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The M-code barrier's harness, and exthost.mcode

Browse Source 
scripts/bench/mcode_test.py drives the null-sink controller with the
scripted sender and port client of ctlport_test.py: the port's mcodes
table and its refusals, error:20 for a number nothing answers, an
answered M-code's wait (the head still, the port's state naming it with
its words, a port jog busy:mcode, stale and out-of-form answers refused,
the answer's words on the console), a refusal and a timeout each holding
the job, a soft reset ending the wait, and a wait under an open armed
window with M3 S500 shipping no FIRE tick. It is registered in the bench
registry as a CI harness, not a bench-page tool.

exthost.mcode (suite/extmcode.py, its own module): a package with the
reference id that asks for mcode:160 and job_time.run, the one granted,
and whose service answers POST /mcode on its call socket. The host's
status names it as the one that answers M160. A dark job (out 5 mm, M160
P1, back) through POST /job waits at the M-code with the port's state
naming it and the head still over 1 s (the kernel's counters and the
port's position), the service answering after 2 s; the job then ends
done, every line acknowledged, the head back, the service asked once with
the code and its words, no discharge. A job naming M161 fails at that
line with error:20 and nothing moved. A job at M160 P2, which the service
refuses, is held, and is aborted from there. A job left running by a
failed check is aborted before the put-back.

Proof: on the bench reference, with the controller, forgectrl, and
forgeext of this change bind-mounted, exthost.mcode first FAILED and
found the controller announcing the M-code before the kernel had played
the last move (the driver now waits for the kernel to go idle), then
PASS; exthost.service, motion.job, exthost.page-call, exthost.motion-jog,
motion.port-jog, and exthost.package-routes PASS on the same daemons.
mcode_test.py ALL PASS on the host build. forgetest's unit tests pass,
and the coverage lint passes with --enforce.
This commit is contained in:
ScottW514
2026-09-23 02:50:34 -04:00
parent 4e47b7fbf1
commit 99d9830991
4 changed files with 514 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
forgetest/forgetest/bench.py
+10
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@@ -273,6 +273,16 @@ TOOLS = [
"(a CR LF with a header behind it included) never reaches the wire, and the homing runner the "
"controller starts does not inherit it. A CI harness (the grblHAL repo): needs the host-built "
"null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "mcode-test", "title": "Package M-code barrier harness", "script": "mcode_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The M-codes extension packages answer (M160 to M179), on the null-sink controller with a "
"scripted sender and a stand-in for the machine daemon on the port: the table and its refusals, "
"a number nothing answers is error:20 where it is parsed, an answered one waits with the head "
"still and a port jog refused while the port's state names it, the answer's words, an answer "
"that the work was not done and no answer in time each hold the job, a soft reset ends the "
"wait, and a wait under an open armed window with M3 S500 ships no FIRE tick. Imports its "
"sender and port client from ctlport_test.py. A CI harness (the grblHAL repo): needs the "
"host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "manual-home-test", "title": "Manual home and motor release harness", "script": "manual_home_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The manual homing provider and the motor release on the null-sink controller: $H under manual "
forgetest/forgetest/suite/__init__.py
+1
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@@ -27,3 +27,4 @@ from . import extdest # noqa: F401,E402
from . import extlife # noqa: F401,E402
from . import evmore # noqa: F401,E402
from . import extcat # noqa: F401,E402
from . import extmcode # noqa: F401,E402
forgetest/forgetest/suite/extmcode.py
+238
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@@ -0,0 +1,238 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""An M-code a package answers, on the machine.
Its own module, for the reason extcore.py gives. The package is the
reference package's id and key with a service of its own that answers
M160 on its call socket, so exthost's put-back takes it away like the
others. The jobs are dark: they move and never command the laser.
