WIP: UI smoke tests for axis, touchy, gmoccapy, qtdragon

debian/control.top.in

@@ -48,6 +48,23 @@ Build-Depends:
     tk@TCLTK_VERSION@-dev,
     xvfb <!nocheck>,
     x11-xserver-utils <!nocheck>,
+    python3-opengl <!nocheck>,
+    python3-pyqt5 <!nocheck>,
+    python3-pyqt5.qsci <!nocheck>,
+    python3-pyqt5.qtsvg <!nocheck>,
+    python3-pyqt5.qtopengl <!nocheck>,
+    python3-pyqt5.qtwebengine <!nocheck>,
+    pyqt5-dev-tools <!nocheck>,
+    python3-dbus <!nocheck>,
+    python3-dbus.mainloop.pyqt5 <!nocheck>,
+    python3-qtpy <!nocheck>,
+    python3-cairo <!nocheck>,
+    python3-gi <!nocheck>,
+    python3-gi-cairo <!nocheck>,
+    gir1.2-gtk-3.0 <!nocheck>,
+    gir1.2-gtksource-4 <!nocheck>,
+    python3-numpy <!nocheck>,
+    python3-configobj <!nocheck>,
     libfmt-dev,
     yapps2
 Build-Depends-Indep:

tests/ui-smoke/.gitignore

@@ -0,0 +1,7 @@
+# Runtime artifacts left by launch.sh; per Bertho's clean-tree rule,
+# generated build/test outputs must be gitignored or committed.
+linuxcnc.out
+linuxcnc.err
+linuxcnc.pid
+ui-smoke.out
+ui-smoke.err

tests/ui-smoke/README

@@ -0,0 +1,26 @@
+UI smoke tests
+~~~~~~~~~~~~~~
+
+These tests launch each GUI (axis, touchy, gmoccapy, qtdragon) under
+xvfb-run against an existing sim config and verify the GUI starts and
+the NML task is reachable. Phase 1 ("does it start"); functional
+checks (load G-code, jog, MDI) belong in tests/ui-functional/.
+
+Each test directory contains:
+  test.sh       launches the GUI under xvfb-run, runs drive.py
+  checkresult   examines the captured output for crash markers
+  skip          skips this test only when xvfb-run is not on the host
+
+Shared helpers live in _lib/:
+  drive.py            common NML driver, prints UI_SMOKE_OK on success
+  launch.sh           xvfb-run wrapper, signal escalation for shutdown
+  cleanup-runtime.sh  belt-and-suspenders: kill stray daemons, ipcrm
+                      shared memory, drop /tmp/linuxcnc.lock
+  checkresult.sh      shared pass/fail predicate
+  skip-if-missing.sh  shared skip predicate
+
+Skip vs fail policy: the only condition we skip on is xvfb-run absence
+(rare local dev env). Python and gi typelib deps the GUIs need are
+declared in debian/control under !nocheck so apt-get build-dep
+installs them on CI; if they are missing the test should fail loudly
+rather than silently skip, so missing deps surface during review.

tests/ui-smoke/_lib/checkresult.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+# Shared result check for UI smoke tests.
+#
+# Pass if the driver printed UI_SMOKE_OK and did not print UI_SMOKE_FAIL.
+# The driver only emits UI_SMOKE_OK after a successful NML round-trip
+# (linuxcnc task ready and stat.poll() still alive after settle), so
+# this is sufficient evidence that the GUI booted. We do not grep for
+# generic crash markers like "Segmentation fault" or "Traceback":
+# linuxcnc's own scripts/linuxcnc Cleanup may emit shutdown-side
+# segfaults (Qt/GTK teardown races) that are out of scope for a
+# startup smoke test, and the driver-signal approach catches the
+# startup-time failures we actually care about.
+set -u
+
+if [ $# -lt 1 ]; then
+    echo "FAIL: checkresult requires the result-log path as argument" >&2
+    exit 1
+fi
+
+LOG="$1"
+
+if grep -q '^UI_SMOKE_FAIL' "$LOG"; then
+    echo "FAIL: driver reported UI_SMOKE_FAIL" >&2
+    exit 1
+fi
+
+if ! grep -q '^UI_SMOKE_OK$' "$LOG"; then
+    echo "FAIL: driver did not report UI_SMOKE_OK" >&2
+    exit 1
+fi
+
+exit 0

