Import LinuxCNC source tree

tests/toolchanger/.gitignore

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+sim.var
+sim.var.bak
+simpockets.tbl
+stdout
+gcode-output

tests/toolchanger/README

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+
+The tests in this directory attempt to verify the correct behavior of
+the tool table and the tool changer.
+
+Two tests are run: one on a random toolchanger and one on a nonrandom
+toolchanger.  Both tests perform the same operations, and expect (nearly)
+the same results.
+
+A full LinuxCNC instance is started, with linuxcncrsh as the UI.  A bunch
+of gcode commands are run via MDI, and the internal state of LinuxCNC
+is accessed via numbered parameters.  A custom M-code shell script is
+used to write these parameter values to a file, which is then compared
+to a hand-crafted "expected values" file.
+

tests/toolchanger/m61/.gitignore

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+sim.var.bak

tests/toolchanger/m61/checkresult

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+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/toolchanger/m61/m61-test.ini

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+[EMC]
+DEBUG = 0x0
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+MDI_QUEUED_COMMANDS=10000
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ./subs
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALUI = halui
+HALFILE = mod_core_sim.hal
+POSTGUI_HALFILE = postgui.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 = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[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
+
+[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
+
+[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 =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_X]
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+
+[AXIS_Y]
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+
+[AXIS_Z]
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+

tests/toolchanger/m61/mod_core_sim.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt 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=[TRAJ]AXES
+# 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
+net tool-from-pocket <= iocontrol.0.tool-from-pocket
+

tests/toolchanger/m61/postgui.hal

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+
+net tool-prepare => python-ui.tool-prepare
+net tool-prepared <= python-ui.tool-prepared
+
+net tool-change => python-ui.tool-change
+net tool-changed <= python-ui.tool-changed
+
+net tool-number => python-ui.tool-number
+net tool-prep-number => python-ui.tool-prep-number
+net tool-prep-pocket => python-ui.tool-prep-pocket
+net tool-from-pocket => python-ui.tool-from-pocket
+

