Import LinuxCNC source tree

tests/motion-logger/basic/.gitignore

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+result.*
+sim.var*
+out.motion-logger
+expected.builtin-startup
+

tests/motion-logger/basic/README

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+
+This directory uses the "motion-logger" test program to log the Motion
+commands that come out of Task, as a result of running various ngc
+G-code files.
+
+Each test consists of a file named "$TEST.ngc" and a matching file named
+"expected.$TEST".  The $TEST.ngc file is run, and the resulting Motion
+commands are logged to a file named "result.$TEST".  If there is any
+discrepancy, the test fails.
+
+In between running each .ngc file, a special file named "reset.ngc"
+is run, intending to restore Task, Interp, and the Canon interface to
+their default startup state, to be ready to run the next .ngc file.
+

tests/motion-logger/basic/checkresult

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+#!/bin/sh
+# Success or failure of this test is handled in the test.sh script, if we
+# get this far it's a success.
+exit 0

tests/motion-logger/basic/expected.builtin-startup.in

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+SET_NUM_JOINTS 9
+SET_NUM_SPINDLES 1
+SET_VEL vel=0, ini_maxvel=1.2
+SET_VEL_LIMIT vel=4
+SET_ACC acc=1e+99
+SET_JERK jerk=1e+09
+SET_PLANNER_TYPE planner_type=0
+SET_SCURVE_PEAK_SCALE scale=1
+SETUP_ARC_BLENDS
+SET_MAX_FEED_OVERRIDE 1
+SETUP_SET_PROBE_ERR_INHIBIT 0 0
+SET_WORLD_HOME x=0, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0
+SET_JOINT_BACKLASH joint=0, backlash=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=0, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=0, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=0, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=0, vel=4
+SET_JOINT_ACC_LIMIT joint=0, acc=1000
+SET_JOINT_JERK_LIMIT joint=0, jerk=0
+JOINT_ACTIVATE joint=0
+SET_JOINT_BACKLASH joint=1, backlash=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=1, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=1, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=1, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=1, vel=4
+SET_JOINT_ACC_LIMIT joint=1, acc=1000
+SET_JOINT_JERK_LIMIT joint=1, jerk=0
+JOINT_ACTIVATE joint=1
+SET_JOINT_BACKLASH joint=2, backlash=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=4
+SET_JOINT_MAX_FERROR joint=2, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=2, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=2, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=2, vel=4
+SET_JOINT_ACC_LIMIT joint=2, acc=1000
+SET_JOINT_JERK_LIMIT joint=2, jerk=0
+JOINT_ACTIVATE joint=2
+SET_JOINT_BACKLASH joint=3, backlash=0
+SET_JOINT_POSITION_LIMITS joint=3, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=3, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=3, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=3, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=3, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=3, vel=4
+SET_JOINT_ACC_LIMIT joint=3, acc=1000
+SET_JOINT_JERK_LIMIT joint=3, jerk=0
+JOINT_ACTIVATE joint=3
+SET_JOINT_BACKLASH joint=4, backlash=0
+SET_JOINT_POSITION_LIMITS joint=4, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=4, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=4, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=4, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=4, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=4, vel=4
+SET_JOINT_ACC_LIMIT joint=4, acc=1000
+SET_JOINT_JERK_LIMIT joint=4, jerk=0
+JOINT_ACTIVATE joint=4
+SET_JOINT_BACKLASH joint=5, backlash=0
+SET_JOINT_POSITION_LIMITS joint=5, min=-4, max=0
+SET_JOINT_POSITION_LIMITS joint=5, min=-4, max=4
+SET_JOINT_MAX_FERROR joint=5, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=5, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=5, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=5, vel=4
+SET_JOINT_ACC_LIMIT joint=5, acc=1000
+SET_JOINT_JERK_LIMIT joint=5, jerk=0
+JOINT_ACTIVATE joint=5
+SET_JOINT_BACKLASH joint=6, backlash=0
+SET_JOINT_POSITION_LIMITS joint=6, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=6, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=6, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=6, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=6, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=6, vel=4
