mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 08:41:13 -07:00
Add the senderchg and overrun bench drills; close BRINGUP item 20
Two live-fire drills in live_fire_drills.py: senderchg drops the sender mid-line with the tube lit, reconnects and expects the next laser-on to prompt again; overrun writes a 93-line fill at once into a running job and expects the report, the alarm, the disarm and a fresh prompt after $X. Both read hv_current and the thermopile for the instant emission ends and open their "nothing lit" window 2.5 s after the event, since laser_on_sampled is a one-second window count. Both passed on image 20260829190323; CAMPAIGN-LOG records the runs. BRINGUP item 20 (the arm skipped on a stale spindle state) closes: fix on the image, host and bench proven, covers in place. Its text moves to the superseded notes; items 21 to 23 are now 20 to 22. No catalog consequence: bench drills and documentation.
This commit is contained in:
ScottW514
@@ -124,6 +124,18 @@ Drills (pass a name):
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margin. `fit` reads every t2 record in the bench data dir
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and fits rise against dose. JSON records like dpatch.
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flowload t1 | flowload t2 <secs> [pct] | flowload fit
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senderchg A sender change mid-job: a 20 mm line at F60 lit on the
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press, the connection dropped five seconds in, a reconnect,
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the move finishing dark, then a fresh M3 and a 5 mm line that
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must prompt for the button again. PASS: two prompts, two arms,
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no lit sample between the drop and the second press, the
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second line marks. Two presses; JSON record.
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overrun An RX overrun mid-job: a 20 mm line at F60 lit on the press,
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a 93-line fill written at once three seconds in (about 1270
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bytes against the 1023-byte ring). PASS: the controller
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reports the overrun, stops in alarm with the window closed
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and emission ending at the alarm; after $X a fresh M3 prompts
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for the button again and a 5 mm line marks. Two presses.
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expstop Armed kill on the EXPECTED-stop path: start a mark job,
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then mid-burn POST /controller/stop (the supervisor stops
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the controller: SIGTERM, reap, exit safing). PASS: emission
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@@ -2338,6 +2350,291 @@ def drill_flowload(g):
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return 0 if rec['outcome'] == 'done' else 1
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# --- a sender change mid-job closes the window; the next laser-on prompts ----
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# The driver arms at a laser-on only while the window is closed, and a
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# sender change closes it whatever the spindle state (the consent belonged
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# to the displaced session). This drill lights a 20 mm line at F60, drops
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# the connection five seconds in with the tube lit, reconnects, lets the
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# move finish dark (the Grbl expectation: the controller runs what it
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# holds), then sends a fresh M3 and a 5 mm line: the controller must prompt
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# for the button again, and nothing may fire between the drop and the
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# second press. The material is the witness: the first mark ends where the
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# connection dropped, the second line marks whole.
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SENDERCHG_S = 400
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SENDERCHG_LINE1 = 'G1 X20 F60' # 20 s of motion
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SENDERCHG_DROP_S = 5.0 # lit seconds before the drop
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SENDERCHG_LINE2 = 'G1 X5 F600'
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def senderchg_wait_reply(g, needle, timeout):
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"""Poll the socket until a reply containing `needle` arrives."""
