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The measured envelope's harness, and setup.check-envelope

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scripts/bench/envelope_test.py drives the null-sink controller with the
scripted sender and port client of ctlport_test.py, homing manually:
unset keys are the axis travel; envelope_x_mm and envelope_y_mm are the
far edges at a home and are held to 50 mm up to the travel plus 30 mm;
the port's envelope open is refused before a home and under an open
armed window, and lets the port's jogs reach the travel plus 30 mm;
envelope apply puts the keys' edges back without a home; a status poll
and an empty line leave an open envelope open, while the sender's first
line closes it before the core reads it (a jog into the margin draws
error:15), a running port jog canceled first; a soft reset and the port
client going away each close it. It is registered in the bench
registry as a CI harness, not a bench-page tool.

setup.check-envelope (suite/bedsize.py, its own module): with cloud mode
on, the machine is homed with the camera, and the Bed size check runs
with its jog prompts answered as the page would, out 60.1 mm in X and
61.1 mm in Y from the home. The ends it reports are the home plus
those, the far edges 1 mm short of them are written as envelope_x_mm
and envelope_y_mm, and the controller holds them at once: a panel jog
0.5 mm short of each edge runs, and one 0.5 mm past it is refused with
nothing moved. A second run is opened, and while its first prompt waits
a Grbl client sends one line, which draws the controller's word that
the envelope closed and then ok; the port then says the envelope is
closed, the next answer ends the check in words, and the keys are as
the first run left them. The head is jogged back to the home, and the
keys, the homing mode, and the setup record are put back as found, the
record under a restart.

Proof: envelope_test.py ALL PASS on the host build of the controller of
this change. On the bench reference, with that controller and forgectrl
of the same change bind-mounted: the first two campaigns found flaws in
the test, not the check (jogs of 20 mm made an edge below the 50 mm
forgectrl refuses; the second run started while the machine was still
busy; the head was not returned to the home), then setup.check-envelope
PASS, with forgectrl.auth, kernel.latch-locked-idle, motion.pacing,
motion.jog-roundtrip, and motion.port-jog PASS in the same campaign, and
cloud.mode-switch, motion.soft-limits, and homing.cloud-offsets PASS
after it. forgetest's unit tests pass (452), and the coverage lint
passes with --enforce.
This commit is contained in:
ScottW514
2026-09-23 04:39:06 -04:00
parent 8fc07c47ee
commit ac2456261e
4 changed files with 533 additions and 0 deletions
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forgetest/forgetest/bench.py
+11
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@@ -283,6 +283,17 @@ TOOLS = [
"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": "envelope-test", "title": "Measured envelope harness", "script": "envelope_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The measured work envelope and the bed check's port op, on the null-sink controller with a "
"scripted sender and a port client: unset keys are the axis travel, envelope_x_mm and _y are the "
"far edges at a home and are held to 50 mm up to the travel plus 30 mm, the port's envelope open "
"is refused before a home and under an open armed window and lets the port's jogs reach the "
"travel plus 30 mm, envelope apply puts the keys' edges back, and the sender's first line (never "
"a status poll or an empty line), a soft reset, and the port client going away each close an "
"open envelope, the sender's line only after it closed. 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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@@ -31,3 +31,4 @@ from . import extmcode # noqa: F401,E402
from . import extwizard # noqa: F401,E402
from . import updlock # noqa: F401,E402
from . import homeoff # noqa: F401,E402
from . import bedsize # noqa: F401,E402
forgetest/forgetest/suite/bedsize.py
+255
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@@ -0,0 +1,255 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The Setup page's bed check, on the machine.
Its own module, so that no other test's fingerprint moves. The check is
driven from here inside the travel the machine already knows: a few jogs
out from the camera home, never toward an end, so it needs no operator.
Measuring the real ends is the operator's own run of the check. The
homing is the web-service session homing.cloud-offsets runs.
