Import LinuxCNC source tree

tests/remap/remap-io/README

@@ -0,0 +1,16 @@
+This test verifies that M62-M68 can be remapped through both python
+and NGC, and that calling the original M-codes is supported in the
+remap subroutine.
+
+It also serves as an example of how to do this, since esp. the M66
+python function is not trivial and must be a generator yielding
+`INTERP_EXECUTE_FINISH`.
+
+The recursive call to the original functions needs supporting code for
+mode 5 M-codes in `interp_convert.cc` `convert_m()`, and for M62-M68
+in `rs274ngc_pre.cc`, `find_remappings()`.
+
+The peculiar M66 needs special handling in the interpreter for
+`input_flag`, and to ensure that its result (in param `#5399`) is
+available within the remap, `Interp::pycall()` runs `read_inputs()`
+before returning control back to the python generator.

tests/remap/remap-io/core_sim.hal

@@ -0,0 +1,60 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+#autoconverted  trivkins
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt count=6
+# load additional blocks
+loadrt hypot count=2
+loadrt comp count=3
+loadrt or2 count=1
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf hypot.0 servo-thread
+addf hypot.1 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 ddt.0.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt.2.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt.4.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt.0.out => ddt.1.in hypot.0.in0
+net Xacc <= ddt.1.out
+net Yvel ddt.2.out => ddt.3.in hypot.0.in1
+net Yacc <= ddt.3.out
+net Zvel ddt.4.out => ddt.5.in hypot.1.in0
+net Zacc <= ddt.5.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel hypot.0.out => hypot.1.in1
+net XYZvel <= hypot.1.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prepare <= iocontrol.0.tool-prepare
+net tool-prepared => iocontrol.0.tool-prepared
+
+net tool-change <= iocontrol.0.tool-change
+net tool-changed => iocontrol.0.tool-changed
+
+net tool-number <= iocontrol.0.tool-number
+net tool-prep-number <= iocontrol.0.tool-prep-number
+net tool-prep-pocket <= iocontrol.0.tool-prep-pocket

tests/remap/remap-io/expected

@@ -0,0 +1,123 @@
+**********  Testing python remaps
+----Testing M62/M63 digital output w/motion----
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+----Testing M64/M65 digital output, immediate----
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+----Testing M66 digital input----
+cmd: "M66 P1"; input: 1.0000
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+cmd: "M66 P1"; input: 0.0000
+    M66 remapping pre:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+    M66 remapping post:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+----Testing M66 analog input----
+cmd: "M66 E1 L0"; input: 42.1300
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+cmd: "M66 E1 L0"; input: -13.4200
+    M66 remapping pre:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+    M66 remapping post:  5399=-13.420000; 100=-13.420000; ain0=-13.42; din0=0
+----Testing M67 analog output w/motion----
+cmd: "M67 E1 Q42.13"
+    M67 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M67 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M67 E1 Q-13.42"
+    M67 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M67 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M67 E1 Q0.00"
+    M67 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M67 remapping post: motion aout0=0.00; hal a_out=0.00
+----Testing M68 analog output, immediate----
+cmd: "M68 E1 Q42.13"
+    M68 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M68 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M68 E1 Q-13.42"
+    M68 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M68 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M68 E1 Q0.00"
+    M68 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M68 remapping post: motion aout0=0.00; hal a_out=0.00
+
+**********  Testing ngc remaps
+----Testing M62/M63 digital output w/motion----
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+----Testing M64/M65 digital output, immediate----
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+----Testing M66 digital input----
+cmd: "M66 P1"; input: 1.0000
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+cmd: "M66 P1"; input: 0.0000
+    M66 remapping pre:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+    M66 remapping post:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+----Testing M66 analog input----
+cmd: "M66 E1 L0"; input: 42.1300
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+cmd: "M66 E1 L0"; input: -13.4200
+    M66 remapping pre:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+    M66 remapping post:  5399=-13.420000; 100=-13.420000; ain0=-13.42; din0=0
+----Testing M67 analog output w/motion----
+cmd: "M67 E1 Q42.13"
+    M67 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M67 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M67 E1 Q-13.42"
+    M67 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M67 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M67 E1 Q0.00"
+    M67 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M67 remapping post: motion aout0=0.00; hal a_out=0.00
+----Testing M68 analog output, immediate----
+cmd: "M68 E1 Q42.13"
+    M68 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M68 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M68 E1 Q-13.42"
+    M68 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M68 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M68 E1 Q0.00"
+    M68 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M68 remapping post: motion aout0=0.00; hal a_out=0.00