+SET_JOINT_ACC_LIMIT joint=6, acc=1000
+SET_JOINT_JERK_LIMIT joint=6, jerk=0
+JOINT_ACTIVATE joint=6
+SET_JOINT_BACKLASH joint=7, backlash=0
+SET_JOINT_POSITION_LIMITS joint=7, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=7, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=7, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=7, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=7, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=7, vel=4
+SET_JOINT_ACC_LIMIT joint=7, acc=1000
+SET_JOINT_JERK_LIMIT joint=7, jerk=0
+JOINT_ACTIVATE joint=7
+SET_JOINT_BACKLASH joint=8, backlash=0
+SET_JOINT_POSITION_LIMITS joint=8, min=-4, max=0
+SET_JOINT_POSITION_LIMITS joint=8, min=-4, max=4
+SET_JOINT_MAX_FERROR joint=8, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=8, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=8, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=8, vel=4
+SET_JOINT_ACC_LIMIT joint=8, acc=1000
+SET_JOINT_JERK_LIMIT joint=8, jerk=0
+JOINT_ACTIVATE joint=8
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=0 vel=4
+SET_AXIS_ACC_LIMIT axis=0, acc=1000
+SET_AXIS_LOCKING_JOINT axis=0, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=0, jerk=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=1 vel=4
+SET_AXIS_ACC_LIMIT axis=1, acc=1000
+SET_AXIS_LOCKING_JOINT axis=1, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=1, jerk=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=4
+SET_AXIS_VEL_LIMIT axis=2 vel=4
+SET_AXIS_ACC_LIMIT axis=2, acc=1000
+SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=2, jerk=0
+SET_AXIS_POSITION_LIMITS axis=3, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=3, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=3 vel=4
+SET_AXIS_ACC_LIMIT axis=3, acc=1000
+SET_AXIS_LOCKING_JOINT axis=3, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=3, jerk=0
+SET_AXIS_POSITION_LIMITS axis=4, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=4, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=4 vel=4
+SET_AXIS_ACC_LIMIT axis=4, acc=1000
+SET_AXIS_LOCKING_JOINT axis=4, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=4, jerk=0
+SET_AXIS_POSITION_LIMITS axis=5, min=-4, max=0
+SET_AXIS_POSITION_LIMITS axis=5, min=-4, max=4
+SET_AXIS_VEL_LIMIT axis=5 vel=4
+SET_AXIS_ACC_LIMIT axis=5, acc=1000
+SET_AXIS_LOCKING_JOINT axis=5, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=5, jerk=0
+SET_AXIS_POSITION_LIMITS axis=6, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=6, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=6 vel=4
+SET_AXIS_ACC_LIMIT axis=6, acc=1000
+SET_AXIS_LOCKING_JOINT axis=6, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=6, jerk=0
+SET_AXIS_POSITION_LIMITS axis=7, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=7, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=7 vel=4
+SET_AXIS_ACC_LIMIT axis=7, acc=1000
+SET_AXIS_LOCKING_JOINT axis=7, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=7, jerk=0
+SET_AXIS_POSITION_LIMITS axis=8, min=-4, max=0
+SET_AXIS_POSITION_LIMITS axis=8, min=-4, max=4
+SET_AXIS_VEL_LIMIT axis=8 vel=4
+SET_AXIS_ACC_LIMIT axis=8, acc=1000
+SET_AXIS_LOCKING_JOINT axis=8, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=8, jerk=0
+SET_SPINDLE_PARAMS, 1.00e+99, 0.00e+00, -1.00e+99, 0.00e+00
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+DISABLE
+JOINT_UNHOME joint=-2
+FREE
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+
+#
+# The test UI then sends an NML command to move Task to the On state, which
+# turns on Motion and all the amps.
+#
+
+ENABLE
+
+#
+# The test UI finally switches mode to Auto, which switches Motion to Coord
+# and aborts.
+#
+
+COORD
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT

tests/motion-logger/basic/expected.g0

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+SET_LINE x=1, y=2, z=3, a=4, b=5, c=6, u=7, v=8, w=9, id=2, motion_type=1, vel=1.66296, ini_maxvel=1.66296, acc=415.74, turn=-1
+SET_LINE x=0.1, y=0.2, z=0.3, a=0.4, b=0.5, c=0.6, u=0.7, v=0.8, w=0.9, id=4, motion_type=1, vel=1.66296, ini_maxvel=1.66296, acc=415.74, turn=-1
+SET_SPINDLESYNC sync=0.000000, flags=0x00000000
+SPINDLE_OFF

