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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/t0/shared-test.sh Normal file
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#!/bin/bash
set -x
rm -f sim.var
# reset the tool table to a known starting configuration
rm -f tool.tbl
cp tool.tbl.original tool.tbl
rm -f gcode-output
if nc -z localhost 5007; then
echo "Process already listening on port 5007. Exiting"
exit 1
fi
linuxcnc -r sim.ini &
# let linuxcnc come up
TOGO=80
while [ $TOGO -gt 0 ]; do
echo trying to connect to linuxcncrsh TOGO=$TOGO
if nc -z localhost 5007; then
break
fi
sleep 0.25
TOGO=$((TOGO - 1))
done
if [ $TOGO -eq 0 ]; then
echo connection to linuxcncrsh timed out
exit 1
fi
(
function introspect() {
SEQUENCE_NUMBER=$1
echo 'set wait done'
echo "set mdi m100 P6 Q$SEQUENCE_NUMBER" # sequence number
echo 'set mdi m100 P0 Q#5420' # X
echo 'set mdi m100 P1 Q#5421' # Y
echo 'set mdi m100 P2 Q#5422' # Z
echo 'set mdi m100 P3 Q#5400' # toolno
echo 'set mdi m100 P4 Q#5403' # TLO z
echo 'set mdi m100 P5' # blank line
echo 'set wait done'
}
echo "hello EMC mt 1.0"
echo "set enable EMCTOO"
echo "set estop off"
echo "set machine on"
echo "set mode mdi"
#
# first, a bunch of testing with no tool in the spindle
#
# On nonrandom the spindle has T0, which is the nonrandom way to
# specify the special tool that means "no tool".
#
# On random the spindle has T-1, which is the random way to specify the
# special tool that means "no tool".
#
# Both random and nonrandom start this test with no tool in the
# spindle, but they encode this in different ways.
introspect 0
#
# g43
#
# Apply the TLO of the current tool. On both, the spindle has no tool,
# which has 0 TLO.
echo "set mdi g43"
introspect 1
# Apply the TLO of tool T1. On both, T1 is a valid tool, so we use its
# TLO.
echo "set mdi g43 h1"
introspect 2
# Apply the TLO of H0, this one is weird.
#
# On nonrandom, this requests the TLO of the tool in the spindle, which
# is currently T0, which is a special tool with TLO 0.
#
# On random, this requests the TLO of T0. If T0 is not in the tool
# table, this is an error and the active TLO remains unchanged (so it
# stays as the TLO of T1 that we just set above). If T0 is defined, we
# apply its TLO here.
echo "set mdi g43 h0"
introspect 3
#
# g10 l1
#
# Try to change TLO of the normal tool T7. This should work on both,
# but not change the active TLO.
echo "set mdi g10 l1 p7 z0.1"
introspect 4
# Apply the TLO of T7, which we just tried to set. This should work on
# both.
echo "set mdi g43 h7"
introspect 5
# Try to change TLO of the strange tool T0.
#
# This should fail in every config because you cannot change T0.
echo "set mdi g10 l1 p0 z0.2"
introspect 6
# Apply the TLO of the special H0.
#
# On nonrandom, this requests the TLO of the tool in the spindle, which
# is currently T0, which is a special tool with TLO 0.
#
# On random, this requests the TLO of T0. If T0 is not in the tool
# table, this is an error and the active TLO remains unchanged (so it
# stays as the TLO of T7 that we just set above). If T0 is defined, we
# apply its TLO here.
echo "set mdi g43 h0"
introspect 7
#
# g10 l10
#
# Try to change TLO of the normal tool T7. This should work on both.
echo "set mdi g10 l10 p7 z0.3"
introspect 8
# Apply the TLO of T7, which we just tried to set. This should work on
# both.
echo "set mdi g43 h7"
introspect 9
# Try to change TLO of the strange tool T0.
#
# This should fail on every config because you cannot change T0.
echo "set mdi g10 l10 p0 z0.4"
