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bench: the controller port and manual home harnesses
Two host harnesses for the grblHAL driver's null-sink build, in the bench
registry and the README with the others. The driver's CI runs them.
ctlport_test.py drives the controller port beside a scripted Grbl sender
that counts every ok and error it is sent, which is the only way to see a
status routed to the wrong source. 13 cases: the socket's mode; a port
jog's status going to the port with the sender's count exact and the jog
run whole under the sender's '?' polls; a port error the sender's next line
does not inherit; the sender's line canceling a fast port jog and drawing
its own ok (fast on purpose: a slow jog stops at once and would pass with no
hold at all); a sender line queued right behind the port's; the refusals;
one client, and five reconnects right after a close; the status hook across
a soft reset; the dead-man; a CR LF sender; a sender that polls the way
LightBurn does, '?' with an end of line behind it, LF and CR LF (every port
jog accepted, a 60 mm port jog run whole with the polls landing inside it,
one ok per poll, a real line still canceling a port jog); and every
operation of both sets under an open armed window with M3 modal and S500,
where the dump must hold no FIRE tick.
manual_home_test.py reads the stream dump (GFSINK_DUMP) and the attribute
log (GFSINK_ATTR_LOG), so it can say that nothing was shipped and which
current was written, and how many times. 9 cases: a manual $H ships no step
and no FIRE tick and declares the offsets with the soft limits on and Z
kept; $H refused in a cycle; $MD refused under an open armed window with
nothing written; every motion source and $X refused while released; each
energize written exactly once; the port's panel operations; both pairs of
home offsets, alone and at once; and a controller killed under a release,
whose replacement writes only 0 and 0.
Both pass against the driver's extensions tree. The poll cases fail against
the driver without its empty-line rule ("8 of 8 port jogs were refused under
a status poll"), which is the defect they were written from: it was found
on the bench reference with LightBurn connected, and the sender these
harnesses had until then polled a bare '?'.
This commit is contained in:
ScottW514
@@ -0,0 +1,458 @@
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#!/usr/bin/env python3
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# Copyright 2026 514 LLC d/b/a OpenGlow
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# Written by Scott Wiederhold
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# https://community.openglow.org
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# SPDX-License-Identifier: MIT
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"""Host-side verification of the manual homing provider and the motor release.
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Runs the native grblHAL_glowforge binary in null-sink mode with GFSINK_DUMP
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capturing the shipped byte stream and GFSINK_ATTR_LOG capturing the sysfs
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writes the hardware would get (the release is the X and Y step currents at 0). An operator's hands are on a released gantry,
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so the rule these cases pin is that nothing moves it and nothing but the
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operator's own $ME or a manual $H energizes it:
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1. $H with homing_mode = manual ships no step, declares X0 Y0 where the
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head stands, marks X and Y homed and turns their soft limits on, leaves
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Z where it was, and tells the sender the home was set by hand
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2. $H is refused while a program runs
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3. $MD writes the release, drops the X and Y reference at once, and locks
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the machine in the alarm state; it is refused under an open armed window
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4. while released, every motion source is refused and ships nothing: a
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sender jog, a sender G0, a program line, a port jog, and a homing runner;
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$X cannot unlock it and a soft reset does not either
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5. only $ME and a manual $H write the energize, each exactly once; after
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$ME the position is still unknown, and after the $H it is homed
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6. the port's panel operations (release, energize, home) do the same with
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a sender connected, and the sender's response count stays exact; home
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is refused unless homing_mode = manual
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7. manual_home_x and manual_home_y: the coordinate the stop blocks stand
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for, the origin by default and never negative; the envelope starts at
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the blocks, and an out-of-range offset is clamped
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9. a controller that starts over a released gantry (the marker in the
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state directory) comes up locked and writes no current until $ME
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8. each provider reads its own offsets and no other's: with both pairs set,
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a manual home declares manual_home_* and a camera home declares
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gfcloud_home_*, which may be negative, with the envelope reaching back
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to it
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Usage: manual_home_test.py [path/to/grblHAL_glowforge]
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"""
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import os
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import shutil
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import signal
