Import LinuxCNC source tree

tests/trajectory-planner/circular-arcs/.octaverc

@@ -0,0 +1 @@
+addpath('./octave')

tests/trajectory-planner/circular-arcs/build-debug.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+set -e
+
+cd ../../../src
+#Ugly way to force rebuild of kinematics, which assumes that tp_debug isn't
+#used anywhere else...
+touch emc/tp/t[cp]*.[ch]
+MAKECMD="make -j4 "
+# Show debug info for each timestep, as well as segment creation
+#$MAKECMD EXTRA_DEBUG='-DTC_DEBUG -DTP_DEBUG'
+# Show debugging info for segment creation and optimization
+#make EXTRA_DEBUG='-DTP_DEBUG -DTP_INFO_LOGGING'
+$MAKECMD EXTRA_DEBUG='-DTC_DEBUG -DTP_DEBUG -DTP_INFO_LOGGING'
+#make EXTRA_DEBUG='-DTP_DEBUG'
+#make EXTRA_DEBUG='-DTC_DEBUG'

tests/trajectory-planner/circular-arcs/build-profile.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -e
+
+cd ../../../src
+#Ugly way to force rebuild of kinematics, which assumes that tp_debug isn't
+#used anywhere else...
+touch emc/kinematics/t*.[ch]
+make EXTRA_DEBUG='-DTP_PROFILE -DTP_DEBUG -DTC_DEBUG'

tests/trajectory-planner/circular-arcs/build-release.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -e
+
+cd ../../../src
+#Ugly way to force rebuild of kinematics, which assumes that tp_debug isn't
+#used anywhere else...
+touch emc/tp/t[cp]*.[ch]
+make EXTRA_DEBUG=''

tests/trajectory-planner/circular-arcs/checkresult

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

tests/trajectory-planner/circular-arcs/configs/9axis.ini

@@ -0,0 +1,311 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               RT-Build-Circular-Arc-Blend-Tester
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+# DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp_9axis.xml 
+# Name of display program, e.g., axis
+DISPLAY =             axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+EDITOR = gedit
+
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+
+GEOMETRY = XYZABCUVW
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim-9axis.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim9.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = locking_indexer.hal
+HALFILE = constraint_check_9axis.tcl
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui_9axis.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  9
+COORDINATES =           X Y Z A B C U V W
+HOME =                  0 0 0 0 0 0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+POSITION_FILE = position9.txt
+MAX_LINEAR_VELOCITY =   1.2
+MAX_ANGULAR_VELOCITY =  90.0
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 50
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+BACKLASH = 0.000
+INPUT_SCALE =                   40
+OUTPUT_SCALE = 1.000
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+[AXIS_4]
+
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+BACKLASH = 0.000
+INPUT_SCALE =                   40
+OUTPUT_SCALE = 1.000
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    45.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+LOCKING_INDEXER = 1
+
+[AXIS_5]
+
+TYPE =                          ANGULAR
+HOME =                          0.0
+MAX_VELOCITY =                  90.0
+MAX_ACCELERATION =              1200.0
+BACKLASH = 0.000
+INPUT_SCALE =                   40
+OUTPUT_SCALE = 1.000
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+[AXIS_6]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+[AXIS_7]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+[AXIS_8]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.2
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 2

tests/trajectory-planner/circular-arcs/configs/XY.ini

@@ -0,0 +1,182 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-XY-Axis-Tester
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+#Includes acceleration / velocity 
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+# Core sim stuff for various loaded axes
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+# Other HAL files
+HALFILE = axis_manualtoolchange.hal
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  2
+COORDINATES =           X Y
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 60
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XYZ.ini

@@ -0,0 +1,218 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-XYZ
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+HALFILE = axis-Z.tcl
+HALFILE = axis-A.tcl
+# Other HAL files
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 100
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 100
+
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 25
+MAX_ACCELERATION = 800
+SCALE = 500.0
+FERROR = 5.0
+MIN_FERROR = 2.5
+MIN_LIMIT = -9999.0
+MAX_LIMIT = 9999.0
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 0.00000
+HOME_LATCH_VEL = 0.00000
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XYZ_fast.ini

@@ -0,0 +1,217 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-Fast
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+HALFILE = axis-Z.tcl
+HALFILE = axis-A.tcl
+# Other HAL files
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   20
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 87
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              400
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              400
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              400
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 2000
+SCALE = 500.0
+FERROR = 5.0
+MIN_FERROR = 2.5
+MIN_LIMIT = -9999.0
+MAX_LIMIT = 9999.0
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 0.00000
+HOME_LATCH_VEL = 0.00000
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XYZ_medium.ini

@@ -0,0 +1,218 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-XYZ-medium-speed
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+HALFILE = axis-Z.tcl
+HALFILE = axis-A.tcl
+# Other HAL files
+HALFILE = axis_manualtoolchange.hal
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 50
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.5
+MAX_ACCELERATION =              15
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  1.5
+MAX_ACCELERATION =              15
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  1.0
+MAX_ACCELERATION =              15
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 25
+MAX_ACCELERATION = 800
+SCALE = 500.0
+FERROR = 5.0
+MIN_FERROR = 2.5
+MIN_LIMIT = -9999.0
+MAX_LIMIT = 9999.0
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 0.00000
+HOME_LATCH_VEL = 0.00000
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XYZ_nospindle.ini

@@ -0,0 +1,187 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-NoSpindleEnc
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = test_status.tcl
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 240
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8.3333
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8.3333
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  8.333333
+MAX_ACCELERATION =              30
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XYZ_uneven.ini

@@ -0,0 +1,217 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-Fast
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+HALFILE = axis-Z.tcl
+HALFILE = axis-A.tcl
+# Other HAL files
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   20
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 87
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              400
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              300
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  10
+MAX_ACCELERATION =              200
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 2000
+SCALE = 500.0
+FERROR = 5.0
+MIN_FERROR = 2.5
+MIN_LIMIT = -9999.0
+MAX_LIMIT = 9999.0
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 0.00000
+HOME_LATCH_VEL = 0.00000
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XY_slowZ.ini

@@ -0,0 +1,218 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-Circular-Blend-Tester-slowZ
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Y.tcl
+HALFILE = axis-Z.tcl
+# Other HAL files
+HALFILE = axis_manualtoolchange.hal
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  4
+COORDINATES =           X Y Z A
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 50
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+# Make Z accel and max vel really slow to highlight issues with helices
+MAX_VELOCITY =                  .01
+MAX_ACCELERATION =              .1
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 25
+MAX_ACCELERATION = 800
+SCALE = 500.0
+FERROR = 5.0
+MIN_FERROR = 2.5
+MIN_LIMIT = -9999.0
+MAX_LIMIT = 9999.0
+HOME_OFFSET = 0.000000
+HOME_SEARCH_VEL = 0.00000
+HOME_LATCH_VEL = 0.00000
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/XZ.ini

@@ -0,0 +1,181 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-XZ-Axis-Tester
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+#Includes acceleration / velocity 
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =    0.066666666666
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+# Core sim stuff for various loaded axes
+HALFILE = core_sim_components.hal
+HALFILE = test_status.tcl
+HALFILE = axis-X.tcl
+HALFILE = axis-Z.tcl
+# Other HAL files
+HALFILE = axis_manualtoolchange.hal
+HALFILE = sim_spindle_encoder.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  2
+COORDINATES =           X Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 60
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

tests/trajectory-planner/circular-arcs/configs/add_hal_symlinks.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+
+ln -sf ../../../../configs/sim/core_sim.hal .
+ln -sf ../../../../configs/sim/axis_manualtoolchange.hal .
+ln -sf ../../../../configs/sim/sim_spindle_encoder.hal .

