#!/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)