Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[Erik Christiansen]

On 08.10.14 09:06, John Dammeyer wrote:
> Windows 3.11 to Win95 orphaned the product two months after I bought it.
...
> I also own a 32 channel logic analyzer pod that runs off the parallel port.
> Last time I was using it was WIN-98 or maybe XP. I wrote custom DLL code for
> it to do CAN bus decoding from the bit stream back in 2001.  I haven't tried
> it with WIN-7.   Don't know if it will work.  
...
> Just an observation that these little pocket scopes and logic analyzers have
> a very short lifetime.

Yup, when the host is M$-based, that's particularly true.

My linux-hosted oscilloscope/logic_analyser is ethernet connected, and
the host software still runs on current linux versions, with new
downloads a couple of mouse clicks away.

On 08.10.14 16:55, Ralph Stirling wrote:
> It gets more complicated, though.  We have a lab full of Tek logic analyzers
> (about 10yo if I recall).  They had a retail value of about $11K each I think,
> although we got a discount.  We discovered after we bought them that they
> ran on Windows 2000.  Last year we persuaded Tek to give us the drivers that
> would work on XP, and upgraded the LA's to XP.  Don't know how many more
> times we can make that happen.

With linux-based stuff, the norm is to put the host software on a
webpage, and let you upgrade at will. For the one I have, it's
http://my.bitscope.com/download/ where you just select OS and host
architecture, then snarf it for nix. Providing ongoing value in a
product is probably an advantage in staying in business, I think.

But if the supplier were to go west, I'd still remain on air for as long
as the source code for a compatible linux version can compile on a piece
of hardware I can buy. My suspicion is that I'll wear out before that
happens.

For just a logic analyser, an open source product, like the one
mentioned upthread, provides complete vendor independence.

Erik

-- 
The use of Microsoft crippleware systems is a sin that  carries  with
it its own punishment.
 -- Tom Christiansen in <6bo3fr$pj8$5...@csnews.cs.colorado.edu>
(No relation)

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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time for G code and my first hacked sub routine

[Gene Heskett]

On Wednesday 08 October 2014 18:21:06 linden did opine
And Gene did reply:
> Thanks Sebastian & Shooner for the comments, and Gene for running my
> code,
> 
>  The file properties estimation of run time is exactly what I was
> looking for. I intend to use it for path optimization in my code rather
> than job estimation. I am comparing code to code. The actual run time I
> m not to concerned with,  taking into account the time I will take for
> manual tool changes the differences from acceleration ect. are more or
> less erelivant in the grand scheme of things.
> 
>  I currently have a Tree Journeyman 325 complete with dynapath 20
> controller sitting in a sea-can and a little 2' by 3' router table with
> a Geckodrive G540  and steppers both are waiting for a better home.

The calendar may be catching up with the caps in the gecko too.  We had 
reports of one channel getting flaky several times.

> I
> would like to mount my little plasma cutter to the the router table as
> it is not very rigid (don't think I would what to run more than a
> Dremel on it for router)

Even the dremel is a poor choice, the chuck is sitting in an elastomeric 
bearing holder, and is NOT directly connected to the armature.  Something 
that is directly connected, and therefore considerably more rigid, a 
Proxon perhaps?  They also mount better & easier.

> The Tree was running when I disconnected it
> but I would like to eventually get rid of the Dynapath stuff as I am
> not smart enough to fix it when components on the boards start to die
> and the calender is starting to catch up with the capacitors and other
> bits and pieces. Would also like to change out the 3 phase yaskawa vfd
> for a newer one that accepts single phase input as a 40  or 50 amp
> single phase plug inare easer to find. First I will get it up and
> running the way it is.
> 
>  Some where along the way I am sure I will have some more questions
> to ask and maybe one day I will be able to answer a few,
> 
> Linden

[...]

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time for G code and my first hacked sub routine

[linden]

Thanks Sebastian & Shooner for the comments, and Gene for running my code,

 The file properties estimation of run time is exactly what I was 
looking for. I intend to use it for path optimization in my code rather 
than job estimation. I am comparing code to code. The actual run time I 
m not to concerned with,  taking into account the time I will take for 
manual tool changes the differences from acceleration ect. are more or 
less erelivant in the grand scheme of things.

 I currently have a Tree Journeyman 325 complete with dynapath 20 
controller sitting in a sea-can and a little 2' by 3' router table with 
a Geckodrive G540  and steppers both are waiting for a better home. I 
would like to mount my little plasma cutter to the the router table as 
it is not very rigid (don't think I would what to run more than a Dremel 
on it for router) The Tree was running when I disconnected it but I 
would like to eventually get rid of the Dynapath stuff as I am not smart 
enough to fix it when components on the boards start to die and the 
calender is starting to catch up with the capacitors and other bits and 
pieces. Would also like to change out the 3 phase yaskawa vfd for a 
newer one that accepts single phase input as a 40  or 50 amp single 
phase plug inare easer to find. First I will get it up and running the 
way it is.

 Some where along the way I am sure I will have some more questions 
to ask and maybe one day I will be able to answer a few,

Linden


*//* 

 


On 14-10-08 09:57 PM, Gene Heskett wrote:
> On Wednesday 08 October 2014 08:36:06 linden did opine
> And Gene did reply:
>> Hello
>>   I have been reading along on this mailing list for a few weeks now
>> and playing with Linuxcnc Axis simulator in my free time. Both have
>> been very informative and I have learned a lot. There are two items I
>> was wondering if I could get a comment on.
>>
>> #1 Dose any one have a python script or other program that will
>> calculate estimated machine time for a .ngc file. PyCam will give you
>> an estimate for the Gcode it generates. I have looked through the
>> source code and I cant find any thing. I have no programming back
>> ground and don't know what I am looking for witch dose not help;-)
>>
>> #2 Can some one have a look at the following .ngc code with sub routine
>> and give me any suggestions or comments regarding the layout
>> programming logic ect. Please be ruthless I have no programming or CNC
>> back ground;-)
>>
>> thank for sharing,
>>
>>Linden
>>
>>
>> %
>> ; Cutoff sub V1.0
>> ; Written by hand Linden
>> ;
>> ;Copyright GNU Public License V3)
>> ;Credit  - Igor Chudov, Original cutoff sub script
>> ;I have hacked Igors original script to do what I needed and take all
>> responsibility for the messiness as I am not a programmer at all
>> ;-
>> ; Not Production Tested !   Feeds, depth of cut, and Speeds not set
>> ;
>> ; TO DO:  Determine spindle direction requirements set actual speeds
>> and feeds
>> ;---
>> ; Material
>> ;- Aluminum
>> ;
>> ; Procedure:
>> ;- Square off end of rough stock with multiple passes of end mill.
>> Cut in one direction only, pull back in x plane for return for next
>> path. ;
>> ; Tools:
>> ;#4 1/2 end mill,
>> ;
>> ;;;
>> ;; ; Subroutines used in this script:
>> ;
>> o sub
>> # = #1   (Width of part in Y)
>> # = #2   (milling depth, negative)
>> # = #3   (end mill diameter)
>> # = #4   (milling rate)
>> # = #5   (Z step, positive, optional if 0 uses half end mill
>> diameter)
>> # = #6  (0 for X+ {right} end of material 1 for X- {left}
>> end of material)
>> # = #7  (Spindle Speed)
>>
>> # = [ #/2+0.01 ]; (Finnish cutting width of cut plus
>> 1/2 cuter diameter plus 0.01 )
>> # = 0
>>
>> G91(Set to relative Coordinates)
>>
>> G0 Y[-#]
>>
>> F #
>>
>>   o if [ # EQ 0]
>>   # = [ -1 ]
>>   # = [ 1 ]
>>   M3  S[#]
>>   o else
>>   # = [ 1 ]
>>   # = [ -1 ]
>>   M4  S[#]
>>   o endif
>>
>>   o if [# EQ 0]
>>   # = [ #/2 ]
>>   o endif
>>
>>  o while [ 1 ]
>>   # = [# - #]
>>   # = #
>>
>>   o if [# LT #]
>>   # = [ # - [# - #] ]
>>   # = #
>>   o endif
>>
>>  G0 Z[ -# ]
>>
>>   o if [ # ]
>>   G1 Y[[# + 2*#]*[#]]
>>   # = 0
>>   o else
>>   X[[#]*[#]]
>>   G0 Y[-[# + 2*#]*[#]]
>>   X[[#]*[#]]
>>   # = 1
>>   o endif
>>
>>
>>   o if [ # LE #]
>>   o break
>>   o endif
>>
>>  o endwhile
>>
>>
>> G0 Z[[-#]+[#]] (Withdraw to safe

Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[John Dammeyer]

Sorry.  3GHz. Not MHz.  

