Import LinuxCNC source tree

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)
+