Import LinuxCNC source tree

tests/abort/feed-rate/.gitignore

@@ -0,0 +1 @@
+sim.var*

tests/abort/feed-rate/README

@@ -0,0 +1,4 @@
+This test starts LinuxCNC, sets the feed rate (in G94 and G95), then
+Aborts and verifies that the expected feed rate is active.
+
+In 2.6.12 and 2.7.7 this test replicates Github Issue #180.

tests/abort/feed-rate/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/abort/feed-rate/core_sim.hal

@@ -0,0 +1,61 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+# 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=[KINS]JOINTS 
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt count=6
+# load additional blocks
+loadrt hypot count=2
+loadrt comp count=3
+loadrt or2 count=1
+
+# 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.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf hypot.0 servo-thread
+addf hypot.1 servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt.0.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt.0.out => ddt.1.in hypot.0.in0
+net Xacc <= ddt.1.out 
+net Yvel ddt.2.out => ddt.3.in hypot.0.in1
+net Yacc <= ddt.3.out 
+net Zvel ddt.4.out => ddt.5.in hypot.1.in0
+net Zacc <= ddt.5.out 
+
+# Cartesian 2- and 3-axis velocities
+net XYvel hypot.0.out => hypot.1.in1
+net XYZvel <= hypot.1.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prepare <= iocontrol.0.tool-prepare
+net tool-prepared => iocontrol.0.tool-prepared
+
+net tool-change <= iocontrol.0.tool-change
+net tool-changed => iocontrol.0.tool-changed
+
+net tool-number <= iocontrol.0.tool-number
+net tool-prep-number <= iocontrol.0.tool-prep-number
+net tool-prep-pocket <= iocontrol.0.tool-prep-pocket
+

tests/abort/feed-rate/test-ui.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.RCS_DONE) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError("Timeout")
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+feed_rate = 234.5
+c.mdi('g94 ; normal "units per minute" feed mode')
+c.mdi('f%.1f' % feed_rate)
+c.wait_complete()
+c.abort()
+c.wait_complete()
+s.poll()
+print("feed rate:{}".format(s.settings[1]))
+assert(math.fabs(s.settings[1] - feed_rate) < 0.0000001)
+
+feed_rate = 345.6
+c.mdi('g95 ; "units per revolution" feed mode')
+c.mdi('f%.1f' % feed_rate)
+c.wait_complete()
+c.abort()
+c.wait_complete()
+s.poll()
+print("feed rate:{}".format(s.settings[1]))
+assert(math.fabs(s.settings[1] - feed_rate) < 0.0000001)
+
+sys.exit(0)
+

tests/abort/feed-rate/test.ini

@@ -0,0 +1,119 @@
+# This config file was created 2016-10-21 21:15:55.646298 by the update_ini script
+# The original config files may be found in the /home/seb/linuxcnc-dev/tests/abort/feed-rate/test.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+#DEBUG = 0x0
+DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.hal
+
+[HALUI]
+#No Content
+[TRAJ]
+
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY =      1.2
+MAX_LINEAR_ACCELERATION =      123.45
+MAX_LINEAR_VELOCITY =          45.67
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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 = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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 = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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

tests/abort/feed-rate/test.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+rm -f sim.var
+linuxcnc -r test.ini
+

tests/abort/g64/.gitignore

@@ -0,0 +1 @@
+sim.var*

tests/abort/g64/README

@@ -0,0 +1,24 @@
+After program abort, show whether G61/G61.1/G64 settings are
+consistent with machine state at last executing motion prior to abort.
+
+This test runs and aborts a test .ngc program several times with
+various motion mode and blend/naive CAM tolerance settings.  Checks
+are performed at various times relative to program execution:
+
+1) Motion mode:  Does stat buffer agree with programmed mode?
+
+2) G64 tolerance settings:  Does stat buffer agree with programmed P/Q
+   args?  (Only for G64, and only when these params are available in
+   stat buffer)
+
+3) G64 tolerance settings:  Do programmed tolerance settings produce
+   expected motion, as evidenced by samples taken during program
+   execution?
+
+The .ngc program is aborted before ever reaching a G64 programmed at
+the end.  This demonstrates a bug caused by motion and interp running
+out of synch, affecting LinuxCNC v. 2.7 and reported in Github issue
+#177.
+
+The fix will be introduced with Rob Ellenberg's state tags work,
+discussed in Github issue #134.

