tests: pass on a realtime host

tests/halmodule/halquery/expected

@@ -46,7 +46,7 @@ invert.0 {'haltype': 'function', 'name': 'invert.0', 'comp': 'invert', 'comp_id'
 or2.0 {'haltype': 'function', 'name': 'or2.0', 'comp': 'or2', 'comp_id': 'ID', 'users': 1, 'reentrant': False}
 xor2.0 {'haltype': 'function', 'name': 'xor2.0', 'comp': 'xor2', 'comp_id': 'ID', 'users': 1, 'reentrant': False}
 # Threads
-testthread {'haltype': 'thread', 'name': 'testthread', 'comp': '__testthread', 'comp_id': 'ID', 'priority': 0, 'period': 1000000, 'functions': [{'haltype': 'threadfunction', 'name': 'and2.0', 'index': 0, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'or2.0', 'index': 1, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'xor2.0', 'index': 2, 'is_init': False}]}
+testthread {'haltype': 'thread', 'name': 'testthread', 'comp': '__testthread', 'comp_id': 'ID', 'priority': 'PRIO', 'period': 1000000, 'functions': [{'haltype': 'threadfunction', 'name': 'and2.0', 'index': 0, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'or2.0', 'index': 1, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'xor2.0', 'index': 2, 'is_init': False}]}
 # Signal pins
 and2.0.out {'haltype': 'pin', 'name': 'and2.0.out', 'type': <Type.BOOL>, 'dir': <Dir.OUT>, 'value': False, 'alias': None, 'signal': 'net-xor-a', 'comp': 'and2', 'comp_id': 'ID'}
 xor2.0.in0 {'haltype': 'pin', 'name': 'xor2.0.in0', 'type': <Type.BOOL>, 'dir': <Dir.IN>, 'value': False, 'alias': None, 'signal': 'net-xor-a', 'comp': 'xor2', 'comp_id': 'ID'}
@@ -65,4 +65,4 @@ Param: {'haltype': 'parameter', 'name': 'invert.0.deadband', 'type': <Type.REAL>
 Signal: {'haltype': 'signal', 'name': 'net-output', 'type': <Type.BOOL>, 'value': False, 'writers': 1, 'readers': 0, 'bidirs': 0, 'driver': 'xor2.0.out'}
 Component: {'haltype': 'component', 'name': 'and2', 'type': <CompType.REALTIME>, 'id': 'ID', 'pid': 0, 'ready': True, 'insmod': 'count=1'}
 Function: {'haltype': 'function', 'name': 'xor2.0', 'comp': 'xor2', 'comp_id': 'ID', 'users': 1, 'reentrant': False}
-Thread: {'haltype': 'thread', 'name': 'testthread', 'comp': '__testthread', 'comp_id': 'ID', 'priority': 0, 'period': 1000000, 'functions': [{'haltype': 'threadfunction', 'name': 'and2.0', 'index': 0, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'or2.0', 'index': 1, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'xor2.0', 'index': 2, 'is_init': False}]}
+Thread: {'haltype': 'thread', 'name': 'testthread', 'comp': '__testthread', 'comp_id': 'ID', 'priority': 'PRIO', 'period': 1000000, 'functions': [{'haltype': 'threadfunction', 'name': 'and2.0', 'index': 0, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'or2.0', 'index': 1, 'is_init': False}, {'haltype': 'threadfunction', 'name': 'xor2.0', 'index': 2, 'is_init': False}]}

tests/halmodule/halquery/halquerytest.py

@@ -14,6 +14,13 @@ def fix_comp_id(d):
         d['comp_id'] = "ID"
     return fix_enum_numbers(d)
 
+# The thread priority is 0 without realtime and the scheduler priority
+# with it, so mask it as well.
+def fix_thread(d):
+    if 'priority' in d:
+        d['priority'] = "PRIO"
+    return fix_comp_id(d)
+
 def fix_id(d):
     if 'id' in d:
         d['id'] = "ID"
@@ -43,7 +50,7 @@ def fix_id(d):
 
 print("# Threads")
 for n,v in hal.query.threads().items():
-    print(n, fix_comp_id(v))
+    print(n, fix_thread(v))
 
 print("# Signal pins")
 for n,v in hal.query.signalpins('net-xor-a').items():
@@ -74,4 +81,4 @@ def fix_id(d):
 print("Signal:", fix_enum_numbers(hal.query.signal('net-output')))
 print("Component:", fix_id(hal.query.comp('and2')))
 print("Function:", fix_comp_id(hal.query.funct('xor2.0')))
-print("Thread:", fix_comp_id(hal.query.thread('testthread')))
+print("Thread:", fix_thread(hal.query.thread('testthread')))

tests/stale-motion-status/test-ui.py

@@ -74,11 +74,16 @@ def settle(what, done):
         sys.exit(1)
     time.sleep(0.001)
 
+# slowkins busy waits most of a servo period, so a realtime host may
+# report a late period; only the other errors count.
+def error(err):
+    if err and "Unexpected realtime delay" not in err[1]:
+        errors.append(err[1])
+
 errors = []
 while True:
     err = e.poll()
-    if err:
-        errors.append(err[1])
+    error(err)
     s.poll()
     if s.interp_state == linuxcnc.INTERP_IDLE:
         break
@@ -89,7 +94,7 @@ def settle(what, done):
 
 err = e.poll()
 while err:
-    errors.append(err[1])
+    error(err)
     err = e.poll()
 
 for msg in failures + errors:

tests/workplane-retain/test-ui.py

@@ -23,13 +23,16 @@ def say(*a):
 c.home(-1)
 l.wait_for_home(joints=[1, 1, 1, 1, 0, 0, 0, 0, 0])
 
+# A realtime host reports a late servo period on the error channel;
+# that says nothing about the plane, so leave it out.
 def errors():
     msgs = []
     while True:
         m = e.poll()
         if not m:
             return msgs
-        msgs.append(m[1])
+        if "Unexpected realtime delay" not in m[1]:
+            msgs.append(m[1])
 
 def mdi(*cmds):
     c.mode(linuxcnc.MODE_MDI)