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import subprocess
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import tempfile
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import threading
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import time
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from ctlport_test import BIN, PortClient, Sender, fail, publish_verdicts
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PORT = 2396
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NOTICE = "Manual home: position set where the head was placed"
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RELEASED = "Motors released"
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RUNNER_MARK = "runner-ran"
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class Session:
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def __init__(self):
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self.workdir = tempfile.mkdtemp(prefix="manual-home-")
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self.conf = os.path.join(self.workdir, "forgefirm.conf")
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self.dump = os.path.join(self.workdir, "stream.bin")
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self.attr_log = os.path.join(self.workdir, "attr.log")
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self.set_mode("manual")
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verdict = os.path.join(self.workdir, "cooling.state")
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self.stop = threading.Event()
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self.pub = threading.Thread(target=publish_verdicts, args=(verdict, self.stop), daemon=True)
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self.pub.start()
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env = dict(os.environ, GFHOME_CONF=self.conf, GF_STATE_DIR=self.workdir,
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GF_VERDICT_FILE=verdict, GFSINK_DUMP=self.dump,
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GFSINK_ATTR_LOG=self.attr_log, FFLOG_STDERR="1")
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env.pop("GFSINK", None)
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env.pop("GF_SWITCH_FILE", None)
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self.env = env
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self.proc = subprocess.Popen([BIN, "-p", str(PORT)], cwd=self.workdir, env=env,
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stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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self.sender = Sender(PORT)
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path = os.path.join(self.workdir, "grbl.ctl")
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for _ in range(50):
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if os.path.exists(path):
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break
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time.sleep(0.1)
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self.port = PortClient(path)
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# A controller writes the hold currents at its start; what the cases
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# count comes after that.
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self.base = 0
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start = self.attr_writes()
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if start != [("33", "5")]:
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fail("the controller's start wrote %r to the step currents, not the hold currents" % start)
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self.base = len(start)
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def set_mode(self, mode, extra=""):
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"""The driver re-reads the file at every $H."""
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with open(self.conf, "w") as f:
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f.write("cool_fan_grace_s = 0\nlaser_disarm_s = 1\nhoming_mode = %s\n"
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"gfcloud_home_cmd = touch %s\n%s"
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% (mode, os.path.join(self.workdir, RUNNER_MARK), extra))
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def motion_ticks(self):
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"""Step and FIRE ticks shipped so far (a byte with bit 7 set is a power byte)."""
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try:
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with open(self.dump, "rb") as f:
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data = f.read()
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except OSError:
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return 0
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return sum(1 for b in data if not b & 0x80 and b & 0x35)
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def attr_writes(self):
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"""The X and Y step-current writes the hardware would have got, in
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order, as (x, y) pairs: ("0", "0") is a release, ("33", "5") the hold
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currents, which is what an energize writes."""
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vals = {"pic/x_step_current": [], "pic/y_step_current": []}
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try:
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with open(self.attr_log) as f:
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for line in f:
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parts = line.split()
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if len(parts) == 2 and parts[0] in vals:
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vals[parts[0]].append(parts[1])
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except OSError:
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pass
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return list(zip(vals["pic/x_step_current"], vals["pic/y_step_current"]))[self.base:]
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def respawn(self, hard=True):
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"""End the controller (SIGKILL when hard: it gets no chance to tidy
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up) and start another over the same state directory."""
