Import LinuxCNC source tree
This commit is contained in:
Wang Dequan
262
tests/tool-info/non-random/test-ui.py
Executable file
262
tests/tool-info/non-random/test-ui.py
Executable file
@@ -0,0 +1,262 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import linuxcnc
|
||||
import hal
|
||||
|
||||
import math
|
||||
import time
|
||||
import sys
|
||||
import subprocess
|
||||
import os
|
||||
import signal
|
||||
import glob
|
||||
import re
|
||||
|
||||
|
||||
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 verify_interp_vars(state, current_tool, current_pocket, selected_tool, selected_pocket):
|
||||
c.mdi('(debug,current_tool=#<_current_tool> current_pocket=#<_current_pocket> selected_tool=#<_selected_tool> selected_pocket=#<_selected_pocket>)')
|
||||
c.wait_complete()
|
||||
|
||||
expected = "current_tool=%.6f current_pocket=%.6f selected_tool=%.6f selected_pocket=%.6f" % (current_tool, current_pocket, selected_tool, selected_pocket)
|
||||
|
||||
while True:
|
||||
result = e.poll()
|
||||
if result == None:
|
||||
print("nothing from polling error channel")
|
||||
sys.exit(1)
|
||||
|
||||
(type, msg) = result
|
||||
if type == linuxcnc.OPERATOR_DISPLAY:
|
||||
if msg == expected:
|
||||
# success!
|
||||
break
|
||||
print("state='%s', unexpected interp variables" % state)
|
||||
print("result: {}".format(msg))
|
||||
print("expected: {}".format(expected))
|
||||
sys.exit(1)
|
||||
else:
|
||||
print("state='%s', ignoring unexpected error type %d: %s" % (state, type, msg))
|
||||
|
||||
print("state='%s', got expected interp variables:" % state)
|
||||
print(" current_tool=%.6f" % current_tool)
|
||||
print(" current_pocket=%.6f" % current_pocket)
|
||||
print(" selected_tool=%.6f" % selected_tool)
|
||||
print(" selected_pocket=%.6f" % selected_pocket)
|
||||
|
||||
|
||||
def verify_io_pins(state, tool_number, tool_prep_number, tool_prep_pocket):
|
||||
if h['tool-number'] != tool_number:
|
||||
print("state=%s, expected io.tool-number=%d, got %d" % (state, tool_number, h['tool-number']))
|
||||
sys.exit(1)
|
||||
|
||||
if h['tool-prep-number'] != tool_prep_number:
|
||||
print("state=%s, expected io.tool-prep-number=%d, got %d" % (state, tool_prep_number, h['tool-prep-number']))
|
||||
sys.exit(1)
|
||||
|
||||
if h['tool-prep-pocket'] != tool_prep_pocket:
|
||||
print("state=%s, expected io.tool-prep-pocket=%d, got %d" % (state, tool_prep_pocket, h['tool-prep-pocket']))
|
||||
sys.exit(1)
|
||||
|
||||
print("state='%s', got expected io pins:" % state)
|
||||
print(" tool-number=%d" % tool_number)
|
||||
print(" tool-prep-number=%d" % tool_prep_number)
|
||||
print(" tool-prep-pocket=%d" % tool_prep_pocket)
|
||||
|
||||
|
||||
def verify_status_buffer(state, tool_in_spindle):
|
||||
deadline = time.time() + 1
|
||||
while time.time() < deadline:
|
||||
s.poll()
|
||||
if s.tool_in_spindle == tool_in_spindle:
|
||||
break
|
||||
time.sleep(.05)
|
||||
|
||||
if s.tool_in_spindle != tool_in_spindle:
|
||||
print("state=%s, expected status.tool_in_spindle=%d, got %d" % (state, tool_in_spindle, s.tool_in_spindle))
|
||||
sys.exit(1)
|
||||
|
||||
print("state='%s', got expected status buffer fields:" % state)
|
||||
print(" tool_in_spindle=%d" % tool_in_spindle)
|
||||
|
||||
|
||||
def wait_for_hal_pin(pin_name, value, timeout=10):
|
||||
start = time.time()
|
||||
while time.time() < (start + timeout):
|
||||
if h[pin_name] == value:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
print("timeout waiting for hal pin %s to go to %s!" % (pin_name, value))
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
|
||||
c = linuxcnc.command()
|
||||
s = linuxcnc.stat()
|
||||
e = linuxcnc.error_channel()
|
||||
|
||||
|
||||
h = hal.component("test-ui")
|
||||
h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
|
||||
h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
|
||||
h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
|
||||
h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
|
||||
h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
|
||||
h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
|
||||
h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
|
||||
h['tool-prepared'] = False
|
||||
h['tool-changed'] = False
|
||||
h.ready()
|
||||
|
||||
hal.connect('test-ui.tool-number', 'tool-number')
|
||||
hal.connect('test-ui.tool-prep-number', 'tool-prep-number')
|
||||
hal.connect('test-ui.tool-prep-pocket', 'tool-prep-pocket')
|
||||
|
||||
hal.connect('test-ui.tool-prepare', 'tool-prepare')
|
||||
hal.connect('test-ui.tool-prepared', 'tool-prepared')
|
||||
hal.connect('test-ui.tool-change', 'tool-change')
|
||||
hal.connect('test-ui.tool-changed', 'tool-changed')
|
||||
|
||||
|
||||
# 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.home(-1)
|
||||
c.wait_complete()
|
||||
|
||||
c.mode(linuxcnc.MODE_MDI)
