Import LinuxCNC source tree

tests/spindle_limits/test-ui.py

@@ -0,0 +1,182 @@
+#!/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)
+