1  #!/bin/bash
 2  
 3  rm -f gcode-output
 4  
 5  linuxcnc -r linuxcncrsh-test.ini &
 6  
 7  
 8  # let linuxcnc come up
 9  TOGO=80
10  while [  $TOGO -gt 0 ]; do
11      echo trying to connect to linuxcncrsh TOGO=$TOGO
12      if nc -z localhost 5007; then
13          break
14      fi
15      sleep 0.25
16      TOGO=$(($TOGO - 1))
17  done
18  if [  $TOGO -eq 0 ]; then
19      echo connection to linuxcncrsh timed out
20      exit 1
21  fi
22  
23  # switch back and forth between tool 1 and tool 2 every few MDI calls
24  rm -f expected-gcode-output lots-of-gcode
25  printf "P is %.6f\n" -1 >> expected-gcode-output
26  NUM_MDIS=1
27  NUM_MDIS_LEFT=$NUM_MDIS
28  TOOL=1
29  for i in $(seq 0 1000); do
30      NUM_MDIS_LEFT=$(($NUM_MDIS_LEFT - 1))
31      if [ $NUM_MDIS_LEFT -eq 0 ]; then
32          echo "set mdi t$TOOL m6" >> lots-of-gcode
33          if [ $TOOL -eq 1 ]; then
34              TOOL=2
35          else
36              TOOL=1
37          fi
38  
39          NUM_MDIS=$(($NUM_MDIS + 1))
40          if [ $NUM_MDIS -gt 10 ]; then
41              NUM_MDIS=1
42          fi
43  
44          NUM_MDIS_LEFT=$NUM_MDIS
45      fi
46      echo "set mdi m100 p$i" >> lots-of-gcode
47      printf "P is %.6f\n" $i  >> expected-gcode-output
48  done
49  printf "P is %.6f\n" -2 >> expected-gcode-output
50  
51  (
52      echo hello EMC mt 1.0
53      echo set enable EMCTOO
54  
55      # ask linuxcncrsh to not read the next command until it's done running
56      # the current one
57      #echo set set_wait done
58  
59      echo set mode manual
60      echo set estop off
61      echo set machine on
62  
63      echo set mode mdi
64      echo set mdi m100 p-1
65      echo set wait done
66  
67      # here comes a big blob
68      dd bs=4096 if=lots-of-gcode
69  
70      echo set mdi m100 p-2
71      echo set wait done
72  
73      echo shutdown
74  ) | nc localhost 5007
75  
76  
77  # wait for linuxcnc to finish
78  wait
79  
80  exit 0
81