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homing.manual and the harnesses: the gantry stops by name

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The parts the manual home rests against are the gantry stops in
homing.manual's title and comments, in manual_home_test.py's
docstrings, and in a comment of the baseline's hand-back. No check
changes.

Acceptance: homing.manual's own text changed, inside its function, so
no other test's fingerprint moves. manual_home_test.py passes against
the driver.
This commit is contained in:
ScottW514
2026-09-26 12:08:07 -04:00
parent b494bbecb5
commit 1727b819cb
3 changed files with 8 additions and 8 deletions
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forgetest/forgetest/baseline.py
+1 -1
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@@ -895,7 +895,7 @@ class Baseline:
# wherever the head then stood. Unless the test said where that was # wherever the head then stood. Unless the test said where that was
# (ctx.counters_rezeroed), the two readings share no frame: on the # (ctx.counters_rezeroed), the two readings share no frame: on the
# bench reference a head that had not moved was "returned" 30 mm into # bench reference a head that had not moved was "returned" 30 mm into
# the stop blocks this way, twice. Nothing is moved on a guess. # the gantry stops this way, twice. Nothing is moved on a guess.
frame_lost = ("frame" in captured and captured["frame"] != counter_frame() frame_lost = ("frame" in captured and captured["frame"] != counter_frame()
and not captured.get("rezero_declared")) and not captured.get("rezero_declared"))
if was is not None and now is not None and now != was and frame_lost and not self.cloud_mode(): if was is not None and now is not None and now != was and frame_lost and not self.cloud_mode():
forgetest/forgetest/suite/motion.py
+3 -3
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@@ -1995,7 +1995,7 @@ def motor_release(ctx):
"energized with no fault, and the liveness probe and the witnessed jogs say the drivers are alive") "energized with no fault, and the liveness probe and the witnessed jogs say the drivers are alive")
@test("homing.manual", title="Manual home: $H declares the stop-block position and jogs to an offset origin", @test("homing.manual", title="Manual home: $H declares the gantry-stop position and jogs to an offset origin",
subsystem="motion", kind="auto", mode="grbl", est_min=5, subsystem="motion", kind="auto", mode="grbl", est_min=5,
covers=_MOTION_COVERS + [("forgectrl", "src/status.*"), ("forgectrl", "src/main.c")], covers=_MOTION_COVERS + [("forgectrl", "src/status.*"), ("forgectrl", "src/main.c")],
requires=["motion.jog-roundtrip"], requires=["motion.jog-roundtrip"],
@@ -2057,7 +2057,7 @@ def manual_home(ctx):
ctx.check(ev["past_envelope"] == "error:15", ctx.check(ev["past_envelope"] == "error:15",
"a jog past the envelope after the home got %s, not error:15", ev["past_envelope"]) "a jog past the envelope after the home got %s, not error:15", ev["past_envelope"])
# With an offset: the head at the blocks is minus it, and $H jogs # With an offset: the head at the gantry stops is minus it, and $H jogs
# it to the origin before it answers. # it to the origin before it answers.
st, body = fc.post("/settings", data={"manual_home_x": "%g" % offset[0], st, body = fc.post("/settings", data={"manual_home_x": "%g" % offset[0],
"manual_home_y": "%g" % offset[1]}) "manual_home_y": "%g" % offset[1]})
@@ -2117,7 +2117,7 @@ def manual_home(ctx):
# controller start zeroes them: left like this, the next test # controller start zeroes them: left like this, the next test
# that restarts the controller reads as out of place and the # that restarts the controller reads as out of place and the
# hand-back "returns" a head that never moved (on the bench # hand-back "returns" a head that never moved (on the bench
# reference it drove the head into the stop blocks). One more # reference it drove the head into the gantry stops). One more
# start, with the head back, leaves the counters at zero where the # start, with the head back, leaves the counters at zero where the
# run began, which is what the rest of the catalog counts on. # run began, which is what the rest of the catalog counts on.
_drop_reference(ctx, fc) _drop_reference(ctx, fc)
scripts/bench/manual_home_test.py
+4 -4
View File
@@ -25,8 +25,8 @@ operator's own $ME or a manual $H energizes it:
6. the port's panel operations (release, energize, home) do the same with 6. the port's panel operations (release, energize, home) do the same with
a sender connected, and the sender's response count stays exact; home a sender connected, and the sender's response count stays exact; home
is refused unless homing_mode = manual is refused unless homing_mode = manual
7. manual_home_x and manual_home_y: how far in front of the stop blocks 7. manual_home_x and manual_home_y: how far in front of the gantry stops
the origin lies, never negative. With an offset the head at the blocks the origin lies, never negative. With an offset the head at the stops
is declared at minus it and jogs to the origin, dark, before $H is declared at minus it and jogs to the origin, dark, before $H
answers, through the sender and through the port; the envelope starts answers, through the sender and through the port; the envelope starts
at the origin, and an out-of-range offset is clamped; a jog cancel at the origin, and an out-of-range offset is clamped; a jog cancel
@@ -393,8 +393,8 @@ def test_restart_while_released(s):
def test_stop_block_offsets(s): def test_stop_block_offsets(s):
"""manual_home_x and _y are how far in front of the stop blocks the origin """manual_home_x and _y are how far in front of the gantry stops the origin
lies, never negative: the head at the blocks is declared at minus them and lies, never negative: the head at the stops is declared at minus them and
jogs to the origin, dark, before $H answers, and the envelope starts at jogs to the origin, dark, before $H answers, and the envelope starts at
the origin.""" the origin."""
s.sender.wait_state("Idle") s.sender.wait_state("Idle")