"""
import json
import os
import subprocess
from ..catalog import test
from .exthost import (EXT_ROOT, FWUP, REF_ID, REF_KEY, _as_found, _forgeext, _put_back, _svc, _tree, _until, _write)
from .motion import _job, _job_post, _job_wait, _words, kernel_start, kernel_xy_mm, machine_idle
from .setup import SAFETY_PHRASE, read_file, record_path, request
# The service: it answers M160 on the call socket the host hands it (fd 4), and keeps every call it was
# asked, with the monotonic time it was asked, in its data directory. P1 takes 2 s and is done; any
# other P is refused.
MC_SERVICE = r'''
import json, os, socket, time
data = os.environ["FFX_DATA"]
lst = socket.socket(fileno=int(os.environ["FFX_CALL_FD"]))
calls = []
while True:
c, _ = lst.accept()
try:
buf = b""
while b"\r\n\r\n" not in buf:
k = c.recv(4096)
if not k:
break
buf += k
head, _, body = buf.partition(b"\r\n\r\n")
n = 0
for line in head.split(b"\r\n")[1:]:
k, _, v = line.partition(b":")
if k.strip().lower() == b"content-length":
n = int(v)
while len(body) < n:
k = c.recv(4096)
if not k:
break
body += k
req = json.loads(body[:n] or b"{}")
path = head.split(b" ")[1].decode()
t0 = time.monotonic()
words = req.get("words", {})
if path == "/mcode" and words.get("P") == 1:
time.sleep(2.0)
status, ans = 200, {"message": "forgetest P1"}
elif path == "/mcode":
status, ans = 409, {"error": "the stand-in refused"}
else:
status, ans = 404, {"error": "no such call"}
calls.append({"path": path, "req": req, "t": t0, "status": status})
with open(os.path.join(data, "calls.json.new"), "w") as f:
json.dump(calls, f)
os.rename(os.path.join(data, "calls.json.new"), os.path.join(data, "calls.json"))
out = json.dumps(ans).encode()
c.sendall(b"HTTP/1.1 %d X\r\nContent-Type: application/json\r\nContent-Length: %d\r\nConnection: close\r\n\r\n"
% (status, len(out)) + out)
except Exception:
pass
finally:
c.close()
'''
def _pack_mcode(work):
import io
import tarfile
manifest = {"manifest": 1, "id": REF_ID, "name": "forgetest M-code", "version": "1.0.0",
"author": "forgetest", "license": "MIT", "api": "0.1", "runtime": "python",
"service": {"exec": "bin/mcode.py"}, "capabilities": ["mcode:160", "job_time.run"]}
payload = os.path.join(work, "payload.tar.gz")
with tarfile.open(payload, "w:gz") as t:
for name, text, mode in (("manifest.json", json.dumps(manifest), 0o644), ("bin/mcode.py", MC_SERVICE, 0o755)):
info = tarfile.TarInfo(name)
data = text.encode()
info.size, info.mode = len(data), mode
t.addfile(info, io.BytesIO(data))
conf = os.path.join(work, "fwup.conf")
_write(conf, 'meta-product = "ForgeFIRM extension"\nmeta-description = "%s"\nmeta-version = "1.0.0"\n'
'meta-platform = "forgefirm-ext"\nfile-resource payload.tar.gz {\n host-path = "%s"\n}\n'
% (REF_ID, payload))
key = os.path.join(work, REF_KEY)
raw, signed = os.path.join(work, "raw.ffx"), os.path.join(work, "mcode.ffx")
for cmd in ([FWUP, "-g", "-o", key], [FWUP, "-c", "-f", conf, "-o", raw],
[FWUP, "-S", "-s", key + ".priv", "-i", raw, "-o", signed]):
subprocess.run(cmd, check=True, capture_output=True, timeout=60, cwd=work)
return signed, key + ".pub"
def _port_state(fc):
st, body = fc.get("/motion/state")
return body if st == 200 and isinstance(body, dict) else {}
@test("exthost.mcode", title="A job waits at an M-code a package answers, dark and still",