tests/remap/remap-io/io_input_m66.ngc

@@ -0,0 +1,13 @@
+o<io_input_M66> sub
+(debug,X io_input_M66 remapping pre:  5399=#5399)
+o<analog_or_digital> if [EXISTS[#<e>]]
+    ; analog input
+    M66 E0 L0
+o<analog_or_digital> else
+    ; digital input
+    M66 P0 L0
+o<analog_or_digital> endif
+; Result should be available here after M66; save it for test to check
+#100 = #5399
+(debug,X io_input_M66 remapping post:  5399=#5399)
+o<io_input_M66> endsub

tests/remap/remap-io/io_output_m62.ngc

@@ -0,0 +1,5 @@
+o<io_output_M62> sub
+(debug,X io_output_M62 remapping pre:  5399=#5399)
+M62 P0
+(debug,X io_output_M62 remapping post:  5399=#5399)
+o<io_output_M62> endsub

tests/remap/remap-io/io_output_m63.ngc

@@ -0,0 +1,3 @@
+o<io_output_M63> sub
+M63 P0
+o<io_output_M63> endsub

tests/remap/remap-io/io_output_m64.ngc

@@ -0,0 +1,3 @@
+o<io_output_M64> sub
+M64 P0
+o<io_output_M64> endsub

tests/remap/remap-io/io_output_m65.ngc

@@ -0,0 +1,3 @@
+o<io_output_M65> sub
+M65 P0
+o<io_output_M65> endsub

tests/remap/remap-io/io_output_m67.ngc

@@ -0,0 +1,3 @@
+o<io_output_M67> sub
+M67 E0 Q#<Q>
+o<io_output_M67> endsub

tests/remap/remap-io/io_output_m68.ngc

@@ -0,0 +1,3 @@
+o<io_output_M68> sub
+M68 E0 Q#<Q>
+o<io_output_M68> endsub

tests/remap/remap-io/postgui.hal

@@ -0,0 +1,9 @@
+# net analog and digital in signals to test-ui pin for m66
+net a_in-0 test-ui.a_in => motion.analog-in-00
+net d_in-0 test-ui.d_in => motion.digital-in-00
+
+# net digital out to test-ui pin for m62-m65
+net d_out-0 motion.digital-out-00 => test-ui.d_out
+
+# net analog out to test-ui pin for m67, m68
+net a_out-0 motion.analog-out-00 => test-ui.a_out

tests/remap/remap-io/remap.py

@@ -0,0 +1,50 @@
+import linuxcnc
+import emccanon
+import interpreter
+
+def init_stdglue(self):
+    pass
+
+def io_output_M62(self,**words):
+
+    self.execute("M62 P0")
+    return interpreter.INTERP_OK
+
+def io_output_M63(self,**words):
+
+    self.execute("M63 P0")
+    return interpreter.INTERP_OK
+
+def io_output_M64(self,**words):
+
+    self.execute("M64 P0")
+    return interpreter.INTERP_OK
+
+def io_output_M65(self,**words):
+
+    self.execute("M65 P0")
+    return interpreter.INTERP_OK
+
+def io_input_M66(self,**words):
+
+    self.execute("M66 %(inp)s%(wait_mode)s" % dict(
+            inp = ("P0" if 'p' in words else "E0"),
+            wait_mode = (" L%d" % words['l'] if 'l' in words else ""),
+            ))
+    yield interpreter.INTERP_EXECUTE_FINISH
+
+    # Result should be available after yield; save it for test to check
+    self.params[100] = self.params[5399]
+    yield interpreter.INTERP_OK
+
+
+def io_output_M67(self,**words):
+
+    self.execute("M67 E0 Q%.2f" % words['q'])
+    return interpreter.INTERP_OK
+
+def io_output_M68(self,**words):
+
+    self.execute("M68 E0 Q%.2f" % words['q'])
+    return interpreter.INTERP_OK
+

tests/remap/remap-io/simpockets.tbl

@@ -0,0 +1,3 @@
+T1 P1 D0.125000 Z+1.000000 ;
+T10 P3 D0.500000 Z+3.000000 ;
+T99999 P50 Z+2.000000 ;

