Import LinuxCNC source tree

tests/limit3/checkresult

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+
+import sys, os, re, math
+
+
+def near(a, b):
+    fudge_factor = 0.001
+    error = abs(a-b)
+    allowance = abs(a * fudge_factor)
+    if error <= allowance:
+        return True
+    return False
+
+
+def must_decel_to_avoid_pos_violation(sample, out, vel):
+    """Returns True if maximum deceleration is needed NOW to avoid
+    violating position constraints."""
+
+    # Keep going one cycle without any acceleration.
+    next_out = out + (vel * 0.001) # Assume a 1 ms period.
+
+    # v = v0 + at
+    # 0 = v0 + at
+    # t = v0/a
+    seconds_to_stop = abs(vel) / params['maxa']
+
+    # figure out which direction we need to accelerate in
+    if vel > 0:
+        accel_sign = -1
+    else:
+        accel_sign = 1
+
+    # r = r0 + v0t + 1/2 at^2
+    pos_at_stop = next_out + (vel * seconds_to_stop) + (accel_sign * 0.5 * params['maxa'] * math.pow(seconds_to_stop, 2))
+    print("sample=%d, next_out=%.6f, vel=%.6f, seconds_to_stop=%.6f, pos_at_stop=%.6f, min=%.6f, max=%.6f" % \
+            (sample, next_out, vel, seconds_to_stop, pos_at_stop, params['min'], params['max']))
+    if pos_at_stop > (params['max'] * 1.01) or pos_at_stop < (params['min'] * 1.01):
+        return True
+
+    return False
+
+
+halfile = os.path.join(os.path.dirname(__file__),"test.hal")
+param_re = re.compile(r'^setp\s+limit3.0.([^\s]+)\s+([-0-9]+)$')
+params = {}
+params['min'] = -1e20
+params['max'] = 1e20
+params['maxv'] = 1e20
+params['maxa'] = 1e20
+with open(halfile, 'r') as f:
+    for line in f:
+        m = param_re.match(line)
+        if m is None:  continue
+        params[m.group(1)] = float(m.group(2))
+
+result_filename = sys.argv[1]
+result_file = open(result_filename, 'r')
+
+retval = 0
+
+for line in result_file.readlines():
+    (sample, in_val, out, vel, acc) = line.split()[:5]
+    sample = int(sample)
+    in_val = float(in_val)
+    out = float(out)
+    vel = float(vel)
+    acc = float(acc)
+
+    #
+    # See if we've violated any constraints.
+    #
+
+    if float(out) > params['max']:
+        print("max=%.3f, in=%.3f, out=%.3f, max violation on sample %s" % \
+            (params['max'], float(in_val), out, sample))
+        retval = 1
+
+    if float(out) < params['min']:
+        print("min=%.3f, in=%.3f, out=%.3f, min violation on sample %s" % \
+            (params['min'], float(in_val), out, sample))
+        retval = 1
+
+    if abs(vel) > params['maxv']:
+        print("maxv=%.3f, vel=%.3f, velocity violation on sample %s" % \
+            (params['maxv'], vel, sample))
+        retval = 1
+
+    if abs(acc) > params['maxa']:
+        print("maxa=%.3f, acc=%.3f, acceleration violation on sample %s" % \
+            (params['maxa'], acc, sample))
+        retval = 1
+
+
+    #
+    # See if we're accelerating too sluggishly.
+    #
+
+    if abs(acc) < params['maxa']:
+        # Why aren't we accelerating at the max rate?
+        if abs(vel) == params['maxv']:
+            # We've already maxed out vel.
+            pass
+        elif near(out, params['min']) or near(out, params['max']):
+            # We're at our position limit.
+            pass
+        elif near(out, in_val):
+            # We're already near our target.
+            pass
+        else:
+            # We have no good reason for not accelerating hard, so fail this test.
+            print("maxa=%.3f, acc=%.3f, sluggish acceleration on sample %s" % \
+                (params['maxa'], acc, sample))
+            retval = 1
+
+
+    #
+    # See if our velocity is too sluggish.
+    #
+
+    if abs(vel) < params['maxv']:
+        # Why aren't we moving at the max rate?
+        if abs(acc) == params['maxa']:
+            # We're still accelerating.
+            pass
+        elif near(out, params['min']) or near(out, params['max']):
+            # We're at our position limit.
+            pass
+        elif near(out, in_val):
+            # We've already reached our target.
+            pass
+        elif must_decel_to_avoid_pos_violation(sample, out, vel):
+            # We're slowing down to avoid violating position constraints.
+            pass
+        else:
+            # We have no good reason for not going fast, so fail this test.
+            print("maxv=%.3f, vel=%.3f, sluggish velocity on sample %s" % \
+                (params['maxv'], vel, sample))
+            retval = 1
+
+sys.exit(retval)

tests/limit3/constraints/README.md

@@ -0,0 +1,6 @@
+This test uses a mux to switch the limit3 input signal among a bunch
+of options, and verifies that it never violates any of its constraints
+(position, velocity, and acceleration).
+
+The input signals are all the ones available from siggen (sine, cosine,
+square, triangle, and sawtooth), plus a loopback of limit3's output.