tests/toolchanger/m61/test-ui.py

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+#!/usr/bin/env python3
+
+import linuxcnc
+import hal
+
+import time
+import sys
+import os
+
+
+# this is how long we wait for linuxcnc to do our bidding
+timeout = 1.0
+
+
+def introspect():
+    os.system("halcmd show pin python-ui")
+
+
+def wait_for_pin_value(pin_name, value, timeout=1):
+    print("waiting for %s to go to %f (timeout=%f)" % (pin_name, value, timeout))
+
+    start = time.time()
+    while (h[pin_name] != value) and ((time.time() - start) < timeout):
+        time.sleep(0.1)
+
+    if h[pin_name] != value:
+        print("timeout!  pin %s is %f, didn't get to %f" % (pin_name, h[pin_name], value))
+        introspect()
+        sys.exit(1)
+
+    print("pin %s went to %f!" % (pin_name, value))
+
+
+def verify_pin_value(pin_name, value):
+    if (h[pin_name] != value):
+        print("pin %s is %f, not %f" % (pin_name, h[pin_name], value))
+        sys.exit(1);
+
+    print("pin %s is %f" % (pin_name, value))
+
+
+def get_interp_param(param_number):
+    c.mdi("(debug, #%d)" % param_number)
+    c.wait_complete()
+
+    # wait up to 2 seconds for a reply
+    start = time.time()
+    while (time.time() - start) < 2:
+        error = e.poll()
+        if error == None:
+            time.sleep(0.010)
+            continue
+
+        kind, text = error
+        if kind == linuxcnc.OPERATOR_DISPLAY:
+            return float(text)
+
+        print(text)
+
+    print("error getting parameter %d" % param_number)
+    return None
+
+
+def verify_interp_param(param_number, expected_value):
+    param_value = get_interp_param(param_number)
+    print("interp param #%d = %f (expecting %f)" % (param_number, param_value, expected_value))
+    if param_value != expected_value:
+        print("ERROR: interp param #%d = %f, expected %f" % (param_number, param_value, expected_value))
+        sys.exit(1)
+
+
+def verify_stable_pin_values(pins, duration=1):
+    start = time.time()
+    while (time.time() - start) < duration:
+        for pin_name in list(pins.keys()):
+            val = h[pin_name]
+            if val != pins[pin_name]:
+                print("ERROR: pin %s = %f (expected %f)" % (pin_name, val, pins[pin_name]))
+                sys.exit(1)
+        time.sleep(0.010)
+
+
+def verify_tool_number(tool_number):
+    verify_interp_param(5400, tool_number)        # 5400 == tool in spindle
+    verify_pin_value('tool-number', tool_number)  # pin from iocontrol
+
+    # verify stat buffer
+    s.poll()
+    if s.tool_in_spindle != tool_number:
+        print("ERROR: stat buffer .tool_in_spindle is %f, should be %f" % (s.tool_in_spindle, tool_number))
+        sys.exit(1)
+    print("stat buffer .tool_in_spindle is %f" % s.tool_in_spindle)
+
+
+def do_tool_change_handshake(tool_number, pocket_number):
+    # prepare for tool change
+    wait_for_pin_value('tool-prepare', 1)
+    verify_pin_value('tool-prep-number', tool_number)
+    verify_pin_value('tool-prep-pocket', pocket_number)
+
+    h['tool-prepared'] = 1
+    wait_for_pin_value('tool-prepare', 0)
+    h['tool-prepared'] = 0
+
+    time.sleep(0.1)
+    s.poll()
+    print("tool prepare done, s.pocket_prepped = ", s.pocket_prepped)
+    if s.pocket_prepped != pocket_number:
+        print("ERROR: wrong pocket prepped in stat buffer (got %d, expected %d)" % (s.pocket_prepped, pocket_number))
+        sys.exit(1)
+
+    # change tool
+    wait_for_pin_value('tool-change', 1)
+    h['tool-changed'] = 1
+    wait_for_pin_value('tool-change', 0)
+    h['tool-changed'] = 0
+
+
+
+
+#
+# set up pins
+# shell out to halcmd to net our pins to where they need to go
+#
+
