tests, task: fix load-dependent test failures

configs/sim/gmoccapy/simulated_home.hal

@@ -1,4 +1,3 @@
-loadrt or2 names=or2_0
 loadrt comp names=comp_x,comp_y,comp_z
 
 net Xhomeswpos => comp_x.in0
@@ -17,16 +16,10 @@ setp comp_x.hyst .02
 setp comp_y.hyst .02
 setp comp_z.hyst .02
 
-net Xhomesw <= comp_x.out
+net Xhomesw <= comp_x.out => joint.0.home-sw-in
 net Yhomesw <= comp_y.out => joint.1.home-sw-in
-net Zhomesw <= comp_z.out
-
-net Xhomesw => or2_0.in0
-net Zhomesw => or2_0.in1
-net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
+net Zhomesw <= comp_z.out => joint.2.home-sw-in
 
 addf comp_x servo-thread
 addf comp_y servo-thread
 addf comp_z servo-thread
-
-addf or2_0 servo-thread

configs/sim/touchy/touchy.ini

@@ -50,7 +50,7 @@ SERVO_PERIOD =               1000000
 
 HALFILE =                    core_sim.hal
 # add a test panel so people can actually test the screen
-HALCMD = loadusr gladevcp --always_above -c touchy_test touchy_test_panel.glade
+HALCMD = loadusr -Wn touchy_test gladevcp --always_above -c touchy_test touchy_test_panel.glade
 POSTGUI_HALFILE = touchy_postgui.hal
 
 [TRAJ]

lib/python/linuxcnc_util.py

@@ -102,6 +102,34 @@ def wait_for_home(self, joints, timeout=10.0):
         raise LinuxCNC_Exception("timeout waiting for homing to complete:\nstatus.homed:" + str(self.status.homed) + "\nstatus.position:" + str(self.status.position))
 
 
+    def home_joints(self, joints, timeout=10.0):
+        """Arguments:
+
+            'joints' is a list of unhomed joint numbers.
+
+            'timeout' is a float, the number of seconds to wait for
+            each joint to home before giving up.
+
+        Homes the joints one after the other: motion refuses to home a
+        joint while another one is homing.  A joint counts as done once
+        it is homed and no joint is homing any more; motion keeps the
+        homing flag set until it accepts the next home command.
+
+        Returns once all the joints are homed, raises
+        LinuxCNC_Exception if one did not home before the timeout."""
+
+        for joint in joints:
+            self.command.home(joint)
+            start_time = time.time()
+            while True:
+                self.status.poll()
+                if self.status.homed[joint] and not any(j["homing"] for j in self.status.joint):
+                    break
+                if (time.time() - start_time) > timeout:
+                    raise LinuxCNC_Exception("timeout waiting for joint %d to home:\nstatus.homed:" % joint + str(self.status.homed) + "\nstatus.position:" + str(self.status.position))
+                time.sleep(0.01)
+
+
     def wait_for_axis_to_stop(self, axis_letter, timeout=10.0):
         """Arguments:
             'axis_letter' is a single character from the set [xyzabcuvw]

src/emc/task/taskintf.cc

@@ -1704,7 +1704,9 @@ int emcTrajUpdate(EMC_TRAJ_STAT * stat)
 
     if (emcmotStatus.motionFlag & EMCMOT_MOTION_ERROR_BIT) {
 	stat->status = RCS_STATUS::ERROR;
-    } else if (stat->inpos && (stat->queue == 0)) {
+    } else if (stat->inpos && (stat->queue == 0) && !emcmotStatus.probing) {
+	// a probe move that ends without contact is reported a servo
+	// cycle after the planner goes idle, so wait for the verdict
 	stat->status = RCS_STATUS::DONE;
     } else {
 	stat->status = RCS_STATUS::EXEC;

tests/abort/on_abort_command-crazy-move/test-ui.py

@@ -38,10 +38,7 @@
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+l.home_joints([0, 1, 2])
 
 #
 # Print status function

tests/abort/stop-button-crazy-move/test-ui.py

@@ -10,7 +10,7 @@
 
 # Time increment and timeout, seconds
 TIME_INCR = 0.1
-TIMEOUT = 10.0
+TIMEOUT = 60.0
 
 #
 # connect to LinuxCNC
@@ -37,10 +37,7 @@
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+l.home_joints([0, 1, 2])
 