tests/limit3/constraints/checkresult

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

tests/limit3/constraints/test.hal

@@ -0,0 +1,127 @@
+setexact_for_test_suite_only
+
+
+#
+# This siggen produces test patterns for limit3 to try to follow.
+#
+
+loadrt siggen
+setp siggen.0.frequency 2
+setp siggen.0.amplitude 100
+setp siggen.0.offset 0
+
+net sine <= siggen.0.sine
+net cosine <= siggen.0.cosine
+net square <= siggen.0.square
+net sawtooth <= siggen.0.sawtooth
+net triangle <= siggen.0.triangle
+
+
+#
+# This mux selects one of the available input patterns.  Later in this
+# file, after loading the limit3 component, we'll add the output of
+# limit3 as another option in this mux.
+#
+
+loadrt mux_generic config=ff8
+
+net sine => mux-gen.00.in-float-00
+net cosine => mux-gen.00.in-float-01
+net square => mux-gen.00.in-float-02
+net sawtooth => mux-gen.00.in-float-03
+net triangle => mux-gen.00.in-float-04
+
+net input <= mux-gen.00.out-float
+
+
+#
+# Here's the limit3, the component under test.
+#
+# These pos/vel/accel limits are just a hair above the limits of the
+# input sine wave.
+#
+
+loadrt limit3
+setp limit3.0.min -101
+setp limit3.0.max 101
+setp limit3.0.maxv 1500
+setp limit3.0.maxa 15800
+
+net input => limit3.0.in
+net output <= limit3.0.out
+net output => mux-gen.00.in-float-05
+
+
+#
+# Compute the velocity and acceleration of the limit3 output.
+#
+
+loadrt ddt names=ddt.out-accel,ddt.out-vel
+
+net output => ddt.out-vel.in
+
+net out-vel <= ddt.out-vel.out
+net out-vel => ddt.out-accel.in
+
+net out-accel <= ddt.out-accel.out
+
+
+#
+# This part cycles through the muxed signals.  It uses a charge pump to
+# generate a high-frequency square wave, and an encoder in counter-mode,
+# with a large scale, to produce a slowly growing number (the encoder
+# position).  The encoder position is converted from a float to a u32,
+# and fed to the mux select pin.
+#
+
+loadrt charge_pump
+
+# The heartbeat toggles every other time the thread runs (so at 500 Hz).
+net heartbeat <= charge-pump.out
+
+# The scale of the encoder makes the .position output move forward by
+# about 1.0 per second.
+loadrt encoder num_chan=1
+encoder.0.counter-mode = 1
+encoder.0.position-scale = 500
+
+net heartbeat => encoder.0.phase-A
+net encoder-position <= encoder.0.position
+
+loadrt conv_float_u32
+net encoder-position => conv-float-u32.0.in
+
+net mux-select <= conv-float-u32.0.out
+net mux-select => mux-gen.00.sel-int
+
+
+#
+# This sampler reports everything we care about out to disk, so we can
+# validate it after the realtime part of the test completes.
+#
+
+loadrt sampler depth=1500 cfg=ffffu
+net input => sampler.0.pin.0
+net output => sampler.0.pin.1
+net out-vel => sampler.0.pin.2
+net out-accel => sampler.0.pin.3
+net mux-select => sampler.0.pin.4
+
+
+loadrt threads name1=t period1=1000000
+
+addf charge-pump              t
+addf encoder.update-counters  t
+addf encoder.capture-position t
+addf conv-float-u32.0         t
+
+addf siggen.0.update          t
+addf mux-gen.00               t
+addf limit3.0                 t
+addf ddt.out-vel              t
+addf ddt.out-accel            t
+addf sampler.0                t
+
+start
+
+loadusr -w halsampler -t -n 5100

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tests/limit3/limit-accel-and-max/test.hal