tests/trajectory-planner/circular-arcs/configs/axis-A.tcl

@@ -0,0 +1,21 @@
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Apos axis.3.motor-pos-cmd => axis.3.motor-pos-fb ddt_a.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Avel ddt_a.out => ddt_av.in
+net Aacc <= ddt_av.out
+
+#Conservative limits
+set acc_limit 1.0001
+set vel_limit 1.01
+
+setp wcomp_aacc.max $::AXIS_3(MAX_ACCELERATION)*$acc_limit
+setp wcomp_aacc.min $::AXIS_3(MAX_ACCELERATION)*-1.0*$acc_limit
+setp wcomp_avel.max $::AXIS_3(MAX_VELOCITY)*$vel_limit
+setp wcomp_avel.min $::AXIS_3(MAX_VELOCITY)*-1.0*$vel_limit
+
+# Enable match_all pins for A axis
+setp match_all.b6 1
+setp match_all.b7 1

tests/trajectory-planner/circular-arcs/configs/axis-X.tcl

@@ -0,0 +1,21 @@
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+
+#Conservative limits
+set acc_limit 1.0001
+set vel_limit 1.01
+
+setp wcomp_xacc.max $::AXIS_0(MAX_ACCELERATION)*$acc_limit
+setp wcomp_xacc.min $::AXIS_0(MAX_ACCELERATION)*-1.0*$acc_limit
+setp wcomp_xvel.max $::AXIS_0(MAX_VELOCITY)*$vel_limit
+setp wcomp_xvel.min $::AXIS_0(MAX_VELOCITY)*-1.0*$vel_limit
+
+# Enable match_all pins for X axis
+setp match_all.b0 1
+setp match_all.b1 1

tests/trajectory-planner/circular-arcs/configs/axis-Y.tcl

@@ -0,0 +1,21 @@
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+
+#Conservative limits
+set acc_limit 1.0001
+set vel_limit 1.01
+
+setp wcomp_yacc.max $::AXIS_1(MAX_ACCELERATION)*$acc_limit
+setp wcomp_yacc.min $::AXIS_1(MAX_ACCELERATION)*-1.0*$acc_limit
+setp wcomp_yvel.max $::AXIS_1(MAX_VELOCITY)*$vel_limit
+setp wcomp_yvel.min $::AXIS_1(MAX_VELOCITY)*-1.0*$vel_limit
+
+# Enable match_all pins for Y axis
+setp match_all.b2 1
+setp match_all.b3 1

tests/trajectory-planner/circular-arcs/configs/axis-Z.tcl

@@ -0,0 +1,22 @@
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+#Conservative limits
+set acc_limit 1.0001
+set vel_limit 1.01
+
+setp wcomp_zacc.max $::AXIS_2(MAX_ACCELERATION)*$acc_limit
+setp wcomp_zacc.min $::AXIS_2(MAX_ACCELERATION)*-1.0*$acc_limit
+setp wcomp_zvel.max $::AXIS_2(MAX_VELOCITY)*$vel_limit
+setp wcomp_zvel.min $::AXIS_2(MAX_VELOCITY)*-1.0*$vel_limit
+
+# Enable match_all pins for Z axis
+setp match_all.b4 1
+setp match_all.b5 1
+

tests/trajectory-planner/circular-arcs/configs/axis_manualtoolchange.hal

@@ -0,0 +1 @@
+../../../../configs/sim/axis_manualtoolchange.hal

tests/trajectory-planner/circular-arcs/configs/axis_mm.ini

@@ -0,0 +1,200 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-HAL-SIM-AXIS
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+# DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., axis
+DISPLAY =             axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+# Prefix to be used
+PROGRAM_PREFIX = ../../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+EDITOR = gedit
+
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim_mm.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = test_status.tcl
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          mm
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 30.48
+MAX_LINEAR_VELOCITY = 53.34
+DEFAULT_LINEAR_ACCELERATION = 508
+MAX_LINEAR_ACCELERATION = 508
+POSITION_FILE = position_mm.txt
+ARC_BLEND_ENABLE =      1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 100
+ARC_BLEND_GAP_CYCLES = 2
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -254
+MAX_LIMIT =                     254
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -254
+MAX_LIMIT =                     254
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  30.48
+MAX_ACCELERATION =              508
+BACKLASH = 0.000
+INPUT_SCALE =                   157.48
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.8
+MAX_LIMIT =                     101.6
+FERROR = 1.27
+MIN_FERROR = .254
+HOME_OFFSET =                    25.4
+HOME_SEARCH_VEL =                127
+HOME_LATCH_VEL =                 25.4
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim_mm.tbl
+TOOL_CHANGE_POSITION = 0 0 50.8

tests/trajectory-planner/circular-arcs/configs/core_sim9.hal

@@ -0,0 +1 @@
+../../../../configs/sim/core_sim9.hal

tests/trajectory-planner/circular-arcs/configs/core_sim_components.hal

@@ -0,0 +1,48 @@
+# 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 names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv,ddt_a,ddt_av
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# 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_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf ddt_a servo-thread
+addf ddt_av servo-thread
+
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+# NOTE handled in axis-[XYZ].hal
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+# NOTE handled in axis-[XYZ].hal
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+

tests/trajectory-planner/circular-arcs/configs/postgui.hal

@@ -0,0 +1,35 @@
+#NOTE include appropriate postgui-axis-[XYZ].hal here for each axis used
+
+net constraints-ok <= match_all.out => motion.enable
+
+net resetall mm_xacc.reset mm_xvel.reset mm_yacc.reset mm_yvel.reset mm_zacc.reset mm_zvel.reset mm_aacc.reset mm_avel.reset  pyvcp.resetmm
+
+loadrt time
+loadrt not
+addf time.0 servo-thread
+addf not.0 servo-thread
+net prog-running not.0.in <= halui.program.is-idle
+net cycle-timer time.0.start <= not.0.out
+net cycle-seconds pyvcp.time-seconds <= time.0.seconds
+net cycle-minutes pyvcp.time-minutes <= time.0.minutes
+net cycle-hours pyvcp.time-hours <= time.0.hours
+
+net pxacc mm_xacc.max pyvcp.pxacc
+net pxvel mm_xvel.max pyvcp.pxvel
+net nxacc mm_xacc.min pyvcp.nxacc
+net nxvel mm_xvel.min pyvcp.nxvel
+
+net pyacc mm_yacc.max pyvcp.pyacc
+net pyvel mm_yvel.max pyvcp.pyvel
+net nyacc mm_yacc.min pyvcp.nyacc
+net nyvel mm_yvel.min pyvcp.nyvel
+
+net pzacc mm_zacc.max pyvcp.pzacc
+net pzvel mm_zvel.max pyvcp.pzvel
+net nzacc mm_zacc.min pyvcp.nzacc
+net nzvel mm_zvel.min pyvcp.nzvel
+
+net paacc mm_aacc.max pyvcp.paacc
+net pavel mm_avel.max pyvcp.pavel
+net naacc mm_aacc.min pyvcp.naacc
+net navel mm_avel.min pyvcp.navel

tests/trajectory-planner/circular-arcs/configs/sim.tbl

@@ -0,0 +1,6 @@
+T1 P1 D1.000000 Z+1.000000 ;1/8 end mill 
+T2 P2 D0.062500 Z+0.100000 ;1/16 end mill 
+T3 P3 D0.201000 Z+1.273000 ;#7 tap drill 
+T4 P4 D0.031250 Z+0.511000 ;1/32 end mill 
+T99999 P99999 Z+0.100000 ;big tool number 
+T15 P15 D0.062500 Z+1.000000 ;dummy tool 

