Import LinuxCNC source tree

tests/ccomp/early-exit/.gitignore

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+sim.var*

tests/ccomp/early-exit/README

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+This test starts LinuxCNC, enables cutter comp (with G41.1), then
+immediately cancels cutter comp (with G40) and verifies that the next
+motion goes to the expected location.
+
+In 2.6.12 and 2.7.7 this test replicates Github Issue #160.

tests/ccomp/early-exit/checkresult

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+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/ccomp/early-exit/core_sim.hal

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+# 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/ccomp/early-exit/test-ui.py

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+#!/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
+
+
+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)
+
+#time.sleep(9999)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+c.mdi('g0 x0.1 y0.2 z0.3')
+c.mdi('g41.1 d0.1')
+c.mdi('g40')
+c.mdi('g0 x0.9  ; surprise motion on Y and Z, to 0!!')
+c.wait_complete()
+
+s.poll()
+print("position: {}".format(s.position))
+assert(math.fabs(s.position[0] - 0.9) < 0.0000001)
+assert(math.fabs(s.position[1] - 0.2) < 0.0000001)
+assert(math.fabs(s.position[2] - 0.3) < 0.0000001)
+
+sys.exit(0)
+

tests/ccomp/early-exit/test.ini

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+# This config file was created 2016-10-21 22:10:26.765121 by the update_ini script
+# The original config files may be found in the /home/seb/linuxcnc-dev/tests/ccomp/early-exit/test.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+
+[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/ccomp/early-exit/test.sh

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+#!/bin/bash
+
+rm -f sim.var
+linuxcnc -r test.ini
+