task: undo read-ahead modes when an error aborts a program (#4715)

src/emc/task/emctaskmain.cc

@@ -2593,6 +2593,9 @@ static int emcTaskExecute(void)
 	// clear out pending command
 	emcTaskCommand = 0;
 	interp_list.clear();
+	// the interpreter read ahead of the move that failed; bring back the
+	// modes of the last executed move, as an operator abort does
+	emcTaskStateRestore();
 	emcAbortCleanup(EMC_ABORT_TASK_EXEC_ERROR);
         emcStatus->task.currentLine = 0;
 
@@ -3524,6 +3527,8 @@ int main(int argc, char *argv[])
 	    interp_list.clear();
 	    emcStatus->task.currentLine = 0;
 
+	    // as for an operator abort, undo the modes read ahead
+	    emcTaskStateRestore();
 	    emcAbortCleanup(EMC_ABORT_MOTION_OR_IO_RCS_ERROR);
 
 	    // clear out the interpreter state

tests/abort/exec-error-modes/.gitignore

@@ -0,0 +1 @@
+sim.var*

tests/abort/exec-error-modes/README

@@ -0,0 +1,6 @@
+Issue #4715: a move that motion rejects (here a soft limit) aborts the
+program with an error, but the interpreter had already read ahead past it,
+here to a G56 G19 and the M2 that resets to G54 G17. The abort left those
+modes active although the machine never reached them. This sets G55 G18 in
+MDI, runs test.ngc and checks that G55 G18 are active after the error, as
+after an operator abort.

tests/abort/exec-error-modes/checkresult

@@ -0,0 +1,2 @@
+#!/bin/sh
+exit 0 # test failure is indicated by test.sh exit value

tests/abort/exec-error-modes/core_sim.hal

@@ -0,0 +1,12 @@
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+net tool-prepare-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

tests/abort/exec-error-modes/simpockets.tbl

@@ -0,0 +1 @@
+T1 P1 ;

tests/abort/exec-error-modes/test-ui.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+
+import linuxcnc
+import linuxcnc_util
+import time
+import sys
+
+
+l = linuxcnc_util.LinuxCNC()
+c, s = l.command, l.status
+l.wait_for_linuxcnc_startup()
+e = linuxcnc.error_channel()
+
+c.state(linuxcnc.STATE_ESTOP_RESET)
+c.state(linuxcnc.STATE_ON)
+c.mode(linuxcnc.MODE_MDI)
+c.wait_complete()
+c.mdi('G55 G18')
+c.wait_complete()
+l.wait_for_interp_state(linuxcnc.INTERP_IDLE)
+
+
+def modes():
+    s.poll()
+    return s.gcodes[3], s.gcodes[8]  # plane, coordinate system
+
+
+if modes() != (180, 550):
+    print('FAIL: MDI did not set G55 G18: %s' % (modes(),))
+    sys.exit(1)
+
+c.mode(linuxcnc.MODE_AUTO)
+c.wait_complete()
+c.program_open('test.ngc')
+c.wait_complete()
+c.auto(linuxcnc.AUTO_RUN, 0)
+
+# Wait for the program to start (no fixed delay: a loaded machine may take a while).
+start = time.time()
+while time.time() - start < 10:
+    s.poll()
+    if s.interp_state != linuxcnc.INTERP_IDLE:
+        break
+    time.sleep(0.005)
+else:
+    print('FAIL: the program did not start within 10 s')
+    sys.exit(1)
+
+errors = []
+start = time.time()
+while time.time() - start < 30:
+    s.poll()
+    msg = e.poll()
+    if msg:
+        errors.append(msg[1])
+    if s.interp_state == linuxcnc.INTERP_IDLE:
+        break
+    time.sleep(0.005)
+else:
+    print('FAIL: the program did not stop within 30 s')
+    sys.exit(1)
+
+time.sleep(0.5)
+while True:
+    msg = e.poll()
+    if not msg:
+        break
+    errors.append(msg[1])
+for m in errors:
+    print('error channel: %s' % (m,))
+
+if not any('would exceed' in m for m in errors):
+    print('FAIL: motion did not reject the move beyond the limit')
+    sys.exit(1)
+
+print('after the error: plane %d, coordinate system %d' % modes())
+if modes() != (180, 550):
+    print('FAIL: the error left the modes the interpreter read ahead')
+    sys.exit(1)
+sys.exit(0)

tests/abort/exec-error-modes/test.ini

@@ -0,0 +1,115 @@
+# Simulated machine for tests/abort/exec-error-modes (issue #4715), based on tests/program-units.
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0
+RCS_DEBUG = 0x05400f01
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = core_sim.hal
+
+[TRAJ]
+
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY =      1.2
+MAX_LINEAR_ACCELERATION =      123.45
+MAX_LINEAR_VELOCITY =          45.67
+
+[EMCIO]
+EMCIO = io
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Z]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010

tests/abort/exec-error-modes/test.ngc

@@ -0,0 +1,5 @@
+(the moves start on line 2: a state tag from line 1 is never restored)
+G1 X1 F20 (about 3 s: the interpreter reads past it to the G56 G19 and the M2)
+G56 G19
+G0 X100 (beyond MAX_LIMIT: motion rejects it while the move above runs)
+M2

tests/abort/exec-error-modes/test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+rm -f sim.var
+linuxcnc -r test.ini