+h = hal.component("python-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-from-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.ready() # mark the component as 'ready'
+
+os.system("halcmd source ./postgui.hal")
+
+
+#
+# connect to LinuxCNC
+#
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MDI)
+c.wait_complete()
+
+
+# at startup, we should have the special tool 0 in the spindle, meaning
+# "no tool" or "unknown tool"
+
+verify_tool_number(0)
+
+
+#
+# test m6 to get a baseline
+#
+
+print("*** starting 'T1 M6' tool change")
+
+c.mdi('t1 m6')
+c.wait_complete()
+
+do_tool_change_handshake(tool_number=1, pocket_number=1)
+
+print("*** tool change complete")
+verify_tool_number(1)
+
+verify_interp_param(5401, 0)      # tlo x
+verify_interp_param(5402, 0)      # tlo y
+verify_interp_param(5403, 1)      # tlo z
+verify_interp_param(5404, 0)      # tlo a
+verify_interp_param(5405, 0)      # tlo b
+verify_interp_param(5406, 0)      # tlo c
+verify_interp_param(5407, 0)      # tlo u
+verify_interp_param(5408, 0)      # tlo v
+verify_interp_param(5409, 0)      # tlo w
+verify_interp_param(5410, 0.125)  # tool diameter
+verify_interp_param(5411, 0)      # front angle
+verify_interp_param(5412, 0)      # back angle
+verify_interp_param(5413, 0)      # tool orientation
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, 0)      # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+c.mdi('g43')
+c.wait_complete()
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -1)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+introspect()
+
+
+
+
+#
+# now finally test m61
+#
+
+print("*** starting 'M61 Q10' tool change")
+
+c.mdi('m61 q10')
+c.wait_complete()
+
+verify_stable_pin_values(
+    {
+        'tool-change': 0,
+        'tool-prep-number': 0,
+        'tool-prep-pocket': 0,
+        'tool-prepare': 0,
+        'tool-from-pocket': 1
+    },
+    duration=1
+)
+
+verify_tool_number(10)
+
+verify_interp_param(5401, 0)      # tlo x
+verify_interp_param(5402, 0)      # tlo y
+verify_interp_param(5403, 3)      # tlo z
+verify_interp_param(5404, 0)      # tlo a
+verify_interp_param(5405, 0)      # tlo b
+verify_interp_param(5406, 0)      # tlo c
+verify_interp_param(5407, 0)      # tlo u
+verify_interp_param(5408, 0)      # tlo v
+verify_interp_param(5409, 0)      # tlo w
+verify_interp_param(5410, 0.500)  # tool diameter
+verify_interp_param(5411, 0)      # front angle
+verify_interp_param(5412, 0)      # back angle
+verify_interp_param(5413, 0)      # tool orientation
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -1)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+c.mdi('g43')
+c.wait_complete()
+
+verify_interp_param(5420, 0)      # current x
+verify_interp_param(5421, 0)      # current y
+verify_interp_param(5422, -3)     # current z
+verify_interp_param(5423, 0)      # current a
+verify_interp_param(5424, 0)      # current b
+verify_interp_param(5425, 0)      # current c
+verify_interp_param(5426, 0)      # current u
+verify_interp_param(5427, 0)      # current v
+verify_interp_param(5428, 0)      # current w
+
+
+#
+# use M6 to unload the spindle (T0)
+#
+
+print("*** using 'T0 M6' to unload the spindle")
+c.mdi("t0 m6")
+c.wait_complete()
+do_tool_change_handshake(tool_number=0, pocket_number=0)
+verify_tool_number(0)
+
+
+#
+# use M61 to load T1 in the spindle again
+#
+
+print("*** using 'M61 Q1' to load a tool again")
+c.mdi("m61 q1")
+c.wait_complete()
+verify_tool_number(1)
+
+
+#
+# use M61 to unload the spindle (T0)
+#
+
+print("*** using 'M61 Q0' to unload the spindle again")
+c.mdi("m61 q0")
+c.wait_complete()
+verify_tool_number(0)
+
+
+# if we get here it all worked!
+sys.exit(0)
+