tests/ui-smoke/_lib/cleanup-runtime.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+# Reset linuxcnc-related runtime state so the next ui-smoke test starts
+# from a clean environment. Used as both a pre-launch belt-and-braces
+# cleanup and as a post-shutdown last-resort if scripts/linuxcnc's own
+# SIGTERM trap could not reap everything in time.
+#
+# SHM_KEYS mirrors SHMEM_KEY in scripts/runtests:157. If a ui-smoke
+# crash leaks any of these, the next runtests invocation aborts in
+# test_shmem(); we must clean the full set.
+
+set -u
+
+DAEMONS=(linuxcncsvr milltask halui rtapi_app)
+SHM_KEYS=(0x00000064 0x48414c32 0x48484c34 0x90280a48 0x130cf406 0x434c522b)
+
+for proc in "${DAEMONS[@]}"; do
+    pkill -KILL -x "$proc" 2>/dev/null || true
+done
+
+rm -f /tmp/linuxcnc.lock
+halrun -U 2>/dev/null || true
+
+for key in "${SHM_KEYS[@]}"; do
+    shmid=$(LC_ALL=C ipcs -m | awk -v k="$key" 'tolower($1)==k {print $2}')
+    if [ -n "$shmid" ]; then
+        ipcrm -m "$shmid" 2>/dev/null || true
+    fi
+done
+
+exit 0

tests/ui-smoke/_lib/drive.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+# Minimal UI smoke driver: confirm linuxcnc task came up and the GUI
+# did not crash. The smoke layer answers Bertho's "does it start"
+# question only; functional behaviour (home, run a file, verify
+# position) belongs in tests/ui-functional/ (Phase 2).
+
+import linuxcnc
+import sys
+import time
+
+CONNECT_TIMEOUT_S = 60.0
+SETTLE_S = 3.0
+
+
+def connect_and_wait_ready(timeout):
+    """Wait until linuxcnc.stat().poll() returns without error and
+    reports a non-negative echo_serial_number. The NML status buffer
+    can be 'invalid err=3' for the first ~30s while linuxcncsvr is
+    still initialising; recreate the stat object on every iteration so
+    a stale invalid buffer does not stick after linuxcncsvr is ready."""
+    deadline = time.monotonic() + timeout
+    last_err = None
+    while time.monotonic() < deadline:
+        try:
+            stat = linuxcnc.stat()
+            stat.poll()
+            if stat.echo_serial_number >= 0:
+                return linuxcnc.command(), stat
+        except linuxcnc.error as e:
+            last_err = e
+        time.sleep(0.5)
+    sys.stderr.write(
+        f"UI_SMOKE_FAIL: task not ready within {timeout}s "
+        f"(last NML error: {last_err})\n")
+    return None, None
+
+
+def main():
+    cmd, stat = connect_and_wait_ready(CONNECT_TIMEOUT_S)
+    if cmd is None:
+        return 1
+
+    # Give the GUI process enough time to finish constructing itself
+    # (load .ui files, compile resources.py if needed, etc.) and
+    # settle. If the GUI was going to crash on startup it has crashed
+    # by now.
+    time.sleep(SETTLE_S)
+
+    # Re-check task is still alive; a GUI crash may have torn linuxcnc
+    # down via Cleanup.
+    try:
+        stat.poll()
+    except linuxcnc.error as e:
+        sys.stderr.write(f"UI_SMOKE_FAIL: task disappeared after GUI startup: {e}\n")
+        return 1
+
+    print("UI_SMOKE_OK")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

