263 lines
8.2 KiB
Python
Executable File
263 lines
8.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import linuxcnc
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import hal
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import math
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import time
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import sys
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import subprocess
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import os
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import signal
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import glob
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import re
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def wait_for_linuxcnc_startup(status, timeout=10.0):
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"""Poll the Status buffer waiting for it to look initialized,
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rather than just allocated (all-zero). Returns on success, throws
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RuntimeError on failure."""
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start_time = time.time()
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while time.time() - start_time < timeout:
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status.poll()
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if (status.angular_units == 0.0) \
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or (status.axis_mask == 0) \
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or (status.cycle_time == 0.0) \
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or (status.exec_state != linuxcnc.EXEC_DONE) \
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or (status.interp_state != linuxcnc.INTERP_IDLE) \
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or (status.inpos == False) \
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or (status.linear_units == 0.0) \
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or (status.max_acceleration == 0.0) \
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or (status.max_velocity == 0.0) \
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or (status.program_units == 0.0) \
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or (status.rapidrate == 0.0) \
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or (status.state != linuxcnc.RCS_DONE) \
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or (status.task_state != linuxcnc.STATE_ESTOP):
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time.sleep(0.1)
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else:
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# looks good
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return
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# timeout, throw an exception
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raise RuntimeError
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def verify_interp_vars(state, current_tool, current_pocket, selected_tool, selected_pocket):
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c.mdi('(debug,current_tool=#<_current_tool> current_pocket=#<_current_pocket> selected_tool=#<_selected_tool> selected_pocket=#<_selected_pocket>)')
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c.wait_complete()
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expected = "current_tool=%.6f current_pocket=%.6f selected_tool=%.6f selected_pocket=%.6f" % (current_tool, current_pocket, selected_tool, selected_pocket)
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while True:
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result = e.poll()
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if result == None:
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print("nothing from polling error channel")
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sys.exit(1)
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(type, msg) = result
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if type == linuxcnc.OPERATOR_DISPLAY:
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if msg == expected:
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# success!
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break
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print("state='%s', unexpected interp variables" % state)
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print("result: {}".format(msg))
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print("expected: {}".format(expected))
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sys.exit(1)
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else:
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print("state='%s', ignoring unexpected error type %d: %s" % (state, type, msg))
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print("state='%s', got expected interp variables:" % state)
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print(" current_tool=%.6f" % current_tool)
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print(" current_pocket=%.6f" % current_pocket)
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print(" selected_tool=%.6f" % selected_tool)
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print(" selected_pocket=%.6f" % selected_pocket)
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def verify_io_pins(state, tool_number, tool_prep_number, tool_prep_pocket):
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if h['tool-number'] != tool_number:
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print("state=%s, expected io.tool-number=%d, got %d" % (state, tool_number, h['tool-number']))
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sys.exit(1)
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if h['tool-prep-number'] != tool_prep_number:
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print("state=%s, expected io.tool-prep-number=%d, got %d" % (state, tool_prep_number, h['tool-prep-number']))
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sys.exit(1)
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if h['tool-prep-pocket'] != tool_prep_pocket:
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print("state=%s, expected io.tool-prep-pocket=%d, got %d" % (state, tool_prep_pocket, h['tool-prep-pocket']))
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sys.exit(1)
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print("state='%s', got expected io pins:" % state)
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print(" tool-number=%d" % tool_number)
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print(" tool-prep-number=%d" % tool_prep_number)
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print(" tool-prep-pocket=%d" % tool_prep_pocket)
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def verify_status_buffer(state, tool_in_spindle):
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deadline = time.time() + 1
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while time.time() < deadline:
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s.poll()
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if s.tool_in_spindle == tool_in_spindle:
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break
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time.sleep(.05)
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if s.tool_in_spindle != tool_in_spindle:
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print("state=%s, expected status.tool_in_spindle=%d, got %d" % (state, tool_in_spindle, s.tool_in_spindle))
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sys.exit(1)
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print("state='%s', got expected status buffer fields:" % state)
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print(" tool_in_spindle=%d" % tool_in_spindle)
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def wait_for_hal_pin(pin_name, value, timeout=10):
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start = time.time()
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while time.time() < (start + timeout):
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if h[pin_name] == value:
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return
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time.sleep(0.1)
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print("timeout waiting for hal pin %s to go to %s!" % (pin_name, value))
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sys.exit(1)
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c = linuxcnc.command()
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s = linuxcnc.stat()
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e = linuxcnc.error_channel()
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h = hal.component("test-ui")
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h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
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h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
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h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
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h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
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h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
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h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
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h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
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h['tool-prepared'] = False
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h['tool-changed'] = False
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h.ready()
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hal.connect('test-ui.tool-number', 'tool-number')
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hal.connect('test-ui.tool-prep-number', 'tool-prep-number')
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hal.connect('test-ui.tool-prep-pocket', 'tool-prep-pocket')
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hal.connect('test-ui.tool-prepare', 'tool-prepare')
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hal.connect('test-ui.tool-prepared', 'tool-prepared')
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hal.connect('test-ui.tool-change', 'tool-change')
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hal.connect('test-ui.tool-changed', 'tool-changed')
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# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
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wait_for_linuxcnc_startup(s)
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c.state(linuxcnc.STATE_ESTOP_RESET)
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c.state(linuxcnc.STATE_ON)
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c.home(-1)
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c.wait_complete()
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c.mode(linuxcnc.MODE_MDI)
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#
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# Starting state should be sane.
