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test-ui.py
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test-ui.py
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#!/usr/bin/env python3
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
def introspect():
os.system("halcmd show pin python-ui")
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 is %f, didn't get to %f" % (pin_name, h[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 %f, not %f" % (pin_name, h[pin_name], value))
sys.exit(1);
print("pin %s is %f" % (pin_name, value))
def get_interp_param(param_number):
c.mdi("(debug, #%d)" % param_number)
c.wait_complete()
# wait up to 2 seconds for a reply
start = time.time()
while (time.time() - start) < 2:
error = e.poll()
if error == None:
time.sleep(0.010)
continue
kind, text = error
if kind == linuxcnc.OPERATOR_DISPLAY:
return float(text)
print(text)
print("error getting parameter %d" % param_number)
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 list(pins.keys()):
val = h[pin_name]
if val != pins[pin_name]:
print("ERROR: pin %s = %f (expected %f)" % (pin_name, val, pins[pin_name]))
sys.exit(1)
time.sleep(0.010)
def verify_tool_number(tool_number):
verify_interp_param(5400, tool_number) # 5400 == tool in spindle
verify_pin_value('tool-number', tool_number) # pin from iocontrol
# verify stat buffer
s.poll()
if s.tool_in_spindle != tool_number:
print("ERROR: stat buffer .tool_in_spindle is %f, should be %f" % (s.tool_in_spindle, tool_number))
sys.exit(1)
print("stat buffer .tool_in_spindle is %f" % s.tool_in_spindle)
def do_tool_change_handshake(tool_number, pocket_number):
# prepare for tool change
wait_for_pin_value('tool-prepare', 1)
verify_pin_value('tool-prep-number', tool_number)
verify_pin_value('tool-prep-pocket', pocket_number)
h['tool-prepared'] = 1
wait_for_pin_value('tool-prepare', 0)
h['tool-prepared'] = 0
time.sleep(0.1)
s.poll()
print("tool prepare done, s.pocket_prepped = ", s.pocket_prepped)
if s.pocket_prepped != pocket_number:
print("ERROR: wrong pocket prepped in stat buffer (got %d, expected %d)" % (s.pocket_prepped, pocket_number))
sys.exit(1)
# change tool
wait_for_pin_value('tool-change', 1)
h['tool-changed'] = 1
wait_for_pin_value('tool-change', 0)
h['tool-changed'] = 0
#
# set up pins
# shell out to halcmd to net our pins to where they need to go
#
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-from-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
#
c = linuxcnc.command()
s = linuxcnc.stat()
e = linuxcnc.error_channel()
c.state(linuxcnc.STATE_ESTOP_RESET)
c.state(linuxcnc.STATE_ON)
c.mode(linuxcnc.MODE_MDI)
c.wait_complete()
# at startup, we should have the special tool 0 in the spindle, meaning
# "no tool" or "unknown tool"
verify_tool_number(0)
#
# test m6 to get a baseline
#
print("*** starting 'T1 M6' tool change")
c.mdi('t1 m6')
c.wait_complete()
do_tool_change_handshake(tool_number=1, pocket_number=1)
print("*** tool change complete")
verify_tool_number(1)
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
c.mdi('g43')
c.wait_complete()
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
#
print("*** starting 'M61 Q10' tool change")
c.mdi('m61 q10')
c.wait_complete()
verify_stable_pin_values(
{
'tool-change': 0,
'tool-prep-number': 0,
'tool-prep-pocket': 0,
'tool-prepare': 0,
'tool-from-pocket': 1
},
duration=1
)
verify_tool_number(10)
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
c.mdi('g43')
c.wait_complete()
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
#
# use M6 to unload the spindle (T0)
#
print("*** using 'T0 M6' to unload the spindle")
c.mdi("t0 m6")
c.wait_complete()
do_tool_change_handshake(tool_number=0, pocket_number=0)
verify_tool_number(0)
#
# use M61 to load T1 in the spindle again
#
print("*** using 'M61 Q1' to load a tool again")
c.mdi("m61 q1")
c.wait_complete()
verify_tool_number(1)
#
# use M61 to unload the spindle (T0)
#
print("*** using 'M61 Q0' to unload the spindle again")
c.mdi("m61 q0")
c.wait_complete()
verify_tool_number(0)
# if we get here it all worked!
sys.exit(0)