> True.  My R&S FSH3 with hardware and software modules was close to $15K
> US
> 10 years ago and it's only good to 3MHz but is a useful tool.  Just no
> longer battery operated and if unplugged loses all the setup information.
> It's linkage into the PC is through an optical connection to a serial port
> on the PC so there's no pseudo ground or weird ground connection.  And the
> PC software has been useful.
> 
> John


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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[John Dammeyer]

True.  My R&S FSH3 with hardware and software modules was close to $15K US
10 years ago and it's only good to 3MHz but is a useful tool.  Just no
longer battery operated and if unplugged loses all the setup information.
It's linkage into the PC is through an optical connection to a serial port
on the PC so there's no pseudo ground or weird ground connection.  And the
PC software has been useful.

John

> -Original Message-
> From: Gene Heskett [mailto:ghesk...@wdtv.com]
> Sent: October-08-14 1:53 PM
> To: emc-users@lists.sourceforge.net
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> 
> On Wednesday 08 October 2014 14:01:10 John Dammeyer did opine
> And Gene did reply:
> > Yeah.  The replacement scope for my GOULD was a TEK TDS3032 with
> floppy
> > drive.  Takes as much as a minute to capture the screen.  Getting
> > harder to read those floppies from Windows Systems.  Not really
> > possible to take it apart and insert a floppy emulation USB drive.
> > So I bought a TEK MSO3034.  This has USB and Ethernet.  Takes forever
> > to start up whatever OS it has.  Hopefully will have at least a 15
> > year life. Unlike my Rhode and Schwartz Spectrum analyzer which was
> > lucky if the battery pack lived for more than 6 months.  At over $1K
> > to replace it I stopped.  And I won't buy another Rhode & Schwartz.
> >
> > John
> 
> OTOH John, I have had an FCC field inspector walk in the door with
> citations in hand.  They disappear like magic if, after showing him the
> error doesn't exist when he asks what you are using for a demodulator &
> you turn and point at an ancient R&S model AMF in the rack.
> 
> No matter what he has in the truck, the Rhode was considered better.  Same
> with an MSI if the calibration is current.  This of course was back in
> NTSC days.  That Rhode was $25k in its day, the much newer MSI was just
> north of $5k.
> 
> [...]
> 
> Cheers, Gene Heskett
> --
> "There are four boxes to be used in defense of liberty:
>  soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> Genes Web page 
> US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS
> 
>

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Re: [Emc-users] In/Out pin on Hostmot2 Encoder component

[Sebastian Kuzminsky]

On 10/8/14 3:18 PM, John Prentice (FS) wrote:
> Can anyone give an example snippet of HAL to explain how one might exploit
> this. I cannot wire a signal to set it True (not surprisingly as it is an
> output). I must be missing something obvious here and need guidance.

Look at the hm2-servo sample config:

http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=configs/by_interface/mesa/hm2-servo/hm2-servo.hal;h=50a630a0ab84497fbef5c2927a20acfa3510fa56;hb=refs/heads/master#l231
 



-- 
Sebastian Kuzminsky

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[Emc-users] In/Out pin on Hostmot2 Encoder component

[John Prentice (FS)]

Greetings

 

The Manpage of Hostmot2/Encoder defines a pin:

 

(bit in/out) index-enable

When this pin is set to True, the count (and therefore also position) are
reset to zero on the next Index (Phase-Z) pulse. At the same time,
index-enable is reset to zero to indicate that the pulse has occurred.

 

Can anyone give an example snippet of HAL to explain how one might exploit
this. I cannot wire a signal to set it True (not surprisingly as it is an
output). I must be missing something obvious here and need guidance.

 

TIA

 

John Prentice

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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[Gene Heskett]

On Wednesday 08 October 2014 14:01:10 John Dammeyer did opine
And Gene did reply:
> Yeah.  The replacement scope for my GOULD was a TEK TDS3032 with floppy
> drive.  Takes as much as a minute to capture the screen.  Getting
> harder to read those floppies from Windows Systems.  Not really
> possible to take it apart and insert a floppy emulation USB drive.
> So I bought a TEK MSO3034.  This has USB and Ethernet.  Takes forever
> to start up whatever OS it has.  Hopefully will have at least a 15
> year life. Unlike my Rhode and Schwartz Spectrum analyzer which was
> lucky if the battery pack lived for more than 6 months.  At over $1K
> to replace it I stopped.  And I won't buy another Rhode & Schwartz.
> 
> John

OTOH John, I have had an FCC field inspector walk in the door with 
citations in hand.  They disappear like magic if, after showing him the 
error doesn't exist when he asks what you are using for a demodulator & 
you turn and point at an ancient R&S model AMF in the rack.

No matter what he has in the truck, the Rhode was considered better.  Same 
with an MSI if the calibration is current.  This of course was back in 
NTSC days.  That Rhode was $25k in its day, the much newer MSI was just 
north of $5k.

[...]

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[bruno]

I totally agree with you, and that is why an open-source solution like 
the Open Bench Logic sniffer is great. There is always someone 
(sometimes you) who can fix it.

On 10/8/14 8:12 PM, emc-users-requ...@lists.sourceforge.net wrote:
> Message: 1
> Date: Wed, 8 Oct 2014 09:06:40 -0700
> From: "John Dammeyer"
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> To: "'Enhanced Machine Controller \(EMC\)'"
>   
> Message-ID:<08f601cfe311$d9095390$8b1bfab0$@autoartisans.com>
> Content-Type: text/plain; charset="us-ascii"
>
> I own an EPROM/PAL programmer that runs off the parallel port.  At the time
> to get the PAL feature I paid a significant amount for it.  The shift from
> Windows 3.11 to Win95 orphaned the product two months after I bought it.  I
> kept a WIN3.11 system around for a few years but doesn't matter anymore
> because I don't use EPROMs nor those PALs.
>
> I also own a 32 channel logic analyzer pod that runs off the parallel port.
> Last time I was using it was WIN-98 or maybe XP. I wrote custom DLL code for
> it to do CAN bus decoding from the bit stream back in 2001.  I haven't tried
> it with WIN-7.   Don't know if it will work.
>
> None of these products were supported under Linux.
>
> Doesn't matter as much as I now have a stand alone 4 channel Tek Scope with
> a 16 channel logic analyzer that also does SPI/IIC/CAN bus decoding.
>
> Although companies are full of the wildest dreams of staying in business
> forever (or in the case of AlibreCAM being purchased generating a ROI) the
> truth is supporting old hardware is really expensive.   We live in a throw
> away world and that logic analyzer/scope that works today on WIN-7 may not
> work on WIN-9.  And when your WIN-7 hardware fails the license for that
> scope module which was keyed to the CPU no longer works and the company that
> sold the scope no longer supplies upgrades for WIN 9.00100.
>
> The problem is test equipment sometimes sits there for months not being
> needed.  It's like the bandsaw in the shop.  If you don't build anything for
> a few months that requires that tool it sits idle in the corner with a
> dusting of sawdust on it.  But when you need it you walk over to it and turn
> it on and it works.  I do that with my Delta Saw built in 1935.
>
> I can also do that with my 30MHz Gould Scope that I bought in 1978 although
> I suspect I'd probably have to replace some filter capacitors.  Not a
> problem since the user manual came with Service Information and Schematics.
>
> Just an observation that these little pocket scopes and logic analyzers have
> a very short lifetime.
>
> RantMode := OFF;
> John Dammeyer


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[Emc-users] Se

[laaguirre2]

Sent from my iPhoneyrd
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Re: [Emc-users] opencv for shape recognition (Scheduling, important for real time)

[Karlsson & Wang]

"Unless you get into custom high-speed cameras or sensors, it takes over 15 mS 
to capture an image (60 Hz video), plus whatever processing time you incur."

This is a typical real time example. If assumption is made one CPU is used 
built into a micro with peripherals or not and same processing is required for 
all images. Dead line will be equal to period which is one of basic 
requirements for 
http://en.wikipedia.org/wiki/Earliest_deadline_first_scheduling and 
http://en.wikipedia.org/wiki/Rate-monotonic_scheduling schedulers. These 
schedulers also happens to be optimal under some assumptions so they should be 
rather important.

