Import LinuxCNC source tree

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

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

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

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+
+#
+# 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

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

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

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+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

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+#!/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

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+# 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

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+#!/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
+