tests/trajectory-planner/circular-arcs/configs/test_status.tcl

@@ -0,0 +1,66 @@
+# HAL config file to check vel/acc constraints
+# NOTE: needs to be loaded before axis hal files
+loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel,wcomp_aacc,wcomp_avel
+loadrt minmax names=mm_xacc,mm_xvel,mm_yacc,mm_yvel,mm_zacc,mm_zvel,mm_aacc,mm_avel
+
+addf wcomp_xacc servo-thread
+addf wcomp_xvel servo-thread
+addf wcomp_yacc servo-thread
+addf wcomp_yvel servo-thread
+addf wcomp_zacc servo-thread
+addf wcomp_zvel servo-thread
+addf wcomp_aacc servo-thread
+addf wcomp_avel servo-thread
+
+addf mm_xacc servo-thread
+addf mm_xvel servo-thread
+addf mm_yacc servo-thread
+addf mm_yvel servo-thread
+addf mm_zacc servo-thread
+addf mm_zvel servo-thread
+addf mm_aacc servo-thread
+addf mm_avel servo-thread
+
+net Xacc => wcomp_xacc.in mm_xacc.in
+net Xvel => wcomp_xvel.in mm_xvel.in
+net Yacc => wcomp_yacc.in mm_yacc.in
+net Yvel => wcomp_yvel.in mm_yvel.in
+net Zacc => wcomp_zacc.in mm_zacc.in
+net Zvel => wcomp_zvel.in mm_zvel.in
+net Aacc => wcomp_aacc.in mm_aacc.in
+net Avel => wcomp_avel.in mm_avel.in
+
+net acc-ok-x <= wcomp_xacc.out
+net vel-ok-x <= wcomp_xvel.out
+net acc-ok-y <= wcomp_yacc.out
+net vel-ok-y <= wcomp_yvel.out
+net acc-ok-z <= wcomp_zacc.out
+net vel-ok-z <= wcomp_zvel.out
+net acc-ok-a <= wcomp_aacc.out
+net vel-ok-a <= wcomp_avel.out
+
+loadrt match8 names=match_all
+
+addf match_all servo-thread
+
+# Connect match signals and default all to not loaded
+# Enable the match-all pins in specific axis hal files
+net acc-ok-x => match_all.a0
+net vel-ok-x => match_all.a1
+net acc-ok-y => match_all.a2
+net vel-ok-y => match_all.a3
+net acc-ok-z => match_all.a4
+net vel-ok-z => match_all.a5
+net acc-ok-a => match_all.a6
+net vel-ok-a => match_all.a7
+
+setp match_all.b0 0
+setp match_all.b1 0
+setp match_all.b2 0
+setp match_all.b3 0
+setp match_all.b4 0
+setp match_all.b5 0
+setp match_all.b6 0
+setp match_all.b7 0
+
+setp match_all.in 1

tests/trajectory-planner/circular-arcs/configs/vcp.xml

@@ -0,0 +1,198 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+    <label>
+        <text>"Peak Values"</text>
+    </label>
+    <label>
+        <text>"X Axis"</text>
+    </label>
+    <hbox>
+        <label>
+            <text>"+Acc"</text>
+        </label>
+        <number>
+            <halpin>"pxacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"+Vel"</text>
+        </label>
+        <number>
+            <halpin>"pxvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <hbox>
+        <label>
+            <text>"-Acc"</text>
+        </label>
+        <number>
+            <halpin>"nxacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"-Vel"</text>
+        </label>
+        <number>
+            <halpin>"nxvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <label>
+        <text>"Y Axis"</text>
+    </label>
+    <hbox>
+        <label>
+            <text>"+Acc"</text>
+        </label>
+        <number>
+            <halpin>"pyacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"+Vel"</text>
+        </label>
+        <number>
+            <halpin>"pyvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <hbox>
+        <label>
+            <text>"-Acc"</text>
+        </label>
+        <number>
+            <halpin>"nyacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"-Vel"</text>
+        </label>
+        <number>
+            <halpin>"nyvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <label>
+        <text>"Z Axis"</text>
+    </label>
+    <hbox>
+        <label>
+            <text>"+Acc"</text>
+        </label>
+        <number>
+            <halpin>"pzacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"+Vel"</text>
+        </label>
+        <number>
+            <halpin>"pzvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <hbox>
+        <label>
+            <text>"-Acc"</text>
+        </label>
+        <number>
+            <halpin>"nzacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"-Vel"</text>
+        </label>
+        <number>
+            <halpin>"nzvel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+
+
+    <label>
+        <text>"A Axis"</text>
+    </label>
+    <hbox>
+        <label>
+            <text>"+Acc"</text>
+        </label>
+        <number>
+            <halpin>"paacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"+Vel"</text>
+        </label>
+        <number>
+            <halpin>"pavel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+    <hbox>
+        <label>
+            <text>"-Acc"</text>
+        </label>
+        <number>
+            <halpin>"naacc"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+        <label>
+            <text>"-Vel"</text>
+        </label>
+        <number>
+            <halpin>"navel"</halpin>
+            <font>("Helvetica",24)</font>
+            <format>"+4.4f"</format>
+        </number>
+    </hbox>
+
+    <button>
+        <halpin>"resetmm"</halpin>
+        <text>"reset"</text>
+    </button>
+    <hbox>
+        <label>
+            <text>"Cycle Time"</text>
+            <font>("Helvetica",14)</font>
+        </label>
+        <u32>
+            <halpin>"time-hours"</halpin>
+            <font>("Helvetica",14)</font>
+            <format>"2d"</format>
+        </u32>
+        <label>
+            <text>":"</text>
+            <font>("Helvetica",14)</font>
+        </label>
+        <u32>
+            <halpin>"time-minutes"</halpin>
+            <font>("Helvetica",14)</font>
+            <format>"2d"</format>
+        </u32>
+        <label>
+            <text>":"</text>
+            <font>("Helvetica",14)</font>
+        </label>
+        <u32>
+            <halpin>"time-seconds"</halpin>
+            <font>("Helvetica",14)</font>
+            <format>"2d"</format>
+        </u32>
+    </hbox>
+</pyvcp>

