Import LinuxCNC source tree

tests/io-startup/.gitignore

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+sim.var*
+tool.tbl

tests/io-startup/checkresult

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

tests/io-startup/nonrandom/no-tool-in-P0/checkresult

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+../../checkresult

tests/io-startup/nonrandom/no-tool-in-P0/expected-startup-tool-number

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+0

tests/io-startup/nonrandom/no-tool-in-P0/test.ini

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+../test.ini

tests/io-startup/nonrandom/no-tool-in-P0/test.sh

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+../../shared-test.sh

tests/io-startup/nonrandom/no-tool-in-P0/tool.tbl.original

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+T2 P2 D1.123 Z+2.0 ;
+T1 P1 D0.125000 Z+1.000000 ;
+T7 P7 D0.500000 Z+3.000000 ;

tests/io-startup/nonrandom/test.ini

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+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+DEBUG = 0x7fffffff
+
+[DISPLAY]
+DISPLAY = ../../test-ui.py
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+POSTGUI_HALFILE = ../../postgui.hal
+
+[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_VELOCITY =   4
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+RANDOM_TOOLCHANGER = 0
+
+[KINS]
+KINEMATICS = trivkins
+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 = -4.0
+MAX_LIMIT = 4.0
+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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/io-startup/nonrandom/tool-in-P0/checkresult

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+../../checkresult

tests/io-startup/nonrandom/tool-in-P0/expected-startup-tool-number

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+0

tests/io-startup/nonrandom/tool-in-P0/test.ini

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+../test.ini

tests/io-startup/nonrandom/tool-in-P0/test.sh

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+../../shared-test.sh

tests/io-startup/nonrandom/tool-in-P0/tool.tbl.original

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+T2 P0 D1.123 Z+2.0 ;
+T1 P1 D0.125000 Z+1.000000 ;
+T7 P7 D0.500000 Z+3.000000 ;

tests/io-startup/postgui.hal

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+
+net tool-number <= iocontrol.0.tool-number
+net tool-number <= test-ui.tool-number
+

tests/io-startup/random/no-tool-in-P0/checkresult

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+../../checkresult

tests/io-startup/random/no-tool-in-P0/expected-startup-tool-number

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+-1

tests/io-startup/random/no-tool-in-P0/test.ini

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+../test.ini

tests/io-startup/random/no-tool-in-P0/test.sh

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+../../shared-test.sh

tests/io-startup/random/no-tool-in-P0/tool.tbl.original

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+T2 P2 D1.123 Z+2.0 ;
+T1 P1 D0.125000 Z+1.000000 ;
+T7 P7 D0.500000 Z+3.000000 ;

tests/io-startup/random/test.ini

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+[EMC]
+VERSION = 1.1
+DEBUG = 0x7fffffff
+
+[DISPLAY]
+DISPLAY = ../../test-ui.py
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+POSTGUI_HALFILE = ../../postgui.hal
+
+[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_VELOCITY =   4
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+RANDOM_TOOLCHANGER = 1
+
+[KINS]
+KINEMATICS = trivkins
+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 = -4.0
+MAX_LIMIT = 4.0
+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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/io-startup/random/tool-in-P0/checkresult

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+../../checkresult

tests/io-startup/random/tool-in-P0/expected-startup-tool-number

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+2

tests/io-startup/random/tool-in-P0/test.ini

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+../test.ini

tests/io-startup/random/tool-in-P0/test.sh

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+../../shared-test.sh

tests/io-startup/random/tool-in-P0/tool.tbl.original

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+T2 P0 D1.123 Z+2.0 ;
+T1 P1 D0.125000 Z+1.000000 ;
+T7 P7 D0.500000 Z+3.000000 ;

tests/io-startup/shared-test.sh

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+#!/bin/bash
+
+rm -f tool.tbl
+cp tool.tbl.original tool.tbl
+
+exec linuxcnc -r test.ini

tests/io-startup/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc_util
+import hal
+import time
+import sys
+import os
+
+
+# this is how long we wait for linuxcnc to do our bidding
+timeout = 5.0
+
+
+# unbuffer stdout
+sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
+
+
+def wait_for_pin_value(pin_name, value, timeout=5.0):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        time.sleep(0.1)
+        if h[pin_name] == value:
+            print("pin '%s' reached target value '%s' after %f seconds" % (pin_name, value, time.time() - start_time))
+            return
+    print("Error: pin '%s' didn't reach value '%s' within timeout of %f seconds (it's %s instead)" % (pin_name, value, timeout, h[pin_name]))
+    sys.exit(1)
+
+
+f = open('expected-startup-tool-number', 'r')
+contents = f.read()
+f.close()
+expected_startup_tool_number = int(contents)
+print("expecting tool number %d" % expected_startup_tool_number)
+
+#
+# set up pins
+# shell out to halcmd to make nets to halui and motion
+#
+
+h = hal.component("test-ui")
+
+h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
+
+h.ready() # mark the component as 'ready'
+
+os.system("halcmd source ../../postgui.hal")
+
+
+#
+# connect to LinuxCNC
+#
+
+l = linuxcnc_util.LinuxCNC()
+
+wait_for_pin_value('tool-number', expected_startup_tool_number)
+
+l.wait_for_tool_in_spindle(expected_startup_tool_number)
+
+sys.exit(0)
+