tests: add ui-smoke quit-path coverage (SIGTERM)

Adds a quit-path smoke test per GUI that boots the GUI, waits for the
NML task to come up, sends SIGTERM to the GUI process alone, and asserts
the GUI exits on its own within a short grace. This guards the
clean-shutdown handlers: a GUI that absorbs SIGTERM and has to be
SIGKILLed fails the test.

The new _lib/quit-launch.sh shares the headless environment (software
GL + audio silencing) with launch.sh by sourcing a new
_lib/launch-env.sh rather than copying it, so the two launchers cannot
drift apart. Results go through _lib/checkresult-quit.sh (pass on
UI_SMOKE_QUIT_OK). The GUI process is identified by matching a python
argv[0], so the linuxcnc launcher and xvfb-run wrappers that also carry
the GUI name on their command line are not mistaken for it. Per-GUI
dirs: touchy-quit, gmoccapy-quit, qtdragon-quit.

The qtdragon quit test needs the same CI workarounds the qtdragon smoke
test already carries (writable config mirror with a patched LOG_FILE,
the offscreen Qt platform, and the QtWebEngine import shim). Those move
out of qtdragon/test.sh into _lib/qtdragon-prepare.sh, sourced by both
qtdragon test.sh files, so the quit test reuses them instead of leaving
qtvcp to crash on startup.

Requires the SIGTERM handlers in #4076 (gmoccapy), #4077 (touchy) and
#4078 (qtvcp); without them the GUIs ignore SIGTERM and these tests
fail by design.

(cherry picked from commit aff5991)

Author: grandixximo

tests/ui-smoke/_lib/checkresult-quit.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+# Shared result check for UI smoke quit-path tests.
+#
+# Pass if the quit launcher printed UI_SMOKE_QUIT_OK (the GUI exited on
+# its own SIGTERM within the grace) and did not print UI_SMOKE_QUIT_FAIL.
+set -u
+
+if [ $# -lt 1 ]; then
+    echo "FAIL: checkresult-quit requires the result-log path as argument" >&2
+    exit 1
+fi
+
+LOG="$1"
+
+if grep -q '^UI_SMOKE_QUIT_FAIL' "$LOG"; then
+    echo "FAIL: $(grep -m1 '^UI_SMOKE_QUIT_FAIL' "$LOG")" >&2
+    exit 1
+fi
+
+if ! grep -q '^UI_SMOKE_QUIT_OK' "$LOG"; then
+    echo "FAIL: GUI did not report a clean SIGTERM exit (no UI_SMOKE_QUIT_OK)" >&2
+    exit 1
+fi
+
+exit 0

tests/ui-smoke/_lib/launch-env.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+# Shared headless environment for the UI smoke launchers. Sourced by
+# launch.sh and quit-launch.sh so the two stay in lockstep; a knob added
+# here reaches both. The caller must set LIB_DIR before sourcing (it
+# locates asound.conf). This file only exports; it runs no commands.
+
+# Force software OpenGL (Mesa llvmpipe). CI runners have no GPU and
+# Qt/GL widgets segfault under hardware GL with no display. The Qt-
+# specific knobs cover qtdragon's QtQuick + RHI paths.
+export LIBGL_ALWAYS_SOFTWARE=1
+export GALLIUM_DRIVER=llvmpipe
+export QT_QUICK_BACKEND=software
+export QSG_RHI_BACKEND=software
+export QT_OPENGL=software
+# Dodge a long-known xcb_glx integration crash that hits QtWebEngine
+# and related Qt5 widgets under xvfb (Launchpad #1761708, QTBUG-67537).
+# Forces the egl path which is what software-GL stacks expect anyway.
+export QT_XCB_GL_INTEGRATION=xcb_egl
+
+# Silence audio: xvfb covers X but not sound. Demote every Gst
+# Audio/Sink and disable canberra/SDL/pulse/ALSA-default paths.
+export ALSA_CONFIG_PATH="$LIB_DIR/asound.conf"
+export CANBERRA_DRIVER=null
+export GST_PLUGIN_FEATURE_RANK="pulsesink:NONE,alsasink:NONE,osssink:NONE,oss4sink:NONE,jackaudiosink:NONE,pipewiresink:NONE,openalsink:NONE"
+export PULSE_SERVER=/dev/null
+export SDL_AUDIODRIVER=dummy

tests/ui-smoke/_lib/launch.sh

@@ -35,26 +35,9 @@ bash "$LIB_DIR/cleanup-runtime.sh"
 LINUXCNC_TIMEOUT=300
 DRIVER_TIMEOUT=180
 
