jepler/linuxcnc
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

test: add a test of M61

Browse source 
This test uses a full LinuxCNC setup and a custom python test-ui.

It commands M61 and verifies both that the IO tool-change pins don't act,
and that the tool-related interp parameters reflect the requested tool
when it's done.

This test fails on v2.5.3-9-g5f7693a but passes after the m61-fix commits
are applied.

Thanks to Norbert (nieson) for reporting this bug.
This commit is contained in:
Sebastian Kuzminsky 2013-08-01 19:20:13 -06:00
parent 5b6fe02ff7
commit 00b6ff4bec
7 changed files with 651 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

1
tests/toolchanger/m61/.gitignore vendored Normal file
View file

@ -0,0 +1 @@
sim.var.bak

2
tests/toolchanger/m61/checkresult Executable file
View file

@ -0,0 +1,2 @@
#!/bin/sh
exit 0 # test failure is indicated by test.sh exit value

60
tests/toolchanger/m61/core_sim.hal Normal file
View file

@ -0,0 +1,60 @@
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# load 6 differentiators (for velocity and accel signals
loadrt ddt count=6
# load additional blocks
loadrt hypot count=2
loadrt comp count=3
loadrt or2 count=1
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf hypot.0 servo-thread
addf hypot.1 servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt.0.out => ddt.1.in hypot.0.in0
net Xacc <= ddt.1.out
net Yvel ddt.2.out => ddt.3.in hypot.0.in1
net Yacc <= ddt.3.out
net Zvel ddt.4.out => ddt.5.in hypot.1.in0
net Zacc <= ddt.5.out
# Cartesian 2- and 3-axis velocities
net XYvel hypot.0.out => hypot.1.in1
net XYZvel <= hypot.1.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prepare <= iocontrol.0.tool-prepare
net tool-prepared => iocontrol.0.tool-prepared
net tool-change <= iocontrol.0.tool-change
net tool-changed => iocontrol.0.tool-changed
net tool-number <= iocontrol.0.tool-number
net tool-prep-number <= iocontrol.0.tool-prep-number
net tool-prep-pocket <= iocontrol.0.tool-prep-pocket

84
tests/toolchanger/m61/m61-test.ini Normal file
View file

@ -0,0 +1,84 @@
[EMC]
DEBUG = 0x0
[DISPLAY]
DISPLAY = ./test-ui.py
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
MDI_QUEUED_COMMANDS=10000
[RS274NGC]
PARAMETER_FILE = sim.var
USER_M_PATH = ./subs
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 4.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[HAL]
HALUI = halui
HALFILE = core_sim.hal
POSTGUI_HALFILE = postgui.hal
[TRAJ]
NO_FORCE_HOMING=1
AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.2
MAX_LINEAR_VELOCITY = 4
[AXIS_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_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_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 = -4.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 0

11
tests/toolchanger/m61/postgui.hal Normal file
View file

@ -0,0 +1,11 @@
net tool-prepare => python-ui.tool-prepare
net tool-prepared <= python-ui.tool-prepared
net tool-change => python-ui.tool-change
net tool-changed <= python-ui.tool-changed
net tool-number => python-ui.tool-number
net tool-prep-number => python-ui.tool-prep-number
net tool-prep-pocket => python-ui.tool-prep-pocket

