improvements of simulated_home.hal #2236
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…ability and added examples at both ends of the axis
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[Felix Piela]
added comments, improved syntax for better readability and added
examples at both ends of the axis.
This change seem to have broken a test:
Running test: /home/runner/work/linuxcnc/linuxcnc/tests/lathe
*** /home/runner/work/linuxcnc/linuxcnc/tests/lathe: XFAIL: test run exited with 1
************** result:
Machine configuration file is 'lathe.ini'
check_config:
Unspecified [JOINT_1]MAX_VELOCITY, default used: 1.0
Unspecified [JOINT_1]MAX_ACCELERATION, default used: 1.0
Starting LinuxCNC...
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(LIB): /home/runner/work/linuxcnc/linuxcnc/lib/hallib/core_sim.hal
Found file(LIB): /home/runner/work/linuxcnc/linuxcnc/lib/hallib/simulated_home.hal
Found file(LIB): /home/runner/work/linuxcnc/linuxcnc/lib/hallib/lathe.hal
task: machine: 'unknown' version 'unknown'
emcTaskOnce: Python plugin configured
emcTaskOnce: extract(task_instance): KeyError: 'task'
emcTaskOnce: no Python Task() instance available, using default iocontrol-based task methods
emcTrajSetJoints(3) returned 0
emcTrajSetSpindles(1) returned 0
emcTrajSetAxes(3, 5)
emcTrajSetUnits(0.0394, 1.0000)
emcTrajSetVelocity(0.0000, 1.2000) returned 0
emcTrajSetMaxVelocity(4.0000) returned 0
emcTrajSetAcceleration(1e+99) returned 0
emcTrajSetMaxAcceleration(1e+99)
emcTrajSetHome(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000) returned 0
emcJointSetType(0, 1)
emcJointSetUnits(0, 0.0394)
emcJointSetBacklash(0, 0.0000) returned 0
emcJointSetMinPositionLimit(0, -10) returned 0
emcJointSetMaxPositionLimit(0, 10) returned 0
emcJointSetFerror(0, 0.0500) returned 0
emcJointSetMinFerror(0, 0.0100) returned 0
emcJointSetHomingParams(0, 0.0000, 1.0000, -1.0000, 5.0000, 1.0000, 0, 0, 1, 0, 0) returned 0
emcJointSetMaxVelocity(0, 3.3333) returned 0
emcJointSetMaxAcceleration(0, 20) returned 0
emcJointActivate(0) returned 0
emcJointSetType(1, 1)
emcJointSetUnits(1, 0.0394)
emcJointSetBacklash(1, 0.0000) returned 0
emcJointSetMinPositionLimit(1, -1e+99) returned 0
emcJointSetMaxPositionLimit(1, 1e+99) returned 0
emcJointSetFerror(1, 1.0000) returned 0
emcJointSetMinFerror(1, 1.0000) returned 0
emcJointSetHomingParams(1, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 0, 0) returned 0
emcJointSetMaxVelocity(1, 1.0000) returned 0
emcJointSetMaxAcceleration(1, 1) returned 0
emcJointActivate(1) returned 0
emcJointSetType(2, 1)
emcJointSetUnits(2, 0.0394)
emcJointSetBacklash(2, 0.0000) returned 0
emcJointSetMinPositionLimit(2, -2) returned 0
emcJointSetMaxPositionLimit(2, 4) returned 0
emcJointSetFerror(2, 0.0500) returned 0
emcJointSetMinFerror(2, 0.0100) returned 0
emcJointSetHomingParams(2, 0.0000, 1.0000, -1.0000, 5.0000, 1.0000, 0, 0, 1, 1, 0) returned 0
emcJointSetMaxVelocity(2, 3.3333) returned 0
emcJointSetMaxAcceleration(2, 20) returned 0
emcJointActivate(2) returned 0
emcAxisSetMinPositionLimit(0, -10.0000) returned 0
emcAxisSetMaxPositionLimit(0, 10.0000) returned 0
emcAxisSetMaxVelocity(0, 3.3333) returned 0