tests/toolchanger/m61/test.sh

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+#!/bin/bash
+
+cp -f ../simpockets.tbl.original simpockets.tbl
+
+exec linuxcnc -r m61-test.ini

tests/toolchanger/reload-tool/README

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+This test reproduces https://github.com/LinuxCNC/linuxcnc/issues/330.
+
+It tests the behavior for both random and non-random toolchanger machines.

tests/toolchanger/reload-tool/checkresult

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+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/toolchanger/reload-tool/core_sim.hal

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+# 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
+net tool-from-pocket <= iocontrol.0.tool-from-pocket
+

tests/toolchanger/reload-tool/non-random/checkresult

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

tests/toolchanger/reload-tool/non-random/core_sim.hal

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

tests/toolchanger/reload-tool/non-random/postgui.hal

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

tests/toolchanger/reload-tool/non-random/test-ui.py

@@ -0,0 +1,345 @@
+#!/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
+
+xtool   = 0.111 # [EMCIO]TOOL_CHANGE_POSITION x
+ytool   = 0.222 # [EMCIO]TOOL_CHANGE_POSITION y
+ztool   = 0.333 # [EMCIO]TOOL_CHANGE_POSITION z
+EPSILON = 1e-10
+
+def wait_for_hal_pin(name, value, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        if h[name] == value:
+            return
+        time.sleep(0.1)
+    raise RuntimeError("hal pin %s didn't get to %s after %.3f seconds" % (name, value, timeout))
+
+
+# After doing something that should change the stat buffer, wait this
+# long before polling to let the change propagate through.
+# FIXME: this is bogus
+stat_poll_wait = 0.100
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+h = hal.component("test-ui")
+
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-changed"] = False
+
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-prepared"] = False
+
+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-from-pocket", hal.HAL_S32, hal.HAL_IN)
+
+h.ready()
+
+os.system("halcmd source ./postgui.hal")
+
+
+l = linuxcnc_util.LinuxCNC()
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+l.wait_for_linuxcnc_startup()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# At startup there's no tool in the spindle and no tool prep or change
+# is being requested.
+#
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0);
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T2
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0);
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0);
+assert(s.pocket_prepped == 6)  # ugh, non-random tc gives you tool-table-array index, not pocket
+
+
+#
+# Change to T2
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0);
+assert(s.pocket_prepped == 6)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T12
+#
+
+c.mdi('t12')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 4)
+
+
+#
+# Prepare T2
+# This tool is already in the spindle.
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 4)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 6)
+
+
+#
+# Change to prepared tool (T2 again)
+#
+
+c.mdi('m6')
+try:
+    wait_for_hal_pin('tool-change', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool change should be performed since
+    # the prepared tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 6)
+
+assert(abs(s.joint_position[0] -xtool) < EPSILON)
+assert(abs(s.joint_position[1] -ytool) < EPSILON)
+assert(abs(s.joint_position[2] -ztool) < EPSILON)
+
+#
+# Prepare T0
+#
+
+c.mdi('t0')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 0)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 0)
+
+#
+# Change to T0
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46);
+assert(s.pocket_prepped == 0)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0);
+
+sys.exit(0)

tests/toolchanger/reload-tool/non-random/test.ini

@@ -0,0 +1,115 @@
+[EMC]
+VERSION = 1.1
+
+#DEBUG = 0x0
+DEBUG = 0xffffffff
+
+[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]
+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
+TOOL_CHANGE_POSITION = 0.111 0.222 0.333
+
+
+[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/toolchanger/reload-tool/non-random/test.sh

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

tests/toolchanger/reload-tool/postgui.hal

@@ -0,0 +1,24 @@
+
+net tool-change <= iocontrol.0.tool-change
+net tool-change => test-ui.tool-change
+
+net tool-changed <= test-ui.tool-changed
+net tool-changed => iocontrol.0.tool-changed
+
+net tool-prepare <= iocontrol.0.tool-prepare
+net tool-prepare => test-ui.tool-prepare
+
+net tool-prepared <= test-ui.tool-prepared
+net tool-prepared => iocontrol.0.tool-prepared
+
+net tool-number <= iocontrol.0.tool-number
+net tool-number => test-ui.tool-number
+
+net tool-prep-number <= iocontrol.0.tool-prep-number
+net tool-prep-number => test-ui.tool-prep-number
+
+net tool-prep-pocket <= iocontrol.0.tool-prep-pocket
+net tool-prep-pocket => test-ui.tool-prep-pocket
+
+net tool-from-pocket <= iocontrol.0.tool-from-pocket
+net tool-from-pocket => test-ui.tool-from-pocket

