Import LinuxCNC source tree

tests/motion-logger/mountaindew/.gitignore

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+out.motion-logger
+rs274ngc.var
+rs274ngc.var.bak

tests/motion-logger/mountaindew/checkresult

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+#!/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

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+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

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

tests/motion-logger/mountaindew/mountaindew.ini

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+[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

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+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

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+o<m442>sub
+G0 Z0.5 X0 Y0
+X1
+Y1
+X0
+Y0
+o<m442> endsub
+m2
+%
+

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

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+#!/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

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+#!/bin/bash -e
+
+rm -f out.motion-logger
+
+linuxcnc -r mountaindew.ini