"""
import json
import time
from ..catalog import test
from .cloud import _HOMING_PATH, gfhome_homing
from .setup import read_file, record_path, write_file
from .setup_dark import DARK_COVERS, answer, dark, start
WID = "motion.envelope"
END = "This is the end"
# The operator's answers, as the page sends them: out 60.1 mm in X and
# 61.1 mm in Y from the home, the fine steps included. A far edge is 50 mm
# at the least, so the ends are well past that and well inside the bed.
X_STEPS = ["X+10"] * 6 + ["X+1", "X+0.1", "X-1"]
Y_STEPS = ["Y+10"] * 6 + ["Y+1", "Y+0.1"]
X_OUT, Y_OUT = 60.1, 61.1
MARGIN_MM = 1.0
KEYS = ("envelope_x_mm", "envelope_y_mm", "homing_mode")
CLOSED = "closed the check's envelope"
CLOSED_MSG = "Bed check envelope closed: a sender line"
def _port(fc):
st, body = fc.get("/motion/state")
return body if st == 200 and isinstance(body, dict) else {}
def _drive(ctx, fc, x_steps, y_steps, hook=None, timeout=300):
"""Start the check and answer each prompt from the steps in turn, then
This is the end; hook(prompt_id, n) runs before the answer to the n-th
prompt. The final status document, and the answers given."""
# The daemon calls the machine busy for a moment after the last jog.
ctx.check(fc.wait_idle(timeout=30, abort=ctx.aborted), "the machine is not idle: %s", fc.status().get("state"))
start(ctx, fc, WID)
queue = {"x-end": list(x_steps) + [END], "y-end": list(y_steps) + [END]}
seen, given = set(), []
t0 = time.time()
try:
while time.time() - t0 < timeout:
ctx.checkpoint()
d = dark(fc)
p = d.get("prompt")
if d.get("running") and p and p.get("seq") not in seen:
seen.add(p["seq"])
pid = p.get("id")
ctx.check(pid in queue and queue[pid], "the check asked %s: %s (the lid must be closed)",
pid, p.get("text"))
ctx.check(p.get("kind") == "jog" and END in (p.get("options") or []),
"the %s prompt is not a jog with %r: %s", pid, END, p)
if hook:
hook(pid, len(given))
value = queue[pid].pop(0)
st, body = answer(fc, WID, p, value)
ctx.check(st == 200, "the answer %s to %s -> %s %s", value, pid, st, body)
given.append(value)
if not d.get("running"):
return d, given
time.sleep(0.3)
except BaseException:
fc.post("/wiz/%s/abort" % WID)
raise
fc.post("/wiz/%s/abort" % WID)
ctx.fail("the bed check did not end within %d s", timeout)
def _jog(fc, dx=0.0, dy=0.0):
params = {"feed": "1200"}
if dx:
params["x"] = "%.3f" % dx
if dy:
params["y"] = "%.3f" % dy
return fc.post("/motion/jog", params=params)
def _settled(ctx, fc):
"""After the suite's Grbl client closes, the daemon calls the machine
busy for a moment: the check and a settings write each wait for it."""
ctx.wait_for(lambda: _port(fc).get("sender") is False, 20, poll=0.5)
ctx.check(fc.wait_idle(timeout=30, abort=ctx.aborted), "the machine is not idle: %s", fc.status().get("state"))
def _put_back(ctx, fc, found):
for k in KEYS:
v = found.get(k) or ""
def put():
st_, body_ = fc.post("/settings", params={k: ""}) if v == "" else fc.post("/settings", data={k: v})
if st_ != 200:
ctx.log("restore %s=%r -> %s %s", k, v, st_, body_)
return st_ == 200 or None
took = ctx.wait_for(put, 20, poll=0.5)
ctx.log("restore %s=%r -> %s", k, v, "taken" if took is not None else "not taken")
def _back_home(ctx, fc, home):
"""The head back where the home put it, in the port's bounded steps, so
the run ends where it began."""