@@ -0,0 +1,19 @@
+setexact_for_test_suite_only
+
+loadrt sampler cfg=f depth=4096
+loadrt limit3
+#loadrt blocks limit3=1
+loadrt threads name1=t period1=1000000
+setp limit3.0.maxv 500.000000
+setp limit3.0.maxa 1000
+setp limit3.0.max 160
+
+net n0 limit3.0.out sampler.0.pin.0
+
+addf limit3.0 t
+addf sampler.0 t
+
+setp limit3.0.in 500
+
+start
+loadusr -w halsampler -t -n 800

tests/limit3/limit-max-velocity/expected

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tests/limit3/limit-max-velocity/test.hal

@@ -0,0 +1,17 @@
+setexact_for_test_suite_only
+
+loadrt sampler cfg=f depth=4096
+#loadrt limit3
+loadrt limit3
+loadrt threads name1=t period1=1000000
+setp limit3.0.maxv 500.000000
+
+net n0 limit3.0.out sampler.0.pin.0
+
+addf limit3.0 t
+addf sampler.0 t
+
+setp limit3.0.in 500
+
+start
+loadusr -w halsampler -t -n 800

tests/limit3/lock-on-input-and-limits/README

@@ -0,0 +1,4 @@
+This test runs a triangle waveform clipped by max/min limits.
+
+This is an idealized case that will show weaknesses in locking onto
+the input and limits.

tests/limit3/lock-on-input-and-limits/checkresult

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

tests/limit3/lock-on-input-and-limits/test.hal

@@ -0,0 +1,38 @@
+setexact_for_test_suite_only
+
+#loadrt sampler cfg=fffffffu depth=1700
+loadrt sampler cfg=ffff depth=3200
+
+loadrt limit3
+setp limit3.0.min -50
+setp limit3.0.max 50
+setp limit3.0.maxv 4000
+setp limit3.0.maxa 10000
+
+loadrt siggen
+setp siggen.0.amplitude 100
+
+net in => limit3.0.in
+net in => sampler.0.pin.0
+net in <= siggen.0.triangle
+
+net out <= limit3.0.out
+net out => sampler.0.pin.1
+
+loadrt ddt names=vel,acc
+net out => vel.in
+net vel <= vel.out => sampler.0.pin.2 => acc.in
+net acc <= acc.out => sampler.0.pin.3
+
+loadrt threads name1=t period1=1000000
+
+addf sampler.0 t
+addf siggen.0.update t
+addf limit3.0 t
+addf vel t
+addf acc t
+
+start
+
+loadusr -w halsampler -t -n 800
+#loadusr -w halscope

tests/limit3/min-max-overshoot/README

@@ -0,0 +1,4 @@
+This test reproduces the everyday overshoot/undershoot described in
+github issue #240:
+
+    https://github.com/LinuxCNC/linuxcnc/issues/240

tests/limit3/min-max-overshoot/checkresult

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

tests/limit3/min-max-overshoot/test.hal

@@ -0,0 +1,36 @@
+setexact_for_test_suite_only
+
+loadrt sampler cfg=ffff depth=3200
+
+loadrt limit3
+setp limit3.0.min -50
+setp limit3.0.max 50
+setp limit3.0.maxv 4000
+setp limit3.0.maxa 10000
+
+loadrt siggen
+setp siggen.0.amplitude 100
+
+net in <= siggen.0.sine
+net in => limit3.0.in
+net in => sampler.0.pin.0
+
+net out <= limit3.0.out
+net out => sampler.0.pin.1
+
+loadrt ddt names=vel,acc
+net out => vel.in
+net vel <= vel.out => sampler.0.pin.2 => acc.in
+net acc <= acc.out => sampler.0.pin.3
+
+loadrt threads name1=t period1=1000000
+
+addf siggen.0.update t
+addf limit3.0 t
+addf vel t
+addf acc t
+addf sampler.0 t
+
+start
+
+loadusr -w halsampler -t -n 800

tests/limit3/runaway/README

@@ -0,0 +1,6 @@
+This test reproduces the runaway problem described in github issue #240:
+
+    https://github.com/LinuxCNC/linuxcnc/issues/240
+
+The input is a sine wave (sampled from siggen), amplitude 100, that is
+abruptly cut off a -42, on the way down on the first cycle.

tests/limit3/runaway/checkresult

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

tests/limit3/runaway/input

@@ -0,0 +1,569 @@
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tests/limit3/runaway/test.hal

