127 lines
3.0 KiB
Python
Executable File
127 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import linuxcnc
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import linuxcnc_util
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import hal
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import time
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import sys
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import os
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# Time increment and timeout, seconds
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TIME_INCR = 0.1
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TIMEOUT = 10.0
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#
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# connect to LinuxCNC
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#
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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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l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
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#
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# Create and connect test feedback comp
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#
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h = hal.component("test-ui")
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h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN)
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h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN)
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h.ready()
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os.system("halcmd source ./postgui.hal")
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#
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# Come out of E-stop, turn the machine on, home
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#
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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(0)
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c.home(1)
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c.home(2)
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l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
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#
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# Print status function
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#
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def print_stats(x = None, y = None):
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s.poll()
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if x is None:
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sys.stderr.write(
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"queue=%d; active_queue=%d; queue_full=%s;"
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" x=%.3f; y=%.3f\n" %
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(s.queue, s.active_queue, s.queue_full, h['Xpos'], h['Ypos']))
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else:
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sys.stderr.write(
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"queue=%d; active_queue=%d; queue_full=%s;"
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" x=%.3f(%.3f); y=%.3f(%.3f)\n" %
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(s.queue, s.active_queue, s.queue_full,
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h['Xpos'], x-h['Xpos'], h['Ypos'], y-h['Ypos']))
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#
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# Set up tool and start position
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#
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c.mode(linuxcnc.MODE_MDI)
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c.mdi('T1M6') # Load tool 1
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c.mdi('G0 X2 Y2') # Move near to start
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c.wait_complete()
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start_time = time.time()
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while (abs(h['Xpos'] - 2) > .001) or (abs(h['Ypos'] - 2) > .001):
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if (time.time() - start_time) > TIMEOUT:
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sys.stderr.write("Failed to reach start position in time\n")
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os.system("halcmd show")
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sys.exit(1)
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time.sleep(TIME_INCR)
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sys.stderr.write("Starting at X=%.3f Y=%.3f\n" % (h["Xpos"], h["Ypos"]))
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#
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# Run the generated program, wait for motion to start and the queue to
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# fill up
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#
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c.mode(linuxcnc.MODE_AUTO)
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# c.program_open('test.ngc')
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c.program_open('3D_Chips.ngc')
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c.auto(linuxcnc.AUTO_RUN, 0)
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start_time = time.time()
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s.poll()
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while not (s.queue > 1000):
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if (time.time() - start_time) > TIMEOUT:
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sys.stderr.write("Failed to load segments from program\n")
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sys.exit(1)
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print_stats()
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time.sleep(TIME_INCR)
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sys.stderr.write("Program partially loaded\n")
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#
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# Now stop the program and wait for any additional motion
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#
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# Program X stepover is 2.5mm, or 0.1in; error out if the X stepover
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# exceeds 0.15 (fudge added to eliminate a legitimate stepover during
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# lag between cycles)
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pre_stop_x, pre_stop_y = h['Xpos'], h['Ypos']
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c.abort()
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start_time = time.time()
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last_x = pre_stop_x
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fail = False
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while (time.time() - start_time) < TIMEOUT and h['Xpos'] != last_x:
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print_stats(pre_stop_x, pre_stop_y)
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err = abs(pre_stop_x - h['Xpos'])
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if err > 0.15:
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sys.stderr.write(
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'ERROR: X axis motion stopped %.3f" past stop position\n' % err)
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fail = True
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last_x = h['Xpos']
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time.sleep(TIME_INCR)
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if fail:
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sys.exit(1)
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sys.stderr.write('Success\n')
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sys.exit(0)
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