Import LinuxCNC source tree

tests/tool-info/README

@@ -0,0 +1,10 @@
+This test runs LinuxCNC and verifies that all three sources of tool info
+are correct.  The three sources are:
+
+* the Status buffer
+
+* IO's HAL pins
+
+* Interp's system variables (like #<_current_pocket>)
+
+In 2.7.8 this test replicates Github Issue #239.

tests/tool-info/checkresult

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

tests/tool-info/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/tool-info/non-random/.gitignore

@@ -0,0 +1,2 @@
+sim.var*
+simpockets.tbl

tests/tool-info/non-random/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/tool-info/non-random/core_sim.hal

@@ -0,0 +1 @@
+../core_sim.hal

tests/tool-info/non-random/test-ui.py

@@ -0,0 +1,262 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.RCS_DONE) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError
+
+
+def verify_interp_vars(state, current_tool, current_pocket, selected_tool, selected_pocket):
+    c.mdi('(debug,current_tool=#<_current_tool> current_pocket=#<_current_pocket> selected_tool=#<_selected_tool> selected_pocket=#<_selected_pocket>)')
+    c.wait_complete()
+
+    expected = "current_tool=%.6f current_pocket=%.6f selected_tool=%.6f selected_pocket=%.6f" % (current_tool, current_pocket, selected_tool, selected_pocket)
+
+    while True:
+        result = e.poll()
+        if result == None:
+            print("nothing from polling error channel")
+            sys.exit(1)
+
+        (type, msg) = result
+        if type == linuxcnc.OPERATOR_DISPLAY:
+            if msg == expected:
+                # success!
+                break
+            print("state='%s', unexpected interp variables" % state)
+            print("result: {}".format(msg))
+            print("expected: {}".format(expected))
+            sys.exit(1)
+        else:
+            print("state='%s', ignoring unexpected error type %d: %s" % (state, type, msg))
+
+    print("state='%s', got expected interp variables:" % state)
+    print("    current_tool=%.6f" % current_tool)
+    print("    current_pocket=%.6f" % current_pocket)
+    print("    selected_tool=%.6f" % selected_tool)
+    print("    selected_pocket=%.6f" % selected_pocket)
+
+
+def verify_io_pins(state, tool_number, tool_prep_number, tool_prep_pocket):
+    if h['tool-number'] != tool_number:
+        print("state=%s, expected io.tool-number=%d, got %d" % (state, tool_number, h['tool-number']))
+        sys.exit(1)
+
+    if h['tool-prep-number'] != tool_prep_number:
+        print("state=%s, expected io.tool-prep-number=%d, got %d" % (state, tool_prep_number, h['tool-prep-number']))
+        sys.exit(1)
+
+    if h['tool-prep-pocket'] != tool_prep_pocket:
+        print("state=%s, expected io.tool-prep-pocket=%d, got %d" % (state, tool_prep_pocket, h['tool-prep-pocket']))
+        sys.exit(1)
+
+    print("state='%s', got expected io pins:" % state)
+    print("    tool-number=%d" % tool_number)
+    print("    tool-prep-number=%d" % tool_prep_number)
+    print("    tool-prep-pocket=%d" % tool_prep_pocket)
+
+
+def verify_status_buffer(state, tool_in_spindle):
+    deadline = time.time() + 1
+    while time.time() < deadline:
+        s.poll()
+        if s.tool_in_spindle == tool_in_spindle:
+            break
+        time.sleep(.05)
+
+    if s.tool_in_spindle != tool_in_spindle:
+        print("state=%s, expected status.tool_in_spindle=%d, got %d" % (state, tool_in_spindle, s.tool_in_spindle))
+        sys.exit(1)
+
+    print("state='%s', got expected status buffer fields:" % state)
+    print("    tool_in_spindle=%d" % tool_in_spindle)
+
+
+def wait_for_hal_pin(pin_name, value, timeout=10):
+    start = time.time()
+    while time.time() < (start + timeout):
+        if h[pin_name] == value:
+            return
+        time.sleep(0.1)
+    print("timeout waiting for hal pin %s to go to %s!" % (pin_name, value))
+    sys.exit(1)
+
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+h = hal.component("test-ui")
+h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h['tool-prepared'] = False
+h['tool-changed'] = False
+h.ready()
+
+hal.connect('test-ui.tool-number', 'tool-number')
+hal.connect('test-ui.tool-prep-number', 'tool-prep-number')
+hal.connect('test-ui.tool-prep-pocket', 'tool-prep-pocket')
+
+hal.connect('test-ui.tool-prepare', 'tool-prepare')
+hal.connect('test-ui.tool-prepared', 'tool-prepared')
+hal.connect('test-ui.tool-change', 'tool-change')
+hal.connect('test-ui.tool-changed', 'tool-changed')
+
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# Starting state should be sane.
+#
+
+verify_status_buffer(state='init', tool_in_spindle=0)
+verify_io_pins(state='init', tool_number=0, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='init', current_tool=0, current_pocket=-1, selected_tool=0, selected_pocket=-1)
+
+
+#
+# After "T1" prepares the tool.
+#
+
+c.mdi('T1')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T1', tool_in_spindle=0)
+verify_io_pins(state='after T1', tool_number=0, tool_prep_number=1, tool_prep_pocket=1)
+verify_interp_vars(state='after T1', current_tool=0, current_pocket=-1, selected_tool=1, selected_pocket=1)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T1 M6', tool_in_spindle=1)
+verify_io_pins(state='after T1 M6', tool_number=1, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T1 M6', current_tool=1, current_pocket=1, selected_tool=1, selected_pocket=-1)
+
+
+#
+# After "T10" prepares the tool.
+#
+
+c.mdi('T10')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T10', tool_in_spindle=1)
+verify_io_pins(state='after T10', tool_number=1, tool_prep_number=10, tool_prep_pocket=3)
+verify_interp_vars(state='after T10', current_tool=1, current_pocket=1, selected_tool=10, selected_pocket=3)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T10 M6', tool_in_spindle=10)
+verify_io_pins(state='after T10 M6', tool_number=10, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T10 M6', current_tool=10, current_pocket=3, selected_tool=10, selected_pocket=-1)
+
+
+#
+# After "T99999" prepares a tool.
+#
+
+c.mdi('T99999')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T99999', tool_in_spindle=10)
+verify_io_pins(state='after T99999', tool_number=10, tool_prep_number=99999, tool_prep_pocket=50)
+verify_interp_vars(state='after T99999', current_tool=10, current_pocket=3, selected_tool=99999, selected_pocket=50)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T99999 M6', tool_in_spindle=99999)
+verify_io_pins(state='after T99999 M6', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T99999 M6', current_tool=99999, current_pocket=50, selected_tool=99999, selected_pocket=-1)
+
+
+sys.exit(0)
+

