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tests/mdi-while-queuebuster-waitflag/.gitignore

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+/core
+/sim.var*

tests/mdi-while-queuebuster-waitflag/README

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+This test tries to hit a race condition where an MDI command is
+executed when a queue buster is waiting to be restarted after
+INTERP_EXEC_FINISH.

tests/mdi-while-queuebuster-waitflag/checkresult

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

tests/mdi-while-queuebuster-waitflag/core_sim.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt count=6
+# load additional blocks
+loadrt hypot count=2
+loadrt comp count=3
+loadrt or2 count=1
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf hypot.0 servo-thread
+addf hypot.1 servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt.0.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt.0.out => ddt.1.in hypot.0.in0
+net Xacc <= ddt.1.out
+net Yvel ddt.2.out => ddt.3.in hypot.0.in1
+net Yacc <= ddt.3.out
+net Zvel ddt.4.out => ddt.5.in hypot.1.in0
+net Zacc <= ddt.5.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel hypot.0.out => hypot.1.in1
+net XYZvel <= hypot.1.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prepare <= iocontrol.0.tool-prepare
+net tool-prepared => iocontrol.0.tool-prepared
+
+net tool-change <= iocontrol.0.tool-change
+net tool-changed => iocontrol.0.tool-changed
+
+net tool-number <= iocontrol.0.tool-number
+net tool-prep-number <= iocontrol.0.tool-prep-number
+net tool-prep-pocket <= iocontrol.0.tool-prep-pocket
+
+# create analog in signal with fake value for m66
+net ain-0-fake => motion.analog-in-00
+sets ain-0-fake 42.13
+# create digital out signal for m62-m65
+net dout-0-fake => motion.digital-out-00

tests/mdi-while-queuebuster-waitflag/remap.py

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+#!/usr/bin/env python3
+import linuxcnc
+import emccanon
+import interpreter
+
+def init_stdglue(self):
+    pass
+
+def M400(self,**words):
+
+    self.execute("M66 E0 L0")
+    # self.execute("M66 P0 L1 Q1")
+    print("self.input_flag pre = %s" % self.input_flag)
+    yield interpreter.INTERP_EXECUTE_FINISH
+
+    print("self.input_flag post = %s" % self.input_flag)
+    # optionally,
+    # yield interpreter.INTERP_OK
+
+

tests/mdi-while-queuebuster-waitflag/simpockets.tbl

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+T1 P1 D0.125000 Z+1.000000 ;
+T10 P3 D0.500000 Z+3.000000 ;
+T99999 P50 Z+2.000000 ;

tests/mdi-while-queuebuster-waitflag/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc, hal
+import sys
+
+# Initialization
+c = linuxcnc.command()
+s = linuxcnc.stat()
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MDI)
+
+c.mdi('(print,pre 1)')
+c.mdi('(print,pre 2)')
+c.mdi('M400')
+c.mdi('(print,post 1)')
+c.mdi('(print,post 2)')
+c.mdi('(print,post 3)')
+c.mdi('(print,post 4)')
+c.mdi('(print,post 5)')
+c.mdi('(print,post 6)')
+
+# Shutdown
+c.wait_complete()
+sys.exit(0)
+

tests/mdi-while-queuebuster-waitflag/test.ini

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+[EMC]
+VERSION = 1.1
+LOG_LEVEL = 1000
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = .
+REMAP= M400 modalgroup=5 argspec=pelq py=M400
+LOG_LEVEL = 1000
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.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 = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+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 = -40.0
+MAX_LIMIT = 40.0
+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 =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[PYTHON]
+TOPLEVEL= toplevel.py
+PATH_PREPEND= .

tests/mdi-while-queuebuster-waitflag/test.sh

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+#!/bin/bash -e
+
+# Variable 'i' is unused, just a loop count
+# shellcheck disable=SC2034
+for i in $(seq 20); do
+    linuxcnc -r test.ini
+    if grep -q '^[^+].*Segmentation fault' stderr; then
+	exit 1
+    fi
+done

tests/mdi-while-queuebuster-waitflag/toplevel.py

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+#!/usr/bin/env python3
+import remap
+
+def __init__(self):
+    remap.init_stdglue(self)