Import LinuxCNC source tree

tests/motion/g0/checkresult

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+#!/usr/bin/env python3
+
+import sys
+import os
+from subprocess import *
+
+
+#
+# read some stuff out of the INI file
+#
+
+# servo period in nanoseconds
+servo_period_ns = float(Popen(
+    [
+        "inivar",
+        "-var",
+        "SERVO_PERIOD",
+        "-sec",
+        "EMCMOT",
+        "-ini",
+        "%s/motion-test.ini" % os.getenv("TEST_DIR")
+    ],
+    stdout=PIPE
+).communicate()[0])
+
+cycles_per_second = 1000000000.0 / servo_period_ns
+
+# max acceleration in inches per second^2
+max_acceleration_ips2 = float(Popen(
+    [
+        "inivar",
+        "-var",
+        "MAX_ACCELERATION",
+        "-sec",
+        "AXIS_X",
+        "-ini",
+        "%s/motion-test.ini" % os.getenv("TEST_DIR")
+    ],
+    stdout=PIPE
+).communicate()[0])
+
+# max acceleration in inches per second per servo-thread cycle
+# A move that never blends (like this lone G0) runs at the full machine
+# acceleration; the 1/2 parabolic-blend reservation only applies during an
+# actual blend overlap.
+max_acceleration_ipspc = (max_acceleration_ips2 / cycles_per_second)
+
+# max velocity in inches per second
+max_velocity_ips = float(Popen(
+    [
+        "inivar",
+        "-var",
+        "MAX_VELOCITY",
+        "-sec",
+        "AXIS_X",
+        "-ini",
+        "%s/motion-test.ini" % os.getenv("TEST_DIR")
+    ],
+    stdout=PIPE
+).communicate()[0])
+
+max_velocity_ipc = max_velocity_ips / cycles_per_second
+
+
+# read the samples file and turn it into an array, where index i is an
+# array of the floats found on line i of the samples file
+samples_filename = sys.argv[1] + ".halsamples"
+with open(samples_filename) as f:
+    lines = f.readlines()
+
+samples = []
+for line in lines:
+    s = [ float(x) for x in line.split() ]
+    samples.append(s)
+
+
+#
+# here comes the test proper
+#
+
+
+# verify that X starts at 0.000000
+if samples[0][1] != 0.000000:
+    print("error: sample 0: X starts at %.6f, not at 0.000000" % samples[0][1])
+    sys.exit(1)
+
+#print("line 0: X starts at 0.000000")
+
+
+# find where X starts moving (X is the second column, column 1)
+for i in range(0, len(samples) - 1):
+    if samples[i][1] != samples[i+1][1]:
+        break
+
+if len(samples) == i+2:
+    print("error: no acceleration detected, did linuxcnc take too long to start moving?")
+    sys.exit(1)
+
+#print("line %d: accel phase starts" % i)
+
+
+# now i is the sample before it starts moving
+# verify accel does not exceed maxaccel
+# verify vel does not exceed maxvel
+# verify accel phase stops when vel == maxvel
+highest_seen_accel_ipc2 = 0
+old_accel_ipc2 = 0
+old_v_ipc = 0
+for i in range(i, len(samples) - 1):
+
+    new_v_ipc = samples[i+1][1] - samples[i][1]
+    accel_ipc2 = new_v_ipc - old_v_ipc
+
+    highest_seen_accel_ipc2 = max(accel_ipc2, highest_seen_accel_ipc2)
+
+    #print("line %d: X=%.6f, v=%.6f i/c (%.6f i/s), a=%.6f i/c^2 (%.6f i/s^2)" % (i, samples[i][1], new_v_ipc, (new_v_ipc * cycles_per_second), accel_ipc2, (accel_ipc2 * cycles_per_second * cycles_per_second)))
+
+    # i hate floating point
+    if ((accel_ipc2 * cycles_per_second) - max_acceleration_ipspc) > 0.0000001: 
+        print("error: line %d: detected accel constraint violation!" % i)
+        print("error: detected accel %.6f i/c^2 (%.6f i/s^2)" % (accel_ipc2, (accel_ipc2 * cycles_per_second * cycles_per_second)))
+        print("error: max accel %.6f i/s^2)" % max_acceleration_ips2)
+        sys.exit(1)
+
+    if (new_v_ipc - max_velocity_ipc) > 0.0000001:
+        print("error: line %d: detected vel constraint violation!" % i)
+        print("error: detected vel %.6f i/c (%.6f i/s)" % (new_v_ipc, new_v_ipc * cycles_per_second))
+        print("error: max vel %.6f i/c (%.6f i/s)" % (max_velocity_ipc, max_velocity_ips))
+        sys.exit(1)
+
+    if accel_ipc2 == 0:
+        #print("line %d: accel phase over" % i)
+        break
+
+    old_v_ipc = new_v_ipc
+
+# verify highest seen accel is very close to max accel
+if abs(max_acceleration_ipspc - (highest_seen_accel_ipc2 * cycles_per_second)) > 0.0000001:
+    print("error: accel only reached %.6f i/c^2 (%.6f i/s^2)" % (highest_seen_accel_ipc2, (highest_seen_accel_ipc2 * cycles_per_second * cycles_per_second)))
+    print("error: max accel is %.6f i/s^2" % max_acceleration_ips2)
+    sys.exit(1)
+
+#print("    accel reached but did not exceed 1/2 of max accel of %.6f i/s^2" % max_acceleration_ips2)
+
+#print("line %d: entering cruise phase, vel=%.6f i/s, max_accel = %.6f i/s^2" % (i, new_v_ipc * cycles_per_second, highest_seen_accel_ipc2 * cycles_per_second * cycles_per_second))
+
+
+# now i is the first sample of the cruise phase
+# wait for vel to drop again
+for i in range(i, len(samples) - 1):
+    new_v_ipc = samples[i+1][1] - samples[i][1]
+
+    if abs(new_v_ipc - old_v_ipc) > 0.0000001:
+        # decel phase starting
+        break
+
+    old_v_ipc = new_v_ipc
+
+#print("line %d: decel phase starting, old_v=%.6f i/s, new_v=%.6f i/s" % (i, old_v_ipc * cycles_per_second, new_v_ipc * cycles_per_second))
+
+# now i is the sample before it starts decel
+# verify accel does not exceed maxaccel
+# verify vel does not exceed maxvel
+# verify decel phase stops when vel == 0
+highest_seen_accel_ipc2 = 0
+old_accel_ipc2 = 0
+for i in range(i, len(samples) - 1):
+
+    new_v_ipc = samples[i+1][1] - samples[i][1]
+    accel_ipc2 = new_v_ipc - old_v_ipc
+
+    highest_seen_accel_ipc2 = min(accel_ipc2, highest_seen_accel_ipc2)
+
+    #print("line %d: X=%.6f, v=%.6f i/c (%.6f i/s), a=%.6f i/c^2 (%.6f i/s^2)" % (i, samples[i][1], new_v_ipc, (new_v_ipc * cycles_per_second), accel_ipc2, (accel_ipc2 * cycles_per_second * cycles_per_second)))
+
+    # i hate floating point
+    if ((accel_ipc2 * cycles_per_second) - max_acceleration_ipspc) > 0.0000001: 
+        print("error: line %d: detected accel constraint violation!" % i)
+        print("error: detected accel %.6f i/c^2 (%.6f i/s^2)" % (accel_ipc2, accel_ipc2 * cycles_per_second * cycles_per_second))
+        print("error: max accel %.6f i/s^2)" % max_acceleration_ips2)
+        sys.exit(1)
+
+    if (new_v_ipc - max_velocity_ipc) > 0.0000001:
+        print("error: line %d: detected vel constraint violation!" % i)
+        print("error: detected vel %.6f i/c (%.6f i/s)" % (new_v_ipc, new_v_ipc * cycles_per_second))
+        print("error: max vel %.6f i/c (%.6f i/s)" % (max_velocity_ipc, max_velocity_ips))
+        sys.exit(1)
+
+    if new_v_ipc < -0.0000001:
+        print("error: line %d: detected vel undershoot!" % i)
+        print("error: detected vel %.6f i/c (%.6f i/s)" % (new_v_ipc, new_v_ipc * cycles_per_second))
+        sys.exit(1)
+
+    if new_v_ipc == 0:
+#        print("line %d: decel phase over" % i)
+        break
+
+    old_v_ipc = new_v_ipc
+
+# verify highest seen accel is very close to max accel
+if abs(max_acceleration_ipspc + (highest_seen_accel_ipc2 * cycles_per_second)) > 0.0000001:
+    print("error: accel only reached %.6f i/c^2 (%.6f i/s^2)" % (highest_seen_accel_ipc2, (highest_seen_accel_ipc2 * cycles_per_second * cycles_per_second)))
+    print("error: max accel is %.6f i/s^2" % max_acceleration_ips2)
+    sys.exit(1)
+
+#print("    decel reached but did not exceed 1/2 of max accel of %.6f i/s^2" % max_acceleration_ips2)
+
+
+# verify X stopped at 1.000000
+if samples[i][1] != 1.000000:
+    print("error: line %d: X stopped at %.6f, not at 1.000000!" % (i, samples[i][1]))
+    sys.exit(1)
+
+#print("    X reached target of 1.0000")
+
+
+# verify X doesn't move from now on
+for i in range(i, len(samples) - 1):
+    if samples[i][1] != samples[i+1][1]:
+        print("error: line %d: X moved!" % i)
+        sys.exit(1)
+
+
+#print("line %d: X did not move after reaching target" % i)
+
+sys.exit(0)
+
+