tests/trajectory-planner/circular-arcs/linuxcnc_control.py

@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+'''Copied from m61-test'''
+
+import linuxcnc
+import os
+from time import sleep
+
+
+# this is how long we wait for linuxcnc to do our bidding
+
+class LinuxcncError(Exception):
+    pass
+#    def __init__(self, value):
+#        self.value = value
+#    def __str__(self):
+#        return repr(self.value)
+
+class LinuxcncControl:
+    '''
+    issue G-Code commands
+    make sure important modes are saved and restored
+    mode is saved only once, and can be restored only once
+
+    usage example:
+        e = emc_control()
+        e.prepare_for_mdi()
+            any internal sub using e.g("G0.....")
+        e.finish_mdi()
+
+    '''
+
+    def __init__(self,timeout=2):
+        self.c = linuxcnc.command()
+        self.e = linuxcnc.error_channel()
+        self.s = linuxcnc.stat()
+        self.timeout = timeout
+
+    def running(self, do_poll=True):
+        '''
+        check whether interpreter is running.
+        If so, can't switch to MDI mode.
+        '''
+        if do_poll:
+            self.s.poll()
+        return (self.s.task_mode == linuxcnc.MODE_AUTO and
+                self.s.interp_state != linuxcnc.INTERP_IDLE)
+
+    def set_mode(self,m):
+        '''
+        set EMC mode if possible, else throw LinuxcncError
+        return current mode
+        '''
+        self.s.poll()
+        if self.s.task_mode == m :
+            return m
+        if self.running(do_poll=False):
+            raise LinuxcncError("interpreter running - can not change mode")
+        self.c.mode(m)
+        self.c.wait_complete()
+
+        return m
+
+    def set_state(self,m):
+        '''
+        set EMC mode if possible, else throw LinuxcncError
+        return current mode
+        '''
+        self.s.poll()
+        if self.s.task_mode == m :
+            return m
+        self.c.state(m)
+        self.c.wait_complete(self.timeout)
+        return m
+
+    def do_home(self,axismask):
+        self.s.poll()
+        self.c.home(axismask)
+        self.c.wait_complete(self.timeout)
+
+
+    def ok_for_mdi(self):
+        '''
+        check whether ok to run MDI commands.
+        '''
+        self.s.poll()
+        return not self.s.estop and self.s.enabled and self.s.homed
+
+    def prepare_for_mdi(self):
+        '''
+        check whether ok to run MDI commands.
+        throw  LinuxcncError if told so.
+        return current mode
+        '''
+
+        self.s.poll()
+        if self.s.estop:
+            raise LinuxcncError("machine in ESTOP")
+
+        if not self.s.enabled:
+            raise LinuxcncError("machine not enabled")
+
+        if not self.s.homed:
+            raise LinuxcncError("machine not homed")
+
+        if self.running():
+            raise LinuxcncError("interpreter not idle")
+
+        return self.set_mode(linuxcnc.MODE_MDI)
+
+    g_raise_except = True
+
+    def g(self,code,wait=False):
+        '''
+        issue G-Code as MDI command.
+        wait for completion if requested
+        '''
+
+        self.c.mdi(code)
+        if wait:
+            try:
+                while self.c.wait_complete(self.timeout) == -1:
+                    pass
+                return True
+            except KeyboardInterrupt:
+                print("interrupted by keyboard in c.wait_complete(self.timeout)")
+                return False
+
+        self.error = self.e.poll()
+        if self.error:
+            kind, text = self.error
+            if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
+                if self.g_raise_except:
+                    raise LinuxcncError(text)
+                else:
+                    print(("error " + text))
+            else:
+                print(("info " + text))
+        return False
+
+    def get_current_tool(self):
+        self.s.poll()
+        return self.s.tool_in_spindle
+
+    def active_codes(self):
+        self.e.poll()
+        return self.s.gcodes
+
+    def get_current_system(self):
+        g = self.active_codes()
+        for i in g:
+                if i >= 540 and i <= 590:
+                        return i/10 - 53
+                elif i >= 590 and i <= 593:
+                        return i - 584
+        return 1
+
+    def open_program(self,filename):
+        '''Open an nc file'''
+        self.s.poll()
+        self.set_mode(linuxcnc.MODE_AUTO)
+        self.c.wait_complete()
+        sleep(.25)
+        self.c.program_open(filename)
+        self.c.wait_complete()
+
+    def run_full_program(self):
+        '''Start a loaded program'''
+        self.s.poll()
+        self.c.auto(linuxcnc.AUTO_RUN, 0)
+        self.c.wait_complete(self.timeout)
+        return self.check_rcs_error()
+
+    def set_feed_scale(self,scale):
+        '''Assign a feed scale'''
+
+        self.s.poll()
+        self.c.feedrate(scale)
+        self.c.wait_complete(self.timeout)
+
+    def wait_on_program(self):
+        self.s.poll()
+        while self.s.exec_state != linuxcnc.EXEC_DONE or self.s.state != linuxcnc.RCS_DONE and self.s.task_state == linuxcnc.STATE_ON:
+            sleep(.25)
+            self.s.poll()
+            if self.s.task_state != linuxcnc.STATE_ON:
+                return False
+            if self.check_rcs_error():
+                print("Found RCS error while waiting, running again")
+                self.run_full_program()
+
+        return True
+
+    def check_rcs_error(self):
+        self.s.poll()
+        if self.s.state == linuxcnc.RCS_ERROR:
+            print("detected RCS error")
+            return True
+        return False
+
+def introspect():
+    os.system("halcmd show pin python-ui")

tests/trajectory-planner/circular-arcs/machine_setup.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+'''Copied from m61-test'''
+
+import linuxcnc
+from linuxcnc_control import  LinuxcncControl
+import hal
+
+from time import sleep
+import sys
+import os
+
+
+"""Run the test"""
+#Hack to make this wait while LCNC loads
+sleep(3)
+
+h = hal.component("python-ui")
+h.ready() # mark the component as 'ready'
+
+#
+# connect to LinuxCNC
+#
+
+e = LinuxcncControl(1)
+e.g_raise_except = False
+e.set_mode(linuxcnc.MODE_MANUAL)
+e.set_state(linuxcnc.STATE_ESTOP_RESET)
+e.set_state(linuxcnc.STATE_ON)
+e.do_home(-1)
+sleep(1)
+e.set_mode(linuxcnc.MODE_AUTO)
+if len(sys.argv)>1:
+    e.open_program(sys.argv[1])
+    e.run_full_program()
+    sleep(2)
+    e.wait_on_program()
+
+else:
+    print("No G-code specified, setup complete")
+
+

tests/trajectory-planner/circular-arcs/nc_files/XYtests/51MeanderAve.ngc

@@ -0,0 +1,901 @@
+(Filename: 51 Meander Ave.ngc)
+(Post processor: LinuxCNC plasma.scpost)
+(Date: 26/11/2014)
+G21 (Units: Metric)
+G40 G90
+F1 S1
+G64 P0.01 q00.01
+(Part: 51 Meander Ave)
+(Operation: Outside Offset, LAYER_1, T210: Stainless 2.0mm)
+G00
+X21.000 Y20.000
+M01
+M03
+G04 P0.6
+G01 F5000
+S1 (On start)
+X18.000
+G03 X18.919 Y18.317 I2.000 J0.000
+S100 (On start)
+X18.245 Y20.959 I1.081 J1.683
+S1 (Before end)
+X18.000 Y20.000 I1.755 J-0.959
+X19.505 Y18.994 I1.255 J0.250
+M05
+G04 P0.5
+G00
+X21.000 Y230.000
+M01
+M03
+G04 P0.6
+G01
+S1 (On start)
+X18.000
+G03 X18.919 Y228.317 I2.000 J0.000
+S100 (On start)
+X18.245 Y230.959 I1.081 J1.683
+S1 (Before end)
+X18.000 Y230.000 I1.755 J-0.959
+X19.505 Y228.994 I1.255 J0.250
+M05
+G04 P0.5
+G00
+X88.440 Y62.115
+M01
+M03
+G04 P0.6
+G01
+S1 (On start)
+X91.436 Y62.265
+X91.422 Y62.560
+X91.421 Y62.598
+X91.466 Y64.264
+S100 (On start)
+X91.496 Y65.373
+G02 X87.568 Y64.929 I-3.860 J16.550
+G03 X83.176 Y64.726 I-0.188 J-43.694
+G01 X83.152 Y64.725
+G03 X69.798 Y58.354 I0.924 J-19.120
+X67.906 Y47.253 I7.767 J-7.035
+G01 X67.925 Y47.201
+G03 X70.623 Y45.396 I2.433 J0.718
+X71.456 Y47.283 I-0.518 J1.356
+X70.718 Y48.506 I-4.457 J-1.855
+G02 X68.831 Y52.481 I5.988 J5.278
+G01 X68.825 Y52.549
+G02 X70.393 Y57.430 I7.704 J0.217
+G01 X70.409 Y57.450
+G02 X84.472 Y63.735 I13.571 J-11.489
+G01 X85.397 Y63.750
+G02 X85.903 Y63.215 I0.008 J-0.500
+X82.375 Y43.677 I-91.079 J6.360
+X74.981 Y29.581 I-31.278 J7.420
+X68.323 Y27.415 I-5.090 J4.327
+G01 X66.976 Y27.718
+X66.368 Y27.825
+X66.294 Y27.844
+G03 X63.517 Y26.647 I-0.727 J-2.133
+X65.036 Y24.330 I1.839 J-0.451
+G01 X65.052 Y24.327
+G03 X71.499 Y25.190 I1.985 J9.681
+X79.957 Y33.942 I-8.837 J17.004
+X86.975 Y60.482 I-66.734 J31.844
+G02 X87.973 Y60.483 I0.499 J-0.036
+G01 X90.489 Y26.171
+X92.588 Y29.855
+X93.960 Y32.305
+X95.301 Y34.652
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+Y248.000
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tests/trajectory-planner/circular-arcs/nc_files/arc-feed/arc_maxvel_xy.ngc