-# Force software OpenGL (Mesa llvmpipe). CI runners have no GPU and
-# Qt/GL widgets segfault under hardware GL with no display. The Qt-
-# specific knobs cover qtdragon's QtQuick + RHI paths.
-export LIBGL_ALWAYS_SOFTWARE=1
-export GALLIUM_DRIVER=llvmpipe
-export QT_QUICK_BACKEND=software
-export QSG_RHI_BACKEND=software
-export QT_OPENGL=software
-# Dodge a long-known xcb_glx integration crash that hits QtWebEngine
-# and related Qt5 widgets under xvfb (Launchpad #1761708, QTBUG-67537).
-# Forces the egl path which is what software-GL stacks expect anyway.
-export QT_XCB_GL_INTEGRATION=xcb_egl
-
-# Silence audio: xvfb covers X but not sound. Demote every Gst
-# Audio/Sink and disable canberra/SDL/pulse/ALSA-default paths.
-export ALSA_CONFIG_PATH="$LIB_DIR/asound.conf"
-export CANBERRA_DRIVER=null
-export GST_PLUGIN_FEATURE_RANK="pulsesink:NONE,alsasink:NONE,osssink:NONE,oss4sink:NONE,jackaudiosink:NONE,pipewiresink:NONE,openalsink:NONE"
-export PULSE_SERVER=/dev/null
-export SDL_AUDIODRIVER=dummy
+# Shared headless environment (software GL + audio silencing), kept in
+# launch-env.sh so launch.sh and quit-launch.sh cannot drift apart.
+. "$LIB_DIR/launch-env.sh"
 
 # Export the per-invocation values so the inner bash -c receives them
 # as proper env vars (avoids embedding paths into the inner script

tests/ui-smoke/_lib/qtdragon-prepare.sh

@@ -0,0 +1,79 @@
+#!/bin/bash
+# Sourced by the qtdragon ui-smoke tests (smoke and quit) to build a
+# config qtvcp can actually run under CI. Sets QTDRAGON_INI to the
+# patched ini path and exports the headless env; the caller then execs
+# run-gui.sh or quit-launch.sh with "$QTDRAGON_INI". Must be sourced
+# with LIB_DIR already set.
+#
+# qtdragon's qtvcp logger writes its log file (path from INI [DISPLAY]
+# LOG_FILE) into the config directory. CI mounts the workspace read-
+# only for the runtime user, so a relative LOG_FILE like 'qtdragon.log'
+# resolves to a path qtvcp cannot create, hal_bridge then exits, and
+# linuxcnc tears down before our driver can do anything. Mirror the
+# config dir to a writable tmp location and patch LOG_FILE to be
+# rooted at $HOME so the log lands in a directory we can write to.
+#
+# Force the Qt offscreen platform plugin. qtvcp under xvfb + xcb on
+# Ubuntu 24.04 segfaults during widget construction (no backtrace);
+# Debian containers in the same CI matrix do not. Offscreen renders
+# entirely in memory, no X server needed (xvfb-run still wraps the
+# call so the rest of scripts/linuxcnc's X-display assumptions hold).
+# scripts/linuxcnc itself forces QT_QPA_PLATFORM=xcb unless
+# LINUXCNC_OPENGL_PLATFORM is set to something other than glx, so we
+# pin both env vars.
+#
+# qtdragon embeds a QWebEngineView (Chromium). Under offscreen + xvfb
+# with no GPU and no user namespaces in the CI runner sandbox,
+# QtWebEngine browser-process init segfaults even with --no-sandbox
+# --single-process --disable-gpu (Chromium logs "Sandboxing disabled
+# by user." then crashes inside the same qtvcp PID). Rather than keep
+# tuning Chromium flags for a widget the smoke test never touches,
+# we shim qtpy.QtWebEngineWidgets to raise ImportError; web_widget.py
+# already has a fallback path that swaps the QWebEngineView for a
+# plain QWidget when the import fails (its "fail safe - mostly for
+# designer" branch). No Chromium spawn = no crash.
+
+: "${LIB_DIR:?qtdragon-prepare.sh must be sourced with LIB_DIR set}"
+
+SRC_DIR="$(cd "$LIB_DIR/../../../configs/sim/qtdragon/qtdragon_xyz" && pwd)"
+
+WORK_DIR="$(mktemp -d -t ui-smoke-qtdragon.XXXXXX)"
+trap 'rm -rf "$WORK_DIR"' EXIT
+cp -r "$SRC_DIR/." "$WORK_DIR/"
+sed -i 's|^LOG_FILE = qtdragon\.log$|LOG_FILE = ~/qtdragon.log|' \
+    "$WORK_DIR/qtdragon_metric.ini"
+
+export LINUXCNC_OPENGL_PLATFORM=offscreen
+export QT_QPA_PLATFORM=offscreen
+
+# sitecustomize.py is auto-imported by Python from any sys.path entry
+# at interpreter startup. Drop a meta_path finder that blocks the
+# qtpy.QtWebEngineWidgets import so WebWidget falls back to QWidget.
+SHIM_DIR="$WORK_DIR/_pyshim"
+mkdir -p "$SHIM_DIR"
+cat >"$SHIM_DIR/sitecustomize.py" <<'PY'
+import sys
+from importlib.abc import MetaPathFinder, Loader
+from importlib.util import spec_from_loader
+
+_BLOCK = {'qtpy.QtWebEngineWidgets', 'PyQt5.QtWebEngineWidgets'}
+
+class _BlockLoader(Loader):
+    def create_module(self, spec):
+        raise ImportError('QtWebEngineWidgets blocked for ui-smoke CI')
+    def exec_module(self, module):
+        pass
+
+class _BlockFinder(MetaPathFinder):
+    def find_spec(self, name, path, target=None):
+        if name in _BLOCK:
+            return spec_from_loader(name, _BlockLoader())
+        return None
+
+sys.meta_path.insert(0, _BlockFinder())
+PY
+export PYTHONPATH="$SHIM_DIR${PYTHONPATH:+:$PYTHONPATH}"
+
+# Consumed by the sourcing test.sh, which execs the launcher with it.
+# shellcheck disable=SC2034
+QTDRAGON_INI="$WORK_DIR/qtdragon_metric.ini"

