Import LinuxCNC source tree

tests/hard-limits/.gitignore

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+rs274ngc.var
+rs274ngc.var.bak

tests/hard-limits/README

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+
+This test reproduces Issue #117.  It homes an id-kins machine, starts
+a jog, and then (while moving) trips a limit switch (ie a hard limit).
+

tests/hard-limits/checkresult

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+#!/bin/sh
+# Success or failure of this test is handled in the test.sh script, if we
+# get this far it's a success.
+exit 0

tests/hard-limits/hard-limits.hal

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+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+net xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
+net x-neg-lim-sw => joint.0.neg-lim-sw-in
+
+net ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+
+net zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in

tests/hard-limits/hard-limits.ini

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+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = hard-limits
+#DEBUG = 0
+DEBUG = 0x7fffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALFILE = hard-limits.hal
+
+[TRAJ]
+AXES = 3
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 0.10
+MAX_LINEAR_VELOCITY = 1.00
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+FERROR = 0.05
+MIN_FERROR = 0.01
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+FERROR = 0.05
+MIN_FERROR = 0.01
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+FERROR = 0.05
+MIN_FERROR = 0.01
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0

tests/hard-limits/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def print_status(status):
+    status.poll()
+    print("status.axis[0]: {}".format(status.axis[0]))
+    print("status.axis[1]: {}".format(status.axis[1]))
+    print("status.joint[0]: {}".format(status.joint[0]))
+    print("status.joint[1]: {}".format(status.joint[1]))
+    print("status.current_vel: {}".format(status.current_vel))
+    print("status.echo_serial_number: {}".format(status.echo_serial_number))
+    print("status.enabled: {}".format(status.enabled))
+    print("status.estop: {}".format(status.estop))
+    print("status.exec_state: {}".format(status.exec_state))
+    print("status.inpos: {}".format(status.inpos))
+    print("status.interp_state: {}".format(status.interp_state))
+    print("status.interpreter_errcode: {}".format(status.interpreter_errcode))
+    print("status.limit: {}".format(status.limit))
+    print("status.motion_mode: {}".format(status.motion_mode))
+    print("status.motion_type: {}".format(status.motion_type))
+    print("status.position: {}".format(status.position))
+    print("status.state: {}".format(status.state))
+    print("status.task_mode: {}".format(status.task_mode))
+    print("status.task_state: {}".format(status.task_state))
+    print("status.velocity: {}".format(status.velocity))
+    sys.stdout.flush()
+
+
+def assert_wait_complete(command):
+    r = command.wait_complete()
+    print("wait_complete() returns {}".format(r))
+    assert((r == linuxcnc.RCS_DONE) or (r == linuxcnc.RCS_ERROR))
+
+
+#
+# connect to HAL
+#
+
+comp = hal.component("test-ui")
+comp.newpin("x-neg-lim-sw", hal.HAL_BIT, hal.HAL_OUT)
+comp.ready()
+
+hal.connect('test-ui.x-neg-lim-sw', 'x-neg-lim-sw')
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+#
+# Come out of E-stop, turn the machine on, switch to Manual mode, and home.
+#
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MANUAL)
+c.home(0)
+c.home(1)
+c.home(2)
+c.wait_complete()
+
+# wait for homing to complete
+start_time = time.time()
+s.poll()
+all_homed = s.homed[0]+s.homed[1]+s.homed[2]
+while (all_homed != 3) and (time.time() - start_time < 5):
+    time.sleep(0.100)
+    s.poll()
+    all_homed = s.homed[0]+s.homed[1]+s.homed[2]
+
+if all_homed != 3:
+    print("failed to home")
+    print("s.homed: {}".format(s.homed))
+    sys.exit(1)
+
+c.teleop_enable(0)
+
+
+#
+# run the test: start a jog on X, then trip a limit switch
+#
+
+# jog arguments are: (jog_type, joint_flag, axis, velocity)
+c.jog(linuxcnc.JOG_CONTINUOUS, 1, 0, -0.1)
+
+# verify that we're starting to move
+s.poll()
+old_x = s.position[0]
+start_time = time.time()
+while (old_x == s.position[0]) and (time.time() - start_time < 5):
+    time.sleep(0.1)
+    s.poll()
+
+if old_x == s.position[0]:
+    print("no jog movement")
+    sys.exit(1)
+
+print("x started moving (%.6f to %.6f)" % (old_x, s.position[0]))
+print_status(s)
+
+# verify that Status reflects the situation
+assert(s.joint[0]['min_soft_limit'] == False)
+assert(s.joint[0]['min_hard_limit'] == False)