tests/tool-info/non-random/test.ini

@@ -0,0 +1,111 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+#DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+
+[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
+COORDINATES = XYZ
+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 coordinates=XYZ
+#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/tool-info/non-random/test.sh

@@ -0,0 +1 @@
+../shared-test.sh

tests/tool-info/random-no-startup-tool/.gitignore

@@ -0,0 +1,2 @@
+sim.var*
+simpockets.tbl

tests/tool-info/random-no-startup-tool/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/tool-info/random-no-startup-tool/core_sim.hal

@@ -0,0 +1 @@
+../core_sim.hal

tests/tool-info/random-no-startup-tool/test-ui.py

@@ -0,0 +1,262 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.RCS_DONE) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError
+
+
+def verify_interp_vars(state, current_tool, current_pocket, selected_tool, selected_pocket):
+    c.mdi('(debug,current_tool=#<_current_tool> current_pocket=#<_current_pocket> selected_tool=#<_selected_tool> selected_pocket=#<_selected_pocket>)')
+    c.wait_complete()
+
+    expected = "current_tool=%.6f current_pocket=%.6f selected_tool=%.6f selected_pocket=%.6f" % (current_tool, current_pocket, selected_tool, selected_pocket)
+
+    while True:
+        result = e.poll()
+        if result == None:
+            print("nothing from polling error channel")
+            sys.exit(1)
+
+        (type, msg) = result
+        if type == linuxcnc.OPERATOR_DISPLAY:
+            if msg == expected:
+                # success!
+                break
+            print("state='%s', unexpected interp variables" % state)
+            print("result: {}".format(msg))
+            print("expected: {}".format(expected))
+            sys.exit(1)
+        else:
+            print("state='%s', ignoring unexpected error type %d: %s" % (state, type, msg))
+
+    print("state='%s', got expected interp variables:" % state)
+    print("    current_tool=%.6f" % current_tool)
+    print("    current_pocket=%.6f" % current_pocket)
+    print("    selected_tool=%.6f" % selected_tool)
+    print("    selected_pocket=%.6f" % selected_pocket)
+
+
+def verify_io_pins(state, tool_number, tool_prep_number, tool_prep_pocket):
+    if h['tool-number'] != tool_number:
+        print("state=%s, expected io.tool-number=%d, got %d" % (state, tool_number, h['tool-number']))
+        sys.exit(1)
+
+    if h['tool-prep-number'] != tool_prep_number:
+        print("state=%s, expected io.tool-prep-number=%d, got %d" % (state, tool_prep_number, h['tool-prep-number']))
+        sys.exit(1)
+
+    if h['tool-prep-pocket'] != tool_prep_pocket:
+        print("state=%s, expected io.tool-prep-pocket=%d, got %d" % (state, tool_prep_pocket, h['tool-prep-pocket']))
+        sys.exit(1)
+
+    print("state='%s', got expected io pins:" % state)
+    print("    tool-number=%d" % tool_number)
+    print("    tool-prep-number=%d" % tool_prep_number)
+    print("    tool-prep-pocket=%d" % tool_prep_pocket)
+
+
+def verify_status_buffer(state, tool_in_spindle):
+    deadline = time.time() + 1
+    while time.time() < deadline:
+        s.poll()
+        if s.tool_in_spindle == tool_in_spindle:
+            break
+        time.sleep(.05)
+
+    if s.tool_in_spindle != tool_in_spindle:
+        print("state=%s, expected status.tool_in_spindle=%d, got %d" % (state, tool_in_spindle, s.tool_in_spindle))
+        sys.exit(1)
+
+    print("state='%s', got expected status buffer fields:" % state)
