add some MDI queueing tests

tests/mdi-queue/.gitignore

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+dump.rdb
+expected-gcode-output
+lots-of-gcode
+gcode-output
+sim.var
+sim.var.bak

tests/mdi-queue/core_sim.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt trivkins
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt count=6
+# load additional blocks
+loadrt hypot count=2
+loadrt comp count=3
+loadrt or2 count=1
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+addf ddt.2 servo-thread
+addf ddt.3 servo-thread
+addf ddt.4 servo-thread
+addf ddt.5 servo-thread
+addf hypot.0 servo-thread
+addf hypot.1 servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt.0.in
+net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt.2.in
+net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt.4.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt.0.out => ddt.1.in hypot.0.in0
+net Xacc <= ddt.1.out 
+net Yvel ddt.2.out => ddt.3.in hypot.0.in1
+net Yacc <= ddt.3.out 
+net Zvel ddt.4.out => ddt.5.in hypot.1.in0
+net Zacc <= ddt.5.out 
+
+# Cartesian 2- and 3-axis velocities
+net XYvel hypot.0.out => hypot.1.in1
+net XYZvel <= hypot.1.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+

tests/mdi-queue/linuxcncrsh-test.ini

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+[EMC]
+DEBUG = 0x7FFFFFFF
+#DEBUG = 0
+
+[DISPLAY]
+DISPLAY = linuxcncrsh --path=./
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+USER_M_PATH = ../subs
+SUBROUTINE_PATH = ../subs
+#LOG_LEVEL = 99999999
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+COMM_WAIT = 0.010
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = core_sim.hal
+
+[TRAJ]
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      1.2
+MAX_LINEAR_VELOCITY =   4
+
+[AXIS_0]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_1]
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_2]
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -4.0
+MAX_LIMIT =        4.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+

tests/mdi-queue/oword-queue-buster/checkresult

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+../shared-checkresult

tests/mdi-queue/oword-queue-buster/core_sim.hal

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+../core_sim.hal

tests/mdi-queue/oword-queue-buster/dummy.ngc

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+
+g53 g0 x0 y0 z0
+
+m2
+

tests/mdi-queue/oword-queue-buster/linuxcncrsh-test.ini

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+../linuxcncrsh-test.ini

tests/mdi-queue/oword-queue-buster/test.sh

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+#!/bin/bash
+
+rm -f gcode-output
+
+linuxcnc -v -d linuxcncrsh-test.ini &
+
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo trying to connect to linuxcncrsh TOGO=$TOGO
+    if nc -z localhost 5007; then
+        # there's apparently a bug somewhere, which makes it so linuxcncrsh
+        # is not ready to talk to clients when it creates its listening
+        # socket
+        sleep 2
+        break
+    fi
+    sleep 0.25
+    TOGO=$(($TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo connection to linuxcncrsh timed out
+    exit 1
+fi
+
+# switch back and forth between tool 1 and tool 2 every few MDI calls
+rm -f expected-gcode-output lots-of-gcode
+printf "P is %.6f\n" -100 >> expected-gcode-output
+NUM_MDIS=1
+NUM_MDIS_LEFT=$NUM_MDIS
+TOOL=1
+for i in $(seq 0 1000); do
+    NUM_MDIS_LEFT=$(($NUM_MDIS_LEFT - 1))
+    if [ $NUM_MDIS_LEFT -eq 0 ]; then
+        echo "set mdi o<queue-buster> call [$TOOL]" >> lots-of-gcode
+        printf "P is 12345.000000\n"  >> expected-gcode-output
+        printf "P is %.6f\n" $((-1 * $TOOL)) >> expected-gcode-output
+        printf "P is 54321.000000\n"  >> expected-gcode-output
+
+        if [ $TOOL -eq 1 ]; then
+            TOOL=2
+        else
+            TOOL=1
+        fi
+
+        NUM_MDIS=$(($NUM_MDIS + 1))
+        if [ $NUM_MDIS -gt 10 ]; then
+            NUM_MDIS=1
+        fi
+
+        NUM_MDIS_LEFT=$NUM_MDIS
+    fi
+    echo "set mdi m100 p$i" >> lots-of-gcode
+    printf "P is %.6f\n" $i  >> expected-gcode-output
+done
+printf "P is %.6f\n" -200 >> expected-gcode-output
+
+(
+    echo hello EMC mt 1.0
+    echo set enable EMCTOO
+
+    echo set mode manual
+    echo set estop off
+    echo set machine on
+
+    echo set home 0
+    echo set home 1
+    echo set home 2
+    sleep 2
+
+    echo set mode auto
+    echo set open dummy.ngc
+
+    echo set mode mdi
+    echo set mdi m100 p-100
+    echo set wait done
+
+    # here comes a big blob
+    dd bs=4096 if=lots-of-gcode
+
+    echo set mdi m100 p-200
+    echo set wait done
+
+    echo shutdown
+) | nc localhost 5007
+
+
+# wait for linuxcnc to finish
+wait
+
+exit 0
+

