tests: check the posemath parallel tests as a realtime component

tests/blendmath compiled blendmath.c into a userspace program with -DULAPI. Since blendmath.c exports pmCircleEffectiveMinRadius() (#4643), EXPORT_SYMBOL is undefined there, which GCC 13 lets through as an implicit int and GCC 14 rejects. The two functions it checks are posemath's now, so it becomes tests/posemath-parallel: a component loaded after tpmod, which exports them, the way tests/kins-jacobian checks the kinematics modules. A failed check fails the load. The checks themselves are unchanged.

Author: grandixximo

src/emc/tp/tpmod.c

@@ -9,8 +9,14 @@
 #include <rtapi.h>
 #include <rtapi_app.h>
 #include <hal.h>
+#include <posemath.h>
 MODULE_LICENSE("GPL");
 
+// posemath is linked into each module that uses it.  These two are
+// exported so a component loaded after tpmod can check them.
+EXPORT_SYMBOL(pmCartCartParallel);
+EXPORT_SYMBOL(pmCartCartAntiParallel);
+
 #define TPMOD_DEBUG
 #undef  TPMOD_DEBUG
 

tests/blendmath/checkresult

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

tests/blendmath/skip

@@ -0,0 +1,102 @@
+/*
+ * Checks of the posemath parallel and anti-parallel vector tests.
+ *
+ * Salvaged from the retired meson-only unit_tests/tp/test_blendmath.c
+ * (originally by Robert W. Ellenberg). Loaded after tpmod, which exports
+ * the two functions; a failed check fails the load, and a failed load
+ * fails the test.
+ *
+ * Author: LinuxCNC
+ * License: GPL Version 2
+ * System: Linux
+ */
+
+#include <rtapi.h>
+#include <rtapi_app.h>
+#include <rtapi_errno.h>
+#include <rtapi_math.h>
+#include <hal.h>
+#include <posemath.h>
+
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("posemath parallel check");
+
+/* the tolerance the planner's blends use, ANGLE_EPSILON */
+#define ANGLE_EPSILON 1e-6
+#define ANGLE_EPSILON_SQ (ANGLE_EPSILON * ANGLE_EPSILON)
+
+static int comp_id = -1;
+static int failures = 0;
+
+#define CHECK(cond) do { \
+    if (!(cond)) { \
+        rtapi_print_msg(RTAPI_MSG_ERR, "parallelcheck: FAIL line %d: %s\n", \
+                        __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(ANGLE_EPSILON), sin(ANGLE_EPSILON), 0};
+    int k;
+
+    CHECK(pmCartCartParallel(&u0, &u0, 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 * ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartParallel(&u0, &u_close, 1.5 * 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, ANGLE_EPSILON_SQ));
+    }
+}
+
+static void test_pmCartCartAntiParallel_numerical(void)
+{
+    PmCartesian u0 = {1, 0, 0};
+    PmCartesian u_close = {-cos(ANGLE_EPSILON), sin(ANGLE_EPSILON), 0};
+    PmCartesian u_opposite = {-1, 0, 0};
+    int k;
+
+    CHECK(pmCartCartAntiParallel(&u0, &u_opposite, 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 * ANGLE_EPSILON_SQ));
+    CHECK(pmCartCartAntiParallel(&u0, &u_close, 1.5 * 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, ANGLE_EPSILON_SQ));
+    }
+}
+
+int rtapi_app_main(void)
+{
+    comp_id = hal_init("parallelcheck");
+    if (comp_id < 0) { return comp_id; }
+
+    test_pmCartCartParallel_numerical();
+    test_pmCartCartAntiParallel_numerical();
+
+    if (failures) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "parallelcheck: %d check(s) failed\n",
+                        failures);
+        hal_exit(comp_id);
+        return -ERANGE;
+    }
+
+    rtapi_print("parallelcheck: all parallel checks passed\n");
+    hal_ready(comp_id);
+    return 0;
+}
+
+void rtapi_app_exit(void) { hal_exit(comp_id); }

tests/blendmath/test.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+# Builds a realtime component with halcompile, which needs the build
+# tools present.  Skip when testing installed packages.
+[ -z "$SYSTEM_BUILD" ]

tests/blendmath/test_blendmath.c

@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+halcompile --install parallelcheck.c >/dev/null
+
+# tpmod exports the two checks; posemath is linked into each module that
+# uses it rather than loaded as a module of its own
+hal=$(mktemp --suffix=.hal)
+printf 'loadrt tpmod\nloadrt parallelcheck\n' > "$hal"
+halrun -f "$hal"
+rm -f "$hal"