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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/live_fire_drills.py
+161 -29
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@@ -147,11 +147,17 @@ Drills (pass a name):
and fits rise against dose. JSON records like dpatch.
flowload t1 | flowload t2 <secs> [pct] | flowload fit
senderchg A sender change mid-job: a 20 mm line at F60 lit on the
press, the connection dropped five seconds in, a reconnect,
the move finishing dark, then a fresh M3 and a 5 mm line that
must prompt for the button again. PASS: two prompts, two arms,
no lit sample between the drop and the second press, the
second line marks. Two presses; JSON record.
press, the connection dropped five seconds in, the job held
where it stopped, a reconnect, then ~ from the new session,
which must light the button and wait. PASS: the hold, the
resume prompt, no lit sample between the drop and the second
press, the rest of the line marks. Two presses; JSON record.
holdres Feed hold and resume, the pause as a corner in time: a 30 mm
M4 line held near 10 mm and resumed, then a 90 degree corner
to compare the marks; the same hold under M3 on the return
line (no dark lead on the resume); then a hold past the
disarm grace, resumed with ~ through the re-arm prompt. Two
presses: the arm, and the re-arm after the long hold.
overrun An RX overrun mid-job: a 20 mm line at F60 lit on the press,
a 93-line fill written at once three seconds in (about 1270
bytes against the 1023-byte ring). PASS: the controller
@@ -2389,7 +2395,6 @@ def drill_flowload(g):
SENDERCHG_S = 400
SENDERCHG_LINE1 = 'G1 X20 F60' # 20 s of motion
SENDERCHG_DROP_S = 5.0 # lit seconds before the drop
SENDERCHG_LINE2 = 'G1 X5 F600'
def senderchg_wait_reply(g, needle, timeout):
@@ -2420,9 +2425,9 @@ def drill_senderchg(g):
poller.start()
arm_cue()
print('>>> Scrap with 25 mm of free +X travel from the head. TWO presses: one')
print('>>> for the first line, and a second one after the reconnect, when the')
print('>>> prompt comes again. The line goes dark at the drop and the head')
print('>>> finishes the move without a sender; that is expected.\n')
print('>>> for the line, and a second one after the reconnect, when the button')
print('>>> lights again. The line goes dark at the drop and the head HOLDS')
print('>>> where it is; the new session resumes it with your second press.\n')
print('G91/G21: %s / %s' % (g.cmd('G91'), g.cmd('G21')))
t_m3 = time.time()
for ln in ('M3 S%d' % SENDERCHG_S, SENDERCHG_LINE1, 'M5'):
@@ -2445,31 +2450,33 @@ def drill_senderchg(g):
time.sleep(1.0)
g2 = Grbl(HOST, PORT) # a new session
t_reconnect = time.time()
st = g2.wait_state('Idle', 40)
t_idle1 = time.time()
print(' reconnected; the first move ended dark %.1f s after the drop (state %s)'
% (t_idle1 - t_drop, st))
st = g2.wait_state('Hold', 10)
print(' reconnected; the job is held %.1f s after the drop (state %s)'
% (time.time() - t_drop, st))
cs = sample_forgectrl() or {}
print(' engine after the drop: armed=%s verdict=%s' % (cs.get('armed'), cs.get('verdict')))
outcome = 'done'
t_run2 = None
try:
for ln in ('M3 S%d' % SENDERCHG_S, SENDERCHG_LINE2, 'M5'):
g2.s.sendall(ln.encode() + b'\n')
