Create Multiple LinuxCNC Configurations for Automated Testing

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Create Multiple LinuxCNC Configurations for Automated Testing

Description:

In order to fully test the integration of pokeys_py, pokeys_rt, and pokeys.comp with LinuxCNC, several different LinuxCNC configurations need to be created. These configurations (INI and HAL files) should cover a range of use cases, such as custom homing, different axis setups, I/O configurations, and scenarios using various peripherals like digital/analog I/O, PWM, and counters.

Tasks:

1. Define Multiple Test Configurations:

   • Create several LinuxCNC configuration sets (INI + HAL files) that simulate different setups. These should include:
     • Basic Configuration: A simple configuration with a single axis and basic I/O.
     • Custom Homing: A configuration that uses the custom homing procedure with PoKeys.
     • Multiple Axes Configuration: A setup with multiple joints/axes, including both linear and rotational joints.
     • I/O Heavy Configuration: A configuration that heavily uses Digital I/O, Analog I/O, and PWM.
     • Counter Test Configuration: A setup focused on using digital counters.
     • PoExtBus/PoRelay8: A configuration that tests PoExtBus and PoRelay8 interactions.

2. Create INI and HAL Files for Each Configuration:

   • Define the necessary INI and HAL files for each configuration.
   • Ensure that each configuration properly links with the PoKeys components (digital IO, analog IO, PWM, PEv2, etc.).
   • Provide proper mappings of pins in the HAL files and adjust axes settings in the INI files.
   • Include setups for both user-space (pokeys.comp) and real-time (pokeys_rt) components.
   • Ensure that each configuration is well-commented and documented to explain the purpose of each setting.

3. Unit Tests for Each Configuration:

   • Create unit tests that load each INI and HAL configuration in LinuxCNC simulation mode.
   • Test the interaction of each configuration with the mock pokeyslib.
   • Ensure that tests cover both valid scenarios and error handling (e.g., missing devices, out-of-range values, etc.).

4. Integration Tests Across Configurations:

   • Create integration tests that validate the complete workflow from setting up pins to performing actions like homing and controlling axes.
   • Simulate scenarios such as emergency stop activation, reaching axis limits, and toggling I/O pins.
   • Ensure that real-time performance is evaluated in the simulation environment.

5. Add Configurations to CI Pipeline:

   • Integrate the LinuxCNC configurations into the GitHub Actions pipeline.
   • Each configuration should be automatically tested on each commit/pull request.
   • Use different test stages for each configuration and report results for each.

6. Coverage Reports for Each Configuration:

   • Ensure that the test coverage for each configuration is reported and tracked.
   • Use coverage.py to generate reports, focusing on how well each configuration covers the codebase.

Acceptance Criteria:

• [ ] A set of INI and HAL configurations are created for each test scenario.
• [ ] Unit tests are written for each configuration and run in LinuxCNC simulation mode.
• [ ] Integration tests validate the interaction between components in each configuration.
• [ ] CI pipeline includes all configurations and runs tests automatically.
• [ ] Code coverage reports include results from each configuration.
• [ ] Documentation is provided for each configuration explaining its purpose and usage.

References:

• LinuxCNC INI Configuration
• LinuxCNC HAL Basics
• LinuxCNC Simulation Mode
• Pokeyslib Repository
• LinuxCNC Repository
• Mocking in Python
• Coverage.py