# set up pins
# shell out to halcmd to net our pins to where they need to go
#
h = hal.component("python-ui")
h.ready()
#
# connect to LabvCNC
#
c = labvcnc.command()
s = labvcnc.stat()
e = labvcnc.error_channel()
l = labvcnc_util.LabvCNC(command=c, status=s, error=e)
c.state(labvcnc.STATE_ESTOP_RESET)
c.state(labvcnc.STATE_ON)
c.home(0)
c.home(1)
c.home(2)
l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
c.mode(labvcnc.MODE_MDI)
c.mdi("O<obug> call [0]")
c.wait_complete()
s.poll()
if s.position[0] != 0:
assert (joint['homed'] == 0)
assert (joint['min_position_limit'] == -40.0)
assert (joint['velocity'] == 0.0)
def assert_axis_initialized(axis):
assert (axis['min_position_limit'] == -40.0)
assert (axis['velocity'] == 0.0)
assert (axis['max_position_limit'] == 40.0)
c = labvcnc.command()
s = labvcnc.stat()
e = labvcnc.error_channel()
l = labvcnc_util.LabvCNC()
# Wait for LabvCNC to initialize itself so the Status buffer stabilizes.
l.wait_for_labvcnc_startup()
print "status at boot up"
s.poll()
print_status(s)
# FIXME: in 2.6.12, acceleration at startup is initialized to 1e99 for some reason
#assert(s.acceleration == 0.0)
assert (s.active_queue == 0)
assert (s.actual_position == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
assert (s.adaptive_feed_enabled == False)
assert (s.ain == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