prompt2 = senderchg_wait_reply(g2, 'press the button', 10)
print(' second prompt after the reconnect: %s' % prompt2)
if not prompt2:
outcome = 'no-prompt'
if not st.startswith('Hold'):
outcome = 'not-held'
g2.rt(b'\x18')
else:
st = g2.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
if not st.startswith('Run'):
outcome = 'no-run'
g2.rt(b'~') # the new sender resumes the held job
prompt2 = senderchg_wait_reply(g2, 'press the button to resume', 10)
print(' resume prompt after the reconnect: %s' % prompt2)
if not prompt2:
outcome = 'no-prompt'
g2.rt(b'\x18')
else:
t_run2 = time.time()
g2.wait_state('Idle', 30)
print(' M2: %s' % g2.cmd('G90\nM2', timeout=10))
st = g2.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
if not st.startswith('Run'):
outcome = 'no-run'
g2.rt(b'\x18')
else:
t_run2 = time.time()
g2.wait_state('Idle', 60)
print(' M2: %s' % g2.cmd('G90\nM2', timeout=10))
finally:
try:
g2.cmd('M5', timeout=1)
@@ -2499,13 +2506,14 @@ def drill_senderchg(g):
print(' %+7.1f s armed=%s' % (p['t'] - t_m3, p['armed']))
last = p['armed']
print('--- emission (lit samples at 25 Hz) ---')
print(' first line, press to drop: %d samples (%.1f s)' % (len(lit1), len(lit1) / 25.0))
print(' line, press to drop: %d samples (%.1f s)' % (len(lit1), len(lit1) / 25.0))
print(' drop to second press: %d samples <- must be 0' % len(lit_gap))
print(' second line: %d samples (%.1f s)' % (len(lit2), len(lit2) / 25.0))
print(' the resumed rest of it: %d samples (%.1f s)' % (len(lit2), len(lit2) / 25.0))
ok = outcome == 'done' and prompt1 and len(lit1) > 25 and not lit_gap and len(lit2) > 5
print('\n%s: %s' % ('PASS' if ok else 'FAIL',
'the drop closed the window, nothing fired until the second press, '
'and the second laser-on prompted and armed' if ok else outcome))
'the drop held the job and closed the window, nothing fired until '
'the second press, and ~ from the new session prompted, re-armed '
'and finished the line' if ok else outcome))
rec = {'drill': 'senderchg', 'date': time.strftime('%Y-%m-%dT%H:%M:%S'),
't_m3': t_m3, 't_run1': t_run1, 't_drop': t_drop, 't_reconnect': t_reconnect,
't_run2': t_run2, 'outcome': outcome, 'pass': bool(ok),
@@ -3092,6 +3100,129 @@ def drill_expstop(g):
return trail
# --- feed hold and resume: the pause is a corner in time ----------------------
# One armed run on scrap, at F300 and S400. Under M4 a 30 mm line is held
# about 2 s in and resumed a second later, then the path turns 90 degrees:
# the pause mark near 10 mm and the corner at 30 mm sit on the same scrap
# for the eye, and should match. Under M3 the same hold on the return
# line: the resume must show no dark lead. Then a hold that outlives the
# disarm grace: the window closes in Hold, the sender's ~ must light the
# button and wait, the press re-arms, and the line finishes lit. Two
# presses: the arm, and the re-arm after the long hold.
HOLDRES_S = 400
HOLDRES_F = 300
def holdres_pause(g, label, wait_disarm=False):
"""Hold the running move ~2 s in, then resume; with wait_disarm the hold
outlives the grace and the resume goes through the re-arm prompt."""
st = g.wait_state('Run', 20)
if not st.startswith('Run'):
return 'no-run (%s)' % st
time.sleep(2.0)
g.rt(b'!')
