Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
5
tests/t0/.gitignore
vendored
Normal file
5
tests/t0/.gitignore
vendored
Normal file
@@ -0,0 +1,5 @@
|
||||
sim.var
|
||||
sim.var.bak
|
||||
tool.tbl
|
||||
stdout
|
||||
gcode-output
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||||
15
tests/t0/README
Normal file
15
tests/t0/README
Normal file
@@ -0,0 +1,15 @@
|
||||
|
||||
nonrandom toolchanger:
|
||||
|
||||
T0 is special and means "no tool". T0 should not appear in the tool
|
||||
table, if T0 is defined there is ignored.
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||||
|
||||
|
||||
random toolchanger:
|
||||
|
||||
T0 is a normal tool like any other, totally devoid of special meaning.
|
||||
In practice T0 is usually(?) used to track an empty pocket in the
|
||||
tool changer hardware.
|
||||
|
||||
Tool number -1 is used to indicate "unknown tool".
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||||
|
||||
1
tests/t0/nonrandom/checkresult
Symbolic link
1
tests/t0/nonrandom/checkresult
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-checkresult
|
||||
455
tests/t0/nonrandom/expected-gcode-output
Normal file
455
tests/t0/nonrandom/expected-gcode-output
Normal file
@@ -0,0 +1,455 @@
|
||||
sequence number 0.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 1.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 2.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 3.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 4.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 5.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 6.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 7.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 8.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 9.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 10.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 12.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 5.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 13.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 14.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 15.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.500000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 16.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.500000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 17.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 100.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 101.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 102.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 103.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 104.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 105.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 106.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 107.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 108.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 109.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 110.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 111.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 112.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 113.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 114.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 115.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 116.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 118.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 6.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 119.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 120.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 121.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 122.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 123.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 200.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 201.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 202.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 203.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 204.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 205.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 206.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 207.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 208.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 209.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 210.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 211.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 212.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 213.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 213.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 214.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 7.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 215.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 216.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 217.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 218.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 219.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
106
tests/t0/nonrandom/sim.ini
Normal file
106
tests/t0/nonrandom/sim.ini
Normal file
@@ -0,0 +1,106 @@
|
||||
[EMC]
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
#DEBUG = 0x7fffffff
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = linuxcncrsh
|
||||
PROGRAM_PREFIX = ../subs
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
USER_M_PATH = ../subs
|
||||
SUBROUTINE_PATH = ../subs
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 4.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HAL]
|
||||
HALFILE = LIB:core_sim.hal
|
||||
|
||||
[TRAJ]
|
||||
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
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
RANDOM_TOOLCHANGER = 0
|
||||
|
||||
[AXIS_X]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Y]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Z]
|
||||
HOME = 0.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 4.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
1
tests/t0/nonrandom/test.sh
Symbolic link
1
tests/t0/nonrandom/test.sh
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-test.sh
|
||||
50
tests/t0/nonrandom/tool.tbl.original
Normal file
50
tests/t0/nonrandom/tool.tbl.original
Normal file
@@ -0,0 +1,50 @@
|
||||
T1 P1 D0.125000 Z+1.000000 ;
|
||||
t2 p2
|
||||
t3 p3
|
||||
t4 p4
|
||||
t5 p7
|
||||
t6 p6
|
||||
T7 P7 D0.500000 Z+3.000000 ;
|
||||
T8 P8
|
||||
T9 P9
|
||||
T10 P10
|
||||
T11 P11
|
||||
T12 P12
|
||||
T13 P13
|
||||
T14 P14
|
||||
T15 P15
|
||||
T16 P16
|
||||
T17 P17
|
||||
T18 P18
|
||||
T19 P19
|
||||
T20 P20
|
||||
T21 P21
|
||||
T22 P22
|
||||
T23 P23
|
||||
T24 P24
|
||||
T25 P25
|
||||
T26 P26
|
||||
T27 P27
|
||||
T28 P28
|
||||
T29 P29
|
||||
T30 P30
|
||||
T31 P31
|
||||
T32 P32
|
||||
T33 P33
|
||||
T34 P34
|
||||
T35 P35
|
||||
T36 P36
|
||||
T37 P37
|
||||
T38 P38
|
||||
T39 P39
|
||||
T40 P40
|
||||
T41 P41
|
||||
T42 P42
|
||||
T43 P43
|
||||
T44 P44
|
||||
T45 P45
|
||||
T46 P46
|
||||
T47 P47
|
||||
T48 P48
|
||||
T49 P49
|
||||
T50 P50 Z+2.000000 ;
|
||||
1
tests/t0/random-with-t0/checkresult