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end = time.time() + timeout
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seen = len(g.log)
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while time.time() < end:
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g.drain()
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for _t, ln in g.log[seen:]:
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if needle in ln:
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return True
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seen = len(g.log)
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time.sleep(0.1)
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return False
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def drill_senderchg(g):
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print('=== sender change mid-job: the next laser-on must prompt again ===')
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print('connect: %s' % prepare(g))
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print('spindle off: %s' % g.cmd('M5'))
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pre = sample_forgectrl()
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if pre is None or pre.get('armed'):
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print('REFUSED: the armed window is still open (or forgectrl is unreachable)')
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return 2
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sampler = Sampler(PCURVE_SAMPLE_HZ)
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poller = CoolPoller()
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sampler.start()
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poller.start()
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arm_cue()
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print('>>> Scrap with 25 mm of free +X travel from the head. TWO presses: one')
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print('>>> for the first line, and a second one after the reconnect, when the')
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print('>>> prompt comes again. The line goes dark at the drop and the head')
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print('>>> finishes the move without a sender; that is expected.\n')
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print('G91/G21: %s / %s' % (g.cmd('G91'), g.cmd('G21')))
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t_m3 = time.time()
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for ln in ('M3 S%d' % SENDERCHG_S, SENDERCHG_LINE1, 'M5'):
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g.s.sendall(ln.encode() + b'\n')
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prompt1 = senderchg_wait_reply(g, 'press the button', 10)
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print(' first prompt: %s' % prompt1)
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st = g.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
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if not st.startswith('Run'):
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print('ABORTED: the first job never ran (%s)' % st)
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g.rt(b'\x18')
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sampler.stop()
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poller.stop()
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return 1
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t_run1 = time.time()
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time.sleep(SENDERCHG_DROP_S)
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t_drop = time.time()
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replies_a = list(g.log)
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g.s.close() # the sender goes away, mid-line, lit
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print(' connection dropped %.1f s into the first line' % (t_drop - t_run1))
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time.sleep(1.0)
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g2 = Grbl(HOST, PORT) # a new session
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t_reconnect = time.time()
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st = g2.wait_state('Idle', 40)
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t_idle1 = time.time()
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print(' reconnected; the first move ended dark %.1f s after the drop (state %s)'
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% (t_idle1 - t_drop, st))
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cs = sample_forgectrl() or {}
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print(' engine after the drop: armed=%s verdict=%s' % (cs.get('armed'), cs.get('verdict')))
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outcome = 'done'
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t_run2 = None
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try:
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for ln in ('M3 S%d' % SENDERCHG_S, SENDERCHG_LINE2, 'M5'):
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g2.s.sendall(ln.encode() + b'\n')
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prompt2 = senderchg_wait_reply(g2, 'press the button', 10)
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print(' second prompt after the reconnect: %s' % prompt2)
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if not prompt2:
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outcome = 'no-prompt'
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g2.rt(b'\x18')
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else:
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st = g2.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
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if not st.startswith('Run'):
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outcome = 'no-run'
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g2.rt(b'\x18')
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else:
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t_run2 = time.time()
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g2.wait_state('Idle', 30)
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print(' M2: %s' % g2.cmd('G90\nM2', timeout=10))
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finally:
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try:
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g2.cmd('M5', timeout=1)
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except Exception:
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pass
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time.sleep(3.0)
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sampler.stop()
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poller.stop()
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tr = sampler.samples
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lit = [s['t'] for s in tr if (s.get('lon') or 0) > 0 or (s.get('hv') or 0) > HV_DARK_MAX]
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# laser_on_sampled is a one-second window count: it reads nonzero for
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# up to a second after the beam stops, so the gap opens 2.5 s after
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# the drop; hv_current and the thermopile answer within a sample.
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lit1 = [t for t in lit if t_run1 - 1 <= t <= t_drop + 2.5]
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lit_gap = [t for t in lit if t_drop + 2.5 < t < (t_run2 or time.time()) - 0.5]
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lit2 = [t for t in lit if t_run2 and t >= t_run2] if t_run2 else []
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hv_off = [s['t'] - t_drop for s in tr if s['t'] > t_drop and (s.get('hv') or 0) <= HV_DARK_MAX]
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print(' hv_current read dark %.2f s after the drop' % (hv_off[0] if hv_off else -1))
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print('\n--- replies (t from the first M3) ---')
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for t, ln in replies_a + g2.log:
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if ln != 'ok' and not re.match(r'\$\d+=', ln):
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print(' %+7.1f s %s' % (t - t_m3, ln))
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print('--- engine armed transitions ---')
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last = None
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for p in poller.samples:
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if 'armed' in p and p['armed'] != last:
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print(' %+7.1f s armed=%s' % (p['t'] - t_m3, p['armed']))
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last = p['armed']
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print('--- emission (lit samples at 25 Hz) ---')
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print(' first line, press to drop: %d samples (%.1f s)' % (len(lit1), len(lit1) / 25.0))
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print(' drop to second press: %d samples <- must be 0' % len(lit_gap))
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print(' second line: %d samples (%.1f s)' % (len(lit2), len(lit2) / 25.0))
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ok = outcome == 'done' and prompt1 and len(lit1) > 25 and not lit_gap and len(lit2) > 5
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print('\n%s: %s' % ('PASS' if ok else 'FAIL',
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'the drop closed the window, nothing fired until the second press, '