tests/toolchanger/reload-tool/random/checkresult

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

tests/toolchanger/reload-tool/random/core_sim.hal

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

tests/toolchanger/reload-tool/random/postgui.hal

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

tests/toolchanger/reload-tool/random/test-ui.py

@@ -0,0 +1,334 @@
+#!/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
+
+xtool   = 0.111 # [EMCIO]TOOL_CHANGE_POSITION x
+ytool   = 0.222 # [EMCIO]TOOL_CHANGE_POSITION y
+ztool   = 0.333 # [EMCIO]TOOL_CHANGE_POSITION z
+EPSILON = 1e-10
+
+def wait_for_hal_pin(name, value, timeout=10):
+    start_time = time.time()
+    while (time.time() - start_time) < timeout:
+        if h[name] == value:
+            return
+        time.sleep(0.1)
+    raise RuntimeError("hal pin %s didn't get to %s after %.3f seconds" % (name, value, timeout))
+
+
+# After doing something that should change the stat buffer, wait this
+# long before polling to let the change propagate through.
+# FIXME: this is bogus
+stat_poll_wait = 0.100
+
+
+c = linuxcnc.command()
+s = linuxcnc.stat()
+e = linuxcnc.error_channel()
+
+h = hal.component("test-ui")
+
+h.newpin("tool-change", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-changed"] = False
+
+h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
+h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
+h["tool-prepared"] = False
+
+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-from-pocket", hal.HAL_S32, hal.HAL_IN)
+
+h.ready()
+
+os.system("halcmd source ./postgui.hal")
+
+
+l = linuxcnc_util.LinuxCNC()
+# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
+l.wait_for_linuxcnc_startup()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.home(-1)
+c.wait_complete()
+
+c.mode(linuxcnc.MODE_MDI)
+
+
+#
+# At startup tool 3 is in the spindle and no tool prep or change is
+# being requested.
+#
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T2
+#
+
+c.mdi('t2')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == 46)  # random tc gives you pocket, which is the same as tool-table-array index
+
+
+#
+# Change to T2
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 3)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 46)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 3)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == 46)
+
+assert(abs(s.joint_position[0] -xtool) < EPSILON)
+assert(abs(s.joint_position[1] -ytool) < EPSILON)
+assert(abs(s.joint_position[2] -ztool) < EPSILON)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == -1)
+
+
+#
+# Prepare T12 
+#
+
+c.mdi('t12')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == -1)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 12)
+assert(h['tool-prep-pocket'] == 9)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 9)
+
+
+#
+# Prepare T2
+# This tool is already in the spindle.
+#
+
+c.mdi('t2')
+try:
+    wait_for_hal_pin('tool-prepare', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool prep should be performed since the
+    # requested tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+
+#
+# Change to prepared tool (T2)
+#
+
+c.mdi('m6')
+try:
+    wait_for_hal_pin('tool-change', True, timeout=5)
+except RuntimeError:
+    # It *should* time out, no tool change should be performed since
+    # the prepared tool is already in the spindle.
+    pass
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 2)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+#
+# Prepare T0
+#
+
+c.mdi('t0')
+wait_for_hal_pin('tool-prepare', True)
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == True)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 0)
+
+h['tool-prepared'] = True
+wait_for_hal_pin('tool-prepare', False)
+h['tool-prepared'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 2)  # random tc gives you pocket, which is the same as tool-table-array index
+
+
+#
+# Change to T0
+#
+
+c.mdi('m6')
+wait_for_hal_pin('tool-change', True)
+
+assert(h['tool-change'] == True)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 2)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 2)
+assert(h['tool-from-pocket'] == 46)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 2)
+assert(s.tool_from_pocket == 46)
+assert(s.pocket_prepped == 2)
+
+h['tool-changed'] = True
+wait_for_hal_pin('tool-change', False)
+h['tool-changed'] = False
+
+assert(h['tool-change'] == False)
+assert(h['tool-prepare'] == False)
+assert(h['tool-number'] == 0)
+assert(h['tool-prep-number'] == 0)
+assert(h['tool-prep-pocket'] == 0)
+assert(h['tool-from-pocket'] == 0)
+
+time.sleep(stat_poll_wait)
+s.poll()
+assert(s.tool_in_spindle == 0)
+assert(s.tool_from_pocket == 0)
+assert(s.pocket_prepped == -1)
+
+sys.exit(0)
+

tests/toolchanger/reload-tool/random/test.ini

@@ -0,0 +1,115 @@
+[EMC]
+VERSION = 1.1
+
+#DEBUG = 0x0
+DEBUG = 0xffffffff
+
+[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]
+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 = 1
+TOOL_CHANGE_POSITION = .111 .222 .333
+
+
+[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/toolchanger/reload-tool/random/test.sh