+    print("    tool_in_spindle=%d" % tool_in_spindle)
+
+
+def wait_for_hal_pin(pin_name, value, timeout=10):
+    start = time.time()
+    while time.time() < (start + timeout):
+        if h[pin_name] == value:
+            return
+        time.sleep(0.1)
+    print("timeout waiting for hal pin %s to go to %s!" % (pin_name, value))
+    sys.exit(1)
+
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+h = hal.component("test-ui")
+h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h['tool-prepared'] = False
+h['tool-changed'] = False
+h.ready()
+
+hal.connect('test-ui.tool-number', 'tool-number')
+hal.connect('test-ui.tool-prep-number', 'tool-prep-number')
+hal.connect('test-ui.tool-prep-pocket', 'tool-prep-pocket')
+
+hal.connect('test-ui.tool-prepare', 'tool-prepare')
+hal.connect('test-ui.tool-prepared', 'tool-prepared')
+hal.connect('test-ui.tool-change', 'tool-change')
+hal.connect('test-ui.tool-changed', 'tool-changed')
+
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# Starting state should be sane.
+#
+
+verify_status_buffer(state='init', tool_in_spindle=-1)
+verify_io_pins(state='init', tool_number=-1, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='init', current_tool=-1, current_pocket=-1, selected_tool=0, selected_pocket=-1)
+
+
+#
+# After "T1" prepares the tool.
+#
+
+c.mdi('T1')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T1', tool_in_spindle=-1)
+verify_io_pins(state='after T1', tool_number=-1, tool_prep_number=1, tool_prep_pocket=1)
+verify_interp_vars(state='after T1', current_tool=-1, current_pocket=-1, selected_tool=1, selected_pocket=1)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T1 M6', tool_in_spindle=1)
+verify_io_pins(state='after T1 M6', tool_number=1, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T1 M6', current_tool=1, current_pocket=0, selected_tool=1, selected_pocket=-1)
+
+
+#
+# After "T10" prepares the tool.
+#
+
+c.mdi('T10')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T10', tool_in_spindle=1)
+verify_io_pins(state='after T10', tool_number=1, tool_prep_number=10, tool_prep_pocket=3)
+verify_interp_vars(state='after T10', current_tool=1, current_pocket=0, selected_tool=10, selected_pocket=3)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T10 M6', tool_in_spindle=10)
+verify_io_pins(state='after T10 M6', tool_number=10, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T10 M6', current_tool=10, current_pocket=0, selected_tool=10, selected_pocket=-1)
+
+
+#
+# After "T99999" prepares a tool.
+#
+
+c.mdi('T99999')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T99999', tool_in_spindle=10)
+verify_io_pins(state='after T99999', tool_number=10, tool_prep_number=99999, tool_prep_pocket=50)
+verify_interp_vars(state='after T99999', current_tool=10, current_pocket=0, selected_tool=99999, selected_pocket=50)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T99999 M6', tool_in_spindle=99999)
+verify_io_pins(state='after T99999 M6', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T99999 M6', current_tool=99999, current_pocket=0, selected_tool=99999, selected_pocket=-1)
+
+
+sys.exit(0)
+

tests/tool-info/random-no-startup-tool/test.ini

@@ -0,0 +1,111 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+#DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+
+[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
+COORDINATES = XYZ
+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 = 1
+
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZ
+#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/tool-info/random-no-startup-tool/test.sh

