Reload tool 330

src/emc/iotask/ioControl.cc

@@ -864,9 +864,6 @@ int main(int argc, char *argv[])
 		int t = ((EMC_TOOL_PREPARE*)emcioCommand)->tool;
                 rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_PREPARE tool=%d pocket=%d\n", t, p);
 
-                // it doesn't make sense to prep the spindle pocket
-                if(random_toolchanger && p == 0) break;
-
                 // Set HAL pins/params for tool number, pocket, and index.
                 iocontrol_data->tool_prep_index = p;
                 *(iocontrol_data->tool_prep_pocket) = random_toolchanger? p: fms[p];
@@ -875,6 +872,13 @@ int main(int argc, char *argv[])
                 } else {
                     *(iocontrol_data->tool_prep_number) = emcioStatus.tool.toolTable[p].toolno;
                 }
+
+                // it doesn't make sense to prep the spindle pocket
+                if (random_toolchanger && p == 0) {
+                    emcioStatus.tool.pocketPrepped = 0;
+                    break;
+                }
+
                 /* then set the prepare pin to tell external logic to get started */
                 *(iocontrol_data->tool_prepare) = 1;
                 // the feedback logic is done inside read_hal_inputs()

tests/toolchanger/reload-tool/README

@@ -0,0 +1,3 @@
+This test reproduces https://github.com/LinuxCNC/linuxcnc/issues/330.
+
+It tests the behavior for both random and non-random toolchanger machines.

tests/toolchanger/reload-tool/checkresult

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

tests/toolchanger/reload-tool/core_sim.hal

@@ -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
+

tests/toolchanger/reload-tool/non-random/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/toolchanger/reload-tool/non-random/core_sim.hal

@@ -0,0 +1 @@
+../core_sim.hal

tests/toolchanger/reload-tool/non-random/postgui.hal

@@ -0,0 +1 @@
+../postgui.hal

tests/toolchanger/reload-tool/non-random/test-ui.py

@@ -0,0 +1,273 @@
+#!/usr/bin/env python
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axes == 0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.STATE_ESTOP) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError
+
+
+def wait_for_hal_pin(name, value, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        if h[name] == value:
+            return
+        time.sleep(0.1)
+    raise RuntimeError("hal pin %s didn't get to %s after %.3f seconds" % (name, value, timeout))
+
+
+# After doing something that should change the stat buffer, wait this
+# long before polling to let the change propagate through.
+# FIXME: this is bogus
+stat_poll_wait = 0.100
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+h = hal.component("test-ui")
+
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-changed"] = False
+
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-prepared"] = False
+
+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.ready()
+
+os.system("halcmd source ./postgui.hal")
+
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# At startup there's no tool in the spindle and no tool prep or change
+# is being requested.
+#
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T2
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.pocket_prepped == 6)  # ugh, non-random tc gives you tool-table-array index, not pocket
+
+
+#
+# Change to T2
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.pocket_prepped == 6)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T12
+#
+
+c.mdi('t12')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == 4)
+
+
+#
+# Prepare T2
+# This tool is already in the spindle.
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == 4)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == 6)
+
+
+#
+# Change to prepared tool (T2 again)
+#
+
+c.mdi('m6')
+try:
+    wait_for_hal_pin('tool-change', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool change should be performed since
+    # the prepared tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.pocket_prepped == 6)
+
+
+sys.exit(0)