Symbolic link
1
tests/t0/random-with-t0/checkresult
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-checkresult
|
||||
455
tests/t0/random-with-t0/expected-gcode-output
Normal file
455
tests/t0/random-with-t0/expected-gcode-output
Normal file
@@ -0,0 +1,455 @@
|
||||
sequence number 0.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 1.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 2.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 3.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 4.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 5.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 6.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 7.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 8.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 9.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 10.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 12.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 5.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 13.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 14.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 15.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.500000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 16.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.500000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 17.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 100.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 101.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 102.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 103.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 104.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 105.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 106.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 107.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 108.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 109.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 110.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 111.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 112.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 113.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 114.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 115.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 116.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 118.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 6.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 119.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 120.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 121.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 122.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 123.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 200.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 201.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 202.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 203.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 204.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 205.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 206.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 207.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 208.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 209.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 210.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 211.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 212.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 213.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 213.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 214.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 7.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 215.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 216.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 217.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 218.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.400000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 219.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = 0.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
106
tests/t0/random-with-t0/sim.ini
Normal file
106
tests/t0/random-with-t0/sim.ini
Normal file
@@ -0,0 +1,106 @@
|
||||
[EMC]
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
#DEBUG = 0x7fffffff
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = linuxcncrsh
|
||||
PROGRAM_PREFIX = ../subs
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
USER_M_PATH = ../subs
|
||||
SUBROUTINE_PATH = ../subs
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 4.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HAL]
|
||||
HALFILE = LIB:core_sim.hal
|
||||
|
||||
[TRAJ]
|
||||
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
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
RANDOM_TOOLCHANGER = 1
|
||||
|
||||
[AXIS_X]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Y]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Z]
|
||||
HOME = 0.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 4.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
1
tests/t0/random-with-t0/test.sh
Symbolic link
1
tests/t0/random-with-t0/test.sh
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-test.sh
|
||||
4
tests/t0/random-with-t0/tool.tbl.original
Normal file
4
tests/t0/random-with-t0/tool.tbl.original
Normal file
@@ -0,0 +1,4 @@
|
||||
T1 P1 D0.125000 Z+1.000000 ;
|
||||
T7 P3 D0.500000 Z+3.000000 ;
|
||||
T0 P2 ;
|
||||
T50 P50 Z+2.000000 ;
|
||||
1
tests/t0/random-without-t0/checkresult
Symbolic link
1
tests/t0/random-without-t0/checkresult
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-checkresult
|
||||
455
tests/t0/random-without-t0/expected-gcode-output
Normal file
455
tests/t0/random-without-t0/expected-gcode-output
Normal file
@@ -0,0 +1,455 @@
|
||||
sequence number 0.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 1.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 2.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 3.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 4.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 5.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 6.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 7.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 8.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -0.100000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 9.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 10.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 11.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 12.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 5.000000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 13.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 14.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 0.300000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 15.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.200000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 16.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.200000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 17.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.200000
