogging selected joint (%s) negative" % (name1))
+select_joint(name1)
+h['jog-selected-minus'] = 1
+
+# wait for this joint to start moving
+start = time.time()
+while (h[name1 + '-velocity'] >= 0) and ((time.time() - start) < timeout):
+    time.sleep(0.1)
+if h[name1 + '-velocity'] >= 0:
+    print("%s did not start jogging" % name1)
+    sys.exit(1)
+
+if h[name0 + '-velocity'] <= 0:
+    print("%s stopped jogging" % name0)
+    sys.exit(1)
+
+if h[name1 + '-position'] >= start_position1:
+    print("%s was selected but did not jog negative (start=%.3f, end=%.3f)" % (name1, start_position1, h[name1 + '-position']))
+    sys.exit(1)
+
+if h[name2 + '-position'] != start_position2:
+    print("%s was not selected but moved (start=%.3f, end=%.3f)" % (name2, start_position2, h[name2 + '-position']))
+    sys.exit(1)
+
+print("%s was selected and jogged, %s was not selected and stayed still" % (name1, name2))
+
+
+start_position1 = h[name1 + '-position']
+start_position2 = h[name2 + '-position']
+
+start_velocity1 = h[name1 + '-velocity']
+start_velocity2 = h[name2 + '-velocity']
+
+print("selecting %s" % name2)
+select_joint(name2)
+
+wait_for_joint_to_stop(1)
+
+if h[name0 + '-velocity'] <= 0:
+    print("%s stopped jogging" % name0)
+    sys.exit(1)
+
+if h[name1 + '-velocity'] != 0:
+    print("%s was deselected but did not stop (start_vel=%.3f, end_vel=%.3f)" % (name1, start_velocity1, h[name1 + '-velocity']))
+    sys.exit(1)
+
+if h[name2 + '-velocity'] >= 0:
+    print("%s was selected but did not move (start_vel=%.3f, end_vel=%.3f)" % (name2, start_velocity2, h[name2 + '-velocity']))
+    sys.exit(1)
+
+print("%s was deselected and stopped, %s was selected and jogged" % (name1, name2))
+
+
+start_velocity1 = h[name1 + '-velocity']
+start_velocity2 = h[name2 + '-velocity']
+
+print("stopping jog")
+h['jog-selected-minus'] = 0
+
+wait_for_joint_to_stop(2)
+
+if h[name0 + '-velocity'] <= 0:
+    print("%s stopped jogging" % name0)
+    sys.exit(1)
+
+if h[name1 + '-velocity'] != 0:
+    print("%s started moving again (start_vel=%.3f, end_vel=%.3f)" % (name1, start_velocity1, h[name1 + '-velocity']))
+    sys.exit(1)
+
+if h[name2 + '-velocity'] != 0:
+    print("%s did not stop (start_vel=%.3f, end_vel=%.3f)" % (name2, start_velocity2, h[name2 + '-velocity']))
+    sys.exit(1)
+
+print("%s stopped" % name2)
+
+
+sys.exit(0)
+

tests/halui/jogging/test.sh

@@ -0,0 +1 @@
+../shared-test.sh

tests/halui/mdi/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/halui/mdi/halui.ini

@@ -0,0 +1,103 @@
+[EMC]
+VERSION = 1.1
+DEBUG = 0x7fffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:core_sim.hal
+POSTGUI_HALFILE = postgui.hal
+
+[HALUI]
+MDI_COMMAND = g0 x-1 y0 z0
+MDI_COMMAND = g0 x1
+MDI_COMMAND = g0 y2
+MDI_COMMAND = g0 z3
+
+[TRAJ]
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Z]
+MIN_LIMIT = -4.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/halui/mdi/postgui.hal

@@ -0,0 +1,26 @@
+
+net mdi-0 <= python-ui.mdi-0
+net mdi-0 => halui.mdi-command-00
+
+net mdi-1 <= python-ui.mdi-1
+net mdi-1 => halui.mdi-command-01
+
+net mdi-2 <= python-ui.mdi-2
+net mdi-2 => halui.mdi-command-02
+
+net mdi-3 <= python-ui.mdi-3
+net mdi-3 => halui.mdi-command-03
+
+net Xpos => python-ui.joint-0-position
+net Ypos => python-ui.joint-1-position
+net Zpos => python-ui.joint-2-position
+
+net halui-mode-is-manual <= halui.mode.is-manual
+net halui-mode-is-manual => python-ui.is-manual
+
+net halui-mode-is-auto <= halui.mode.is-auto
+net halui-mode-is-auto => python-ui.is-auto
+
+net halui-mode-is-mdi <= halui.mode.is-mdi
+net halui-mode-is-mdi => python-ui.is-mdi
+

