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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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3
tests/tlo/.gitignore vendored Normal file
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sim.var
sim.var.bak
simpockets.tbl

2
tests/tlo/checkresult Executable file
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#!/bin/sh
exit 0 # test failure is indicated by test.sh exit value

102
tests/tlo/g43-test.ini Normal file
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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]
HALUI = halui
HALFILE = mod_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
[EMCIO]
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 0
[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

63
tests/tlo/mod_core_sim.hal Normal file
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setexact_for_test_suite_only
# 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-prepare => iocontrol.0.tool-prepared
net tool-change <= iocontrol.0.tool-change
net tool-change => 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

3
tests/tlo/postgui.hal Normal file
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net tool-number => python-ui.tool-number

11
tests/tlo/simpockets.tbl.original Normal file
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T100 P1 D0.125000 X+2.000000 Z+1.000000 ;
T200 P3 D0.125000 X+0.200000 Z+0.100000 ;
T300 P5 D0.125000 X+0.020000 Z+0.010000 ;
T400 P7 D0.125000 X+0.002000 Z+0.001000 ;
T500 P9 D0.125000 X+0.000200 Z+0.000100 ;
T600 P11 D0.125000 X+0.000020 Z+0.000010 ;
T700 P13 D0.125000 X+0.000002 Z+0.000001 ;
T800 P15 D0.125000 X+0.000000 Z+0.000000 ;
T900 P17 D0.125000 X+0.000000 Z+0.000000 ;
T999 P2 D0.500000 X+0.000000 Z+0.000000 ;
T99999 P50 Z+2.000000 ;