@@ -0,0 +1,9 @@
+G20 G90
+F100000
+G61
+G0 X0 Y0 Z0
+G1 X0 Y0.1
+G17
+G2 Y-.1 J-0.1 Z5 I.5 P4
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/arc_time.ngc

@@ -0,0 +1,20 @@
+G21 G90
+F100000
+G0 X0 Y0 Z0
+G1 X0 Y2
+G19
+G2 F100000 Y-2 X5 J-2 K-10 P2
+G0 X0 Y0 Z0
+G18
+G1 X2
+G2 F100000 X-2 Y5 I-2 K-10 P2
+G0 X0 Y0 Z0
+
+G20 G90
+F10000
+G0 X0 Y0 Z0
+G1 X0 Y.1
+G19
+G2 F1000 Y-.1 X.5 J-.1 K-1 P2
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/basic_xy.ngc

@@ -0,0 +1,10 @@
+(Basic ARC_FEED test using canon default units)
+G21 G90
+G10 L2 P0 R0
+F1000
+G0 X0 Y0 Z0
+G1 X10
+G17
+G3 Y-10 R10 (270 deg. arc CCW)
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/full_xy.ngc

@@ -0,0 +1,13 @@
+(Basic ARC_FEED test using english to test unit conv)
+G20 G90
+(Arbitrary rotation of current csys)
+G10 L2 P0 X-2 Y1 R60
+F1000
+G0 X0 Y0 Z0
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+G1 X1.5 Y.5
+G17
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+G1 X1.5 Y1.5
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/full_xz.ngc

@@ -0,0 +1,13 @@
+(Basic ARC_FEED test using english to test unit conv)
+G20 G90
+(Force exact path to ignore blend effects)
+G61
+(Arbitrary rotation of current csys)
+G10 L2 P0 X-2 Y1 R60
+(Large feed rate to test max velocity / accel)
+F10000
+G0 X0 Y0 Z0
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+G19
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+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/full_yz.ngc

@@ -0,0 +1,14 @@
+(Basic ARC_FEED test using english to test unit conv)
+G20 G90
+(Force exact path to ignore blend effects)
+G61
+(Arbitrary rotation of current csys)
+G10 L2 P0 X-2 Y1 R60
+F1000
+G0 X0 Y0 Z0
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+G18
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+G3 X1.5 Z.5 R1
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/simple_arc2.ngc

@@ -0,0 +1,13 @@
+G21 G90
+F1000
+G0 X0 Y0 Z0
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+G18
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+G0 X0 Y0 Z0
+
+G1 X0 Y10
+G19
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+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-feed/simple_arc3.ngc

@@ -0,0 +1,8 @@
+G21 G90
+F1000
+G0 X0 Y0 Z0
+G1 X0 Y10
+G19
+G3 Y-20 R20
+G0 X0 Y0 Z0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-concave-convex.ngc

@@ -0,0 +1,12 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
+G1 X.1
+G2 X.2 R.1
+G3 X.3 R.2
+G1 X.8
+G1 Y.2
+X0
+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-convex-concave.ngc

@@ -0,0 +1,12 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
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+G3 X.2 R.1
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+G1 Y.2
+X0
+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-convex-convex.ngc

@@ -0,0 +1,10 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
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+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-convex.ngc

@@ -0,0 +1,12 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
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+X0
+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-neartangent.ngc

@@ -0,0 +1,10 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
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+G2 X.2999 Y0 I0 J-.1
+G1 X1
+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-planeswitch.ngc

@@ -0,0 +1,13 @@
+G90 G20 G64
+F1000
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+G17
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+G1 X.8
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-sawtooth.ngc

@@ -0,0 +1,55 @@
+G90 G20 
+G64
+F1000
+G0 X0 Y0
+Z0
+
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+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-arc-test.ngc

@@ -0,0 +1,12 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
+G1 X1
+G2 X2 R1
+G2 X3 R2
+G1 X4
+G1 Y2
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+Y0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/arc-terminal.ngc

@@ -0,0 +1,14 @@
+G20 G90
+G64
+F1000
+
+G0 X0 Y0
+Z0
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+G3 X.4 R.05
+G1 Y.1
+G3 X.3 R0.05
+G2 X.1 R.1
+G1 X0
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/line-arc-burnin.ngc

@@ -0,0 +1,48 @@
+G90 G20 
+G64
+F1000
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+G3 X4.0 R0.1
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tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/linearc-convex.ngc

@@ -0,0 +1,11 @@
+G20 G17 G40
+G90 G91.1
+G64 (Q0.001)
+F999.0000
+G0 X0 Y0 Z0
+G1 X-1
+G1 X2
+G2 X1 R.5
+G1 X3
+G1 X4
+M2

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/linearc-end-overrun.ngc

@@ -0,0 +1,55 @@
+G20
+G0 Z0.0120
+G17 G40
+G80 G90 G91.1
+G64 (Q0.001)
+F999.0000
+G18
+G0 X3.3390 Y4.8580
+G1 Z-0.0319
+G1 X3.2100 Z-0.1530
+ X3.2040 Z-0.1539
+ X3.2000 Z-0.1569
+ X3.1940 Z-0.1539
+ X3.1840 Z-0.1588
+ X3.1680 Z-0.1549
+ X3.1620 Z-0.1565
+ X3.1380 Z-0.1539
+ X3.1280 Z-0.1589
+ X3.1260 Z-0.1575
+ X3.1240 Z-0.1520
+ X3.1200 Z-0.1510
+ X3.1160 Z-0.1549
+ X3.1060 Z-0.1588
+G3 X3.0940 Y4.8580 Z-0.1540 I0.0013 K0.0205
+G1 X3.0860 Z-0.1556
+ X3.0800 Z-0.1539
+ X3.0760 Z-0.1569
+ X3.0700 Z-0.1539
+ X3.0660 Z-0.1549
+ X3.0620 Z-0.1529
+ X3.0560 Z-0.1539
+ X3.0520 Z-0.1520
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tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/linearc-stellabee.ngc

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tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/linearc.ngc

@@ -0,0 +1,12 @@
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+F1000
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+G1 X.0
+M2
+

tests/trajectory-planner/circular-arcs/nc_files/arc-intersections/tort-sam-mach3.ngc

@@ -0,0 +1,9 @@
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tests/trajectory-planner/circular-arcs/nc_files/auto-test/XYtests

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

tests/trajectory-planner/circular-arcs/nc_files/auto-test/arc-feed

@@ -0,0 +1 @@
+../arc-feed/

tests/trajectory-planner/circular-arcs/nc_files/auto-test/arc-intersections

@@ -0,0 +1 @@
+../arc-intersections/

tests/trajectory-planner/circular-arcs/nc_files/auto-test/performance

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

tests/trajectory-planner/circular-arcs/nc_files/auto-test/quick-tests

@@ -0,0 +1 @@
+../quick-tests/

tests/trajectory-planner/circular-arcs/nc_files/auto-test/spindle

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

tests/trajectory-planner/circular-arcs/nc_files/auto-test/violation_checks

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

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/abc_tangent.ngc

@@ -0,0 +1,20 @@
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+(Tangent lines along XYZA)
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+
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+

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/adjustment.ngc

@@ -0,0 +1,47 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/arc-with-spiral.ngc

@@ -0,0 +1,10 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/bad_spirals_1.ngc

@@ -0,0 +1,22 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/bad_spirals_comp.ngc

@@ -0,0 +1,20 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/bad_spirals_lathe.ngc

@@ -0,0 +1,18 @@
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+
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/default_tolerance_check.ngc

@@ -0,0 +1,38 @@
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+Y1
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/feed-tracking-test.ngc

@@ -0,0 +1,13 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/helix_slowdown.ngc

@@ -0,0 +1,18 @@
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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/lineno-test.ngc

@@ -0,0 +1,19 @@
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+#1 = 1 (assign parameter #1 the value of 0)
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+  #1 = [#1+1] (increment the test counter)
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+M2 (end program)
+
+M5
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+