tests/remap/remap-io/test-ngc.ini

@@ -0,0 +1,129 @@
+# This config file was created 2017-05-10 09:59:22.679734 by the update_ini script
+# The original config files may be found in the /home/jepler/src/linuxcnc/master/tests/remap/remap-io/test-ngc.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = .
+REMAP= M62 modalgroup=5 argspec=P ngc=io_output_m62
+REMAP= M63 modalgroup=5 argspec=P ngc=io_output_m63
+REMAP= M64 modalgroup=5 argspec=P ngc=io_output_m64
+REMAP= M65 modalgroup=5 argspec=P ngc=io_output_m65
+REMAP= M66 modalgroup=5 argspec=pelq ngc=io_input_m66
+REMAP= M67 modalgroup=5 argspec=EQ ngc=io_output_m67
+REMAP= M68 modalgroup=5 argspec=EQ ngc=io_output_m68
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.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 = -40.0
+MAX_LIMIT = 40.0
+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 =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[PYTHON]
+
+TOPLEVEL= toplevel.py
+PATH_PREPEND= .

tests/remap/remap-io/test-py.ini

@@ -0,0 +1,129 @@
+# This config file was created 2017-05-10 09:59:11.447475 by the update_ini script
+# The original config files may be found in the /home/jepler/src/linuxcnc/master/tests/remap/remap-io/test-py.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = .
+REMAP= M62 modalgroup=5 argspec=P py=io_output_M62
+REMAP= M63 modalgroup=5 argspec=P py=io_output_M63
+REMAP= M64 modalgroup=5 argspec=P py=io_output_M64
+REMAP= M65 modalgroup=5 argspec=P py=io_output_M65
+REMAP= M66 modalgroup=5 argspec=pelq py=io_input_M66
+REMAP= M67 modalgroup=5 argspec=EQ py=io_output_M67
+REMAP= M68 modalgroup=5 argspec=EQ py=io_output_M68
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.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 = -40.0
+MAX_LIMIT = 40.0
+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 =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[PYTHON]
+
+TOPLEVEL= toplevel.py
+PATH_PREPEND= .

