Import LinuxCNC source tree

tests/lathe/.gitignore

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+sim.var
+sim.var.bak
+

tests/lathe/checkresult

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+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/lathe/lathe.ini

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+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+DEBUG = 0x7fffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD =   600000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+HALFILE = LIB:simulated_home.hal
+HALFILE = LIB:lathe.hal
+POSTGUI_HALFILE = postgui.hal
+
+[TRAJ]
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Z
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 3.333334
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     3.333334
+MAX_ACCELERATION = 20.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -10.0
+MAX_LIMIT =        10.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 3.333334
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+# JOINT_1: not used, home immediately:
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_USE_INDEX = NO
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     3.333334
+MAX_ACCELERATION = 20.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -2.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1

tests/lathe/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+import math
+
+# this is how long we wait for linuxcnc to do our bidding
+timeout = 5.0
+
+
+# unbuffer stdout
+sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+e = linuxcnc.error_channel()
+s = linuxcnc.stat()
+
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MANUAL)   
+c.home(-1)   
+l.wait_for_home(joints=[1,0,1,0,0,0,0,0,0])
+
+
+#
+# do some jogs in manual mode
+#
+
+l.jog_axis('x', -0.5)
+l.jog_axis('x', 0.0)
+
+l.jog_axis('z', -0.5)
+l.jog_axis('z', 0.0)
+
+
+#
+# do some MDI commands
+#
+
+c.mode(linuxcnc.MODE_MDI)
+
+gcode = 'g0 x2 z2'
+print("running gcode: {}".format(gcode))
+c.mdi(gcode)
+c.wait_complete()
+l.wait_for_axis_to_stop_at('x', 2);
+l.wait_for_axis_to_stop_at('z', 2);
+
+gcode = 'g0 x-2'
+print("running gcode: {}".format(gcode))
+c.mdi(gcode)
+c.wait_complete()
+l.wait_for_axis_to_stop_at('x', -2);
+l.wait_for_axis_to_stop_at('z', 2);
+
+gcode = 'g0 z-2'
+print("running gcode: {}".format(gcode))
+c.mdi(gcode)
+c.wait_complete()
+l.wait_for_axis_to_stop_at('x', -2);
+l.wait_for_axis_to_stop_at('z', -2);
+
+sys.exit(0)
+

tests/lathe/test.sh

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+#!/bin/bash
+
+exec linuxcnc -r lathe.ini