|
||||
toolno = -1.000000
|
||||
tlo_z = 0.000000
|
||||
|
||||
sequence number 100.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -4.200000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 101.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 102.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 103.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 104.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 105.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 106.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.100000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 107.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 108.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 109.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 110.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -1.300000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 111.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 112.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 113.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = 2.000000
|
||||
|
||||
sequence number 114.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 115.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 116.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 117.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 118.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 6.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 119.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 120.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 121.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 122.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 123.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 200.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.500000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 201.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 202.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 1.700000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 203.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 204.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 205.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 206.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 207.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 208.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 209.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 210.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.200000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 211.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 212.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 213.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 213.500000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 214.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 7.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 215.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 216.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = 2.400000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 217.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 218.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
sequence number 219.000000
|
||||
X = 0.000000
|
||||
Y = 0.000000
|
||||
Z = -2.000000
|
||||
toolno = 50.000000
|
||||
tlo_z = -1.700000
|
||||
|
||||
106
tests/t0/random-without-t0/sim.ini
Normal file
106
tests/t0/random-without-t0/sim.ini
Normal file
@@ -0,0 +1,106 @@
|
||||
[EMC]
|
||||
DEBUG = 0
|
||||
VERSION = 1.1
|
||||
#DEBUG = 0x7fffffff
|
||||
|
||||
[DISPLAY]
|
||||
DISPLAY = linuxcncrsh
|
||||
PROGRAM_PREFIX = ../subs
|
||||
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
[RS274NGC]
|
||||
PARAMETER_FILE = sim.var
|
||||
USER_M_PATH = ../subs
|
||||
SUBROUTINE_PATH = ../subs
|
||||
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 4.0
|
||||
BASE_PERIOD = 0
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
[HAL]
|
||||
HALFILE = LIB:core_sim.hal
|
||||
|
||||
[TRAJ]
|
||||
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
|
||||
NO_FORCE_HOMING = 1
|
||||
|
||||
[EMCIO]
|
||||
TOOL_TABLE = tool.tbl
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
RANDOM_TOOLCHANGER = 1
|
||||
|
||||
[AXIS_X]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Y]
|
||||
HOME = 0.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[AXIS_Z]
|
||||
HOME = 0.0
|
||||
MIN_LIMIT = -4.0
|
||||
MAX_LIMIT = 4.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins
|
||||
JOINTS = 3
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
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
|
||||
|
||||
1
tests/t0/random-without-t0/test.sh
Symbolic link
1
tests/t0/random-without-t0/test.sh
Symbolic link
@@ -0,0 +1 @@
|
||||
../shared-test.sh
|
||||
3
tests/t0/random-without-t0/tool.tbl.original
Normal file
3
tests/t0/random-without-t0/tool.tbl.original
Normal file
@@ -0,0 +1,3 @@
|
||||
T1 P1 D0.125000 Z+1.000000 ;
|
||||
T7 P3 D0.500000 Z+3.000000 ;
|
||||
T50 P50 Z+2.000000 ;
|
||||
7
tests/t0/shared-checkresult
Executable file
7
tests/t0/shared-checkresult
Executable file
@@ -0,0 +1,7 @@
|
||||
#!/bin/bash
|
||||
|
||||
TEST_DIR=$(dirname "$1")
|
||||
cd "$TEST_DIR" || { echo "E: Could not change directory to '$TEST_DIR'"; exit 1; }
|
||||
|
||||
sed 's/-0\.000000/0.000000/g' <gcode-output >gcode-output.filtered && mv gcode-output.filtered gcode-output
|
||||
diff -u expected-gcode-output gcode-output
|
||||
673
tests/t0/shared-test.sh
Normal file
673
tests/t0/shared-test.sh
Normal file
@@ -0,0 +1,673 @@
|
||||
#!/bin/bash
|
||||
set -x
|
||||
|
||||
rm -f sim.var
|
||||
|
||||
# reset the tool table to a known starting configuration
|
||||
rm -f tool.tbl
|
||||
cp tool.tbl.original tool.tbl
|
||||
|
||||
rm -f gcode-output
|
||||
|
||||
if nc -z localhost 5007; then
|
||||
echo "Process already listening on port 5007. Exiting"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
linuxcnc -r sim.ini &
|
||||
|
||||
|
||||
# let linuxcnc come up
|
||||
TOGO=80
|
||||
while [ $TOGO -gt 0 ]; do
|
||||
echo trying to connect to linuxcncrsh TOGO=$TOGO
|
||||
if nc -z localhost 5007; then
|
||||
break
|
||||
fi
|
||||
sleep 0.25
|
||||
TOGO=$((TOGO - 1))
|
||||
done
|
||||
if [ $TOGO -eq 0 ]; then
|
||||
echo connection to linuxcncrsh timed out
|
||||
exit 1
|
||||
fi
|
||||
|
||||
|
||||
(
|
||||
function introspect() {
|
||||
SEQUENCE_NUMBER=$1
|
||||
echo 'set wait done'
|
||||
echo "set mdi m100 P6 Q$SEQUENCE_NUMBER" # sequence number
|
||||
echo 'set mdi m100 P0 Q#5420' # X
|
||||
echo 'set mdi m100 P1 Q#5421' # Y
|
||||
echo 'set mdi m100 P2 Q#5422' # Z
|
||||
echo 'set mdi m100 P3 Q#5400' # toolno
|
||||
echo 'set mdi m100 P4 Q#5403' # TLO z
|
||||
echo 'set mdi m100 P5' # blank line
|
||||
echo 'set wait done'
|
||||
}
|
||||
|
||||
echo "hello EMC mt 1.0"
|
||||
echo "set enable EMCTOO"
|
||||
|
||||
echo "set estop off"
|
||||
echo "set machine on"
|
||||
echo "set mode mdi"