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

tests/toolchanger/reload-tool/shared-test.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+rm -f sim.var
+rm -f simpockets.tbl
+cp ../simpockets.tbl.save simpockets.tbl
+linuxcnc -r test.ini

tests/toolchanger/reload-tool/simpockets.tbl.save

@@ -0,0 +1,16 @@
+T3  P0  D2.250000 Z-6.595331 ;2-1/4 face mill
+T10 P6  Z-3.406343 ;other big jacobs chuck
+T16 P3  ;little jacobs chuck
+T12 P9  Z-4.596806 ;1/2 2fl long em
+T6  P51  Z-0.950266 ;big jacobs chuck
+T2  P46 D0.750000 Z-6.366394 ;3/4 2 flute
+T1  P37 D0.750000 Z-5.319396 ;3/4 roughing
+T7  P28 Z-2.979905 ;big albrecht drill chuck .25 drill
+T11 P19 D0.125000 Z-6.307857 ;1/8 2fl end mill
+T15 P5  Z-3.730620 ;little albrecht chuck spot drill
+T0  P2  ;no tool
+T14 P11 Z-5.305736 ;
+T8  P54 Z-7.213145 ;V engraving tool
+T9  P44 Z-6.163994 ;90 deg 3/8 mill-drill
+T5  P35 Z-2.825524 ;long ER40 collet chuck
+T4  P26 D0.375000 Z-5.307185 ;3/8 4fl carbide

tests/toolchanger/shared-checkresult

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+TEST_DIR=$(dirname "$1")
+cd "$TEST_DIR" || { echo "E: Could not change directory to '$TEST_DIR'"; exit 1; }
+
+diff -u expected-gcode-output gcode-output

tests/toolchanger/simpockets.tbl.original

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

tests/toolchanger/subs/M100

@@ -0,0 +1,29 @@
+#!/bin/bash
+#
+# This script (M100) is called to log the current coordinates and the
+# current tool number and Tool Length Offset information to a log file,
+# for testing purposes
+#
+
+TEST_DIR=$(dirname INI_FILE_NAME)
+OUT_FILE=$TEST_DIR/gcode-output
+
+P=$1
+Q=$2
+
+#echo P is $P >> $OUT_FILE
+#echo Q is $Q >> $OUT_FILE
+
+case $P in
+    0.000000) echo "X = $Q" >> "$OUT_FILE" ;;
+    1.000000) echo "Y = $Q" >> "$OUT_FILE" ;;
+    2.000000) echo "Z = $Q" >> "$OUT_FILE" ;;
+    3.000000) echo "toolno = $Q" >> "$OUT_FILE" ;;
+    4.000000) echo "tlo_z = $Q" >> "$OUT_FILE" ;;
+    5.000000) echo "" >> "$OUT_FILE" ;;
+    6.000000) echo "sequence number $Q" >> "$OUT_FILE" ;;
+    *)
+        echo "unknown P=$P (Q=$Q)" >> "$OUT_FILE"
+        exit 1;;
+esac
+