tests/ui-smoke/_lib/quit-launch.sh

@@ -0,0 +1,120 @@
+#!/bin/bash
+# Quit-path launcher for UI smoke tests.
+# Usage: quit-launch.sh <sim-config-ini> <gui-process-match>
+#
+# Boots linuxcnc + GUI under xvfb-run exactly like launch.sh, waits for
+# the NML task to come up (via drive.py), then sends SIGTERM to the GUI
+# process *alone* and asserts the GUI exits on its own within a short
+# grace. This is the regression guard for the SIGTERM clean-shutdown
+# handlers: a GUI that absorbs SIGTERM and has to be SIGKILLed fails.
+#
+# <gui-process-match> is a pgrep -f pattern identifying the GUI process
+# (e.g. "bin/touchy", "bin/gmoccapy"). It must not match the linuxcnc
+# launcher or task/motion helpers.
+#
+# Markers (consumed by checkresult-quit.sh):
+#   UI_SMOKE_QUIT_OK    GUI exited on SIGTERM within QUIT_GRACE
+#   UI_SMOKE_QUIT_FAIL  GUI never started, was not found, or ignored TERM
+
+set -u
+
+CONFIG_INI="$1"
+GUI_MATCH="$2"
+TEST_DIR="${TEST_DIR:-$(cd "$(dirname "$0")" && pwd)}"
+LIB_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+cd "$TEST_DIR" || exit 1
+rm -f ui-smoke.out ui-smoke.err linuxcnc.pid
+
+bash "$LIB_DIR/cleanup-runtime.sh"
+
+LINUXCNC_TIMEOUT=240
+DRIVER_TIMEOUT=90
+# Seconds to wait for the GUI to exit after SIGTERM before declaring it
+# stuck. A GUI honouring SIGTERM exits in well under a second; the
+# margin covers Cleanup of task/motion on slow CI.
+QUIT_GRACE=15
+
+# Shared headless environment (software GL + audio silencing), kept in
+# launch-env.sh so launch.sh and quit-launch.sh cannot drift apart.
+. "$LIB_DIR/launch-env.sh"
+
+export CONFIG_INI LIB_DIR DRIVER_TIMEOUT GUI_MATCH QUIT_GRACE
+
+# shellcheck disable=SC2016
+xvfb-run -a --server-args="-screen 0 1024x768x24" \
+    timeout "$LINUXCNC_TIMEOUT" \
+    bash -c '
+        setsid linuxcnc -r "$CONFIG_INI" >linuxcnc.out 2>linuxcnc.err &
+        LINUXCNC_PID=$!
+        echo "$LINUXCNC_PID" >linuxcnc.pid
+
+        # Wait until the task is reachable (GUI has constructed and the
+        # NML round-trip works). Reuse the phase-1 driver for readiness.
+        timeout "$DRIVER_TIMEOUT" python3 "$LIB_DIR/drive.py" >ui-smoke.out 2>ui-smoke.err
+        if ! grep -q "^UI_SMOKE_OK$" ui-smoke.out; then
+            echo "UI_SMOKE_QUIT_FAIL: GUI did not come up; cannot test quit"
+            kill -KILL -- -"$LINUXCNC_PID" 2>/dev/null || true
+            bash "$LIB_DIR/cleanup-runtime.sh"
+            exit 1
+        fi
+
+        # Identify the GUI process. pgrep -f matches against the whole
+        # command line, so wrapper processes (the linuxcnc launcher, the
+        # xvfb-run shell, this bash -c) also match because the GUI name