tests/mdi-queue/oword-queue-buster/tool.tbl

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+../tool.tbl

tests/mdi-queue/shared-checkresult

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+#!/bin/bash
+
+TEST_DIR=$(dirname $1)
+cd $TEST_DIR
+
+diff -u expected-gcode-output gcode-output

tests/mdi-queue/simple-queue-buster/checkresult

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+../shared-checkresult

tests/mdi-queue/simple-queue-buster/core_sim.hal

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+../core_sim.hal

tests/mdi-queue/simple-queue-buster/linuxcncrsh-test.ini

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+../linuxcncrsh-test.ini

tests/mdi-queue/simple-queue-buster/test.sh

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+#!/bin/bash
+
+rm -f gcode-output
+
+linuxcnc -v -d linuxcncrsh-test.ini &
+
+
+# let linuxcnc come up
+TOGO=80
+while [  $TOGO -gt 0 ]; do
+    echo trying to connect to linuxcncrsh TOGO=$TOGO
+    if nc -z localhost 5007; then
+        # there's apparently a bug somewhere, which makes it so linuxcncrsh
+        # is not ready to talk to clients when it creates its listening
+        # socket
+        sleep 2
+        break
+    fi
+    sleep 0.25
+    TOGO=$(($TOGO - 1))
+done
+if [  $TOGO -eq 0 ]; then
+    echo connection to linuxcncrsh timed out
+    exit 1
+fi
+
+# switch back and forth between tool 1 and tool 2 every few MDI calls
+rm -f expected-gcode-output lots-of-gcode
+printf "P is %.6f\n" -1 >> expected-gcode-output
+NUM_MDIS=1
+NUM_MDIS_LEFT=$NUM_MDIS
+TOOL=1
+for i in $(seq 0 1000); do
+    NUM_MDIS_LEFT=$(($NUM_MDIS_LEFT - 1))
+    if [ $NUM_MDIS_LEFT -eq 0 ]; then
+        echo "set mdi t$TOOL m6" >> lots-of-gcode
+        if [ $TOOL -eq 1 ]; then
+            TOOL=2
+        else
+            TOOL=1
+        fi
+
+        NUM_MDIS=$(($NUM_MDIS + 1))
+        if [ $NUM_MDIS -gt 10 ]; then
+            NUM_MDIS=1
+        fi
+
+        NUM_MDIS_LEFT=$NUM_MDIS
+    fi
+    echo "set mdi m100 p$i" >> lots-of-gcode
+    printf "P is %.6f\n" $i  >> expected-gcode-output
+done
+printf "P is %.6f\n" -2 >> expected-gcode-output
+
+(
+    echo hello EMC mt 1.0
+    echo set enable EMCTOO
+
+    # ask linuxcncrsh to not read the next command until it's done running
+    # the current one
+    #echo set set_wait done
+
+    echo set mode manual
+    echo set estop off
+    echo set machine on
+
+    echo set home 0
+    echo set home 1
+    echo set home 2
+    sleep 2
+
+    echo set mode mdi
+    echo set mdi m100 p-1
+    echo set wait done
+
+    # here comes a big blob
+    dd bs=4096 if=lots-of-gcode
+
+    echo set mdi m100 p-2
+    echo set wait done
+
+    echo shutdown
+) | nc localhost 5007
+
+
+# wait for linuxcnc to finish
+wait
+
+exit 0
+

tests/mdi-queue/simple-queue-buster/tool.tbl

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+../tool.tbl

tests/mdi-queue/subs/M100

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+#!/bin/bash
+#
+# This script (M100) is called to append an integer to a log file,
+# for testing purposes
+#
+# Put this in your .ini to use:
+#
+#     [RS274NGC]USER_M_PATH = ./subs
+#
+
+TEST_DIR=$(dirname INI_FILE_NAME)
+OUT_FILE=$TEST_DIR/gcode-output
+
+P=$1
+
+echo P is $P >> $OUT_FILE
+

tests/mdi-queue/subs/queue-buster.ngc

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+
+o<queue-buster> sub
+    m100 p12345
+
+    t#1
+    m6
+
+    m100 p-#5400  ; current tool
+    m100 p54321
+o<queue-buster> endsub
+

tests/mdi-queue/tool.tbl

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+T1 P1 D0.125000 Z+1.000000 ;
+T2 P2 ;