tests/ui-smoke/_lib/launch.sh

@@ -0,0 +1,105 @@
+#!/bin/bash
+# Shared launcher for UI smoke tests.
+# Usage: launch.sh <sim-config-ini>
+#
+# Spawns linuxcnc -r <ini> under xvfb-run, then runs the common driver
+# script against it via NML. Captures stdout/stderr to per-test files.
+#
+# Skip vs fail (BsAtHome / hdiethelm review, PR #3999): xvfb-run absence
+# is handled by the per-test skip files (skip-if-missing.sh), which
+# runtests gates on before invoking test.sh. CI is expected to have all
+# required deps; if any python module the GUI needs is missing the test
+# should fail loudly rather than silently skip. Per-GUI deps are
+# declared in debian/control under !nocheck, so apt-get build-dep
+# installs them on CI.
+
+set -u
+
+CONFIG_INI="$1"
+TEST_DIR="${TEST_DIR:-$(cd "$(dirname "$0")" && pwd)}"
+LIB_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+cd "$TEST_DIR" || exit 1
+rm -f ui-smoke.out ui-smoke.err linuxcnc.pid
+
+# Pre-launch cleanup: a previous ui-smoke test in the same job may
+# have left a daemon listening on the NML TCP port or HAL shared
+# memory still attached. Run the shared cleanup once before we start.
+bash "$LIB_DIR/cleanup-runtime.sh"
+
+# Launch linuxcnc inside xvfb-run. The outer timeout is a safety net
+# so a wedged GUI cannot hang CI.
+LINUXCNC_TIMEOUT=240
+DRIVER_TIMEOUT=90
+
+# Force software OpenGL (Mesa llvmpipe). CI runners have no GPU and
+# Qt/GL widgets segfault under hardware GL with no display. The Qt-
+# specific knobs cover qtdragon's QtQuick + RHI paths.
+export LIBGL_ALWAYS_SOFTWARE=1
+export GALLIUM_DRIVER=llvmpipe
+export QT_QUICK_BACKEND=software
+export QSG_RHI_BACKEND=software
+export QT_OPENGL=software
+
+# Export the per-invocation values so the inner bash -c receives them
+# as proper env vars (avoids embedding paths into the inner script
+# via quoting, which breaks on apostrophes / spaces).
+export CONFIG_INI LIB_DIR DRIVER_TIMEOUT
+
+# Single quotes around the inner script are intentional: CONFIG_INI,
+# LIB_DIR and DRIVER_TIMEOUT are expanded by the inner bash (which sees
+# them via the exported env), not by the outer shell.
+# shellcheck disable=SC2016
+xvfb-run -a --server-args="-screen 0 1024x768x24" \
+    timeout "$LINUXCNC_TIMEOUT" \
+    bash -c '
+        # Run linuxcnc in its own process group so we can signal the
+        # whole group cleanly (linuxcnc forks task, motion, GUI, halrun).
+        # setsid makes the child a session leader, so its PID equals
+        # the PGID and we can group-signal via "kill -- -$PID".
+        setsid linuxcnc -r "$CONFIG_INI" >linuxcnc.out 2>linuxcnc.err &
+        LINUXCNC_PID=$!
+        echo "$LINUXCNC_PID" >linuxcnc.pid
+
+        # The driver polls NML readiness itself (BsAtHome review:
+        # avoid real-clock waits where status polling will do).
+        timeout "$DRIVER_TIMEOUT" python3 "$LIB_DIR/drive.py" >ui-smoke.out 2>ui-smoke.err
+        DRIVE_RC=$?
+
+        # Clean shutdown: GUI-specific quit first (lets linuxcnc end
+        # its own SIGTERM trap run Cleanup which unloads halrun and
+        # reaps shared memory). axis-remote works only for axis but is
+        # harmless otherwise. Then group-SIGTERM so the trap runs
+        # in-process. Wait up to 60s for Cleanup to finish before
+        # falling back to SIGKILL + cleanup-runtime.sh.
+        if command -v axis-remote >/dev/null 2>&1; then
+            axis-remote --quit 2>/dev/null || true
+        fi
+
+        kill -TERM -- -"$LINUXCNC_PID" 2>/dev/null || true
+        for _ in $(seq 60); do
+            kill -0 "$LINUXCNC_PID" 2>/dev/null || break
+            sleep 1
+        done
+        if kill -0 "$LINUXCNC_PID" 2>/dev/null; then
+            echo "WARN: linuxcnc did not exit on SIGTERM, escalating to KILL" >&2
+            kill -KILL -- -"$LINUXCNC_PID" 2>/dev/null || true
+            sleep 2
+            bash "$LIB_DIR/cleanup-runtime.sh"
+        fi
+
+        exit "$DRIVE_RC"
+    '
+RC=$?
+
+# Surface logs so checkresult and CI artifact upload can see them.
+echo "=== linuxcnc.out ==="
+[ -f linuxcnc.out ] && cat linuxcnc.out
+echo "=== linuxcnc.err ==="
+[ -f linuxcnc.err ] && cat linuxcnc.err
+echo "=== ui-smoke.out ==="
+[ -f ui-smoke.out ] && cat ui-smoke.out
+echo "=== ui-smoke.err ==="
+[ -f ui-smoke.err ] && cat ui-smoke.err
+
+exit "$RC"