|
||||
|
||||
|
||||
#
|
||||
# first, a bunch of testing with no tool in the spindle
|
||||
#
|
||||
# On nonrandom the spindle has T0, which is the nonrandom way to
|
||||
# specify the special tool that means "no tool".
|
||||
#
|
||||
# On random the spindle has T-1, which is the random way to specify the
|
||||
# special tool that means "no tool".
|
||||
#
|
||||
|
||||
|
||||
# Both random and nonrandom start this test with no tool in the
|
||||
# spindle, but they encode this in different ways.
|
||||
introspect 0
|
||||
|
||||
|
||||
#
|
||||
# g43
|
||||
#
|
||||
|
||||
# Apply the TLO of the current tool. On both, the spindle has no tool,
|
||||
# which has 0 TLO.
|
||||
echo "set mdi g43"
|
||||
introspect 1
|
||||
|
||||
# Apply the TLO of tool T1. On both, T1 is a valid tool, so we use its
|
||||
# TLO.
|
||||
echo "set mdi g43 h1"
|
||||
introspect 2
|
||||
|
||||
# Apply the TLO of H0, this one is weird.
|
||||
#
|
||||
# On nonrandom, this requests the TLO of the tool in the spindle, which
|
||||
# is currently T0, which is a special tool with TLO 0.
|
||||
#
|
||||
# On random, this requests the TLO of T0. If T0 is not in the tool
|
||||
# table, this is an error and the active TLO remains unchanged (so it
|
||||
# stays as the TLO of T1 that we just set above). If T0 is defined, we
|
||||
# apply its TLO here.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 3
|
||||
|
||||
|
||||
#
|
||||
# g10 l1
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on both,
|
||||
# but not change the active TLO.
|
||||
echo "set mdi g10 l1 p7 z0.1"
|
||||
introspect 4
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# both.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 5
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail in every config because you cannot change T0.
|
||||
echo "set mdi g10 l1 p0 z0.2"
|
||||
introspect 6
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# On nonrandom, this requests the TLO of the tool in the spindle, which
|
||||
# is currently T0, which is a special tool with TLO 0.
|
||||
#
|
||||
# On random, this requests the TLO of T0. If T0 is not in the tool
|
||||
# table, this is an error and the active TLO remains unchanged (so it
|
||||
# stays as the TLO of T7 that we just set above). If T0 is defined, we
|
||||
# apply its TLO here.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 7
|
||||
|
||||
|
||||
#
|
||||
# g10 l10
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on both.
|
||||
echo "set mdi g10 l10 p7 z0.3"
|
||||
introspect 8
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# both.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 9
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on every config because you cannot change T0.
|
||||
echo "set mdi g10 l10 p0 z0.4"
|
||||
introspect 10
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# On nonrandom, this requests the TLO of the tool in the spindle, which
