master gremlin: Initialize preview interpreter with active modal gcodes

.gitignore

@@ -29,6 +29,7 @@ src/modules.order
 /docs/src/source-highlight/local
 docs/src/*/gui/gmoccapy_release_notes.txt
 lib/python/gremlin.py
+lib/python/preview_helpers.py
 lib/python/qt5_graphics.py
 lib/python/touchy
 configs/sim/gmoccapy/*.pref

src/emc/usr_intf/gremlin/Submakefile

@@ -1,4 +1,4 @@
-PYTARGETS += ../bin/gremlin ../lib/python/gremlin.py ../lib/python/qt5_graphics.py
+PYTARGETS += ../bin/gremlin ../lib/python/gremlin.py ../lib/python/qt5_graphics.py ../lib/python/preview_helpers.py
 PYI18NSRCS += emc/usr_intf/gremlin/gremlin.py
 
 ../lib/python/%: emc/usr_intf/gremlin/%

src/emc/usr_intf/gremlin/gremlin.py

@@ -64,6 +64,7 @@
 import rs274.interpret
 import linuxcnc
 import gcode
+import preview_helpers
 
 import time
 import re
@@ -324,24 +325,12 @@ def load(self,filename = None):
             if parameter:
                 shutil.copy(parameter, temp_parameter)
             canon.parameter_file = temp_parameter
-
-            unitcode = "G%d" % (20 + (s.linear_units == 1))
-            initcode = "G53 G0 "
-            for i in range(9):
-                if s.axis_mask & (1<<i):
-                    axis = "XYZABCUVW"[i]
-                    if (axis == "A" and self.a_axis_wrapped) or\
-                       (axis == "B" and self.b_axis_wrapped) or\
-                       (axis == "C" and self.c_axis_wrapped):
-                        pos = s.position[i] % 360.000
-                    else:
-                        pos = s.position[i]
-                    position = " %s%.8f" % (axis, pos)
-                    initcode += position
-            result, seq = self.load_preview(filename, canon, unitcode, initcode)
+            initcodes = preview_helpers.create_unitcode_and_initcode(s, self.inifile)
+            result, seq = self.load_preview(filename, canon, *initcodes)
             if result > gcode.MIN_ERROR:
                 self.report_gcode_error(result, seq, filename)
             self.calculate_gcode_properties(canon)
+
         except Exception as e:
             print (e)
             self.gcode_properties = None

src/emc/usr_intf/gremlin/preview_helpers.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+
+def create_unitcode_and_initcode(s, inifile):
+    a_axis_wrapped = inifile.getbool("AXIS_A", "WRAPPED_ROTARY", fallback=False)
+    b_axis_wrapped = inifile.getbool("AXIS_B", "WRAPPED_ROTARY", fallback=False)
+    c_axis_wrapped = inifile.getbool("AXIS_C", "WRAPPED_ROTARY", fallback=False)
+
+    s.poll()
+    # create unitcode and initcode reflecting currently active modal gcodes
+    unitcode = "G%d" % (20 + (s.linear_units == 1))
+    initcode = "G53 G0 "
+    for i in range(9):
+        if s.axis_mask & (1<<i):
+            axis = "XYZABCUVW"[i]
+            if (axis == "A" and a_axis_wrapped) or\
+               (axis == "B" and b_axis_wrapped) or\
+               (axis == "C" and c_axis_wrapped):
+                pos = s.position[i] % 360.000
+            else:
+                pos = s.position[i]
+            position = "%s%.8f " % (axis, pos)
+            initcode += position
+    active_gcodes = s.gcodes
+    for i in (3,6,14,7,5,4,9,12,10,16,8,11,13,15):
+        if active_gcodes[i] > -1:
+            initcode = initcode + 'G' + str(active_gcodes[i]/10) + ' '
+    return unitcode, initcode

tests/interp_initcode/.gitignore

@@ -0,0 +1,4 @@
+test.var*
+stderr
+result
+temp_log

tests/interp_initcode/README

@@ -0,0 +1,5 @@
+This test 
+- starts LinuxCNC using test.ini
+- uses MDI commands to change the startup state of the modal gcodes
+- initializes an interpreter instance to the currently active modal gcodes using the gremlin helper function and loads a test gcode file that lacks a preamble
+- checks that the start up state reflects [RS274NGC] RS274NGC_STARTUP_CODE and output of the interpreter after loading the test gcode file.

tests/interp_initcode/expected

@@ -0,0 +1,20 @@
+startup gcodes  (0, 800, -1, 170, 400, 200, 900, 940, 540, 430, 990, 640, -1, 970, 911, 80, -1)
+set_g5x_offset (1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_g92_offset (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_xy_rotation (0.0,)
+# interpreter: feed mode set to units per minute
+set feed rate 0.0
+set plane 1
+# interpreter: cutter radius compensation off
+tool_offset (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_g5x_offset (2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_g92_offset (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_xy_rotation (0.0,)
+# interpreter: retract mode set to r_plane
+straight_traverse  (1.23, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set feed rate 100.0
+arc_feed  (1.23, 0.0, 21.23, 0.0, -1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+straight_traverse  (10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_g5x_offset (1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+set_xy_rotation (0.0,)
+set feed rate 0.0