 #
 # Print status function

tests/hal-show/checkresult

@@ -0,0 +1,12 @@
+#!/bin/bash
+set -e
+
+TESTDIR=$(dirname "$1")
+cd "${TESTDIR}"
+
+# The owner column is the component ID, which depends on the order in which
+# halcmd and rtapi_app take IDs during each loadrt. That order changes with
+# CPU load, so mask it.
+sed --in-place --regexp-extended --expression='s/^ *[0-9]+( +[a-z0-9]+ +(IN|OUT|I\/O) .*)$/(ignored comp id)\1/' result
+
+diff -u expected result

tests/hal-show/expected

@@ -1,11 +1,11 @@
 Component Pins:
 Owner   Type  Dir                 Value  Name
-    10  bool  IN                  FALSE  conv-bool-uint.0.in <== net-conv-bool-uint.0.in
-    16  real  IN                      0  conv-real-sint.0.in <== net-conv-real-sint.0.in
-    19  sint  IN                      0  conv-sint-real.0.in <== net-conv-sint-real.0.in
-    22  sint  IN                      0  conv-sint-uint.0.in <== net-conv-sint-uint.0.in
-    13  uint  IN     0x0000000000000000  conv-uint-bool.0.in <== net-conv-uint-bool.0.in
-    25  uint  IN     0x0000000000000000  conv-uint-sint.0.in <== net-conv-uint-sint.0.in
+(ignored comp id)  bool  IN                  FALSE  conv-bool-uint.0.in <== net-conv-bool-uint.0.in
+(ignored comp id)  real  IN                      0  conv-real-sint.0.in <== net-conv-real-sint.0.in
+(ignored comp id)  sint  IN                      0  conv-sint-real.0.in <== net-conv-sint-real.0.in
+(ignored comp id)  sint  IN                      0  conv-sint-uint.0.in <== net-conv-sint-uint.0.in
+(ignored comp id)  uint  IN     0x0000000000000000  conv-uint-bool.0.in <== net-conv-uint-bool.0.in
+(ignored comp id)  uint  IN     0x0000000000000000  conv-uint-sint.0.in <== net-conv-uint-sint.0.in
 
 Signals:
 Type                  Value  Name     (linked to)
@@ -36,12 +36,12 @@ sint                      0  net-conv-uint-sint.0.out
 
 Component Pins:
 Owner   Type  Dir                 Value  Name
-    10  bool  IN                   TRUE  conv-bool-uint.0.in <== net-conv-bool-uint.0.in
-    16  real  IN           2.147484e+09  conv-real-sint.0.in <== net-conv-real-sint.0.in
-    19  sint  IN            -2147483648  conv-sint-real.0.in <== net-conv-sint-real.0.in
-    22  sint  IN   -9223372036854775808  conv-sint-uint.0.in <== net-conv-sint-uint.0.in
-    13  uint  IN     0x00000000FFFFFFFF  conv-uint-bool.0.in <== net-conv-uint-bool.0.in
-    25  uint  IN     0xFFFFFFFFFFFFFFFF  conv-uint-sint.0.in <== net-conv-uint-sint.0.in
+(ignored comp id)  bool  IN                   TRUE  conv-bool-uint.0.in <== net-conv-bool-uint.0.in
+(ignored comp id)  real  IN           2.147484e+09  conv-real-sint.0.in <== net-conv-real-sint.0.in
+(ignored comp id)  sint  IN            -2147483648  conv-sint-real.0.in <== net-conv-sint-real.0.in
+(ignored comp id)  sint  IN   -9223372036854775808  conv-sint-uint.0.in <== net-conv-sint-uint.0.in
+(ignored comp id)  uint  IN     0x00000000FFFFFFFF  conv-uint-bool.0.in <== net-conv-uint-bool.0.in
+(ignored comp id)  uint  IN     0xFFFFFFFFFFFFFFFF  conv-uint-sint.0.in <== net-conv-uint-sint.0.in
 
 Signals:
 Type                  Value  Name     (linked to)

tests/halmodule/stream/stream_reader.py

@@ -10,8 +10,9 @@
     assert reader.sampleno == i+1
 assert reader.read() is None
 assert reader.num_underruns == 1
+# report before ready(): halrun ends the run once it sees ready
+print("pass", flush=True)
 c.ready()
-print("pass")
 
 try:
     while 1: time.sleep(1)

tests/interp/g28.2/immediate-mode-guard/test-ui.py

@@ -30,6 +30,7 @@
 """
 
 import linuxcnc
+import linuxcnc_util
 import hal
 
 import sys
@@ -74,11 +75,7 @@ def drain_errors():
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
 c.mode(linuxcnc.MODE_MANUAL)
-c.home(0)
-c.home(1)
-c.home(2)
-if not wait_homed([1, 1, 1]):
-    fail("initial home-all did not home all joints: {}".format(list(s.homed[:3])))
+linuxcnc_util.LinuxCNC(command=c, status=s, error=e).home_joints([0, 1, 2])
 
 # Get into a coordinated (teleop) mode -- what a stray FREE dip would destroy.
 c.teleop_enable(1)

tests/interp/g28.2/invalid-pword/test-ui.py

@@ -31,6 +31,7 @@
 """
 
 import linuxcnc
+import linuxcnc_util
 import hal
 
 import os
@@ -68,16 +69,6 @@ def wait_idle(timeout=10.0):
     return False
 
 
-def wait_homed(expected, timeout=10.0):
-    t0 = time.time()
-    while time.time() - t0 < timeout:
-        poll()
-        if list(s.homed[:3]) == expected:
-            return True
-        time.sleep(0.01)
-    return False
-
-
 def drain_errors():
     msgs = []
     while True:
@@ -95,11 +86,7 @@ def mode_name(m):
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-if not wait_homed([1, 1, 1]):
-    fail("initial home-all did not home all joints: {}".format(list(s.homed[:3])))
+linuxcnc_util.LinuxCNC(command=c, status=s, error=e).home_joints([0, 1, 2])
 