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self.port.close()
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self.sender.close()
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if hard:
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self.proc.kill()
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else:
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self.proc.send_signal(signal.SIGINT)
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self.proc.wait(10)
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self.proc = subprocess.Popen([BIN, "-p", str(PORT)], cwd=self.workdir, env=self.env,
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stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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self.sender = Sender(PORT)
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time.sleep(0.5)
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self.port = PortClient(os.path.join(self.workdir, "grbl.ctl"))
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def quiet(self):
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time.sleep(0.45)
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def close(self):
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self.port.close()
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self.sender.close()
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self.proc.send_signal(signal.SIGINT)
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try:
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self.proc.wait(5)
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except subprocess.TimeoutExpired:
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self.proc.kill()
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self.stop.set()
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self.pub.join(2)
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shutil.rmtree(self.workdir, ignore_errors=True)
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def refused(s, line):
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"""Send a line that must be refused, and return its error. The core holds
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a parser error against every g-code line that follows until an empty line
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acknowledges it (the streaming contract), so the acknowledgment is sent
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here: the next line is then judged on its own merits."""
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r = s.sender.send(line)
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if r.startswith("error"):
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if s.sender.send("") != "ok":
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fail("the empty line that acknowledges %s did not get ok" % r)
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return r
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return None
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def test_manual_home(s):
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s.sender.send("G91")
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s.sender.send("G0 X20 Y10") # away from wherever X0 Y0 was
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s.sender.wait_state("Idle")
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before = s.port.state()
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if abs(before["mpos"][0]) < 1:
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fail("[manual-home] the head did not move before the home: %r" % before)
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if before["homed"] & 3:
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fail("[manual-home] X or Y homed before any home: %r" % before)
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if s.sender.send("$J=G91 X-100 F3000") != "ok": # unhomed: no X soft limit yet
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fail("[manual-home] an unhomed jog past X0 was refused")
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s.sender.wait_state("Idle")
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time.sleep(0.5)
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ticks = s.motion_ticks()
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z_before = s.port.state()["mpos"][2]
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if s.sender.send("$H") != "ok":
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fail("[manual-home] $H under manual did not get ok")
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time.sleep(0.5)
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st = s.port.state()
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if s.motion_ticks() != ticks:
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fail("[manual-home] $H shipped %d motion ticks" % (s.motion_ticks() - ticks))
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if st["mpos"][0] != 0 or st["mpos"][1] != 0:
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fail("[manual-home] X and Y are not 0 after the home: %r" % st)
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if st["homed"] & 3 != 3:
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fail("[manual-home] X and Y are not marked homed: %r" % st)
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if st["mpos"][2] != z_before:
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fail("[manual-home] Z changed across the home: %r -> %r" % (z_before, st["mpos"][2]))
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if st["state"] != "Idle":
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fail("[manual-home] not idle after the home: %r" % st)
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if not s.sender.saw(NOTICE):
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fail("[manual-home] the sender was not told the home was set by hand")
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r = refused(s, "$J=G91 X-5 F600") # off the bed: the soft limit is on now
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if r != "error:15":
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fail("[manual-home] a jog past X0 after the home got %r, not error:15" % r)
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print("PASS [manual-home]: $H shipped nothing, declared X0 Y0, homed X and Y with soft "
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"limits on, kept Z, and told the sender")
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def test_home_refused_in_cycle(s):
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s.sender.send("G90")
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s.sender.send("G1 X40 F300")
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time.sleep(0.5)
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if s.port.state()["state"] != "Run":
