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laser: feed hold and resume in GRBL mode, the sender-change hold

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Stream harness rule 21: a feed hold leaves no dark ground in either mode (lit into the hold, dark while held, lit from the first step out), with realtime and wait-state steps in the session runner. Lifecycle harness: the hold a sender change puts a running job into, the resume that re-arms a held job from the sender and from the button, a reset from a held job, and the resume after the grace closed the window in Hold. Live-fire drills: holdres (the pause as a corner in time, the re-arm after the grace); senderchg follows the hold. BRINGUP: the gapless-pause and sender-change items close, the facts bank gains the measured hold and resume behavior; CAMPAIGN-LOG records the proof and the bench runs. Acceptance: the pause-resume-lid-cancel text follows the behavior; the driver stays covered by src/**.
This commit is contained in:
ScottW514
2026-09-01 18:03:45 -04:00
parent 6a48cd3969
commit 8a9c6a9062
6 changed files with 530 additions and 103 deletions
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scripts/bench/laser_lifecycle_test.py
+140 -15
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@@ -66,6 +66,7 @@ ARMED = "laser armed"
DISARMED = "laser disarmed - latch locked"
BLOCKED = "laser fire blocked"
PROMPT = "press the button to start the laser job"
RESUME_PROMPT = "press the button to resume the laser job"
LID_CANCEL = "lid opened during arm - job cancelled"
LOOP_CANCEL = "interlock open during arm - job cancelled"
@@ -363,12 +364,11 @@ def test_job_window():
def test_sender_change_mid_job():
"""Rule 3, the hard case: the sender changes while the job is still
running with the spindle on, so the core never turns the spindle off
between the two sessions. The next laser-on from the new sender must
still prompt: the arm decision reads the window, not the spindle-state
record (a job whose M5 was lost leaves that record on the same way).
M3 after M4 is a state change the core always pushes through
set_state, planner-synced, so it lands once the first job's move ends."""
running with the spindle on. The window closes and the job is HELD
where the cut stopped, so the next sender finds it in Hold rather than
at the end of a dark pass. Its cycle start goes through the resume
gate, which re-arms first: with no button on a host build that is
immediate, and the job then runs to its end lit."""
s = Session("sender-change-mid-job", disarm_s=60)
try:
send_line(s.sock, "M4 S100", s.log)
@@ -378,22 +378,144 @@ def test_sender_change_mid_job():
time.sleep(1.0)
s.sock.close() # mid-move, spindle on
time.sleep(0.5)
# The disarm message is written while no client is connected, and
# output with no client is discarded, so the new session cannot
# see it; the re-arm below is the evidence the window closed.
# The disarm and hold messages are written while no client is
# connected, and output with no client is discarded, so the new
# session cannot see them; the Hold state and the re-arm below are
# the evidence.
s.sock = s.connect()
st = s.wait_state("Hold", 5)
if st is None:
fail("[sender-change-mid-job] the job was not held on the sender change "
"(state %r)" % s.state())
x_held = s.mpos_x()
if x_held is None or not 0.5 < x_held < 4.5:
fail("[sender-change-mid-job] held outside the move (MPos X %s)" % x_held)
before = s.armed_count()
s.send_raw("M3 S100") # laser-on against a closed window
s.sock.sendall(b"~") # the new sender resumes
end = time.time() + 15
while time.time() < end and s.armed_count() != before + 1:
read_avail(s.sock, s.log, 0.2)
if s.armed_count() != before + 1:
fail("[sender-change-mid-job] a laser-on after a mid-job sender change did not "
"re-arm: the arm read the stale spindle state instead of the window")
send_line(s.sock, "M5", s.log)
fail("[sender-change-mid-job] the resume after a mid-job sender change did "
"not re-arm")
wait_idle(s.sock, s.log)
print("PASS [sender-change-mid-job]: a laser-on against a window closed mid-job "
"prompted and re-armed")
x_end = s.mpos_x()
if x_end is None or abs(x_end - 5.0) > 0.01:
fail("[sender-change-mid-job] the resumed job did not finish the move "
"(MPos X %s)" % x_end)
send_line(s.sock, "M5", s.log)
print("PASS [sender-change-mid-job]: the job held at X=%.3f on the sender change, "
"re-armed on the resume and finished at X=%.3f" % (x_held, x_end))
finally:
s.close()
def test_sender_change_holds_and_rearms():
"""Rule 3 on a machine with a button: the held job's resume from the
new sender prompts for the press (collected from the poll, never
inside the core's held state), and the press re-arms and resumes."""