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/modal_state_test.ngc

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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/parabolic_split1.ngc

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tests/trajectory-planner/circular-arcs/nc_files/diagnostic/rgh.ngc

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+N1376 X-0.5828 Y-0.7279 I0.0505 J-0.067 
+N1378 X-0.5888 Y-0.7375 I0.0511 J-0.039 
+N1380 X-0.59 Y-0.7401 I0.0192 J-0.0104 
+N1382 G01 X-0.5912 Y-0.7431 
+N1384 G03 X-0.5925 Y-0.7494 I0.0204 J-0.0078 F10044. 
+N1386 X-0.5896 Y-0.7618 I0.0218 J-0.0015 F10017. 
+N1388 X-0.5843 Y-0.7709 I1.7119 J0.9933 F10069. 
+N1390 X-0.5641 Y-0.7785 Z-0.097 I0.0148 J0.0087 
+N1392 G01 X-0.4641 Y-0.745 F100100. 
+N1394 G03 X-0.4543 Y-0.721 Z-0.1 I-0.0054 J0.0163 F10043. 
+N1396 G02 X-0.4566 Y-0.7165 I1.8765 J0.9525 F10024. 
+N1398 X-0.4585 Y-0.7126 I1.8789 J0.948 F10030. 
+N1400 G03 X-0.4594 Y-0.7109 I-0.0391 J-0.0196 F10028. 
+N1402 G01 X-0.4595 Y-0.7108 
+N1404 G03 X-0.4719 Y-0.6968 I-0.0382 J-0.0213 F10024. 
+N1406 X-0.488 Y-0.6886 I-0.0368 J-0.0527 F10044. 
+N1408 X-0.5212 Y-0.6846 I-0.0265 J-0.0807 F10028. 
+N1410 X-0.5708 Y-0.7023 I0.0072 J-0.0988 
+N1412 X-0.5864 Y-0.7163 I0.0482 J-0.0689 
+N1414 X-0.5934 Y-0.7266 I0.0557 J-0.0455 
+N1416 X-0.5947 Y-0.7293 I0.0189 J-0.0111 
+N1418 G01 X-0.5961 Y-0.7326 
+N1420 G03 X-0.597 Y-0.7355 I0.0202 J-0.0084 
+N1422 G01 X-0.5972 Y-0.7361 F10030. 
+N1424 G03 X-0.5979 Y-0.7417 I0.0212 J-0.0055 F10048. 
+N1426 X-0.595 Y-0.7525 I0.0219 J0.0001 F10018. 
+N1428 X-0.5898 Y-0.7615 I1.7173 J0.984 F10069. 
+N1430 X-0.5696 Y-0.7692 Z-0.097 I0.0148 J0.0086 
+N1432 G01 X-0.4688 Y-0.7359 F100100. 
+N1434 G03 X-0.4588 Y-0.7119 Z-0.1 I-0.0054 J0.0163 F10043. 
+N1436 G02 X-0.4611 Y-0.7074 I1.8811 J0.9434 F10024. 
+N1438 X-0.4631 Y-0.7035 I1.8834 J0.9389 F10030. 
+N1440 G03 X-0.4763 Y-0.6877 I-0.0392 J-0.0194 F10024. 
+N1442 X-0.4944 Y-0.6787 I-0.0349 J-0.0478 F10044. 
+N1444 X-0.5316 Y-0.6758 I-0.0254 J-0.0838 F10029. 
+N1446 X-0.5475 Y-0.6791 I0.0126 J-0.099 
+N1448 X-0.5843 Y-0.6993 I0.0273 J-0.0933 
+N1450 X-0.5982 Y-0.7162 I0.0438 J-0.0501 F10044. 
+N1452 G01 X-0.5999 Y-0.7196 F10017. 
+N1454 G03 X-0.6012 Y-0.7226 I0.0194 J-0.0101 
+N1456 G01 X-0.6021 Y-0.7251 
+N1458 G03 X-0.6027 Y-0.7373 I0.0207 J-0.0071 F10018. 
+N1460 X-0.6004 Y-0.743 I0.0213 J0.0051 F10023. 
+N1462 X-0.5952 Y-0.7521 I1.7227 J0.9745 F10072. 
+N1464 X-0.575 Y-0.7599 Z-0.097 I0.0149 J0.0085 
+N1466 G01 X-0.4734 Y-0.7268 F100100. 
+N1468 G03 X-0.4634 Y-0.7029 Z-0.1 I-0.0053 J0.0163 F10043. 
+N1470 G02 X-0.4656 Y-0.6983 I1.8857 J0.9344 
+N1472 X-0.4678 Y-0.6939 I1.8879 J0.9298 F10057. 
+N1474 G03 X-0.4682 Y-0.6931 I-0.0143 J-0.007 F10032. 
+N1476 G01 X-0.47 Y-0.6898 F10028. 
+N1478 G03 X-0.4715 Y-0.6876 I-0.0139 J-0.0077 F10011. 
+N1480 G01 X-0.4735 Y-0.6851 F10046. 
+N1482 G03 X-0.4749 Y-0.6836 I-0.0124 J-0.0099 F10011. 
+N1484 X-0.4873 Y-0.6743 I-0.0376 J-0.0372 F10023. 
+N1486 G01 X-0.4907 Y-0.6726 F10043. 
+N1488 G03 X-0.5048 Y-0.6677 I-0.0305 J-0.0658 F10029. 
+N1490 X-0.5074 Y-0.6673 I-0.0039 J-0.0154 F10030. 
+N1492 G01 X-0.5115 Y-0.667 F10032. 
+N1494 X-0.5223 
+N1496 X-0.533 F10030. 
+N1498 G03 X-0.5446 Y-0.6684 I0.0086 J-0.1195 
+N1500 X-0.5786 Y-0.6818 I0.0175 J-0.0942 
+N1502 X-0.5981 Y-0.699 I0.0448 J-0.0707 
+N1504 G01 X-0.5998 Y-0.7012 
+N1506 G03 X-0.6016 Y-0.7036 I0.0244 J-0.0189 
+N1508 G01 X-0.6029 Y-0.7057 
+N1510 G03 X-0.6063 Y-0.7132 I0.0261 J-0.0164 F10045. 
+N1512 X-0.6067 Y-0.7296 I0.0295 J-0.0089 F10021. 
+N1514 X-0.6037 Y-0.7372 I0.0299 J0.0074 F10025. 
+N1516 X-0.6006 Y-0.7426 I1.726 J0.9687 F10069. 
+N1518 X-0.5804 Y-0.7505 Z-0.097 I0.0149 J0.0084 
+N1520 G01 X-0.478 Y-0.7175 F100100. 
+N1522 G03 X-0.4679 Y-0.6936 Z-0.1 I-0.0053 J0.0163 F10043. 
+N1524 G02 X-0.4724 Y-0.6844 I1.8902 J0.9251 F10032. 
+N1526 G03 X-0.4729 Y-0.6835 I-0.0123 J-0.0059 F10021. 
+N1528 G01 X-0.4749 Y-0.68 F10019. 
+N1530 G03 X-0.4762 Y-0.6781 I-0.0119 J-0.0068 F10018. 
+N1532 G01 X-0.4785 Y-0.6753 
+N1534 G03 X-0.4797 Y-0.674 I-0.0106 J-0.0087 F10017. 
+N1536 X-0.4845 Y-0.6698 I-0.0563 J-0.0591 
+N1538 X-0.4933 Y-0.667 I-0.0086 J-0.0119 F10013. 
+N1540 G01 X-0.5115 F10072. 
+N1542 G03 X-0.5162 Y-0.6946 Z-0.097 I0. J-0.0142 
+N1544 G01 X-0.49 Y-0.7037 F100100. 
+N1546 G03 X-0.4725 Y-0.6842 Z-0.1 I0.0047 J0.0134 F10043. 
+N1548 G02 X-0.4737 Y-0.6817 I1.8948 J0.9157 F10015. 
+N1550 X-0.4761 Y-0.6767 I1.896 J0.9132 F10020. 
+N1552 X-0.4774 Y-0.6741 I1.8984 J0.9082 F10016. 
+N1554 G03 X-0.4789 Y-0.6716 I-0.0113 J-0.0054 F10015. 
+N1556 X-0.482 Y-0.6689 I-0.0097 J-0.0078 F10016. 
+N1558 X-0.486 Y-0.6672 I-0.0066 J-0.0106 F10021. 
+N1560 X-0.4886 Y-0.667 I-0.0026 J-0.0122 F10020. 