emcAxisSetMaxAcceleration(0, 20.0000) returned 0
emcAxisSetLockingJoint(0, -1) returned 0
emcAxisSetMinPositionLimit(2, -2.0000) returned 0
emcAxisSetMaxPositionLimit(2, 4.0000) returned 0
emcAxisSetMaxVelocity(2, 3.3333) returned 0
emcAxisSetMaxAcceleration(2, 20.0000) returned 0
emcAxisSetLockingJoint(2, -1) returned 0
emcSpindleSetParams(0, 1.000000e+99, 0.000000e+00, 0.000000e+00, -1.000000e+99, 0.000000, 0.000000, 0, 100.000000) returned 0
NML_INTERP_LIST(0x55bde2a939e0)::append(nml_msg_ptr{size=112,type=EMC_TRAJ_SET_TERM_COND}) : list_size=1, line_number=0
NML_INTERP_LIST(0x55bde2a939e0)::append(nml_msg_ptr{size=176,type=EMC_TRAJ_SET_G5X}) : list_size=2, line_number=0
NML_INTERP_LIST(0x55bde2a939e0)::append(nml_msg_ptr{size=168,type=EMC_TRAJ_SET_G92}) : list_size=3, line_number=0
NML_INTERP_LIST(0x55bde2a939e0)::append(nml_msg_ptr{size=104,type=EMC_TRAJ_SET_ROTATION}) : list_size=4, line_number=0
emcTaskPlanInit() returned 0
Issuing EMC_TASK_SET_STATE -- ( +505,+24, +1, +2,)
NML_INTERP_LIST(0x55bde2a939e0)::clear(): discarding 4 items
NML_INTERP_LIST(0x55bde2a939e0)::append(nml_msg_ptr{size=24,type=EMC_TASK_PLAN_SYNCH}) : list_size=1, line_number=0
emcTaskPlanSynch() returned 0
NML_INTERP_LIST(0x55bde2a939e0)::get(): {size=24, type=EMC_TASK_PLAN_SYNCH}, list_size=0
emcTaskPlanLevel() returned 0
task: main loop took 0.120343 seconds
Issuing EMC_TASK_SET_STATE -- ( +505,+24, +2, +4,)
task: main loop took 0.068063 seconds
Issuing EMC_TASK_SET_MODE -- ( +504,+24, +3, +1,)
Issuing EMC_JOINT_HOME -- ( +123,+24, +4, -1,)
Cannot home while shared home switch is closed j=0
Issuing EMC_TASK_PLAN_SYNCH -- ( +516,+24, +0,)
emcTaskPlanSynch() returned 0
j2 end of move in home state 7
Shutting down and cleaning up LinuxCNC...
task: 9743 cycles, min=0.000010, max=0.068063, avg=0.001079, 2 latency excursions (> 10x expected cycle time of 0.001000s)
LinuxCNC terminated with an error. You can find more information in the log:
/home/runner/linuxcnc_debug.txt
and
/home/runner/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
Running test: /home/runner/work/linuxcnc/linuxcnc/tests/limit3/constraints
************** stderr:
+ exec linuxcnc -r lathe.ini
(time=1672654785.482291,pid=40236): Registering server on TCP port 5005.
(time=1672654785.482417,pid=40236): running server for TCP port 5005 (connection_socket = 3).
Note: Using POSIX non-realtime
link (updating variable file): No such file or directory
Cannot home while shared home switch is closed j=0j2 end of move in home state 7Traceback (most recent call last):
File "./test-ui.py", line 34, in <module>
l.wait_for_home(joints=[1,0,1,0,0,0,0,0,0])
File "/home/runner/work/linuxcnc/linuxcnc/lib/python/linuxcnc_util.py", line 102, in wait_for_home
raise LinuxCNC_Exception("timeout waiting for homing to complete:\nstatus.homed:" + str(self.status.homed) + "\nstatus.position:" + str(self.status.position))
linuxcnc_util.LinuxCNC_Exception: timeout waiting for homing to complete:
status.homed:(0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
status.position:(0.0, 0.0, 11.999999999961158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
(time=1672654796.283061,pid=40236): Deleting 5 channels from the NML_Main_Channel_List.