486
tests/toolchanger/m61/test-ui.py Executable file
View file

@ -0,0 +1,486 @@
#!/usr/bin/env python
import linuxcnc
import hal
import time
import sys
import os
# this is how long we wait for linuxcnc to do our bidding
timeout = 1.0
class LinuxcncError(Exception):
pass
# def __init__(self, value):
# self.value = value
# def __str__(self):
# return repr(self.value)
class LinuxcncControl:
'''
issue G-Code commands
make sure important modes are saved and restored
mode is saved only once, and can be restored only once
usage example:
e = emc_control()
e.prepare_for_mdi()
any internal sub using e.g("G0.....")
e.finish_mdi()
'''
def __init__(self):
self.c = linuxcnc.command()
self.e = linuxcnc.error_channel()
self.s = linuxcnc.stat()
def running(self, do_poll=True):
'''
check wether interpreter is running.
If so, cant switch to MDI mode.
'''
if do_poll:
self.s.poll()
return (self.s.task_mode == linuxcnc.MODE_AUTO and
self.s.interp_state != linuxcnc.INTERP_IDLE)
def set_mode(self,m):
'''
set EMC mode if possible, else throw LinuxcncError
return current mode
'''
self.s.poll()
if self.s.task_mode == m :
return m
if self.running(do_poll=False):
raise LinuxcncError("interpreter running - cant change mode")
self.c.mode(m)
self.c.wait_complete()
return m
def set_state(self,m):
'''
set EMC mode if possible, else throw LinuxcncError
return current mode
'''
self.s.poll()
if self.s.task_mode == m :
return m
self.c.state(m)
self.c.wait_complete()
return m
def do_home(self,axismask):
self.s.poll()
self.c.home(axismask)
self.c.wait_complete()
def ok_for_mdi(self):
'''
check wether ok to run MDI commands.
'''
self.s.poll()
return not self.s.estop and self.s.enabled and self.s.homed
def prepare_for_mdi(self):
'''
check wether ok to run MDI commands.
throw LinuxcncError if told so.
return current mode
'''
self.s.poll()
if self.s.estop:
raise LinuxcncError("machine in ESTOP")
if not self.s.enabled:
raise LinuxcncError("machine not enabled")
if not self.s.homed:
raise LinuxcncError("machine not homed")
if self.running():
raise LinuxcncError("interpreter not idle")
return self.set_mode(linuxcnc.MODE_MDI)
g_raise_except = True
def g(self,code,wait=False):
'''
issue G-Code as MDI command.
wait for completion if reqested
'''
self.c.mdi(code)
if wait:
try:
while self.c.wait_complete() == -1:
pass
return True
except KeyboardInterrupt:
print "interrupted by keyboard in c.wait_complete()"
return False
self.error = self.e.poll()
if self.error:
kind, text = self.error
if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
if LinuxcncControl.g_raise_except:
raise LinuxcncError(text)
else:
print ("error " + text)
else:
print ("info " + text)
return False
def get_current_tool(self):
self.s.poll()
return self.s.tool_in_spindle
def active_codes(self):
self.e.poll()
return self.s.gcodes
def get_current_system(self):
g = self.active_codes()
for i in g:
if i >= 540 and i <= 590:
return i/10 - 53
elif i >= 590 and i <= 593:
return i - 584
return 1
def introspect():
#print "joint.0.select =", h['joint-0-select']
#print "joint.0.selected =", h['joint-0-selected']
#print "joint.0.position =", h['joint-0-position']
#os.system("halcmd show pin iocontrol")
os.system("halcmd show pin python-ui")
#os.system("halcmd show sig")
def wait_for_pin_value(pin_name, value, timeout=1):
print "waiting for %s to go to %f (timeout=%f)" % (pin_name, value, timeout)
start = time.time()
while (h[pin_name] != value) and ((time.time() - start) < timeout):
time.sleep(0.1)
if h[pin_name] != value:
print "timeout! pin %s didn't get to %f" % (pin_name, value)
introspect()
sys.exit(1)