|
||||
# is currently T0, which is a special tool with TLO 0.
|
||||
#
|
||||
# On random, this requests the TLO of T0. If T0 is not in the tool
|
||||
# table, this is an error and the active TLO remains unchanged (so it
|
||||
# stays as the TLO of T7 that we just set above). If T0 is defined, we
|
||||
# apply its TLO here.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 11
|
||||
|
||||
|
||||
#
|
||||
# g10 l11
|
||||
#
|
||||
|
||||
# First offset the g59.3 coordinate system and make sure that worked,
|
||||
# but then switch back to g54. This sets different g59.3 offsets in
|
||||
# different configs, because they have different active Z TLOs at this
|
||||
# point.
|
||||
#
|
||||
# Before this G10 L20, we are at the following Z locations:
|
||||
# nonrandom: 0.0 (T0 TLO active)
|
||||
# random without T0: 0.3 (T7 TLO active)
|
||||
# random with T0: 0.0 (T0 TLO active)
|
||||
#
|
||||
# Then we set the G59.3 coordinate system offset such that the current
|
||||
# Z location is 5, which gives us these G59.3 Z offsets:
|
||||
# nonrandom: -5.0 + 0.0 TLO = -5.0
|
||||
# random without T0: -5.0 + 0.3 TLO = -4.7
|
||||
# random with T0: -5.0 + 0.0 TLO = -5.0
|
||||
#
|
||||
# All the configs will be at Z=5.0 after switching to G59.3.
|
||||
echo "set mdi g10 l20 p9 z5"
|
||||
introspect 11.5
|
||||
|
||||
echo "set mdi g59.3"
|
||||
introspect 12
|
||||
|
||||
echo "set mdi g54"
|
||||
introspect 13
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs.
|
||||
#
|
||||
# We should end up with the following Z coordinates:
|
||||
# Nonrandom: -5.0 + 0.5 = -4.5
|
||||
# Random without T0: -4.7 + 0.5 = -4.2
|
||||
# Random with T0: -5.0 + 0.5 = -4.5
|
||||
#
|
||||
# But these offsets are not active until the G43 below.
|
||||
echo "set mdi g10 l11 p7 z0.5"
|
||||
introspect 14
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should
|
||||
# work on all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 15
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on every config because you cannot change T0.
|
||||
echo "set mdi g10 l11 p0 z0.6"
|
||||
introspect 16
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# On nonrandom, this requests the TLO of the tool in the spindle, which
|
||||
# is currently T0, which is a special tool with TLO 0.
|
||||
#
|
||||
# On random, this requests the TLO of T0. If T0 is not in the tool
|
||||
# table, this is an error and the active TLO remains unchanged (so it
|
||||
# stays as the TLO of T7 that we just set above). If T0 is defined, we
|
||||
# apply its TLO here.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 17
|
||||
|
||||
|
||||
#
|
||||
# That's all the testing we can do of the condition that there's
|
||||
# nothing in the spindle. G41/G42 would be nice to test, but the
|
||||
# numbered parameters we use for introspection aren't accessible to
|
||||
# gcode while cutter comp is enabled. :-(
|
||||
#
|
||||
# So we move on! Put a valid tool in the spindle and test everything
|
||||
# again!
|
||||
#
|
||||
|
||||
|
||||
# Switch to the valid tool T50 but don't apply its TLO yet.
|
||||
# This should work on all configs.
|
||||
echo "set mdi t50 m6"
|
||||
introspect 100
|
||||
|
||||
|
||||
#
|
||||
# g43
|
||||
#
|
||||
|
||||
# Apply the TLO of the current tool. On all configs, the spindle has
|
||||
# T50. This should work on all configs.
|
||||
echo "set mdi g43"
|
||||
introspect 101
|
||||
|
||||
# change the TLO of the normal tool T7
|
||||
# this should work on both, but not change the active TLO
|
||||
echo "set mdi g10 l10 p7 z1.1"
|
||||
introspect 102
|
||||
|
||||
# apply the TLO of the normal tool T7 (TLO of 0.5 set above)
|
||||
# this should work on both
|
||||
echo "set mdi g43 h7"
|
||||
introspect 103
|
||||
|
||||
# try to change the TLO of T0
|
||||
#
|
||||
# On nonrandom this should fail because you can't change T0.
|
||||
#
|
||||
# On random without T0 this should fail because there is no T0.
|
||||
#
|
||||
# On random with T0 this should fail because you can't change T0.
|
||||
echo "set mdi g10 l10 p0 z1.2"
|
||||
introspect 104
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# On nonrandom, this requests the TLO of the tool in the spindle, which
|
||||
# is currently T50.
|
||||
#
|
||||
# On random, this requests the TLO of T0. If T0 is not in the tool
|
||||
# table, this is an error and the active TLO remains unchanged (so it
|
||||
# stays as the TLO of T7 that we just set above). If T0 is defined, we
|
||||
# apply its TLO here.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 105
|
||||
|
||||
|
||||
#
|
||||
# g10 l1
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs, but not change the active TLO.
|
||||
echo "set mdi g10 l1 p7 z1.3"
|
||||
introspect 106
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 107
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0.
