tests: salvage unit tests from meson-only unit_tests

tests/blendmath/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh
+grep -q "all blendmath checks passed" "$1" && ! grep -q "FAIL" "$1"

tests/blendmath/skip

@@ -0,0 +1,5 @@
+#!/bin/sh
+# This test compiles blendmath.c and internal TP headers from the source
+# tree, which is only available in run-in-place builds. Skip when testing
+# installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/blendmath/test.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+set -e
+
+# RIP layout: $HEADERS is $TOPDIR/include
+TOPDIR=$(dirname "$HEADERS")
+
+# blendmath.c references the rest of the TP (tc.c, spherical_arc.c,
+# sp_scurve.c, motion globals). Only the tested functions are used here, so
+# build with function sections and let the linker garbage-collect the rest
+# instead of linking the whole trajectory planner.
+gcc -O2 -Wall -ffunction-sections -fdata-sections -DULAPI -DUNIT_TEST \
+    -I"$HEADERS" -I"$TOPDIR/src" -I"$TOPDIR/src/emc" \
+    -o test_blendmath test_blendmath.c "$TOPDIR/src/emc/tp/blendmath.c" \
+    -L"$LIBDIR" -Wl,-rpath,"$LIBDIR" -Wl,--gc-sections -lposemath -lm
+
+./test_blendmath
+rm -f test_blendmath

tests/blendmath/test_blendmath.c

@@ -0,0 +1,93 @@
+/*
+ * Unit tests for blendmath utility functions.
+ *
+ * Salvaged from the retired meson-only unit_tests/tp/test_blendmath.c
+ * (originally by Robert W. Ellenberg) and converted from the greatest
+ * framework to plain C so it can build and run as a runtest.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#include <rtapi.h>
+#include <posemath.h>
+#include "tp/blendmath.h"
+#include "tp/tp_types.h"
+
+/* kludge: satisfy rtapi_print_msg references without an rtapi app */
+void rtapi_print_msg(msg_level_t level, const char *fmt, ...)
+{
+    va_list args;
+
+    (void)level;
+    va_start(args, fmt);
+    vprintf(fmt, args);
+    va_end(args);
+}
+
+static int failures = 0;
+
+#define CHECK(cond) do { \
+    if (!(cond)) { \
+        printf("FAIL %s:%d: %s\n", __FILE__, __LINE__, #cond); \
+        failures++; \
+    } \
+} while (0)
+
+#define CHECK_FALSE(cond) CHECK(!(cond))
+
+static void test_pmCartCartParallel_numerical(void)
+{
+    PmCartesian u0 = {1, 0, 0};
+    PmCartesian u_close = {cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
+    int k;
+
+    CHECK(pmCartCartParallel(&u0, &u0, TP_ANGLE_EPSILON_SQ));
+    CHECK_FALSE(pmCartCartParallel(&u0, &u_close, 0.0));
+
+    /* Test that the tolerance makes sense */
+    CHECK_FALSE(pmCartCartParallel(&u0, &u_close, 0.5 * TP_ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartParallel(&u0, &u_close, 1.5 * TP_ANGLE_EPSILON_SQ));
+
+    /* Try a bunch of other angles including anti-parallel */
+    for (k = 1; k <= 7; ++k) {
+        PmCartesian u_far = {cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
+        CHECK_FALSE(pmCartCartParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
+    }
+}
+
+static void test_pmCartCartAntiParallel_numerical(void)
+{
+    PmCartesian u0 = {1, 0, 0};
+    PmCartesian u_close = {-cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
+    PmCartesian u_opposite;
+    int k;
+
+    pmCartScalMult(&u0, -1.0, &u_opposite);
+    CHECK(pmCartCartAntiParallel(&u0, &u_opposite, TP_ANGLE_EPSILON_SQ));
+    CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.0));
+
+    /* Test that the tolerance makes sense */
+    CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.5 * TP_ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartAntiParallel(&u0, &u_close, 1.5 * TP_ANGLE_EPSILON_SQ));
+
+    /* Try a bunch of other angles including anti-parallel */
+    for (k = 1; k <= 7; ++k) {
+        PmCartesian u_far = {-cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
+        CHECK_FALSE(pmCartCartAntiParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
+    }
+}
+
+int main(void)
+{
+    test_pmCartCartParallel_numerical();
+    test_pmCartCartAntiParallel_numerical();
+
+    if (failures) {
+        printf("%d check(s) FAILED\n", failures);
+        return 1;
+    }
+    printf("all blendmath checks passed\n");
+    return 0;
+}

