Faster test runs: a 2 s wait at every shutdown, and two tests that waited out a timeout

scripts/linuxcnc.in

@@ -694,8 +694,9 @@ function Cleanup() {
     # Unused variable 'i', just a counter
     # shellcheck disable=SC2034
     for i in $(seq 10); do
-        # (the one component is the halcmd itself)
-        if [ "$($HALCMD list comp | wc -w)" = 1 ]; then break; fi
+        # (the one component is the halcmd itself; a thread is listed as
+        # a __<name> pseudo component, which stays until realtime stops)
+        if [ "$($HALCMD list comp | tr -s ' ' '\n' | grep -c -v -e '^__' -e '^$')" = 1 ]; then break; fi
         sleep .2
     done
 

src/emc/task/emctaskmain.cc

@@ -3389,6 +3389,10 @@ static int emctask_shutdown(void)
 	delete emcStatus;
 	emcStatus = NULL;
     }
+
+    // releases iocontrol.0
+    delete task_methods;
+    task_methods = NULL;
     return 0;
 }
 

src/emc/task/taskclass.cc

@@ -227,7 +227,10 @@ Task::Task(EMC_IO_STAT & emcioStatus_in) :
     }    
 };
 
-Task::~Task() {};
+Task::~Task() {
+    if(comp_id >= 0)
+        hal_exit(comp_id);
+}
 
 // set the have_tool_change_position global
 static int readToolChange(const IniFile &toolInifile)

tests/abort/g64/README

@@ -5,6 +5,12 @@ This test runs and aborts a test .ngc program several times with
 various motion mode and blend/naive CAM tolerance settings.  Checks
 are performed at various times relative to program execution:
 
+Each setting is a test of its own in the directory named after it
+(g61, g61.1, g64p0.5, g64, g64q6), so they run in parallel: it runs the
+program twice, once after the mode command and once without it, which
+must keep the mode across the first abort.  Their test.ini includes the
+shared settings in g64.inc; test-ui.py picks the case by the directory.
+
 1) Motion mode:  Does stat buffer agree with programmed mode?
 
 2) G64 tolerance settings:  Does stat buffer agree with programmed P/Q

tests/abort/g64/g61.1/test.ini

@@ -0,0 +1 @@
+#INCLUDE ../g64.inc

tests/abort/g64/g61/checkresult

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

tests/abort/g64/g61/test.ini

@@ -0,0 +1 @@
+#INCLUDE ../g64.inc

tests/abort/g64/g61/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+rm -f motion-samples.log
+
+linuxcnc -r test.ini

tests/abort/g64/test.ini → tests/abort/g64/g64.inc

@@ -1,3 +1,5 @@
+# Shared by the five cases, each in its own directory with a test.ini
+# that includes this file; relative paths are from that directory.
 [EMC]
 # The version string for this INI file.
 VERSION = 1.1
@@ -6,7 +8,7 @@ DEBUG = 0x0
 #DEBUG = 2147483647
 
 [DISPLAY]
-DISPLAY = ./test-ui.py
+DISPLAY = ../test-ui.py
 
 [FILTER]
 #No Content
@@ -30,7 +32,7 @@ CYCLE_TIME = 0.001
 [HAL]
 HALUI = halui
 HALFILE = LIB:core_sim.hal
-HALFILE = motion-test.hal
+HALFILE = ../motion-test.hal
 
 [HALUI]
 #No Content

tests/abort/g64/g64/checkresult

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

tests/abort/g64/g64/test.ini

@@ -0,0 +1 @@
+#INCLUDE ../g64.inc

tests/abort/g64/g64/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+rm -f motion-samples.log
+
+linuxcnc -r test.ini

tests/abort/g64/g64p0.5/checkresult

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

tests/abort/g64/g64p0.5/test.ini

@@ -0,0 +1 @@
+#INCLUDE ../g64.inc

tests/abort/g64/g64p0.5/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+rm -f motion-samples.log
+
+linuxcnc -r test.ini

tests/abort/g64/g64q6/checkresult

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

tests/abort/g64/g64q6/test.ini

@@ -0,0 +1 @@
+#INCLUDE ../g64.inc

tests/abort/g64/g64q6/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash -e
+rm -f motion-samples.log
+
+linuxcnc -r test.ini

tests/abort/g64/test-ui.py

@@ -38,6 +38,21 @@ def process_samples(z_lev, expected_max_x):
         res += 1
     return res
 
+def wait_for_samples(z_lev, y):
+    # halsampler writes behind the motion; wait until the log reaches the
+    # point the zig-zags were aborted at
+    end = time.time() + 10
+    while time.time() < end:
+        with open('motion-samples.log','r') as f:
+            for line in f:
+                try:
+                    y_s, z_s = [float(n) for n in line.split(' ')[2:4]]
+                except ValueError:
+                    break
+                if z_s == z_lev and y_s >= y:
+                    return
+        time.sleep(0.1)
+
 def check_status(msg, expected_mode, expected_p, expected_q):
     res = 0
     # Read status and print control mode and tolerances
@@ -77,37 +92,41 @@ def run_and_abort(msg, z_lev, expected_max_x,
 