subsystem="exthost", kind="auto", mode="grbl", est_min=4,
covers=[("grblhal-glowforge", "src/glowforge_mcode.*"), ("grblhal-glowforge", "src/ctlport.*"),
("forgectrl", "src/mcode.*"), ("forgectrl", "src/extpkg.*"), ("forgectrl", "src/grblport.*"),
("forgeext", "src/main.c"), ("forgeext", "src/run.*"), ("forgeext", "src/caps.*"),
("forgeext", "src/manifest.*"), ("forgeext", "src/call.*")],
requires=["exthost.service", "motion.job"],
steps=["Bed clear; the head needs 10 mm of free travel toward +X. Nobody touches the gantry."],
description="A package that asks for mcode:160 and job_time.run, the one granted, is installed and "
"turned on; its service answers POST /mcode on its call socket. The host's status names it "
"as the one that answers M160. A dark job (out 5 mm, M160 P1, back) plays through POST "
"/job: at the M-code the controller's port state names M160 with P 1, the head stands "
"still across the wait (the kernel's counters and the port's position unchanged over "
"1 s), and the service answers after 2 s; the job then goes on and ends done, every line "
"acknowledged, the head back where it began, the service asked once with the code and "
"its words, no discharge. A job that names M161, which nothing answers, fails at that "
"line with nothing moved. A job at M160 P2, which the service refuses, is held: the "
"port's state goes to Hold with the head still, and the job is aborted from there. "
"Everything is put back as exthost.service puts it back; the refusals the controller "
"makes of a table or an answer out of form, the timeout, the reset, and the barrier's "
"darkness under an open armed window are the driver's mcode_test harness's.")
def mcode(ctx):
import tempfile
fc = ctx.forgectrl
ev = ctx.evidence
machine_idle(ctx)
prior = fc.settings().get("ext_enabled") or ""
raw = read_file(record_path())
found_tree = _tree(EXT_ROOT)
dir_mode = os.stat(os.path.dirname(EXT_ROOT)).st_mode & 0o7777
st, body, hdrs = request(fc.base, "GET", "/advisories/extensions", headers={"Host": fc.host_header()})
etag = hdrs.get("etag")
work = tempfile.mkdtemp(prefix="forgetest-ffx.")
owner_key = os.path.join(EXT_ROOT, "keys", REF_KEY + ".pub")
calls_file = os.path.join(EXT_ROOT, "data", REF_ID, "calls.json")
def calls():
try:
return json.loads(read_file(calls_file) or "[]")
except ValueError:
return []
try:
archive, pub = _pack_mcode(work)
import shutil
shutil.copy(pub, owner_key)
os.chmod(owner_key, 0o644)
r = _forgeext("install", archive, "--consent-community", "--grant", "job_time.run")
ctx.check(r.get("ok") is True, "the install with job_time.run granted -> %s", r.get("error"))
st, reply = fc.post("/settings", data={"ext_enabled": "1", "advisory": etag, "phrase": SAFETY_PHRASE})
ctx.check(st == 200, "ext_enabled=1 -> %s %r", st, reply)
x = _until(ctx, lambda: _svc(REF_ID) if _svc(REF_ID).get("state") == "running" else None, 90, poll=0.5)
ctx.check(x, "the service is not running: %s", _svc(REF_ID))
def listed():
try:
doc = json.loads(read_file("/run/forgefirm/ext/status.json") or "{}")
except ValueError:
return None
return doc.get("mcodes") if doc.get("mcodes") == [{"code": 160, "id": REF_ID}] else None
ev["status_mcodes"] = _until(ctx, listed, 30, poll=0.5)
ctx.check(ev["status_mcodes"], "the host's status does not name the package as the one that answers M160")