tests/ui-smoke/_lib/run-gui.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+# Dispatcher invoked from each per-GUI test.sh. Resolves an INI path
+# under configs/sim/ and execs launch.sh in the caller's test dir.
+# Usage: run-gui.sh <relpath-under-configs/sim>
+#   e.g. run-gui.sh axis/axis.ini
+#        run-gui.sh qtdragon/qtdragon_xyz/qtdragon_metric.ini
+
+set -u
+
+LIB_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+TEST_DIR="${TEST_DIR:-$(cd "$(dirname "$0")" && pwd)}"
+CONFIGS_DIR="$(cd "$LIB_DIR/../../../configs/sim" && pwd)"
+
+export TEST_DIR
+exec "$LIB_DIR/launch.sh" "$CONFIGS_DIR/$1"

tests/ui-smoke/_lib/skip-if-missing.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+# Shared "skip" predicate for ui-smoke tests.
+# runtests semantics: a `skip` script that returns non-zero causes the
+# test to be skipped. Per-test skip files invoke this.
+#
+# We only skip on xvfb-run absence (rare local dev env). Python /
+# typelib deps are declared in debian/control under !nocheck so CI
+# always has them; missing deps should fail the test loudly rather
+# than silently skip (BsAtHome / hdiethelm review, PR #3999).
+set -u
+
+if ! command -v xvfb-run >/dev/null 2>&1; then
+    echo "skip: xvfb-run not installed" >&2
+    exit 1
+fi
+
+exit 0

tests/ui-smoke/axis/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult.sh" "$@"

tests/ui-smoke/axis/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"

tests/ui-smoke/axis/test.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/run-gui.sh" axis/axis.ini

tests/ui-smoke/gmoccapy/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult.sh" "$@"

tests/ui-smoke/gmoccapy/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"

tests/ui-smoke/gmoccapy/test.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/run-gui.sh" gmoccapy/gmoccapy.ini

tests/ui-smoke/qtdragon/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult.sh" "$@"

tests/ui-smoke/qtdragon/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"

tests/ui-smoke/qtdragon/test.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/run-gui.sh" qtdragon/qtdragon_xyz/qtdragon_metric.ini

tests/ui-smoke/touchy/checkresult

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/checkresult.sh" "$@"

tests/ui-smoke/touchy/skip

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/skip-if-missing.sh"

tests/ui-smoke/touchy/test.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$(dirname "$0")/../_lib/run-gui.sh" touchy/touchy.ini