How important dead line is not missed is a little bit different matter. For a 
recieve buffer in serial communication it must be kept unless data should be 
lost, it may however be resent again. For a servo loop I guess one missing 
update or extra delay sometimes will not matter to much for most cases in real 
life although it degrade of course degrade performance at least theoretically.


Nicklas Karlsson




On Wed, 08 Oct 2014 08:40:16 -0500
Charles Steinkuehler  wrote:

> On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> > Running OpenCV code in a real time thread would be an entirely different
> > matter, I suspect.  I do not know if the cv2 library would be compatible
> > with real time requirements, or what level of processing could be 
> > accomplished
> > in a reasonable fraction of a servo period.  You would also need to think
> > carefully about what camera you use.  I used a USB2 microscope camera, and
> > I suspect USB2 would be entirely incompatible with the realtime 
> > requirements.
> > Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> > could talk to it.  I normally just get UVC compatible cameras, but those 
> > are all
> > USB2.
> 
> Unless you get into custom high-speed cameras or sensors, it takes over
> 15 mS to capture an image (60 Hz video), plus whatever processing time
> you incur.  That said, folks have done some pretty amazing things within
> the limitations of standard video and camera systems (sampling at a
> specific point in time and using the calculated "where we were" to
> update the "where we're going" sometime later after a significant
> processing delay while the system is still moving).
> 
> > If you wanted to really get into it, you could work with the machinekit 
> > fork, 
> > and use the Parallella board as your platform. That has a 16 core (or 64 
> > core) 
> > processor that has had OpenCV ported already. There is also a Xilinx fpga 
> > (which contains two Arm cores that run Linux) that could be used for CNC 
> > tasks.  I have one sitting on my desk, but don't know when I'm going to 
> > have 
> > time to play with it.  There would still be the matter of camera 
> > communications.
> 
> Altera has similar parts I'm playing with for work.  Dual-core ARM
> Cortex A9, PCIe, and big chunks of FPGA.  I'm very interested in getting
> the HM2 VHDL code running on this device, but no so concerned with
> OpenCV (even though I already have hardware to run HD-SDI video via the
> high-speed transceivers).  Just not enough time for all the cool
> projects...  :)
> 
> -- 
> Charles Steinkuehler
> char...@steinkuehler.net
> 

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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

You are totally right. There is no imposed constraint on execution time since 
you wait for the image to be acquired and processed before execution continue.

It is exactly as on an ordinary computer where you have to wait for example for 
the home page to load before you read it, up to a certain not well defined 
limit faster is however better.

Nicklas Karlsson



On Wed, 08 Oct 2014 09:01:20 -0500
sam sokolik  wrote:

> I don't need realtime.  The process in my mind would go like this.
> 
> Move camera to target - wait for opencv to acquire target (maybe 
> averaging over a number acuisitions..)  Calculate based on camera 
> location and target location where the target actually is.
> 
> we have some glorified vinyl cutters at work that use target 
> acquisitions to align the sheet.  They are defiantly not realtime. The 
> video processing is done on the windows xp computer - and then gets sent 
> to the machine over a serial connection.
> 
> sam
> 
> 
> On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> > Running OpenCV code in a real time thread would be an entirely different
> > matter, I suspect.  I do not know if the cv2 library would be compatible
> > with real time requirements, or what level of processing could be 
> > accomplished
> > in a reasonable fraction of a servo period.  You would also need to think
> > carefully about what camera you use.  I used a USB2 microscope camera, and
> > I suspect USB2 would be entirely incompatible with the realtime 
> > requirements.
> > Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> > could talk to it.  I normally just get UVC compatible cameras, but those 
> > are all
> > USB2.
> >
> > If you wanted to really get into it, you could work with the machinekit 
> > fork,
> > and use the Parallella board as your platform. That has a 16 core (or 64 
> > core)
> > processor that has had OpenCV ported already. There is also a Xilinx fpga
> > (which contains two Arm cores that run Linux) that could be used for CNC
> > tasks.  I have one sitting on my desk, but don't know when I'm going to have
> > time to play with it.  There would still be the matter of camera 
> > communications.
> >
> > -- Ralph
> > 
> > From: Javier Ros [j...@unavarra.es]
> > Sent: Wednesday, October 08, 2014 1:00 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] opencv for shape recognition
> >
> > Very interesting Ralph.
> >
> > I always wandered if it would be possible to do head position tracking for
> > robot calibration based on OpenCV. Do you think that this would be possible
> > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > real time based kernel?. If it is possible, I suppose that GPU power could
> > theoretically be made available to OpenCV operations.
> >
> > What is you opinion?.
> >
> > Thanks,
> >
> > Javier
> >
> >
> > On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> > ralph.stirl...@wallawalla.edu> wrote:
> >
> >> This is what I used to do machine vision homing a couple of years ago:
> >> FitElipse is a function that finds the best fit circle in the frame.  I
> >> can supply
> >> that function too if you like. It is adapted from examples I found online.
> >>
> >> 
> >> # homecart.py
> >> import sys
> >> import urllib2
> >> import random
> >> import cv2.cv as cv
> >> import time
> >> import hal
> >>
> >> if __name__ == '__main__':
> >>
> >>  h = hal.component("homecart")
> >>  h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> >>  h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> >>  h.ready()
> >>
> >>  capture = cv.CaptureFromCAM(0)
> >>
> >>  while True:
> >>  img = cv.QueryFrame(capture)
> >>
> >>  gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
> >>
> >>  cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
> >>
> >>  fe = FitEllipse(gimg, 116)
> >>  h['offset'] = fe.offset
> >>  h['located'] = fe.located
> >>
> >> In the hal file, I have:
> >>
> >> loadusr ./homecart  # Can't have .py on the end of the filename
> >>
> >> then I can use homecart.located and homecard.offset pins.  I can't find
> >> an example where I actually used it to do the homing though.  I must have
> >> gotten distracted by something else before I got that step completed.
> >>
> >> Hope this is useful.
> >>
> >> -- Ralph
> >>
> >>
> >>
> >> -- Ralph
> >> 
> >> From: sam sokolik [sa...@empirescreen.com]
> >> Sent: Tuesday, October 07, 2014 11:59 AM
> >> To: Enhanced Machine Controller (EMC)
> >> Subject: Re: [Emc-users] opencv for shape recognition
> >>
> >> You make it sound /so/ easy...  :)
> >>
> >> sam
> >> On 10/7/2014 1:09 PM, andy pugh wrote:
> >>> On 7 October 2014 19:06, sam sokolik  wrote:
>  this is my first real exposure to python. the next step is to see how I
>  can fidldle hal stuff with it..
> >>> import hal
> >>

Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[John Dammeyer]

Yeah.  The replacement scope for my GOULD was a TEK TDS3032 with floppy
drive.  Takes as much as a minute to capture the screen.  Getting harder to
read those floppies from Windows Systems.  Not really possible to take it
apart and insert a floppy emulation USB drive.
So I bought a TEK MSO3034.  This has USB and Ethernet.  Takes forever to
start up whatever OS it has.  Hopefully will have at least a 15 year life.
Unlike my Rhode and Schwartz Spectrum analyzer which was lucky if the
battery pack lived for more than 6 months.  At over $1K to replace it I
stopped.  And I won't buy another Rhode & Schwartz.

