Faster ui-smoke and workplane-retain: wait on the GUI, and two shutdown waits that never ended

lib/python/common/hal_glib.py

@@ -615,8 +615,9 @@ def update(self):
         state_new = self.old['state']
         if state_new != state_old:
 
-            # set machine estop/clear
-            if state_old == linuxcnc.STATE_ESTOP and state_new == linuxcnc.STATE_ESTOP_RESET:
+            # set machine estop/clear; a reset and machine on between two
+            # polls go from ESTOP straight to ON and still clear the estop
+            if state_old == linuxcnc.STATE_ESTOP:
                 self.emit('state-estop-reset')
                 self.emit('interp-idle')
             elif state_new == linuxcnc.STATE_ESTOP:

scripts/linuxcnc.in

@@ -694,9 +694,21 @@ function Cleanup() {
     # Unused variable 'i', just a counter
     # shellcheck disable=SC2034
     for i in $(seq 10); do
-        # (the one component is the halcmd itself; a thread is listed as
-        # a __<name> pseudo component, which stays until realtime stops)
-        if [ "$($HALCMD list comp | tr -s ' ' '\n' | grep -c -v -e '^__' -e '^$')" = 1 ]; then break; fi
+        # Wait only for components that can still leave: a thread is
+        # listed as a __<name> pseudo component, which stays until
+        # realtime stops, and a user component whose process is gone
+        # (a GUI that exited without hal_exit) never leaves. The halcmd
+        # that listed them has exited by the time its pid is checked.
+        COMPS=$($HALCMD -s show comp)
+        BUSY=0
+        while read -r _ TYPE NAME PID _; do
+            case "$TYPE:$NAME" in
+                RT:__*) ;;
+                RT:*) BUSY=1 ;;
+                User:*) if "$KILL" -0 "$PID" 2>/dev/null; then BUSY=1; fi ;;
+            esac
+        done <<< "$COMPS"
+        if [ "$BUSY" = 0 ]; then break; fi
         sleep .2
     done
 

src/emc/usr_intf/gmoccapy/gmoccapy.py

@@ -3100,16 +3100,24 @@ def on_hal_status_tool_in_spindle_changed(self, object, new_tool_no):
         self.prefs.putpref("tool_in_spindle", new_tool_no, int)
         self._update_toolinfo(new_tool_no)
 
+    # Show a state change on a toggle button without its toggled handler,
+    # which would send the state again: when this runs late, that is an old
+    # state, and an ESTOP_RESET to a machine already on aborts its motion.
+    def _show_toggle(self, widget, active):
+        handler = icon_theme_helper.find_handler_id_by_signal(widget, "toggled")
+        with widget.handler_block(handler):
+            widget.set_active(active)
+
     def on_hal_status_state_estop(self, widget=None):
-        self.widgets.tbtn_estop.set_active(True)
+        self._show_toggle(self.widgets.tbtn_estop, True)
         self.widgets.tbtn_estop.set_image(self.widgets.img_emergency)
         self.widgets.tbtn_on.set_image(self.widgets.img_machine_off)
         self.widgets.tbtn_on.set_sensitive(False)
-        self.widgets.tbtn_on.set_active(False)
+        self._show_toggle(self.widgets.tbtn_on, False)
         self.command.mode(linuxcnc.MODE_MANUAL)
 
     def on_hal_status_state_estop_reset(self, widget=None):
-        self.widgets.tbtn_estop.set_active(False)
+        self._show_toggle(self.widgets.tbtn_estop, False)
         self.widgets.tbtn_estop.set_image(self.widgets.img_emergency_off)
         self.widgets.tbtn_on.set_image(self.widgets.img_machine_off)
         self.widgets.tbtn_on.set_sensitive(True)
@@ -3132,8 +3140,7 @@ def on_hal_status_state_off(self, widget):
                       "btn_tool_touchoff_x", "btn_tool_touchoff_z"
         ]
         self._sensitize_widgets(widgetlist, False)
-        if self.widgets.tbtn_on.get_active():
-            self.widgets.tbtn_on.set_active(False)
+        self._show_toggle(self.widgets.tbtn_on, False)
         self.widgets.tbtn_on.set_image(self.widgets.img_machine_off)
         self.widgets.btn_exit.set_sensitive(True)
         self.widgets.ntb_main.set_current_page(0)
@@ -3148,8 +3155,8 @@ def on_hal_status_state_on(self, widget):
                       "btn_spindle_100", "spc_rapid", "spc_spindle"
         ]
         self._sensitize_widgets(widgetlist, True)
-        if not self.widgets.tbtn_on.get_active():
-            self.widgets.tbtn_on.set_active(True)
+        self._show_toggle(self.widgets.tbtn_on, True)
+        self._update_widgets(True)
         self.widgets.tbtn_on.set_image(self.widgets.img_machine_on)
         self.widgets.btn_exit.set_sensitive(False)
         if self.widgets.ntb_main.get_current_page() != 0:

src/hal/user_comps/gladevcp.py

@@ -391,6 +391,11 @@ def main():
         LOG.debug("Register callback '%s' for SIGINT and SIGTERM" %(signal_func))
         signal.signal(signal.SIGTERM, handlers[signal_func])
         signal.signal(signal.SIGINT,  handlers[signal_func])
+    else:
+        # halcmd unload sends SIGTERM. The KeyboardInterrupt hal makes of
+        # it is lost when it lands in a GLib callback (the status polls),
+        # so quit from the main loop instead.
+        GLib.unix_signal_add(GLib.PRIORITY_HIGH, signal.SIGTERM, Gtk.main_quit)
 
     try:
         Gtk.main()

tests/ui-smoke/_lib/checkresult.sh

@@ -3,7 +3,7 @@
 #
 # 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
+# (linuxcnc task ready and stat.poll() still alive once the GUI is up), 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