     # Run init commands
     c.mode(linuxcnc.MODE_MDI)
+    c.wait_complete(30)
     c.mdi('F1200 G0X0Y0Z%.1f' % z_lev)
-    c.wait_complete()
+    c.wait_complete(30)
     for cmd in init_cmds:
         print("Running command '%s'" % cmd)
         c.mdi(cmd)
-        c.wait_complete()
+        c.wait_complete(30)
     res += check_status(
         '%s post-command' % msg, expected_mode, expected_p, expected_q)
 
     # Run program
     print("Running program 'test.ngc'")
     c.mode(linuxcnc.MODE_AUTO)
-    c.program_open("test.ngc")
+    c.wait_complete(30)
+    c.program_open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "test.ngc"))
+    c.wait_complete(30)
     c.auto(linuxcnc.AUTO_RUN, 1)
 
-    # Wait for things to get underway, then abort
-    c.wait_complete()
-    # Let zig-zags run to a certain point
-    while s.position[1] < 1.0:
-        time.sleep(0.1)
+    # Let zig-zags run to a certain point, then abort
+    end = time.time() + 60
+    s.poll()
+    while s.position[1] < 1.0 and time.time() < end:
+        time.sleep(0.05)
         s.poll()
     res += check_status(
         '%s pre-abort' % msg, expected_mode, expected_p, expected_q)
     c.abort()
-    c.wait_complete()
+    c.wait_complete(30)
 
     # Check settings
     res += check_status(
         '%s post-abort' % msg, expected_mode, expected_p, expected_q)
 
     # Print max
+    wait_for_samples(z_lev, 1.0)
     res += process_samples(z_lev, expected_max_x)
     print()
 
@@ -121,9 +140,11 @@ def run_and_abort(msg, z_lev, expected_max_x,
 e = linuxcnc.error_channel()
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
+c.wait_complete(30)
 c.state(linuxcnc.STATE_ON)
+c.wait_complete(30)
 c.home(-1)
-c.wait_complete()
+c.wait_complete(30)
 
 #
 # TESTS
@@ -132,22 +153,25 @@ def run_and_abort(msg, z_lev, expected_max_x,
 # 1) whether stat buffer shows correct motion mode;
 # 2) whether tolerance settings produce expected motion;
 # 3) for G64, whether tolerance settings are correct in stat buffer
+#
+# One case per directory, named after it: a mode command, then a redo
+# without it, which must keep the mode across the first abort
+cases = {
+    # exact path mode:  X up to 5"
+    'g61':     ('G61',     0.0, 5.0, 610, None, None, 'G61'),
+    # exact stop mode:  X up to 5"
+    'g61.1':   ('G61.1',   1.0, 5.0, 611, None, None, 'G61.1'),
+    # path blending, 0.5" blend tolerance:  X up to 4.5"
+    'g64p0.5': ('G64P0.5', 2.0, 4.5, 640,  0.5,  0.0, 'G64P0.5Q0'),
+    # path blending, best possible speed:  X up to 3.725"
+    'g64':     ('G64',     3.0, 3.7, 640,  0.0,  0.0, 'G64'),
+    # path blending, 6" naive cam tolerance:  X always 0" (zig-zags collapse)
+    'g64q6':   ('G64P0Q6', 4.0, 0.0, 640,  0.0,  6.0, 'G64Q6'),
+}
+msg, z_lev, max_x, mode, p, q, cmd = cases[os.path.basename(os.getcwd())]
 res = 0
-# Z=0:  exact path mode:  X up to 5"
-res += run_and_abort('G61',          0.0, 5.0, 610, None, None, 'G61')
-res += run_and_abort('G61 redo',     0.5, 5.0, 610, None, None)
-# Z=1:  exact stop mode:  X up to 5"
-res += run_and_abort('G61.1',        1.0, 5.0, 611, None, None, 'G61.1')
-res += run_and_abort('G61.1 redo',   1.5, 5.0, 611, None, None)
-# Z=2:  path blending, 0.5" blend tolerance:  X up to 4.5"
-res += run_and_abort('G64P0.5',      2.0, 4.5, 640,  0.5,  0.0, 'G64P0.5Q0')
-res += run_and_abort('G64P0.5 redo', 2.5, 4.5, 640,  0.5,  0.0)
-# Z=3:  path blending, best possible speed:  X up to 3.725"
-res += run_and_abort('G64',          3.0, 3.7, 640,  0.0,  0.0, 'G64')
-res += run_and_abort('G64 redo',     3.5, 3.7, 640,  0.0,  0.0)
-# Z=4:  path blending, 6" naive cam tolerance:  X always 0" (zig-zags collapse)
-res += run_and_abort('G64P0Q6',      4.0, 0.0, 640,  0.0,  6.0, 'G64Q6')
-res += run_and_abort('G64P0Q6 redo', 4.5, 0.0, 640,  0.0,  6.0)
+res += run_and_abort(msg,           z_lev,       max_x, mode, p, q, cmd)
+res += run_and_abort(msg + ' redo', z_lev + 0.5, max_x, mode, p, q)
 