John


> -Original Message-
> From: Ralph Stirling [mailto:ralph.stirl...@wallawalla.edu]
> Sent: October-08-14 9:56 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> 
> It gets more complicated, though.  We have a lab full of Tek logic
analyzers
> (about 10yo if I recall).  They had a retail value of about $11K each I
think,
> although we got a discount.  We discovered after we bought them that they
> ran on Windows 2000.  Last year we persuaded Tek to give us the drivers
that
> would work on XP, and upgraded the LA's to XP.  Don't know how many
> more
> times we can make that happen.  I have a couple of 20yo Philips LA's that
still
> run, but they boot off a 3.5" floppy, which is an iffy device after this
many
> years.
> No idea of what OS (if any) those are based on.  I discovered while
getting
> ethernet networking going with our new Fluke 8846 bench dmm's that they
> are
> running some version of Linux.  No provision for any sort of
> updating/upgrading
> on those (without significant hacking anyway).
> 
> We have to be careful how we build LinuxCNC machines to avoid giving
> future
> users the same sorts of problems.  I'm glad the system is headed in the
> direction
> of packages that can be added to standard distributions rather than
relying
> on
> installing from LiveCD's, as I think it makes it easier to build in anti-
> obsolescence.
> 
> -- Ralph
> 
> From: John Dammeyer [jo...@autoartisans.com]
> Sent: Wednesday, October 08, 2014 9:06 AM
> To: 'Enhanced Machine Controller (EMC)'
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> 
> I own an EPROM/PAL programmer that runs off the parallel port.  At the
time
> to get the PAL feature I paid a significant amount for it.  The shift from
> Windows 3.11 to Win95 orphaned the product two months after I bought it.
I
> kept a WIN3.11 system around for a few years but doesn't matter anymore
> because I don't use EPROMs nor those PALs.
> 
> I also own a 32 channel logic analyzer pod that runs off the parallel
port.
> Last time I was using it was WIN-98 or maybe XP. I wrote custom DLL code
for
> it to do CAN bus decoding from the bit stream back in 2001.  I haven't
tried
> it with WIN-7.   Don't know if it will work.
> 
> None of these products were supported under Linux.
> 
> Doesn't matter as much as I now have a stand alone 4 channel Tek Scope
> with
> a 16 channel logic analyzer that also does SPI/IIC/CAN bus decoding.
> 
> Although companies are full of the wildest dreams of staying in business
> forever (or in the case of AlibreCAM being purchased generating a ROI) the
> truth is supporting old hardware is really expensive.   We live in a throw
> away world and that logic analyzer/scope that works today on WIN-7 may not
> work on WIN-9.  And when your WIN-7 hardware fails the license for that
> scope module which was keyed to the CPU no longer works and the
> company that
> sold the scope no longer supplies upgrades for WIN 9.00100.
> 
> The problem is test equipment sometimes sits there for months not being
> needed.  It's like the bandsaw in the shop.  If you don't build anything
for
> a few months that requires that tool it sits idle in the corner with a
> dusting of sawdust on it.  But when you need it you walk over to it and
turn
> it on and it works.  I do that with my Delta Saw built in 1935.
> 
> I can also do that with my 30MHz Gould Scope that I bought in 1978
although
> I suspect I'd probably have to replace some filter capacitors.  Not a
> problem since the user manual came with Service Information and
> Schematics.
> 
> Just an observation that these little pocket scopes and logic analyzers
have
> a very short lifetime.
> 
> RantMode := OFF;
> John Dammeyer
> 
> > -Original Message-
> > From: Jon Elson [mailto:el...@pico-systems.com]
> > Sent: October-07-14 6:24 PM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> >
> > On 10/07/2014 11:13 AM, Jeff Epler wrote:
> > > I have one of those devices.  I'm not satisfied with it.
> > >
> > >
> > OK, I'm so spoiled by "big iron" Tektronix logic analyzers,
> > I might find it
> > a problem.  But, the pocket size is sure a plus.  How long
> > does it take
> > to format the display after a trigger?  (

Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[Ralph Stirling]

It gets more complicated, though.  We have a lab full of Tek logic analyzers
(about 10yo if I recall).  They had a retail value of about $11K each I think,
although we got a discount.  We discovered after we bought them that they
ran on Windows 2000.  Last year we persuaded Tek to give us the drivers that
would work on XP, and upgraded the LA's to XP.  Don't know how many more
times we can make that happen.  I have a couple of 20yo Philips LA's that still
run, but they boot off a 3.5" floppy, which is an iffy device after this many 
years.
No idea of what OS (if any) those are based on.  I discovered while getting
ethernet networking going with our new Fluke 8846 bench dmm's that they are
running some version of Linux.  No provision for any sort of updating/upgrading
on those (without significant hacking anyway).

We have to be careful how we build LinuxCNC machines to avoid giving future
users the same sorts of problems.  I'm glad the system is headed in the 
direction
of packages that can be added to standard distributions rather than relying on
installing from LiveCD's, as I think it makes it easier to build in 
anti-obsolescence.

-- Ralph

From: John Dammeyer [jo...@autoartisans.com]
Sent: Wednesday, October 08, 2014 9:06 AM
To: 'Enhanced Machine Controller (EMC)'
Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

I own an EPROM/PAL programmer that runs off the parallel port.  At the time
to get the PAL feature I paid a significant amount for it.  The shift from
Windows 3.11 to Win95 orphaned the product two months after I bought it.  I
kept a WIN3.11 system around for a few years but doesn't matter anymore
because I don't use EPROMs nor those PALs.

I also own a 32 channel logic analyzer pod that runs off the parallel port.
Last time I was using it was WIN-98 or maybe XP. I wrote custom DLL code for
it to do CAN bus decoding from the bit stream back in 2001.  I haven't tried
it with WIN-7.   Don't know if it will work.

None of these products were supported under Linux.

Doesn't matter as much as I now have a stand alone 4 channel Tek Scope with
a 16 channel logic analyzer that also does SPI/IIC/CAN bus decoding.

Although companies are full of the wildest dreams of staying in business
forever (or in the case of AlibreCAM being purchased generating a ROI) the
truth is supporting old hardware is really expensive.   We live in a throw
away world and that logic analyzer/scope that works today on WIN-7 may not
work on WIN-9.  And when your WIN-7 hardware fails the license for that
scope module which was keyed to the CPU no longer works and the company that
sold the scope no longer supplies upgrades for WIN 9.00100.

The problem is test equipment sometimes sits there for months not being
needed.  It's like the bandsaw in the shop.  If you don't build anything for
a few months that requires that tool it sits idle in the corner with a
dusting of sawdust on it.  But when you need it you walk over to it and turn
it on and it works.  I do that with my Delta Saw built in 1935.

I can also do that with my 30MHz Gould Scope that I bought in 1978 although
I suspect I'd probably have to replace some filter capacitors.  Not a
problem since the user manual came with Service Information and Schematics.

Just an observation that these little pocket scopes and logic analyzers have
a very short lifetime.

RantMode := OFF;
John Dammeyer

> -Original Message-
> From: Jon Elson [mailto:el...@pico-systems.com]
> Sent: October-07-14 6:24 PM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
>
> On 10/07/2014 11:13 AM, Jeff Epler wrote:
> > I have one of those devices.  I'm not satisfied with it.
> >
> >
> OK, I'm so spoiled by "big iron" Tektronix logic analyzers,
> I might find it
> a problem.  But, the pocket size is sure a plus.  How long
> does it take
> to format the display after a trigger?  (My 68030-based Tek LA's
> are a bit slow in that regard, especially the one with the
> HUGE memory.)
>
> Jon
>
>

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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[John Dammeyer]

I own an EPROM/PAL programmer that runs off the parallel port.  At the time
to get the PAL feature I paid a significant amount for it.  The shift from
Windows 3.11 to Win95 orphaned the product two months after I bought it.  I
kept a WIN3.11 system around for a few years but doesn't matter anymore
because I don't use EPROMs nor those PALs.

I also own a 32 channel logic analyzer pod that runs off the parallel port.
Last time I was using it was WIN-98 or maybe XP. I wrote custom DLL code for
it to do CAN bus decoding from the bit stream back in 2001.  I haven't tried
it with WIN-7.   Don't know if it will work.  

None of these products were supported under Linux.

Doesn't matter as much as I now have a stand alone 4 channel Tek Scope with
a 16 channel logic analyzer that also does SPI/IIC/CAN bus decoding.  

Although companies are full of the wildest dreams of staying in business
forever (or in the case of AlibreCAM being purchased generating a ROI) the
truth is supporting old hardware is really expensive.   We live in a throw
away world and that logic analyzer/scope that works today on WIN-7 may not
work on WIN-9.  And when your WIN-7 hardware fails the license for that
scope module which was keyed to the CPU no longer works and the company that
sold the scope no longer supplies upgrades for WIN 9.00100.

The problem is test equipment sometimes sits there for months not being
needed.  It's like the bandsaw in the shop.  If you don't build anything for
a few months that requires that tool it sits idle in the corner with a
dusting of sawdust on it.  But when you need it you walk over to it and turn
it on and it works.  I do that with my Delta Saw built in 1935.

I can also do that with my 30MHz Gould Scope that I bought in 1978 although
I suspect I'd probably have to replace some filter capacitors.  Not a
problem since the user manual came with Service Information and Schematics.

Just an observation that these little pocket scopes and logic analyzers have
a very short lifetime.

