mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 16:51:12 -07:00
XY microstep modes: the baseline, the catalog test and the bench tools
The baseline derives x/y_mode, step_freq, ramp_rate and the configured markers from the xy_microsteps setting; ramp_rate joins the GRBL controller's set (the driver writes it; the cloud client runs at the module's). motion.microstep-modes cycles 8, 16 and 32: the save restarts the idle controller, the kernel reads the mode with its tick and ramp, $100/$101 are the mode's and a typed $100 is overwritten, a 40 mm jog at top speed returns to Idle with the kernel counters over the mode agreeing with the commanded travel and the accelerometer seeing the head move; the setting is put back as found. Bench tools: xy_mode_test.py (the null-sink harness the grblHAL CI runs), raster_dry.py (a top-speed raster per mode), xy_pattern_accel.py (the operator's pattern from home with the machine silent and the head accelerometer listening), arc_tolerance_sweep.py (a $12 ladder on the 9 in circle: the chord rate the protocol loop feeds, about 300 a second, is the ceiling, not the core), and the xymode and xycircle live drills. BRINGUP carries the present state and the facts; CAMPAIGN-LOG the dated record, including the planner-blocks spin (a $398 of 255 or more loops forever at start, a core bug) and its recovery.
This commit is contained in:
ScottW514
@@ -0,0 +1,226 @@
|
||||
#!/usr/bin/env python3
|
||||
"""A dry raster at top speed at each XY microstep mode (on the board).
|
||||
|
||||
Usage: raster_dry.py [modes...] (default: 8 16 32)
|
||||
|
||||
Per mode: stores xy_microsteps through forgectrl (which restarts the
|
||||
idle GRBL controller), waits for the controller to come back at that
|
||||
mode, then streams a raster with the laser off (M5): LINES passes of
|
||||
LEN mm along X at F12000, Y stepped by PITCH between passes, and back to
|
||||
the start. Reports the peak feed, the controller CPU over the job, the
|
||||
kernel counters against the start (the head must come back within TOL mm
|
||||
on both axes), Grbl's own drift, cnc/underruns, and any "late events
|
||||
clamped" line the driver logged. Ends with the key cleared (x8).
|
||||
|
||||
Needs the controller in GRBL mode, idle, no other Grbl client, the bed
|
||||
clear, and LEN mm of free +X travel plus LINES x PITCH mm of free +Y
|
||||
travel from where the head stands.
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import re
|
||||
import socket
|
||||
import subprocess
|
||||
import sys
|
||||
import time
|
||||
import urllib.request
|
||||
|
||||
FC = "http://127.0.0.1"
|
||||
FC_TOKEN = "/data/forgefirm/panel.token"
|
||||
MODES = [int(a) for arg in sys.argv[1:] for a in arg.split()] or [8, 16, 32]
|
||||
LINES, LEN, PITCH, FEED, TOL = 60, 150.0, 0.2, 12000, 0.05
|
||||
LOG = "/data/log/forgefirm/grblhal/grblhal.log"
|
||||
|
||||
|
||||
def fc(path, data=None):
|
||||
token = open(FC_TOKEN).read().strip()
|
||||
body = None
|
||||
if data is not None:
|
||||
body = "&".join("%s=%s" % (k, v) for k, v in data.items()).encode()
|
||||
req = urllib.request.Request(FC + path, data=body,
|
||||
headers={"Authorization": "Bearer " + token, "X-ForgeFIRM-Token": token,