 # Establish a coordinated mode worth preserving.
 c.mode(linuxcnc.MODE_MDI)

tests/interp/g28.2/position-model/test-ui.py

@@ -20,6 +20,7 @@
 """
 
 import linuxcnc
+import linuxcnc_util
 import hal
 
 import sys
@@ -46,16 +47,6 @@ def wait_idle(timeout=10.0):
     return False
 
 
-def wait_homed(expected, timeout=10.0):
-    t0 = time.time()
-    while time.time() - t0 < timeout:
-        poll()
-        if list(s.homed[:len(expected)]) == expected:
-            return True
-        time.sleep(0.01)
-    return False
-
-
 def fail(msg):
     print("FAIL: " + msg)
     sys.exit(1)
@@ -76,10 +67,7 @@ def mdi(cmd):
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-for j in range(4):
-    c.home(j)
-if not wait_homed([1, 1, 1, 1]):
-    fail("initial home-all did not home all joints: {}".format(list(s.homed[:4])))
+linuxcnc_util.LinuxCNC(command=c, status=s).home_joints([0, 1, 2, 3])
 
 c.mode(linuxcnc.MODE_MDI)
 time.sleep(0.2)

tests/interp/g28.2/sequencing/test-ui.py

@@ -13,6 +13,7 @@
 """
 
 import linuxcnc
+import linuxcnc_util
 import hal
 
 import sys
@@ -53,16 +54,6 @@ def wait_x(expected, timeout=5.0):
     return False
 
 
-def wait_homed(expected, timeout=5.0):
-    t0 = time.time()
-    while time.time() - t0 < timeout:
-        poll()
-        if list(s.homed[:3]) == expected:
-            return True
-        time.sleep(0.01)
-    return False
-
-
 def fail(msg):
     print("FAIL: " + msg)
     sys.exit(1)
@@ -74,11 +65,7 @@ def near(a, b, tol=0.001):
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-if not wait_homed([1, 1, 1]):
-    fail("initial home-all did not home all joints: {}".format(list(s.homed[:3])))
+linuxcnc_util.LinuxCNC(command=c, status=s).home_joints([0, 1, 2])
 
 c.mode(linuxcnc.MODE_MDI)
 time.sleep(0.2)

tests/interp/m98m99/12-M99-endless-main-program/expected.motion-logger

@@ -176,6 +176,7 @@ SPINDLE_OFF
 DISABLE
 JOINT_UNHOME joint=-2
 FREE
+SET_TERM_COND termCond=2, tolerance=0.001
 JOG_ABORT joint=0
 JOG_ABORT joint=1
 JOG_ABORT joint=2

tests/interp/m98m99/12-M99-endless-main-program/test-ui.py

@@ -16,6 +16,22 @@
 e = linuxcnc.error_channel()
 
 
+#
+# Task queues the canon commands of interpreter init before it reads its
+# first command. Let it issue them, or an early ESTOP_RESET wipes them
+# and the log depends on how fast this script starts.
+#
+
+deadline = time.monotonic() + 60
+while True:
+    s.poll()
+    if s.state == linuxcnc.RCS_DONE: break
+    if time.monotonic() > deadline:
+        print("task did not finish startup")
+        sys.exit(1)
+    time.sleep(0.01)
+
+
 #
 # Come out of E-stop, turn the machine on, home, and switch to Auto mode.
 #

tests/interp/mdi-oword-m66/test-ui.py

@@ -34,11 +34,7 @@
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-
-l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+l.home_joints([0, 1, 2])
 
 c.mode(linuxcnc.MODE_MDI)
 

tests/interp/subroutine-return/test-ui.py

@@ -34,10 +34,7 @@
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.home(0)
-c.home(1)
-c.home(2)
-l.wait_for_home([1, 1, 1, 0, 0, 0, 0, 0, 0])
+l.home_joints([0, 1, 2])
 
 c.mode(linuxcnc.MODE_AUTO)
 

tests/maxkins/test-ui.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 import linuxcnc
+import linuxcnc_util
 import hal
 
 import time
@@ -49,9 +50,7 @@ def wait_for_linuxcnc_startup(status, timeout=10.0):
 # HOME_ABSOLUTE_ENCODER = 1 is used in the ini file.
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-for joint in range(9):
-    c.home(joint)
-c.wait_complete()
+linuxcnc_util.LinuxCNC(command=c, status=s, error=e).home_joints(range(9))
 
 LETTERS = 'XYZABCUVW'
 

tests/motion-logger/basic/expected.builtin-startup.in

@@ -176,6 +176,7 @@ SPINDLE_OFF
 DISABLE
 JOINT_UNHOME joint=-2
 FREE
+SET_TERM_COND termCond=2, tolerance=0.001
 JOG_ABORT joint=0
 JOG_ABORT joint=1
 JOG_ABORT joint=2