Import LinuxCNC source tree

tests/motion/heading/heading-test.ngc

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+G21                      ; Set units to millimeters
+G64 P0.1 Q0.1            ; Tolerance 0.1mm
+G90                      ; Set to absolute positioning
+G0 X75 Y50               ; Rapid move to start point (center X50 + radius 25)
+G2 X75 Y50 I-25 J0 F5000 ; Clockwise circle to start, center is -25mm in X
+G1 X50 Y75 F5000         ; Feed move reversed X and Y
+G3 X50 Y75 I25 J0 F5000  ; Counter clockwise circle back, center is +25mm in X
+G20                      ; Set units to inches
+G90                      ; Set to absolute positioning
+G0 X3 Y2                 ; Rapid move to start point (center X2 + radius 1)
+G2 X3 Y2 I-1 J0 F5000    ; Clockwise circle to start, center is -1" in X
+G1 X2 Y3 F5000           ; Feed move reversed X and Y
+G3 X2 Y3 I1 J0 F5000     ; Counter clockwise circle back, center is +1" in X
+M30
+M2

tests/motion/heading/heading.hal

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+# HAL file for sampling motion heading data
+
+loadrt sampler depth=400 cfg=ssfffffffbff
+
+# disable sampler before adding the function
+setp sampler.0.enable 0
+
+addf sampler.0 servo-thread
+
+# Net pins to record to the sampler inputs
+net line-number    motion.interp.line-number    => sampler.0.pin.0
+net motion-type    motion.interp.motion-type    => sampler.0.pin.1
+net feedrate       motion.interp.feedrate       => sampler.0.pin.2
+net arc-radius     motion.interp.arc-radius     => sampler.0.pin.3
+net arc-center-x   motion.interp.arc-center-x   => sampler.0.pin.4
+net arc-center-y   motion.interp.arc-center-y   => sampler.0.pin.5
+net arc-center-z   motion.interp.arc-center-z   => sampler.0.pin.6
+net heading        motion.interp.heading        => sampler.0.pin.7
+net normal-heading motion.interp.normal-heading => sampler.0.pin.8
+net iscircle       motion.interp.iscircle       => sampler.0.pin.9
+net x-pos-fb       joint.0.pos-fb               => sampler.0.pin.10
+net y-pos-fb       joint.1.pos-fb               => sampler.0.pin.11

tests/motion/heading/imperial/expected

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+Completed successfully

tests/motion/heading/imperial/heading-in.ini

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+[EMC]
+DEBUG = 0
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ../test-ui.py -ngc ../heading-test.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+HALFILE = ../heading.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 = 4
+MAX_LINEAR_VELOCITY =   20
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 20
+MAX_ACCELERATION = 120
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     40
+MAX_ACCELERATION = 120
+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
+HOME_SEQUENCE = 0
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 20
+MAX_ACCELERATION = 120
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     40
+MAX_ACCELERATION = 120
+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
+HOME_SEQUENCE = 0
+
+[AXIS_Z]
+MIN_LIMIT = -20.0
+MAX_LIMIT = 20.0
+MAX_VELOCITY = 20
+MAX_ACCELERATION = 120
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     20
+MAX_ACCELERATION = 120
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -20.0
+MAX_LIMIT =        20.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_SEQUENCE = 0

tests/motion/heading/imperial/test.sh

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+#!/bin/bash
+# Run the Imperial config
+if linuxcnc -r heading-in.ini; then
+    echo "Completed successfully" > result 
+fi
+

tests/motion/heading/metric/expected

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+Completed successfully

tests/motion/heading/metric/heading-mm.ini

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+[EMC]
+DEBUG = 0
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ../test-ui.py -ngc ../heading-test.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+HALFILE = ../heading.hal
+
+[TRAJ]
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          mm
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 100
+MAX_LINEAR_VELOCITY =   500
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -1000.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 500
+MAX_ACCELERATION = 3000
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     1000
+MAX_ACCELERATION = 3000
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -1000.0
+MAX_LIMIT =        1000.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_SEQUENCE = 0
+
+[AXIS_Y]
+MIN_LIMIT = -1000.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 500
+MAX_ACCELERATION = 3000
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     500
+MAX_ACCELERATION = 3000
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -1000.0
+MAX_LIMIT =        1000.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_SEQUENCE = 0
+
+[AXIS_Z]
+MIN_LIMIT = -500.0
+MAX_LIMIT = 500.0
+MAX_VELOCITY = 500
+MAX_ACCELERATION = 3000
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     500
+MAX_ACCELERATION = 3000
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -500.0
+MAX_LIMIT =        500.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+HOME_SEQUENCE = 0

