Import LinuxCNC source tree

tests/blendmath/checkresult

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+#!/bin/sh
+grep -q "all blendmath checks passed" "$1" && ! grep -q "FAIL" "$1"

tests/blendmath/skip

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+#!/bin/sh
+# This test compiles blendmath.c and internal TP headers from the source
+# tree, which is only available in run-in-place builds. Skip when testing
+# installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/blendmath/test.sh

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+#!/bin/bash
+set -e
+
+# RIP layout: $HEADERS is $TOPDIR/include
+TOPDIR=$(dirname "$HEADERS")
+
+# blendmath.c references the rest of the TP (tc.c, spherical_arc.c,
+# sp_scurve.c, motion globals). Only the tested functions are used here, so
+# build with function sections and let the linker garbage-collect the rest
+# instead of linking the whole trajectory planner.
+gcc -O2 -Wall -ffunction-sections -fdata-sections -DULAPI -DUNIT_TEST \
+    -I"$HEADERS" -I"$TOPDIR/src" -I"$TOPDIR/src/emc" \
+    -o test_blendmath test_blendmath.c "$TOPDIR/src/emc/tp/blendmath.c" \
+    -L"$LIBDIR" -Wl,-rpath,"$LIBDIR" -Wl,--gc-sections -lposemath -lm
+
+./test_blendmath
+rm -f test_blendmath

tests/blendmath/test_blendmath.c

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+/*
+ * Unit tests for blendmath utility functions.
+ *
+ * Salvaged from the retired meson-only unit_tests/tp/test_blendmath.c
+ * (originally by Robert W. Ellenberg) and converted from the greatest
+ * framework to plain C so it can build and run as a runtest.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#include <rtapi.h>
+#include <posemath.h>
+#include "tp/blendmath.h"
+#include "tp/tp_types.h"
+
+/* kludge: satisfy rtapi_print_msg references without an rtapi app */
+void rtapi_print_msg(msg_level_t level, const char *fmt, ...)
+{
+    va_list args;
+
+    (void)level;
+    va_start(args, fmt);
+    vprintf(fmt, args);
+    va_end(args);
+}
+
+static int failures = 0;
+
+#define CHECK(cond) do { \
+    if (!(cond)) { \
+        printf("FAIL %s:%d: %s\n", __FILE__, __LINE__, #cond); \
+        failures++; \
+    } \
+} while (0)
+
+#define CHECK_FALSE(cond) CHECK(!(cond))
+
+static void test_pmCartCartParallel_numerical(void)
+{
+    PmCartesian u0 = {1, 0, 0};
+    PmCartesian u_close = {cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
+    int k;
+
+    CHECK(pmCartCartParallel(&u0, &u0, TP_ANGLE_EPSILON_SQ));
+    CHECK_FALSE(pmCartCartParallel(&u0, &u_close, 0.0));
+
+    /* Test that the tolerance makes sense */
+    CHECK_FALSE(pmCartCartParallel(&u0, &u_close, 0.5 * TP_ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartParallel(&u0, &u_close, 1.5 * TP_ANGLE_EPSILON_SQ));
+
+    /* Try a bunch of other angles including anti-parallel */
+    for (k = 1; k <= 7; ++k) {
+        PmCartesian u_far = {cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
+        CHECK_FALSE(pmCartCartParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
+    }
+}
+
+static void test_pmCartCartAntiParallel_numerical(void)
+{
+    PmCartesian u0 = {1, 0, 0};
+    PmCartesian u_close = {-cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
+    PmCartesian u_opposite;
+    int k;
+
+    pmCartScalMult(&u0, -1.0, &u_opposite);
+    CHECK(pmCartCartAntiParallel(&u0, &u_opposite, TP_ANGLE_EPSILON_SQ));
+    CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.0));
+
+    /* Test that the tolerance makes sense */
+    CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.5 * TP_ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartAntiParallel(&u0, &u_close, 1.5 * TP_ANGLE_EPSILON_SQ));
+
+    /* Try a bunch of other angles including anti-parallel */
+    for (k = 1; k <= 7; ++k) {
+        PmCartesian u_far = {-cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
+        CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
+    }
+}
+
+int main(void)
+{
+    test_pmCartCartParallel_numerical();
+    test_pmCartCartAntiParallel_numerical();
+
+    if (failures) {
+        printf("%d check(s) FAILED\n", failures);
+        return 1;
+    }
+    printf("all blendmath checks passed\n");
+    return 0;
+}