Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
228
tests/motion/g0/checkresult
Executable file
228
tests/motion/g0/checkresult
Executable file
@@ -0,0 +1,228 @@
|
||||
#!/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)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user