print "pin %s went to %f!" % (pin_name, value)
def verify_pin_value(pin_name, value):
if (h[pin_name] != value):
print "pin %s is not %f" % (pin_name, value)
sys.exit(1);
print "pin %s is %f" % (pin_name, value)
def get_interp_param(param_number):
e.c.mdi("(debug, #%d)" % param_number)
while e.c.wait_complete() == -1:
pass
error = e.e.poll()
if error:
kind, text = error
if kind == linuxcnc.OPERATOR_DISPLAY:
return float(text)
return None
def verify_interp_param(param_number, expected_value):
param_value = get_interp_param(param_number)
print "interp param #%d = %f (expecting %f)" % (param_number, param_value, expected_value)
if param_value != expected_value:
print "ERROR: interp param #%d = %f, expected %f" % (param_number, param_value, expected_value)
sys.exit(1)
def verify_stable_pin_values(pins, duration=1):
start = time.time()
while (time.time() - start) < duration:
for pin_name in pins.keys():
val = h[pin_name]
if val != pins[pin_name]:
print "ERROR: pin %s = %f (expected %f)" % (pin_name, val, pin[pin_name])
sys.exit(1)
time.sleep(0.010)
def select_joint(name):
print " selecting", name
h[name + '-select'] = 1
start = time.time()
while (h[name + '-selected'] == 0) and ((time.time() - start) < timeout):
time.sleep(0.1)
if h[name + '-selected'] == 0:
print "failed to select", name, "in halui"
introspect(h)
sys.exit(1)
h[name + '-select'] = 0
def jog_minus(name, target):
start_position = h[name + '-position']
print " jogging", name, "negative: to %.3f" % (target)
h['jog-selected-minus'] = 1
start = time.time()
while (h[name + '-position'] > target) and ((time.time() - start) < timeout):
time.sleep(0.1)
if h[name + '-position'] > target:
print name, "failed to jog", name, "to", target
introspect(h)
return False
h['jog-selected-minus'] = 0
print " jogged %s negative past target %.3f" % (name, target)
return True
def jog_plus(name, target):
start_position = h[name + '-position']
print " jogging %s positive: to %.3f" % (name, target)
h['jog-selected-plus'] = 1
start = time.time()
while (h[name + '-position'] < target) and ((time.time() - start) < timeout):
time.sleep(0.1)
if h[name + '-position'] < target:
print name, "failed to jog", name, "to", target
introspect(h)
return False
h['jog-selected-plus'] = 0
print " jogged %s positive past target %.3f)" % (name, target)
return True
def jog_joint(joint_number, target):
success = True
joint = []
for j in range(0,3):
joint.append(h['joint-%d-position' % j])
name = 'joint-%d' % joint_number
print "jogging", name, "to", target
select_joint(name)
if h[name + '-position'] > target:
jog_minus(name, target)
else:
jog_plus(name, target)
for j in range(0,3):
pin_name = 'joint-%d-position' % j
if j == joint_number:
if joint[j] == h[pin_name]:
print "joint", str(j), "didn't move but should have!"
success = False
else:
if joint[j] != h[pin_name]:
print "joint", str(j), "moved from %.3f to %.3f but shouldnt have!" % (joint[j], h[pin_name])
success = False
# give the joint time to stop
# FIXME: close the loop here
time.sleep(0.1)
if not success:
sys.exit(1)
#
# set up pins
# shell out to halcmd to make nets to halui and motion
#
h = hal.component("python-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.ready() # mark the component as 'ready'
os.system("halcmd source ./postgui.hal")
#
# connect to LinuxCNC
#
e = LinuxcncControl()
e.set_state(linuxcnc.STATE_ESTOP_RESET)
e.set_state(linuxcnc.STATE_ON)
e.set_mode(linuxcnc.MODE_MDI)
#
# test m6 to get a baseline
#
e.g('t1 m6')
# prepare for tool change
wait_for_pin_value('tool-prepare', 1)
verify_pin_value('tool-prep-number', 1)