tests/abort/g64/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/abort/g64/motion-test.hal

@@ -0,0 +1,18 @@
+
+# sample where motion tells us to go
+
+loadrt sampler depth=1000 cfg=fffffffff
+
+addf sampler.0              servo-thread
+
+net Xpos => sampler.0.pin.0
+net Ypos => sampler.0.pin.1
+net Zpos => sampler.0.pin.2
+net Xvel => sampler.0.pin.3
+net Yvel => sampler.0.pin.4
+net Zvel => sampler.0.pin.5
+net Xacc => sampler.0.pin.6
+net Yacc => sampler.0.pin.7
+net Zacc => sampler.0.pin.8
+
+loadusr halsampler -t motion-samples.log

tests/abort/g64/test-ui.py

@@ -0,0 +1,161 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import time, sys, os
+
+
+def process_samples(z_lev, expected_max_x):
+    # Read motion-samples.log for samples at the specified Z level and
+    # find the maximum X
+    res = 0
+    f = open('motion-samples.log','r')
+    max_x = 0.0
+    max_y = 0.0
+    samples = 0
+    for line in f:
+        try:
+            i, x, y, z, xvel, yvel, zvel, xacc, yacc, zacc = [
+                float(n) for n in line.split(' ')[:10]]
+        except ValueError:
+            # halsampler is still writing, so an incomplete line may be read
+            break
+        if z < z_lev:
+            # Ignore travel between Z levels
+            continue
+        if z > z_lev:
+            break
+        if x > max_x:
+            # Record new maximum
+            max_x = x
+            max_y = y
+        samples += 1
+    f.close()
+    print("z=%.1f; max_x = %.6f; max_y = %.6f; samples = %d" % (
+        z_lev, max_x, max_y, samples))
+    if abs(max_x - expected_max_x) > 0.1:
+        print("*** ERROR max X%.3f != expected X%.3f" % (
+            max_x, expected_max_x))
+        res += 1
+    return res
+
+def check_status(msg, expected_mode, expected_p, expected_q):
+    res = 0
+    # Read status and print control mode and tolerances
+    s.poll()
+    control_mode = None
+    for i in s.gcodes:
+        if i in (610, 611, 640):
+            control_mode = i
+    if len(s.settings) == 3:
+        # Pre-state-tags fix
+        print("%s:  Control mode = %d" % (msg, control_mode))
+        p, q = (expected_p, expected_q)  # Fake valid results
+    else:
+        # After state-tags fix
+        print("%s:  Control mode = %d; tolerances = P%.3f Q%.3f" % (
+            msg, control_mode, s.settings[3], s.settings[4]))
+        p, q = (s.settings[3], s.settings[4])
+    if control_mode != expected_mode:
+        print("*** ERROR control mode %d != expected %d" % (
+            control_mode, expected_mode))
+        res += 1
+    if expected_p is not None and abs(p - expected_p) > 0.001:
+        print("*** ERROR blend tolerance P%.3f != expected P%.3f" % (
+            p, expected_p))
+        res += 1
+    if expected_q is not None and abs(q - expected_q) > 0.001:
+        print("*** ERROR naive CAM tolerance Q%.3f != expected Q%.3f" % (
+            q, expected_q))
+        res += 1
+    return res
+
+def run_and_abort(msg, z_lev, expected_max_x,
+                  expected_mode, expected_p, expected_q, *init_cmds):
+    res = 0
+    # Move to specified Z level and run init commands; run test.ngc
+    # and abort; print status and max X values during run
+
+    # Run init commands
+    c.mode(linuxcnc.MODE_MDI)
+    c.mdi('F1200 G0X0Y0Z%.1f' % z_lev)
+    c.wait_complete()
+    for cmd in init_cmds:
+        print("Running command '%s'" % cmd)
+        c.mdi(cmd)
+        c.wait_complete()
+    res += check_status(
+        '%s post-command' % msg, expected_mode, expected_p, expected_q)
+
+    # Run program
+    print("Running program 'test.ngc'")
+    c.mode(linuxcnc.MODE_AUTO)
+    c.program_open("test.ngc")
+    c.auto(linuxcnc.AUTO_RUN, 1)
+
+    # Wait for things to get underway, then abort
+    c.wait_complete()
+    # Let zig-zags run to a certain point
+    while s.position[1] < 1.0:
+        time.sleep(0.1)
+        s.poll()
+    res += check_status(
+        '%s pre-abort' % msg, expected_mode, expected_p, expected_q)
+    c.abort()
+    c.wait_complete()
+
+    # Check settings
+    res += check_status(
+        '%s post-abort' % msg, expected_mode, expected_p, expected_q)
+
+    # Print max
+    res += process_samples(z_lev, expected_max_x)
+    print()
+
+    return res
+
+#
+# INIT
+#
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+#
+# TESTS
+#
+# Set up with various G61/G61.1/G64 commands, run test.ngc, and check
+# 1) whether stat buffer shows correct motion mode;
+# 2) whether tolerance settings produce expected motion;
+# 3) for G64, whether tolerance settings are correct in stat buffer
+res = 0
+# Z=0:  exact path mode:  X up to 5"
+res += run_and_abort('G61',          0.0, 5.0, 610, None, None, 'G61')
+res += run_and_abort('G61 redo',     0.5, 5.0, 610, None, None)
+# Z=1:  exact stop mode:  X up to 5"
+res += run_and_abort('G61.1',        1.0, 5.0, 611, None, None, 'G61.1')
+res += run_and_abort('G61.1 redo',   1.5, 5.0, 611, None, None)
+# Z=2:  path blending, 0.5" blend tolerance:  X up to 4.5"
+res += run_and_abort('G64P0.5',      2.0, 4.5, 640,  0.5,  0.0, 'G64P0.5Q0')
+res += run_and_abort('G64P0.5 redo', 2.5, 4.5, 640,  0.5,  0.0)
+# Z=3:  path blending, best possible speed:  X up to 3.725"
+res += run_and_abort('G64',          3.0, 3.7, 640,  0.0,  0.0, 'G64')
+res += run_and_abort('G64 redo',     3.5, 3.7, 640,  0.0,  0.0)
+# Z=4:  path blending, 6" naive cam tolerance:  X always 0" (zig-zags collapse)
+res += run_and_abort('G64P0Q6',      4.0, 0.0, 640,  0.0,  6.0, 'G64Q6')
+res += run_and_abort('G64P0Q6 redo', 4.5, 0.0, 640,  0.0,  6.0)
+
+#
+# CLEANUP
+#
+if res == 0:  # Leave samples in case of error
+    os.unlink('motion-samples.log')
+os.unlink('sim.var')
+os.unlink('sim.var.bak')
+print("Exiting with %d errors" % res)
+sys.exit(res)
+

