Import LinuxCNC source tree

tests/startup-state/.gitignore

@@ -0,0 +1,2 @@
+sim.var
+sim.var.bak

tests/startup-state/README

@@ -0,0 +1,2 @@
+This test starts LinuxCNC and verifies that it comes up in the expected
+state by validating the statbuffer contents.

tests/startup-state/checkresult

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

tests/startup-state/core_sim.hal

@@ -0,0 +1,61 @@
+# 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/startup-state/sim.var.pre

@@ -0,0 +1,119 @@
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+5162	0.000000
+5163	0.000000
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+5168	0.000000
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+5183	0.000000
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+5185	0.000000
+5186	0.000000
+5187	0.000000
+5188	0.000000
+5189	0.000000
+5210	1.000000
+5211	1.000000
+5212	2.000000
+5213	4.000000
+5214	0.000000
+5215	0.000000
+5216	0.000000
+5217	0.000000
+5218	0.000000
+5219	0.000000
+5220	1.000000
+5221	0.125000
+5222	0.250000
+5223	0.500000
+5224	0.000000
+5225	0.000000
+5226	0.000000
+5227	0.000000
+5228	0.000000
+5229	0.000000
+5230	0.000000
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+5242	0.000000
+5243	-5.000000
+5244	0.000000
+5245	0.000000
+5246	0.000000
+5247	0.000000
+5248	0.000000
+5249	0.000000
+5250	0.000000
+5261	0.000000
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+5264	0.000000
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+5289	0.000000
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+5304	0.000000
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+5306	0.000000
+5307	0.000000
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+5328	0.000000
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+5341	0.000000
+5342	0.000000
+5343	0.000000
+5344	0.000000
+5345	0.000000
+5346	0.000000
+5347	0.000000
+5348	0.000000
+5349	0.000000
+5350	0.000000
+5361	0.000000
+5362	0.000000
+5363	0.000000
+5364	0.000000
+5365	0.000000
+5366	0.000000
+5367	0.000000
+5368	0.000000
+5369	0.000000
+5370	0.000000
+5381	0.000000
+5382	0.000000
+5383	0.000000
+5384	0.000000
+5385	0.000000
+5386	0.000000
+5387	0.000000
+5388	0.000000
+5389	0.000000
+5390	0.000000