|
||||
|
||||
|
||||
#
|
||||
# Starting state should be sane.
|
||||
#
|
||||
|
||||
verify_status_buffer(state='init', tool_in_spindle=0)
|
||||
verify_io_pins(state='init', tool_number=0, tool_prep_number=0, tool_prep_pocket=0)
|
||||
verify_interp_vars(state='init', current_tool=0, current_pocket=-1, selected_tool=0, selected_pocket=-1)
|
||||
|
||||
|
||||
#
|
||||
# After "T1" prepares the tool.
|
||||
#
|
||||
|
||||
c.mdi('T1')
|
||||
wait_for_hal_pin('tool-prepare', True)
|
||||
h['tool-prepared'] = True
|
||||
wait_for_hal_pin('tool-prepare', False)
|
||||
h['tool-prepared'] = False
|
||||
|
||||
verify_status_buffer(state='after T1', tool_in_spindle=0)
|
||||
verify_io_pins(state='after T1', tool_number=0, tool_prep_number=1, tool_prep_pocket=1)
|
||||
verify_interp_vars(state='after T1', current_tool=0, current_pocket=-1, selected_tool=1, selected_pocket=1)
|
||||
|
||||
|
||||
#
|
||||
# After "M6" changes to the prepared tool.
|
||||
#
|
||||
|
||||
c.mdi('M6')
|
||||
wait_for_hal_pin('tool-change', True)
|
||||
h['tool-changed'] = True
|
||||
wait_for_hal_pin('tool-change', False)
|
||||
h['tool-changed'] = False
|
||||
|
||||
verify_status_buffer(state='after T1 M6', tool_in_spindle=1)
|
||||
verify_io_pins(state='after T1 M6', tool_number=1, tool_prep_number=0, tool_prep_pocket=0)
|
||||
verify_interp_vars(state='after T1 M6', current_tool=1, current_pocket=1, selected_tool=1, selected_pocket=-1)
|
||||
|
||||
|
||||
#
|
||||
# After "T10" prepares the tool.
|
||||
#
|
||||
|
||||
c.mdi('T10')
|
||||
wait_for_hal_pin('tool-prepare', True)
|
||||
h['tool-prepared'] = True
|
||||
wait_for_hal_pin('tool-prepare', False)
|
||||
h['tool-prepared'] = False
|
||||
|
||||
verify_status_buffer(state='after T10', tool_in_spindle=1)
|
||||
verify_io_pins(state='after T10', tool_number=1, tool_prep_number=10, tool_prep_pocket=3)
|
||||
verify_interp_vars(state='after T10', current_tool=1, current_pocket=1, selected_tool=10, selected_pocket=3)
|
||||
|
||||
|
||||
#
|
||||
# After "M6" changes to the prepared tool.
|
||||
#
|
||||
|
||||
c.mdi('M6')
|
||||
wait_for_hal_pin('tool-change', True)
|
||||
h['tool-changed'] = True
|
||||
wait_for_hal_pin('tool-change', False)
|
||||
h['tool-changed'] = False
|
||||
|
||||
verify_status_buffer(state='after T10 M6', tool_in_spindle=10)
|
||||
verify_io_pins(state='after T10 M6', tool_number=10, tool_prep_number=0, tool_prep_pocket=0)
|
||||
verify_interp_vars(state='after T10 M6', current_tool=10, current_pocket=3, selected_tool=10, selected_pocket=-1)
|
||||
|
||||
|
||||
#
|
||||
# After "T99999" prepares a tool.
|
||||
#
|
||||
|
||||
c.mdi('T99999')
|
||||
wait_for_hal_pin('tool-prepare', True)
|
||||
h['tool-prepared'] = True
|
||||
wait_for_hal_pin('tool-prepare', False)
|
||||
h['tool-prepared'] = False
|
||||
|
||||
verify_status_buffer(state='after T99999', tool_in_spindle=10)
|
||||
verify_io_pins(state='after T99999', tool_number=10, tool_prep_number=99999, tool_prep_pocket=50)
|
||||
verify_interp_vars(state='after T99999', current_tool=10, current_pocket=3, selected_tool=99999, selected_pocket=50)
|
||||
|
||||
|
||||
#
|
||||
# After "M6" changes to the prepared tool.
|
||||
#
|
||||
|
||||
c.mdi('M6')
|
||||
wait_for_hal_pin('tool-change', True)
|
||||
h['tool-changed'] = True
|
||||
wait_for_hal_pin('tool-change', False)
|
||||
h['tool-changed'] = False
|
||||
|
||||
verify_status_buffer(state='after T99999 M6', tool_in_spindle=99999)
|
||||
verify_io_pins(state='after T99999 M6', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
|
||||
verify_interp_vars(state='after T99999 M6', current_tool=99999, current_pocket=50, selected_tool=99999, selected_pocket=-1)
|
||||
|
||||
|
||||
sys.exit(0)
|
||||
|
||||
Reference in New Issue
Block a user