(time=1672654796.283082,pid=40236): Deleting emcCommand NML channel from NML_Main_Channel_List.
(time=1672654796.283088,pid=40236): deleting NML (1)
(time=1672654796.283094,pid=40236): delete (CMS *) 0x55c1460e6330;
(time=1672654796.283106,pid=40236): rcs_shm_close(shm->key=1001(0x3E9),shm->size=8192(0x2000),shm->addr=0x7fcc164f1000)
(time=1672654796.283122,pid=40236): deleting CMS (emcCommand)
(time=1672654796.283130,pid=40236): free( data = 0x55c1460e7060);
(time=1672654796.283136,pid=40236): Leaving ~CMS()
(time=1672654796.283142,pid=40236): CMS::delete(0x55c1460e6330)
(time=1672654796.283148,pid=40236): CMS::delete successful.
(time=1672654796.283153,pid=40236): Leaving ~NML()
(time=1672654796.283158,pid=40236): NML channel deleted from NML_Main_Channel_List
(time=1672654796.283163,pid=40236): Deleting emcStatus NML channel from NML_Main_Channel_List.
(time=1672654796.283169,pid=40236): deleting NML (2)
(time=1672654796.283174,pid=40236): delete (CMS *) 0x55c1460ec540;
(time=1672654796.283180,pid=40236): rcs_shm_close(shm->key=1002(0x3EA),shm->size=20480(0x5000),shm->addr=0x7fcc164ec000)
(time=1672654796.283189,pid=40236): deleting CMS (emcStatus)
(time=1672654796.283195,pid=40236): free( data = 0x55c1460ed250);
(time=1672654796.283200,pid=40236): Leaving ~CMS()
(time=1672654796.283205,pid=40236): CMS::delete(0x55c1460ec540)
(time=1672654796.283211,pid=40236): CMS::delete successful.
(time=1672654796.283216,pid=40236): Leaving ~NML()
(time=1672654796.283221,pid=40236): NML channel deleted from NML_Main_Channel_List
(time=1672654796.283226,pid=40236): Deleting emcError NML channel from NML_Main_Channel_List.
(time=1672654796.283231,pid=40236): deleting NML (3)
(time=1672654796.283236,pid=40236): delete (CMS *) 0x55c1460f2930;
(time=1672654796.283243,pid=40236): rcs_shm_close(shm->key=1003(0x3EB),shm->size=8192(0x2000),shm->addr=0x7fcc164ea000)
(time=1672654796.283251,pid=40236): deleting CMS (emcError)
(time=1672654796.283257,pid=40236): free( data = 0x55c1460f3650);
(time=1672654796.283262,pid=40236): Leaving ~CMS()
(time=1672654796.283267,pid=40236): CMS::delete(0x55c1460f2930)
(time=1672654796.283272,pid=40236): CMS::delete successful.
(time=1672654796.283278,pid=40236): Leaving ~NML()
(time=1672654796.283283,pid=40236): NML channel deleted from NML_Main_Channel_List
(time=1672654796.283288,pid=40236): Deleting toolCmd NML channel from NML_Main_Channel_List.
(time=1672654796.283293,pid=40236): deleting NML (4)
(time=1672654796.283298,pid=40236): delete (CMS *) 0x55c1460f5d20;
(time=1672654796.283305,pid=40236): rcs_shm_close(shm->key=1004(0x3EC),shm->size=1024(0x400),shm->addr=0x7fcc16521000)
(time=1672654796.283313,pid=40236): deleting CMS (toolCmd)
(time=1672654796.283319,pid=40236): free( data = 0x55c1460f69c0);
(time=1672654796.283324,pid=40236): Leaving ~CMS()
(time=1672654796.283329,pid=40236): CMS::delete(0x55c1460f5d20)
(time=1672654796.283334,pid=40236): CMS::delete successful.
