Import LinuxCNC source tree

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

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+out.motion-logger
+rs274ngc.var
+rs274ngc.var.bak
+test.ngc

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

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+# 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

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+#!/bin/sh
+# Python script exit indicates test success/fail
+exit 0

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

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

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

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+net Xpos => test-ui.Xpos
+net Ypos => test-ui.Ypos

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

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+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

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+#!/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

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+[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

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