introspect 10
# Apply the TLO of the special H0.
#
# On nonrandom, this requests the TLO of the tool in the spindle, which
# is currently T0, which is a special tool with TLO 0.
#
# On random, this requests the TLO of T0. If T0 is not in the tool
# table, this is an error and the active TLO remains unchanged (so it
# stays as the TLO of T7 that we just set above). If T0 is defined, we
# apply its TLO here.
echo "set mdi g43 h0"
introspect 11
#
# g10 l11
#
# First offset the g59.3 coordinate system and make sure that worked,
# but then switch back to g54. This sets different g59.3 offsets in
# different configs, because they have different active Z TLOs at this
# point.
#
# Before this G10 L20, we are at the following Z locations:
# nonrandom: 0.0 (T0 TLO active)
# random without T0: 0.3 (T7 TLO active)
# random with T0: 0.0 (T0 TLO active)
#
# Then we set the G59.3 coordinate system offset such that the current
# Z location is 5, which gives us these G59.3 Z offsets:
# nonrandom: -5.0 + 0.0 TLO = -5.0
# random without T0: -5.0 + 0.3 TLO = -4.7
# random with T0: -5.0 + 0.0 TLO = -5.0
#
# All the configs will be at Z=5.0 after switching to G59.3.
echo "set mdi g10 l20 p9 z5"
introspect 11.5
echo "set mdi g59.3"
introspect 12
echo "set mdi g54"
introspect 13
# Try to change TLO of the normal tool T7. This should work on all
# configs.
#
# We should end up with the following Z coordinates:
# Nonrandom: -5.0 + 0.5 = -4.5
# Random without T0: -4.7 + 0.5 = -4.2
# Random with T0: -5.0 + 0.5 = -4.5
#
# But these offsets are not active until the G43 below.
echo "set mdi g10 l11 p7 z0.5"
introspect 14
# Apply the TLO of T7, which we just tried to set. This should
# work on all configs.
echo "set mdi g43 h7"
introspect 15
# Try to change TLO of the strange tool T0.
#
# This should fail on every config because you cannot change T0.
echo "set mdi g10 l11 p0 z0.6"
introspect 16
# Apply the TLO of the special H0.
#
# On nonrandom, this requests the TLO of the tool in the spindle, which
# is currently T0, which is a special tool with TLO 0.
#
# On random, this requests the TLO of T0. If T0 is not in the tool
# table, this is an error and the active TLO remains unchanged (so it
# stays as the TLO of T7 that we just set above). If T0 is defined, we
# apply its TLO here.
echo "set mdi g43 h0"
introspect 17
#
# That's all the testing we can do of the condition that there's
# nothing in the spindle. G41/G42 would be nice to test, but the
# numbered parameters we use for introspection aren't accessible to
# gcode while cutter comp is enabled. :-(
#
# So we move on! Put a valid tool in the spindle and test everything
# again!
#
# Switch to the valid tool T50 but don't apply its TLO yet.
# This should work on all configs.
echo "set mdi t50 m6"
introspect 100
#
# g43
#
# Apply the TLO of the current tool. On all configs, the spindle has
# T50. This should work on all configs.
echo "set mdi g43"
introspect 101
# change the TLO of the normal tool T7
# this should work on both, but not change the active TLO
echo "set mdi g10 l10 p7 z1.1"
introspect 102
# apply the TLO of the normal tool T7 (TLO of 0.5 set above)
# this should work on both
echo "set mdi g43 h7"
introspect 103
# try to change the TLO of T0
#
# On nonrandom this should fail because you can't change T0.
#
# On random without T0 this should fail because there is no T0.
#
# On random with T0 this should fail because you can't change T0.
echo "set mdi g10 l10 p0 z1.2"
introspect 104
# Apply the TLO of the special H0.
#
# On nonrandom, this requests the TLO of the tool in the spindle, which
# is currently T50.
#
# On random, this requests the TLO of T0. If T0 is not in the tool
# table, this is an error and the active TLO remains unchanged (so it
# stays as the TLO of T7 that we just set above). If T0 is defined, we
# apply its TLO here.
echo "set mdi g43 h0"
introspect 105
#
# g10 l1
#
# Try to change TLO of the normal tool T7. This should work on all
# configs, but not change the active TLO.
echo "set mdi g10 l1 p7 z1.3"
introspect 106
# Apply the TLO of T7, which we just tried to set. This should work on
# all configs.
echo "set mdi g43 h7"
introspect 107
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0.