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# It should fail on random with T0 because you cannot change T0.
|
||||
echo "set mdi g10 l1 p0 z1.4"
|
||||
introspect 108
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# It should work on nonrandom and give us the TLO of the tool in the
|
||||
# spindle, T50 (in this config, G43 H0 means "use current tool").
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with T0 and give us the TLO of T0 (0.0).
|
||||
echo "set mdi g43 h0"
|
||||
introspect 109
|
||||
|
||||
|
||||
#
|
||||
# g10 l10
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs.
|
||||
echo "set mdi g10 l10 p7 z1.5"
|
||||
introspect 110
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 111
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# It should fail on random with T0 because you cannot change T0
|
||||
echo "set mdi g10 l10 p0 z1.6"
|
||||
introspect 112
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# It should work on nonrandom and give us the TLO of the tool in the
|
||||
# spindle, T50 (in this config, G43 H0 means "use current tool").
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with T0 and give us the TLO of T0 (0.0).
|
||||
echo "set mdi g43 h0"
|
||||
introspect 113
|
||||
|
||||
# Try to change TLO of the currently loaded tool, T50.
|
||||
# This should work on all configs but not change the active TLO
|
||||
echo "set mdi g10 l10 p50 z1.7"
|
||||
introspect 114
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# It should work on nonrandom and give us the TLO of the tool in the
|
||||
# spindle, T50 (in this config, G43 H0 means "use current tool").
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with T0 and give us the TLO of T0 (0.0).
|
||||
echo "set mdi g43 h0"
|
||||
introspect 115
|
||||
|
||||
# Apply the TLO of T7.
|
||||
# This should work on all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 116
|
||||
|
||||
# Apply the TLO of the current tool
|
||||
# This should work on all configs.
|
||||
echo "set mdi g43"
|
||||
introspect 117
|
||||
|
||||
|
||||
#
|
||||
# g10 l11
|
||||
#
|
||||
|
||||
# First offset the G59.3 coordinate system and make sure that worked,
|
||||
# but then switch back to G54. All configs are using the TLO of T50
|
||||
# at this point, so they all set the same G59.3 coordinate system
|
||||
# offset.
|
||||
#
|
||||
# Before this G10 L20, all configs are at Z=1.7 (T50 TLO active)
|
||||
#
|
||||
# Then we set the G59.3 coordinate system offset such that the current
|
||||
# Z location is 6, which gives us a G59.3 Z offset of:
|
||||
# -6.0 + 1.7 TLO = -4.3
|
||||
#
|
||||
# All the configs will be at Z = 6.0 after switching to G59.3.
|
||||
echo "set mdi g10 l20 p9 z6"
|
||||
introspect 117.5
|
||||
|
||||
echo "set mdi g59.3"
|
||||
introspect 118
|
||||
|
||||
echo "set mdi g54"
|
||||
introspect 119
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs.
|
||||
echo "set mdi g10 l11 p7 z1.8"
|
||||
introspect 120
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should
|
||||
# work on all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 121
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0.
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# This should fail on random with T0 because you cannot change T0.
|
||||
echo "set mdi g10 l11 p0 z1.3"
|
||||
introspect 122
|
||||
|
||||
# Apply the TLO of T0, which we just tried to set.
|
||||
#
|
||||
# It should work on nonrandom and give us a TLO of the tool in the
|
||||
# spindle, T50.
|
||||
#
|
||||
# It should fail on random and leave the TLO at the value from T7
|
||||
# above.
|
||||
#
|
||||
# It should work on random with T0 and give us the TLO of T0: 0.0
|
||||
echo "set mdi g43 h0"