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fail("[home-in-cycle] the program is not running: %r" % s.port.state())
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r = refused(s, "$H")
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if r is None:
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fail("[home-in-cycle] $H during a program was accepted")
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if s.port.state()["homed"] & 3 != 3:
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fail("[home-in-cycle] the refused $H dropped the reference")
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s.sender.wait_state("Idle", timeout=15.0)
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print("PASS [home-in-cycle]: $H during a program got %s and changed nothing" % r)
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def test_release_refused_armed(s):
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s.sender.send("M3 S100")
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s.sender.send("G1 X45 F1500")
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s.sender.wait_state("Idle") # motion done, the armed window still open
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if not s.sender.saw("laser armed"):
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fail("[release-armed] the laser line did not arm, so the case proves nothing")
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r = refused(s, "$MD")
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if r is None:
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fail("[release-armed] $MD under an open armed window was accepted")
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if s.attr_writes():
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fail("[release-armed] the refused $MD wrote the release: %r" % s.attr_writes())
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s.sender.send("M5")
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time.sleep(2.5) # past laser_disarm_s: the window closes
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print("PASS [release-armed]: $MD under an open armed window got %s and wrote nothing" % r)
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def test_release_locks(s):
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if s.sender.send("$MD") != "ok":
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fail("[release] $MD at idle was refused")
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st = s.port.state()
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if s.attr_writes() != [("0", "0")]:
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fail("[release] the release was not written once: %r" % s.attr_writes())
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if not st["released"] or st["state"] != "Alarm" or st["homed"] & 3:
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fail("[release] not released, locked and unreferenced: %r" % st)
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if not st["homed"] & 4:
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fail("[release] Z lost its reference: %r" % st)
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if not s.sender.saw(RELEASED):
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fail("[release] the sender was not told")
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ticks = s.motion_ticks()
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x0 = st["mpos"][0]
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for line in ("$J=G91 X5 F600", "G0 X5", "G1 X5 F500", "G91 G1 Y3 F500"):
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if refused(s, line) is None:
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fail("[release] the sender's %r was accepted while released" % line)
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s.quiet()
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r = s.port.request("jog G91 X5 F600")
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if r != "busy:released":
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fail("[release] a port jog got %r while released" % r)
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if refused(s, "$X") is None:
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fail("[release] $X was accepted while released")
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s.set_mode("gfcloud")
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r = refused(s, "$H")
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s.set_mode("manual")
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if r is None or os.path.exists(os.path.join(s.workdir, RUNNER_MARK)):
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fail("[release] a homing runner was not refused while released (%r)" % r)
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s.sender.realtime(b"\x18")
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time.sleep(1.0)
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r = refused(s, "$X")
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st = s.port.state()
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if r is None or st["state"] != "Alarm" or not st["released"]:
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fail("[release] a soft reset and $X unlocked a released machine: %r %r" % (r, st))
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if refused(s, "G0 X5") is None:
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fail("[release] G0 after a soft reset was accepted while released")
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time.sleep(0.5)
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if s.motion_ticks() != ticks or s.port.state()["mpos"][0] != x0:
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fail("[release] something moved while released")
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if s.attr_writes() != [("0", "0")]:
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fail("[release] something other than $ME or $H wrote the step currents: %r" % s.attr_writes())
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print("PASS [release]: released, locked in alarm, X and Y unreferenced, Z kept; a sender "
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"jog, G0, program lines, a port jog, a homing runner, $X and a soft reset all "
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"refused; nothing shipped, nothing energized")
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def test_energize(s):
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if s.sender.send("$ME") != "ok":
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fail("[energize] $ME was refused")
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st = s.port.state()
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if s.attr_writes() != [("0", "0"), ("33", "5")]:
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fail("[energize] the energize was not written once: %r" % s.attr_writes())
