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https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 16:51:12 -07:00
The Z envelope survives a settings write
The Z soft limit belongs to the driver, not to $20. glowforge_homing.c owns sys.work_envelope, sys.homed and sys.soft_limits for Z, because Z is always referenced, to the lens hall edge or to where the lens stands, and the core knows neither. The core recomputes both masks from the settings and drops Z when it does: $20 clears the soft-limit mask inside its setter, and a $13x write clears the homed bit for the axis as well. z_envelope_test.py drives the null-sink controller over TCP and holds the rule. It checks that an unreferenced Z is collapsed to where the lens stands and refuses a move each way, that X and Y stay free so the reassert is Z's alone, and that neither write frees Z. It restores $132. The harness runs in the grblHAL repo's CI, next to the laser stream and lifecycle harnesses.
This commit is contained in:
ScottW514
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#!/usr/bin/env python3
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"""Host-side verification that the Z envelope survives a settings write.
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The Z soft limit belongs to the driver, not to $20. glowforge_homing.c
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owns sys.work_envelope, sys.homed and sys.soft_limits for Z: Z is always
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referenced, to the lens hall edge or to where the lens stands, and the
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core knows neither. The core recomputes both masks from the settings and
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drops Z when it does, so driver.c re-applies the envelope from the
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settings-changed chain, after the rest of the chain has run.
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The core drops Z in two places this harness drives:
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$20 clears sys.soft_limits for every axis in the setter
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$13x clears sys.homed for the axis as well, when the value changes
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Runs the native grblHAL_glowforge binary in null-sink mode (no hardware,
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no root) and drives it over TCP:
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1. the envelope is in force from boot, with $20 off: an unreferenced Z
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is collapsed to where the lens stands, so a Z move alarms
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2. it is collapsed, not merely present: a move each way alarms
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3. it is Z alone: X and Y follow $20 as the core intends, and stay free
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4. $20=0, soft limits off for every axis, does not free Z
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5. a $132 write, which un-homes Z and clears the mask in the setter,
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does not free Z either
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6. X and Y are still free after both writes
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The binary keeps its settings in EEPROM.DAT in the working directory, so
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each run starts from defaults in a temporary directory and leaves
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nothing behind.
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Usage: z_envelope_test.py [path-to-binary]
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(default ./build-native/grblHAL_glowforge)
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"""
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import os
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import re
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import shutil
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import socket
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import subprocess
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import sys
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import tempfile
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import time
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BIN = os.path.abspath(sys.argv[1] if len(sys.argv) > 1 else "build-native/grblHAL_glowforge")
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PORT = 2400
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ALARM_SOFT_LIMIT = "ALARM:2"
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def fail(msg):
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print("FAIL: %s" % msg)
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sys.exit(1)
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class Session:
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"""One null-sink controller process with its own settings store."""
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def __init__(self):
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self.workdir = tempfile.mkdtemp(prefix="z-envelope-")
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env = dict(os.environ, GF_STATE_DIR=self.workdir, FFLOG_STDERR="1")
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for key in ("GFSINK", "GF_SWITCH_FILE", "GF_VERDICT_FILE"):
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env.pop(key, None)
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self.proc = subprocess.Popen([BIN, "-p", str(PORT)],
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cwd=self.workdir, env=env,
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stdout=subprocess.DEVNULL,
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stderr=subprocess.PIPE)
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self.sock = self.connect()
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self.read(1.0) # banner and any boot messages
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def connect(self):
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for _ in range(50):
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try:
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return socket.create_connection(("127.0.0.1", PORT), timeout=1)
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except OSError:
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time.sleep(0.1)
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err = b""
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if self.proc.poll() is not None:
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err = self.proc.stderr.read() or b""
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fail("cannot connect to the controller (exit=%s)\n%s"
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% (self.proc.poll(), err.decode(errors="replace")))
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def read(self, timeout=0.8):
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out = b""
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end = time.time() + timeout
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while time.time() < end:
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self.sock.settimeout(max(0.05, end - time.time()))
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try:
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data = self.sock.recv(4096)
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except (socket.timeout, OSError):
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break
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if not data:
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break
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out += data
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return out.decode(errors="replace")
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def send(self, line, timeout=1.0):
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self.sock.sendall(b"?" if line == "?" else (line + "\n").encode())
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return self.read(timeout)
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def setting(self, key):
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reply = self.send(key)
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m = re.search(r"^%s=(\S+)" % re.escape(key), reply, re.M)
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if not m:
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fail("no value reported for %s: %r" % (key, reply))
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return m.group(1)
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def write_setting(self, assignment):
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reply = self.send(assignment)
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if "ok" not in reply:
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fail("settings write %r refused: %r" % (assignment, reply))
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def state(self):
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m = re.search(r"<(\w+)", self.send("?"))
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return m.group(1) if m else "?"
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def move(self, gcode):
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"""Run one move. Returns True when the soft limit blocked it.
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An alarm needs a reset and an unlock before the next move."""
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reply = self.send(gcode, 1.5)
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if ALARM_SOFT_LIMIT in reply:
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self.recover()
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return True
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if "ok" not in reply:
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fail("unexpected reply to %r: %r" % (gcode, reply))
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return False
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def recover(self):
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self.sock.sendall(b"\x18")
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self.read(1.0)
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self.send("$X")
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if self.state() != "Idle":
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fail("controller did not return to Idle after an alarm")
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def close(self):
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try:
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self.sock.close()
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except OSError:
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pass
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self.proc.terminate()
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try:
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self.proc.wait(timeout=5)
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except subprocess.TimeoutExpired:
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self.proc.kill()
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shutil.rmtree(self.workdir, ignore_errors=True)
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def check(ok, ok_msg, fail_msg):
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if not ok:
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fail(fail_msg)
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print("ok %s" % ok_msg)
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def blocked_both_ways(s, when):
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check(s.move("G0 Z1"), "Z+ blocked %s" % when, "a Z+ move ran %s" % when)
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check(s.move("G0 Z-1"), "Z- blocked %s" % when, "a Z- move ran %s" % when)
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def free_in_xy(s, when):
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ran = not s.move("G0 X1") and not s.move("G0 Y1")
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check(ran, "X and Y free %s" % when, "an X or Y move was blocked %s" % when)
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def main():
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if not os.path.isfile(BIN):
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fail("no controller binary at %s" % BIN)
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s = Session()
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try:
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soft = s.setting("$20")
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check(soft == "0", "$20=0 at boot, so the Z envelope is the driver's alone",
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"$20 is %s, not 0: this harness needs the default" % soft)
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blocked_both_ways(s, "at boot")
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free_in_xy(s, "at boot")
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# $20 clears sys.soft_limits for every axis inside the setter.
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s.write_setting("$20=0")
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blocked_both_ways(s, "after a $20 write")
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# $13x clears sys.homed for the axis too, but only when the value
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# changes, so move it and put it back. Both writes drop Z.
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z_travel = s.setting("$132")
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s.write_setting("$132=%.3f" % (float(z_travel) + 1.0))
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blocked_both_ways(s, "after a $132 write")
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s.write_setting("$132=%s" % z_travel)
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blocked_both_ways(s, "after $132 is restored")
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check(s.setting("$132") == z_travel, "$132 restored to %s" % z_travel,
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"$132 did not go back to %s" % z_travel)
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free_in_xy(s, "after the settings writes")
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finally:
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s.close()
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print("PASS z_envelope_test")
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if __name__ == "__main__":
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main()
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