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'and the second laser-on prompted and armed' if ok else outcome))
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rec = {'drill': 'senderchg', 'date': time.strftime('%Y-%m-%dT%H:%M:%S'),
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't_m3': t_m3, 't_run1': t_run1, 't_drop': t_drop, 't_reconnect': t_reconnect,
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't_run2': t_run2, 'outcome': outcome, 'pass': bool(ok),
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'replies': replies_a + g2.log, 'poll': poller.samples, 'trace': tr}
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ddir = os.environ.get('FORGETEST_BENCH_DATA') or ('/tmp' if sampler.local else os.getcwd())
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path = os.path.join(ddir, 'senderchg_%s.json' % time.strftime('%Y%m%d-%H%M%S'))
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try:
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with open(path, 'w') as f:
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json.dump(rec, f, indent=1)
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print('record: %s' % path)
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except OSError as e:
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print('record not written: %s' % e)
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return 0 if ok else 1
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# --- an RX overrun mid-job stops the job and closes the window ---------------
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# A sender that writes past the RX ring (Bf: is the contract) loses lines,
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# and the driver now drops the overrunning line whole, reports the overrun
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# and stops the job the way a ^X does: alarm, latch relocked, window
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# closed. This drill lights a 20 mm line at F60 on the press, writes a
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# 93-line fill at once three seconds in (about 1270 bytes against the
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# 1023-byte ring), and expects the report, the alarm and the disarm, with
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# emission ending at the alarm; then $X, a fresh M3 and a 5 mm line must
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# prompt for the button again and mark.
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OVERRUN_S = 400
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OVERRUN_LINE1 = 'G1 X20 F60'
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OVERRUN_BLAST_S = 3.0 # lit seconds before the blast
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OVERRUN_LINE2 = 'G1 X5 F600'
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def drill_overrun(g):
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print('=== RX overrun mid-job: report, alarm, disarm; the next laser-on prompts ===')
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print('connect: %s' % prepare(g))
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print('spindle off: %s' % g.cmd('M5'))
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pre = sample_forgectrl()
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if pre is None or pre.get('armed'):
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print('REFUSED: the armed window is still open (or forgectrl is unreachable)')
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return 2
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lines, _dx, _dy = dpatch_gcode(1500, 30.0, 0.3, 46)
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blast = ''.join(ln + '\n' for ln in lines + ['M5']).encode()
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sampler = Sampler(PCURVE_SAMPLE_HZ)
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poller = CoolPoller()
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sampler.start()
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poller.start()
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arm_cue()
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print('>>> Scrap with 25 mm of free +X and 15 mm of +Y travel from the head.')
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print('>>> TWO presses: one for the first line, and a second one after the')
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print('>>> overrun alarm has been cleared, when the prompt comes again. The')
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print('>>> blast is %d bytes written at once %.0f s into the line.\n'
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% (len(blast), OVERRUN_BLAST_S))
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print('G91/G21: %s / %s' % (g.cmd('G91'), g.cmd('G21')))
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t_m3 = time.time()
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for ln in ('M3 S%d' % OVERRUN_S, OVERRUN_LINE1):
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g.s.sendall(ln.encode() + b'\n')
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prompt1 = senderchg_wait_reply(g, 'press the button', 10)
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print(' first prompt: %s' % prompt1)
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st = g.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
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if not st.startswith('Run'):
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print('ABORTED: the first job never ran (%s)' % st)
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g.rt(b'\x18')
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sampler.stop()
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poller.stop()
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return 1
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t_run1 = time.time()
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time.sleep(OVERRUN_BLAST_S)
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t_blast = time.time()
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g.s.sendall(blast)
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reported = senderchg_wait_reply(g, 'RX overrun', 10)
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t_report = time.time()
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st = g.wait_state('Alarm', 10)
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t_alarm = time.time()
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print(' overrun reported: %s (%.1f s after the blast); state %s' % (reported, t_report - t_blast, st))
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outcome = 'done'
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t_run2 = None
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prompt2 = False
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try:
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if not reported or not st.startswith('Alarm'):
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outcome = 'no-report' if not reported else 'no-alarm'
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g.rt(b'\x18')
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else:
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time.sleep(2.0)
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g.drain()
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print(' unlock: %s' % g.cmd('$X'))
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for ln in ('M3 S%d' % OVERRUN_S, OVERRUN_LINE2, 'M5'):
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g.s.sendall(ln.encode() + b'\n')
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prompt2 = senderchg_wait_reply(g, 'press the button', 10)
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print(' second prompt after the alarm: %s' % prompt2)
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if not prompt2:
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outcome = 'no-prompt'
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g.rt(b'\x18')
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else:
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st = g.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
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if not st.startswith('Run'):
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outcome = 'no-run'
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g.rt(b'\x18')
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else:
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t_run2 = time.time()
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g.wait_state('Idle', 30)
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print(' M2: %s' % g.cmd('G90\nM2', timeout=10))
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finally:
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try:
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g.cmd('M5', timeout=1)
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except Exception:
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pass
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time.sleep(3.0)
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sampler.stop()
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poller.stop()
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tr = sampler.samples
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lit = [s['t'] for s in tr if (s.get('lon') or 0) > 0 or (s.get('hv') or 0) > HV_DARK_MAX]
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# laser_on_sampled is a one-second window count (see senderchg): the
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# gap opens 2.5 s after the alarm; hv_current answers within a sample.