+        # appears in the config path or the embedded script text. Every
+        # such wrapper has a shell or xvfb-run as argv[0]; the real GUI
+        # is a python interpreter. Pick the first match whose argv[0]
+        # basename is a python binary.
+        GUI_PID=""
+        for p in $(pgrep -f "$GUI_MATCH"); do
+            arg0=$(tr "\0" "\n" <"/proc/$p/cmdline" 2>/dev/null | head -1)
+            case "$(basename "$arg0" 2>/dev/null)" in
+                python*) GUI_PID="$p"; break ;;
+            esac
+        done
+        if [ -z "$GUI_PID" ]; then
+            echo "UI_SMOKE_QUIT_FAIL: GUI process matching \"$GUI_MATCH\" not found"
+            kill -KILL -- -"$LINUXCNC_PID" 2>/dev/null || true
+            bash "$LIB_DIR/cleanup-runtime.sh"
+            exit 1
+        fi
+
+        # Send SIGTERM to the GUI alone and time how long it takes to go.
+        kill -TERM "$GUI_PID" 2>/dev/null || true
+        waited=0
+        while [ "$waited" -lt "$QUIT_GRACE" ]; do
+            kill -0 "$GUI_PID" 2>/dev/null || break
+            sleep 1
+            waited=$((waited + 1))
+        done
+
+        if kill -0 "$GUI_PID" 2>/dev/null; then
+            echo "UI_SMOKE_QUIT_FAIL: GUI (pid $GUI_PID) still alive ${QUIT_GRACE}s after SIGTERM"
+            RC=1
+        else
+            echo "UI_SMOKE_QUIT_OK: GUI exited ${waited}s after SIGTERM"
+            RC=0
+        fi
+
+        # Tear down whatever is left (task/motion, or the GUI on failure).
+        kill -TERM -- -"$LINUXCNC_PID" 2>/dev/null || true
+        for _ in $(seq 30); do
+            kill -0 "$LINUXCNC_PID" 2>/dev/null || break
+            sleep 1
+        done
+        if kill -0 "$LINUXCNC_PID" 2>/dev/null; then
+            kill -KILL -- -"$LINUXCNC_PID" 2>/dev/null || true
+            sleep 2
+            bash "$LIB_DIR/cleanup-runtime.sh"
+        fi
+        exit "$RC"
+    '
+RC=$?
+
+echo "=== linuxcnc.err ==="
+[ -f linuxcnc.err ] && cat linuxcnc.err
+echo "=== ui-smoke.out ==="
+[ -f ui-smoke.out ] && cat ui-smoke.out
+
+exit "$RC"

tests/ui-smoke/gmoccapy-quit/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult-quit.sh" "$@"

tests/ui-smoke/gmoccapy-quit/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"

tests/ui-smoke/gmoccapy-quit/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/quit-launch.sh" \
+    "$(cd "$(dirname "$0")/../../../configs/sim" && pwd)/gmoccapy/gmoccapy.ini" \
+    "bin/gmoccapy"

tests/ui-smoke/qtdragon-quit/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult-quit.sh" "$@"

tests/ui-smoke/qtdragon-quit/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"