350
tests/tlo/test-ui.py Executable file
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#!/usr/bin/env python3
import linuxcnc
import hal
import time
import sys
import os
import math
# this is how long we wait for linuxcnc to do our bidding
timeout = 1.0
def introspect():
os.system("halcmd show pin python-ui")
def wait_for_pin_value(pin_name, value, timeout=1):
print("waiting for %s to go to %f (timeout=%f)" % (pin_name, value, timeout))
start = time.time()
while (h[pin_name] != value) and ((time.time() - start) < timeout):
time.sleep(0.1)
if h[pin_name] != value:
print("timeout! pin %s didn't get to %f" % (pin_name, value))
introspect()
sys.exit(1)
print("pin %s went to %f!" % (pin_name, value))
def verify_pin_value(pin_name, value):
if (h[pin_name] != value):
print("pin %s is %f, expected %f" % (pin_name, h[pin_name], value))
sys.exit(1);
print("pin %s is %f" % (pin_name, value))
def get_interp_param(param_number):
c.mdi("(debug, #%d)" % param_number)
while c.wait_complete() == -1:
pass
# wait up to 2 seconds for a reply
start = time.time()
while (time.time() - start) < 2:
error = e.poll()
if error == None:
time.sleep(0.010)
continue
kind, text = error
if kind == linuxcnc.OPERATOR_DISPLAY:
return float(text)
print(text)
print("error getting parameter %d" % param_number)
return None
def verify_interp_param(param_number, expected_value):
param_value = get_interp_param(param_number)
print("interp param #%d = %f (expecting %f)" % (param_number, param_value, expected_value))
if math.fabs(param_value - expected_value) > 0.000001:
print("ERROR: interp param #%d = %f, expected %f" % (param_number, param_value, expected_value))
sys.exit(1)
def verify_stable_pin_values(pins, duration=1):
start = time.time()
while (time.time() - start) < duration:
for pin_name in list(pins.keys()):
val = h[pin_name]
if val != pins[pin_name]:
print("ERROR: pin %s = %f (expected %f)" % (pin_name, val, pin[pin_name]))
sys.exit(1)
time.sleep(0.010)
def verify_tool(tool, x, y, z, a, b, c, u, v, w, diameter, front_angle, back_angle):
wait_for_pin_value('tool-number', tool)
verify_interp_param(5400, tool)
# verify the current location, as offset by TLO
verify_interp_param(5420, x)
verify_interp_param(5421, y)
verify_interp_param(5422, z)
verify_interp_param(5423, a)
verify_interp_param(5424, b)
verify_interp_param(5425, c)
verify_interp_param(5426, u)
verify_interp_param(5427, v)
verify_interp_param(5428, w)
# verify tool diameter & angles
verify_interp_param(5410, diameter)
verify_interp_param(5411, front_angle)
verify_interp_param(5412, back_angle)
return True
#
# connect to HAL
# shell out to halcmd to net our pins to where they need to go
#
h = hal.component("python-ui")
h.newpin("tool-number", hal.HAL_S32, 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()
c.state(linuxcnc.STATE_ESTOP_RESET)
c.state(linuxcnc.STATE_ON)
c.mode(linuxcnc.MODE_MDI)
c.wait_complete()
#
# this is a non-random toolchanger, so it starts with no tool in the spindle
# make sure the startup condition is sane
#
print("*** starting up, expecting T0 in spindle & no TLO")
verify_tool(
tool=0,
x=0, y=0, z=0,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0,
front_angle=0,
back_angle=0
)
print("*** load T100 but dont apply TLO")
c.mdi('t100 m6')
c.wait_complete()
verify_tool(
tool=100,
x=0, y=0, z=0,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** apply TLO of loaded tool (T100)")
c.mdi('g43')
c.wait_complete()
verify_tool(
tool=100,
x=-2, y=0, z=-1,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** apply TLO of T200 instead")
c.mdi('g43 h200')
c.wait_complete()
verify_tool(
tool=100,
x=-0.2, y=0, z=-0.1,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** try to add in TLO with no H-word, should fail")
# first drain the error queue
start = time.time()
while (time.time() - start) < 2:
error = e.poll()
if error == None:
# no more queued errors, continue with test
break
c.mdi('g43.2')
c.wait_complete()
error = e.poll()
if error[1] != "G43.2: No axes specified and H word missing":
print("G43.2 with missing H-word did not produce expected error")
print("got [%s]" % error[1])
sys.exit(1)
print("*** add in TLO of T100")
c.mdi('g43.2 h100')
c.wait_complete()
verify_tool(
tool=100,
x=-2.2, y=0, z=-1.1,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** add in TLO of T300")
c.mdi('g43.2 h300')
c.wait_complete()
verify_tool(
tool=100,
x=-2.22, y=0, z=-1.11,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** add in TLO of T400")
c.mdi('g43.2 h400')
c.wait_complete()
verify_tool(
tool=100,
x=-2.222, y=0, z=-1.111,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** add in TLO of T400 again")
c.mdi('g43.2 h400')
c.wait_complete()
verify_tool(
tool=100,
x=-2.224, y=0, z=-1.112,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** now let's try it rotated. first, just rotate but don't change the tlo")
c.mdi('g10 l2 p1 r33')
c.wait_complete()
verify_tool(
tool=100,
x=-2.224 * math.cos(math.radians(33)), y=2.224 * math.sin(math.radians(33)), z=-1.112,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** clear tlo")
c.mdi('g49')
c.wait_complete()
verify_tool(
tool=100,
x=-0, y=0, z=0,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** apply t100")
c.mdi('g43 h100')
c.wait_complete()
verify_tool(
tool=100,
x=-2*math.cos(math.radians(33)), y=2*math.sin(math.radians(33)), z=-1,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
print("*** add in t200")
c.mdi('g43.2 h200')
c.wait_complete()
verify_tool(
tool=100,
x=-2.2*math.cos(math.radians(33)), y=2.2*math.sin(math.radians(33)), z=-1.1,
a=0, b=0, c=0,
u=0, v=0, w=0,
diameter=0.125,
front_angle=0,
back_angle=0
)
# if we get here it all worked!
sys.exit(0)

6
tests/tlo/test.sh Executable file
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#!/bin/bash
cp -f simpockets.tbl.original simpockets.tbl
rm -f sim.var
exec linuxcnc -r g43-test.ini