tests/motion/g0/motion-test.hal

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+
+# sample where motion tells us to go
+
+loadrt sampler depth=5000 cfg=ff
+
+addf sampler.0              servo-thread
+
+net Xpos => sampler.0.pin.0
+net Ypos => sampler.0.pin.1
+

tests/motion/g0/motion-test.ini

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+[EMC]
+VERSION = 1.1
+MACHINE =               MOTION-TEST
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG =               0x7FFFFFFF
+#DEBUG = 0x10
+
+[DISPLAY]
+DISPLAY = linuxcncrsh
+
+#PROGRAM_PREFIX = /home/seb/emc2/nc_files
+
+#MAX_FEED_OVERRIDE = 2.0
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE =        sim.var
+
+[EMCMOT]
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          4.0
+
+# BASE_PERIOD is unused in this configuration but specified in LIB:core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[HAL]
+HALFILE =                    LIB:core_sim.hal
+HALFILE =                    motion-test.hal
+
+[TRAJ]
+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
+NO_FORCE_HOMING = 1
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[EMCIO]
+# tool table file
+TOOL_TABLE =    simpockets.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+RANDOM_TOOLCHANGER = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Second axis
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -4.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0

tests/motion/g0/test.sh

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+#!/bin/bash
+
+#export PATH=$PATH:$EMC2_HOME/tests/helpers
+#source $EMC2_HOME/tests/helpers/test-functions.sh
+
+wait_for_pin() {
+    pin="$1"
+    value="$2"
+    maxwait=10 # seconds
+    while [ 0 -lt $maxwait ] \
+      && [ "$value" != "$(halcmd -s show pin "$pin" | awk '{print $4}')" ]; do
+        sleep 1
+	maxwait=$((maxwait - 1))
+    done
+    if [ 0 -eq $maxwait ] ; then
+	echo "E: waiting for pin $pin timed out"
+	kill "$linuxcncpid"
+	kill "$samplerpid"
+	exit 1
+    fi
+}
+
+linuxcnc motion-test.ini &
+linuxcncpid=$!
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo "I: trying to connect to linuxcncrsh TOGO=$TOGO"
+    if nc -z localhost 5007; then
+        break
+    fi
+    sleep 0.25
+    TOGO=$((TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo "I: connection to linuxcncrsh timed out"
+    exit 1
+fi
+
+wait_for_pin motion.in-position TRUE
+
+echo "I: starting to capture data"
+halsampler -t >| result.halsamples &
+samplerpid=$!
+
+(
+    echo "hello EMC mt 1.0"
+    echo "set enable EMCTOO"
+
+    echo "set estop off"
+    echo "set machine on"
+
+    echo "set mode mdi"
+    dist=1
+    echo "set mdi g0x$dist"
+
+    # Wait for movement to complete
+    wait_for_pin joint.0.pos-fb $dist
+    wait_for_pin joint.0.in-position TRUE
+    wait_for_pin joint.1.in-position TRUE
+
+    echo "shutdown"
+) | nc localhost 5007
+
+kill "$samplerpid"
+wait "$samplerpid"
+echo "I: finished capturing data"
+
+# wait for linuxcnc to finish
+wait "$linuxcncpid"
+
+exit 0
+