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Wang Dequan
285
tests/linuxcncrsh/test.sh
Executable file
285
tests/linuxcncrsh/test.sh
Executable file
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#!/bin/bash
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set -e
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rm -f gcode-output
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if nc -z localhost 5007; then
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echo "Process already listening on port 5007. Exiting"
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exit 1
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fi
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linuxcnc -r linuxcncrsh-test.ini &
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# let linuxcnc come up
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TOGO=80
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while [ $TOGO -gt 0 ]; do
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echo "trying to connect to linuxcncrsh TOGO=$TOGO"
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if nc -z localhost 5007; then
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break
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fi
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sleep 0.25
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TOGO=$((TOGO - 1))
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done
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if [ $TOGO -eq 0 ]; then
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echo connection to linuxcncrsh timed out
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exit 1
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fi
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# test set command by
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# - getting the key's old value before setting
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# - setting the new value
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# - getting the new value
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# - collect possible error from linuxcncsvr
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function testSet() {
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# get before value
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echo "get $1"
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# set cmd
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echo "set $*"
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# get after value
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echo "get $1"
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# get error from server (or OK)
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echo "get error"
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}
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function testSetOnly() {
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# set cmd
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echo "set $*"
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# get error from server (or OK)
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echo "get error"
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}
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(
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# initialize
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echo set timestamp off
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#echo set timestamp on
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# We don't really care about versioning this API
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echo hello EMC mt 1.1
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# Providing a bad password will disable and unlink
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echo hello BADPASSWORD mt 1.1
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echo get debug
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# relink
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echo hello EMC mt
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# Don't echo enable password
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echo set echo off
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testSet enable EMCTOO
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echo set echo on
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echo get debug
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testSet verbose on
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testSet echo off
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# ask linuxcncrsh to not read the next command until it's done running
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# the current one
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testSet wait_mode "done"
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# Get some INI file entries
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echo get ini DISPLAY DISPLAY
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echo get ini SPINDLES TRAJ
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echo get ini AVAILABLE NOT
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# Can't use 'get inifile' because it returns an absolute path that varies
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# with the test environment.
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# echo get inifile
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# check default global settings
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echo get plat
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echo get update
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# test commands that fail when machine not running
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testSet mode mdi
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# prepare machine
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testSet estop off
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testSet machine on
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# test if probing in manual mode fails
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testSet mode manual
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echo get pos_offset
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echo get probe_tripped
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echo get probe_value
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testSetOnly probe_clear
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testSetOnly probe 0 0 0 # <x> <y> <z>
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testSetOnly probe_clear
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# test if probing before homing fails (not)
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testSet mode mdi
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# probe with zero feed fails
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testSetOnly probe 0 0 0 # <x> <y> <z>
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echo set mdi f10
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# probe with no movement fails
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testSetOnly probe 0 0 0 # <x> <y> <z>
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testSetOnly probe 0 0 0.01 # <x> <y> <z>
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echo get probe_tripped
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testSetOnly probe_clear
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# do homing
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testSet mode manual
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echo get joint_homed # Current home status
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testSetOnly joint_home 0 # Home joint
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echo set joint_wait_homed 0 # Homing takes time
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echo get joint_homed # New home status
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testSetOnly joint_home 1
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echo set joint_wait_homed 1
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echo get joint_homed
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testSetOnly joint_home 2
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echo set joint_wait_homed 2
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echo get joint_homed
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# These should fail, there are only three joints
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# (also tests alias of joint_home)
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testSetOnly home 3
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testSetOnly home 4
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testSetOnly home 5
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echo set wait_heartbeat 10000 # must fail: would be 10 seconds
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echo set echo on
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echo set wait_heartbeat
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testSet teleop_enable off # Or we can't unhome
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echo get joint_homed
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testSetOnly joint_unhome 1
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echo get joint_homed
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testSetOnly joint_home 1
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echo set joint_wait_homed 1
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echo get joint_homed
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# There is a race on get teleop_enable. After we homed, it may take a while
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# for teleop mode to become active again.
