Import LinuxCNC source tree

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

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+../checkresult

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

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+../core_sim.hal

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

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+../postgui.hal

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

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+#!/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

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+[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

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+../shared-test.sh

tests/toolchanger/reload-tool/postgui.hal

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+
+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

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+../checkresult

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

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+../core_sim.hal

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

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+../postgui.hal

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

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+#!/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