Import LinuxCNC source tree

tests/mdi-queue/.gitignore

@@ -0,0 +1,6 @@
+dump.rdb
+expected-gcode-output
+lots-of-gcode
+gcode-output
+sim.var
+sim.var.bak

tests/mdi-queue/linuxcncrsh-test.ini

@@ -0,0 +1,104 @@
+[EMC]
+DEBUG = 0x7FFFFFFF
+VERSION = 1.1
+#DEBUG = 0
+
+[DISPLAY]
+DISPLAY = linuxcncrsh --path=./
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ../subs
+SUBROUTINE_PATH = ../subs
+#LOG_LEVEL = 99999999
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+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
+NO_FORCE_HOMING =       1
+
+[AXIS_X]
+HOME =             0.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+
+[AXIS_Y]
+HOME =             0.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+
+[AXIS_Z]
+HOME =             0.0
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_LINEAR_VELOCITY =     4
+MAX_LINEAR_ACCELERATION = 100.0
+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
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+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
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+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
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+

tests/mdi-queue/oword-queue-buster/checkresult

@@ -0,0 +1 @@
+../shared-checkresult

tests/mdi-queue/oword-queue-buster/dummy.ngc

@@ -0,0 +1,5 @@
+
+g53 g0 x0 y0 z0
+
+m2
+

tests/mdi-queue/oword-queue-buster/linuxcncrsh-test.ini

@@ -0,0 +1 @@
+../linuxcncrsh-test.ini

tests/mdi-queue/oword-queue-buster/test.sh

@@ -0,0 +1,101 @@
+#!/bin/bash
+
+rm -f gcode-output
+
+if ! command -v nc ; then
+    echo "E: Binary 'nc' not in PATH or not installed."
+    exit 1
+fi
+
+if ! command -v linuxcnc ; then
+    echo "E: Binary 'linuxcnc' not in PATH or not installed."
+    exit 1
+fi
+
+if nc -z localhost 5007; then
+    echo "E: Process already listening on port 5007. Exiting"
+    exit 1
+fi
+
+linuxcnc -r linuxcncrsh-test.ini &
+
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo "I: trying to connect to linuxcncrsh TOGO=$TOGO"
+    if nc -z localhost 5007; then
+        break
+    fi
+    sleep 0.25
+    TOGO=$((TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo "E: connection to linuxcncrsh timed out"
+    exit 1
+fi
+
+# switch back and forth between tool 1 and tool 2 every few MDI calls
+rm -f expected-gcode-output lots-of-gcode
+echo "P is -100.000000" >> expected-gcode-output
+NUM_MDIS=1
+NUM_MDIS_LEFT=$NUM_MDIS
+TOOL=1
+for i in $(seq 0 1000); do
+    NUM_MDIS_LEFT=$((NUM_MDIS_LEFT - 1))
+    if [ $NUM_MDIS_LEFT -eq 0 ]; then
+        echo "set mdi o<queue-buster> call [$TOOL]" >> lots-of-gcode
+        {
+        echo "P is 12345.000000"
+        echo "P is $((-1 * TOOL)).000000"
+        echo "P is 54321.000000"
+        }  >> expected-gcode-output
+
+        if [ $TOOL -eq 1 ]; then
+            TOOL=2
+        else
+            TOOL=1
+        fi
+
+        NUM_MDIS=$((NUM_MDIS + 1))
+        if [ $NUM_MDIS -gt 10 ]; then
+            NUM_MDIS=1
+        fi
+
+        NUM_MDIS_LEFT=$NUM_MDIS
+    fi
+    echo "set mdi m100 p$i" >> lots-of-gcode
+    echo "P is $i.000000" >> expected-gcode-output
+done
+echo "P is -200.000000" >> expected-gcode-output
+
+(
+    echo "hello EMC mt 1.0"
+    echo "set enable EMCTOO"
+
+    echo "set mode manual"
+    echo "set estop off"
+    echo "set machine on"
+
+    echo "set mode auto"
+    echo "set open dummy.ngc"
+
+    echo "set mode mdi"
+    echo "set mdi m100 p-100"
+    echo "set wait done"
+
+    # here comes a big blob
+    dd bs=4096 if=lots-of-gcode
+
+    echo "set mdi m100 p-200"
+    echo "set wait done"
+
+    echo shutdown
+) | nc localhost 5007
+
+
+# wait for linuxcnc to finish
+wait
+
+exit 0
+