s = Session("sender-change-rearm", disarm_s=60, switches=SW_CLOSED)
try:
s.send_raw("M4 S100")
if not wait_for(s.log, PROMPT, 5, s.sock):
fail("[sender-change-rearm] no arm prompt")
s.press_button()
if not wait_for(s.log, ARMED, 5, s.sock):
fail("[sender-change-rearm] the press did not arm")
send_line(s.sock, "G1 X5 F60", s.log) # 5 s of motion
time.sleep(1.0)
s.sock.close() # mid-move, spindle on
time.sleep(0.5)
s.sock = s.connect()
if s.wait_state("Hold", 5) is None:
fail("[sender-change-rearm] the job was not held on the sender change")
before = s.armed_count()
s.sock.sendall(b"~")
if not wait_for(s.log, RESUME_PROMPT, 5, s.sock):
fail("[sender-change-rearm] the resume did not prompt for the button")
if s.wait_state("Hold", 2) is None:
fail("[sender-change-rearm] the job left Hold before the press")
s.press_button()
end = time.time() + 10
while time.time() < end and s.armed_count() != before + 1:
read_avail(s.sock, s.log, 0.2)
if s.armed_count() != before + 1:
fail("[sender-change-rearm] the press did not re-arm the held job")
wait_idle(s.sock, s.log)
x_end = s.mpos_x()
if x_end is None or abs(x_end - 5.0) > 0.01:
fail("[sender-change-rearm] the resumed job did not finish the move "
"(MPos X %s)" % x_end)
send_line(s.sock, "M5", s.log)
print("PASS [sender-change-rearm]: the held job prompted on ~, the press re-armed "
"it, and it finished at X=%.3f" % x_end)
finally:
s.close()
def test_sender_change_then_reset():
"""A new sender that does not want the held job resets it: a soft
reset from the hold ends the job with the position kept and no alarm."""
s = Session("sender-change-reset", disarm_s=60)
try:
send_line(s.sock, "M4 S100", s.log)
send_line(s.sock, "G1 X5 F60", s.log)
if not wait_for(s.log, ARMED, 5, s.sock):
fail("[sender-change-reset] first laser-on did not arm")
time.sleep(1.0)
s.sock.close()
time.sleep(0.5)
s.sock = s.connect()
if s.wait_state("Hold", 5) is None:
fail("[sender-change-reset] the job was not held on the sender change")
s.sock.sendall(b"\x18")
st = s.wait_state("Idle", 5)
if st is None:
fail("[sender-change-reset] a reset from the held job did not end in Idle "
"(state %r)" % s.state())
print("PASS [sender-change-reset]: a reset from the held job ends in Idle, no alarm")
finally:
s.close()
def test_resume_after_grace():
"""Rule 4, the other half: a job whose window closed while it sat in
Hold can still be resumed. The sender's ~ prompts for the button, the
press re-arms, and the cut finishes lit (the controller must not sit
in the arm wait inside the held state, where a press is never read)."""
s = Session("resume-after-grace", disarm_s=2, switches=SW_CLOSED)
try:
s.send_raw("M4 S100")
if not wait_for(s.log, PROMPT, 5, s.sock):
fail("[resume-after-grace] no arm prompt")
s.press_button()
if not wait_for(s.log, ARMED, 5, s.sock):
fail("[resume-after-grace] the press did not arm")
send_line(s.sock, "G1 X5 F60", s.log) # 5 s of motion
time.sleep(1.0)
s.sock.sendall(b"!") # feed hold
if not wait_for(s.log, DISARMED, 10, s.sock):
fail("[resume-after-grace] the window did not close in the hold")
before = s.armed_count()
s.sock.sendall(b"~")
if not wait_for(s.log, RESUME_PROMPT, 5, s.sock):
fail("[resume-after-grace] the resume did not prompt for the button")
if s.wait_state("Hold", 2) is None:
fail("[resume-after-grace] the job left Hold before the press")
s.press_button()
end = time.time() + 10
while time.time() < end and s.armed_count() != before + 1:
read_avail(s.sock, s.log, 0.2)
if s.armed_count() != before + 1:
fail("[resume-after-grace] the press did not re-arm the held job")
wait_idle(s.sock, s.log)
x_end = s.mpos_x()
if x_end is None or abs(x_end - 5.0) > 0.01:
fail("[resume-after-grace] the resumed job did not finish the move "
"(MPos X %s)" % x_end)
send_line(s.sock, "M5", s.log)
print("PASS [resume-after-grace]: ~ prompted, the press re-armed the held job, "
"and it finished at X=%.3f" % x_end)
finally:
s.close()
@@ -797,8 +919,11 @@ def main():
test_status_files()
test_sender_change()
test_sender_change_mid_job()
test_sender_change_holds_and_rearms()
test_sender_change_then_reset()
test_rx_overrun_aborts()
test_hold_grace()
test_resume_after_grace()
test_button_wait_arms()
test_lid_open_in_wait()
test_button_pause_resume()