|
||||
introspect 123
|
||||
|
||||
|
||||
#
|
||||
# Now load T0 into the spindle and retest everything again.
|
||||
#
|
||||
|
||||
|
||||
# Switch to the special tool T0 but don't apply its TLO yet.
|
||||
#
|
||||
# On nonrandom, this should unload the spindle.
|
||||
#
|
||||
# On random without T0 this should fail (there is no T0) and leave
|
||||
# T50 in the spindle.
|
||||
#
|
||||
# On random with T0 this should work and put T0 in the spindle.
|
||||
|
||||
echo "set mdi t0 m6"
|
||||
introspect 200
|
||||
|
||||
|
||||
#
|
||||
# g43
|
||||
#
|
||||
|
||||
# Apply the TLO of the current tool.
|
||||
#
|
||||
# On nonrandom the spindle has the special tool T0, which has a 0 TLO.
|
||||
#
|
||||
# On random without T0 the spindle has T50, which has a TLO of -1.15,
|
||||
# set above.
|
||||
#
|
||||
# On random with T0 the spindle has tool T0, which has a 0 TLO.
|
||||
echo "set mdi g43"
|
||||
introspect 201
|
||||
|
||||
# change the TLO of the normal tool T7
|
||||
# this should work on all configs, but not change the active TLO
|
||||
echo "set mdi g10 l10 p7 z2.0"
|
||||
introspect 202
|
||||
|
||||
# apply the TLO of the normal tool T7 (TLO set above)
|
||||
# this should work on all configs
|
||||
echo "set mdi g43 h7"
|
||||
introspect 203
|
||||
|
||||
# try to change the TLO of T0
|
||||
#
|
||||
# On nonrandom this should fail because you can't change T0.
|
||||
#
|
||||
# On random without T0 this should fail because there is no T0.
|
||||
#
|
||||
# On random with T0 this should fail because you can't change T0.
|
||||
echo "set mdi g10 l10 p0 z2.1"
|
||||
introspect 204
|
||||
|
||||
# try to apply the TLO of H0
|
||||
#
|
||||
# On nonrandom, this should apply the TLO of the current tool (special
|
||||
# handling of G43 H0). The current tool is T0, which has 0 TLO.
|
||||
#
|
||||
# On random without T0 this should be an error (G43 H0 is nothing
|
||||
# special, but there is no T0) and the active TLO should remain
|
||||
# unchanged.
|
||||
#
|
||||
# On random with T0 this should apply the TLO of T0 (0.0).
|
||||
echo "set mdi g43 h0"
|
||||
introspect 205
|
||||
|
||||
|
||||
#
|
||||
# g10 l1
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs, but not change the active TLO.
|
||||
echo "set mdi g10 l1 p7 z2.2"
|
||||
introspect 206
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 207
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0.
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# This should fail on random with T0 because you cannot change T0.
|
||||
echo "set mdi g10 l1 p0 z2.3"
|
||||
introspect 208
|
||||
|
||||
# Apply the TLO of H0.
|
||||
#
|
||||
# It should work on nonrandom and give us the TLO of the tool in the
|
||||
# spindle, T50.
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with TLO and give us the TLO of T0.
|
||||
echo "set mdi g43 h0"
|
||||
introspect 209
|
||||
|
||||
|
||||
#
|
||||
# g10 l10
|
||||
#
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs.
|
||||
echo "set mdi g10 l10 p7 z2.4"
|
||||
introspect 210
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should work on
|
||||
# all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 211
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# It should fail on random with T0 because you cannot change T0
|
||||
echo "set mdi g10 l10 p0 z2.5"
|
||||
introspect 212
|
||||
|
||||
# Apply the TLO of the special H0.
|
||||
#
|
||||
# It should work on nonrandom and give us the TLO of the tool in the
|
||||
# spindle, T0 (in this config, G43 H0 means "use current tool").
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with T0 and give us the TLO of T0 (0.0).
|
||||
echo "set mdi g43 h0"