tests/remap/remap-io/test-ui.py

@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+
+import linuxcnc, hal
+import sys, os
+
+# Set up pins
+h = hal.component("test-ui")
+h.newpin('d_out', hal.HAL_BIT, hal.HAL_IN) # pin for reading digital out
+h.newpin('a_out', hal.HAL_FLOAT, hal.HAL_IN) # pin for reading analog out
+h.newpin('d_in', hal.HAL_BIT, hal.HAL_OUT) # pin for setting digital in
+h.newpin('a_in', hal.HAL_FLOAT, hal.HAL_OUT) # pin for setting analog in
+h.ready() # mark the component as 'ready'
+os.system('halcmd source postgui.hal') # Net above pins to motion I/O pins
+
+# Initialization
+c = linuxcnc.command()
+s = linuxcnc.stat()
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MDI)
+
+
+###################################################
+# M62-M65 digital out
+
+def do_dout(on=True, mpos=None):
+    # Set up command
+    #
+    # for sanity, specify output 1, changed to 0 in remap
+    code = 64 + int(not on) - 2*int(mpos is not None)
+    cmd = 'M%d P1' % code
+
+    # Print pre-test values
+    s.poll() # Update status channel
+    c.mdi('(print,cmd: "%s")' % cmd)
+    c.mdi('(print,    M%d remapping pre: motion dout0=%d; hal d_out=%d)' %
+          (code, s.dout[0], h['d_out']))
+
+    # Run test command
+    c.mdi(cmd)
+    if mpos is not None:
+        c.mdi('G0 X%.2f' % mpos)
+        c.wait_complete()
+
+    # Print post-test values
+    s.poll() # Update status channel
+    c.mdi('(print,    M%d remapping post: motion dout0=%d; hal d_out=%d)' %
+          (code, s.dout[0], h['d_out']))
+
+# M62/M63 test:  toggle DIO w/motion & verify
+c.mdi('(print,----Testing M62/M63 digital output w/motion----)')
+do_dout(on=True, mpos=1.0) # M62
+do_dout(on=False, mpos=2.0) # M63
+do_dout(on=True, mpos=3.0) # M62
+do_dout(on=False, mpos=4.0) # M63
+
+# M64/M65 test:  toggle DIO & verify
+c.mdi('(print,----Testing M64/M65 digital output, immediate----)')
+do_dout(on=True)  # M64
+do_dout(on=False) # M65
+do_dout(on=True)  # M64
+do_dout(on=False) # M65
+
+###################################################
+# M66 wait on input
+
+# These tests don't exercise the L- and Q-words, despite partial
+# plumbing being there
+
+def do_in(inp, d_in=True, wait_mode=None, timeout=None):
+    # Set up M66 command
+    cmd = 'M66 %(ad_in)s%(wait_mode)s%(timeout)s' % dict(
+        # for sanity, specify input 1, changed to 0 in remap
+        ad_in = ('P1' if d_in else 'E1'),
+        wait_mode = (' L%d' % wait_mode if wait_mode is not None else ''),
+        timeout = (' Q%d' % timeout if timeout is not None else ''),
+        )
+
+    # Set input pin
+    if d_in:
+        h['d_in'] = inp
+    else:
+        h['a_in'] = inp
+
+    # Print pre-test values
+    s.poll() # Update status channel
+    c.mdi('(print,cmd: "%s"; input: %.4f)' % (cmd, inp))
+    c.mdi('(print,    M66 remapping pre:  5399=#5399; 100=#100; '
+          'ain0=%.2f; din0=%d)' % (s.ain[0], s.din[0]))
+
+    # Run test command and wait for it
+    c.mdi(cmd)
+    c.wait_complete()
+
+    # Print post-test values
+    s.poll() # Update status channel
+    c.mdi('(print,    M66 remapping post:  5399=#5399; 100=#100; '
+          'ain0=%.2f; din0=%d)' % (s.ain[0], s.din[0]))
+
+# Run test cases
+#
+# Digital input
+c.mdi('(print,----Testing M66 digital input----)')
+do_in(1, d_in=True)
+do_in(0, d_in=True)
+# Analog input
+c.mdi('(print,----Testing M66 analog input----)')
+do_in(42.13, d_in=False, wait_mode=0)
+do_in(-13.42, d_in=False, wait_mode=0)
+
+###################################################
+# M67-M68 analog out
+
+def do_aout(out_val, mpos=None):
+    # Set up command
+    #
+    # for sanity, specify output 1, changed to 0 in remap
+    code = 67 + int(mpos is None)
+    cmd = 'M%d E1 Q%.2f' % (code, out_val)
+
+    # Print pre-test values
+    s.poll() # Update status channel
+    c.mdi('(print,cmd: "%s")' % cmd)
+    c.mdi('(print,    M%d remapping pre: motion aout0=%.2f; hal a_out=%.2f)' %
+          (code, s.aout[0], h['a_out']))
+
+    # Run test command
+    c.mdi(cmd)
+    if mpos is not None:
+        c.mdi('G0 X%.2f' % mpos)
+        c.wait_complete()
+
+    # Print post-test values
+    s.poll() # Update status channel
+    c.mdi('(print,    M%d remapping post: motion aout0=%.2f; hal a_out=%.2f)' %
+          (code, s.aout[0], h['a_out']))
+
+# M67 test:  set AIO w/motion & verify
+c.mdi('(print,----Testing M67 analog output w/motion----)')
+do_aout(42.13, mpos=-1.0)
+do_aout(-13.42, mpos=-2.0)
+do_aout(0.0, mpos=-3.0)
+
+# M68 test:  set AIO (immed.) & verify
+c.mdi('(print,----Testing M68 analog output, immediate----)')
+do_aout(42.13)
+do_aout(-13.42)
+do_aout(0.0)
+
+###################################################
+# Shutdown
+c.wait_complete()
+sys.exit(0)
+

tests/remap/remap-io/test.sh

@@ -0,0 +1,13 @@
+#!/bin/bash -e
+export PYTHONUNBUFFERED=1
+do_test() {
+    INI="$1"
+    linuxcnc -r "$INI" | grep -i m6
+}
+
+echo "**********  Testing python remaps"
+do_test test-py.ini
+echo
+echo "**********  Testing ngc remaps"
+do_test test-ngc.ini
+

tests/remap/remap-io/toplevel.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+import remap
+
+def __init__(self):
+    remap.init_stdglue(self)