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lit1 = [t for t in lit if t_run1 - 1 <= t <= t_alarm + 2.5]
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lit_gap = [t for t in lit if t_alarm + 2.5 < t < (t_run2 or time.time()) - 0.5]
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lit2 = [t for t in lit if t_run2 and t >= t_run2] if t_run2 else []
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hv_off = [s['t'] - t_blast for s in tr if s['t'] > t_blast and (s.get('hv') or 0) <= HV_DARK_MAX]
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print(' hv_current read dark %.2f s after the blast' % (hv_off[0] if hv_off else -1))
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last_lit_after_blast = max([t for t in lit if t <= (t_run2 or time.time())], default=t_blast)
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print('\n--- replies (t from the first M3) ---')
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for t, ln in g.log:
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if ln != 'ok' and not re.match(r'\$\d+=', ln):
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print(' %+7.1f s %s' % (t - t_m3, ln))
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print('--- engine armed transitions ---')
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last = None
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for p in poller.samples:
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if 'armed' in p and p['armed'] != last:
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print(' %+7.1f s armed=%s' % (p['t'] - t_m3, p['armed']))
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last = p['armed']
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print('--- emission (lit samples at 25 Hz) ---')
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print(' first line, press to alarm: %d samples (%.1f s); last lit sample %.2f s after the blast'
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% (len(lit1), len(lit1) / 25.0, last_lit_after_blast - t_blast))
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print(' alarm to second press: %d samples <- must be 0' % len(lit_gap))
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print(' second line: %d samples (%.1f s)' % (len(lit2), len(lit2) / 25.0))
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ok = outcome == 'done' and prompt1 and prompt2 and reported and not lit_gap and len(lit2) > 5
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print('\n%s: %s' % ('PASS' if ok else 'FAIL',
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'the overrun was reported, the job stopped in alarm with the window '
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'closed, nothing fired until the second press, and the next laser-on '
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'prompted and armed' if ok else outcome))
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rec = {'drill': 'overrun', 'date': time.strftime('%Y-%m-%dT%H:%M:%S'),
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't_m3': t_m3, 't_run1': t_run1, 't_blast': t_blast, 't_report': t_report,
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't_alarm': t_alarm, 't_run2': t_run2, 'blast_bytes': len(blast),
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'outcome': outcome, 'pass': bool(ok),
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'replies': g.log, 'poll': poller.samples, 'trace': tr}
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ddir = os.environ.get('FORGETEST_BENCH_DATA') or ('/tmp' if sampler.local else os.getcwd())
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path = os.path.join(ddir, 'overrun_%s.json' % time.strftime('%Y%m%d-%H%M%S'))
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try:
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with open(path, 'w') as f:
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json.dump(rec, f, indent=1)
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print('record: %s' % path)
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except OSError as e:
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print('record not written: %s' % e)
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return 0 if ok else 1
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# --- the rapids after an M5 ship dark ----------------------------------------
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# One constant-power line, M5, then two rapids over it with dwells between,
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@@ -2528,6 +2825,7 @@ def main():
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'pthresh': drill_pthresh, 'dladder': drill_dladder,
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'pcurve': drill_pcurve, 'm5dark': drill_m5dark,
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'dpatch': drill_dpatch, 'flowload': drill_flowload,
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'senderchg': drill_senderchg, 'overrun': drill_overrun,
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'expstop': drill_expstop, 'ctrlstart': drill_ctrlstart}
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if drill not in drills:
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print(__doc__)
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Reference in New Issue
Block a user