tests/mdi-queue/oword-queue-buster/tool.tbl

@@ -0,0 +1 @@
+../tool.tbl

tests/mdi-queue/shared-checkresult

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+TEST_DIR=$(dirname "$1")
+cd "$TEST_DIR" || { echo "E: Could not change directory to '$TEST_DIR'"; exit 1; }
+
+diff -u expected-gcode-output gcode-output

tests/mdi-queue/simple-queue-buster/checkresult

@@ -0,0 +1 @@
+../shared-checkresult

tests/mdi-queue/simple-queue-buster/linuxcncrsh-test.ini

@@ -0,0 +1 @@
+../linuxcncrsh-test.ini

tests/mdi-queue/simple-queue-buster/test.sh

@@ -0,0 +1,96 @@
+#!/bin/bash
+
+rm -f gcode-output
+
+if ! command -v nc ; then
+    echo "E: Binary 'nc' not in PATH or not installed."
+    exit 1
+fi
+
+if ! command -v linuxcnc ; then
+    echo "E: Binary 'linuxcnc' not in PATH or not installed."
+    exit 1
+fi
+
+if nc -z localhost 5007; then
+    echo "E: Process already listening on port 5007. Exiting"
+    exit 1
+fi
+
+linuxcnc -r linuxcncrsh-test.ini &
+
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo "I: trying to connect to linuxcncrsh TOGO=$TOGO"
+    if nc -z localhost 5007; then
+        break
+    fi
+    sleep 0.25
+    TOGO=$((TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo connection to linuxcncrsh timed out
+    exit 1
+fi
+
+# switch back and forth between tool 1 and tool 2 every few MDI calls
+rm -f expected-gcode-output lots-of-gcode
+echo "P is -1.000000" >> expected-gcode-output
+NUM_MDIS=1
+NUM_MDIS_LEFT=$NUM_MDIS
+TOOL=1
+for i in $(seq 0 1000); do
+    NUM_MDIS_LEFT=$((NUM_MDIS_LEFT - 1))
+    if [ $NUM_MDIS_LEFT -eq 0 ]; then
+        echo "set mdi t$TOOL m6" >> lots-of-gcode
+        if [ $TOOL -eq 1 ]; then
+            TOOL=2
+        else
+            TOOL=1
+        fi
+
+        NUM_MDIS=$((NUM_MDIS + 1))
+        if [ $NUM_MDIS -gt 10 ]; then
+            NUM_MDIS=1
+        fi
+
+        NUM_MDIS_LEFT=$NUM_MDIS
+    fi
+    echo "set mdi m100 p$i" >> lots-of-gcode
+    echo "P is $i.000000" >> expected-gcode-output
+done
+echo "P is -2.000000" >> expected-gcode-output
+
+(
+    echo "hello EMC mt 1.0"
+    echo "set enable EMCTOO"
+
+    # ask linuxcncrsh to not read the next command until it's done running
+    # the current one
+    #echo "set set_wait done"
+
+    echo "set mode manual"
+    echo "set estop off"
+    echo "set machine on"
+
+    echo "set mode mdi"
+    echo "set mdi m100 p-1"
+    echo "set wait done"
+
+    # here comes a big blob
+    dd bs=4096 if=lots-of-gcode
+
+    echo "set mdi m100 p-2"
+    echo "set wait done"
+
+    echo "shutdown"
+) | nc localhost 5007
+
+
+# wait for linuxcnc to finish
+wait
+
+exit 0
+

tests/mdi-queue/simple-queue-buster/tool.tbl

@@ -0,0 +1 @@
+../tool.tbl

tests/mdi-queue/subs/M100

@@ -0,0 +1,17 @@
+#!/bin/bash
+#
+# This script (M100) is called to append an integer to a log file,
+# for testing purposes
+#
+# Put this in your INI to use:
+#
+#     [RS274NGC]USER_M_PATH = ./subs
+#
+
+TEST_DIR=$(dirname INI_FILE_NAME)
+OUT_FILE=$TEST_DIR/gcode-output
+
+P=$1
+
+echo "P is $P" >> "$OUT_FILE"
+

tests/mdi-queue/subs/queue-buster.ngc

@@ -0,0 +1,11 @@
+
+o<queue-buster> sub
+    m100 p12345
+
+    t#1
+    m6
+
+    m100 p-#5400  ; current tool
+    m100 p54321
+o<queue-buster> endsub
+

tests/mdi-queue/tool.tbl

@@ -0,0 +1,2 @@
+T1 P1 D0.125000 Z+1.000000 ;
+T2 P2 ;