@@ -0,0 +1 @@
+../shared-test.sh

tests/tool-info/random-with-startup-tool/.gitignore

@@ -0,0 +1,2 @@
+sim.var*
+simpockets.tbl

tests/tool-info/random-with-startup-tool/checkresult

@@ -0,0 +1 @@
+../checkresult

tests/tool-info/random-with-startup-tool/core_sim.hal

@@ -0,0 +1 @@
+../core_sim.hal

tests/tool-info/random-with-startup-tool/simpockets.tbl.original

@@ -0,0 +1,3 @@
+T99999 P0 Z+2.000000 ;
+T1 P3 D0.125000 Z+1.000000 ;
+T10 P50 D0.500000 Z+3.000000 ;

tests/tool-info/random-with-startup-tool/test-ui.py

@@ -0,0 +1,262 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import math
+import time
+import sys
+import subprocess
+import os
+import signal
+import glob
+import re
+
+
+def wait_for_linuxcnc_startup(status, timeout=10.0):
+
+    """Poll the Status buffer waiting for it to look initialized,
+    rather than just allocated (all-zero).  Returns on success, throws
+    RuntimeError on failure."""
+
+    start_time = time.time()
+    while time.time() - start_time < timeout:
+        status.poll()
+        if (status.angular_units == 0.0) \
+            or (status.axis_mask == 0) \
+            or (status.cycle_time == 0.0) \
+            or (status.exec_state != linuxcnc.EXEC_DONE) \
+            or (status.interp_state != linuxcnc.INTERP_IDLE) \
+            or (status.inpos == False) \
+            or (status.linear_units == 0.0) \
+            or (status.max_acceleration == 0.0) \
+            or (status.max_velocity == 0.0) \
+            or (status.program_units == 0.0) \
+            or (status.rapidrate == 0.0) \
+            or (status.state != linuxcnc.RCS_DONE) \
+            or (status.task_state != linuxcnc.STATE_ESTOP):
+            time.sleep(0.1)
+        else:
+            # looks good
+            return
+
+    # timeout, throw an exception
+    raise RuntimeError
+
+
+def verify_interp_vars(state, current_tool, current_pocket, selected_tool, selected_pocket):
+    c.mdi('(debug,current_tool=#<_current_tool> current_pocket=#<_current_pocket> selected_tool=#<_selected_tool> selected_pocket=#<_selected_pocket>)')
+    c.wait_complete()
+
+    expected = "current_tool=%.6f current_pocket=%.6f selected_tool=%.6f selected_pocket=%.6f" % (current_tool, current_pocket, selected_tool, selected_pocket)
+
+    while True:
+        result = e.poll()
+        if result == None:
+            print("nothing from polling error channel")
+            sys.exit(1)
+
+        (type, msg) = result
+        if type == linuxcnc.OPERATOR_DISPLAY:
+            if msg == expected:
+                # success!
+                break
+            print("state='%s', unexpected interp variables" % state)
+            print("result: {}".format(msg))
+            print("expected: {}".format(expected))
+            sys.exit(1)
+        else:
+            print("state='%s', ignoring unexpected error type %d: %s" % (state, type, msg))
+
+    print("state='%s', got expected interp variables:" % state)
+    print("    current_tool=%.6f" % current_tool)
+    print("    current_pocket=%.6f" % current_pocket)
+    print("    selected_tool=%.6f" % selected_tool)
+    print("    selected_pocket=%.6f" % selected_pocket)
+
+
+def verify_io_pins(state, tool_number, tool_prep_number, tool_prep_pocket):
+    if h['tool-number'] != tool_number:
+        print("state=%s, expected io.tool-number=%d, got %d" % (state, tool_number, h['tool-number']))
+        sys.exit(1)
+
+    if h['tool-prep-number'] != tool_prep_number:
+        print("state=%s, expected io.tool-prep-number=%d, got %d" % (state, tool_prep_number, h['tool-prep-number']))
+        sys.exit(1)
+
+    if h['tool-prep-pocket'] != tool_prep_pocket:
+        print("state=%s, expected io.tool-prep-pocket=%d, got %d" % (state, tool_prep_pocket, h['tool-prep-pocket']))
+        sys.exit(1)
+
+    print("state='%s', got expected io pins:" % state)
+    print("    tool-number=%d" % tool_number)
+    print("    tool-prep-number=%d" % tool_prep_number)
+    print("    tool-prep-pocket=%d" % tool_prep_pocket)
+
+
+def verify_status_buffer(state, tool_in_spindle):
+    deadline = time.time() + 1
+    while time.time() < deadline:
+        s.poll()
+        if s.tool_in_spindle == tool_in_spindle:
+            break
+        time.sleep(.05)
+
+    if s.tool_in_spindle != tool_in_spindle:
+        print("state=%s, expected status.tool_in_spindle=%d, got %d" % (state, tool_in_spindle, s.tool_in_spindle))
+        sys.exit(1)
+