tests/startup-state/test-ui.py

@@ -0,0 +1,317 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def print_status(status):
+
+    """Prints all the fields of the status buffer.  Does not call
+    poll()."""
+
+    print("acceleration: {}".format(status.acceleration))
+    print("active_queue: {}".format(status.active_queue))
+    print("actual_position: {}".format(status.actual_position))
+    print("adaptive_feed_enabled: {}".format(status.adaptive_feed_enabled))
+    print("ain: {}".format(status.ain))
+    print("angular_units: {}".format(status.angular_units))
+    print("aout: {}".format(status.aout))
+    print("axis_mask: {}".format(status.axis_mask))
+    print("block_delete: {}".format(status.block_delete))
+    print("call_level: {}".format(status.call_level))
+    print("command: {}".format(status.command))
+    print("current_line: {}".format(status.current_line))
+    print("current_vel: {}".format(status.current_vel))
+    print("cycle_time: {}".format(status.cycle_time))
+    print("debug: {}".format(status.debug))
+    print("delay_left: {}".format(status.delay_left))
+    print("din: {}".format(status.din))
+    print("distance_to_go: {}".format(status.distance_to_go))
+    print("dout: {}".format(status.dout))
+    print("dtg: {}".format(status.dtg))
+    print("echo_serial_number: {}".format(status.echo_serial_number))
+    print("enabled: {}".format(status.enabled))
+    print("estop: {}".format(status.estop))
+    print("exec_state: {}".format(status.exec_state))
+    print("feed_hold_enabled: {}".format(status.feed_hold_enabled))
+    print("feed_override_enabled: {}".format(status.feed_override_enabled))
+    print("feedrate: {}".format(status.feedrate))
+    print("file: {}".format(status.file))
+    print("flood: {}".format(status.flood))
+    print("g5x_index: {}".format(status.g5x_index))
+    print("g5x_offset: {}".format(status.g5x_offset))
+    print("g92_offset: {}".format(status.g92_offset))
+    print("gcodes: {}".format(status.gcodes))
+    print("homed: {}".format(status.homed))
+    print("id: {}".format(status.motion_id))
+    print("inpos: {}".format(status.inpos))
+    print("input_timeout: {}".format(status.input_timeout))
+    print("interp_state: {}".format(status.interp_state))
+    print("interpreter_errcode: {}".format(status.interpreter_errcode))
+    print("joint: {}".format(status.joint))
+    print("joint_actual_position: {}".format(status.joint_actual_position))
+    print("joint_position: {}".format(status.joint_position))
+    print("joints: {}".format(status.joints))
+    print("kinematics_type: {}".format(status.kinematics_type))
+    print("limit: {}".format(status.limit))
+    print("linear_units: {}".format(status.linear_units))
+    print("max_acceleration: {}".format(status.max_acceleration))
+    print("max_velocity: {}".format(status.max_velocity))
+    print("mcodes: {}".format(status.mcodes))
+    print("mist: {}".format(status.mist))
+    print("motion_line: {}".format(status.motion_line))
+    print("motion_mode: {}".format(status.motion_mode))
+    print("motion_type: {}".format(status.motion_type))
+    print("optional_stop: {}".format(status.optional_stop))
+    print("paused: {}".format(status.paused))
+    print("pocket_prepped: {}".format(status.pocket_prepped))
+    print("position: {}".format(status.position))
+    print("probe_tripped: {}".format(status.probe_tripped))
+    print("probe_val: {}".format(status.probe_val))
+    print("probed_position: {}".format(status.probed_position))
+    print("probing: {}".format(status.probing))
+    print("program_units: {}".format(status.program_units))
+    print("queue: {}".format(status.queue))
+    print("queue_full: {}".format(status.queue_full))
+    print("queued_mdi_commands: {}".format(status.queued_mdi_commands))
+    print("rapidrate: {}".format(status.rapidrate))
+    print("read_line: {}".format(status.read_line))
+    print("rotation_xy: {}".format(status.rotation_xy))
+    print("settings: {}".format(status.settings))
+    print("spindle_brake: {}".format(status.spindle[0]['brake']))
+    print("spindle_direction: {}".format(status.spindle[0]['direction']))