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#
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verify_status_buffer(state='init', tool_in_spindle=99999)
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verify_io_pins(state='init', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
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verify_interp_vars(state='init', current_tool=99999, current_pocket=0, selected_tool=0, selected_pocket=-1)
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#
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# After "T1" prepares the tool.
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#
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c.mdi('T1')
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wait_for_hal_pin('tool-prepare', True)
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h['tool-prepared'] = True
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wait_for_hal_pin('tool-prepare', False)
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h['tool-prepared'] = False
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verify_status_buffer(state='after T1', tool_in_spindle=99999)
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verify_io_pins(state='after T1', tool_number=99999, tool_prep_number=1, tool_prep_pocket=3)
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verify_interp_vars(state='after T1', current_tool=99999, current_pocket=0, selected_tool=1, selected_pocket=3)
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#
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# After "M6" changes to the prepared tool.
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#
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c.mdi('M6')
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wait_for_hal_pin('tool-change', True)
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h['tool-changed'] = True
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wait_for_hal_pin('tool-change', False)
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h['tool-changed'] = False
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verify_status_buffer(state='after T1 M6', tool_in_spindle=1)
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verify_io_pins(state='after T1 M6', tool_number=1, tool_prep_number=0, tool_prep_pocket=0)
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verify_interp_vars(state='after T1 M6', current_tool=1, current_pocket=0, selected_tool=1, selected_pocket=-1)
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#
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# After "T10" prepares the tool.
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#
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c.mdi('T10')
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wait_for_hal_pin('tool-prepare', True)
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h['tool-prepared'] = True
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wait_for_hal_pin('tool-prepare', False)
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h['tool-prepared'] = False
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verify_status_buffer(state='after T10', tool_in_spindle=1)
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verify_io_pins(state='after T10', tool_number=1, tool_prep_number=10, tool_prep_pocket=50)
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verify_interp_vars(state='after T10', current_tool=1, current_pocket=0, selected_tool=10, selected_pocket=50)
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#
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# After "M6" changes to the prepared tool.
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#
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c.mdi('M6')
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wait_for_hal_pin('tool-change', True)
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h['tool-changed'] = True
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wait_for_hal_pin('tool-change', False)
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h['tool-changed'] = False
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verify_status_buffer(state='after T10 M6', tool_in_spindle=10)
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verify_io_pins(state='after T10 M6', tool_number=10, tool_prep_number=0, tool_prep_pocket=0)
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verify_interp_vars(state='after T10 M6', current_tool=10, current_pocket=0, selected_tool=10, selected_pocket=-1)
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#
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# After "T99999" prepares a tool.
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#
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c.mdi('T99999')
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wait_for_hal_pin('tool-prepare', True)
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h['tool-prepared'] = True
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wait_for_hal_pin('tool-prepare', False)
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h['tool-prepared'] = False
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verify_status_buffer(state='after T99999', tool_in_spindle=10)
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verify_io_pins(state='after T99999', tool_number=10, tool_prep_number=99999, tool_prep_pocket=3)
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verify_interp_vars(state='after T99999', current_tool=10, current_pocket=0, selected_tool=99999, selected_pocket=3)
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#
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# After "M6" changes to the prepared tool.
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#
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c.mdi('M6')
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wait_for_hal_pin('tool-change', True)
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h['tool-changed'] = True
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wait_for_hal_pin('tool-change', False)
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h['tool-changed'] = False
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verify_status_buffer(state='after T99999 M6', tool_in_spindle=99999)
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verify_io_pins(state='after T99999 M6', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
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verify_interp_vars(state='after T99999 M6', current_tool=99999, current_pocket=0, selected_tool=99999, selected_pocket=-1)
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sys.exit(0)
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