Import LinuxCNC source tree

debian/tests/linuxcnc-test

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# Based on tests/single-step/
+
+set -e
+
+cd "$(dirname "$0")"
+
+if ! linuxcnc -r linuxcnc-test.ini ; then
+    echo "error: failed to execute linuxcnc"
+    exit 1
+fi
+
+echo "success: linuxcnc ran successfully."
+exit 0

debian/tests/linuxcnc-test-ui.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+#
+# Create and connect test feedback comp
+#
+h = hal.component("test-ui")
+h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("Zpos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("counter", hal.HAL_FLOAT, hal.HAL_IN)
+h.ready()
+os.system("halcmd source ./linuxcnc-test.hal")
+
+def print_state():
+    sys.stderr.write(
+        "line=%d; Xpos=%.2f; Ypos=%.2f; Zpos=%.2f; counter=%d\n" %
+        (s.current_line, h["Xpos"], h["Ypos"], h["Zpos"], h["counter"]))
+
+#
+# Come out of E-stop, turn the machine on, home, and switch to Auto mode.
+#
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.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(linuxcnc.MODE_AUTO)
+        
+
+#
+# run the .ngc test file, starting from the special line
+#
+
+c.program_open('linuxcnc-test.ngc')
+
+epsilon = 0.000001
+def mod_5_is_0(x):
+    return abs((x+epsilon) % 5) < 2*epsilon
+
+# Take first step
+c.auto(linuxcnc.AUTO_STEP)
+
+count = 0
+while True:
+    s.poll()
+    (x, y) = (h["Xpos"], h["Ypos"])
+    if mod_5_is_0(x) and mod_5_is_0(y):
+        # Both axes on goal; make next step and let motion start
+        sys.stderr.write("Taking step from X%.2f Y%.2f\n" % (x, y))
+        c.auto(linuxcnc.AUTO_STEP)
+        time.sleep(0.1)
+
+    print_state()
+
+    count += 1
+    if count >= 1000:  # Shouldn't happen, but prevent runaways
+        sys.stderr.write("Finished:  Exceeded max cycles\n")
+        sys.exit(1)
+    if s.interp_state == linuxcnc.INTERP_IDLE:
+        sys.stderr.write("Finished:  Detected program finish\n")
+        break
+
+    time.sleep(0.1)
+
+if h["counter"] != 25:
+    sys.stderr.write("End counter incorrect:  %d != 25\n" % h["counter"])
+    sys.exit(1)
+
+sys.exit(0)

debian/tests/linuxcnc-test.hal

@@ -0,0 +1,4 @@
+net Xpos => test-ui.Xpos
+net Ypos => test-ui.Ypos
+net Zpos => test-ui.Zpos
+net counter <= motion.analog-out-00 => test-ui.counter

debian/tests/linuxcnc-test.ini

@@ -0,0 +1,100 @@
+[EMC]
+VERSION = 1.1
+#DEBUG = 0xffffffff
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./linuxcnc-test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+LOG_LEVEL = 999
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+NO_FORCE_HOMING =       1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1200
+MAX_LINEAR_VELOCITY =   4000
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Z]
+MIN_LIMIT = -40
+MAX_LIMIT = 40
+MAX_VELOCITY = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40
+MAX_LIMIT =        40
+FERROR =           0.050
+MIN_FERROR =       0.010
+

debian/tests/linuxcnc-test.ngc

@@ -0,0 +1,12 @@
+#1 = 0
+O100 repeat [6]
+M67 E0 Q[#1]
+(DEBUG, 1)
+G1 F500 X[5 + #1]
+(DEBUG, 2)
+G1 F500 Y[5 + #1]
+(DEBUG, 3)
+G1 F500 X[10 + #1]
+#1 = [#1 + 5]
+O100 endrepeat
+M2

debian/tests/rs274-test

@@ -0,0 +1,24 @@
+#!/bin/sh
+
+set -e
+
+cd "$(dirname "$0")"
+
+if [ -z "$AUTOPKGTEST_TMP" ]; then
+    AUTOPKGTEST_TMP="."
+fi
+log=$AUTOPKGTEST_TMP/rs274.out
+
+if ! rs274 -g rs274.ngc > "$log" 2>&1 ; then
+    echo "error: failed to run rs274"
+    cat "$log"
+    exit 1
+fi
+
+if ! diff -u "$log" rs274.res ; then
+    echo "error: rs274 output do not match rs274.res"
+    exit 1
+fi
+
+echo "success: rs274 output matches rs274.res"
+exit 0

debian/tests/rs274.ngc

@@ -0,0 +1,5 @@
+%
+(Test simple move)
+G0 X0 Y0 Z0
+G1 X1 Y1 Z1 F10
+%

debian/tests/rs274.res

@@ -0,0 +1,14 @@
+executing
+    1 N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+    2 N..... SET_G5X_OFFSET(1, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+    3 N..... SET_G92_OFFSET(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+    4 N..... SET_XY_ROTATION(0.0000)
+    5 N..... SET_FEED_REFERENCE(CANON_XYZ)
+    6 N..... ON_RESET()
+    7 N..... COMMENT("Test simple move")
+    8 N..... STRAIGHT_TRAVERSE(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+    9 N..... SET_FEED_RATE(10.0000)
+   10 N..... STRAIGHT_FEED(1.0000, 1.0000, 1.0000, 0.0000, 0.0000, 0.0000)
+   11 N..... FINISH()
+   12 N..... ON_RESET()
+   13 N..... ON_RESET()