tests: close the idle-detection hole in the G28.2 sequencing test - #4570
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The rejected G28.2 P99 puts task through its ERROR path, which reports DONE/IDLE with the resynch still on the interp list. The next MDI sent in that window is parked in the MDI queue, and a queued MDI also reads as DONE/IDLE, so wait_idle() returned before the move ran and the test read X while it was still 0. One slow task cycle on a loaded CI runner is enough to open the window. wait_idle() now also requires queued_mdi_commands == 0, and the recovery check waits for X to reach 2 instead of for idle. Fixes LinuxCNC#4569
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Fixes #4569.
The failure is a hole in the test, not a task wedge. The rejected
G28.2 P99goes through task's ERROR path, which aborts, sets exec DONE and interp IDLE, and queues a resynch on the interp list.wait_idle()returns right there, and theG0 X2sent while the resynch is still on the list gets parked in the MDI queue. A queued MDI also reads as DONE/IDLE, so the nextwait_idle()returns at once and the test reads X while the move has not run yet. The window is one task cycle; the failing run logged main loops of 49 ms, which is enough.I reproduced it by stalling milltask in gdb at the status write of the ERROR cycle: the old test fails with the exact CI message, the fixed test passes. Without the stall both pass, 10/10.
Changes, test only:
wait_idle()also requiresqueued_mdi_commands == 0.