Re-write of timedelta.icomp to produce proper average overrun figure

configs/sim/axis/sim-latency-test-base-and-servo/README

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+Axis simulator with built in base-thread and servo-thread latency test running in parallel
+

configs/sim/axis/sim-latency-test-base-and-servo/axis_mm.ini

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+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               Machinekit Latency test simulator
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+# DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., xemc
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+# Prefix to be used
+PROGRAM_PREFIX = ../../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = machinekit.gif
+INTRO_TIME = 10
+
+EDITOR = gedit
+
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = *.py Python Script
+PROGRAM_EXTENSION = .dxf,.DXF 2D ACad/QCad Drawing
+PROGRAM_FILTER = python2.7
+dxf = /root/emc2/configs/#<hal-test-sim/dxf2gcode.py
+DXF = dxf2gcode.py
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python2.7
+
+[USER_COMMANDS]
+USER0 = #-f sample.hal
+USER1 = G0 X0 Y0 Z0
+USER2 = G0 X5 Y5 Z5
+USER3 = G0 X10 Y10 Z10
+USER4 = G0 X15 Y15 Z15
+USER5 = G0 X20 Y20 Z20
+USER6 = G0 X25 Y25
+USER7 = G0 X30 Y30
+USER8 = $firefox "www.machinekit.io"
+USER9 = $gedit
+NUMBERKEYS = NO
+DISABLE_PREVIEW = NO
+LOAD_LASTFILE = YES
+
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+FEATURES = 12
+
+# File containing interpreter variables
+PARAMETER_FILE = sim_mm.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT =             0.010
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               25000
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = simulated_home.hal
+HALFILE = lat.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+#POSTGUI_HALFILE =
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          mm
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      30.48
+MAX_VELOCITY =          53.34
+DEFAULT_ACCELERATION =  508
+MAX_ACCELERATION =      508
+POSITION_FILE = position_mm.txt
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -9999
+MAX_LIMIT =                     9999
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -9999
+MAX_LIMIT =                     9999
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -9999
+MAX_LIMIT =                     9999
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    25.4
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO =         io
+
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = sim_mm.tbl
+TOOL_CHANGE_POSITION = 0 0 50.8
+
+[IOTOOL]
+
+IOTOOL = iocontrol
+

configs/sim/axis/sim-latency-test-base-and-servo/check_constraints.hal

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+# HAL config file to check vel/acc constraints
+#
+loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
+
+addf wcomp_xacc servo-thread
+addf wcomp_xvel servo-thread
+addf wcomp_yacc servo-thread
+addf wcomp_yvel servo-thread
+addf wcomp_zacc servo-thread
+addf wcomp_zvel servo-thread
+
+net Xacc => wcomp_xacc.in
+net Xvel => wcomp_xvel.in
+net Yacc => wcomp_yacc.in
+net Yvel => wcomp_yvel.in
+net Zacc => wcomp_zacc.in
+net Zvel => wcomp_zvel.in
+
+net acc-ok-x <= wcomp_xacc.out
+net vel-ok-x <= wcomp_xvel.out
+net acc-ok-y <= wcomp_yacc.out
+net vel-ok-y <= wcomp_yvel.out
+net acc-ok-z <= wcomp_zacc.out
+net vel-ok-z <= wcomp_zvel.out
+
+setp wcomp_xacc.max 50.001
+setp wcomp_xacc.min -50.001
+setp wcomp_xvel.max 5.001
+setp wcomp_xvel.min -5.001
+setp wcomp_yacc.max 50.001
+setp wcomp_yacc.min -50.001
+setp wcomp_yvel.max 5.001
+setp wcomp_yvel.min -5.001
+setp wcomp_zacc.max 50.001
+setp wcomp_zacc.min -50.001
+setp wcomp_zvel.max 5.001
+setp wcomp_zvel.min -5.001
+
+loadrt match8 names=match_all
+
+addf match_all servo-thread
+
+net acc-ok-x => match_all.a0
+setp match_all.b0 1
+net vel-ok-x => match_all.a1
+setp match_all.b1 1
+net acc-ok-y => match_all.a2
+setp match_all.b2 1
+net vel-ok-y => match_all.a3
+setp match_all.b3 1
+net acc-ok-z => match_all.a4
+setp match_all.b4 1
+net vel-ok-z => match_all.a5
+setp match_all.b5 1
+
+setp match_all.a6 0
+setp match_all.a7 0
+setp match_all.b6 0
+setp match_all.b7 0
+
+setp match_all.in 1
+
+net constraints-ok <= match_all.out

configs/sim/axis/sim-latency-test-base-and-servo/core_sim.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt trivkins
+loadrt tp
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES kins=trivkins tp=tp
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.in
+net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
+net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+
+#net Xpos => sampler.0.pin.0
+#net Ypos => sampler.1.pin.0
+#net Zpos => sampler.2.pin.0

configs/sim/axis/sim-latency-test-base-and-servo/lat.hal

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+loadrt timedelta count=2
+addf timedelta.1 servo-thread
+addf timedelta.0 base-thread
+
+loadusr -Wn lat pyvcp lat.xml
+net sl timedelta.1.max => lat.sl
+net sj timedelta.1.jitter => lat.sj
+net st timedelta.1.out => lat.st
+net sv timedelta.1.avgerr => lat.sv
+net bl timedelta.0.max => lat.bl
+net bj timedelta.0.jitter => lat.bj
+net bt timedelta.0.out => lat.bt
+net bv timedelta.0.avgerr => lat.bv
+net reset lat.reset => timedelta.0.reset timedelta.1.reset
+

configs/sim/axis/sim-latency-test-base-and-servo/lat.xml

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+<pyvcp>
+<title title="Machinekit - Inline Latency Test"/>
+<axisoptions/>
+<table>
+<tablerow/><tablespan columns="6"/><label wraplength="6i" justify="left">
+</label>
+<tablerow/><label/><label text="Max Interval (ns)" font="Helvetica 12"/><label text="Max Jitter (ns)" font="Helvetica 12 bold"/><label text="Last interval (ns)" font="Helvetica 12"/><label text="Average Jitter(ns)" font="Helvetica 12 bold"/><label text="      "/>
+<tablerow/><label text="Servo thread :"/><s32 halpin="sl"/><s32 halpin="sj" font="Helvetica 12 bold"/><s32 halpin="st"/><s32 halpin="sv" font="Helvetica 12 bold"/>
+<tablerow/><label text="Base thread :"/><s32 halpin="bl"/><s32 halpin="bj" font="Helvetica 12 bold"/><s32 halpin="bt"/><s32 halpin="bv" font="Helvetica 12 bold"/>
+<tablerow/><button text="Reset Statistics" halpin="reset"/>
+</table>
+</pyvcp>