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# The SET JOINT_WAIT_HOMED already waited a heartbeat for us
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# echo set wait_heartbeat
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echo get teleop_enable
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echo set echo off
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# test probing
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testSet mode mdi
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testSetOnly probe 0 0 0.02 # <x> <y> <z>
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echo get probe_tripped
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testSetOnly probe_clear
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testSet mode manual
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testSet teleop_enable on
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testSet mode mdi
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testSetOnly probe 0 0 0 # <x> <y> <z>
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echo get probe_tripped
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testSetOnly probe_clear
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# test spindle command
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testSet mode manual
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testSet spindle forward # turn on all w/o param
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testSet spindle off -1 # turn off all w/param
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echo get spindle -1 # check all w/param
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testSet spindle forward 99 # turn on illegal spindle
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# test brake command
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testSet brake on # turn on all w/o param
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testSet brake off -1 # turn off all w/param
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echo get brake -1 # check all w/param
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testSet brake forward 99 # turn on illegal spindle
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# test pause
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testSet wait_mode received # otherwise pause will stall
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testSetOnly pause
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testSet wait_mode "done"
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testSetOnly resume
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# test g-code
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echo set mode mdi
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echo set mdi f10
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echo get abs_act_pos
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echo set mdi g1 x0.3 y0.2 z-0.1 # Feed move
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echo set wait_heartbeat 5 # End of move may take some time
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echo get abs_act_pos
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echo set mdi g0x0y0z0 # Rapid back to home
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echo set mdi m100 p-1 q-2
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# here comes a big blob
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dd bs=4096 if=lots-of-gcode
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echo set mdi m100 p-3 q-4
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# test misc. get commands
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echo get error
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echo get abs_act_pos
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echo get abs_cmd_pos
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echo get angular_unit_conversion
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echo get display_angular_units
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echo get display_linear_units
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echo get error
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echo get feed_override
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echo get flood
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echo get joint_fault
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echo get joint_homed
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echo get joint_limit
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echo get joint_pos
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echo get joint_type
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echo get joint_units
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echo get kinematics_type
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echo get linear_unit_conversion
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echo get mist
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echo get operator_display
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echo get operator_text
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echo get optional_stop
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echo get override_limits
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echo get program
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echo get program_angular_units
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echo get program_codes
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echo get program_line
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echo get program_linear_units
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echo get program_status
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echo get program_units
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echo get rel_act_pos
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echo get rel_cmd_pos
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echo get wait_mode
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echo get teleop_enable
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echo get timeout
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echo get tool
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echo get tool_offset
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echo get update
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echo get user_angular_units
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echo get user_linear_units
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# test misc. set commands
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testSetOnly abort
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testSet angular_unit_conversion deg # <Deg | Rad | Grad | Auto | Custom>
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testSet feed_override 100 # <Percent>
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testSet flood on # <On | Off>
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testSetOnly jog 0 1 # <Axis No, Speed>
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testSetOnly jog_incr 0 1 1 # <Axis No, Speed, Distance>
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testSetOnly jog_stop 0 # <Joint No|Axis letter>
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testSet linear_unit_conversion mm # <Inch | CM | MM | Auto | Custom>
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testSet mist on # <On | Off>
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testSet optional_stop 1 # <none | 0 | 1>
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# These are a bit awkward to test
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#testSet load_tool_table <Table name>
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#testSet Open <File path / name>
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#testSet run <Line No>
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# Testing set override_limits results in command line message:
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# can't do that (EMC_JOINT_OVERRIDE_LIMITS:129) in MDI mode
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testSet override_limits off # <On | Off>
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# Testing step results in a command line message:
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# can't do that (EMC_TASK_PLAN_STEP:511) in MDI mode
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testSetOnly step
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testSetOnly task_plan_init
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testSet teleop_enable off
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testSet timeout 10
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#testSet tool_offset 1 0.5 0.25
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testSet update auto # <None | Auto>
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testSet wait "done" # Wait for last command to be processed
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echo set estop on
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echo get estop
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# Shutdown will terminate linuxcncrsh and thus terminates everything
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# because it is set as our DISPLAY program.
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echo shutdown
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) | nc -v localhost 5007 > telnet-output
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# wait for linuxcnc to finish
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wait
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exit 0
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