verify_pin_value('tool-prep-pocket', 1)
h['tool-prepared'] = 1
wait_for_pin_value('tool-prepare', 0)
h['tool-prepared'] = 0
time.sleep(0.1)
e.s.poll()
print "tool prepare done, e.s.pocket_prepped = ", e.s.pocket_prepped
# change tool
wait_for_pin_value('tool-change', 1)
h['tool-changed'] = 1
wait_for_pin_value('tool-change', 0)
h['tool-changed'] = 0
time.sleep(0.1)
e.s.poll()
print "tool change done, e.s.tool_in_spindle = ", e.s.tool_in_spindle
print "current tool: ", e.get_current_tool()
verify_interp_param(5400, 1) # tool in spindle
verify_interp_param(5401, 0) # tlo x
verify_interp_param(5402, 0) # tlo y
verify_interp_param(5403, 1) # tlo z
verify_interp_param(5404, 0) # tlo a
verify_interp_param(5405, 0) # tlo b
verify_interp_param(5406, 0) # tlo c
verify_interp_param(5407, 0) # tlo u
verify_interp_param(5408, 0) # tlo v
verify_interp_param(5409, 0) # tlo w
verify_interp_param(5410, 0.125) # tool diameter
verify_interp_param(5411, 0) # front angle
verify_interp_param(5412, 0) # back angle
verify_interp_param(5413, 0) # tool orientation
verify_interp_param(5420, 0) # current x
verify_interp_param(5421, 0) # current y
verify_interp_param(5422, 0) # current z
verify_interp_param(5423, 0) # current a
verify_interp_param(5424, 0) # current b
verify_interp_param(5425, 0) # current c
verify_interp_param(5426, 0) # current u
verify_interp_param(5427, 0) # current v
verify_interp_param(5428, 0) # current w
e.g('g43')
verify_interp_param(5420, 0) # current x
verify_interp_param(5421, 0) # current y
verify_interp_param(5422, -1) # current z
verify_interp_param(5423, 0) # current a
verify_interp_param(5424, 0) # current b
verify_interp_param(5425, 0) # current c
verify_interp_param(5426, 0) # current u
verify_interp_param(5427, 0) # current v
verify_interp_param(5428, 0) # current w
introspect()
#
# now finally test m61
#
e.g('m61 q10')
verify_stable_pin_values(
{
'tool-change': 0,
'tool-prep-number': 0,
'tool-prep-pocket': 0,
'tool-prepare': 0
},
duration=1
)
print "m61 done, e.s.tool_in_spindle = ", e.s.tool_in_spindle
print "current tool: ", e.get_current_tool()
verify_interp_param(5400, 10) # tool in spindle
verify_interp_param(5401, 0) # tlo x
verify_interp_param(5402, 0) # tlo y
verify_interp_param(5403, 3) # tlo z
verify_interp_param(5404, 0) # tlo a
verify_interp_param(5405, 0) # tlo b
verify_interp_param(5406, 0) # tlo c
verify_interp_param(5407, 0) # tlo u
verify_interp_param(5408, 0) # tlo v
verify_interp_param(5409, 0) # tlo w
verify_interp_param(5410, 0.500) # tool diameter
verify_interp_param(5411, 0) # front angle
verify_interp_param(5412, 0) # back angle
verify_interp_param(5413, 0) # tool orientation
verify_interp_param(5420, 0) # current x
verify_interp_param(5421, 0) # current y
verify_interp_param(5422, -1) # current z
verify_interp_param(5423, 0) # current a
verify_interp_param(5424, 0) # current b
verify_interp_param(5425, 0) # current c
verify_interp_param(5426, 0) # current u
verify_interp_param(5427, 0) # current v
verify_interp_param(5428, 0) # current w
e.g('g43')
verify_interp_param(5420, 0) # current x
verify_interp_param(5421, 0) # current y
verify_interp_param(5422, -3) # current z
verify_interp_param(5423, 0) # current a
verify_interp_param(5424, 0) # current b
verify_interp_param(5425, 0) # current c
verify_interp_param(5426, 0) # current u
verify_interp_param(5427, 0) # current v
verify_interp_param(5428, 0) # current w
sys.exit(0)

7
tests/toolchanger/m61/test.sh Executable file
View file

@ -0,0 +1,7 @@
#!/bin/bash
cp -f ../simpockets.tbl.orig simpockets.tbl
linuxcnc -r m61-test.ini
exit $?