RantMode := OFF;
John Dammeyer

> -Original Message-
> From: Jon Elson [mailto:el...@pico-systems.com]
> Sent: October-07-14 6:24 PM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] Oscilloscope + logic analyzer (PC based)
> 
> On 10/07/2014 11:13 AM, Jeff Epler wrote:
> > I have one of those devices.  I'm not satisfied with it.
> >
> >
> OK, I'm so spoiled by "big iron" Tektronix logic analyzers,
> I might find it
> a problem.  But, the pocket size is sure a plus.  How long
> does it take
> to format the display after a trigger?  (My 68030-based Tek LA's
> are a bit slow in that regard, especially the one with the
> HUGE memory.)
> 
> Jon
> 
>

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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[Jon Elson]

On 10/08/2014 07:57 AM, Jeff Epler wrote:
> On Tue, Oct 07, 2014 at 08:23:42PM -0500, Jon Elson wrote:
>> On 10/07/2014 11:13 AM, Jeff Epler wrote:
>>> I have one of those devices.  I'm not satisfied with it.
>>>
>>>
>> OK, I'm so spoiled by "big iron" Tektronix logic analyzers,
>> I might find it
>> a problem.  But, the pocket size is sure a plus.  How long
>> does it take
>> to format the display after a trigger?  (My 68030-based Tek LA's
>> are a bit slow in that regard, especially the one with the
>> HUGE memory.)
> Not long.  It only has 16K (or maybe 24K?) sample depth when running
> with the fewest channels (8), and a pretty high baud rate (921600?),
> which is about 1/4s.  I don't remmeber how it was in practice, but
> pretty snappy.
>
OK, at least it works OK in that regard.  My big Tek 
analyzer has 128K per channel,
96 channels per board, and I think that is actually two 
bits/sample for the glitch
memory.  It takes maybe six seconds to format up the region 
you are viewing, and
every couple pages you scroll in time, it takes another six 
seconds to do it
over for the new region.  Kind of a pain to find what you 
are looking for.  On
the other hand, it can capture several servo periods at 
something like 20 ns
per sample.

Jon

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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time, for G code and my first hacked sub routine

[Gene Heskett]

On Wednesday 08 October 2014 10:44:58 Sebastian Kuzminsky did opine
And Gene did reply:
> On 10/8/14 9:01 AM, Schooner wrote:
> > First Q
> > 
> >   From Axis
> > 
> > File > Properties
> > 
> > Brings up the properties of the currently loaded gcode including
> > estimated run time
> > 
> > Always underestimates as it takes no account of time used in
> > acceleration and deceleration to/from the required Feed speed
> 
> Yep, the estimate is off.  It's based on the gcode only, and does not
> take into account important things like machine acceleration and
> spindle acceleration as you say, as well as things like tolerance (G64
> P) and probing.
> 
> The only way I can think of to improve the estimate would be to run the
> motion controller, disconnected from actual motion, and see how long
> the motion actually takes.  That's probably possible, but it's not a
> small change to design & implement.

And not that big a deal Seb.  We all by know by now its a SWAG.  To bill 
machine time from that would be a mistake.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time, for G code and my first hacked sub routine

[Sebastian Kuzminsky]

On 10/8/14 9:01 AM, Schooner wrote:
> First Q
>
>   From Axis
>
> File > Properties
>
> Brings up the properties of the currently loaded gcode including
> estimated run time
>
> Always underestimates as it takes no account of time used in
> acceleration and deceleration to/from the required Feed speed

Yep, the estimate is off.  It's based on the gcode only, and does not 
take into account important things like machine acceleration and spindle 
acceleration as you say, as well as things like tolerance (G64 P) and 
probing.

The only way I can think of to improve the estimate would be to run the 
motion controller, disconnected from actual motion, and see how long the 
motion actually takes.  That's probably possible, but it's not a small 
change to design & implement.


-- 
Sebastian Kuzminsky

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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time, for G code and my first hacked sub routine

[Schooner]

First Q

 From Axis

File > Properties

Brings up the properties of the currently loaded gcode including 
estimated run time

Always underestimates as it takes no account of time used in 
acceleration and deceleration to/from the required Feed speed

regards



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Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Wednesday 08 October 2014 09:25:56 Ralph Stirling did opine
And Gene did reply:
> Running OpenCV code in a real time thread would be an entirely
> different matter, I suspect.  I do not know if the cv2 library would
> be compatible with real time requirements, or what level of processing
> could be accomplished in a reasonable fraction of a servo period.  You
> would also need to think carefully about what camera you use.  I used
> a USB2 microscope camera, and I suspect USB2 would be entirely
> incompatible with the realtime requirements. Perhaps some PCI bus
> board with internal frame buffer could work, if OpenCV could talk to
> it.  I normally just get UVC compatible cameras, but those are all
> USB2.
> 
> If you wanted to really get into it, you could work with the machinekit
> fork, and use the Parallella board as your platform. That has a 16
> core (or 64 core) processor that has had OpenCV ported already. There
> is also a Xilinx fpga (which contains two Arm cores that run Linux)
> that could be used for CNC tasks.  I have one sitting on my desk, but
> don't know when I'm going to have time to play with it.  There would
> still be the matter of camera communications.
> 
> -- Ralph

I have the camunits kit running on my mill and would make some comments.
1. It does not appear to impinge on my mills performance thru a parport 
interface.

2. Its slow as hell, several seconds expire between a machine move, and 
seeing the final stop on the monitor, so when manually driving the mill to 
a target, the lag in the video processing path means you have to use very 
slow feeds, else you get there, take your finger off the key, and the 
video keeps on going so you have to run it back a teeny peck at a time.

3. My colonoscopy camera is falling apart, it needs to be stuffed back 
into the tube with a drop of superglue. I think I pulled on the cable too 
hard when lowering the head because I was trying to hold it up out of 
harms way.  So much for plans...  Mice & men category. :)

> From: Javier Ros [j...@unavarra.es]
> Sent: Wednesday, October 08, 2014 1:00 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
> 
> Very interesting Ralph.
> 
> I always wandered if it would be possible to do head position tracking
> for robot calibration based on OpenCV. Do you think that this would be
> possible using a real time HAL module, written in C, using the a
> PREEMPT RT PATH real time based kernel?. If it is possible, I suppose
> that GPU power could theoretically be made available to OpenCV
> operations.

That probably would help, a lot.  But not on the kernel we are now using.  
And it introduces another rather large bag of housekeeping LCNC would have 
to do because there are so darned many video cards out there. Our pet 
motherboard ATM is based the atom family, probably using the i915 driver, 
which works, but I've no clue if it can share its gpu core for off chip 
usages.
 
> What is you opinion?.

I think its a software problem, so it can be done. But it will take 
someone more familiar with the requirements, and interfacing those 
requirements with LCNC than I can bring to the table.

> Thanks,
> 
> Javier
> 
> 
> On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> 
> ralph.stirl...@wallawalla.edu> wrote:
> > This is what I used to do machine vision homing a couple of years
> > ago: FitElipse is a function that finds the best fit circle in the
> > frame.  I can supply
> > that function too if you like. It is adapted from examples I found
> > online.
> > 
> > 
> > # homecart.py
> > import sys
> > import urllib2
> > import random
> > import cv2.cv as cv
> > import time
> > import hal
> > 
> > if __name__ == '__main__':
> > h = hal.component("homecart")
> > h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> > h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> > h.ready()
> > 
> > capture = cv.CaptureFromCAM(0)
> > 
> > while True:
> > img = cv.QueryFrame(capture)
> > 
> > gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
> > 
> > cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
> > 
> > fe = FitEllipse(gimg, 116)
> > h['offset'] = fe.offset
> > h['located'] = fe.located
> > 
> > In the hal file, I have:
> > 
> > loadusr ./homecart  # Can't have .py on the end of the
> > filename
> > 
> > then I can use homecart.located and homecard.offset pins.  I can't
> > find an example where I actually used it to do the homing though.  I
> > must have gotten distracted by something else before I got that step
> > completed.
> > 
> > Hope this is useful.
> > 
> > -- Ralph
> > 
> > 
> > 
> > -- Ralph
> > 
> > From: sam sokolik [sa...@empirescreen.com]
> > Sent: Tuesday, October 07, 2014 11:59 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] opencv for shape recognition
> > 

Re: [Emc-users] opencv for shape recognition

[Charles Steinkuehler]

On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> Running OpenCV code in a real time thread would be an entirely different
> matter, I suspect.  I do not know if the cv2 library would be compatible
> with real time requirements, or what level of processing could be accomplished
> in a reasonable fraction of a servo period.  You would also need to think
> carefully about what camera you use.  I used a USB2 microscope camera, and
> I suspect USB2 would be entirely incompatible with the realtime requirements.
> Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> could talk to it.  I normally just get UVC compatible cameras, but those are 
> all
> USB2.