for _ in range(8):
at = _port(fc).get("mpos") or [home[0], home[1]]
dx, dy = home[0] - at[0], home[1] - at[1]
if abs(dx) < 0.005 and abs(dy) < 0.005:
return
st, body = _jog(fc, max(-100.0, min(100.0, dx)), max(-100.0, min(100.0, dy)))
if st != 200:
ctx.log("the jog back to the home -> %s %s", st, body)
ctx.wait_for(lambda: fc.status().get("state") == "idle", 10, poll=0.5)
continue
_port_idle(ctx, fc)
ctx.log("the head is not back at the home: %s", _port(fc).get("mpos"))
def _port_idle(ctx, fc):
ok = ctx.wait_for(lambda: (lambda s: s.get("state") == "Idle" and not s.get("port_jog"))(_port(fc)), 30,
poll=0.1)
ctx.check(ok is not None, "the port jog did not end: %s", _port(fc))
def _edge(ctx, fc, ev, axis, edge):
"""From where the head stands, a jog 0.5 mm short of the far edge runs
and comes back, and one 0.5 mm past it is refused with nothing moved."""
s = _port(fc)
at = s["mpos"]["XY".index(axis)]
short, past = edge - 0.5 - at, edge + 0.5 - at
kw = (lambda d: {"dx": d}) if axis == "X" else (lambda d: {"dy": d})
st1, b1 = _jog(fc, **kw(short))
_port_idle(ctx, fc)
st2, b2 = _jog(fc, **kw(-short))
_port_idle(ctx, fc)
st3, b3 = _jog(fc, **kw(past))
_port_idle(ctx, fc)
back = _port(fc)["mpos"]["XY".index(axis)]
ev["edge_" + axis] = {"edge": edge, "short": [st1, st2], "past": [st3, b3], "at": [at, back]}
ctx.check(st1 == 200 and st2 == 200, "a jog 0.5 mm short of the %s edge %.2f and back -> %s %s, %s %s",
axis, edge, st1, b1, st2, b2)
ctx.check(st3 == 409 and "envelope" in json.dumps(b3) and abs(back - at) < 0.02,
"a jog 0.5 mm past the %s edge %.2f -> %s %s, the head at %.3f from %.3f", axis, edge, st3, b3, back, at)
@test("setup.check-envelope", title="The bed check measures the far edges from the operator's jogs, and a Grbl "
"client's line ends it with nothing written",
subsystem="setup", kind="auto", mode="grbl", est_min=10,
covers=DARK_COVERS + _HOMING_PATH + [("forgectrl", "src/grblport.*"),
("grblhal-glowforge", "src/glowforge_homing.*"),
("grblhal-glowforge", "src/ctlport.*"),
("grblhal-glowforge", "src/driver.c")],
requires=["forgectrl.auth", "motion.pacing"],
steps=["Bed clear, lid closed; cloud credentials configured; the machine on the network. The head moves "
"at most about 62 mm out from the camera home in X and in Y."],
description="With cloud mode on, the machine is homed with the camera (the web-service session). "
"POST /wiz/motion.envelope/start runs the Bed size check; its prompts are jogs with This is the "
"end among the options, and are answered as the page would, out 60.1 mm in X and 61.1 mm in Y "
"(steps of 10, 1, and 0.1 mm). The check ends complete: the ends it reports are the home plus "
"those, the far edges 1 mm short of them are written as envelope_x_mm and envelope_y_mm, and the "
"controller holds them at once, without a home: a panel jog 0.5 mm short of each edge runs, "
"and one 0.5 mm past it is refused with nothing moved. A second run is opened, and while its "
"first prompt waits a Grbl client sends one line, which draws the controller's word that it "
"closed the envelope and then ok; the port's state then says the envelope is closed, and the "
"next answer ends the check in words, with the keys as the "
"first run left them and the edges still in force. The keys, the homing mode, and the setup "
"record are put back as found, the record under a restart, and the head is jogged back to "
"the home.")