tests/toolchanger/toolno-pocket-differ/nonrandom/checkresult

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

tests/toolchanger/toolno-pocket-differ/nonrandom/expected-gcode-output

@@ -0,0 +1,217 @@
+sequence number 0.000000
+X = 0.000000
+Y = 0.000000
+Z = 0.000000
+toolno = 0.000000
+tlo_z = 0.000000
+
+sequence number 1.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.333000
+toolno = 1.000000
+tlo_z = 1.000000
+
+sequence number 2.000000
+X = 0.111000
+Y = 0.222000
+Z = -0.667000
+toolno = 1.000000
+tlo_z = 1.000000
+
+sequence number 3.000000
+X = 0.111000
+Y = 0.222000
+Z = -0.667000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 4.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 5.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 6.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 7.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 8.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 9.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 10.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 11.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 12.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 13.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 14.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 15.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 16.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 17.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 18.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 19.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 20.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 21.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 22.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 23.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 24.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 25.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 1.000000
+tlo_z = 0.033000
+
+sequence number 26.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.300000
+toolno = 1.000000
+tlo_z = 0.033000
+
+sequence number 27.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.300000
+toolno = 10.000000
+tlo_z = -0.017000
+
+sequence number 28.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.350000
+toolno = 10.000000
+tlo_z = -0.017000
+
+sequence number 29.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.350000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 30.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 99999.000000
+tlo_z = -0.067000
+

tests/toolchanger/toolno-pocket-differ/nonrandom/sim.ini

@@ -0,0 +1,107 @@
+[EMC]
+#DEBUG = 0
+DEBUG = 0x7fffffff
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = linuxcncrsh
+PROGRAM_PREFIX = ../../subs
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE =        sim.var
+USER_M_PATH = ../../subs
+SUBROUTINE_PATH = ../../subs
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          4.0
+BASE_PERIOD  =               0
+SERVO_PERIOD =               1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+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
+NO_FORCE_HOMING =       1
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+TOOL_CHANGE_POSITION = 0.111 0.222 0.333
+
+[AXIS_X]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[AXIS_Y]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[AXIS_Z]
+HOME =                          0.0
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+

tests/toolchanger/toolno-pocket-differ/nonrandom/test.sh

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

tests/toolchanger/toolno-pocket-differ/random/checkresult

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

tests/toolchanger/toolno-pocket-differ/random/expected-gcode-output

@@ -0,0 +1,217 @@
+sequence number 0.000000
+X = 0.000000
+Y = 0.000000
+Z = 0.000000
+toolno = -1.000000
+tlo_z = 0.000000
+
+sequence number 1.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.333000
+toolno = 1.000000
+tlo_z = 1.000000
+
+sequence number 2.000000
+X = 0.111000
+Y = 0.222000
+Z = -0.667000
+toolno = 1.000000
+tlo_z = 1.000000
+
+sequence number 3.000000
+X = 0.111000
+Y = 0.222000
+Z = -0.667000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 4.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 5.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 6.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 7.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 8.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 1.000000
+tlo_z = 0.233000
+
+sequence number 9.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.100000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 10.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 11.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 12.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.183000
+
+sequence number 13.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.150000
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 14.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 15.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 16.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 10.000000
+tlo_z = 0.229500
+
+sequence number 17.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.103500
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 18.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 19.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 20.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 21.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 22.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = 0.229000
+
+sequence number 23.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.104000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 24.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 25.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 1.000000
+tlo_z = 0.033000
+
+sequence number 26.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.300000
+toolno = 1.000000
+tlo_z = 0.033000
+
+sequence number 27.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.300000
+toolno = 10.000000
+tlo_z = -0.017000
+
+sequence number 28.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.350000
+toolno = 10.000000
+tlo_z = -0.017000
+
+sequence number 29.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.350000
+toolno = 99999.000000
+tlo_z = -0.067000
+
+sequence number 30.000000
+X = 0.111000
+Y = 0.222000
+Z = 0.400000
+toolno = 99999.000000
+tlo_z = -0.067000
+

tests/toolchanger/toolno-pocket-differ/random/sim.ini

@@ -0,0 +1,107 @@
+[EMC]
+#DEBUG = 0
+DEBUG = 0x7fffffff
+VERSION = 1.1
+
+[DISPLAY]
+DISPLAY = linuxcncrsh
+PROGRAM_PREFIX = ../../subs
+
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+PARAMETER_FILE =        sim.var
+USER_M_PATH = ../../subs
+SUBROUTINE_PATH = ../../subs
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          4.0
+BASE_PERIOD  =               0
+SERVO_PERIOD =               1000000
+
+[HAL]
+HALFILE = LIB:core_sim.hal
+
+[TRAJ]
+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
+NO_FORCE_HOMING =       1
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 1
+TOOL_CHANGE_POSITION = 0.111 0.222 0.333
+
+[AXIS_X]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[AXIS_Y]
+HOME =                          0.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[AXIS_Z]
+HOME =                          0.0
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+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
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -4.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+