ctx.sleep(3.0) # the relay tells the controller within its 2 s
# A dark job that waits at M160 P1 for 2 s.
x0, _y0 = kernel_start(ctx)
st, body = _job_post(fc, "(forgetest exthost.mcode)\nG21\nG91\nG1 X5 F1200\nM160 P1\nG1 X-5 F1200\nG90\n")
ctx.check(st == 200 and isinstance(body, dict) and body.get("state") == "running",
"POST /job -> %s %s", st, _words(body)[:200])
waiting = _until(ctx, lambda: _port_state(fc) if isinstance(_port_state(fc).get("mcode"), dict) else None,
20, poll=0.1)
ctx.check(waiting and waiting["mcode"].get("code") == 160 and waiting["mcode"].get("words") == {"P": 1},
"the port's state does not name M160 P1 while the job waits: %s", waiting)
k1 = kernel_xy_mm(ctx)
ctx.sleep(1.0)
k2 = kernel_xy_mm(ctx)
still = _port_state(fc)
ev["wait"] = {"port": waiting, "kernel": [k1, k2], "port_after_1s": still}
ctx.log("the job waits at M160: port %s, kernel %s -> %s", waiting, k1, k2)
ctx.check(abs(k2[0] - k1[0]) < 0.001 and abs(k2[1] - k1[1]) < 0.001,
"the head moved while the job waited: %s -> %s", k1, k2)
ctx.check(still.get("mpos") == waiting.get("mpos") and still.get("state") == "Idle",
"the port's position or state moved while the job waited: %s -> %s", waiting, still)
ctx.check(abs(k1[0] - x0 - 5.0) < 0.05, "the job did not wait at the M-code 5 mm out: %.3f", k1[0] - x0)
rec, far = _job_wait(ctx, fc, 40, x0)
x1 = kernel_xy_mm(ctx)[0]
got = calls()
ev["job"] = {"record": rec, "farthest_mm": round(far, 3), "end_mm": round(x1 - x0, 3), "calls": got}
ctx.log("the job at M160 P1: %s", ev["job"])
ctx.check(rec["state"] == "done" and rec["reason"] == "", "the job did not end well: %s", rec)
ctx.check(rec["sent"] == rec["acked"] == rec["lines"] + 1, "lines %s, sent %s, acked %s",
rec["lines"], rec["sent"], rec["acked"])
ctx.check(rec["lit"] is False and rec["emission"]["laser_on_samples"] == 0, "a dark job's witnesses: %s",
rec["emission"])
ctx.check(abs(x1 - x0) < 0.1, "the job did not end where it began: %.3f mm off", x1 - x0)
ctx.check(len(got) == 1 and got[0]["path"] == "/mcode" and got[0]["req"] == {"code": 160, "words": {"P": 1}}
and got[0]["status"] == 200, "the service was not asked M160 P1 once: %s", got)
# M161: nothing answers it, and the job stops where it is parsed.
x0 = kernel_xy_mm(ctx)[0]
st, body = _job_post(fc, "G21\nG91\nM161\nG1 X5 F1200\nG1 X-5 F1200\nG90\n")
rec, far = _job_wait(ctx, fc, 20, x0)
ev["unanswered"] = {"record": rec, "farthest_mm": round(far, 3)}
ctx.log("the job at M161: %s", ev["unanswered"])
ctx.check(rec["state"] == "failed" and "answered error:20" in (rec.get("reason") or ""),
"a job at M161 did not fail with error:20: %s", rec)
ctx.check(far < 0.01, "a job at an M-code nothing answers moved the head %.3f mm", far)