#
# It should fail on random without T0 because it has no T0.
#
# It should fail on random with T0 because you cannot change T0.
echo "set mdi g10 l1 p0 z1.4"
introspect 108
# Apply the TLO of the special H0.
#
# It should work on nonrandom and give us the TLO of the tool in the
# spindle, T50 (in this config, G43 H0 means "use current tool").
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with T0 and give us the TLO of T0 (0.0).
echo "set mdi g43 h0"
introspect 109
#
# g10 l10
#
# Try to change TLO of the normal tool T7. This should work on all
# configs.
echo "set mdi g10 l10 p7 z1.5"
introspect 110
# Apply the TLO of T7, which we just tried to set. This should work on
# all configs.
echo "set mdi g43 h7"
introspect 111
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0
#
# It should fail on random without T0 because it has no T0.
#
# It should fail on random with T0 because you cannot change T0
echo "set mdi g10 l10 p0 z1.6"
introspect 112
# Apply the TLO of the special H0.
#
# It should work on nonrandom and give us the TLO of the tool in the
# spindle, T50 (in this config, G43 H0 means "use current tool").
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with T0 and give us the TLO of T0 (0.0).
echo "set mdi g43 h0"
introspect 113
# Try to change TLO of the currently loaded tool, T50.
# This should work on all configs but not change the active TLO
echo "set mdi g10 l10 p50 z1.7"
introspect 114
# Apply the TLO of the special H0.
#
# It should work on nonrandom and give us the TLO of the tool in the
# spindle, T50 (in this config, G43 H0 means "use current tool").
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with T0 and give us the TLO of T0 (0.0).
echo "set mdi g43 h0"
introspect 115
# Apply the TLO of T7.
# This should work on all configs.
echo "set mdi g43 h7"
introspect 116
# Apply the TLO of the current tool
# This should work on all configs.
echo "set mdi g43"
introspect 117
#
# g10 l11
#
# First offset the G59.3 coordinate system and make sure that worked,
# but then switch back to G54. All configs are using the TLO of T50
# at this point, so they all set the same G59.3 coordinate system
# offset.
#
# Before this G10 L20, all configs are at Z=1.7 (T50 TLO active)
#
# Then we set the G59.3 coordinate system offset such that the current
# Z location is 6, which gives us a G59.3 Z offset of:
# -6.0 + 1.7 TLO = -4.3
#
# All the configs will be at Z = 6.0 after switching to G59.3.
echo "set mdi g10 l20 p9 z6"
introspect 117.5
echo "set mdi g59.3"
introspect 118
echo "set mdi g54"
introspect 119
# Try to change TLO of the normal tool T7. This should work on all
# configs.
echo "set mdi g10 l11 p7 z1.8"
introspect 120
# Apply the TLO of T7, which we just tried to set. This should
# work on all configs.
echo "set mdi g43 h7"
introspect 121
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0.
#
# It should fail on random without T0 because it has no T0.
#
# This should fail on random with T0 because you cannot change T0.
echo "set mdi g10 l11 p0 z1.3"
introspect 122
# Apply the TLO of T0, which we just tried to set.
#
# It should work on nonrandom and give us a TLO of the tool in the
# spindle, T50.
#
# It should fail on random and leave the TLO at the value from T7
# above.
#
# It should work on random with T0 and give us the TLO of T0: 0.0
echo "set mdi g43 h0"
introspect 123
#
# Now load T0 into the spindle and retest everything again.
#
# Switch to the special tool T0 but don't apply its TLO yet.
#
# On nonrandom, this should unload the spindle.
#
# On random without T0 this should fail (there is no T0) and leave
# T50 in the spindle.
#
# On random with T0 this should work and put T0 in the spindle.
echo "set mdi t0 m6"
introspect 200
#
# g43
#
# Apply the TLO of the current tool.
#
# On nonrandom the spindle has the special tool T0, which has a 0 TLO.
#
# On random without T0 the spindle has T50, which has a TLO of -1.15,
# set above.
#
# On random with T0 the spindle has tool T0, which has a 0 TLO.
echo "set mdi g43"
introspect 201
# change the TLO of the normal tool T7
# this should work on all configs, but not change the active TLO
echo "set mdi g10 l10 p7 z2.0"
introspect 202
# apply the TLO of the normal tool T7 (TLO set above)
# this should work on all configs
echo "set mdi g43 h7"
