task: a kinematics selection is seen on the next line, and the test reads it there

src/emc/task/emctaskmain.cc

@@ -535,6 +535,7 @@ void readahead_reading(void)
 			    emcStatus->task.execState ==
 			    EMC_TASK_EXEC::DONE) {
 			    emcTaskPlanClearWait();
+			    goto interpret_again;
 			 }
 		    } else {
 			readRetval = emcTaskPlanRead();
@@ -2876,6 +2877,7 @@ static int emcTaskExecute(void)
 			emcStatus->motion.traj.switchkins_changed = false;
 			emcTaskPlanSynch();
 			emcStatus->task.execState = EMC_TASK_EXEC::DONE;
+			emcTaskEager = 1;
 		}
 		break;
 	}

tests/kins-switch/test-ui.py

@@ -70,7 +70,6 @@ def mdi(cmd):
 c.auto(linuxcnc.AUTO_RUN, 0)
 
 said = []
-seen = [kins_type()]
 at_switch = None
 strayed = [0.0] * JOINTS
 w_reached = 0.0
@@ -79,10 +78,8 @@ def mdi(cmd):
     s.poll()
     now = joints()
     k = kins_type()
-    if k != seen[-1]:
-        seen.append(k)
-        if k == 1 and at_switch is None:
-            at_switch = now
+    if k == 1 and at_switch is None:
+        at_switch = now
     if k == 1 and at_switch is not None:
         for j in CARRIED:
             strayed[j] = max(strayed[j], abs(now[j] - at_switch[j]))
@@ -112,19 +109,18 @@ def mdi(cmd):
     print("W ran to %.4f, the other joints held to %.2e"
           % (w_reached, max(strayed[j] for j in CARRIED)))
 
-# the abort routine's G13.1 fires at estop reset, so the machine may stand
-# in identity (1) already when the program starts; either way the program
-# itself walks 0, 1, 0, 1
+# the program walks 0, 1, 0, 1 and the line after each selection reports
+# what the interpreter holds and what motion runs; the pin read there is
+# the check that the selection went through before the next line, which
+# no sampler on this side could make (a selection undone on the next
+# line holds for one servo period)
 want = [0, 1, 0, 1]
-if seen[-4:] != want:
-    error("motion.kins-type went %s, not ...%s" % (seen, want))
-
 reported = [m[1].strip() for m in said if m[1].strip().startswith("KINSTYPE=")]
-want_reported = ["KINSTYPE=%d.000000" % k for k in want]
+want_reported = ["KINSTYPE=%d.000000 PIN=%d.000000" % (k, k) for k in want]
 if reported != want_reported:
-    error("#<_kins_type> reported %s" % (reported,))
+    error("the lines after the selections reported %s" % (reported,))
 else:
-    print("#<_kins_type> reported %s" % " ".join(reported))
+    print("the lines after the selections reported %s" % " | ".join(reported))
 
 # ---- a negative kinematics number is refused -----------------------------
 

tests/kins-switch/test.ngc

@@ -1,22 +1,24 @@
 ; never assume the startup kinematics: the abort routine's G13.1 leaves
-; the machine in identity
+; the machine in identity. The line after each selection reads the
+; kinematics motion runs, motion.kins-type, next to the interpreter's:
+; a selection is a queue buster, so the next line sees it switched
 g12.1 p0
 ; a pose the two kinematics disagree about: the tilt folds the pivot into
 ; the joints that carry X, Y and Z, so the joints are not the axis values
 g0 x10 y10 z-5 b-22.5 c45
-(debug, KINSTYPE=#<_kins_type>)
+(debug, KINSTYPE=#<_kins_type> PIN=#<_hal[motion.kins-type]>)
 g12.1 p1
-(debug, KINSTYPE=#<_kins_type>)
+(debug, KINSTYPE=#<_kins_type> PIN=#<_hal[motion.kins-type]>)
 ; identity kinematics: W is joint 5 alone, so nothing else may move
 g1 w10 f1000
 ; the dwell ends the stroke on its endpoint instead of blending past it
 g4 p0.1
 g0 w0
 ; numeric selection puts back the kinematics the program started in
 g12.1 p0
-(debug, KINSTYPE=#<_kins_type>)
+(debug, KINSTYPE=#<_kins_type> PIN=#<_hal[motion.kins-type]>)
 ; and G13.1 cancels to identity, which on this module is kinematics 1:
 ; it is the flag that decides, not the number
 g13.1
-(debug, KINSTYPE=#<_kins_type>)
+(debug, KINSTYPE=#<_kins_type> PIN=#<_hal[motion.kins-type]>)
 m2