Unless you get into custom high-speed cameras or sensors, it takes over
15 mS to capture an image (60 Hz video), plus whatever processing time
you incur.  That said, folks have done some pretty amazing things within
the limitations of standard video and camera systems (sampling at a
specific point in time and using the calculated "where we were" to
update the "where we're going" sometime later after a significant
processing delay while the system is still moving).

> If you wanted to really get into it, you could work with the machinekit fork, 
> and use the Parallella board as your platform. That has a 16 core (or 64 
> core) 
> processor that has had OpenCV ported already. There is also a Xilinx fpga 
> (which contains two Arm cores that run Linux) that could be used for CNC 
> tasks.  I have one sitting on my desk, but don't know when I'm going to have 
> time to play with it.  There would still be the matter of camera 
> communications.

Altera has similar parts I'm playing with for work.  Dual-core ARM
Cortex A9, PCIe, and big chunks of FPGA.  I'm very interested in getting
the HM2 VHDL code running on this device, but no so concerned with
OpenCV (even though I already have hardware to run HD-SDI video via the
high-speed transceivers).  Just not enough time for all the cool
projects...  :)

-- 
Charles Steinkuehler
char...@steinkuehler.net



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Re: [Emc-users] opencv for shape recognition

[sam sokolik]

I don't need realtime.  The process in my mind would go like this.

Move camera to target - wait for opencv to acquire target (maybe 
averaging over a number acuisitions..)  Calculate based on camera 
location and target location where the target actually is.

we have some glorified vinyl cutters at work that use target 
acquisitions to align the sheet.  They are defiantly not realtime. The 
video processing is done on the windows xp computer - and then gets sent 
to the machine over a serial connection.

sam


On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> Running OpenCV code in a real time thread would be an entirely different
> matter, I suspect.  I do not know if the cv2 library would be compatible
> with real time requirements, or what level of processing could be accomplished
> in a reasonable fraction of a servo period.  You would also need to think
> carefully about what camera you use.  I used a USB2 microscope camera, and
> I suspect USB2 would be entirely incompatible with the realtime requirements.
> Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> could talk to it.  I normally just get UVC compatible cameras, but those are 
> all
> USB2.
>
> If you wanted to really get into it, you could work with the machinekit fork,
> and use the Parallella board as your platform. That has a 16 core (or 64 core)
> processor that has had OpenCV ported already. There is also a Xilinx fpga
> (which contains two Arm cores that run Linux) that could be used for CNC
> tasks.  I have one sitting on my desk, but don't know when I'm going to have
> time to play with it.  There would still be the matter of camera 
> communications.
>
> -- Ralph
> 
> From: Javier Ros [j...@unavarra.es]
> Sent: Wednesday, October 08, 2014 1:00 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> Very interesting Ralph.
>
> I always wandered if it would be possible to do head position tracking for
> robot calibration based on OpenCV. Do you think that this would be possible
> using a real time HAL module, written in C, using the a PREEMPT RT PATH
> real time based kernel?. If it is possible, I suppose that GPU power could
> theoretically be made available to OpenCV operations.
>
> What is you opinion?.
>
> Thanks,
>
> Javier
>
>
> On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> ralph.stirl...@wallawalla.edu> wrote:
>
>> This is what I used to do machine vision homing a couple of years ago:
>> FitElipse is a function that finds the best fit circle in the frame.  I
>> can supply
>> that function too if you like. It is adapted from examples I found online.
>>
>> 
>> # homecart.py
>> import sys
>> import urllib2
>> import random
>> import cv2.cv as cv
>> import time
>> import hal
>>
>> if __name__ == '__main__':
>>
>>  h = hal.component("homecart")
>>  h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
>>  h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
>>  h.ready()
>>
>>  capture = cv.CaptureFromCAM(0)
>>
>>  while True:
>>  img = cv.QueryFrame(capture)
>>
>>  gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>>
>>  cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>>
>>  fe = FitEllipse(gimg, 116)
>>  h['offset'] = fe.offset
>>  h['located'] = fe.located
>>
>> In the hal file, I have:
>>
>> loadusr ./homecart  # Can't have .py on the end of the filename
>>
>> then I can use homecart.located and homecard.offset pins.  I can't find
>> an example where I actually used it to do the homing though.  I must have
>> gotten distracted by something else before I got that step completed.
>>
>> Hope this is useful.
>>
>> -- Ralph
>>
>>
>>
>> -- Ralph
>> 
>> From: sam sokolik [sa...@empirescreen.com]
>> Sent: Tuesday, October 07, 2014 11:59 AM
>> To: Enhanced Machine Controller (EMC)
>> Subject: Re: [Emc-users] opencv for shape recognition
>>
>> You make it sound /so/ easy...  :)
>>
>> sam
>> On 10/7/2014 1:09 PM, andy pugh wrote:
>>> On 7 October 2014 19:06, sam sokolik  wrote:
 this is my first real exposure to python. the next step is to see how I
 can fidldle hal stuff with it..
>>> import hal
>>>
>>> make hal pins, job done :-)
>>>
>>>
>>
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Re: [Emc-users] Thoughts on a Python script to calculate estimated run time for G code and my first hacked sub routine

[Gene Heskett]

On Wednesday 08 October 2014 08:36:06 linden did opine
And Gene did reply:
> Hello
>  I have been reading along on this mailing list for a few weeks now
> and playing with Linuxcnc Axis simulator in my free time. Both have
> been very informative and I have learned a lot. There are two items I
> was wondering if I could get a comment on.
> 
> #1 Dose any one have a python script or other program that will
> calculate estimated machine time for a .ngc file. PyCam will give you
> an estimate for the Gcode it generates. I have looked through the
> source code and I cant find any thing. I have no programming back
> ground and don't know what I am looking for witch dose not help;-)
> 
> #2 Can some one have a look at the following .ngc code with sub routine
> and give me any suggestions or comments regarding the layout
> programming logic ect. Please be ruthless I have no programming or CNC
> back ground;-)
> 
> thank for sharing,
> 
>   Linden
> 
> 
> %
> ; Cutoff sub V1.0
> ; Written by hand Linden
> ;
> ;Copyright GNU Public License V3)
> ;Credit  - Igor Chudov, Original cutoff sub script
> ;I have hacked Igors original script to do what I needed and take all
> responsibility for the messiness as I am not a programmer at all
> ;-
> ; Not Production Tested !   Feeds, depth of cut, and Speeds not set
> ;
> ; TO DO:  Determine spindle direction requirements set actual speeds
> and feeds
> ;---
> ; Material
> ;- Aluminum
> ;
> ; Procedure:
> ;- Square off end of rough stock with multiple passes of end mill.
> Cut in one direction only, pull back in x plane for return for next
> path. ;
> ; Tools:
> ;#4 1/2 end mill,
> ;
> ;;;
> ;; ; Subroutines used in this script:
> ;
> o sub
># = #1   (Width of part in Y)
># = #2   (milling depth, negative)
># = #3   (end mill diameter)
># = #4   (milling rate)
># = #5   (Z step, positive, optional if 0 uses half end mill
> diameter)
># = #6  (0 for X+ {right} end of material 1 for X- {left}
> end of material)
># = #7  (Spindle Speed)
> 
># = [ #/2+0.01 ]; (Finnish cutting width of cut plus
> 1/2 cuter diameter plus 0.01 )
># = 0
> 
> G91(Set to relative Coordinates)
> 
> G0 Y[-#]
> 
> F #
> 
>  o if [ # EQ 0]
>  # = [ -1 ]
>  # = [ 1 ]
>  M3  S[#]
>  o else
>  # = [ 1 ]
>  # = [ -1 ]
>  M4  S[#]
>  o endif
> 
>  o if [# EQ 0]
>  # = [ #/2 ]
>  o endif
> 
> o while [ 1 ]
>  # = [# - #]
>  # = #
> 
>  o if [# LT #]
>  # = [ # - [# - #] ]
>  # = #
>  o endif
> 
> G0 Z[ -# ]
> 
>  o if [ # ]
>  G1 Y[[# + 2*#]*[#]]
>  # = 0
>  o else
>  X[[#]*[#]]
>  G0 Y[-[# + 2*#]*[#]]
>  X[[#]*[#]]
>  # = 1
>  o endif
> 
> 
>  o if [ # LE #]
>  o break
>  o endif
> 
> o endwhile
> 
> 
> G0 Z[[-#]+[#]] (Withdraw to safe height start height plus
> 1/2 cutter diameter)
> 
> G4 P3 (Dwell  for 1 second)
> 
> G90(Set back to absolute Coordinates)
> 
> o endsub
> 
> ;
> ;
> ; Clear and set Machine Parameters:
> 
> G17(Contour plane is XY Z = spindle)
> G54(Coordinate system 1 touch off zero not machine home)
> G20(All units in inches G21 mm)
> G90(Absolute Distances)
> G40(Cancel diameter comp)
> G49(Cancel length offset)
> G80(Cancel Canned cycles)
> G94(Feed/Minute mode)
> ;G64 Pn.n(Path Blending how dose this work what sould i put for
> settings)
> 
> ;
> ; Start message for operator
> 
> (MSG, Cut off sub will be run twice cutting both ends of bar in fixture
> 1. Set fixture 1 in mill Part 0 reference is surface of material and
> centre of centre hole. Tool 4 is 1/2 inch end mill Press pause button
> to continue.)
> ;
> ;;;
> 
> ;
> ;Tool change and Program Start
> 
> M0(Pause)
> 
> M6 T4 (Tool change tool 4)
> 
> G0 X-1.000 Y1.000 Z0.000 (Rapid to cut start position)
> 
> o call [2.00](Width of cut in Y) [-1.00](Total depth of
> cut,negative number) [0.500](end mill diameter) [150](Feed speed)
> [.125](Depth of cut each pass) [0](0 X+ right hand end 1 X- left hand
> end)  [1000] (Spindle Speed)
> 
> G0 X3.000 Y1.000 Z0.000 (Rapid to cut start position)
> 
> o call [2.00](Width of cut in Y) [-1.00](Total depth of
> cut,negative number) [0.500](end mill diameter) [150](Feed speed)
> [.125](Depth of cut each pass) [1](0 X+ right hand end 1 X- left hand
> end)  [1000] (Spindle Speed)
> 
> ;
> ;End program and home
> ;
> 
> G28 