+    print("spindle_enabled: {}".format(status.spindle[0]['enabled']))
+    print("spindle_override_enabled: {}".format(status.spindle[0]['override_enabled']))
+    print("spindle_speed: {}".format(status.spindle[0]['speed']))
+    print("spindlerate: {}".format(status.spindle[0]['override']))
+    print("state: {}".format(status.state))
+    print("task_mode: {}".format(status.task_mode))
+    print("task_paused: {}".format(status.task_paused))
+    print("task_state: {}".format(status.task_state))
+    print("tool_in_spindle: {}".format(status.tool_in_spindle))
+    print("tool_offset: {}".format(status.tool_offset))
+    print("tool_table: {}".format(status.tool_table))
+    print("velocity: {}".format(status.velocity))
+    sys.stdout.flush()
+
+
+def assert_joint_zeroed(joint):
+    assert(joint['ferror_current'] == 0.0)
+    assert(joint['max_position_limit'] == 1.0)
+    assert(joint['max_ferror'] == 1.0)
+    assert(joint['inpos'] == 1)
+    assert(joint['ferror_highmark'] == 0.0)
+    assert(joint['jointType'] == 1)
+    assert(joint['units'] == 1.0)
+    assert(joint['input'] == 0.0)
+    assert(joint['min_soft_limit'] == 0)
+    assert(joint['min_hard_limit'] == 0)
+    assert(joint['homing'] == 0)
+    assert(joint['min_ferror'] == 1.0)
+    assert(joint['max_hard_limit'] == 0)
+    assert(joint['output'] == 0.0)
+    assert(joint['backlash'] == 0.0)
+    assert(joint['fault'] == 0)
+    assert(joint['enabled'] == 0)
+    assert(joint['max_soft_limit'] == 0)
+    assert(joint['override_limits'] == 0)
+    assert(joint['homed'] == 0)
+    assert(joint['min_position_limit'] == -1.0)
+    assert(joint['velocity'] == 0.0)
+
+
+def assert_axis_zeroed(axis):
+    assert(axis['min_position_limit'] == 0.0)
+    assert(axis['velocity'] == 0.0)
+    assert(axis['max_position_limit'] == 0.0)
+
+
+def assert_joint_initialized(joint):
+    assert(joint['ferror_current'] == 0.0)
+    assert(joint['max_position_limit'] == 40.0)
+    assert(joint['max_ferror'] == 0.05)
+    assert(joint['inpos'] == 1)
+    assert(joint['ferror_highmark'] == 0.0)
+    assert(joint['jointType'] == 1)
+    assert(joint['units'] == 0.03937007874015748)
+    assert(joint['input'] == 0.0)
+    assert(joint['min_soft_limit'] == 0)
+    assert(joint['min_hard_limit'] == 0)
+    assert(joint['homing'] == 0)
+    assert(joint['min_ferror'] == 0.01)
+    assert(joint['max_hard_limit'] == 0)
+    assert(joint['output'] == 0.0)
+    assert(joint['backlash'] == 0.0)
+    assert(joint['fault'] == 0)
+    assert(joint['enabled'] == 0)
+    assert(joint['max_soft_limit'] == 0)
+    assert(joint['override_limits'] == 0)
+    assert(joint['homed'] == 0)
+    assert(joint['min_position_limit'] == -40.0)
+    assert(joint['velocity'] == 0.0)
+
+
+def assert_axis_initialized(axis):
+    assert(axis['min_position_limit'] == -40.0)
+    assert(axis['velocity'] == 0.0)
+    assert(axis['max_position_limit'] == 40.0)
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+l = linuxcnc_util.LinuxCNC()
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+l.wait_for_linuxcnc_startup()
+
+print("status at boot up")
+s.poll()
+print_status(s)
+
+# FIXME: in 2.6.12, acceleration at startup is initialized to 1e99 for some reason
+#assert(s.acceleration == 0.0)
+
+assert(s.active_queue == 0)
+assert(s.actual_position == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+assert(s.adaptive_feed_enabled == False)
+assert(s.ain == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+assert(s.angular_units == 1.0)
+assert(s.aout == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+assert_axis_initialized(s.axis[0])
+assert_axis_initialized(s.axis[1])
+assert_axis_initialized(s.axis[2])
+assert_axis_zeroed(s.axis[3])
+assert_axis_zeroed(s.axis[4])
+assert_axis_zeroed(s.axis[5])
+assert_axis_zeroed(s.axis[6])
+assert_axis_zeroed(s.axis[7])
+assert_axis_zeroed(s.axis[8])
+assert(s.axis_mask == 0x7)
+
+assert(s.block_delete == True)
+
+assert(s.command == "")
+assert(s.current_line == 0)
+assert(s.current_vel == 0.0)
+assert(s.cycle_time > 0.0)
+
+assert(s.debug == 0)
+assert(s.delay_left == 0.0)
+assert(s.din == (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0))
