tests: bring the multiaxis tests from #4730 under 10 seconds each

tests/kins-switch/test-ui.py

@@ -44,40 +44,64 @@ def drain():
             return said
         said.append(m)
 
+# what c.wait_complete() waits for, task done with the last command sent,
+# looked at every 2 ms rather than every 10: a step of several commands
+# pays that wait on each
+def done(timeout=60):
+    deadline = time.time() + timeout
+    while time.time() < deadline:
+        s.poll()
+        if s.echo_serial_number >= c.serial and s.state != linuxcnc.RCS_EXEC:
+            return
+        time.sleep(0.002)
+    error("timed out waiting for task")
+
+# the move has ended when task has nothing left to run and motion is at
+# rest; in position with an empty queue alone is also true before task has
+# sent the move on.  Status is a copy task writes once a cycle, so it only
+# counts from a copy written two task cycles after the command, and the
+# joints only count as still over two copies a servo cycle or more apart
 def settled():
     deadline = time.time() + 60
+    s.poll()
+    beat = s.taskbeat + 2
     last = None
+    last_hb = None
     while time.time() < deadline:
-        now = joints()
-        if s.inpos and not s.queue and now == last:
-            return now
-        last = now
-        time.sleep(0.05)
+        s.poll()
+        if s.taskbeat >= beat:
+            now = joints()
+            if (s.interp_state == linuxcnc.INTERP_IDLE and s.inpos and not s.queue
+                    and now == last and s.heartbeat != last_hb):
+                return now
+            last = now
+            last_hb = s.heartbeat
+        time.sleep(0.002)
     error("timed out waiting for the move")
     return last
 
 def mdi(cmd):
     c.mdi(cmd)
-    c.wait_complete(60)
+    done(60)
     return settled()
 
 c.state(linuxcnc.STATE_ESTOP_RESET)
 c.state(linuxcnc.STATE_ON)
-c.wait_complete(30)
+done(30)
 c.home(-1)
-c.wait_complete(60)
+done(60)
 # start in identity every run, the abort's G13.1 may or may not have run yet
 c.mode(linuxcnc.MODE_MDI)
-c.wait_complete(30)
+done(30)
 mdi("G13.1")
 c.mode(linuxcnc.MODE_AUTO)
-c.wait_complete(30)
+done(30)
 drain()
 
 # ---- the program, and what the joints do while it runs -------------------
 
 c.program_open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "test.ngc"))
-c.wait_complete(30)
+done(30)
 last = kins_type()
 c.auto(linuxcnc.AUTO_RUN, 0)
 
@@ -181,7 +205,7 @@ def mdi(cmd):
 
 import math
 c.mode(linuxcnc.MODE_MDI)
-c.wait_complete(30)
+done(30)
 drain()
 
 def pose():
@@ -283,7 +307,7 @@ def tool_length_check(what, before_joints, before_pose, after_joints, after_pose
 def refused(cmd, needle):
     drain()
     c.mdi(cmd)
-    c.wait_complete(30)
+    done(30)
     m = e.poll()
     if not m or m[0] not in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
         error("%s was accepted" % cmd)
@@ -349,7 +373,7 @@ def refused(cmd, needle):
 
 drain()
 c.mdi("G12.1 P-1")
-c.wait_complete(30)
+done(30)
 m = poll()
 if not m or m[0] not in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
     error("G12.1 P-1 was accepted")
@@ -362,7 +386,7 @@ def refused(cmd, needle):
 # ---- a kinematics the module does not provide is refused at read time ----
 
 c.mdi("G12.1 P7")
-c.wait_complete(30)
+done(30)
 m = poll()
 if not m or m[0] not in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
     error("G12.1 P7 was accepted")
@@ -384,7 +408,7 @@ def refused(cmd, needle):
     if s.g5x_index != 2:
         continue
     c.abort()
-    c.wait_complete(30)
+    done(30)
     deadline = time.time() + 10
     while time.time() < deadline:
         s.poll()

tests/kins-switch/test.ini

@@ -20,13 +20,15 @@ JOINTS = 6
 HALFILE = sim.hal
 
 [TRAJ]
+# A sim that moves fast, to keep the run short: the checks on the program's
+# W stroke sample status, and W rests on a dwell at its end.
 COORDINATES = XYZBCW
 LINEAR_UNITS = mm
 ANGULAR_UNITS = deg
-DEFAULT_LINEAR_VELOCITY = 200
-MAX_LINEAR_VELOCITY = 346
-MAX_LINEAR_ACCELERATION = 800
-DEFAULT_LINEAR_ACCELERATION = 800
+DEFAULT_LINEAR_VELOCITY = 10000
+MAX_LINEAR_VELOCITY = 10000
+MAX_LINEAR_ACCELERATION = 100000
+DEFAULT_LINEAR_ACCELERATION = 100000
 MAX_ANGULAR_VELOCITY = 360
 
