Import LinuxCNC source tree

tests/halui/mdi/checkresult

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+../checkresult

tests/halui/mdi/halui.ini

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+[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

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+
+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

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+#!/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

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+../shared-test.sh