tests/abort/g64/test.ini

@@ -0,0 +1,120 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+#DEBUG = 2147483647
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+LOG_LEVEL=5
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+COMM_WAIT = 0.010
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:core_sim.hal
+HALFILE = motion-test.hal
+
+[HALUI]
+#No Content
+[TRAJ]
+
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_LINEAR_VELOCITY =      1.2
+MAX_LINEAR_ACCELERATION =      10
+MAX_LINEAR_VELOCITY =          140
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 5
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 5
+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 = 4
+MAX_ACCELERATION = 5
+
+[JOINT_1]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 5
+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 = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 5
+
+[JOINT_2]
+
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 5
+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

tests/abort/g64/test.ngc

@@ -0,0 +1,25 @@
+%
+; Stepover for zig-zag
+#100 = 1
+; Start at a fast clip from X0Y0
+G0 X0Y0 F120
+; Run a bunch of zig-zags
+#1 = 0
+O100 WHILE [#1 LT 5*#100]
+
+    ; zig
+    G1 X5 Y[#1 + #100]
+
+    ; zag
+    G1 X0 Y[#1 + 2*#100]
+
+    #1 = [#1 + 2*#100]
+O100 ENDWHILE
+
+; Do a nice, slow move to ensure time for abort
+F1 G1 Y10 (bogus location)
+
+; Set G64; execution will never reach here
+G64 P1 Q2
+
+%