@@ -0,0 +1,34 @@
+setexact_for_test_suite_only
+
+loadrt sampler cfg=ffff depth=3200
+loadrt streamer cfg=f depth=4096
+
+loadrt limit3
+setp limit3.0.min -50
+setp limit3.0.max 50
+setp limit3.0.maxv 4000
+setp limit3.0.maxa 10000
+
+net in <= streamer.0.pin.0
+net in => limit3.0.in
+net in => sampler.0.pin.0
+
+net out <= limit3.0.out
+net out => sampler.0.pin.1
+
+loadrt ddt names=vel,acc
+net out => vel.in
+net vel <= vel.out => sampler.0.pin.2 => acc.in
+net acc <= acc.out => sampler.0.pin.3
+
+loadrt threads name1=t period1=1000000
+
+addf streamer.0 t
+addf limit3.0 t
+addf vel t
+addf acc t
+addf sampler.0 t
+start
+
+loadusr halstreamer input
+loadusr -w halsampler -t -n 1500

tests/limit3/sunny-day/README

@@ -0,0 +1,4 @@
+This test exposes limit3 to an input signal that it is capable of
+following perfectly (but just barely), and verifies that the output
+follows the input very closely, while not violating position, velocity,
+and acceleration constraints.

tests/limit3/sunny-day/checkresult

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+import sys
+import math
+
+max_value = 0.0
+min_value = -100.0
+
+max_vel = 315
+max_accel = 1975
+
+result_filename = sys.argv[1]
+result_file = open(result_filename, 'r')
+
+retval = 0
+
+for line in result_file.readlines():
+    (line, in_value, in_vel, in_accel, out_value, out_vel, out_accel) = line.split()
+    in_value = float(in_value)
+    in_vel = float(in_vel)
+    in_accel = float(in_accel)
+    out_value = float(out_value)
+    out_vel = float(out_vel)
+    out_accel = float(out_accel)
+
+
+    #
+    # constraints
+    #
+
+    if out_value > max_value:
+        print(("max=%.3f, out=%.3f, position violation on line %s" % (max_value, out_value, line)))
+        retval = 1
+
+    if out_value < min_value:
+        print(("min=%.3f, out=%.3f, position violation on line %s" % (min_value, out_value, line)))
+        retval = 1
+
+    if math.fabs(out_vel) > max_vel:
+        print(("max_vel=%.3f, out_vel=%.3f, velocity violation on line %s" % (max_vel, out_vel, line)))
+        retval = 1
+
+    if math.fabs(out_accel) > max_accel:
+        print(("max_accel=%.3f, out_accel=%.3f, acceleration violation on line %s" % (max_accel, out_accel, line)))
+        retval = 1
+
+
+    #
+    # input -> output following
+    # 
+
+    error = math.fabs(in_value - out_value)
+    if error > 0.0:
+        print(("input=%.6f, output=%.6f, error=%.6f, threshold=%.6f, following failure on line %s" % (in_value, out_value, error, threshold, line)))
+        retval = 1
+
+sys.exit(retval)

tests/limit3/sunny-day/test.hal

@@ -0,0 +1,63 @@
+setexact_for_test_suite_only
+
+loadrt limit3
+
+# These pos/vel/accel limits are just a hair above the limits of the
+# input sine wave.
+setp limit3.0.min -150
+setp limit3.0.max 50
+setp limit3.0.maxv 630
+setp limit3.0.maxa 4000
+
+
+loadrt siggen
+setp siggen.0.amplitude 50
+setp siggen.0.offset -50
+
+
+loadrt ddt names=ddt.in-accel,ddt.in-vel,ddt.out-accel,ddt.out-vel
+
+
+loadrt sampler depth=2000 cfg=ffffff
+
+
+# We use the cosine signal as the input so that the velocity and
+# acceleration start out at 0, and we offset it by the negative of the
+# amplitude so that position start out at 0 too.
+net input <= siggen.0.cosine
+net input => limit3.0.in
+net input => ddt.in-vel.in
+net input => sampler.0.pin.0
+
+net in-vel <= ddt.in-vel.out
+net in-vel => ddt.in-accel.in
+net in-vel => sampler.0.pin.1
+
+net in-accel <= ddt.in-accel.out
+net in-accel => sampler.0.pin.2
+
+net output <= limit3.0.out
+net output => ddt.out-vel.in
+net output => sampler.0.pin.3
+
+net out-vel <= ddt.out-vel.out
+net out-vel => ddt.out-accel.in
+net out-vel => sampler.0.pin.4
+
+net out-accel <= ddt.out-accel.out
+net out-accel => sampler.0.pin.5
+
+
+loadrt threads name1=t period1=1000000
+
+addf siggen.0.update t
+addf limit3.0        t
+addf ddt.in-vel      t
+addf ddt.in-accel    t
+addf ddt.out-vel     t
+addf ddt.out-accel   t
+addf sampler.0       t
+
+start
+
+loadusr -w halsampler -t -n 4000