Import LinuxCNC source tree

tests/spindle_limits/README

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+Test that the spindle speed limits from the INI are honoured. 
+Tests three spindles, to ensure that multi-spindle is supported
+
+The test starts from the test.sh script which loads linuxcnc, passing it an almost-standard INI file. 
+In place of the normal GUI the INI file loads test-ui.py which does not create any GUI elements. 
+
+test-ui.py puts LinuxCNC in a condition where is can respond to MDI commands, and then proceeds to use
+both MDI and the Python command interface to set various spindle speeds and check that the HAL and status
+outputs are within the specified limits. 
+
+The test-ui script then exits, and at that point the runtests script automatically runs "checkresult". 
+"checkresult" is needed to skip automatic testing of "expected" againsts "result" which wouldn't
+work fot this test. 
+
+Spindle.0 has limits for MAX_FORWARD, MIN_FORWARD, MAX_REVERSE and MIN_REVERSE
+Spindle.1 has no MIN_REVERSE to test that MIN_FORWARD is applied in reverse
+Spindle.2 has no MIN_REVERSE or MAX_REVERSE to test that both *_FORWARD limits are applied in reverse
+
+Spindle commands through both G-code (via MDI) and Python interface are tested. 
+
+FIXME (?)
+spindle commands through halui are not tested
+spindle commands through linuxcncrsh are not tested. 

tests/spindle_limits/checkresult

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+#!/bin/sh
+# Test passes if test-ui.py returns successfully
+exit 0

tests/spindle_limits/spindle.hal

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+# HAL file for spindle limits test
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+
+

tests/spindle_limits/spindle.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 = spindle.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
+SPINDLES = 3
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+
+[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
+
+[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
+
+[AXIS_Z]
+MIN_LIMIT = -4.0
+MAX_LIMIT = 4.0
+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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[SPINDLE_0]
+MAX_FORWARD_VELOCITY = 1000
+MIN_FORWARD_VELOCITY = 100
+MAX_REVERSE_VELOCITY = 1500
+MIN_REVERSE_VELOCITY = 500
+
+[SPINDLE_1]
+MAX_FORWARD_VELOCITY = 2000
+MIN_FORWARD_VELOCITY = 200
+MAX_REVERSE_VELOCITY = 2500
+
+[SPINDLE_2]
+MAX_FORWARD_VELOCITY = 3000
+MIN_FORWARD_VELOCITY = 300

tests/spindle_limits/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+import time
+import sys
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.RCS_DONE) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError
+
+
+def wait_for_mdi_queue(queue_len, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        s.poll()
+        if s.queued_mdi_commands == queue_len:
+            return
+        time.sleep(0.1)
+    print("queued_mdi_commands at %d after %.3f seconds" % (s.queued_mdi_commands, timeout))
+    sys.exit(1)
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+comp = hal.component('hal-watcher')
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.wait_complete()
+
+
+# Check G-code / MDI spindle commands
+
+c.mode(linuxcnc.MODE_MDI)
+
+c.mdi("M3 S10 $0")
+c.mdi("M3 S10 $1")
+c.mdi("M3 S10 $2")
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == 100
+assert s.spindle[0]['speed'] == 100
+assert hal.get_value('spindle.1.speed-out') == 200
+assert s.spindle[1]['speed'] == 200
+assert hal.get_value('spindle.2.speed-out') == 300
+assert s.spindle[2]['speed'] == 300
+
+c.mdi("M3 S10000 $0")
+c.mdi("M3 S10000 $1")
+c.mdi("M3 S10000 $2")
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == 1000
+assert s.spindle[0]['speed'] == 1000
+assert hal.get_value('spindle.1.speed-out') == 2000
+assert s.spindle[1]['speed'] == 2000
+assert hal.get_value('spindle.2.speed-out') == 3000
+assert s.spindle[2]['speed'] == 3000
+
+c.mdi("M4 S10 $0")
+c.mdi("M4 S10 $1")
+c.mdi("M4 S10 $2")
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == -500
+assert s.spindle[0]['speed'] == -500
+assert hal.get_value('spindle.1.speed-out') == -200
+assert s.spindle[1]['speed'] == -200
+assert hal.get_value('spindle.2.speed-out') == -300
+assert s.spindle[2]['speed'] == -300
+
+c.mdi("M4 S10000 $0")
+c.mdi("M4 S10000 $1")
+c.mdi("M4 S10000 $2")
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == -1500
+assert s.spindle[0]['speed'] == -1500
+assert hal.get_value('spindle.1.speed-out') == -2500
+assert s.spindle[1]['speed'] == -2500
+assert hal.get_value('spindle.2.speed-out') == -3000
+assert s.spindle[2]['speed'] == -3000
+
+# Check Python interface commands
+
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 0, 0)
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 1, 0)
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 2, 0)
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == 100
+assert s.spindle[0]['speed'] == 100
+assert hal.get_value('spindle.1.speed-out') == 200
+assert s.spindle[1]['speed'] == 200
+assert hal.get_value('spindle.2.speed-out') == 300
+assert s.spindle[2]['speed'] == 300
+
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 0, 0)
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 1, 0)
+c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 2, 0)
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == 1000
+assert s.spindle[0]['speed'] == 1000
+assert hal.get_value('spindle.1.speed-out') == 2000
+assert s.spindle[1]['speed'] == 2000
+assert hal.get_value('spindle.2.speed-out') == 3000
+assert s.spindle[2]['speed'] == 3000
+
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 0, 0)
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 1, 0)
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 2, 0)
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == -500
+assert s.spindle[0]['speed'] == -500
+assert hal.get_value('spindle.1.speed-out') == -200
+assert s.spindle[1]['speed'] == -200
+assert hal.get_value('spindle.2.speed-out') == -300
+assert s.spindle[2]['speed'] == -300
+
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 0, 0)
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 1, 0)
+c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 2, 0)
+c.wait_complete()
+
+s.poll()
+
+assert hal.get_value('spindle.0.speed-out') == -1500
+assert s.spindle[0]['speed'] == -1500
+assert hal.get_value('spindle.1.speed-out') == -2500
+assert s.spindle[1]['speed'] == -2500
+assert hal.get_value('spindle.2.speed-out') == -3000
+assert s.spindle[2]['speed'] == -3000
+
+sys.exit(0)
+

tests/spindle_limits/test.sh

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+#!/bin/bash -e
+
+linuxcnc -r spindle.ini
+