Merge pull request #1859 from petterreinholdtsen/test-g0-robustness

Made tests/motion/g0 more robust and got rid of race condition

Author: c-morley

tests/motion/g0/checkresult

@@ -86,9 +86,13 @@ print("line 0: X starts at 0.000000")
 
 
 # find where X starts moving (X is the second column, column 1)
-i = 0
-while samples[i][1] == samples[i+1][1]:
-    i += 1
+for i in range(0, len(samples) - 1):
+    if samples[i][1] != samples[i+1][1]:
+        break
+
+if len(samples) == i+2:
+    print("error: no acceleration detected, did linuxcnc take too long to start moving?")
+    sys.exit(1)
 
 print("line %d: accel phase starts" % i)
 
@@ -100,7 +104,7 @@ print("line %d: accel phase starts" % i)
 highest_seen_accel_ipc2 = 0
 old_accel_ipc2 = 0
 old_v_ipc = 0
-for i in range(i, len(samples)):
+for i in range(i, len(samples) - 1):
 
     new_v_ipc = samples[i+1][1] - samples[i][1]
     accel_ipc2 = new_v_ipc - old_v_ipc
@@ -141,7 +145,7 @@ print("line %d: entering cruise phase, vel=%.6f i/s, max_accel = %.6f i/s^2" % (
 
 # now i is the first sample of the cruise phase
 # wait for vel to drop again
-for i in range(i, len(samples)):
+for i in range(i, len(samples) - 1):
     new_v_ipc = samples[i+1][1] - samples[i][1]
 
     if abs(new_v_ipc - old_v_ipc) > 0.0000001:
@@ -158,7 +162,7 @@ print("line %d: decel phase starting, old_v=%.6f i/s, new_v=%.6f i/s" % (i, old_
 # verify decel phase stops when vel == 0
 highest_seen_accel_ipc2 = 0
 old_accel_ipc2 = 0
-for i in range(i, len(samples)):
+for i in range(i, len(samples) - 1):
 
     new_v_ipc = samples[i+1][1] - samples[i][1]
     accel_ipc2 = new_v_ipc - old_v_ipc

tests/motion/g0/test.sh

@@ -3,16 +3,31 @@
 #export PATH=$PATH:$EMC2_HOME/tests/helpers
 #source $EMC2_HOME/tests/helpers/test-functions.sh
 
+wait_for_pin() {
+    pin="$1"
+    value="$2"
+    maxwait=10 # seconds
+    while [ 0 -lt $maxwait ] \
+      && [ "$value" != "$(halcmd -s show pin $pin | awk '{print $4}')" ]; do
+        sleep 1
+	maxwait=$(($maxwait -1))
+    done
+    if [ 0 -eq $maxwait ] ; then
+	echo "error: waiting for pin $pin timed out"
+	kill $linuxcncpid
+	kill $samplerpid
+	exit 1
+    fi
+}
+
 linuxcnc motion-test.ini &
+linuxcncpid=$!
 
-# let linuxcnc come up
-sleep 4 
+wait_for_pin motion.in-position TRUE
 
-(
-    echo starting to capture data
-    halsampler -t -n 20000 >| result.halsamples
-    echo finished capturing data
-) &
+echo starting to capture data
+halsampler -t >| result.halsamples &
+samplerpid=$!
 
 (
     echo hello EMC mt 1.0
@@ -26,21 +41,27 @@ sleep 4
     echo set home 1
     echo set home 2
 
-    # give linuxcnc a second to home
-    sleep 1.0
+    # Wait for homing to complete
+    wait_for_pin motion.is-all-homed TRUE
 
     echo set mode mdi
-    echo set mdi g0x1
+    dist=1
+    echo set mdi g0x$dist
 
-    # give linuxcnc a half second to move
-    sleep 0.5
+    # Wait for movement to complete
+    wait_for_pin joint.0.pos-fb $dist
+    wait_for_pin joint.0.in-position TRUE
+    wait_for_pin joint.1.in-position TRUE
 
     echo shutdown
 ) | nc localhost 5007
 
+kill $samplerpid
+wait $samplerpid
+echo finished capturing data
 
 # wait for linuxcnc to finish
-wait
+wait $linuxcncpid
 
 exit 0