|
||||
introspect 213
|
||||
|
||||
|
||||
#
|
||||
# g10 l11
|
||||
#
|
||||
|
||||
# First offset the G59.3 coordinate system and make sure that worked,
|
||||
# but then switch back to G54. This sets different G59.3 offsets in
|
||||
# different configs, because they have different active Z TLOs at
|
||||
# this point.
|
||||
#
|
||||
# Before this G10 L20, we are at the following Z locations:
|
||||
# nonrandom: 0.0 (T0 TLO active)
|
||||
# random without T0: 2.4 (T7 TLO active)
|
||||
# random with T0: 0.0 (T0 TLO active)
|
||||
#
|
||||
# Then we set the G59.3 coordinate system offset such that the current
|
||||
# Z location is 7, which gives us these G59.3 Z offsets:
|
||||
# nonrandom: -7.0 + 0.0 TLO = -7.0
|
||||
# random without T0: -7.0 + 2.4 TLO = -4.6
|
||||
# random with T0: -7.0 + 0.0 TLO = -7.0
|
||||
#
|
||||
# All the configs will be at Z=7.0 after switching to G59.3.
|
||||
echo "set mdi g10 l20 p9 z7"
|
||||
introspect 213.5
|
||||
|
||||
echo "set mdi g59.3"
|
||||
introspect 214
|
||||
|
||||
echo "set mdi g54"
|
||||
introspect 215
|
||||
|
||||
# Try to change TLO of the normal tool T7. This should work on all
|
||||
# configs.
|
||||
#
|
||||
# We should end up with the following Z coordinates:
|
||||
# Nonrandom: -7.0 + 2.6 = -4.4
|
||||
# Random without T0: -4.6 + 2.6 = -2.0
|
||||
# Random with T0: -7.0 + 2.6 = -4.4
|
||||
#
|
||||
# But these offsets are not active until the G43 below.
|
||||
echo "set mdi g10 l11 p7 z2.6"
|
||||
introspect 216
|
||||
|
||||
# Apply the TLO of T7, which we just tried to set. This should
|
||||
# work on all configs.
|
||||
echo "set mdi g43 h7"
|
||||
introspect 217
|
||||
|
||||
# Try to change TLO of the strange tool T0.
|
||||
#
|
||||
# This should fail on nonrandom because you cannot change T0.
|
||||
#
|
||||
# It should fail on random without T0 because it has no T0.
|
||||
#
|
||||
# It should work on random with T0 because you cannot change T0.
|
||||
echo "set mdi g10 l11 p0 z2.7"
|
||||
introspect 218
|
||||
|
||||
# Apply the TLO of H0.
|
||||
#
|
||||
# It should work on nonrandom and give us a TLO of the tool in the
|
||||
# spindle, T0
|
||||
#
|
||||
# It should fail on random without T0 and leave the TLO at the value
|
||||
# from T7 above.
|
||||
#
|
||||
# It should work on random with T0 and give us a TLO of the tool in the
|
||||
# spindle, T0
|
||||
echo "set mdi g43 h0"
|
||||
introspect 219
|
||||
|
||||
|
||||
# give linuxcnc a second to finish
|
||||
echo 'set wait done'
|
||||
|
||||
echo shutdown
|
||||
) | nc localhost 5007
|
||||
|
||||
|
||||
# wait for linuxcnc to finish
|
||||
wait
|
||||
|
||||
exit 0
|
||||
|
||||
29
tests/t0/subs/M100
Executable file
29
tests/t0/subs/M100
Executable file
@@ -0,0 +1,29 @@
|
||||
#!/bin/bash
|
||||
#
|
||||
# This script (M100) is called to log the current coordinates and the
|
||||
# current tool number and Tool Length Offset information to a log file,
|
||||
# for testing purposes
|
||||
#
|
||||
|
||||
TEST_DIR=$(dirname INI_FILE_NAME)
|
||||
OUT_FILE=$TEST_DIR/gcode-output
|
||||
|
||||
P=$1
|
||||
Q=$2
|
||||
|
||||
#echo P is $P >> $OUT_FILE
|
||||
#echo Q is $Q >> $OUT_FILE
|
||||
|
||||
case $P in
|
||||
0.000000) echo "X = $Q" >> "$OUT_FILE" ;;
|
||||
1.000000) echo "Y = $Q" >> "$OUT_FILE" ;;
|
||||
2.000000) echo "Z = $Q" >> "$OUT_FILE" ;;
|
||||
3.000000) echo "toolno = $Q" >> "$OUT_FILE" ;;
|
||||
4.000000) echo "tlo_z = $Q" >> "$OUT_FILE" ;;
|
||||
5.000000) echo "" >> "$OUT_FILE" ;;
|
||||
6.000000) echo "sequence number $Q" >> "$OUT_FILE" ;;
|
||||
*)
|
||||
echo "unknown P=$P (Q=$Q)" >> "$OUT_FILE"
|
||||
exit 1;;
|
||||
esac
|
||||
|
||||
Reference in New Issue
Block a user