tests/abort/g64/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+rm -f motion-samples.log
+
+linuxcnc -r test.ini

tests/abort/on_abort_command-crazy-move/.gitignore

@@ -0,0 +1,4 @@
+out.motion-logger
+rs274ngc.var
+rs274ngc.var.bak
+test.ngc

tests/abort/on_abort_command-crazy-move/README.md

@@ -0,0 +1,10 @@
+# Test for movement after abort
+
+Test for issue [#579][1], [#393][2] & [#241][3], where an abort while
+interp is loading a long `.ngc` file, and an `ON_ABORT_COMMAND` block
+triggers a readahead bug where unflushed segments are appended to the
+interp list.
+
+[1]:  https://github.com/LinuxCNC/linuxcnc/issues/579
+[2]:  https://github.com/LinuxCNC/linuxcnc/issues/393
+[3]:  https://github.com/LinuxCNC/linuxcnc/issues/241

tests/abort/on_abort_command-crazy-move/checkresult

@@ -0,0 +1,3 @@
+#!/bin/sh
+# Python script exit indicates test success/fail
+exit 0

tests/abort/on_abort_command-crazy-move/mock-motion.hal

@@ -0,0 +1,3 @@
+loadusr -W motion-logger out.motion-logger
+setp iocontrol.0.emc-enable-in 1
+

tests/abort/on_abort_command-crazy-move/postgui.hal

@@ -0,0 +1,2 @@
+net Xpos => test-ui.Xpos
+net Ypos => test-ui.Ypos

tests/abort/on_abort_command-crazy-move/simpockets.tbl

@@ -0,0 +1,3 @@
+T1 P0 D0.125000 Z+1.000000 ;
+T10 P3 D0.500000 Z+3.000000 ;
+T99999 P50 Z+2.000000 ;

tests/abort/on_abort_command-crazy-move/subroutines/on_abort.ngc

@@ -0,0 +1,4 @@
+o<on_abort> sub
+G64 P0.1
+o<on_abort> endsub
+m2

tests/abort/on_abort_command-crazy-move/test-ui.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+
+# Time increment and timeout, seconds
+TIME_INCR = 0.1
+TIMEOUT = 10.0
+MAX_QWAIT_TRIES = 4
+
+#
+# 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.ready()
+os.system("halcmd source ./postgui.hal")
+
+#
+# Come out of E-stop, turn the machine on, home
+#
+
+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])
+
+#
+# Print status function
+#
+
+def print_stats(x = None, y = None):
+    s.poll()
+    if x is None:
+        sys.stderr.write(
+            "queue=%d; active_queue=%d; queue_full=%s;"
+            " x=%.3f; y=%.3f\n" %
+            (s.queue, s.active_queue, s.queue_full, h['Xpos'], h['Ypos']))
+    else:
+        sys.stderr.write(
+            "queue=%d; active_queue=%d; queue_full=%s;"
+            " x=%.3f(%.3f); y=%.3f(%.3f)\n" %
+            (s.queue, s.active_queue, s.queue_full,
+             h['Xpos'], x-h['Xpos'], h['Ypos'], y-h['Ypos']))
+
+#
+# Set up tool and start position
+#
+c.mode(linuxcnc.MODE_MDI)
+c.mdi('T1M6') # Load tool 1
+c.mdi('G0 X2 Y2') # Move near to start
+c.wait_complete()
+start_time = time.time()
+while (abs(h['Xpos'] - 2) > .001) or  (abs(h['Ypos'] - 2) > .001):
+    if (time.time() - start_time) > TIMEOUT:
+        sys.stderr.write("Failed to reach start position in time\n")
+        os.system("halcmd show")
+        sys.exit(1)
+    time.sleep(TIME_INCR)
+sys.stderr.write("Starting at X=%.3f Y=%.3f\n" % (h["Xpos"], h["Ypos"]))
+
+
+#
+# Run the generated program, wait for motion to start and the queue to
+# fill up
+#
+c.mode(linuxcnc.MODE_AUTO)
+# c.program_open('test.ngc')
+c.program_open('3D_Chips.ngc')
+c.auto(linuxcnc.AUTO_RUN, 0)
+start_time = time.time()
+s.poll()
+MAX_QWAIT_TRIES=4
+ct=0
+while not (s.queue > 1000):
+    delta_t = time.time() - start_time
+    if delta_t > TIMEOUT:
+        sys.stderr.write("ct=%d s.queue=%d delta_t=%f TIMEOUT=%f\n"%(
+                          ct,s.queue,delta_t,TIMEOUT))
+        start_time = time.time()
+        ct += 1
+    if ct > MAX_QWAIT_TRIES:
+        sys.stderr.write("Failed to load segments from program\n")
+        sys.exit(1)
+
+    print_stats()
+    time.sleep(TIME_INCR)
+sys.stderr.write("Program partially loaded\n")
+
+#
+# Now stop the program and wait for any additional motion
+#
+# Program X stepover is 2.5mm, or 0.1in; error out if the X stepover
+# exceeds 0.15 (fudge added to eliminate a legitimate stepover during
+# lag between cycles)
+
+pre_stop_x, pre_stop_y = h['Xpos'], h['Ypos']
+c.abort()
+
+start_time = time.time()
+last_x = pre_stop_x
+fail = False
+while (time.time() - start_time) < TIMEOUT and h['Xpos'] != last_x:
+    print_stats(pre_stop_x, pre_stop_y)
+    err = abs(pre_stop_x - h['Xpos'])
+    if err > 0.15:
+        sys.stderr.write(
+            'ERROR:  X axis motion stopped %.3f" past stop position\n' % err)
+        fail = True
+    last_x = h['Xpos']
+    time.sleep(TIME_INCR)
+
+if fail:
+    sys.exit(1)
+
+sys.stderr.write('Success\n')
+sys.exit(0)

