Import LinuxCNC source tree

tests/mdi-queue-length/test-ui.py

@@ -0,0 +1,120 @@
+#!/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
+
+
+def wait_for_mdi_queue(queue_len, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        s.poll()
+        if s.queued_mdi_commands == queue_len:
+            return
+        time.sleep(0.1)
+    print("queued_mdi_commands at %d after %.3f seconds" % (s.queued_mdi_commands, timeout))
+    sys.exit(1)
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+h = hal.component("test-ui")
+h.newpin("digital-poker", hal.HAL_BIT, hal.HAL_OUT)
+h['digital-poker'] = False
+h.ready()
+
+hal.new_sig('poke', hal.HAL_BIT)
+hal.connect('motion.digital-in-00', 'poke')
+hal.connect('test-ui.digital-poker', 'poke')
+
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+# At startup there's nothing in the queue.
+s.poll()
+assert(s.queued_mdi_commands == 0)
+
+# Block Motion from draining the queue, by asking it to wait for us to
+# poke a synchronized digital input.  Wait up to 30 seconds for digital
+# input 0 to go High.
+c.mdi('m66 p0 l3 q30')
+
+s.poll()
+assert(s.queued_mdi_commands == 0)
+
+# Put an MDI command on Task's MDI queue.
+c.mdi('g4 p0')
+
+s.poll()
+assert(s.queued_mdi_commands == 1)
+
+# Add another MDI command that we can control.
+# Wait up to 30 seconds for digital input 0 to go Low.
+c.mdi('m66 p0 l4 q30')
+
+s.poll()
+assert(s.queued_mdi_commands == 2)
+
+c.mdi('g4 p0')
+
+s.poll()
+assert(s.queued_mdi_commands == 3)
+
+h['digital-poker'] = True
+wait_for_mdi_queue(queue_len=1, timeout=10)
+
+h['digital-poker'] = False
+wait_for_mdi_queue(queue_len=0, timeout=10)
+
+sys.exit(0)
+