Import LinuxCNC source tree

tests/single-step/checkresult

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+#!/bin/sh
+# Test passes if test-ui.py returns successfully
+exit 0

tests/single-step/postgui.hal

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+net Xpos => test-ui.Xpos
+net Ypos => test-ui.Ypos
+net Zpos => test-ui.Zpos
+net counter <= motion.analog-out-00 => test-ui.counter

tests/single-step/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import time
+import sys
+import os
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
+
+#
+# Create and connect test feedback comp
+#
+h = hal.component("test-ui")
+h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("Zpos", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("counter", hal.HAL_FLOAT, hal.HAL_IN)
+h.ready()
+os.system("halcmd source ./postgui.hal")
+
+def print_state():
+    sys.stderr.write(
+        "line=%d; Xpos=%.2f; Ypos=%.2f; Zpos=%.2f; counter=%d\n" %
+        (s.current_line, h["Xpos"], h["Ypos"], h["Zpos"], h["counter"]))
+
+#
+# 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.home(0)
+c.home(1)
+c.home(2)
+l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+c.mode(linuxcnc.MODE_AUTO)
+
+
+#
+# run the .ngc test file, starting from the special line
+#
+
+c.program_open('test.ngc')
+
+epsilon = 0.000001
+def mod_5_is_0(x):
+    return abs((x+epsilon) % 5) < 2*epsilon
+
+
+def wait_complete_step():
+
+    '''The normal `linuxcnc.command.wait_complete()` function does not
+    understand single-stepping.  It waits for the `state` to return to
+    `RCS_DONE` but this does not happen when single-stepping, `state`
+    stays at `RCS_EXEC` while waiting for the next step.
+
+    This function instead waits for status.task.execState to tell us
+    that Task is no longer waiting for Motion in any way.'''
+
+    timeout = 15.0
+    start = time.time()
+
+    # Wait for the command to be acknowledged by Task (FIXME or is it motion?).
+    while time.time() - start < timeout:
+        s.poll()
+        if s.echo_serial_number >= c.serial:
+            break
+        time.sleep(0.1)
+
+    # Wait for Task to be done waiting for Motion.
+    while time.time() - start < timeout:
+        s.poll()
+        if s.exec_state not in [ linuxcnc.EXEC_WAITING_FOR_MOTION, linuxcnc.EXEC_WAITING_FOR_MOTION_AND_IO, linuxcnc.EXEC_WAITING_FOR_MOTION_QUEUE ]:
+            return
+        time.sleep(0.1)
+
+    raise SystemExit(f'error: timeout in wait_complete_step(), {timeout} seconds were not enough')
+
+
+# Take first three steps (these cause no motion).
+c.auto(linuxcnc.AUTO_STEP)
+c.auto(linuxcnc.AUTO_STEP)
+c.auto(linuxcnc.AUTO_STEP)
+wait_complete_step()
+
+count = 0
+while True:
+    s.poll()
+    if s.interp_state == linuxcnc.INTERP_IDLE:
+        sys.stderr.write("Finished:  Detected program finish\n")
+        break
+
+    (x, y) = (h["Xpos"], h["Ypos"])
+    if mod_5_is_0(x) and mod_5_is_0(y):
+        # Both axes on goal; command the next step and wait for it to finish.
+        sys.stderr.write("Taking step from X%.2f Y%.2f\n" % (x, y))
+        c.auto(linuxcnc.AUTO_STEP)
+        wait_complete_step()
+
+    print_state()
+
+    count += 1
+    if count >= 1000:  # Shouldn't happen, but prevent runaways
+        sys.stderr.write("Finished:  Exceeded max cycles\n")
+        sys.exit(1)
+
+    time.sleep(0.1)
+
+if h["counter"] != 25:
+    sys.stderr.write("End counter incorrect:  %d != 25\n" % h["counter"])
+    sys.exit(1)
+
+sys.exit(0)

tests/single-step/test.ini

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+[EMC]
+VERSION = 1.1
+#DEBUG = 0xffffffff
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+LOG_LEVEL = 999
+
+[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 = LIB:core_sim.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 = 1200
+MAX_LINEAR_VELOCITY =   4000
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+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 = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+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 = 4000
+MAX_ACCELERATION = 10000.0
+
+[JOINT_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4000
+MAX_ACCELERATION = 10000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40
+MAX_LIMIT =        40
+FERROR =           0.050
+MIN_FERROR =       0.010
+

tests/single-step/test.ngc

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+#1 = 0
+O100 repeat [6]
+M67 E0 Q[#1]
+(DEBUG, 1)
+G1 F500 X[5 + #1]
+(DEBUG, 2)
+G1 F500 Y[5 + #1]
+(DEBUG, 3)
+G1 F500 X[10 + #1]
+#1 = [#1 + 5]
+O100 endrepeat
+M2

tests/single-step/test.sh

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+#!/bin/bash -e
+
+linuxcnc -r test.ini