Import LinuxCNC source tree

tests/toolchanger/reload-tool/random/checkresult

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+../checkresult

tests/toolchanger/reload-tool/random/core_sim.hal

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+../core_sim.hal

tests/toolchanger/reload-tool/random/postgui.hal

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+../postgui.hal

tests/toolchanger/reload-tool/random/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+xtool   = 0.111 # [EMCIO]TOOL_CHANGE_POSITION x
+ytool   = 0.222 # [EMCIO]TOOL_CHANGE_POSITION y
+ztool   = 0.333 # [EMCIO]TOOL_CHANGE_POSITION z
+EPSILON = 1e-10
+
+def wait_for_hal_pin(name, value, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        if h[name] == value:
+            return
+        time.sleep(0.1)
+    raise RuntimeError("hal pin %s didn't get to %s after %.3f seconds" % (name, value, timeout))
+
+
+# After doing something that should change the stat buffer, wait this
+# long before polling to let the change propagate through.
+# FIXME: this is bogus
+stat_poll_wait = 0.100
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+h = hal.component("test-ui")
+
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-changed"] = False
+
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-prepared"] = False
+
+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.ready()
+
+os.system("halcmd source ./postgui.hal")
+
+
+l = linuxcnc_util.LinuxCNC()
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+l.wait_for_linuxcnc_startup()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# At startup tool 3 is in the spindle and no tool prep or change is
+# being requested.
+#
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T2
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == 46)  # random tc gives you pocket, which is the same as tool-table-array index
+
+
+#
+# Change to T2
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == 46)
+
+assert(abs(s.joint_position[0] -xtool) < EPSILON)
+assert(abs(s.joint_position[1] -ytool) < EPSILON)
+assert(abs(s.joint_position[2] -ztool) < EPSILON)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T12 
+#
+
+c.mdi('t12')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 9)
+
+
+#
+# Prepare T2
+# This tool is already in the spindle.
+#
+
+c.mdi('t2')
+try:
+    wait_for_hal_pin('tool-prepare', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool prep should be performed since the
+    # requested tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+
+#
+# Change to prepared tool (T2)
+#
+
+c.mdi('m6')
+try:
+    wait_for_hal_pin('tool-change', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool change should be performed since
+    # the prepared tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+#
+# Prepare T0
+#
+
+c.mdi('t0')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 2)  # random tc gives you pocket, which is the same as tool-table-array index
+
+
+#
+# Change to T0
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 2)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+sys.exit(0)
+

tests/toolchanger/reload-tool/random/test.ini

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+[EMC]
+VERSION = 1.1
+
+#DEBUG = 0x0
+DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+[EMCMOT]
+
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = core_sim.hal
+
+[HALUI]
+#No Content
+
+[TRAJ]
+
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY =      1.2
+MAX_LINEAR_ACCELERATION =      123.45
+MAX_LINEAR_VELOCITY =          45.67
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 1
+TOOL_CHANGE_POSITION = .111 .222 .333
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Z]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/toolchanger/reload-tool/random/test.sh

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+../shared-test.sh