(time=1672654796.283340,pid=40236): Leaving ~NML()
(time=1672654796.283345,pid=40236): NML channel deleted from NML_Main_Channel_List
(time=1672654796.283359,pid=40236): Deleting toolSts NML channel from NML_Main_Channel_List.
(time=1672654796.283364,pid=40236): deleting NML (5)
(time=1672654796.283369,pid=40236): delete (CMS *) 0x55c1460f7440;
(time=1672654796.283375,pid=40236): rcs_shm_close(shm->key=1005(0x3ED),shm->size=1024(0x400),shm->addr=0x7fcc164e9000)
(time=1672654796.283384,pid=40236): deleting CMS (toolSts)
(time=1672654796.283390,pid=40236): free( data = 0x55c1460f80e0);
(time=1672654796.283395,pid=40236): Leaving ~CMS()
(time=1672654796.283400,pid=40236): CMS::delete(0x55c1460f7440)
(time=1672654796.283415,pid=40236): CMS::delete successful.
(time=1672654796.283420,pid=40236): Leaving ~NML()
(time=1672654796.283425,pid=40236): NML channel deleted from NML_Main_Channel_List
(time=1672654796.283432,pid=40236): deleting NML (1)
(time=1672654796.283437,pid=40236): Leaving ~NML()
(time=1672654796.283442,pid=40236): NML::operator delete(0x55c1460e60c0)
(time=1672654796.283448,pid=40236): NML channel deleted from Dynamically_Allocated_NML_Objects
(time=1672654796.283454,pid=40236): deleting NML (2)
(time=1672654796.283459,pid=40236): Leaving ~NML()
(time=1672654796.283464,pid=40236): NML::operator delete(0x55c1460ec370)
(time=1672654796.283469,pid=40236): NML channel deleted from Dynamically_Allocated_NML_Objects
(time=1672654796.283475,pid=40236): deleting NML (3)
(time=1672654796.283480,pid=40236): Leaving ~NML()
(time=1672654796.283485,pid=40236): NML::operator delete(0x55c1460f2700)
(time=1672654796.283490,pid=40236): NML channel deleted from Dynamically_Allocated_NML_Objects
(time=1672654796.283495,pid=40236): deleting NML (4)
(time=1672654796.283500,pid=40236): Leaving ~NML()
(time=1672654796.283505,pid=40236): NML::operator delete(0x55c1460f5b50)
(time=1672654796.283511,pid=40236): NML channel deleted from Dynamically_Allocated_NML_Objects
(time=1672654796.283516,pid=40236): deleting NML (5)
(time=1672654796.283521,pid=40236): Leaving ~NML()
(time=1672654796.283526,pid=40236): NML::operator delete(0x55c1460f7270)
(time=1672654796.283531,pid=40236): NML channel deleted from Dynamically_Allocated_NML_Objects
Note: Using POSIX non-realtime
**************
…--
Happy hacking
Petter Reinholdtsen
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I had a look at this patch, trying to figure out why the test fail,
without success so far.
But I did notice something that surprised me. The description talk of
improved syntax, but seem to contain a material change of the x, y and z
end switch location from 1, 0.5 and 2 to 1, 0 and 190. Why this change?
I tried reverting the change to see if it would fix the test, but alas.
I do not understand why the homing time out during the lathe test. Do
you?
…--
Happy hacking
Petter Reinholdtsen
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@piflixe, do you have any input on the test failure here? |
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stuttgart meeting says we need to figure out why the tests fail. |
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added comments, improved syntax for better readability and added examples at both ends of the axis.
This wasn't my idea but rather based on help I received in the linuxcnc forum: https://www.forum.linuxcnc.org/49-basic-configuration/47371-best-practice-for-creating-a-digital-twin-simulation-version-of-a-real-machi