tests/motion-logger/basic/expected.g1

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+SET_LINE x=1, y=2, z=3, a=4, b=5, c=6, u=7, v=8, w=9, id=2, motion_type=2, vel=0.0166667, ini_maxvel=1.66296, acc=415.74, turn=-1
+SET_LINE x=0.1, y=2, z=0.3, a=0.4, b=5, c=0.6, u=0.7, v=8, w=0.9, id=3, motion_type=2, vel=0.0333333, ini_maxvel=1.40546, acc=351.364, turn=-1
+SET_LINE x=10, y=2, z=0.3, a=10, b=5, c=0.6, u=10, v=8, w=0.9, id=5, motion_type=2, vel=0.00166667, ini_maxvel=4, acc=1000, turn=-1
+SET_SPINDLESYNC sync=0.000000, flags=0x00000000
+SPINDLE_OFF

tests/motion-logger/basic/expected.reset

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+SET_OFFSET x=0, y=0, z=0, a=0, b=0, c=0 u=0, v=0, w=0
+SET_SPINDLESYNC sync=0.000000, flags=0x00000000
+SPINDLE_OFF

tests/motion-logger/basic/expected.s

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+SET_LINE x=1, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=2, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SPINDLE_ON speed=0.000000, css_factor=0.000000, xoffset=0.000000
+SET_LINE x=1.5, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=6, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SPINDLE_ON speed=0.000000, css_factor=0.000000, xoffset=0.000000
+SET_LINE x=2, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=10, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SPINDLE_ON speed=234.000000, css_factor=0.000000, xoffset=0.000000
+SET_LINE x=3, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=14, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SPINDLE_ON speed=321.000000, css_factor=0.000000, xoffset=0.000000
+SPINDLE_ON speed=432.000000, css_factor=0.000000, xoffset=0.000000
+SET_LINE x=4, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=19, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SPINDLE_OFF
+SPINDLE_ON speed=0.000000, css_factor=0.000000, xoffset=0.000000
+SET_LINE x=5, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=26, motion_type=1, vel=4, ini_maxvel=4, acc=1000, turn=-1
+SET_SPINDLESYNC sync=0.000000, flags=0x00000000
+SPINDLE_OFF

tests/motion-logger/basic/g0.ngc

@@ -0,0 +1,5 @@
+f5
+g0 x1 y2 z3 a4 b5 c6 u7 v8 w9
+f0.001
+g0 x0.1 y0.2 z0.3 a0.4 b0.5 c0.6 u0.7 v0.8 w0.9
+m2

tests/motion-logger/basic/g1.ngc

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+f1
+g1 x1 y2 z3 a4 b5 c6 u7 v8 w9
+f2 g1 x0.1 z0.3 a0.4 c0.6 u0.7 w0.9
+f0.1
+g1 x10 a10 u10
+m2

tests/motion-logger/basic/mock-motion.hal

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+loadusr -W motion-logger out.motion-logger
+setp iocontrol.0.emc-enable-in 1
+

tests/motion-logger/basic/reset.ngc

@@ -0,0 +1,17 @@
+
+;
+; This gcode program is intended to reset Task (including Canon) to a
+; sane, simple default analogous to system startup.
+;
+
+G90                                     ; absolute distance mode
+G91.1                                   ; arc centers are relative
+G40                                     ; cutter radius compensation off
+G53 G0 X0 Y0 Z0 A0 B0 C0 U0 V0 W0       ; move to machine home
+G92.1                                   ; clear G92 offsets
+G54                                     ; switch to coordinate system G54
+G10 L2 P1 X0 Y0 Z0 A0 B0 C0 U0 V0 W0 R0 ; set G54 to equal G53
+G49                                     ; disable tool offset compensation
+G80                                     ; cancel canned cycle
+
+M2

tests/motion-logger/basic/s.ngc

@@ -0,0 +1,27 @@
+; the G0 commands here are just to see the sequencing of commands coming out of task
+g0 x1
+; this will update the spindle speed via SPINDLE_ON with state False
+s123
+
+g0 x1.5
+; this will update the spindle speed via another SPINDLE_ON with state False
+s234
+
+g0 x2
+; this M3 will result in the SPINDLE_ON sent to Motion with state True
+m3
+
+g0 x3
+; this will update the spindle speed via another SPINDLE_ON with state True
+s321
+s432
+
+g0 x4
+; this will update the spindle via SPINDLE_OFF
+m5
+
+; this will update the spindle speed via SPINDLE_ON with state False
+s1234
+
+g0 x5
+m2

