Added linuxcnc test config before video release
This commit is contained in:
Hakan Bastedt
240
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl
Executable file
240
linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl
Executable file
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# check_config.tcl
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# Usage: tclsh path_to_this_file inifilename
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# if a check fails, print message and exit 1
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#
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# checks:
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# 1) mandatory items per ::mandatory_items list
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# 2) if trivkins, check consistency of [JOINT_] and [AXIS_]
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# MIN_LIMIT and MAX_LIMIT
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#----------------------------------------------------------------------
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set ::mandatory_items {KINS KINEMATICS
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KINS JOINTS
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}
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# Ref: src/emc/nml_intf/emccfg.h,src/emc/ini/inijoint.cc,src/emc/iniaxis.cc:
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set ::DEFAULT_AXIS_MAX_VELOCITY 1.0
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set ::DEFAULT_AXIS_MAX_ACCELERATION 1.0
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set ::DEFAULT_JOINT_MAX_VELOCITY 1.0
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set ::DEFAULT_JOINT_MAX_ACCELERATION 1.0
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# Ref: src/emc/ini/iniaxis.cc:
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set ::DEFAULT_AXIS_MIN_LIMIT -1e99
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set ::DEFAULT_AXIS_MAX_LIMIT +1e99
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#----------------------------------------------------------------------
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proc warnings msg {
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puts -nonewline "\n$::progname:\n"
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catch {puts ($::kins(module) kinematics) WARNING:"}
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foreach m $msg {puts " $m"}
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puts ""
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} ;# warnings
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proc err_exit msg {
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puts -nonewline "\n$::progname:\n"
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catch {puts ($::kins(module) kinematics) ERROR:"}
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foreach m $msg {puts " $m"}
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puts ""
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exit 1
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} ;# err_exit
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proc check_mandatory_items {} {
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foreach {section item} $::mandatory_items {
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if  ] {
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set section [string trim $section :]
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lappend emsg "Missing \[$section\]$item="
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}
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}
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if [info exists emsg] {
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err_exit $emsg
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}
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} ;# check_mandatory_items
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proc uniq {list_name} { ;# make list unique
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foreach item $list_name { set tmp($item) "" }
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return [array names tmp]
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} ;# uniq
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proc joints_for_trivkins {coords} {
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# ref: src/emc/kinematics/trivkins.c
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# order of coord letters determines assigned joint number
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if {"$coords" == ""} {set coords {X Y Z A B C U V W}}
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set i 0
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foreach a [string toupper $coords] {
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# assign to consecutive joints:
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lappend ::kins(jointidx,$a) $i
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incr i
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}
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} ;# joints_for_trivkins
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proc consistent_coords_for_trivkins {trivcoords} {
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set m {" " "" "\t" ""} ;# mapping to remove whitespace
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set trivcoords [string map $m $trivcoords]
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if {"$trivcoords" == "XYZABCUVW"} {
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return ;# unspecified trivkins coordinates
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# allows use of any coordinates
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}
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set trajcoords ""
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if [info exists ::TRAJ(COORDINATES)] {
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set trajcoords [string map $m [lindex $::TRAJ(COORDINATES) 0]]
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}
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if {[string toupper "$trivcoords"] != [string toupper "$trajcoords"]} {
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lappend ::wmsg "INCONSISTENT coordinates specifications:
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trivkins coordinates=$trivcoords
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\[TRAJ\]COORDINATES=$trajcoords"
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}
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} ;# consistent_coords_for_trivkins
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proc validate_identity_kins_limits {} {
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set emsg ""
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for {set j 0} {$j < $::KINS(JOINTS)} {incr j} {
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if {] } {
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lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_VELOCITY, default used: $::DEFAULT_JOINT_MAX_VELOCITY"
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}
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if {] } {
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lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_ACCELERATION, default used: $::DEFAULT_JOINT_MAX_ACCELERATION"
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}
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}
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foreach c [uniq $::kins(coordinates)] {
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# array test avoids superfluous messages when coordinates= not specified
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if [array exists ::AXIS_[set c]] {
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if {] } {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_VELOCITY, default used: $::DEFAULT_AXIS_MAX_VELOCITY"
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}
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if {] } {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_ACCELERATION, default used: $::DEFAULT_AXIS_MAX_ACCELERATION"
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}
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}
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set missing_axis_min_limit 0
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set missing_axis_max_limit 0
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if ] {
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set ::AXIS_[set c](MIN_LIMIT) $::DEFAULT_AXIS_MIN_LIMIT
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set missing_axis_min_limit 1
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}
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if ] {
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set ::AXIS_[set c](MAX_LIMIT) $::DEFAULT_AXIS_MAX_LIMIT
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set missing_axis_max_limit 1
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}
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foreach j $::kins(jointidx,$c) {
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if [info exists ::JOINT_[set j](MIN_LIMIT)] {