|
||||
"Content-Type": "application/x-www-form-urlencoded"})
|
||||
try:
|
||||
return json.load(urllib.request.urlopen(req, timeout=30))
|
||||
except urllib.error.HTTPError as e:
|
||||
return {"http": e.code, "body": e.read().decode()}
|
||||
|
||||
|
||||
def sysfs(attr):
|
||||
with open("/sys/glowforge/" + attr) as f:
|
||||
return f.read().strip()
|
||||
|
||||
|
||||
def kernel_mm():
|
||||
p = fc("/status").get("pos") or {}
|
||||
return float(p.get("x", 0)), float(p.get("y", 0))
|
||||
|
||||
|
||||
def controller_pid():
|
||||
out = subprocess.run(["pidof", "grblHAL_glowforge"], capture_output=True, text=True).stdout.split()
|
||||
return int(out[0]) if out else None
|
||||
|
||||
|
||||
def cpu_ticks(pid):
|
||||
with open("/proc/%d/stat" % pid) as f:
|
||||
s = f.read().split()
|
||||
return int(s[13]) + int(s[14])
|
||||
|
||||
|
||||
def set_mode(mode):
|
||||
r = fc("/settings?xy_microsteps=", {}) if mode == 8 else fc("/settings", {"xy_microsteps": str(mode)})
|
||||
if "http" in r:
|
||||
raise SystemExit("settings write refused: %s" % r)
|
||||
time.sleep(3)
|
||||
t0 = time.time()
|
||||
while time.time() - t0 < 180:
|
||||
m = fc("/mode")
|
||||
if m.get("controller") == "running" and m.get("motion") == "verified" and sysfs("cnc/x_mode") == str(mode):
|
||||
time.sleep(2)
|
||||
print("x%d: controller pid %s, step_freq %s, ramp_rate %s"
|
||||
% (mode, m.get("pid"), sysfs("cnc/step_freq"), sysfs("cnc/ramp_rate")))
|
||||
return
|
||||
time.sleep(2)
|
||||
raise SystemExit("x%d: the controller did not come back" % mode)
|
||||
|
||||
|
||||
class Grbl:
|
||||
def __init__(self):
|
||||
self.s = socket.create_connection(("127.0.0.1", 23), timeout=5)
|
||||
time.sleep(0.3)
|
||||
self.drain()
|
||||
|
||||
def drain(self):
|
||||
self.s.settimeout(0.2)
|
||||
out = b""
|
||||
try:
|
||||
while True:
|
||||
d = self.s.recv(4096)
|
||||
if not d:
|
||||
break
|
||||
out += d
|
||||
except (socket.timeout, OSError):
|
||||
pass
|
||||
return out.decode(errors="replace")
|
||||
|
||||
def cmd(self, line, timeout=30):
|
||||
self.s.sendall((line + "\n").encode())
|
||||
self.s.settimeout(timeout)
|
||||
buf = ""
|
||||
end = time.time() + timeout
|
||||
while time.time() < end:
|
||||
try:
|
||||
buf += self.s.recv(4096).decode(errors="replace")
|
||||
except socket.timeout:
|
||||
break
|
||||
if "ok\r\n" in buf or "error" in buf or "ALARM" in buf:
|
||||
break
|
||||
return buf
|
||||
|
||||
def status(self):
|
||||
self.s.sendall(b"?")
|
||||
self.s.settimeout(1.0)
|
||||
buf = ""
|
||||
end = time.time() + 1.0
|
||||
while time.time() < end and ">" not in buf:
|
||||
try:
|
||||
buf += self.s.recv(4096).decode(errors="replace")
|
||||
except socket.timeout:
|
||||
break
|
||||
m = re.search(r"<(\w+)[^>]*MPos:([-\d.]+),([-\d.]+),([-\d.]+)", buf)
|
||||
f = re.search(r"FS:([\d.]+),", buf)
|
||||
if not m:
|
||||
return None, None, 0.0
|
||||
return m.group(1), (float(m.group(2)), float(m.group(3))), float(f.group(1)) if f else 0.0
|
||||
|
||||
def wait_idle(self, timeout):
|
||||
peak = 0.0
|
||||
end = time.time() + timeout
|
||||
seen_run = False
|
||||
while time.time() < end:
|
||||
st, pos, f = self.status()
|
||||
peak = max(peak, f)