Re: [Emc-users] opencv for shape recognition

[Ralph Stirling]

Running OpenCV code in a real time thread would be an entirely different
matter, I suspect.  I do not know if the cv2 library would be compatible
with real time requirements, or what level of processing could be accomplished
in a reasonable fraction of a servo period.  You would also need to think
carefully about what camera you use.  I used a USB2 microscope camera, and
I suspect USB2 would be entirely incompatible with the realtime requirements.
Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
could talk to it.  I normally just get UVC compatible cameras, but those are all
USB2.

If you wanted to really get into it, you could work with the machinekit fork, 
and use the Parallella board as your platform. That has a 16 core (or 64 core) 
processor that has had OpenCV ported already. There is also a Xilinx fpga 
(which contains two Arm cores that run Linux) that could be used for CNC 
tasks.  I have one sitting on my desk, but don't know when I'm going to have 
time to play with it.  There would still be the matter of camera communications.

-- Ralph

From: Javier Ros [j...@unavarra.es]
Sent: Wednesday, October 08, 2014 1:00 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] opencv for shape recognition

Very interesting Ralph.

I always wandered if it would be possible to do head position tracking for
robot calibration based on OpenCV. Do you think that this would be possible
using a real time HAL module, written in C, using the a PREEMPT RT PATH
real time based kernel?. If it is possible, I suppose that GPU power could
theoretically be made available to OpenCV operations.

What is you opinion?.

Thanks,

Javier


On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:

> This is what I used to do machine vision homing a couple of years ago:
> FitElipse is a function that finds the best fit circle in the frame.  I
> can supply
> that function too if you like. It is adapted from examples I found online.
>
> 
> # homecart.py
> import sys
> import urllib2
> import random
> import cv2.cv as cv
> import time
> import hal
>
> if __name__ == '__main__':
>
> h = hal.component("homecart")
> h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> h.ready()
>
> capture = cv.CaptureFromCAM(0)
>
> while True:
> img = cv.QueryFrame(capture)
>
> gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>
> cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>
> fe = FitEllipse(gimg, 116)
> h['offset'] = fe.offset
> h['located'] = fe.located
>
> In the hal file, I have:
>
> loadusr ./homecart  # Can't have .py on the end of the filename
>
> then I can use homecart.located and homecard.offset pins.  I can't find
> an example where I actually used it to do the homing though.  I must have
> gotten distracted by something else before I got that step completed.
>
> Hope this is useful.
>
> -- Ralph
>
>
>
> -- Ralph
> 
> From: sam sokolik [sa...@empirescreen.com]
> Sent: Tuesday, October 07, 2014 11:59 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> You make it sound /so/ easy...  :)
>
> sam
> On 10/7/2014 1:09 PM, andy pugh wrote:
> > On 7 October 2014 19:06, sam sokolik  wrote:
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> > import hal
> >
> > make hal pins, job done :-)
> >
> >
>
>
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Re: [Emc-users] Oscilloscope + logic analyzer (PC based)

[Jeff Epler]

On Tue, Oct 07, 2014 at 08:23:42PM -0500, Jon Elson wrote:
> On 10/07/2014 11:13 AM, Jeff Epler wrote:
> > I have one of those devices.  I'm not satisfied with it.
> >
> >
> OK, I'm so spoiled by "big iron" Tektronix logic analyzers, 
> I might find it
> a problem.  But, the pocket size is sure a plus.  How long 
> does it take
> to format the display after a trigger?  (My 68030-based Tek LA's
> are a bit slow in that regard, especially the one with the 
> HUGE memory.)

Not long.  It only has 16K (or maybe 24K?) sample depth when running
with the fewest channels (8), and a pretty high baud rate (921600?),
which is about 1/4s.  I don't remmeber how it was in practice, but
pretty snappy.

Jeff

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[Emc-users] Thoughts on a Python script to calculate estimated run time for G code and my first hacked sub routine

[linden]

Hello
 I have been reading along on this mailing list for a few weeks now
and playing with Linuxcnc Axis simulator in my free time. Both have been
very informative and I have learned a lot. There are two items I was
wondering if I could get a comment on.

#1 Dose any one have a python script or other program that will
calculate estimated machine time for a .ngc file. PyCam will give you an
estimate for the Gcode it generates. I have looked through the source
code and I cant find any thing. I have no programming back ground and
don't know what I am looking for witch dose not help;-)

#2 Can some one have a look at the following .ngc code with sub routine
and give me any suggestions or comments regarding the layout programming
logic ect. Please be ruthless I have no programming or CNC back ground;-)

thank for sharing,

  Linden


%
; Cutoff sub V1.0
; Written by hand Linden
;
;Copyright GNU Public License V3)
;Credit  - Igor Chudov, Original cutoff sub script
;I have hacked Igors original script to do what I needed and take all
responsibility for the messiness as I am not a programmer at all
;-
; Not Production Tested !   Feeds, depth of cut, and Speeds not set
;
; TO DO:  Determine spindle direction requirements set actual speeds and
feeds
;---
; Material
;- Aluminum
;
; Procedure:
;- Square off end of rough stock with multiple passes of end mill.
Cut in one direction only, pull back in x plane for return for next path.
;
; Tools:
;#4 1/2 end mill,
;
;
; Subroutines used in this script:
;
o sub
   # = #1   (Width of part in Y)
   # = #2   (milling depth, negative)
   # = #3   (end mill diameter)
   # = #4   (milling rate)
   # = #5   (Z step, positive, optional if 0 uses half end mill
diameter)
   # = #6  (0 for X+ {right} end of material 1 for X- {left} end
of material)
   # = #7  (Spindle Speed)

   # = [ #/2+0.01 ]; (Finnish cutting width of cut plus 1/2
cuter diameter plus 0.01 )
   # = 0

G91(Set to relative Coordinates)

G0 Y[-#]

F #

 o if [ # EQ 0]
 # = [ -1 ]
 # = [ 1 ]
 M3  S[#]
 o else
 # = [ 1 ]
 # = [ -1 ]
 M4  S[#]
 o endif

 o if [# EQ 0]
 # = [ #/2 ]
 o endif

o while [ 1 ]
 # = [# - #]
 # = #

 o if [# LT #]
 # = [ # - [# - #] ]
 # = #
 o endif

G0 Z[ -# ]

 o if [ # ]
 G1 Y[[# + 2*#]*[#]]
 # = 0
 o else
 X[[#]*[#]]
 G0 Y[-[# + 2*#]*[#]]
 X[[#]*[#]]
 # = 1
 o endif


 o if [ # LE #]
 o break
 o endif

o endwhile


G0 Z[[-#]+[#]] (Withdraw to safe height start height plus
1/2 cutter diameter)

G4 P3 (Dwell  for 1 second)

