Use local instead of LIB:core_sim and define num_spindles based on te…

…st config. Fix [JOINT_0] velocity and accel. Add [EMC]MACHINE to reduce warnings. Add [TRAJ]SPINDLES to tighten tests.

tests/linuxcncrsh/core_sim.hal

@@ -0,0 +1,51 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
+# load 6 differentiators (for velocity and accel signals
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+

tests/linuxcncrsh/linuxcncrsh-test.ini

@@ -1,4 +1,5 @@
 [EMC]
+MACHINE = linuxcncrsh-test
 VERSION = 1.1
 DEBUG = 0x7FFFFFFF
 RCS_DEBUG = 0xEF67FFFF
@@ -57,12 +58,13 @@ MAX_ACCELERATION = 100.0
 [KINS]
 KINEMATICS = trivkins
 JOINTS = 3
+SPINDLES = 2
 
 [JOINT_0]
 TYPE =             LINEAR
 HOME =             0.000
-MAX_LINEAR_VELOCITY =     4
-MAX_LINEAR_ACCELERATION = 100.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 100.0
 BACKLASH =         0.000
 INPUT_SCALE =      4000
 OUTPUT_SCALE =     1.000