tests/toolchanger/toolno-pocket-differ/random/test.sh

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

tests/toolchanger/toolno-pocket-differ/shared-test.sh

@@ -0,0 +1,164 @@
+#!/bin/bash
+set -x
+
+rm -f sim.var
+
+# reset the tool table to a known starting configuration
+rm -f simpockets.tbl
+cp ../../simpockets.tbl.original simpockets.tbl
+
+rm -f gcode-output
+
+if nc -z localhost 5007; then
+    echo "E: Process already listening on port 5007. Exiting"
+    exit 1
+fi
+
+linuxcnc -r sim.ini &
+
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo "I: trying to connect to linuxcncrsh TOGO=$TOGO"
+    if nc -z localhost 5007; then
+        break
+    fi
+    sleep 0.25
+    TOGO=$((TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo "I: connection to linuxcncrsh timed out"
+    exit 1
+fi
+
+
+(
+    function introspect() {
+        SEQUENCE_NUMBER=$1
+        echo "set mdi m100 P6 Q$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 "hello EMC mt 1.0"
+    echo "set enable EMCTOO"
+
+    echo "set estop off"
+    echo "set machine on"
+    echo "set mode mdi"
+
+    introspect 0
+
+    echo "set mdi t1 m6"
+    introspect 1
+
+    echo "set mdi g43"
+    introspect 2
+
+    echo "set mdi g10 l10 p1 z.1"
+    introspect 3
+
+    echo "set mdi g43"
+    introspect 4
+
+    echo "set mdi g10 l10 p10 z.15"
+    introspect 5
+
+    echo "set mdi g43"
+    introspect 6
+
+    echo "set mdi g10 l10 p99999 z.2"
+    introspect 7
+
+    echo "set mdi g43"
+    introspect 8
+
+
+    echo "set mdi t10 m6"
+    introspect 9
+
+    echo "set mdi g43"
+    introspect 10
+
+    echo "set mdi g10 l10 p1 z.103"
+    introspect 11
+
+    echo "set mdi g43"
+    introspect 12
+
+    echo "set mdi g10 l10 p10 z.1035"
+    introspect 13
+
+    echo "set mdi g43"
+    introspect 14
+
+    echo "set mdi g10 l10 p99999 z.104"
+    introspect 15
+
+    echo "set mdi g43"
+    introspect 16
+
+
+    echo "set mdi t99999 m6"
+    introspect 17
+
+    echo "set mdi g43"
+    introspect 18
+
+    echo "set mdi g10 l10 p1 z.3"
+    introspect 19
+
+    echo "set mdi g43"
+    introspect 20
+
+    echo "set mdi g10 l10 p10 z.35"
+    introspect 21
+
+    echo "set mdi g43"
+    introspect 22
+
+    echo "set mdi g10 l10 p99999 z.4"
+    introspect 23
+
+    echo "set mdi g43"
+    introspect 24
+
+
+    echo "set mdi t1 m6"
+    introspect 25
+
+    echo "set mdi g43"
+    introspect 26
+
+
+    echo "set mdi t10 m6"
+    introspect 27
+
+    echo "set mdi g43"
+    introspect 28
+
+
+    echo "set mdi t99999 m6"
+    introspect 29
+
+    echo "set mdi g43"
+    introspect 30
+
+
+    # wait for linuxcnc to finish
+    echo "set wait done"
+
+    echo "shutdown"
+) | nc localhost 5007
+
+
+# wait for linuxcnc to finish
+wait
+
+exit 0
+