Merge pull request #1864 from petterreinholdtsen/test-motion-logger-abort-enable

Re-enable tests/motion-logger/startup-gcode-abort and make it more robust

Author: c-morley

tests/motion-logger/startup-gcode-abort/expected.motion-logger.in

@@ -76,6 +76,7 @@ SET_AXIS_VEL_LIMIT axis=2 vel=4
 SET_AXIS_ACC_LIMIT axis=2, acc=1000
 SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1
 
+SET_SPINDLE_PARAMS, 1.00e+99, 0.00e+00, -1.00e+99, 0.00e+00
 JOG_ABORT joint=0
 JOG_ABORT joint=1
 JOG_ABORT joint=2
@@ -108,23 +109,8 @@ JOINT_UNHOME joint=-2
 FREE
 
 #
-# Now Task is done with its internal immediate startup and starts
-# draining the interp_list.
-#
-# emctask_start() called emcTaskPlanInit(), which initialized the
-# Interpreter, enqueueing Canon commands on interp_list.
-#
-
-SET_TERM_COND termCond=2, tolerance=0
-
-# This is the [RS274NGC]RS274NGC_STARTUP_CODE, up to but not going past
-# the very long dwell
-
-SET_LINE x=-1, y=-2, z=-3, a=0, b=0, c=0, u=0, v=0, w=0, id=2, motion_type=1, vel=4.98888, ini_maxvel=4.98888, acc=1247.22, turn=-1
-
-#
-# Task has fully booted!  It's now in Estop, in Manual, and ready to
-# receive commands from the UIs.
+# Task is now got the 'motion.in-position' pin visible, and is
+# accepting abort calls from the UI.
 #
 
 #

tests/motion-logger/startup-gcode-abort/skip

@@ -3,22 +3,33 @@
 import linuxcnc
 import sys
 import time
-
+import hal
 
 #
 # connect to LinuxCNC
 #
 
+comp = hal.component('hal-watcher')
+
 c = linuxcnc.command()
 s = linuxcnc.stat()
 e = linuxcnc.error_channel()
 
 
 #
-# Immediately abort!  Github Issue #49 
+# Immediately abort once linuxcnc is ready!  Github Issue #49
 #
 
-time.sleep(1)
+
+# Wait for (any) HAL pin to show up when LinuxCNC is initialized
+waitlimit = 300
+while 0 < waitlimit:
+    try:
+        waiting = 'TRUE' != hal.get_value('motion.in-position')
+    except RuntimeError:
+        break
+    time.sleep(0.1)
+    waitlimit -= 1
 
 print("UI abort")
 sys.stdout.flush()