+    print("state='%s', got expected status buffer fields:" % state)
+    print("    tool_in_spindle=%d" % tool_in_spindle)
+
+
+def wait_for_hal_pin(pin_name, value, timeout=10):
+    start = time.time()
+    while time.time() < (start + timeout):
+        if h[pin_name] == value:
+            return
+        time.sleep(0.1)
+    print("timeout waiting for hal pin %s to go to %s!" % (pin_name, value))
+    sys.exit(1)
+
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+
+h = hal.component("test-ui")
+h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h['tool-prepared'] = False
+h['tool-changed'] = False
+h.ready()
+
+hal.connect('test-ui.tool-number', 'tool-number')
+hal.connect('test-ui.tool-prep-number', 'tool-prep-number')
+hal.connect('test-ui.tool-prep-pocket', 'tool-prep-pocket')
+
+hal.connect('test-ui.tool-prepare', 'tool-prepare')
+hal.connect('test-ui.tool-prepared', 'tool-prepared')
+hal.connect('test-ui.tool-change', 'tool-change')
+hal.connect('test-ui.tool-changed', 'tool-changed')
+
+
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+wait_for_linuxcnc_startup(s)
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# Starting state should be sane.
+#
+
+verify_status_buffer(state='init', tool_in_spindle=99999)
+verify_io_pins(state='init', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='init', current_tool=99999, current_pocket=0, selected_tool=0, selected_pocket=-1)
+
+
+#
+# After "T1" prepares the tool.
+#
+
+c.mdi('T1')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T1', tool_in_spindle=99999)
+verify_io_pins(state='after T1', tool_number=99999, tool_prep_number=1, tool_prep_pocket=3)
+verify_interp_vars(state='after T1', current_tool=99999, current_pocket=0, selected_tool=1, selected_pocket=3)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T1 M6', tool_in_spindle=1)
+verify_io_pins(state='after T1 M6', tool_number=1, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T1 M6', current_tool=1, current_pocket=0, selected_tool=1, selected_pocket=-1)
+
+
+#
+# After "T10" prepares the tool.
+#
+
+c.mdi('T10')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T10', tool_in_spindle=1)
+verify_io_pins(state='after T10', tool_number=1, tool_prep_number=10, tool_prep_pocket=50)
+verify_interp_vars(state='after T10', current_tool=1, current_pocket=0, selected_tool=10, selected_pocket=50)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T10 M6', tool_in_spindle=10)
+verify_io_pins(state='after T10 M6', tool_number=10, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T10 M6', current_tool=10, current_pocket=0, selected_tool=10, selected_pocket=-1)
+
+
+#
+# After "T99999" prepares a tool.
+#
+
+c.mdi('T99999')
+wait_for_hal_pin('tool-prepare', True)
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+verify_status_buffer(state='after T99999', tool_in_spindle=10)
+verify_io_pins(state='after T99999', tool_number=10, tool_prep_number=99999, tool_prep_pocket=3)
+verify_interp_vars(state='after T99999', current_tool=10, current_pocket=0, selected_tool=99999, selected_pocket=3)
+
+
+#
+# After "M6" changes to the prepared tool.
+#
+
+c.mdi('M6')
+wait_for_hal_pin('tool-change', True)
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+verify_status_buffer(state='after T99999 M6', tool_in_spindle=99999)
+verify_io_pins(state='after T99999 M6', tool_number=99999, tool_prep_number=0, tool_prep_pocket=0)
+verify_interp_vars(state='after T99999 M6', current_tool=99999, current_pocket=0, selected_tool=99999, selected_pocket=-1)
+
+
+sys.exit(0)
+

tests/tool-info/random-with-startup-tool/test.ini

@@ -0,0 +1,111 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+#DEBUG = 0xffffffff
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+
+[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
+COORDINATES = XYZ
+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 = 1
+
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZ
+#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/tool-info/random-with-startup-tool/test.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+set -x
+
+rm -f sim.var*
+rm -f simpockets.tbl
+cp simpockets.tbl.original simpockets.tbl
+
+linuxcnc -r test.ini
+

tests/tool-info/shared-test.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+set -x
+
+rm -f sim.var*
+rm -f simpockets.tbl
+cp ../simpockets.tbl .
+
+linuxcnc -r test.ini
+

tests/tool-info/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 ;