tests/abort/on_abort_command-crazy-move/test.ini

@@ -0,0 +1,106 @@
+[EMC]
+# DEBUG = 0
+DEBUG = 2147483647
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE =        sim.var
+LOG_LEVEL = 5
+ON_ABORT_COMMAND=O <on_abort> call
+SUBROUTINE_PATH = subroutines
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          4.0
+BASE_PERIOD  =               0
+SERVO_PERIOD =               1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 120
+MAX_LINEAR_VELOCITY =   400
+NO_FORCE_HOMING =       1
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 1
+
+[AXIS_X]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[AXIS_Y]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[AXIS_Z]
+HOME =                          0.0
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+

tests/abort/on_abort_command-crazy-move/test.sh

@@ -0,0 +1,7 @@
+#!/bin/bash -e
+
+# Run test file in task
+linuxcnc -r test.ini
+RES=$?
+
+exit $RES

tests/abort/stop-button-crazy-move/.gitignore

@@ -0,0 +1,4 @@
+out.motion-logger
+rs274ngc.var
+rs274ngc.var.bak
+test.ngc

tests/abort/stop-button-crazy-move/README.md

@@ -0,0 +1,8 @@
+# Test for movement after abort
+
+Test for [issue #865][1], where an abort while interp is loading a
+long `.ngc` file, and a block restoring a state tag triggers a
+readahead bug where unflushed segments are appended to the interp
+list.
+
+[1]:  https://github.com/LinuxCNC/linuxcnc/issues/865

tests/abort/stop-button-crazy-move/checkresult

@@ -0,0 +1,3 @@
+#!/bin/sh
+# Python script exit indicates test success/fail
+exit 0

tests/abort/stop-button-crazy-move/mock-motion.hal

@@ -0,0 +1,3 @@
+loadusr -W motion-logger out.motion-logger
+setp iocontrol.0.emc-enable-in 1
+

tests/abort/stop-button-crazy-move/postgui.hal

@@ -0,0 +1,2 @@
+net Xpos => test-ui.Xpos
+net Ypos => test-ui.Ypos

tests/abort/stop-button-crazy-move/simpockets.tbl

@@ -0,0 +1,3 @@
+T1 P0 D0.125000 Z+1.000000 ;
+T10 P3 D0.500000 Z+3.000000 ;
+T99999 P50 Z+2.000000 ;