tests/motion-logger/basic/test-ui.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+comp = hal.component("test-ui")
+comp.newpin("reopen-log", hal.HAL_BIT, hal.HAL_IO)
+comp.ready()
+
+os.system("halcmd net reopen-log test-ui.reopen-log motion-logger.reopen-log")
+
+# This will be the return value of this program.
+# Any failure sets it to 1.
+retval = 0
+
+
+def end_log(logfile_name):
+    c.wait_complete()
+    comp['reopen-log'] = True
+    while comp['reopen-log']: time.sleep(.01)
+    os.rename("out.motion-logger", 'result.%s' % logfile_name)
+    status = subprocess.call(['diff', '-u', 'expected.%s' % logfile_name, 'result.%s' % logfile_name], shell=False)
+    if status == 0:
+        print("sub-test %s ok" % logfile_name)
+    else:
+        print("unexpected output in logfile '%s'" % logfile_name)
+        global retval
+        retval = 1
+    sys.stdout.flush()
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+#
+# Come out of E-stop, turn the machine on, and switch to Auto mode.
+#
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_AUTO)
+
+end_log('builtin-startup')
+
+
+#
+# run each .ngc test file in the test directory
+#
+
+for ngc in glob.glob('*.ngc'):
+    if ngc == 'reset.ngc': continue
+
+    m = re.match('(.*)\\.ngc', ngc)
+    basename = m.group(1)
+
+    c.program_open('reset.ngc')
+    c.auto(linuxcnc.AUTO_RUN, 0)
+    c.wait_complete()
+    end_log('reset')
+
+    c.program_open(ngc)
+    c.auto(linuxcnc.AUTO_RUN, 0)
+    c.wait_complete()
+    end_log(basename)
+
+
+sys.stderr.write("trying to exit")
+sys.exit(retval)

tests/motion-logger/basic/test.ini

@@ -0,0 +1,213 @@
+[EMC]
+VERSION = 1.1
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+#EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+[HAL]
+HALFILE = mock-motion.hal
+#POSTGUI_HALFILE = postgui.hal
+
+[TRAJ]
+NO_FORCE_HOMING =       1
+COORDINATES =           X Y Z A B C U V W
+HOME =                  0 0 0 0 0 0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 9
+
+[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 = -4.0
+MAX_LIMIT = 4.0
+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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_A]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_3]
+TYPE =             ANGULAR
+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_B]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_4]
+TYPE =             ANGULAR
+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_C]
+MIN_LIMIT = -4.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_5]
+TYPE =             ANGULAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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
+
+[AXIS_U]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_6]
+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_V]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_7]
+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_W]
+MIN_LIMIT = -4.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_8]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+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
+

tests/motion-logger/basic/test.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+rm -f out.motion-logger*
+
+for SRC in *.in; do
+    DEST=$(basename "${SRC}" .in)
+    rm -f "${DEST}"
+    grep -E -v '(^ *$)|(^ *#)' "${SRC}" > "${DEST}"
+done
+
+linuxcnc -r test.ini
+

tests/motion-logger/mountaindew/.gitignore

@@ -0,0 +1,3 @@
+out.motion-logger
+rs274ngc.var
+rs274ngc.var.bak

tests/motion-logger/mountaindew/checkresult

@@ -0,0 +1,3 @@
+#!/bin/sh
+cd "$(dirname "$1")" || { echo "E: Could not change directory to '$(dirname "$1")'"; exit 1; }
+diff -u expected.motion-logger out.motion-logger