|
||||
if st and st.startswith(("Run", "Jog")):
|
||||
seen_run = True
|
||||
if st and st.startswith("Idle") and seen_run:
|
||||
return True, peak, pos
|
||||
if st and st.startswith("Alarm"):
|
||||
return False, peak, pos
|
||||
time.sleep(0.1)
|
||||
return False, peak, None
|
||||
|
||||
def close(self):
|
||||
self.s.close()
|
||||
|
||||
|
||||
def raster(mode):
|
||||
pid = controller_pid()
|
||||
k0 = kernel_mm()
|
||||
und0 = int(sysfs("cnc/underruns"))
|
||||
log_off = os.path.getsize(LOG) if os.path.exists(LOG) else 0
|
||||
g = Grbl()
|
||||
peak = 0.0
|
||||
try:
|
||||
st, pos0, _ = g.status()
|
||||
if not st or not st.startswith("Idle"):
|
||||
print("x%d: controller is %s, not Idle" % (mode, st))
|
||||
return False
|
||||
for line in ("M5", "G21", "G90", "G91"):
|
||||
g.cmd(line)
|
||||
c0 = cpu_ticks(pid)
|
||||
t0 = time.time()
|
||||
for i in range(LINES):
|
||||
dx = LEN if i % 2 == 0 else -LEN
|
||||
r = g.cmd("G1 X%.3f F%d" % (dx, FEED), timeout=60)
|
||||
if "error" in r or "ALARM" in r:
|
||||
print("x%d: line %d refused: %r" % (mode, i, r.strip()))
|
||||
break
|
||||
g.cmd("G1 Y%.3f F%d" % (PITCH, FEED), timeout=60)
|
||||
peak = max(peak, g.status()[2])
|
||||
g.cmd("G1 Y%.3f F%d" % (-LINES * PITCH, FEED), timeout=60)
|
||||
ok, peak_end, pos1 = g.wait_idle(120)
|
||||
peak = max(peak, peak_end)
|
||||
g.cmd("G90")
|
||||
elapsed = time.time() - t0
|
||||
cpu = 100.0 * (cpu_ticks(pid) - c0) / (os.sysconf("SC_CLK_TCK") * elapsed)
|
||||
finally:
|
||||
g.close()
|
||||
# the machine itself idle: the kernel plays out the depth behind Idle
|
||||
end = time.time() + 20
|
||||
while time.time() < end and fc("/status").get("state") != "idle":
|
||||
time.sleep(0.5)
|
||||
k1 = kernel_mm()
|
||||
und1 = int(sysfs("cnc/underruns"))
|
||||
clamped = []
|
||||
if os.path.exists(LOG):
|
||||
with open(LOG, errors="replace") as f:
|
||||
f.seek(log_off)
|
||||
clamped = [l.strip() for l in f if "late events clamped" in l or "underrun" in l]
|
||||
drift = (pos1[0] - pos0[0], pos1[1] - pos0[1]) if (pos1 and pos0) else None
|
||||
kd = (k1[0] - k0[0], k1[1] - k0[1])
|
||||
verdict = ok and abs(kd[0]) <= TOL and abs(kd[1]) <= TOL and und1 == und0 and not clamped
|
||||
print("x%d: %s | %d passes of %.0f mm at F%d in %.1f s, peak %.0f mm/min, controller CPU %.1f %% | "
|
||||
"kernel return dx=%.3f dy=%.3f mm | grbl drift %s | underruns %d->%d | clamped lines %d"
|
||||
% (mode, "PASS" if verdict else "FAIL", LINES, LEN, FEED, elapsed, peak, cpu, kd[0], kd[1],
|
||||
drift, und0, und1, len(clamped)))
|
||||
for l in clamped[:5]:
|
||||
print(" ", l)
|
||||
return verdict
|
||||
|
||||
|
||||
def main():
|
||||
verdicts = {}
|
||||
for mode in MODES:
|
||||
print("=== x%d ===" % mode)
|
||||
set_mode(mode)
|
||||
verdicts[mode] = raster(mode)
|
||||
if MODES[-1] != 8:
|
||||
print("=== restore x8 ===")
|
||||
set_mode(8)
|
||||
print("settings xy_microsteps:", repr(fc("/settings").get("xy_microsteps")))
|
||||
print("RESULT:", " ".join("x%d=%s" % (m, "PASS" if v else "FAIL") for m, v in verdicts.items()))
|
||||
return 0 if all(verdicts.values()) else 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
Reference in New Issue
Block a user