tests/halui/mdi/test-ui.py

@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+import time
+import sys
+import os
+import math
+
+program_start = time.time()
+
+def log(msg):
+    delta_t = time.time() - program_start;
+    print("%.3f: %s" % (delta_t, msg))
+    sys.stdout.flush()
+
+
+def introspect():
+    os.system("halcmd show pin halui")
+    os.system("halcmd show pin python-ui")
+    os.system("halcmd show sig")
+
+
+def wait_for_joint_to_stop_at(joint, target):
+    timeout = 10.0
+    tolerance = 0.0001
+
+    start = time.time()
+
+    curr_pos = 0;
+    while ((time.time() - start) < timeout):
+        prev_pos = curr_pos
+        curr_pos = h['joint-%d-position' % joint]
+        vel = curr_pos - prev_pos
+        error = math.fabs(curr_pos - target)
+        if (error < tolerance) and (vel == 0):
+            log("joint %d stopped at %.3f" % (joint, target))
+            return
+        time.sleep(0.1)
+    log("timeout waiting for joint %d to stop at %.3f (pos=%.3f, vel=%.3f)" % (joint, target, curr_pos, vel))
+    sys.exit(1)
+
+
+def wait_for_task_mode(target):
+    timeout = 10.0
+    start = time.time()
+
+    while ((time.time() - start) < timeout):
+        s.poll()
+        if s.task_mode == target:
+            return
+        time.sleep(0.1)
+
+    log("timeout waiting for task mode to get to  %d (it's %d)" % (target, s.task_mode))
+    sys.exit(1)
+
+
+def wait_for_halui_mode(pin_name):
+    timeout = 10.0
+
+    start = time.time()
+
+    while ((time.time() - start) < timeout):
+        if h[pin_name]:
+            print("halui reports mode {}".format(pin_name))
+            return
+        time.sleep(0.1)
+    print("timeout waiting for halui to report mode {}".format(pin_name))
+    sys.exit(1)
+
+
+
+#
+# set up pins
+# shell out to halcmd to make nets to halui and motion
+#
+
+h = hal.component("python-ui")
+
+h.newpin("mdi-0", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("mdi-1", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("mdi-2", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("mdi-3", hal.HAL_BIT, hal.HAL_OUT)
+
+h.newpin("joint-0-position", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-1-position", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("joint-2-position", hal.HAL_FLOAT, hal.HAL_IN)
+
+h.newpin("is-manual", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("is-auto", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("is-mdi", hal.HAL_BIT, hal.HAL_IN)
+
+h.ready() # mark the component as 'ready'
+
+os.system("halcmd source ./postgui.hal")
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.wait_complete()
+
+
+#
+# run the test
+#
+# These functions will exit with a return value of 1 if something goes
+# wrong.
+#
+
+log("setting mode to Manual")
+c.mode(linuxcnc.MODE_MANUAL)
+wait_for_halui_mode('is-manual')
+log("running MDI command 0")
+h['mdi-0'] = 1
+wait_for_joint_to_stop_at(0, -1);
+wait_for_joint_to_stop_at(1, 0);
+wait_for_joint_to_stop_at(2, 0);
+h['mdi-0'] = 0
+wait_for_task_mode(linuxcnc.MODE_MANUAL)
+wait_for_halui_mode('is-manual')
+
+log("setting mode to Auto")
+c.mode(linuxcnc.MODE_AUTO)
+wait_for_halui_mode('is-auto')
+log("running MDI command 1")
+h['mdi-1'] = 1
+wait_for_joint_to_stop_at(0, 1);
+wait_for_joint_to_stop_at(1, 0);
+wait_for_joint_to_stop_at(2, 0);
+h['mdi-1'] = 0
+wait_for_task_mode(linuxcnc.MODE_AUTO)
+wait_for_halui_mode('is-auto')
+
+log("setting mode to MDI")
+c.mode(linuxcnc.MODE_MDI)
+wait_for_halui_mode('is-mdi')
+log("running MDI command 2")
+h['mdi-2'] = 1
+wait_for_joint_to_stop_at(0, 1);
+wait_for_joint_to_stop_at(1, 2);
+wait_for_joint_to_stop_at(2, 0);
+h['mdi-2'] = 0
+s.poll()
+wait_for_task_mode(linuxcnc.MODE_MDI)
+wait_for_halui_mode('is-mdi')
+
+log("running MDI command 3")
+h['mdi-3'] = 1
+wait_for_joint_to_stop_at(0, 1);
+wait_for_joint_to_stop_at(1, 2);
+wait_for_joint_to_stop_at(2, 3);
+h['mdi-3'] = 0
+wait_for_task_mode(linuxcnc.MODE_MDI)
+wait_for_halui_mode('is-mdi')
+
+log("running MDI command 0")
+h['mdi-0'] = 1
+wait_for_joint_to_stop_at(0, -1);
+wait_for_joint_to_stop_at(1, 0);
+wait_for_joint_to_stop_at(2, 0);
+h['mdi-0'] = 0
+wait_for_task_mode(linuxcnc.MODE_MDI)
+wait_for_halui_mode('is-mdi')
+
+
+sys.exit(0)
+

tests/halui/mdi/test.sh

@@ -0,0 +1 @@
+../shared-test.sh

tests/halui/shared-test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+exec linuxcnc -r halui.ini
+