# M160 P2: the service refuses it, and the job is held there.
x0 = kernel_xy_mm(ctx)[0]
st, body = _job_post(fc, "G21\nG91\nM160 P2\nG1 X5 F1200\nG1 X-5 F1200\nG90\n")
held = _until(ctx, lambda: _port_state(fc) if _port_state(fc).get("state") == "Hold" else None, 30, poll=0.2)
ev["refused"] = {"port": held, "calls": calls()}
ctx.log("the job at M160 P2: %s", ev["refused"])
ctx.check(held and held.get("mcode") is None, "a job at a refused M160 is not held: %s", _port_state(fc))
ctx.sleep(1.0)
ctx.check(abs(kernel_xy_mm(ctx)[0] - x0) < 0.01, "the held job moved the head")
st, body = fc.post("/job/abort")
ctx.check(st == 200, "POST /job/abort -> %s %s", st, _words(body)[:160])
rec, _far = _job_wait(ctx, fc, 20, x0)
ctx.check(rec["state"] == "failed", "the held job did not end aborted: %s", rec)
if _port_state(fc).get("state") == "Alarm":
st, body = _job_post(fc, "G21\n", unlock="1")
_job_wait(ctx, fc, 20, x0)
ctx.check(_port_state(fc).get("state") == "Idle", "the controller is not idle after the abort: %s",
_port_state(fc))
finally:
# A check that failed mid-job leaves the job running; it holds the settings until it ends.
if _job(fc).get("state") == "running":
fc.post("/job/abort")
_job_wait(ctx, fc, 20)
_put_back(ctx, fc, work, prior, etag, raw, dir_mode)
_as_found(ctx, fc, prior, raw, dir_mode, found_tree)
scripts/bench/mcode_test.py
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@@ -0,0 +1,265 @@
#!/usr/bin/env python3
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Host-side verification of the M-codes an extension package answers.
Runs the native grblHAL_glowforge binary in null-sink mode, with the
scripted sender and the port client of ctlport_test.py standing in for a
sender and for the machine daemon:
1. the table: the port's mcodes op takes "-" or numbers from M160 to
M179, each once, the whole range included, and refuses every other
form, leaving the table as it was
2. a number nothing answers is an unsupported command where the line is
parsed (error:20), and so is every number outside the table
3. an answered M-code is a barrier: the sender's line waits for its ok,
the port's state names the M-code with its P, Q and R words and its
seq, the head does not move, a port jog is refused (busy:mcode), and
the answer lets the line finish with a [MSG:] of its words; a second
answer, or one under another seq, is stale, and one out of form is
refused
4. an answer that says the work was not done holds the job with a
[MSG:] of its words, and a cycle start resumes it
5. a soft reset ends the wait at once, and the controller answers the
next line
6. no answer in GFMCODE_WAIT_S holds the job
7. the barrier is dark: under an open armed window with M3 S500, a job
waiting at an M-code ships no FIRE tick, the window stays open across
the wait, and the next laser move fires again
Usage: mcode_test.py [path/to/grblHAL_glowforge]
"""
import os
import sys
import time
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
import ctlport_test as ct # noqa: E402
fail = ct.fail
WAIT_S = 30.0
def send_nowait(s, line):
"""A sender line whose response is not waited for; the count before it."""
n = s.sender.count()
s.sender.sock.sendall((line + "\n").encode())
return n
def wait_pending(s, timeout=5.0):
end = time.time() + timeout
while time.time() < end:
st = s.port.state()
if st.get("mcode"):
return st
time.sleep(0.05)
fail("no M-code waits in the port's state: %r" % s.port.state())
def test_table(s):
if s.port.state().get("mcode", "missing") is not None:
fail("[table] the state carries no mcode null when nothing waits: %r" % s.port.state())
for good in ("-", ",".join(str(n) for n in range(160, 180)), "160", "160,179,165"):
r = s.port.request("mcodes " + good)
if r != "ok":
fail("[table] mcodes %s -> %r" % (good, r))
for bad in ("159", "180", "160,160", "160,", ",160", "16a", "0160", "160 161", "1600", "160,,161", ""):
r = s.port.request("mcodes " + bad)
if r != "error:invalid":
fail("[table] mcodes %r -> %r, not error:invalid" % (bad, r))
# the refusals left the last good table: 160, 179 and 165
n = send_nowait(s, "M165")
m = wait_pending(s)["mcode"]
if m.get("code") != 165:
fail("[table] a refused list changed the table: %r" % m)
s.port.request("mcode_result %d ok" % m["seq"])
end = time.time() + 3
while s.sender.count() == n and time.time() < end:
time.sleep(0.02)
if s.sender.responses[n:n + 1] != ["ok"]:
fail("[table] M165 got %r" % s.sender.responses[n:])
print("PASS [table]: the port takes '-' and numbers from M160 to M179, the whole range; 11 other forms "
"refused, the table left as it was")
def test_unanswered(s):
s.port.request("mcodes 160")