tests/motion-logger/mountaindew/expected.motion-logger

@@ -0,0 +1,132 @@
+SET_NUM_JOINTS 3
+SET_NUM_SPINDLES 1
+SET_VEL vel=0, ini_maxvel=120
+SET_VEL_LIMIT vel=400
+SET_ACC acc=1e+99
+SET_JERK jerk=1e+09
+SET_PLANNER_TYPE planner_type=0
+SET_SCURVE_PEAK_SCALE scale=1
+SETUP_ARC_BLENDS
+SET_MAX_FEED_OVERRIDE 1
+SETUP_SET_PROBE_ERR_INHIBIT 0 0
+SET_WORLD_HOME x=0, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0
+SET_JOINT_BACKLASH joint=0, backlash=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=0, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=0, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=0, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=0, vel=400
+SET_JOINT_ACC_LIMIT joint=0, acc=1000
+SET_JOINT_JERK_LIMIT joint=0, jerk=0
+JOINT_ACTIVATE joint=0
+SET_JOINT_BACKLASH joint=1, backlash=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=1, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=1, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=1, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=1, vel=400
+SET_JOINT_ACC_LIMIT joint=1, acc=1000
+SET_JOINT_JERK_LIMIT joint=1, jerk=0
+JOINT_ACTIVATE joint=1
+SET_JOINT_BACKLASH joint=2, backlash=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=2, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=2, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=2, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=2, vel=400
+SET_JOINT_ACC_LIMIT joint=2, acc=1000
+SET_JOINT_JERK_LIMIT joint=2, jerk=0
+JOINT_ACTIVATE joint=2
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=0 vel=400
+SET_AXIS_ACC_LIMIT axis=0, acc=1000
+SET_AXIS_LOCKING_JOINT axis=0, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=0, jerk=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=1 vel=400
+SET_AXIS_ACC_LIMIT axis=1, acc=1000
+SET_AXIS_LOCKING_JOINT axis=1, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=1, jerk=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=2 vel=400
+SET_AXIS_ACC_LIMIT axis=2, acc=1000
+SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=2, jerk=0
+SET_SPINDLE_PARAMS, 1.00e+99, 0.00e+00, -1.00e+99, 0.00e+00
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+DISABLE
+JOINT_UNHOME joint=-2
+FREE
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+ENABLE
+COORD
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SET_LINE x=2, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=4, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=3, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=5, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=3, y=4, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=6, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=5, y=4, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=7, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=5, y=6, z=0, a=0, b=0, c=0, u=0, v=0, w=0, id=8, motion_type=2, vel=0.666667, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=0, y=0, z=0.5, a=0, b=0, c=0, u=0, v=0, w=0, id=2, motion_type=1, vel=521.749, ini_maxvel=521.749, acc=1304.37, turn=-1
+SET_LINE x=1, y=0, z=0.5, a=0, b=0, c=0, u=0, v=0, w=0, id=3, motion_type=1, vel=400, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=1, y=1, z=0.5, a=0, b=0, c=0, u=0, v=0, w=0, id=4, motion_type=1, vel=400, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=0, y=1, z=0.5, a=0, b=0, c=0, u=0, v=0, w=0, id=5, motion_type=1, vel=400, ini_maxvel=400, acc=1000, turn=-1
+SET_LINE x=0, y=0, z=0.5, a=0, b=0, c=0, u=0, v=0, w=0, id=6, motion_type=1, vel=400, ini_maxvel=400, acc=1000, turn=-1
+SET_SPINDLESYNC sync=0.000000, flags=0x00000000
+SPINDLE_OFF
+DISABLE

tests/motion-logger/mountaindew/mock-motion.hal

@@ -0,0 +1,3 @@
+loadusr -W motion-logger out.motion-logger
+setp iocontrol.0.emc-enable-in 1
+

tests/motion-logger/mountaindew/mountaindew.ini

@@ -0,0 +1,102 @@
+[EMC]
+VERSION = 1.1
+DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+SUBROUTINE_PATH = ./subs
+LOG_LEVEL = 999
+REMAP=M442 modalgroup=5 ngc=m442
+
+[EMCMOT]
+#EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+[HAL]
+HALFILE = mock-motion.hal
+#POSTGUI_HALFILE = postgui.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 = 120
+MAX_LINEAR_VELOCITY =   400
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 400
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     400
+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 = 400
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     400
+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
+MAX_LIMIT = 40
+MAX_VELOCITY = 400
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     400
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40
+MAX_LIMIT =        40
+FERROR =           0.050
+MIN_FERROR =       0.010
+

tests/motion-logger/mountaindew/mountaindew.ngc

@@ -0,0 +1,11 @@
+G0 X5 (This line should be skipped)
+
+M442 (First remapped command sets up problem)
+G1 X2Y0Z0 F40 (SET START LINE HERE, line after remapped command)
+X3 (Moves that will be truncated)
+Y4
+X5
+Y6
+M442 (Second remapped command should truncate previous moves)
+
+m2