tests/interp/unit-conversion/expected

@@ -0,0 +1,48 @@
+ N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+ N..... SET_G5X_OFFSET(1, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... SET_G92_OFFSET(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... SET_XY_ROTATION(0.0000)
+ N..... SET_FEED_REFERENCE(CANON_XYZ)
+ N..... ON_RESET()
+ N..... COMMENT("Verify G20/G21 unit switching. The current position and the interpreter's")
+ N..... COMMENT("internal offsets are converted, while the numbered parameters that back")
+ N..... COMMENT("the work and axis offsets stay constant because they are stored in user")
+ N..... COMMENT("INI units. salvaged from the retired meson-only unit_tests/interp tests")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_INCHES)
+ N..... COMMENT("interpreter: continuing to use same coordinate system")
+ N..... SET_G92_OFFSET(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... SET_G5X_OFFSET(1, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... SET_XY_ROTATION(0.0000)
+ N..... MESSAGE(" --- position conversion: move to x1 y2 z3 a4 b5 c6 in inches")
+ N..... STRAIGHT_TRAVERSE(1.0000, 2.0000, 3.0000, 4.0000, 5.0000, 6.0000)
+ N..... MESSAGE(" in inches, expect 1 2 3 4 5 6: 1.000000 2.000000 3.000000 4.000000 5.000000 6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+ N..... MESSAGE(" in mm, expect 25.4 50.8 76.2 4 5 6: 25.400000 50.800000 76.200000 4.000000 5.000000 6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_INCHES)
+ N..... MESSAGE(" back in inches, expect 1 2 3 4 5 6: 1.000000 2.000000 3.000000 4.000000 5.000000 6.000000")
+ N..... MESSAGE(" --- work offsets: g10 l2 p1 x1 y2 z3 a4 b5 c6, params stay in user units")
+ N..... SET_G5X_OFFSET(1, 1.0000, 2.0000, 3.0000, 4.0000, 5.0000, 6.0000)
+ N..... SET_XY_ROTATION(0.0000)
+ N..... COMMENT("interpreter: continuing to use same coordinate system")
+ N..... MESSAGE(" params as stored, expect 1 2 3 4 5 6: 1.000000 2.000000 3.000000 4.000000 5.000000 6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+ N..... MESSAGE(" unchanged after g21, expect 1 2 3 4 5 6: 1.000000 2.000000 3.000000 4.000000 5.000000 6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_INCHES)
+ N..... MESSAGE(" unchanged after g20, expect 1 2 3 4 5 6: 1.000000 2.000000 3.000000 4.000000 5.000000 6.000000")
+ N..... MESSAGE(" --- axis offsets: g92 x1 y2 z3 a4 b5 c6, params stay in user units")
+ N..... SET_G92_OFFSET(-1.0000, -2.0000, -3.0000, -4.0000, -5.0000, -6.0000)
+ N..... MESSAGE(" params as stored, expect -1 -2 -3 -4 -5 -6: -1.000000 -2.000000 -3.000000 -4.000000 -5.000000 -6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
+ N..... MESSAGE(" unchanged after g21, expect -1 -2 -3 -4 -5 -6: -1.000000 -2.000000 -3.000000 -4.000000 -5.000000 -6.000000")
+ N..... USE_LENGTH_UNITS(CANON_UNITS_INCHES)
+ N..... MESSAGE(" unchanged after g20, expect -1 -2 -3 -4 -5 -6: -1.000000 -2.000000 -3.000000 -4.000000 -5.000000 -6.000000")
+ N..... SET_G92_OFFSET(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... SET_G5X_OFFSET(1, 1.0000, 2.0000, 3.0000, 4.0000, 5.0000, 6.0000)
+ N..... SET_XY_ROTATION(0.0000)
+ N..... SET_FEED_MODE(0, 0)
+ N..... SET_FEED_RATE(0.0000)
+ N..... STOP_SPINDLE_TURNING(0)
+ N..... SET_SPINDLE_MODE(0 0.0000)
+ N..... PROGRAM_END()
+ N..... ON_RESET()
+ N..... ON_RESET()

tests/interp/unit-conversion/test.ngc

@@ -0,0 +1,43 @@
+(Verify G20/G21 unit switching. The current position and the interpreter's)
+(internal offsets are converted, while the numbered parameters that back)
+(the work and axis offsets stay constant because they are stored in user)
+(INI units. salvaged from the retired meson-only unit_tests/interp tests)
+
+g20
+g54
+g92.1
+g10 l2 p1 x0 y0 z0 a0 b0 c0
+
+(debug, --- position conversion: move to x1 y2 z3 a4 b5 c6 in inches)
+g0 x1 y2 z3 a4 b5 c6
+(debug, in inches, expect 1 2 3 4 5 6: #5420 #5421 #5422 #5423 #5424 #5425)
+
+g21
+(debug, in mm, expect 25.4 50.8 76.2 4 5 6: #5420 #5421 #5422 #5423 #5424 #5425)
+
+g20
+(debug, back in inches, expect 1 2 3 4 5 6: #5420 #5421 #5422 #5423 #5424 #5425)
+
+(debug, --- work offsets: g10 l2 p1 x1 y2 z3 a4 b5 c6, params stay in user units)
+g10 l2 p1 x1 y2 z3 a4 b5 c6
+g54
+(debug, params as stored, expect 1 2 3 4 5 6: #5221 #5222 #5223 #5224 #5225 #5226)
+
+g21
+(debug, unchanged after g21, expect 1 2 3 4 5 6: #5221 #5222 #5223 #5224 #5225 #5226)
+
+g20
+(debug, unchanged after g20, expect 1 2 3 4 5 6: #5221 #5222 #5223 #5224 #5225 #5226)
+
+(debug, --- axis offsets: g92 x1 y2 z3 a4 b5 c6, params stay in user units)
+g92 x1 y2 z3 a4 b5 c6
+(debug, params as stored, expect -1 -2 -3 -4 -5 -6: #5211 #5212 #5213 #5214 #5215 #5216)
+
+g21
+(debug, unchanged after g21, expect -1 -2 -3 -4 -5 -6: #5211 #5212 #5213 #5214 #5215 #5216)
+
+g20
+(debug, unchanged after g20, expect -1 -2 -3 -4 -5 -6: #5211 #5212 #5213 #5214 #5215 #5216)
+
+g92.1
+m2

tests/interp/unit-conversion/test.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+rs274 -g test.ngc | awk '{$1=""; print}' | sed 's/-0\.0000/0.0000/g'
+exit "${PIPESTATUS[0]}"