 [EMCMOT]
@@ -44,89 +46,89 @@ TOOL_TABLE = tool.tbl
 [AXIS_X]
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 
 [AXIS_Y]
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 
 [AXIS_Z]
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 
 [AXIS_B]
 MIN_LIMIT = -120
 MAX_LIMIT = 120
-MAX_VELOCITY = 60
-MAX_ACCELERATION = 200
+MAX_VELOCITY = 36000
+MAX_ACCELERATION = 360000
 
 [AXIS_C]
 MIN_LIMIT = -36000
 MAX_LIMIT = 36000
-MAX_VELOCITY = 60
-MAX_ACCELERATION = 200
+MAX_VELOCITY = 36000
+MAX_ACCELERATION = 360000
 
 [AXIS_W]
 MIN_LIMIT = -100
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 
 [JOINT_0]
 TYPE = LINEAR
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0
 
 [JOINT_1]
 TYPE = LINEAR
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0
 
 [JOINT_2]
 TYPE = LINEAR
 MIN_LIMIT = -500
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0
 
 [JOINT_3]
 TYPE = ANGULAR
 MIN_LIMIT = -120
 MAX_LIMIT = 120
-MAX_VELOCITY = 60
-MAX_ACCELERATION = 200
+MAX_VELOCITY = 36000
+MAX_ACCELERATION = 360000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0
 
 [JOINT_4]
 TYPE = ANGULAR
 MIN_LIMIT = -36000
 MAX_LIMIT = 36000
-MAX_VELOCITY = 60
-MAX_ACCELERATION = 200
+MAX_VELOCITY = 36000
+MAX_ACCELERATION = 360000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0
 
 [JOINT_5]
 TYPE = LINEAR
 MIN_LIMIT = -100
 MAX_LIMIT = 500
-MAX_VELOCITY = 200
-MAX_ACCELERATION = 800
+MAX_VELOCITY = 10000
+MAX_ACCELERATION = 100000
 HOME_SEARCH_VEL = 0
 HOME_SEQUENCE = 0

tests/ptp-machine-frame/test-ui.py

@@ -42,23 +42,46 @@ def drain():
         if m[0] in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
             error("reported: %s" % m[1])
 
+# what c.wait_complete() waits for, task done with the last command sent,
+# looked at every 2 ms rather than every 10: a step of several commands
+# pays that wait on each
+def done(timeout=60):
+    deadline = time.time() + timeout
+    while time.time() < deadline:
+        s.poll()
+        if s.echo_serial_number >= c.serial and s.state != linuxcnc.RCS_EXEC:
+            return
+        time.sleep(0.002)
+    error("timed out waiting for task")
+
+# the move has ended when task has nothing left to run and motion is at
+# rest; in position with an empty queue alone is also true before task has
+# sent the move on.  Status is a copy task writes once a cycle, so it only
+# counts from a copy written two task cycles after the command, and the
+# joints only count as still over two copies a servo cycle or more apart
 def settled():
     deadline = time.time() + 60
+    s.poll()
+    beat = s.taskbeat + 2
     last = None
+    last_hb = None
     while time.time() < deadline:
         s.poll()
-        now = [s.joint_position[i] for i in range(JOINTS)]
-        if s.inpos and not s.queue and now == last:
-            return now
-        last = now
-        time.sleep(0.05)
+        if s.taskbeat >= beat:
+            now = [s.joint_position[i] for i in range(JOINTS)]
+            if (s.interp_state == linuxcnc.INTERP_IDLE and s.inpos and not s.queue
+                    and now == last and s.heartbeat != last_hb):
+                return now
+            last = now
+            last_hb = s.heartbeat
+        time.sleep(0.002)
     error("timed out waiting for the move")
     return last
 
 def mdi(*cmds):
     for cmd in cmds:
         c.mdi(cmd)
-        c.wait_complete(60)
+        done(60)
     return settled()
 
 def kins_type():