def check_envelope(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
s0 = fc.settings() or {}
ctx.check(s0.get("cloud_enabled") == "1", "cloud mode is off: a camera home needs it on")
raw = read_file(record_path())
found = {k: s0.get(k) or "" for k in KEYS}
ev["found"] = found
home = None
try:
st, body = fc.post("/settings", data={"homing_mode": "gfcloud"})
ctx.check(st == 200, "homing_mode=gfcloud -> %s %s", st, body)
with ctx.grbl() as g:
gfhome_homing(ctx, ev, g)
home = g.status_report().get("MPos")
ev["home"] = home
ctx.log("the camera home declared %s", home)
ctx.check(home and home[0] is not None, "no position after the home: %s", home)
_settled(ctx, fc)
last, given = _drive(ctx, fc, X_STEPS, Y_STEPS)
r = last.get("result") or {}
ev["run1"] = {"answers": given, "error": last.get("error"), "result": r, "log": last.get("log", [])[-8:]}
ctx.log("the bed check ended: %s", json.dumps(r))
ctx.check(not last.get("error"), "the bed check failed: %s", last.get("error"))
want_x, want_y = home[0] + X_OUT, home[1] + Y_OUT
ctx.check(abs((r.get("x_end_mm") or -1) - want_x) < 0.02 and abs((r.get("y_end_mm") or -1) - want_y) < 0.02,
"the ends are not the home plus the jogs (%.2f, %.2f): %s", want_x, want_y, r)
edge_x, edge_y = round(want_x - MARGIN_MM, 2), round(want_y - MARGIN_MM, 2)
s1 = fc.settings() or {}
ev["keys_after_run1"] = {k: s1.get(k) for k in ("envelope_x_mm", "envelope_y_mm")}
ctx.check(abs(float(s1.get("envelope_x_mm") or 0) - edge_x) < 0.011 and
abs(float(s1.get("envelope_y_mm") or 0) - edge_y) < 0.011,
"the keys are not the ends less %.1f mm (%.2f, %.2f): %s", MARGIN_MM, edge_x, edge_y,
ev["keys_after_run1"])
ctx.check(_port(fc).get("envelope_open") is False, "the envelope is still open after the check: %s",
_port(fc))
_edge(ctx, fc, ev, "X", edge_x)
_edge(ctx, fc, ev, "Y", edge_y)
# A Grbl client's line while the envelope is open ends the check.
said = {}
def client_line(pid, n):
if n:
return
ctx.check(_port(fc).get("envelope_open") is True, "the second run did not open the envelope: %s",
_port(fc))
with ctx.grbl() as g2:
said["reply"] = g2.command("G90", timeout=10)
said["text"] = g2.drain()
said["port"] = _port(fc)
last2, given2 = _drive(ctx, fc, ["X+1"], [], hook=client_line)
ev["run2"] = {"answers": given2, "said": said, "error": last2.get("error"), "log": last2.get("log", [])[-6:]}
ctx.log("the second run: %s", json.dumps(ev["run2"]))
ctx.check((said.get("reply") or [])[-1:] == ["ok"], "the client's line did not draw ok: %s", said)
ctx.check(any(CLOSED_MSG in l for l in (said.get("reply") or [])) or CLOSED_MSG in (said.get("text") or ""),
"the client was not told its line closed the envelope: %s", said)
ctx.check((said.get("port") or {}).get("envelope_open") is False,
"the client's line did not close the envelope: %s", said.get("port"))
ctx.check(CLOSED in (last2.get("error") or ""), "the second run did not end on the closed envelope: %s",
last2.get("error"))
s2 = fc.settings() or {}
ctx.check({k: s2.get(k) for k in ("envelope_x_mm", "envelope_y_mm")} == ev["keys_after_run1"],
"the second run wrote the keys: %s", s2)
_settled(ctx, fc)
_edge(ctx, fc, ev, "X", edge_x)
finally:
fc.post("/wiz/%s/abort" % WID)
if home and home[0] is not None:
ctx.wait_for(lambda: not dark(fc).get("running"), 30, poll=0.5)
_back_home(ctx, fc, home)
_put_back(ctx, fc, found)
# The check records itself when it completes; the record goes back
# as found under a restart, which also ends the envelope it set.
if read_file(record_path()) != raw:
with ctx.takeover():
write_file(record_path(), raw)
ctx.log("the previous setup record is back under a restart")