tests/interp_initcode/test-ui.py

@@ -0,0 +1,127 @@
+#!/usr/bin/env python3
+import gcode
+import linuxcnc
+import linuxcnc_util
+from rs274.interpret import PrintCanon, StatMixin
+import preview_helpers
+import sys
+import os
+
+
+class PreviewCanon(PrintCanon, StatMixin):
+
+    def __init__(self, stat, randomtc, parameter):
+        StatMixin.__init__(self, stat, randomtc)
+        self.parameter_file = parameter
+        self.feed_rate = 0.0
+        self.current_x = 0.0
+        self.current_y = 0.0
+        self.current_z = 0.0
+
+    def __getattr__(self, name):
+        if name.startswith("_"):
+            raise AttributeError(name)
+        print(f"[WARN] unimplemented canon: {name}()", file=sys.stderr)
+        return lambda *args, **kwargs: None
+
+    def set_xy_rotation(self, *args):
+        print("set_xy_rotation", args)
+
+    def set_g5x_offset(self, *args):
+        print("set_g5x_offset", args)
+
+    def set_g92_offset(self, *args):
+        print("set_g92_offset", args)
+
+    def tool_offset(self, *args):
+        print("tool_offset", args)
+
+    def next_line(self, state):
+        #print("next_line", state.sequence_number)
+        self.state = state
+
+    def set_plane(self, plane):
+        print("set plane", plane)
+
+    def set_feed_rate(self, arg):
+        print("set feed rate", arg)
+
+    def comment(self, arg):
+        print("#", arg)
+
+    def straight_traverse(self, *args):
+        print("straight_traverse " , args)
+
+    def straight_feed(self, *args):
+        print("straight_feed" , args)
+
+    def dwell(self, arg):
+        if arg < .1:
+            print("dwell %f ms" % (1000 * arg))
+        else:
+            print("dwell %f seconds" % arg)
+
+    def arc_feed(self, *args):
+        print("arc_feed " , args)
+
+    def close(self, *args):
+        pass
+
+
+# route output to log file now
+log_file = open("temp_log","w")
+sys.stdout = log_file
+
+# connect
+c = linuxcnc.command()
+e = linuxcnc.error_channel()
+s = linuxcnc.stat()
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+# parse inifile variables
+inifile = linuxcnc.ini("test.ini")
+random = inifile.getbool("EMCIO", "RANDOM_TOOLCHANGER", fallback=False)
+parameter = inifile.getstring("RS274NGC", "PARAMETER_FILE", fallback="test.var")
+
+# setup preview interpreter
+filename = "test.ngc"
+canon = PreviewCanon(s, random, parameter)
+
+# setup linuxcnc
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MANUAL)   
+c.home(-1)   
+l.wait_for_home(joints=[1,1,1,1,0,0,0,0,0])
+
+# check for startup codes (must match ini [RS274NGC] RS274NGC_STARTUP_CODE )
+s.poll()
+print("startup gcodes ", s.gcodes)
+
+# change some states
+c.mode(linuxcnc.MODE_MDI)
+c.wait_complete()
+# move tool
+c.mdi("G0 x 1.23")
+c.wait_complete()
+# Set G55 with offset
+c.mdi("G55")
+c.wait_complete()
+c.mdi("G10 L2 P0 Z1")
+c.wait_complete()
+
+# parse gcode test file
+try:
+    initcodes = preview_helpers.create_unitcode_and_initcode(s, inifile)
+    result, seq = gcode.parse(filename, canon, *initcodes)
+    if result > gcode.MIN_ERROR:
+        print(f"G-code error at line {seq}: error code {result}",file=sys.stderr)
+        sys.exit(1)
+
+except Exception as e:
+    print(e,file=sys.stderr)
+    sys.exit(1)
+
+finally:
+    log_file.close()
+    canon.close()

tests/interp_initcode/test.ini

@@ -0,0 +1,106 @@
+[EMC]
+VERSION = 1.1
+MACHINE = preview_test_9_axis
+  DEBUG = 0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G17 G20 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
+PARAMETER_FILE = test.var
+
+[PYTHON]
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD =   600000
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:core_sim.hal
+HALFILE = LIB:simulated_home.hal
+HALFILE = LIB:lathe.hal
+
+[TRAJ]
+COORDINATES = X Y Z A
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 50.0
+DEFAULT_LINEAR_ACCEL = 500.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+MAX_LINEAR_VELOCITY = 200.0
+MAX_LINEAR_ACCEL = 250.0
+MAX_ANGULAR_VELOCITY = 90.0
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZA
+JOINTS = 4
+
+[AXIS_X]
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_Y]
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_Z]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 100.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_A]
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -50.0
+MAX_LIMIT = 100.0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEQUENCE = 0
+

tests/interp_initcode/test.ngc

@@ -0,0 +1,7 @@
+;test respecting current tool position (issue #3855)
+G2 I20 J0 P1 F100
+
+;test respecting current WCS offsets (issue #2753)
+G0 X10
+
+M2

tests/interp_initcode/test.sh

@@ -0,0 +1,12 @@
+#!/bin/bash -e
+
+# remove possibly leftover files
+rm -f temp_log test.var test.var.bak
+
+# start linuxcnc headless and create result file
+if linuxcnc -r test.ini; then
+    cp -f temp_log result
+fi
+
+# clean up
+rm -f test.var test.var.bak temp_log