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set jlim [set ::JOINT_[set j](MIN_LIMIT)]
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set clim [set ::AXIS_[set c](MIN_LIMIT)]
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if {$jlim > $clim} {
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if $missing_axis_min_limit {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MIN_LIMIT, default used: $::DEFAULT_AXIS_MIN_LIMIT"
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}
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lappend emsg "\[JOINT_$j\]MIN_LIMIT > \[AXIS_$c\]MIN_LIMIT ($jlim > $clim)"
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}
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}
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if [info exists ::JOINT_[set j](MAX_LIMIT)] {
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set jlim [set ::JOINT_[set j](MAX_LIMIT)]
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set clim [set ::AXIS_[set c](MAX_LIMIT)]
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if {$jlim < $clim} {
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if $missing_axis_max_limit {
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lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_LIMIT, default used: $::DEFAULT_AXIS_MAX_LIMIT"
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}
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lappend emsg "\[JOINT_$j\]MAX_LIMIT < \[AXIS_$c\]MAX_LIMIT ($jlim < $clim)"
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}
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}
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}
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}
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return $emsg
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} ;# validate_identity_kins_limits
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proc check_extrajoints {} {
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if ![info exists ::EMCMOT(EMCMOT)] return
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if {[string first motmod $::EMCMOT(EMCMOT)] <= 0} return
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set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
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foreach item $mot {
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set pair [split $item =]
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set parm [lindex $pair 0]
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set val [lindex $pair 1]
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if {"$parm" == "num_extrajoints"} {
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set ::num_extrajoints $val
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}
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}
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if [info exists ::num_extrajoints] {
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lappend ::wmsg [format "Extra joints specified=%d\n \
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\[KINS\]JOINTS=%d must accommodate kinematic joints *plus* extra joints " \
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$::num_extrajoints $::KINS(JOINTS)]
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}
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} ;#check_extrajoints
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proc warn_for_multiple_ini_values {} {
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set sections [info globals]
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set sections_to_check {JOINT_ AXIS_}
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foreach section $sections {
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set enforce 0
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foreach csection $sections_to_check {
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if {[string first $csection $section"] >= 0} {
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set enforce 1
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break
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}
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}
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if !$enforce continue
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foreach name [array names ::$section] {
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set gsection ::$section
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set val [set [set gsection]($name)]
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set len [llength $val]
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if {$len > 1} {
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lappend ::wmsg "Unexpected multiple values \[$section\]$name: $val"
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}
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}
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}
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} ;# warn_for_multiple_ini_values
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#----------------------------------------------------------------------
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# begin
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package require Linuxcnc ;# parse_ini
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set ::progname [file rootname [file tail [info script]]]
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set inifile [lindex $::argv 0]
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if ![file exists $inifile] {
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err_exit [list "No such file <$inifile>"]
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}
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if ![file readable $inifile] {
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err_exit [list "File not readable <$inifile>"]
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}
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parse_ini $inifile
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check_mandatory_items
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set kins_kinematics [lindex $::KINS(KINEMATICS) end]
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set ::kins(module) [lindex $kins_kinematics 0]
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# parameters specified as parm=value --> ::kins(parm)=value
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foreach item $kins_kinematics {
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if {[string first = $item] >= 0} {
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set l [split $item =]
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set ::kins([lindex $l 0]) [lindex $l 1]
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} else {
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if {"$item" != $::kins(module)} {
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puts "Unknown \[KINS\]KINEMATICS item: <$item>"
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}
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}
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}
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# coordinates --> ::kins(coordinates) (all if not specified)
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if [info exists ::kins(coordinates)] {
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set ::kins(coordinates) [split $::kins(coordinates) ""]
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set ::kins(coordinates) [string toupper $::kins(coordinates)]
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} else {
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set ::kins(coordinates) {X Y Z A B C U V W}
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}
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# list of joints for each coord --> ::kins(jointidx,coordinateletter)
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switch $::kins(module) {
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trivkins {joints_for_trivkins $::kins(coordinates)}
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default {
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puts "$::progname: Unchecked: \[KINS\]KINEMATICS=$::KINS(KINEMATICS)"
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exit 0
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}
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}
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check_extrajoints
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warn_for_multiple_ini_values
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#parray ::kins
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set emsg [validate_identity_kins_limits]
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consistent_coords_for_trivkins $::kins(coordinates)
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if [info exists ::wmsg] {warnings $::wmsg}
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if {"$emsg" == ""} {exit 0}
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err_exit $emsg
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