+N1562 G01 X-0.4914 
+N1564 X-0.4931 F10072. 
+N1566 G03 X-0.5009 Y-0.6695 Z-0.097 I0. J-0.0133 
+N1568 X-0.5031 Y-0.6722 I0.0039 J-0.0054 F100100. 
+N1570 G01 X-0.5032 Y-0.6725 
+N1572 X-0.5031 Y-0.6746 
+N1574 X-0.5013 Y-0.6814 
+N1576 X-0.5014 Y-0.6828 
+N1578 X-0.5026 Y-0.6833 
+N1580 X-0.5237 Y-0.6831 
+N1582 X-0.5248 Y-0.6826 
+N1584 X-0.525 Y-0.6812 
+N1586 X-0.5231 Y-0.6746 
+N1588 X-0.5229 Y-0.6725 
+N1590 X-0.523 Y-0.6722 
+N1592 G03 X-0.5252 Y-0.6695 I-0.0061 J-0.0027 
+N1594 X-0.533 Y-0.667 Z-0.1 I-0.0078 J-0.0108 F10043. 
+N1596 G01 X-0.5425 F10040. 
+N1598 X-0.5557 F10036. 
+N1600 G03 X-0.5714 Y-0.6698 I0.0021 J-0.0574 F10027. 
+N1602 X-0.5986 Y-0.6862 I0.0213 J-0.0663 
+N1604 X-0.608 Y-0.6982 I0.0342 J-0.0363 F10043. 
+N1606 X-0.611 Y-0.7057 I0.0281 J-0.0156 F10019. 
+N1608 X-0.611 Y-0.7219 I0.0311 J-0.0081 F10022. 
+N1610 X-0.608 Y-0.7294 I0.0311 J0.008 F10026. 
+N1612 X-0.6039 Y-0.7368 I1.7303 J0.9609 F10072. 
+N1614 X-0.5752 Y-0.7386 Z-0.097 I0.0149 J0.0084 
+N1616 G01 X-0.5425 Y-0.6943 F100100. 
+N1618 G03 X-0.5562 Y-0.667 Z-0.1 I-0.0138 J0.0102 F10043. 
+N1620 G01 X-0.5631 F10035. 
+N1622 X-0.5726 F10031. 
+N1624 G03 X-0.5873 Y-0.6701 I0.0015 J-0.0435 F10024. 
+N1626 X-0.601 Y-0.678 I0.0204 J-0.0513 
+N1628 X-0.6092 Y-0.6862 I0.0316 J-0.0398 
+N1630 X-0.6139 Y-0.6933 I0.036 J-0.0288 F10043. 
+N1632 X-0.6163 Y-0.6995 I0.0234 J-0.0127 F10018. 
+N1634 X-0.6163 Y-0.7127 I0.0258 J-0.0065 F10020. 
+N1636 X-0.6139 Y-0.7189 I0.0258 J0.0066 F10025. 
+N1638 X-0.6083 Y-0.7289 I1.7361 J0.9504 F10072. 
+N1640 X-0.5783 Y-0.7289 Z-0.097 I0.015 J0.0083 
+N1642 G01 X-0.5581 Y-0.6924 F100100. 
+N1644 G03 X-0.573 Y-0.667 Z-0.1 I-0.015 J0.0083 F10043. 
+N1646 G01 X-0.5788 F10030. 
+N1648 X-0.5863 F10026. 
+N1650 G03 X-0.5956 Y-0.6687 I0.0008 J-0.0304 F10021. 
+N1652 X-0.6086 Y-0.6762 I0.0156 J-0.0418 F10022. 
+N1654 X-0.6183 Y-0.6879 I0.0292 J-0.0342 
+N1656 X-0.6206 Y-0.6931 I0.0185 J-0.0113 F10044. 
+N1658 X-0.6209 Y-0.7043 I0.0208 J-0.0062 F10018. 
+N1660 X-0.6189 Y-0.7096 I0.0211 J0.005 F10022. 
+N1662 X-0.6141 Y-0.7184 I1.7412 J0.9411 F10069. 
+N1664 X-0.5836 Y-0.7176 Z-0.097 I0.015 J0.0082 
+N1666 G01 X-0.5712 Y-0.6915 F100100. 
+N1668 G03 X-0.5866 Y-0.667 Z-0.1 I-0.0155 J0.0074 F10043. 
+N1670 G01 X-0.5867 F10019. 
+N1672 X-0.5915 F10027. 
+N1674 X-0.5958 F10022. 
+N1676 G03 X-0.6111 Y-0.6717 I0.001 J-0.0304 F10019. 
+N1678 X-0.6198 Y-0.6793 I0.0187 J-0.0302 
+N1680 X-0.6231 Y-0.6841 I0.0267 J-0.0217 
+N1682 X-0.6252 Y-0.6897 I0.0152 J-0.0088 F10043. 
+N1684 X-0.6234 Y-0.7012 I0.0173 J-0.0033 F10014. 
+N1686 X-0.6191 Y-0.7092 I1.7457 J0.9327 F10069. 
+N1688 X-0.5905 Y-0.7085 Z-0.097 I0.0141 J0.0076 
+N1690 G01 X-0.5817 Y-0.6899 F100100. 
+N1692 G03 X-0.5961 Y-0.667 Z-0.1 I-0.0145 J0.0069 F10043. 
+N1694 G01 X-0.6015 F10025. 
+N1696 X-0.6058 F10019. 
+N1698 G03 X-0.6137 Y-0.6689 I0.0004 J-0.0191 F10018. 
+N1700 X-0.6263 Y-0.6798 I0.0108 J-0.0253 
+N1702 G01 X-0.6267 Y-0.6805 
+N1704 G03 X-0.6284 Y-0.6851 I0.0126 J-0.0072 F10043. 
+N1706 X-0.627 Y-0.6945 I0.0143 J-0.0026 F10012. 
+N1708 X-0.6235 Y-0.7009 I1.7493 J0.926 F10069. 
+N1710 X-0.6005 Y-0.6998 Z-0.097 I0.0112 J0.006 
+N1712 G01 X-0.5943 Y-0.6845 F100100. 
+N1714 G03 X-0.6061 Y-0.667 Z-0.1 I-0.0118 J0.0048 F10043. 
+N1716 G01 X-0.6111 F10021. 
+N1718 X-0.6127 F10015. 
+N1720 G03 X-0.6195 Y-0.6686 I0.0001 J-0.0157 
+N1722 X-0.629 Y-0.6766 I0.0089 J-0.0201 
+N1724 G01 X-0.6296 Y-0.6776 
+N1726 G03 X-0.631 Y-0.6812 I0.0099 J-0.0059 F10045. 
+N1728 X-0.6299 Y-0.6889 I0.0113 J-0.0023 F10010. 
+N1730 X-0.6271 Y-0.6943 I1.7522 J0.9204 F10069. 
+N1732 X-0.6086 Y-0.6934 Z-0.097 I0.0091 J0.0048 
+N1734 G01 X-0.6035 Y-0.6812 F100100. 
+N1736 G03 X-0.6129 Y-0.667 Z-0.1 I-0.0095 J0.0039 F10043. 
+N1738 G01 X-0.6163 F10018. 
+N1740 X-0.6193 F10014. 
+N1742 G03 X-0.6209 Y-0.6671 I0. J-0.0079 F10013. 
+N1744 X-0.6303 Y-0.6726 I0.004 J-0.0177 F10014. 
+N1746 X-0.6332 Y-0.6785 I0.007 J-0.0071 F10044. 
+N1748 X-0.633 Y-0.6818 I0.0125 J-0.001 F10015. 
+N1750 X-0.632 Y-0.685 I0.0123 J0.0023 F10014. 
+N1752 G01 X-0.6318 Y-0.6852 F10011. 
+N1754 G03 X-0.63 Y-0.6887 I1.7541 J0.9167 F10069. 
+N1756 X-0.6153 Y-0.6876 Z-0.097 I0.0071 J0.0037 
+N1758 G01 X-0.6119 Y-0.6777 F100100. 
+N1760 G03 X-0.6195 Y-0.667 Z-0.1 I-0.0076 J0.0026 F10043. 
+N1762 G01 X-0.6208 F10013. 
+N1764 G03 X-0.6257 Y-0.668 I0. J-0.0125 F10012. 
+N1766 X-0.6313 Y-0.6728 I0.0049 J-0.0115 F10013. 
+N1768 X-0.6321 Y-0.6741 I0.0106 J-0.0066 F10012. 
+N1770 X-0.6331 Y-0.6777 I0.0113 J-0.0053 
+N1772 X-0.6332 Y-0.6798 I0.0119 J-0.0016 
+N1774 X-0.6216 Y-0.6914 Z-0.097 I0.012 J0.0004 
+N1776 G00 Z0.05 
+N1778 M05 
+(N1780 G00 G28 G91 Z0) 
+(N1782 G00 G28 G91 X-15.0 Y0.) 
+N1784 G90 
+N1786 M06 T15 
+N1788 M30 
+%