tests/motion/heading/metric/test.sh

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+#!/bin/bash
+# Run the Metric config
+if linuxcnc -r heading-mm.ini; then
+    echo "Completed successfully" > result 
+fi
+
+

tests/motion/heading/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+import math
+
+
+INTERPTIMEOUT = 5   # Max 5 seconds to wait for the interpreter
+GCODETIMEOUT  = 120  # Max 60 seconds for the gcode file to run12
+
+#
+# Sample collection routine
+#
+nsamples = 0
+lastsample = None
+lastrecnum = 0
+ctr = 0
+
+def is_arc_valid(sample, tolerance):
+    """
+    Validates circularity, radius accuracy, and G2/G3 heading consistency.
+    Returns True on pass, False on failure.
+    """
+    global ctr
+    # Extract Fields
+    motion_type = sample[1]      # 20=G2, 30=G3
+    expected_radius = sample[3]
+    cx, cy = sample[4], sample[5]
+    heading = sample[7]
+    normal_heading = sample[8]
+    x = sample[10]
+    y = sample[11]
+    # 2. Radius Check: Distance from tool (x,y) to center (cx,cy)
+    actual_radius = math.hypot(x - cx, y - cy)
+    if abs(actual_radius - expected_radius) > tolerance:
+        ctr = ctr + 1
+        if ctr > 40:
+            print(f"FAIL Radius after 40 times: Expected {expected_radius}, Got {actual_radius:.4f}")
+            ctr = 0
+            return False
+    ctr = 0
+    # 3. Normal Direction Check: Normal must point from tool to center
+    angle_to_center = math.degrees(math.atan2(cy - y, cx - x)) % 360
+    norm_diff = abs(angle_to_center - (normal_heading % 360))
+    if norm_diff > 180: norm_diff = 360 - norm_diff
+
+    if norm_diff > tolerance:
+        print(f"FAIL Normal: Expected {angle_to_center:.4f}, Got {normal_heading:.4f}")
+        return False
+    # 4. Tangency/Direction Check: (Heading vs Normal)
+    #G2 (20): Heading should be Normal + 90
+    #G3 (30): Heading should be Normal - 90 (or + 270)
+    diff = (heading - normal_heading) % 360
+
+    if motion_type == 20:   # G2
+        if abs(diff - 90) > tolerance:
+            print(f"FAIL: G2 normal heading outside of tolerance",diff)
+            return False
+    elif motion_type == 30: # G3
+        if abs(diff - 270) > tolerance:
+            print(f"FAIL: G3 normal heading outside of tolerance",diff)
+            return False
+    return True
+
+
+def is_heading_valid(sample1, sample2, tolerance=0.1):
+    """
+    Returns True if the travel direction between two samples
+    matches the reported heading within a given tolerance.
+    """
+    global ctr
+    if sample1[0] != sample2[0]:
+        ctr = ctr + 1
+    if ctr < 5:  #allow to settle on change of segment
+        return True
+    else:
+        ctr = 0  #Reset
+    # Extract coords and reported heading
+    x1, y1 = sample1[10], sample1[11]
+    x2, y2 = sample2[10], sample2[11]
+    reported_heading = sample2[7]
+
+    dx = x2 - x1
+    dy = y2 - y1
+
+    # Avoid calculation if there is no movement (prevents jitter errors)
+    if math.hypot(dx, dy) < 1e-9:
+        return True
+
+    # Calculate angle: atan2(y, x) -> degrees
+    calculated_heading = math.degrees(math.atan2(dy, dx))
+
+    # Normalize to 0-360 if your system doesn't use negative degrees
+    if calculated_heading < 0:
+        calculated_heading += 360
+
+    # Standardize reported_heading to same 0-360 range if needed
+    if reported_heading < 0:
+        reported_heading += 360
+
+    # Handle the "wrap-around" case (e.g., 359.9 is near 0.1)
+    diff = abs(calculated_heading - reported_heading)
+    if diff > 180:
+        diff = 360 - diff
+    return(diff <= tolerance)
+
+def parse_sample(sample):
+    """
+    Parses a tuple of sampler data for tests
+    Fields: line-number, motion-type, feedrate, arc-radius, arc-center-x, arc-center-y, arc-center-z,