+assert(s.distance_to_go == 0.0)
+assert(s.dout == (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0))
+assert(s.dtg == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+
+assert(s.echo_serial_number == 0)
+assert(s.enabled == False)
+assert(s.estop == 1)
+assert(s.exec_state == linuxcnc.EXEC_DONE)
+
+assert(s.feed_hold_enabled == True)
+assert(s.feed_override_enabled == True)
+assert(s.feedrate == 1.0)
+assert(s.file == "")
+assert(s.flood == 0)
+
+assert(s.g5x_index == 1)
+
+# mmm, floats
+assert(math.fabs(s.g5x_offset[0] - 0.125) < 0.0000001)
+assert(math.fabs(s.g5x_offset[1] - 0.250) < 0.0000001)
+assert(math.fabs(s.g5x_offset[2] - 0.500) < 0.0000001)
+assert(s.g5x_offset[3:] == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+
+assert(math.fabs(s.g92_offset[0] - 1.000) < 0.0000001)
+assert(math.fabs(s.g92_offset[1] - 2.000) < 0.0000001)
+assert(math.fabs(s.g92_offset[2] - 4.000) < 0.0000001)
+assert(s.g92_offset[3:] == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+
+assert(s.gcodes == (0, 800, -1, 170, 400, 200, 900, 940, 540, 490, 990, 640, -1, 970, 911, 80, 923))
+
+assert(not (1 in s.homed))
+assert(s.motion_id == 0)
+assert(s.inpos == True)
+assert(s.input_timeout == False)
+assert(s.interp_state == linuxcnc.INTERP_IDLE)
+assert(s.interpreter_errcode == 0)
+
+assert_joint_initialized(s.joint[0])
+assert_joint_initialized(s.joint[1])
+assert_joint_initialized(s.joint[2])
+assert_joint_zeroed(s.joint[3])
+assert_joint_zeroed(s.joint[4])
+assert_joint_zeroed(s.joint[5])
+assert_joint_zeroed(s.joint[6])
+assert_joint_zeroed(s.joint[7])
+assert_joint_zeroed(s.joint[8])
+for i in range(len(s.joint_actual_position)):
+    assert(s.joint_actual_position[i] == 0.0)
+for i in range(len(s.joint_position)):
+    assert(s.joint_position[i] == 0.0)
+assert(s.joints == 3)
+
+assert(s.kinematics_type == 1)
+
+assert(not (1 in s.limit))
+assert(math.fabs(s.linear_units - 0.0393700787402) < 0.0000001)
+
+# FIXME: in master (663c914) this is initialized to 1e99
+#assert(math.fabs(s.max_acceleration - 123.45) < 0.0000001)
+
+assert(math.fabs(s.max_velocity - 45.67) < 0.0000001)
+assert(s.mcodes == (0, -1, 5, -1, 9, -1, 48, -1, 53, -1))
+assert(s.mist == 0)
+assert(s.motion_line == 0)
+assert(s.motion_mode == linuxcnc.TRAJ_MODE_FREE)
+assert(s.motion_type == 0)
+
+assert(s.optional_stop == True)
+
+assert(s.paused == False)
+assert(s.pocket_prepped == -1)
+assert(s.position == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+assert(s.probe_tripped == False)
+assert(s.probe_val == 0)
+assert(s.probed_position == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+assert(s.probing == False)
+assert(s.program_units == 1)
+
+assert(s.queue == 0)
+assert(s.queue_full == False)
+assert(s.queued_mdi_commands == 0)
+
+assert(s.rapidrate == 1.0)
+assert(s.read_line == 0)
+assert(s.rotation_xy == 0.0)
+
+assert(s.settings == (0.0, 0.0, 0.0, 0.001, 0.0))
+assert(s.spindle[0]['brake'] == 1)
+assert(s.spindle[0]['direction'] == 0)
+assert(s.spindle[0]['enabled'] == 0)
+assert(s.spindle[0]['override_enabled'] == True)
+assert(s.spindle[0]['speed'] == 0.0)
+assert(s.spindle[0]['override'] == 1.0)
+
+assert(s.state == linuxcnc.STATE_ESTOP)
+
+assert(s.task_mode == linuxcnc.MODE_MANUAL)
+assert(s.task_paused == 0)
+assert(s.task_state == linuxcnc.STATE_ESTOP)
+assert(s.tool_in_spindle == 0)
+assert(s.tool_offset == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
+
+assert(s.velocity == 0.0)
+
+sys.exit(0)
+

tests/startup-state/test.ini

@@ -0,0 +1,117 @@
+# This config file was created 2016-08-19 14:46:40.379819 by the update_ini script
+# The original config files may be found in the /home/seb/linuxcnc-dev/tests/startup-state/test.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
+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 = 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_ACCELERATION =      123.45
+MAX_LINEAR_VELOCITY =          45.67
+
+[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

tests/startup-state/test.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+rm -f sim.var
+cp sim.var.pre sim.var
+linuxcnc -r test.ini
+