Import LinuxCNC source tree

tests/toolchanger/m61/.gitignore

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+sim.var.bak

tests/toolchanger/m61/checkresult

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

tests/toolchanger/m61/m61-test.ini

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+[EMC]
+DEBUG = 0x0
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[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
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[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
+
+[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
+
+[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
+
+[AXIS_X]
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+
+[AXIS_Y]
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+
+[AXIS_Z]
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+

tests/toolchanger/m61/mod_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 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=[TRAJ]AXES
+# 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
+net tool-from-pocket <= iocontrol.0.tool-from-pocket
+

tests/toolchanger/m61/postgui.hal

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+
+net tool-prepare => python-ui.tool-prepare
+net tool-prepared <= python-ui.tool-prepared
+
+net tool-change => python-ui.tool-change
+net tool-changed <= python-ui.tool-changed
+
+net tool-number => python-ui.tool-number
+net tool-prep-number => python-ui.tool-prep-number
+net tool-prep-pocket => python-ui.tool-prep-pocket
+net tool-from-pocket => python-ui.tool-from-pocket
+

tests/toolchanger/m61/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import time
+import sys
+import os
+
+
+# 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 is %f, didn't get to %f" % (pin_name, h[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, not %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)
+    c.wait_complete()
+
+    # 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 param_value != expected_value:
+        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, pins[pin_name]))
+                sys.exit(1)
+        time.sleep(0.010)
+
+
+def verify_tool_number(tool_number):
+    verify_interp_param(5400, tool_number)        # 5400 == tool in spindle
+    verify_pin_value('tool-number', tool_number)  # pin from iocontrol
+
+    # verify stat buffer
+    s.poll()
+    if s.tool_in_spindle != tool_number:
+        print("ERROR: stat buffer .tool_in_spindle is %f, should be %f" % (s.tool_in_spindle, tool_number))
+        sys.exit(1)
+    print("stat buffer .tool_in_spindle is %f" % s.tool_in_spindle)
+
+
+def do_tool_change_handshake(tool_number, pocket_number):
+    # prepare for tool change
+    wait_for_pin_value('tool-prepare', 1)
+    verify_pin_value('tool-prep-number', tool_number)
+    verify_pin_value('tool-prep-pocket', pocket_number)
+
+    h['tool-prepared'] = 1
+    wait_for_pin_value('tool-prepare', 0)
+    h['tool-prepared'] = 0
+
+    time.sleep(0.1)
+    s.poll()
+    print("tool prepare done, s.pocket_prepped = ", s.pocket_prepped)
+    if s.pocket_prepped != pocket_number:
+        print("ERROR: wrong pocket prepped in stat buffer (got %d, expected %d)" % (s.pocket_prepped, pocket_number))
+        sys.exit(1)
+
+    # change tool
+    wait_for_pin_value('tool-change', 1)
+    h['tool-changed'] = 1
+    wait_for_pin_value('tool-change', 0)
+    h['tool-changed'] = 0
+
+
+
+
+#
+# set up pins
+# 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.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-from-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.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()
+
+
+# at startup, we should have the special tool 0 in the spindle, meaning
+# "no tool" or "unknown tool"
+
+verify_tool_number(0)
+
+
+#
+# test m6 to get a baseline
+#
+
+print("*** starting 'T1 M6' tool change")
+
+c.mdi('t1 m6')
+c.wait_complete()
+
+do_tool_change_handshake(tool_number=1, pocket_number=1)
+
+print("*** tool change complete")
+verify_tool_number(1)
+
+verify_interp_param(5401, 0)      # tlo x
+verify_interp_param(5402, 0)      # tlo y
+verify_interp_param(5403, 1)      # tlo z
+verify_interp_param(5404, 0)      # tlo a
+verify_interp_param(5405, 0)      # tlo b
+verify_interp_param(5406, 0)      # tlo c
+verify_interp_param(5407, 0)      # tlo u
+verify_interp_param(5408, 0)      # tlo v
+verify_interp_param(5409, 0)      # tlo w
+verify_interp_param(5410, 0.125)  # tool diameter
+verify_interp_param(5411, 0)      # front angle
+verify_interp_param(5412, 0)      # back angle
+verify_interp_param(5413, 0)      # tool orientation
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, 0)      # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+c.mdi('g43')
+c.wait_complete()
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -1)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+introspect()
+
+
+
+
+#
+# now finally test m61
+#
+
+print("*** starting 'M61 Q10' tool change")
+
+c.mdi('m61 q10')
+c.wait_complete()
+
+verify_stable_pin_values(
+    {
+        'tool-change': 0,
+        'tool-prep-number': 0,
+        'tool-prep-pocket': 0,
+        'tool-prepare': 0,
+        'tool-from-pocket': 1
+    },
+    duration=1
+)
+
+verify_tool_number(10)
+
+verify_interp_param(5401, 0)      # tlo x
+verify_interp_param(5402, 0)      # tlo y
+verify_interp_param(5403, 3)      # tlo z
+verify_interp_param(5404, 0)      # tlo a
+verify_interp_param(5405, 0)      # tlo b
+verify_interp_param(5406, 0)      # tlo c
+verify_interp_param(5407, 0)      # tlo u
+verify_interp_param(5408, 0)      # tlo v
+verify_interp_param(5409, 0)      # tlo w
+verify_interp_param(5410, 0.500)  # tool diameter
+verify_interp_param(5411, 0)      # front angle
+verify_interp_param(5412, 0)      # back angle
+verify_interp_param(5413, 0)      # tool orientation
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -1)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+c.mdi('g43')
+c.wait_complete()
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -3)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+
+#
+# use M6 to unload the spindle (T0)
+#
+
+print("*** using 'T0 M6' to unload the spindle")
+c.mdi("t0 m6")
+c.wait_complete()
+do_tool_change_handshake(tool_number=0, pocket_number=0)
+verify_tool_number(0)
+
+
+#
+# use M61 to load T1 in the spindle again
+#
+
+print("*** using 'M61 Q1' to load a tool again")
+c.mdi("m61 q1")
+c.wait_complete()
+verify_tool_number(1)
+
+
+#
+# use M61 to unload the spindle (T0)
+#
+
+print("*** using 'M61 Q0' to unload the spindle again")
+c.mdi("m61 q0")
+c.wait_complete()
+verify_tool_number(0)
+
+
+# if we get here it all worked!
+sys.exit(0)
+

tests/toolchanger/m61/test.sh

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+#!/bin/bash
+
+cp -f ../simpockets.tbl.original simpockets.tbl
+
+exec linuxcnc -r m61-test.ini