+            heading, normal-heading, iscircle, x-pos-fb, y-pos-fb
+    """
+    global lastsample
+    global lastrecnum
+
+    print("{:6d} {}".format(nsamples, sample))
+
+    if None == lastsample or sample[0] != lastsample[0]:
+        return True
+    if sample[1] not in (00,10,20,30):
+        print("Gcode line is not G0,G1,G2 or G3, nothing to do")
+        return True
+    if (sample[1] == 20 or sample[1] == 30):
+        # gcode is G2 but G3
+        if not is_arc_valid(sample, 0.001):
+            print("G2/G3 tests are invalid at record ", lastrecnum)
+            return False
+    if (lastsample[1] == sample[1] == 10): # we have at least 2 G1 records
+        if not is_heading_valid(lastsample, sample, tolerance=0.001):
+            print("G0 heading or other values does not agree with expected value at record ",lastrecnum)
+            return False
+    if (lastsample[1] == sample[1] == 0): # we have at least 2 G0 records
+        if not is_heading_valid(lastsample, sample, tolerance=0.001):
+            print("G0 heading or other values does not agree with expected value at record ",lastrecnum)
+            return False
+    lastrecnum = lastrecnum + 1
+    lastsample = sample
+
+#
+# Sample collection routine
+#
+def read_sample():
+    global nsamples, lastsample
+    sample = sampler.read()
+    if None == sample:
+        print("Error: read_sample() read None (readable={}, depth={})".format(samples.readable, sampler.depth))
+        sys.exit(1)
+    if sample != lastsample and 0 != sample[0]: # Don't handle duplicates and non-gcode
+        if not parse_sample(sample):
+            print("Test Failed")
+        nsamples += 1
+        lastsample = sample
+
+#
+# Test the command line arguments. It should have a .ngc file we can read
+#
+ngcfile = None
+# Crudely parse command like args to find: -ngc file
+for i in range(1, len(sys.argv)-1):
+    if "-ngc" == sys.argv[i]:
+        ngcfile = sys.argv[i+1]
+        break
+
+if not ngcfile:
+    print("Missing NGC-file; run with: test-ui.py -ngc ngcfile.ngc")
+    sys.exit(1)
+
+if not os.path.exists(ngcfile):
+    print("NGC-file '{}' does not exist".format(ngcfile))
+    sys.exit(1)
+
+#
+# Setup a hal component and connect to the sampler stream
+#
+h = hal.component("python-ui")
+sampler = hal.stream(h, hal.sampler_base, "ssfffffffbff")
+h.ready()
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+# Enable machine
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+
+# Home all joints
+c.home(-1)
+c.wait_complete()
+l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+
+#
+# Setup to run GCode program
+#
+c.mode(linuxcnc.MODE_AUTO)
+c.program_open(ngcfile)
+
+# Enable sampling
+hal.set_p("sampler.0.enable", "1")
+
+# Start the GCode
+c.auto(linuxcnc.AUTO_RUN, 1)
+
+# Wait for the interpreter to start running the program
+start = time.time()
+while time.time() - start < INTERPTIMEOUT:
+    s.poll()
+    if s.interp_state != linuxcnc.INTERP_IDLE:
+        print("Interpreter active...")
+        break
+    time.sleep(0.01)
+if s.interp_state == linuxcnc.INTERP_IDLE:
+    print("Timed out starting interpreter")
+    sys.exit(1)
+
+#
+# Loop until the program finishes while collecting data
+#
+start = time.time()
+s.poll()
+while s.interp_state != linuxcnc.INTERP_IDLE and time.time() - start < GCODETIMEOUT:
+    # Continuously drain the sampler buffer
+    while sampler.readable:
+        read_sample()
+    time.sleep(0.01)
+    s.poll()
+
+if s.interp_state != linuxcnc.INTERP_IDLE:
+    print("Timed out running the GCode program")
+    sys.exit(1)
+
+# Disable the sampler
+hal.set_p("sampler.0.enable", "0")
+
+# Give RT time to finalize the last sample(s)
+time.sleep(0.01)
+
+# Drain any remaining samples
+while sampler.readable:
+    read_sample()
+# if we get here it all worked!
+sys.exit(0)
+