# The core holds a parser error against every later block until an empty
# line (the sync) or a reset: after an unsupported command a job halts.
for line in ("M161", "M179", "M159", "M180 P1"):
r = s.sender.send(line)
if r != "error:20":
fail("[unanswered] %s with only M160 answered got %r, not error:20" % (line, r))
s.sender.send("")
s.port.request("mcodes -")
r = s.sender.send("M160")
if r != "error:20":
fail("[unanswered] M160 with nothing answered got %r" % r)
s.sender.send("")
print("PASS [unanswered]: a number nothing answers is error:20 where it is parsed")
def test_answered(s):
s.port.request("mcodes 160,161")
s.sender.send("G91")
s.sender.send("G0 X3")
s.sender.wait_state("Idle")
n = send_nowait(s, "M160 P2 Q3.5 R-1")
st = wait_pending(s)
m = st["mcode"]
if m.get("code") != 160 or m.get("words") != {"P": 2, "Q": 3.5, "R": -1} or not m.get("seq"):
fail("[answered] the state names %r" % m)
x0 = st["mpos"]
time.sleep(1.0)
st2 = s.port.state()
if st2["mpos"] != x0 or st2["state"] != "Idle":
fail("[answered] the head moved or the state is %s while the job waits: %r -> %r"
% (st2["state"], x0, st2["mpos"]))
if s.sender.count() != n:
fail("[answered] the M-code line got its response before the answer: %r" % s.sender.responses[n:])
r = s.port.request("jog G91 X1 F600")
if r != "busy:mcode":
fail("[answered] a port jog while the job waits -> %r, not busy:mcode" % r)
for bad in ("mcode_result %d maybe" % m["seq"], "mcode_result x ok", "mcode_result 0 ok",
"mcode_result %d ok [bracket]" % m["seq"], "mcode_result %d ok %s" % (m["seq"], "w" * 97)):
r = s.port.request(bad)
if r not in ("error:invalid", "error:stale"):
fail("[answered] %r -> %r" % (bad, r))
if s.port.request("mcode_result %d ok" % (m["seq"] + 7)) != "error:stale":
fail("[answered] an answer under another seq was taken")
if s.port.state().get("mcode") is None:
fail("[answered] a refused answer ended the wait")
r = s.port.request("mcode_result %d ok all set" % m["seq"])
if r != "ok":
fail("[answered] the answer -> %r" % r)
end = time.time() + 3
while s.sender.count() == n and time.time() < end:
time.sleep(0.02)
if s.sender.responses[n:n + 1] != ["ok"]:
fail("[answered] the M-code line got %r after the answer" % s.sender.responses[n:])
if not s.sender.saw("M160: done: all set"):
fail("[answered] the sender got no [MSG:] of the answer's words")
if s.port.request("mcode_result %d ok" % m["seq"]) != "error:stale":
fail("[answered] a second answer was taken")
if s.port.state().get("mcode") is not None:
fail("[answered] the state still names an M-code")
if s.sender.send("G0 X-3") != "ok":
fail("[answered] the job did not go on")
print("PASS [answered]: the line waited for the answer with the head still and a port jog "
"refused; the state named M160 with P, Q and R; the answer let it go on with its words")
def test_fail_holds(s):
s.sender.wait_state("Idle")
n = send_nowait(s, "M161")
m = wait_pending(s)["mcode"]
s.port.request("mcode_result %d fail the exhaust did not start" % m["seq"])
end = time.time() + 3
while s.sender.count() == n and time.time() < end:
time.sleep(0.02)
s.sender.wait_state("Hold", timeout=5)