G90(Set back to absolute Coordinates)

o endsub

;
;
; Clear and set Machine Parameters:

G17(Contour plane is XY Z = spindle)
G54(Coordinate system 1 touch off zero not machine home)
G20(All units in inches G21 mm)
G90(Absolute Distances)
G40(Cancel diameter comp)
G49(Cancel length offset)
G80(Cancel Canned cycles)
G94(Feed/Minute mode)
;G64 Pn.n(Path Blending how dose this work what sould i put for
settings)

;
; Start message for operator

(MSG, Cut off sub will be run twice cutting both ends of bar in fixture
1. Set fixture 1 in mill Part 0 reference is surface of material and
centre of centre hole. Tool 4 is 1/2 inch end mill Press pause button to
continue.)
;
;;;

;
;Tool change and Program Start

M0(Pause)

M6 T4 (Tool change tool 4)

G0 X-1.000 Y1.000 Z0.000 (Rapid to cut start position)

o call [2.00](Width of cut in Y) [-1.00](Total depth of
cut,negative number) [0.500](end mill diameter) [150](Feed speed)
[.125](Depth of cut each pass) [0](0 X+ right hand end 1 X- left hand
end)  [1000] (Spindle Speed)

G0 X3.000 Y1.000 Z0.000 (Rapid to cut start position)

o call [2.00](Width of cut in Y) [-1.00](Total depth of
cut,negative number) [0.500](end mill diameter) [150](Feed speed)
[.125](Depth of cut each pass) [1](0 X+ right hand end 1 X- left hand
end)  [1000] (Spindle Speed)

;
;End program and home
;

G28(Return to reference point "HOME Position")

M2(end program)

%


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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

For scheduling in EDF or Rate-monotonic lower frequency threads get lower 
priority so for the scheduling part it should be OK if this is the method used 
for scheduling. If round robin is used which I do not call real time operating 
system it might however and actually will if execution take to much time delay 
other threads. There might of course be other problems.

Do you know how the threads are scheduled?


Nicklas Karlsson



On Wed, 8 Oct 2014 11:55:14 +0200
Javier Ros  wrote:

> So, would that imply that the OpneCV calling module is doable in RT, at
> least if scheduling at a low enough frequency?
> 
> Thanks,
> 
> Javier
> 
> On Wed, Oct 8, 2014 at 11:09 AM, Karlsson & Wang <
> nicklas.karls...@karlssonwang.se> wrote:
> 
> > I do not know about the scheduling for the hal but for ordinary preemptive
> > real time system with EDF or Rate-Monotonic scheduling a suitable priority
> > is the way to do it all the way down to GUI or even slower.
> >
> > Nicklas Karlsson
> >
> >
> >
> >
> > On Wed, 8 Oct 2014 10:05:04 +0100
> > andy pugh  wrote:
> >
> > > On 8 October 2014 09:00, Javier Ros  wrote:
> > > > Do you think that this would be possible
> > > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > > real time based kernel?
> > >
> > > I would be surprised if OpenCV was thread-safe or deterministic enough
> > > to run in a real-time thread.
> > >
> > > A userspace HAL module could export pins for use by the real-time
> > > code. This might work well enough.
> > >
> > > --
> > > atp
> > > If you can't fix it, you don't own it.
> > > http://www.ifixit.com/Manifesto
> > >
> > >
> > --
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Re: [Emc-users] opencv for shape recognition

[David Armstrong]

theirs quite a lot of people using opencv for robotic head tracking ,
although iv'e not used it within linuxcnc context as yet

On 8 October 2014 10:09, Karlsson & Wang 
wrote:

> I do not know about the scheduling for the hal but for ordinary preemptive
> real time system with EDF or Rate-Monotonic scheduling a suitable priority
> is the way to do it all the way down to GUI or even slower.
>
> Nicklas Karlsson
>
>
>
>
> On Wed, 8 Oct 2014 10:05:04 +0100
> andy pugh  wrote:
>
> > On 8 October 2014 09:00, Javier Ros  wrote:
> > > Do you think that this would be possible
> > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > real time based kernel?
> >
> > I would be surprised if OpenCV was thread-safe or deterministic enough
> > to run in a real-time thread.
> >
> > A userspace HAL module could export pins for use by the real-time
> > code. This might work well enough.
> >
> > --
> > atp
> > If you can't fix it, you don't own it.
> > http://www.ifixit.com/Manifesto
> >
> >
> --
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>
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Re: [Emc-users] opencv for shape recognition

[Javier Ros]

So, would that imply that the OpneCV calling module is doable in RT, at
least if scheduling at a low enough frequency?

Thanks,

Javier

On Wed, Oct 8, 2014 at 11:09 AM, Karlsson & Wang <
nicklas.karls...@karlssonwang.se> wrote:

> I do not know about the scheduling for the hal but for ordinary preemptive
> real time system with EDF or Rate-Monotonic scheduling a suitable priority
> is the way to do it all the way down to GUI or even slower.
>
> Nicklas Karlsson
>
>
>
>
> On Wed, 8 Oct 2014 10:05:04 +0100
> andy pugh  wrote:
>
> > On 8 October 2014 09:00, Javier Ros  wrote:
> > > Do you think that this would be possible
> > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > real time based kernel?
> >
> > I would be surprised if OpenCV was thread-safe or deterministic enough
> > to run in a real-time thread.
> >
> > A userspace HAL module could export pins for use by the real-time
> > code. This might work well enough.
> >
> > --
> > atp
> > If you can't fix it, you don't own it.
> > http://www.ifixit.com/Manifesto
> >
> >
> --
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>
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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

I do not know about the scheduling for the hal but for ordinary preemptive real 
time system with EDF or Rate-Monotonic scheduling a suitable priority is the 
way to do it all the way down to GUI or even slower.

Nicklas Karlsson




On Wed, 8 Oct 2014 10:05:04 +0100
andy pugh  wrote:

> On 8 October 2014 09:00, Javier Ros  wrote:
> > Do you think that this would be possible
> > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > real time based kernel?
> 
> I would be surprised if OpenCV was thread-safe or deterministic enough
> to run in a real-time thread.
> 
> A userspace HAL module could export pins for use by the real-time
> code. This might work well enough.
> 
> -- 
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
> 
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Re: [Emc-users] opencv for shape recognition

[andy pugh]

On 8 October 2014 09:00, Javier Ros  wrote:
> Do you think that this would be possible
> using a real time HAL module, written in C, using the a PREEMPT RT PATH
> real time based kernel?

I would be surprised if OpenCV was thread-safe or deterministic enough
to run in a real-time thread.

A userspace HAL module could export pins for use by the real-time
code. This might work well enough.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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Re: [Emc-users] opencv for shape recognition

[Javier Ros]

Very interesting Ralph.

I always wandered if it would be possible to do head position tracking for
robot calibration based on OpenCV. Do you think that this would be possible
using a real time HAL module, written in C, using the a PREEMPT RT PATH
real time based kernel?. If it is possible, I suppose that GPU power could
theoretically be made available to OpenCV operations.

What is you opinion?.

Thanks,

Javier


On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:

> This is what I used to do machine vision homing a couple of years ago:
> FitElipse is a function that finds the best fit circle in the frame.  I
> can supply
> that function too if you like. It is adapted from examples I found online.
>
> 
> # homecart.py
> import sys
> import urllib2
> import random
> import cv2.cv as cv
> import time
> import hal
>
> if __name__ == '__main__':
>
> h = hal.component("homecart")
> h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> h.ready()
>
> capture = cv.CaptureFromCAM(0)
>
> while True:
> img = cv.QueryFrame(capture)
>
> gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>
> cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>
> fe = FitEllipse(gimg, 116)
> h['offset'] = fe.offset
> h['located'] = fe.located
>
> In the hal file, I have:
>
> loadusr ./homecart  # Can't have .py on the end of the filename
>
> then I can use homecart.located and homecard.offset pins.  I can't find
> an example where I actually used it to do the homing though.  I must have
> gotten distracted by something else before I got that step completed.
>
> Hope this is useful.
>
> -- Ralph
>
>
>
> -- Ralph
> 
> From: sam sokolik [sa...@empirescreen.com]
> Sent: Tuesday, October 07, 2014 11:59 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> You make it sound /so/ easy...  :)
>
> sam
> On 10/7/2014 1:09 PM, andy pugh wrote:
> > On 7 October 2014 19:06, sam sokolik  wrote:
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> > import hal
> >
> > make hal pins, job done :-)
> >
> >
>
>
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