 #
 # CLEANUP

tests/workplane-retain/test-ui.py

@@ -36,24 +36,39 @@ def errors():
 
 def mdi(*cmds):
     c.mode(linuxcnc.MODE_MDI)
-    c.wait_complete()
+    c.wait_complete(30)
     for cmd in cmds:
         c.mdi(cmd)
-        c.wait_complete()
+        c.wait_complete(30)
         l.wait_for_interp_state(linuxcnc.INTERP_IDLE, timeout=30)
 
-def run(prog, abort_after=None):
+def wait_for(done, timeout=30):
+    end = time.time() + timeout
+    while True:
+        s.poll()
+        if done():
+            return True
+        if time.time() > end:
+            return False
+        time.sleep(0.05)
+
+def run(prog, abort=False):
     c.mode(linuxcnc.MODE_AUTO)
-    c.wait_complete()
+    c.wait_complete(30)
     c.program_open(prog)
-    c.wait_complete()
+    c.wait_complete(30)
     c.auto(linuxcnc.AUTO_RUN, 0)
-    c.wait_complete()
-    if abort_after is not None:
-        time.sleep(abort_after)
+    if abort:
+        # abort in the slow F10 move, once the read ahead has stopped at
+        # the queue buster or M2
+        lines = open(prog).readlines()
+        slow = 1 + next(n for n, t in enumerate(lines) if "F10" in t)
+        stop = 1 + next(n for n, t in enumerate(lines) if t.startswith(("M66", "M2")))
+        if not wait_for(lambda: s.motion_line == slow and s.read_line >= stop):
+            say("%s: never in the slow move with the read ahead at line %d" % (prog, stop))
         c.abort()
-        c.wait_complete()
-    time.sleep(0.3)
+    # the end of the program, or of the abort
+    c.wait_complete(30)
     l.wait_for_interp_state(linuxcnc.INTERP_IDLE, timeout=30)
 
 def at(x, y, z):
@@ -63,11 +78,11 @@ def at(x, y, z):
     return "at %g %g %g" % (x, y, z) if d < 1e-6 else \
         "at %.4f %.4f %.4f" % tuple(s.position[i] * 25.4 for i in range(3))
 
-def case(name, prog, setup, abort_after, origin):
+def case(name, prog, setup, abort, origin):
     mdi("G69", "G21", "G54", "G52 X0 Y0 Z0", "G10 L2 P2 X5 Y0 Z0", "G0 X0 Y0 Z0", *setup)
     errors()
     if prog:
-        run(prog, abort_after)
+        run(prog, abort)
     s.poll()
     active = s.g68_active
     s.poll()
@@ -81,11 +96,11 @@ def case(name, prog, setup, abort_after, origin):
 o, z = (10, 20, 5), (0, 0, 0)
 retain = inifile.find("RS274NGC", "RETAIN_WORK_PLANE") == "1"
 # no program: a change of coordinate system in the plane takes it along
-case("G55 in the plane", None, ["G68.2 X10 Y20 Z5 I10 J20 K30", "G55"], None, (15, 20, 5))
-case("M2", "end.ngc", ["G68.2 X10 Y20 Z5 I10 J20 K30"], None, o if retain else z)
-case("abort, read ahead in the next plane", "readahead.ngc", [], 1.0, o if retain else z)
-case("abort, read ahead past G55", "g55.ngc", [], 1.0, o if retain else z)
-case("abort, read ahead in a plane on G55", "g55plane.ngc", [], 1.0, z)
-case("abort, G52 in the plane", "slow.ngc", ["G68.2 X10 Y20 Z5 I10 J20 K30", "G52 X1"], 1.0, o if retain else z)
+case("G55 in the plane", None, ["G68.2 X10 Y20 Z5 I10 J20 K30", "G55"], False, (15, 20, 5))
+case("M2", "end.ngc", ["G68.2 X10 Y20 Z5 I10 J20 K30"], False, o if retain else z)
+case("abort, read ahead in the next plane", "readahead.ngc", [], True, o if retain else z)
+case("abort, read ahead past G55", "g55.ngc", [], True, o if retain else z)
+case("abort, read ahead in a plane on G55", "g55plane.ngc", [], True, z)
+case("abort, G52 in the plane", "slow.ngc", ["G68.2 X10 Y20 Z5 I10 J20 K30", "G52 X1"], True, o if retain else z)
 mdi("G69")
 c.state(linuxcnc.STATE_OFF)