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tests/statbuffer-g5x-abort/.gitignore

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+/sim.var*

tests/statbuffer-g5x-abort/README

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+Interp runs ahead of motion.  This test checks various state after
+aborting a program that switches coordinate systems within the program.
+
+Interp's state must be synched from the status channel after an abort.
+If this breaks, MDI command motion, mode line settings and system
+parameters will follow interp's idea of state, which is probably that
+where the program had run to a queue buster or to exit, whichever
+comes first, whereas preview DROs and origin will match the status
+channel's idea of state, which is that of the running program just
+prior to the abort.
+
+This test runs a program that starts in G55 and aborts during a slow
+move; were the program to continue, it would switch to G56 before
+hitting a queue buster.  Before program run, coordinate systems are
+given distinct settings so that after aborting, status channel and
+interp offsets can be checked in various ways.

tests/statbuffer-g5x-abort/checkresult

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

tests/statbuffer-g5x-abort/core_sim.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+# 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 
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt count=6
+# load additional blocks
+loadrt hypot count=2
+loadrt comp count=3
+loadrt or2 count=1
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf hypot.0 servo-thread
+addf hypot.1 servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt.0.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt.0.out => ddt.1.in hypot.0.in0
+net Xacc <= ddt.1.out 
+net Yvel ddt.2.out => ddt.3.in hypot.0.in1
+net Yacc <= ddt.3.out 
+net Zvel ddt.4.out => ddt.5.in hypot.1.in0
+net Zacc <= ddt.5.out 
+
+# Cartesian 2- and 3-axis velocities
+net XYvel hypot.0.out => hypot.1.in1
+net XYZvel <= hypot.1.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prepare <= iocontrol.0.tool-prepare
+net tool-prepared => iocontrol.0.tool-prepared
+
+net tool-change <= iocontrol.0.tool-change
+net tool-changed => iocontrol.0.tool-changed
+
+net tool-number <= iocontrol.0.tool-number
+net tool-prep-number <= iocontrol.0.tool-prep-number
+net tool-prep-pocket <= iocontrol.0.tool-prep-pocket
+

tests/statbuffer-g5x-abort/simpockets.tbl

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+T1 P1 D0.125000 Z+1.000000 ;
+T10 P3 D0.500000 Z+3.000000 ;
+T99999 P50 Z+2.000000 ;

tests/statbuffer-g5x-abort/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+retval = 0
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+
+c.mode(linuxcnc.MODE_AUTO)
+c.program_open('test.ngc')
+
+c.mode(linuxcnc.MODE_MDI)
+c.mdi('G10 L2 P1 X0 Y0 Z-4 (Set G54)')
+c.mdi('G10 L2 P2 X0 Y0 Z-5 (Set G55)')
+c.mdi('G10 L2 P3 X0 Y0 Z-6 (Set G56)')
+c.mdi('G54 (Use G54)')
+c.mdi('G0 X0 Y0 Z0 (Move to 0,0,0)')
+c.wait_complete()
+
+# FIXME: this is lame
+time.sleep(1)
+
+c.mode(linuxcnc.MODE_AUTO)
+c.auto(linuxcnc.AUTO_RUN, 0)
+
+# FIXME: this is lame
+time.sleep(1)
+
+c.abort()
+
+c.wait_complete()
+s.poll()
+
+# The program was aborted in g55; check
+if not 550 in s.gcodes:
+    print("Current coordinate system is G%d, not G55" % \
+        ([i/10 for i in s.gcodes if i >= 540 and i < 600] + [None])[0])
+    retval = 1
+else:
+    print("Current coordinate system is G55")
+
+# MDI G0 takes us to the programmed location in G54
+c.mode(linuxcnc.MODE_MDI)
+c.mdi('G0 X0 Y0 Z0 (Move to 0,0,0)')
+c.wait_complete()
+s.poll()
+
+if math.fabs(s.position[0]) > 0.000001:
+    print("'G0 X0 Y0 Z0' took us to X=%.6f, should be 0" % s.position[0])
+    retval = 1
+
+if math.fabs(s.position[1]) > 0.000001:
+    print("'G0 X0 Y0 Z0' took us to Y=%.6f, should be 0" % s.position[1])
+    retval = 1
+
+if math.fabs(s.position[2] + 5) > 0.000001:
+    print("'G0 X0 Y0 Z0' took us to Z=%.6f, should be -5" % s.position[2])
+    retval = 1
+
+c.mdi('(debug,G53+#5220 ?= G55; Z#5422 ?= Z0.0)')
+c.wait_complete()
+err = e.poll()
+print(err)
+
+s.poll()
+if s.g5x_index != 2:
+    print("status has wrong g5x index: %d (expected 2)" % s.g5x_index)
+    retval = 1
+else:
+    print("status has correct g5x index:  2")
+
+if math.fabs(s.g5x_offset[0]) > 0.000001:
+    print("g5x_offset.x is %.6f, should be 0" % s.g5x_offset[0])
+    retval = 1
+
+if math.fabs(s.g5x_offset[1]) > 0.000001:
+    print("g5x_offset.y is %.6f, should be 0" % s.g5x_offset[1])
+    retval = 1
+
+if math.fabs(s.g5x_offset[2] + 5) > 0.000001:
+    print("g5x_offset.z is %.6f, should be -5" % s.g5x_offset[2])
+    retval = 1
+
+if retval == 0:
+    print("Everything ok!")
+
+sys.exit(retval)
+

tests/statbuffer-g5x-abort/test.ini

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+# This config file was created 2016-06-17 10:27:05.976381 by the update_ini script
+# The original config files may be found in the /data/s/linuxcnc-dev/tests/statbuffer-g5x-abort/test.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[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
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.hal
+
+[HALUI]
+#No Content
+
+[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
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+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 = -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

tests/statbuffer-g5x-abort/test.ngc

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+
+%
+; 1.  Set G55 offset
+G55
+
+; 2.  Make some moves; execution should be aborted in this section
+G0 X0 Y0 Z0
+G1 X5 Y-5 F1
+
+; 3.  Interp will read ahead:  set G56 offset and throw a queue buster;
+;     execution will never reach this point
+G56
+M66 P0 L0 (queue buster)
+
+%
+

tests/statbuffer-g5x-abort/test.sh

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