st = g.wait_state('Hold', 5)
if not st.startswith('Hold'):
return 'no-hold (%s)' % st
seen = len(g.log)
if wait_disarm:
t0 = time.time()
while time.time() - t0 < 120:
s = sample_forgectrl()
if s and not s['armed']:
break
time.sleep(1)
else:
return 'still armed after 120 s in Hold'
print(' %s: the window closed in Hold after %.0f s; sending ~' % (label, time.time() - t0))
g.rt(b'~')
if not senderchg_wait_reply(g, 'press the button to resume', 10):
return 'no resume prompt on ~'
print(' >>> PRESS the button to resume the job')
st = g.wait_state('Run', FLOWLOAD_PRESS_WAIT_S)
if not st.startswith('Run'):
return 'no-run after the press (%s)' % st
if not any('laser armed' in ln for _t, ln in g.log[seen:]):
return 'resumed without re-arming'
else:
time.sleep(1.0)
g.rt(b'~')
st = g.wait_state('Run', 5)
if not st.startswith('Run'):
return 'no-run on ~ (%s)' % st
st = g.wait_state('Idle', 60)
return 'ok' if st.startswith('Idle') else 'never idle (%s)' % st
def drill_holdres(g):
print('=== feed hold and resume: the pause is a corner in time ===')
print('connect: %s' % prepare(g))
print('spindle off: %s' % g.cmd('M5'))
pre = sample_forgectrl()
if pre is None or pre.get('armed'):
print('REFUSED: the armed window is still open (or forgectrl is unreachable)')
return 2
arm_cue()
print('>>> Scrap with 35 mm of free +X and 25 mm of free +Y travel. TWO presses:')
print('>>> one to arm, one when the button lights again after the long hold.\n')
print('G91/G21: %s / %s' % (g.cmd('G91'), g.cmd('G21')))
results = []
def leg(lines):
for ln in lines:
g.s.sendall(ln.encode() + b'\n')
def plain(lines):
leg(lines)
g.wait_state('Run', 20)
g.wait_state('Idle', 60)
try:
# A: M4, a 30 mm line held near 10 mm, then the corner leg.
leg(('M4 S%d' % HOLDRES_S, 'G1 X30 F%d' % HOLDRES_F))
if not senderchg_wait_reply(g, 'press the button', 10):
print('ABORTED: no arm prompt')
return 1
r = holdres_pause(g, 'M4 pause')
results.append(('A M4 pause beside the corner', r))
print(' A: %s' % r)
if r != 'ok':
return 1
plain(('G1 Y10 F%d' % HOLDRES_F,))
# B: M3 on the return line, the same hold.
leg(('M3 S%d' % HOLDRES_S, 'G1 X-30 F%d' % HOLDRES_F))
r = holdres_pause(g, 'M3 pause')
results.append(('B M3 pause, no dark lead', r))
print(' B: %s' % r)
if r != 'ok':
return 1
# C: back under M4, a plain leg up, then the hold past the grace.
leg(('M4 S%d' % HOLDRES_S,))
plain(('G1 Y10 F%d' % HOLDRES_F,))
leg(('G1 X30 F%d' % HOLDRES_F,))
r = holdres_pause(g, 'grace', wait_disarm=True)
results.append(('C hold past the grace, ~ re-arms', r))
print(' C: %s' % r)
finally:
try:
g.cmd('M5', timeout=1)
except Exception:
pass
if 'Hold' in g.status():
g.rt(b'\x18')
ok = bool(results) and all(r == 'ok' for _n, r in results)
print('\n--- results ---')
for name, r in results:
print(' %s: %s' % (name, r))
print('\n%s: %s' % ('PASS' if ok else 'FAIL',
'held and resumed under M4 and M3, and the hold past the grace '
're-armed on ~ and finished; now judge the marks: the M4 pause '
'against the corner, the M3 pause for a dark lead' if ok
else 'see above'))
return 0 if ok else 1
def drill_ctrlstart(g):
"""Resume supervision after expstop: POST /controller/start, then
report /mode. No motion, no laser."""
@@ -3114,6 +3245,7 @@ def main():
'dpatch': drill_dpatch, 'flowload': drill_flowload,
'm4corner': drill_m4corner, 'm4feeds': drill_m4feeds,
'senderchg': drill_senderchg, 'overrun': drill_overrun,
'holdres': drill_holdres,
'expstop': drill_expstop, 'ctrlstart': drill_ctrlstart}
if drill not in drills:
print(__doc__)