if not s.sender.saw("M161: the exhaust did not start: the job is held"):
fail("[fail] the sender got no [MSG:] of why the job is held")
s.sender.realtime(b"~")
s.sender.wait_state("Idle", timeout=5)
if s.sender.send("G0 X1") != "ok":
fail("[fail] the job did not go on after the resume")
print("PASS [fail]: an answer that the work was not done held the job with its words; a cycle "
"start resumed it")
def test_reset_ends_wait(s):
s.sender.wait_state("Idle")
send_nowait(s, "M160")
wait_pending(s)
t0 = time.time()
s.sender.realtime(b"\x18")
end = time.time() + 3
while time.time() < end and s.port.state().get("mcode") is not None:
time.sleep(0.02)
dt = time.time() - t0
if s.port.state().get("mcode") is not None:
fail("[reset] the wait outlived a soft reset")
time.sleep(0.5)
s.sender.send("$X")
if s.sender.send("G0 X1") != "ok":
fail("[reset] the controller did not answer after the reset")
print("PASS [reset]: a soft reset ended the wait in %.2f s" % dt)
def test_timeout_holds(s):
s.port.request("mcodes 160")
s.sender.wait_state("Idle")
t0 = time.time()
send_nowait(s, "M160")
wait_pending(s)
s.sender.wait_state("Hold", timeout=WAIT_S + 5)
dt = time.time() - t0
if dt < WAIT_S - 1:
fail("[timeout] the job was held after %.1f s, not after the wait" % dt)
if not s.sender.saw("M160 had no answer from its extension in 30 s: the job is held"):
fail("[timeout] the sender got no [MSG:] of the timeout")
s.sender.realtime(b"~")
s.sender.wait_state("Idle", timeout=5)
print("PASS [timeout]: with no answer the job was held after %.1f s, and resumed" % dt)
def test_dark():
s = ct.Session(laser=True)
try:
s.port.request("mcodes 160")
s.sender.send("G91")
s.sender.send("M3 S500")
s.sender.send("G1 X10 F1500")
s.sender.wait_state("Idle")
time.sleep(0.5)
if not s.sender.saw("laser armed"):
fail("[dark] the laser line did not arm: the case would prove nothing")
steps0, fire0 = s.ticks()
if fire0 == 0:
fail("[dark] the armed G1 shipped no FIRE tick: the dump cannot see emission")
send_nowait(s, "M160")
m = wait_pending(s)["mcode"]
time.sleep(3.0)
steps1, fire1 = s.ticks()
s.port.request("mcode_result %d ok" % m["seq"])
time.sleep(0.3)
s.sender.send("G1 X5 F1500")
s.sender.wait_state("Idle")
time.sleep(0.5)
steps2, fire2 = s.ticks()
if fire1 != fire0 or steps1 != steps0:
fail("[dark] the job waiting at M160 under M3 S500 shipped %d FIRE ticks and %d steps"
% (fire1 - fire0, steps1 - steps0))
if s.sender.saw("laser disarmed"):
fail("[dark] the armed window closed across the wait")
if fire2 <= fire1:
fail("[dark] the laser move after the answer shipped no FIRE: the case would prove nothing")
print("PASS [dark]: 3 s waiting at M160 under an open window with M3 S500 shipped no FIRE tick "
"and no step; the window stayed open and the next move fired (%d ticks)" % (fire2 - fire1))
finally:
s.close()
def main():
if not os.path.exists(ct.BIN):
fail("no controller binary at %s" % ct.BIN)
s = ct.Session()
try:
test_table(s)
test_unanswered(s)
test_answered(s)
test_fail_holds(s)
test_reset_ends_wait(s)
test_timeout_holds(s)
finally:
s.close()
test_dark()
print("ALL PASS")
if __name__ == "__main__":
main()