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tests: Add a test for spindle INI speed limits function
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‎tests/spindle_limits/checkresult‎

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#!/bin/sh
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# Test passes if test-ui.py returns successfully
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exit 0

‎tests/spindle_limits/spindle.hal‎

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# HAL file for spindle limits test
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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‎tests/spindle_limits/spindle.ini‎

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[EMC]
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VERSION = 1.1
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DEBUG = 0x0
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[DISPLAY]
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DISPLAY = ./test-ui.py
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[RS274NGC]
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PARAMETER_FILE = sim.var
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USER_M_PATH = ./subs
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 4.0
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BASE_PERIOD = 0
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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MDI_QUEUED_COMMANDS=10000
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[HAL]
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HALFILE = spindle.hal
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[TRAJ]
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NO_FORCE_HOMING=1
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AXES = 3
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.2
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MAX_LINEAR_VELOCITY = 4
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SPINDLES = 3
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[EMCIO]
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EMCIO = io
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CYCLE_TIME = 0.100
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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[AXIS_Y]
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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[AXIS_Z]
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MIN_LIMIT = -4.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 1000.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -4.0
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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[SPINDLE_0]
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MAX_FORWARD_VELOCITY = 1000
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MIN_FORWARD_VELOCITY = 100
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MAX_REVERSE_VELOCITY = 1500
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MIN_REVERSE_VELOCITY = 500
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[SPINDLE_1]
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MAX_FORWARD_VELOCITY = 2000
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MIN_FORWARD_VELOCITY = 200
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MAX_REVERSE_VELOCITY = 2500
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[SPINDLE_2]
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MAX_FORWARD_VELOCITY = 3000
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MIN_FORWARD_VELOCITY = 300

‎tests/spindle_limits/test-ui.py‎

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#!/usr/bin/env python3
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import linuxcnc
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import hal
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import time
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import sys
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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 wait_for_mdi_queue(queue_len, timeout=10):
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start_time = time.time()
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while (time.time() - start_time) < timeout:
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s.poll()
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if s.queued_mdi_commands == queue_len:
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return
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time.sleep(0.1)
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print("queued_mdi_commands at %d after %.3f seconds" % (s.queued_mdi_commands, timeout))
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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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comp = hal.component('hal-watcher')
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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.wait_complete()
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# Check G-code / MDI spindle commands
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c.mode(linuxcnc.MODE_MDI)
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c.mdi("M3 S10 $0")
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c.mdi("M3 S10 $1")
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c.mdi("M3 S10 $2")
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == 100
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assert s.spindle[0]['speed'] == 100
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assert hal.get_value('spindle.1.speed-out') == 200
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assert s.spindle[1]['speed'] == 200
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assert hal.get_value('spindle.2.speed-out') == 300
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assert s.spindle[2]['speed'] == 300
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c.mdi("M3 S10000 $0")
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c.mdi("M3 S10000 $1")
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c.mdi("M3 S10000 $2")
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == 1000
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assert s.spindle[0]['speed'] == 1000
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assert hal.get_value('spindle.1.speed-out') == 2000
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assert s.spindle[1]['speed'] == 2000
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assert hal.get_value('spindle.2.speed-out') == 3000
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assert s.spindle[2]['speed'] == 3000
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c.mdi("M4 S10 $0")
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c.mdi("M4 S10 $1")
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c.mdi("M4 S10 $2")
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == -500
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assert s.spindle[0]['speed'] == -500
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assert hal.get_value('spindle.1.speed-out') == -200
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assert s.spindle[1]['speed'] == -200
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assert hal.get_value('spindle.2.speed-out') == -300
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assert s.spindle[2]['speed'] == -300
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c.mdi("M4 S10000 $0")
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c.mdi("M4 S10000 $1")
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c.mdi("M4 S10000 $2")
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == -1500
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assert s.spindle[0]['speed'] == -1500
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assert hal.get_value('spindle.1.speed-out') == -2500
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assert s.spindle[1]['speed'] == -2500
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assert hal.get_value('spindle.2.speed-out') == -3000
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assert s.spindle[2]['speed'] == -3000
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# Check Python interface commands
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 0, 0)
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 1, 0)
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10, 2, 0)
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == 100
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assert s.spindle[0]['speed'] == 100
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assert hal.get_value('spindle.1.speed-out') == 200
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assert s.spindle[1]['speed'] == 200
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assert hal.get_value('spindle.2.speed-out') == 300
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assert s.spindle[2]['speed'] == 300
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 0, 0)
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 1, 0)
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c.spindle(linuxcnc.SPINDLE_FORWARD, 10000, 2, 0)
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == 1000
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assert s.spindle[0]['speed'] == 1000
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assert hal.get_value('spindle.1.speed-out') == 2000
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assert s.spindle[1]['speed'] == 2000
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assert hal.get_value('spindle.2.speed-out') == 3000
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assert s.spindle[2]['speed'] == 3000
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 0, 0)
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 1, 0)
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10, 2, 0)
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == -500
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assert s.spindle[0]['speed'] == -500
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assert hal.get_value('spindle.1.speed-out') == -200
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assert s.spindle[1]['speed'] == -200
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assert hal.get_value('spindle.2.speed-out') == -300
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assert s.spindle[2]['speed'] == -300
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 0, 0)
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 1, 0)
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c.spindle(linuxcnc.SPINDLE_REVERSE, 10000, 2, 0)
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c.wait_complete()
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s.poll()
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assert hal.get_value('spindle.0.speed-out') == -1500
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assert s.spindle[0]['speed'] == -1500
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assert hal.get_value('spindle.1.speed-out') == -2500
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assert s.spindle[1]['speed'] == -2500
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assert hal.get_value('spindle.2.speed-out') == -3000
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assert s.spindle[2]['speed'] == -3000
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sys.exit(0)
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