tests/motion-logger/mountaindew/subs/m442.ngc

@@ -0,0 +1,10 @@
+o<m442>sub
+G0 Z0.5 X0 Y0
+X1
+Y1
+X0
+Y0
+o<m442> endsub
+m2
+%
+

tests/motion-logger/mountaindew/test-ui.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import time
+import sys
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+#
+# Come out of E-stop, turn the machine on, home, and switch to Auto mode.
+#
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_AUTO)
+
+
+#
+# run the .ngc test file, starting from the special line
+#
+
+c.program_open('mountaindew.ngc')
+c.auto(linuxcnc.AUTO_RUN, 4)
+c.wait_complete()
+
+sys.exit(0)

tests/motion-logger/mountaindew/test.sh

@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+rm -f out.motion-logger
+
+linuxcnc -r mountaindew.ini

tests/motion-logger/startup-gcode-abort/.gitignore

@@ -0,0 +1,4 @@
+result.*
+sim.var*
+expected.motion-logger
+out.motion-logger

tests/motion-logger/startup-gcode-abort/checkresult

@@ -0,0 +1,3 @@
+#!/bin/sh
+cd "$(dirname "$1")" || { echo "E: Could not change directory to '$(dirname "$1")'"; exit 1; }
+diff -u expected.motion-logger out.motion-logger

tests/motion-logger/startup-gcode-abort/expected.motion-logger.in

@@ -0,0 +1,160 @@
+
+#
+# First come "immediate" Motion commands sent from emctask_startup().
+#
+
+SET_NUM_JOINTS 3
+SET_NUM_SPINDLES 1
+SET_VEL vel=0, ini_maxvel=1.2
+SET_VEL_LIMIT vel=4
+SET_ACC acc=1e+99
+SET_JERK jerk=1e+09
+SET_PLANNER_TYPE planner_type=0
+SET_SCURVE_PEAK_SCALE scale=1
+SETUP_ARC_BLENDS
+SET_MAX_FEED_OVERRIDE 1
+SETUP_SET_PROBE_ERR_INHIBIT 0 0
+SET_WORLD_HOME x=0, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0
+SET_JOINT_BACKLASH joint=0, backlash=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=0, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=0, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=0, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=0, vel=4
+SET_JOINT_ACC_LIMIT joint=0, acc=1000
+SET_JOINT_JERK_LIMIT joint=0, jerk=0
+JOINT_ACTIVATE joint=0
+SET_JOINT_BACKLASH joint=1, backlash=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=0
+SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=40
+SET_JOINT_MAX_FERROR joint=1, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=1, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=1, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=1, vel=4
+SET_JOINT_ACC_LIMIT joint=1, acc=1000
+SET_JOINT_JERK_LIMIT joint=1, jerk=0
+JOINT_ACTIVATE joint=1
+SET_JOINT_BACKLASH joint=2, backlash=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=0
+SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=4
+SET_JOINT_MAX_FERROR joint=2, maxFerror=0.05
+SET_JOINT_MIN_FERROR joint=2, minFerror=0.01
+SET_JOINT_HOMING_PARAMS joint=2, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
+SET_JOINT_VEL_LIMIT joint=2, vel=4
+SET_JOINT_ACC_LIMIT joint=2, acc=1000
+SET_JOINT_JERK_LIMIT joint=2, jerk=0
+JOINT_ACTIVATE joint=2
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=0
+
+#
+# Everything above this line was sent from emctask_startup().
+# That function also enqueued some Canon commands on interp_list, that will
+# generate Motion commands later.
+#
+
+#
+# Next Task enters Estop, by calling emcTaskSetState(EMC_TASK_STATE_ESTOP).
+# This does the following:
+#     * Abort Motion, which aborts each Axis, then Aborts Motion
+#     * Stop the spindle
+#     * Send Estop to IO (which we don't detect in motion-logger)
+#     * Disable all the amps
+#     * Disable Motion
+#     * Abort Motion again, which aborts each Axis, and Motion, again
+#     * Abort IO, which we miss
+#     * Unhome VOLATILE_HOME joints
+#
+
+SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=0 vel=4
+SET_AXIS_ACC_LIMIT axis=0, acc=1000
+SET_AXIS_LOCKING_JOINT axis=0, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=0, jerk=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=0
+SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=40
+SET_AXIS_VEL_LIMIT axis=1 vel=4
+SET_AXIS_ACC_LIMIT axis=1, acc=1000
+SET_AXIS_LOCKING_JOINT axis=1, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=1, jerk=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=0
+SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=4
+SET_AXIS_VEL_LIMIT axis=2 vel=4
+SET_AXIS_ACC_LIMIT axis=2, acc=1000
+SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1
+SET_AXIS_JERK_LIMIT axis=2, jerk=0
+
+SET_SPINDLE_PARAMS, 1.00e+99, 0.00e+00, -1.00e+99, 0.00e+00
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+DISABLE
+JOINT_UNHOME joint=-2
+
+
+#
+# Here's emcTaskSetMode(EMC_TASK_MODE_MANUAL)
+#
+
+FREE
+
+#
+# Task is now got the 'motion.in-position' pin visible, and is
+# accepting abort calls from the UI.
+#
+
+#
+# The test UI immediately sent an Abort.
+#
+
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+JOG_ABORT joint=0
+JOG_ABORT joint=1
+JOG_ABORT joint=2
+JOG_ABORT joint=3
+JOG_ABORT joint=4
+JOG_ABORT joint=5
+JOG_ABORT joint=6
+JOG_ABORT joint=7
+JOG_ABORT joint=8
+JOG_ABORT joint=9
+JOG_ABORT joint=10
+JOG_ABORT joint=11
+JOG_ABORT joint=12
+JOG_ABORT joint=13
+JOG_ABORT joint=14
+JOG_ABORT joint=15
+ABORT
+SPINDLE_OFF
+DISABLE

