124 lines
3.1 KiB
Python
Executable File
124 lines
3.1 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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#
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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.newpin("Zpos", hal.HAL_FLOAT, hal.HAL_IN)
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h.newpin("counter", 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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def print_state():
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sys.stderr.write(
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"line=%d; Xpos=%.2f; Ypos=%.2f; Zpos=%.2f; counter=%d\n" %
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(s.current_line, h["Xpos"], h["Ypos"], h["Zpos"], h["counter"]))
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#
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# Come out of E-stop, turn the machine on, home, and switch to Auto mode.
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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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c.mode(linuxcnc.MODE_AUTO)
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#
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# run the .ngc test file, starting from the special line
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#
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c.program_open('test.ngc')
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epsilon = 0.000001
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def mod_5_is_0(x):
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return abs((x+epsilon) % 5) < 2*epsilon
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def wait_complete_step():
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'''The normal `linuxcnc.command.wait_complete()` function does not
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understand single-stepping. It waits for the `state` to return to
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`RCS_DONE` but this does not happen when single-stepping, `state`
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stays at `RCS_EXEC` while waiting for the next step.
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This function instead waits for status.task.execState to tell us
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that Task is no longer waiting for Motion in any way.'''
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timeout = 15.0
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start = time.time()
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# Wait for the command to be acknowledged by Task (FIXME or is it motion?).
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while time.time() - start < timeout:
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s.poll()
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if s.echo_serial_number >= c.serial:
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break
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time.sleep(0.1)
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# Wait for Task to be done waiting for Motion.
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while time.time() - start < timeout:
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s.poll()
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if s.exec_state not in [ linuxcnc.EXEC_WAITING_FOR_MOTION, linuxcnc.EXEC_WAITING_FOR_MOTION_AND_IO, linuxcnc.EXEC_WAITING_FOR_MOTION_QUEUE ]:
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return
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time.sleep(0.1)
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raise SystemExit(f'error: timeout in wait_complete_step(), {timeout} seconds were not enough')
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# Take first three steps (these cause no motion).
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c.auto(linuxcnc.AUTO_STEP)
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c.auto(linuxcnc.AUTO_STEP)
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c.auto(linuxcnc.AUTO_STEP)
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wait_complete_step()
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count = 0
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while True:
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s.poll()
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if s.interp_state == linuxcnc.INTERP_IDLE:
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sys.stderr.write("Finished: Detected program finish\n")
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break
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(x, y) = (h["Xpos"], h["Ypos"])
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if mod_5_is_0(x) and mod_5_is_0(y):
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# Both axes on goal; command the next step and wait for it to finish.
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sys.stderr.write("Taking step from X%.2f Y%.2f\n" % (x, y))
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c.auto(linuxcnc.AUTO_STEP)
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wait_complete_step()
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print_state()
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count += 1
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if count >= 1000: # Shouldn't happen, but prevent runaways
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sys.stderr.write("Finished: Exceeded max cycles\n")
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sys.exit(1)
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time.sleep(0.1)
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if h["counter"] != 25:
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sys.stderr.write("End counter incorrect: %d != 25\n" % h["counter"])
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sys.exit(1)
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sys.exit(0)
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