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# twopass_demo: demo using tcl configuration file for hal
# (derived from core_sim.hal,axis_manualtoolchange.hal,simlated_home.hal)
# test use of both
# "loadrt module names=" format (ddt,or2,scale)
# and
# "loadrt module count=" format (hypot,comp,flipflop)
# test alias command
# test loadrt usage in pass1 (second pass)
# all addf calls are organized in one place
# convention herein: signal names (net) begin with a capital letter
proc axis_manualtoolchange {} {
loadusr -W hal_manualtoolchange
unlinkp tchange ;# in case already linked
unlinkp tchanged ;# in case already linked
net Tool-change hal_manualtoolchange.change tchange
net Tool-changed hal_manualtoolchange.changed tchanged
net Tool-prep-number hal_manualtoolchange.number tprep_no
} ;# axis_manualtoolchange
proc simulated_home {axes} {
foreach A $axes {
loadrt comp names=${A}_comp
net ${A}_homeswpos => ${A}_comp.in0
switch $A {
X {sets ${A}_homeswpos 1.0}
Y {sets ${A}_homeswpos 0.5}
Z {sets ${A}_homeswpos 2.0}
}
net ${A}_pos => ${A}_comp.in1
setp ${A}_comp.hyst .02
net ${A}_homesw <= ${A}_comp.out
}
net Y_homesw => yhome_sw_in
loadrt or2 names=or2a
net X_homesw => or2a.in0
net Z_homesw => or2a.in1
net XZ_homesw or2a.out => xhome_sw_in zhome_sw_in
} ;# simulated_home
proc make_ddts {axes} {
loadrt hypot names=hyp_xy,hyp_xyz
foreach A $axes {
set al [string tolower $A]
loadrt ddt names=${A}_vel,${A}_accel
net ${A}_pos ${al}pos_cmd => ${al}pos_fb ${A}_vel.in
net ${A}_vel ${A}_vel.out => ${A}_accel.in
net ${A}_acc <= ${A}_accel.out
switch $A {
X {net ${A}_vel => hyp_xy.in0}
Y {net ${A}_vel => hyp_xy.in1}
Z {net ${A}_vel => hyp_xyz.in0
net XY_vel => hyp_xy.out => hyp_xyz.in1
net XYZ_vel <= hyp_xyz.out
}
}
}
} ;# make_ddts
proc core_sim {} {
loadrt trivkins
loadrt $::EMCMOT(EMCMOT) \
base_period_nsec=$::EMCMOT(BASE_PERIOD) \
servo_period_nsec=$::EMCMOT(SERVO_PERIOD) \
num_joints=$::TRAJ(AXES)
alias pin iocontrol.0.tool-change tchange
alias pin iocontrol.0.tool-changed tchanged
alias pin iocontrol.0.tool-prepare tprepare
alias pin iocontrol.0.tool-prepared tprepared
alias pin iocontrol.0.user-enable-out enable_out
alias pin iocontrol.0.emc-enable-in enable_in
alias pin iocontrol.0.tool-prep-number tprep_no
alias pin axis.0.motor-pos-cmd xpos_cmd
alias pin axis.0.motor-pos-fb xpos_fb
alias pin axis.1.motor-pos-cmd ypos_cmd
alias pin axis.1.motor-pos-fb ypos_fb
alias pin axis.2.motor-pos-cmd zpos_cmd
alias pin axis.2.motor-pos-fb zpos_fb
alias pin axis.0.home-sw-in xhome_sw_in
alias pin axis.1.home-sw-in yhome_sw_in
alias pin axis.2.home-sw-in zhome_sw_in
net Estop-loop enable_out => enable_in
net Tool-prep-loop tprepare tprepared
net Tool-change-loop tchange tchanged
} ;# core_sim
# note: ini items ::SECTION(ITEM) are a list for each
# line item (even one) so use eval set $::SECTION(ITEM)
eval set axes $::TRAJ(COORDINATES)
core_sim
make_ddts $axes
axis_manualtoolchange
simulated_home $axes
# addf calls are done in second pass, arrange sequence here:
foreach A $axes {
addf ${A}_comp servo-thread
addf ${A}_vel servo-thread
addf ${A}_accel servo-thread
}
addf or2a servo-thread
addf hyp_xy servo-thread
addf hyp_xyz servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#-----------------------------------------------------------------------
# below: tests
# test: use of loadrt count=...
loadrt not count=2
loadrt not count=3
# test: loading on second pass for components that don't exist should work
# not sure why you would want to though
if [::tp::passnumber] {
loadrt scale names=scalea,scaleb
loadrt flipflop count=1
}
# test: ::tp::no_puts
if [::tp::passnumber] {
puts "[file tail $::argv0]:\
The tcl \"puts\" command is enabled here in pass[::tp::passnumber]"
} else {
::tp::no_puts
# this should not print:
puts "[file tail $::argv0]:\
The tcl \"puts\" command is disabled here in pass[::tp::passnumber]"
::tp::restore_puts
}
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