tests/motion-logger/startup-gcode-abort/mock-motion.hal

@@ -0,0 +1,3 @@
+loadusr -W motion-logger out.motion-logger
+setp iocontrol.0.emc-enable-in 1
+

tests/motion-logger/startup-gcode-abort/nc_files/init.ngc

@@ -0,0 +1,6 @@
+o<init> sub
+    G53 G0 X-1 Y-2 Z-3  ; some random gcode that will involve poking Motion
+    G4 P99              ; dwell (sleep) for 99 seconds, the Abort will come here
+    G53 G0 X1 Y2 Z3     ; some random gcode that will involve poking Motion
+o<init> endsub
+m2

tests/motion-logger/startup-gcode-abort/test-ui.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import sys
+import time
+import hal
+
+#
+# connect to LinuxCNC
+#
+
+comp = hal.component('hal-watcher')
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+#
+# Immediately abort once linuxcnc is ready!  Github Issue #49
+#
+
+
+# Wait for (any) HAL pin to show up when LinuxCNC is initialized
+waitlimit = 300
+while 0 < waitlimit:
+    try:
+        waiting = 'TRUE' != hal.get_value('motion.in-position')
+    except RuntimeError:
+        break
+    time.sleep(0.1)
+    waitlimit -= 1
+
+print("UI abort")
+sys.stdout.flush()
+
+c.abort()
+c.wait_complete()
+
+print("UI done with abort")
+sys.stdout.flush()
+

tests/motion-logger/startup-gcode-abort/test.ini

@@ -0,0 +1,117 @@
+# This config file was created 2016-06-17 10:33:02.417666 by the update_ini script
+# The original config files may be found in the /data/s/linuxcnc-dev/tests/motion-logger/startup-gcode-abort/test.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+#DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = nc_files
+RS274NGC_STARTUP_CODE = o<init> call
+
+[EMCMOT]
+#EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = mock-motion.hal
+
+[HALUI]
+#No Content
+
+[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
+#This is a best-guess at the number of joints, it should be checked
+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 = -4.0
+MAX_LIMIT = 4.0
+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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/motion-logger/startup-gcode-abort/test.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -e
+
+rm -f out.motion-logger*
+
+for SRC in *.in; do
+    DEST=$(basename "${SRC}" .in)
+    rm -f "${DEST}"
+    grep -E -v '(^ *$)|(^ *#)' "${SRC}" > "${DEST}"
+done
+
+linuxcnc -r test.ini
+