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/ripple1.ngc

@@ -0,0 +1,10 @@
+G20 G90 
+G64 P0.0 Q0.0
+F1000
+G0 X0 Y0 Z0
+G1 X1
+Y1
+X0
+Y0
+M2
+

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/simple_blend.ngc

@@ -0,0 +1,9 @@
+G90 G20 G64
+F1000
+G0 X0 Y0
+Z0
+G1 X1
+G1 Y1
+G1 X2
+G1 Y2
+M2

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/spiral_aggressive.ngc

@@ -0,0 +1,15 @@
+G90 G20 G40
+
+G64 P0 Q0
+/G61.1
+
+G0 Z1
+G0 X0 Y0
+G1 Z0 F100
+G1 X-1
+G1 Y-1
+G1 X.1 Y0
+G2 X2 Y0 I-0.2 P5
+G0 Z1
+M2
+

tests/trajectory-planner/circular-arcs/nc_files/diagnostic/test-active-states.ngc

@@ -0,0 +1,20 @@
+G90 G20 G17 G54
+
+G0 Z1
+X0 Y0
+
+G1 Z1 F100
+
+G21
+G55
+G1 X50
+Y50
+
+G20
+
+X0
+Y0
+G0 Z1
+G56
+M30
+

tests/trajectory-planner/circular-arcs/nc_files/interp_state/sloc_testing.ngc

@@ -0,0 +1,38 @@
+(Test program for stepping)
+(Should stop at every line when doing single block, except comments)
+G17
+G90
+G20
+G40
+G80
+G0 Z.25
+G0 X0 Y0
+(Tool Change)
+M6 T3
+(Spindle control)
+M3 S1000
+S300
+M5
+M4 S1000
+M5
+F10
+G54
+M8
+G1 X1 F50
+Y1
+X2
+Y2
+M9
+M6 T2
+M3 S500
+G55
+G1 X0 F50
+G1 X1 Y0
+G1 X2
+M9
+G54
+(Retract height)
+G0 Z1
+M5
+M2
+

tests/trajectory-planner/circular-arcs/nc_files/interp_state/sloc_toolchange.ngc

@@ -0,0 +1,8 @@
+G20 G90
+M8
+M6 T0
+M6 T1
+M6 T2
+M9
+M2
+

tests/trajectory-planner/circular-arcs/nc_files/performance/arc_parabolic.ngc

@@ -0,0 +1,10 @@
+G20 G90 G64
+
+G0 X0 Y0 Z0
+F10000
+G1 X.1
+G2 X.12 Y.1 R.2
+G1 Y.2
+G2 X.1 Y.3 R.2
+G1 X0
+M2

tests/trajectory-planner/circular-arcs/nc_files/performance/bezel_ex_37tick.ngc

@@ -0,0 +1,163 @@
+( Code generated by bezel-11.py widget )
+( by Lawrence Glaister VE7IT - 2008 )
+( Engraving a 37 tick, 300.0 degree, 1.700 dia bezel )
+#1 = 0.1000  ( Safe Z )
+#2 = -0.0100  ( Engraving Depth Z )
+#3 = 1.0000  ( X Center )
+#4 = 2.0000  ( Y Center )
+G17 G20 G90 
+G64 P0.003 
+F10000
+G0 Z#1
+G0 X[0.3000+#3]  Y[-0.5196+#4]
+G1 Z#2
+G1 X[0.4250+#3]  Y[-0.7361+#4]
+G0 Z#1
+G0 X[0.3721+#3]  Y[-0.4706+#4]
+G1 Z#2
+G1 X[0.4652+#3]  Y[-0.5883+#4]
+G0 Z#1
+G0 X[0.4364+#3]  Y[-0.4117+#4]
+G1 Z#2
+G1 X[0.5455+#3]  Y[-0.5147+#4]
+G0 Z#1
+G0 X[0.4915+#3]  Y[-0.3441+#4]
+G1 Z#2
+G1 X[0.6144+#3]  Y[-0.4302+#4]
+G0 Z#1
+G0 X[0.5362+#3]  Y[-0.2693+#4]
+G1 Z#2
+G1 X[0.7596+#3]  Y[-0.3815+#4]
+G0 Z#1
+G0 X[0.5695+#3]  Y[-0.1887+#4]
+G1 Z#2
+G1 X[0.7119+#3]  Y[-0.2359+#4]
+G0 Z#1
+G0 X[0.5909+#3]  Y[-0.1042+#4]
+G1 Z#2
+G1 X[0.7386+#3]  Y[-0.1302+#4]
+G0 Z#1
+G0 X[0.5997+#3]  Y[-0.0175+#4]
+G1 Z#2
+G1 X[0.7497+#3]  Y[-0.0218+#4]
+G0 Z#1
+G0 X[0.5959+#3]  Y[0.0697+#4]
+G1 Z#2
+G1 X[0.8443+#3]  Y[0.0987+#4]
+G0 Z#1
+G0 X[0.5796+#3]  Y[0.1553+#4]
+G1 Z#2
+G1 X[0.7244+#3]  Y[0.1941+#4]
+G0 Z#1
+G0 X[0.5509+#3]  Y[0.2376+#4]
+G1 Z#2
+G1 X[0.6887+#3]  Y[0.2971+#4]
+G0 Z#1
+G0 X[0.5107+#3]  Y[0.3150+#4]
+G1 Z#2
+G1 X[0.6383+#3]  Y[0.3937+#4]
+G0 Z#1
+G0 X[0.4596+#3]  Y[0.3857+#4]
+G1 Z#2
+G1 X[0.6511+#3]  Y[0.5464+#4]
+G0 Z#1
+G0 X[0.3989+#3]  Y[0.4482+#4]
+G1 Z#2
+G1 X[0.4986+#3]  Y[0.5603+#4]
+G0 Z#1
+G0 X[0.3297+#3]  Y[0.5013+#4]
+G1 Z#2
+G1 X[0.4121+#3]  Y[0.6266+#4]
+G0 Z#1
+G0 X[0.2536+#3]  Y[0.5438+#4]
+G1 Z#2
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