Import LinuxCNC source tree

tests/mqtt/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/mqtt/display.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import time
+import os
+import sys
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+print("info: Turning machine on")
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.wait_complete()
+
+c.home(0)
+c.home(1)
+c.home(2)
+
+print("info: Waiting for homing to complete")
+l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+
+c.mode(linuxcnc.MODE_MDI)
+
+print("info: Moving to X1")
+c.mdi("G0 X1Y0Z0")
+c.wait_complete()
+s.poll()
+
+h = hal.component("python-ui")
+
+# Wait for next MQTT publication
+name='mqtt-publisher.lastpublish'
+timeout = 10
+lastpublish = hal.get_value(name)
+start_time = time.time()
+while (time.time() - start_time) < timeout and \
+      hal.get_value(name) == lastpublish:
+    time.sleep(0.1)
+if hal.get_value(name) == lastpublish:
+    raise RuntimeError(f"error: no MQTT publishing happened within {timeout} seconds")
+
+print("info: Turning machine off")
+c.state(linuxcnc.STATE_OFF)
+
+sys.exit(0)

tests/mqtt/simulator.hal

@@ -0,0 +1,17 @@
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+addf motion-command-handler servo-thread
+addf motion-controller 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
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# Set up MQTT publisher
+loadusr -W mqtt-publisher [MQTT]DRYRUN --mqtt-broker=[MQTT]BROKER --mqtt-user=[MQTT]USERNAME --mqtt-password=[MQTT]PASSWORD keys=Xpos,Ypos,Zpos,halui.axis.a.pos-feedback,halui.axis.b.pos-feedback,halui.axis.c.pos-feedback,halui.axis.u.pos-feedback,halui.axis.v.pos-feedback,halui.axis.w.pos-feedback,halui.axis.x.pos-feedback,halui.axis.y.pos-feedback,halui.axis.z.pos-feedback,halui.estop.is-activated,halui.joint.0.is-homed,halui.joint.1.is-homed,halui.joint.2.is-homed,halui.joint.3.is-homed,halui.joint.4.is-homed,halui.joint.5.is-homed,halui.joint.6.is-homed,halui.joint.7.is-homed,halui.joint.8.is-homed,halui.machine.is-on,halui.max-velocity.value,halui.mode.is-auto,halui.mode.is-manual,halui.mode.is-mdi,halui.mode.is-teleop,halui.program.is-running

tests/mqtt/simulator.ini

@@ -0,0 +1,108 @@
+[EMC]
+VERSION = 1.1
+
+#DEBUG = 0x0
+#DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./display.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = simulator.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = simulator.hal
+
+[HALUI]
+#No Content
+
+[TRAJ]
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          mm
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY =      10
+MAX_LINEAR_ACCELERATION =      1000
+MAX_LINEAR_VELOCITY =          100
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[MQTT]
+DRYRUN = --dryrun
+BROKER = broker.local
+USERNAME = username
+PASSWORD = password
+
+[AXIS_X]
+MIN_LIMIT = -1000
+MAX_LIMIT = 1000
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1000
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+HOME_ABSOLUTE_ENCODER = 1
+MAX_VELOCITY =     100
+MAX_ACCELERATION = 1000
+BACKLASH =         0.000
+MIN_LIMIT =        -1000
+MAX_LIMIT =        1000
+FERROR =           0.001
+
+[AXIS_Y]
+MIN_LIMIT = -1000
+MAX_LIMIT = 1000
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1000
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+HOME_ABSOLUTE_ENCODER = 1
+MAX_VELOCITY =     100
+MAX_ACCELERATION = 1000
+BACKLASH =         0.000
+MIN_LIMIT =        -1000
+MAX_LIMIT =        1000
+FERROR =           0.001
+
+[AXIS_Z]
+MIN_LIMIT = -1000
+MAX_LIMIT = 1000
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1000
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.000
+HOME_ABSOLUTE_ENCODER = 1
+MAX_VELOCITY =     100
+MAX_ACCELERATION = 1000
+BACKLASH =         0.000
+MIN_LIMIT =        -1000
+MAX_LIMIT =        1000
+FERROR =           0.001

tests/mqtt/test.sh

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+set -e
+
+linuxcnc -r simulator.ini
+rm -f simulator.var
+exit 0