Import LinuxCNC source tree

tests/motion/jogwheel-axis/.gitignore

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+sim.var
+sim.var.bak

tests/motion/jogwheel-axis/checkresult

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

tests/motion/jogwheel-axis/motion-test.ini

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+[EMC]
+VERSION = 1.1
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+POSTGUI_HALFILE = postgui.hal
+
+[TRAJ]
+NO_FORCE_HOMING=1
+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
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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_SEQUENCE = 0
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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_SEQUENCE = 0
+
+[AXIS_Z]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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_SEQUENCE = 0

tests/motion/jogwheel-axis/postgui.hal

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+
+#
+# axis x
+#
+
+net axis-x-jog-enable <= test-ui.axis-x-jog-enable
+net axis-x-jog-enable => axis.x.jog-enable
+
+net axis-x-jog-counts <= test-ui.axis-x-jog-counts
+net axis-x-jog-counts => axis.x.jog-counts
+
+net axis-x-jog-scale <= test-ui.axis-x-jog-scale
+net axis-x-jog-scale => axis.x.jog-scale
+
+net Xpos => test-ui.axis-x-position
+
+
+#
+# axis y
+#
+
+net axis-y-jog-enable <= test-ui.axis-y-jog-enable
+net axis-y-jog-enable => axis.y.jog-enable
+
+net axis-y-jog-counts <= test-ui.axis-y-jog-counts
+net axis-y-jog-counts => axis.y.jog-counts
+
+net axis-y-jog-scale <= test-ui.axis-y-jog-scale
+net axis-y-jog-scale => axis.y.jog-scale
+
+net Ypos => test-ui.axis-y-position
+
+
+#
+# axis z
+#
+
+net axis-z-jog-enable <= test-ui.axis-z-jog-enable
+net axis-z-jog-enable => axis.z.jog-enable
+
+net axis-z-jog-counts <= test-ui.axis-z-jog-counts
+net axis-z-jog-counts => axis.z.jog-counts
+
+net axis-z-jog-scale <= test-ui.axis-z-jog-scale
+net axis-z-jog-scale => axis.z.jog-scale
+
+net Zpos => test-ui.axis-z-position
+

tests/motion/jogwheel-axis/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
+
+
+def close_enough(a, b, epsilon=0.000001):
+    return math.fabs(a - b) < epsilon
+
+
+def jog_axis(axis_letter, counts=1, scale=0.001):
+    timeout = 5.0
+
+    start_pos = { }
+    for a in 'xyz':
+        start_pos[a] = h['axis-%c-position' % a]
+
+    target = h['axis-%c-position' % axis_letter] + (counts * scale)
+
+    h['axis-%c-jog-scale' % axis_letter] = scale
+    h['axis-%c-jog-enable' % axis_letter] = 1
+    h['axis-%c-jog-counts' % axis_letter] += counts
+
+    start_time = time.time()
+    while not close_enough(h['axis-%c-position' % axis_letter], target) and (time.time() - start_time < timeout):
+        #print "axis %c is at %.9f" % (axis_letter, h['axis-%c-position' % axis_letter])
+        time.sleep(0.010)
+
+    h['axis-%c-jog-enable' % axis_letter] = 0
+
+    print("axis %c jogged from %.6f to %.6f (%d counts at scale %.6f)" % (axis_letter, start_pos[axis_letter], h['axis-%c-position' % axis_letter], counts, scale))
+
+    success = True
+    for a in 'xyz':
+        pin_name = 'axis-%c-position' % a
+        if a == axis_letter:
+            if not close_enough(h[pin_name], target):
+                print("axis %c didn't get to target (start=%.6f, target=%.6f, got to %.6f)" % (axis_letter, start_pos[axis_letter], target, h['axis-%c-position' % axis_letter]))
+                success = False
+        else:
+            if h[pin_name] != start_pos[a]:
+                print("axis %c moved from %.6f to %.6f but should not have!" % (a, start_pos[a], h[pin_name]))
+                success = False
+
+    l.wait_for_axis_to_stop(axis_letter)
+
+    if not success:
+        sys.exit(1)
+
+
+#
+# set up pins
+# shell out to halcmd to make nets to halui and motion
+#
+
+h = hal.component("test-ui")
+
+h.newpin("axis-x-jog-enable", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("axis-x-jog-counts", hal.HAL_S32, hal.HAL_OUT)
+h.newpin("axis-x-jog-scale", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("axis-x-position", hal.HAL_FLOAT, hal.HAL_IN)
+
+h.newpin("axis-y-jog-enable", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("axis-y-jog-counts", hal.HAL_S32, hal.HAL_OUT)
+h.newpin("axis-y-jog-scale", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("axis-y-position", hal.HAL_FLOAT, hal.HAL_IN)
+
+h.newpin("axis-z-jog-enable", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("axis-z-jog-counts", hal.HAL_S32, hal.HAL_OUT)
+h.newpin("axis-z-jog-scale", hal.HAL_FLOAT, hal.HAL_OUT)
+h.newpin("axis-z-position", hal.HAL_FLOAT, hal.HAL_IN)
+
+h.ready() # mark the component as 'ready'
+
+os.system("halcmd source ./postgui.hal")
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+
+
+# must home to use Teleop mode
+
+c.home(-1)
+c.wait_complete()
+
+l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+
+c.mode(linuxcnc.MODE_MANUAL)
+
+
+#
+# run the test
+#
+# These jog_joint() functions will exit with a return value of 1 if
+# something goes wrong.
+#
+
+jog_axis('x', counts=1, scale=0.001)
+jog_axis('y', counts=10, scale=-0.025)
+jog_axis('z', counts=-100, scale=0.100)
+
+sys.exit(0)
+

tests/motion/jogwheel-axis/test.sh

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