tests/abort/stop-button-crazy-move/test-ui.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+
+# Time increment and timeout, seconds
+TIME_INCR = 0.1
+TIMEOUT = 10.0
+
+#
+# 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.ready()
+os.system("halcmd source ./postgui.hal")
+
+#
+# Come out of E-stop, turn the machine on, home
+#
+
+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])
+
+#
+# Print status function
+#
+
+def print_stats(x = None, y = None):
+    s.poll()
+    if x is None:
+        sys.stderr.write(
+            "queue=%d; active_queue=%d; queue_full=%s;"
+            " x=%.3f; y=%.3f\n" %
+            (s.queue, s.active_queue, s.queue_full, h['Xpos'], h['Ypos']))
+    else:
+        sys.stderr.write(
+            "queue=%d; active_queue=%d; queue_full=%s;"
+            " x=%.3f(%.3f); y=%.3f(%.3f)\n" %
+            (s.queue, s.active_queue, s.queue_full,
+             h['Xpos'], x-h['Xpos'], h['Ypos'], y-h['Ypos']))
+
+#
+# Set up tool and start position
+#
+c.mode(linuxcnc.MODE_MDI)
+c.mdi('T1M6') # Load tool 1
+c.mdi('G0 X2 Y2') # Move near to start
+c.wait_complete()
+start_time = time.time()
+while (abs(h['Xpos'] - 2) > .001) or  (abs(h['Ypos'] - 2) > .001):
+    if (time.time() - start_time) > TIMEOUT:
+        sys.stderr.write("Failed to reach start position in time\n")
+        os.system("halcmd show")
+        sys.exit(1)
+    time.sleep(TIME_INCR)
+sys.stderr.write("Starting at X=%.3f Y=%.3f\n" % (h["Xpos"], h["Ypos"]))
+
+
+#
+# Run the generated program, wait for motion to start and the queue to
+# fill up
+#
+c.mode(linuxcnc.MODE_AUTO)
+# c.program_open('test.ngc')
+c.program_open('3D_Chips.ngc')
+c.auto(linuxcnc.AUTO_RUN, 0)
+start_time = time.time()
+s.poll()
+while not (s.queue > 1000):
+    if (time.time() - start_time) > TIMEOUT:
+        sys.stderr.write("Failed to load segments from program\n")
+        sys.exit(1)
+
+    print_stats()
+    time.sleep(TIME_INCR)
+sys.stderr.write("Program partially loaded\n")
+
+#
+# Now stop the program and wait for any additional motion
+#
+# Program X stepover is 2.5mm, or 0.1in; error out if the X stepover
+# exceeds 0.15 (fudge added to eliminate a legitimate stepover during
+# lag between cycles)
+
+pre_stop_x, pre_stop_y = h['Xpos'], h['Ypos']
+c.abort()
+
+start_time = time.time()
+last_x = pre_stop_x
+fail = False
+while (time.time() - start_time) < TIMEOUT and h['Xpos'] != last_x:
+    print_stats(pre_stop_x, pre_stop_y)
+    err = abs(pre_stop_x - h['Xpos'])
+    if err > 0.15:
+        sys.stderr.write(
+            'ERROR:  X axis motion stopped %.3f" past stop position\n' % err)
+        fail = True
+    last_x = h['Xpos']
+    time.sleep(TIME_INCR)
+
+if fail:
+    sys.exit(1)
+
+sys.stderr.write('Success\n')
+sys.exit(0)

tests/abort/stop-button-crazy-move/test.ini

@@ -0,0 +1,104 @@
+[EMC]
+DEBUG = 0
+# DEBUG = 2147483647
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE =        sim.var
+# LOG_LEVEL = 5
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          4.0
+BASE_PERIOD  =               0
+SERVO_PERIOD =               1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 120
+MAX_LINEAR_VELOCITY =   400
+NO_FORCE_HOMING =       1
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 1
+
+[AXIS_X]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[AXIS_Y]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[AXIS_Z]
+HOME =                          0.0
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  400
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+

tests/abort/stop-button-crazy-move/test.sh

@@ -0,0 +1,7 @@
+#!/bin/bash -e
+
+# Run test file in task
+linuxcnc -r test.ini
+RES=$?
+
+exit $RES