introspect 203
# try to change the TLO of T0
#
# On nonrandom this should fail because you can't change T0.
#
# On random without T0 this should fail because there is no T0.
#
# On random with T0 this should fail because you can't change T0.
echo "set mdi g10 l10 p0 z2.1"
introspect 204
# try to apply the TLO of H0
#
# On nonrandom, this should apply the TLO of the current tool (special
# handling of G43 H0). The current tool is T0, which has 0 TLO.
#
# On random without T0 this should be an error (G43 H0 is nothing
# special, but there is no T0) and the active TLO should remain
# unchanged.
#
# On random with T0 this should apply the TLO of T0 (0.0).
echo "set mdi g43 h0"
introspect 205
#
# g10 l1
#
# Try to change TLO of the normal tool T7. This should work on all
# configs, but not change the active TLO.
echo "set mdi g10 l1 p7 z2.2"
introspect 206
# Apply the TLO of T7, which we just tried to set. This should work on
# all configs.
echo "set mdi g43 h7"
introspect 207
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0.
#
# It should fail on random without T0 because it has no T0.
#
# This should fail on random with T0 because you cannot change T0.
echo "set mdi g10 l1 p0 z2.3"
introspect 208
# Apply the TLO of H0.
#
# It should work on nonrandom and give us the TLO of the tool in the
# spindle, T50.
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with TLO and give us the TLO of T0.
echo "set mdi g43 h0"
introspect 209
#
# g10 l10
#
# Try to change TLO of the normal tool T7. This should work on all
# configs.
echo "set mdi g10 l10 p7 z2.4"
introspect 210
# Apply the TLO of T7, which we just tried to set. This should work on
# all configs.
echo "set mdi g43 h7"
introspect 211
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0
#
# It should fail on random without T0 because it has no T0.
#
# It should fail on random with T0 because you cannot change T0
echo "set mdi g10 l10 p0 z2.5"
introspect 212
# Apply the TLO of the special H0.
#
# It should work on nonrandom and give us the TLO of the tool in the
# spindle, T0 (in this config, G43 H0 means "use current tool").
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with T0 and give us the TLO of T0 (0.0).
echo "set mdi g43 h0"
introspect 213
#
# g10 l11
#
# First offset the G59.3 coordinate system and make sure that worked,
# but then switch back to G54. This sets different G59.3 offsets in
# different configs, because they have different active Z TLOs at
# this point.
#
# Before this G10 L20, we are at the following Z locations:
# nonrandom: 0.0 (T0 TLO active)
# random without T0: 2.4 (T7 TLO active)
# random with T0: 0.0 (T0 TLO active)
#
# Then we set the G59.3 coordinate system offset such that the current
# Z location is 7, which gives us these G59.3 Z offsets:
# nonrandom: -7.0 + 0.0 TLO = -7.0
# random without T0: -7.0 + 2.4 TLO = -4.6
# random with T0: -7.0 + 0.0 TLO = -7.0
#
# All the configs will be at Z=7.0 after switching to G59.3.
echo "set mdi g10 l20 p9 z7"
introspect 213.5
echo "set mdi g59.3"
introspect 214
echo "set mdi g54"
introspect 215
# Try to change TLO of the normal tool T7. This should work on all
# configs.
#
# We should end up with the following Z coordinates:
# Nonrandom: -7.0 + 2.6 = -4.4
# Random without T0: -4.6 + 2.6 = -2.0
# Random with T0: -7.0 + 2.6 = -4.4
#
# But these offsets are not active until the G43 below.
echo "set mdi g10 l11 p7 z2.6"
introspect 216
# Apply the TLO of T7, which we just tried to set. This should
# work on all configs.
echo "set mdi g43 h7"
introspect 217
# Try to change TLO of the strange tool T0.
#
# This should fail on nonrandom because you cannot change T0.
#
# It should fail on random without T0 because it has no T0.
#
# It should work on random with T0 because you cannot change T0.
echo "set mdi g10 l11 p0 z2.7"
introspect 218
# Apply the TLO of H0.
#
# It should work on nonrandom and give us a TLO of the tool in the
# spindle, T0
#
# It should fail on random without T0 and leave the TLO at the value
# from T7 above.
#
# It should work on random with T0 and give us a TLO of the tool in the
# spindle, T0
echo "set mdi g43 h0"
introspect 219
# give linuxcnc a second to finish
echo 'set wait done'
echo shutdown
) | nc localhost 5007
# wait for linuxcnc to finish
wait
exit 0