+assert(s.joint[0]['max_soft_limit'] == False)
+assert(s.joint[0]['max_hard_limit'] == False)
+assert(s.joint[0]['inpos'] == False)
+assert(s.joint[0]['enabled'] == True)
+
+assert(not (1 in s.limit))
+assert(s.inpos == False)
+assert(s.enabled == True)
+
+# trip the limit switch
+comp['x-neg-lim-sw'] = True
+
+# let linuxcnc react to the limit switch
+expected_error = 'joint 0 on limit switch error'
+start_time = time.time()
+while (time.time() - start_time < 5):
+    error = e.poll()
+    if error != None:
+        if error[1] == expected_error:
+            break
+        else:
+            print("linuxcnc sent other error %d: %s" % (error[0], error[1]))
+    time.sleep(0.1)
+
+if error == None or error[1] != expected_error:
+    print("no limit switch error from LinuxCNC")
+    sys.exit(1)
+
+print("linuxcnc sent error %d: %s" % (error[0], error[1]))
+print_status(s)
+
+# verify that we're stopping
+s.poll()
+start_time = time.time()
+while (s.joint[0]['velocity'] != 0.0) and (time.time() - start_time < 5):
+    time.sleep(0.1)
+    s.poll()
+
+if s.joint[0]['velocity'] != 0.0:
+    print("limit switch didn't stop movement")
+    sys.exit(1)
+
+print("x stopped moving (pos=%.6f, vel=%.6f)" % (s.position[0], s.joint[0]['velocity']))
+print_status(s)
+
+# verify that Status reflects the situation
+assert(s.joint[0]['min_soft_limit'] == False)
+assert(s.joint[0]['min_hard_limit'] == True)
+assert(s.joint[0]['max_soft_limit'] == False)
+assert(s.joint[0]['max_hard_limit'] == False)
+assert(s.joint[0]['inpos'] == True)
+assert(s.joint[0]['enabled'] == False)
+
+assert(s.limit[0] == 1)
+assert(s.inpos == True)
+assert(s.enabled == False)
+
+# turn the machine back on with Override Limits enabled
+c.override_limits()
+time.sleep(1)
+s.poll()
+print_status(s)
+print("command.serial: {}".format(c.serial))
+# this fails in 2.6.12 due to the stat RCS message having a status of
+# RCS_EXEC...  as if though the override_limits command didn't set status
+# back to RCS_DONE when it finished.
+# assert_wait_complete(c)
+
+c.state(linuxcnc.STATE_ON)
+assert_wait_complete(c)
+
+# verify that Status reflects the new situation
+s.poll()
+assert(s.joint[0]['min_soft_limit'] == False)
+assert(s.joint[0]['min_hard_limit'] == True)
+assert(s.joint[0]['max_soft_limit'] == False)
+assert(s.joint[0]['max_hard_limit'] == False)
+assert(s.joint[0]['inpos'] == True)
+assert(s.joint[0]['enabled'] == True)
+
+assert(s.limit[0] == 1)
+assert(s.inpos == True)
+assert(s.enabled == True)
+
+# jog X in the positive direction, off the negative limit switch
+c.jog(linuxcnc.JOG_CONTINUOUS, 1, 0, 1)
+
+# verify that we're starting to move
+s.poll()
+old_x = s.position[0]
+start_time = time.time()
+while (old_x == s.position[0]) and (time.time() - start_time < 5):
+    time.sleep(0.1)
+    s.poll()
+
+if old_x == s.position[0]:
+    print("no jog movement")
+    sys.exit(1)
+
+print("x started moving (%.6f to %.6f)" % (old_x, s.position[0]))
+print_status(s)
+
+# un-trip the limit switch
+comp['x-neg-lim-sw'] = False
+
+# let linuxcnc react to the limit switch untripping
+start_time = time.time()
+while (time.time() - start_time < 5):
+    s.poll()
+    if (s.joint[0]['min_hard_limit'] == False) and (s.limit[0] == 0):
+        break
+    time.sleep(0.1)
+
+# verify that Status reflects the new situation
+assert(s.joint[0]['min_soft_limit'] == False)
+assert(s.joint[0]['min_hard_limit'] == False)
+assert(s.joint[0]['max_soft_limit'] == False)
+assert(s.joint[0]['max_hard_limit'] == False)
+assert(s.joint[0]['inpos'] == False)
+assert(s.joint[0]['enabled'] == True)
+
+assert(s.limit[0] == 0)
+assert(s.inpos == False)
+assert(s.enabled == True)
+
+# stop the jog
+c.jog(linuxcnc.JOG_STOP, 1, 0)
+
+# verify that we're stopping
+s.poll()
+old_x = s.position[0]
+start_time = time.time()
+while (old_x != s.position[0]) and (time.time() - start_time < 5):
+    time.sleep(0.1)
+    s.poll()
+
+if old_x != s.position[0]:
+    print("JOG_STOP didn't stop movement")
+    sys.exit(1)
+
+print("x stopped moving (%.6f)" % s.position[0])
+print_status(s)
+
+# verify that Status reflects the new situation
+assert(s.joint[0]['min_soft_limit'] == False)
+assert(s.joint[0]['min_hard_limit'] == False)
+assert(s.joint[0]['max_soft_limit'] == False)
+assert(s.joint[0]['max_hard_limit'] == False)
+# FIXME: another bug
+#assert(s.joint[0]['inpos'] == True)
+assert(s.joint[0]['enabled'] == True)
+
+assert(s.limit[0] == 0)
+# FIXME: another bug
+#assert(s.inpos == True)
+assert(s.enabled == True)
+
+# success!
+sys.exit(0)

tests/hard-limits/test.sh

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+#!/bin/bash
+
+rm -f rs274ngc.var rs274ngc.var.bak
+
+linuxcnc -r hard-limits.ini
+