Import LinuxCNC source tree

tests/halmodule.1/expected

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+pass

tests/halmodule.1/stream_reader.py

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+#!/usr/bin/env python3
+import hal
+import time
+c = hal.component("stream_reader")
+reader = hal.stream(c, hal.streamer_base, "bfsu")
+for i in range(9):
+    assert reader.readable
+    assert reader.read() == ((i % 2, i, i, i))
+    assert reader.num_underruns == 0
+    assert reader.sampleno == i+1
+assert reader.read() is None
+assert reader.num_underruns == 1
+c.ready()
+print("pass")
+
+try:
+    while 1: time.sleep(1)
+except KeyboardInterrupt: pass

tests/halmodule.1/stream_test.py

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+#!/usr/bin/env python3
+import os
+os.system("halcmd unload all")
+import hal
+c = hal.component("stream_test")
+writer = hal.stream(c, hal.streamer_base, 10, "bfsu")
+c.ready()
+
+for i in range(9):
+    assert writer.writable
+    writer.write((i % 2, i, i, i))
+assert not writer.writable
+assert writer.num_overruns == 0
+try:
+    writer.write((1,1,1,1))
+except:
+    pass
+else:
+    assert False, "failed to get exception on full stream"
+assert writer.num_overruns == 1
+
+# In rtai realtime, it's only permitted to map a shared memory region more
+# once in a free-running component, so the writer and reader of a stream can't
+# exist at the same time in the same process
+del writer
+
+reader = hal.stream(c, hal.streamer_base, "bfsu")
+for i in range(9):
+    assert reader.readable
+    assert reader.read() == ((i % 2, i, i, i))
+    assert reader.num_underruns == 0
+    assert reader.sampleno == i+1
+assert reader.read() is None
+assert reader.num_underruns == 1
+
+print("pass")

tests/halmodule.1/stream_writer.py

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+#!/usr/bin/env python3
+import hal
+import time
+c = hal.component("stream_writer")
+writer = hal.stream(c, hal.streamer_base, 10, "bfsu")
+
+for i in range(9):
+    assert writer.writable
+    writer.write((i % 2, i, i, i))
+assert not writer.writable
+assert writer.num_overruns == 0
+try:
+    writer.write((1,1,1,1))
+except:
+    pass
+else:
+    assert False, "failed to get exception on full stream"
+assert writer.num_overruns == 1
+c.ready()
+
+try:
+    while 1: time.sleep(1)
+except KeyboardInterrupt: pass

tests/halmodule.1/test.hal

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+loadusr -W ./stream_writer.py
+loadusr -W ./stream_reader.py