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if st["released"] or st["state"] != "Idle" or st["homed"] & 3:
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fail("[energize] not energized, idle and still unreferenced: %r" % st)
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if s.sender.send("$ME") != "ok" or s.attr_writes() != [("0", "0"), ("33", "5")]:
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fail("[energize] a second $ME wrote again: %r" % s.attr_writes())
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if s.sender.send("$J=G91 X1 F600") != "ok":
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fail("[energize] a jog after $ME was refused")
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s.sender.wait_state("Idle")
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s.sender.send("$MD")
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if s.sender.send("$H") != "ok":
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fail("[energize] a manual $H while released was refused")
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st = s.port.state()
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if s.attr_writes() != [("0", "0"), ("33", "5"), ("0", "0"), ("33", "5")]:
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fail("[energize] the manual $H did not energize exactly once: %r" % s.attr_writes())
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if st["released"] or st["state"] != "Idle" or st["homed"] & 3 != 3:
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fail("[energize] not energized, idle and homed after the manual $H: %r" % st)
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print("PASS [energize]: $ME energized once and left X and Y unreferenced; a manual $H "
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"energized once and homed")
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def test_port_panel_ops(s):
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s.sender.wait_state("Idle")
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s.quiet()
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before = s.sender.count()
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for op, want in (("release", True), ("energize", False), ("release", True)):
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if s.port.request(op) != "ok":
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fail("[port] %s was refused" % op)
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if s.port.state()["released"] != want:
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fail("[port] %s left released=%r" % (op, not want))
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s.set_mode("gfcloud")
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r = s.port.request("home")
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s.set_mode("manual")
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if r != "error:mode" or os.path.exists(os.path.join(s.workdir, RUNNER_MARK)):
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fail("[port] home under gfcloud got %r" % r)
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if s.port.request("home") != "ok":
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fail("[port] home under manual was refused")
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st = s.port.state()
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if st["released"] or st["homed"] & 3 != 3 or st["state"] != "Idle":
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fail("[port] not energized, homed and idle after the port's home: %r" % st)
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if s.sender.count() != before:
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fail("[port] the sender got %d responses for the port's commands"
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% (s.sender.count() - before))
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if s.sender.send("G0 X1") != "ok":
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fail("[port] the sender's next line did not get ok")
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print("PASS [port]: release, energize and home work through the port with a sender "
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"connected, home is refused outside manual mode, and the sender's count is exact")
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def test_restart_while_released(s):
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"""A controller that dies under a released gantry is replaced by one that
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takes the release over before it writes its first current: it comes up
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locked, the hold currents are never written, and $ME still ends it."""
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s.sender.wait_state("Idle")
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if s.sender.send("$MD") != "ok":
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fail("[restart] $MD was refused")
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before = s.attr_writes()
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marker = os.path.join(s.workdir, "motors.released")
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if not os.path.exists(marker):
|
||||
fail("[restart] the release left no marker in the state directory")
|
||||
s.respawn(hard=True)
|
||||
st = s.port.state()
|
||||
if not st["released"] or st["state"] != "Alarm":
|
||||
fail("[restart] the new controller did not take the release over: %r" % st)
|
||||
started = s.attr_writes()[len(before):]
|
||||
if started != [("0", "0")]:
|
||||
fail("[restart] the new controller's start wrote %r to a released gantry, not 0 and 0" % started)
|
||||
if refused(s, "$X") is None or refused(s, "$J=G91 X5 F600") is None:
|
||||
fail("[restart] the new controller let a released machine be unlocked or jogged")
|
||||
if s.sender.send("$ME") != "ok":
|
||||
fail("[restart] $ME was refused after the restart")
|
||||
st = s.port.state()
|
||||
if st["released"] or st["state"] != "Idle" or s.attr_writes()[-1] != ("33", "5") or os.path.exists(marker):
|
||||
fail("[restart] $ME did not energize and clear the marker: %r %r" % (st, s.attr_writes()[-1:]))
|
||||
s.respawn(hard=False)
|
||||
st = s.port.state()
|
||||
if st["released"] or st["state"] != "Idle":
|
||||
fail("[restart] a controller started with no marker came up released: %r" % st)
|
||||
print("PASS [restart]: a controller killed under a released gantry was replaced by one that came "
|
||||
"up locked and wrote 0 to X and Y at its start; $ME energized and cleared the marker; the next start was normal")
|
||||
|
||||
|
||||
def test_stop_block_offsets(s):
|
||||
"""manual_home_x and _y are the coordinate the stop blocks stand for: the
|
||||
origin by default, never negative, and the wall the envelope starts at."""
|
||||
s.sender.wait_state("Idle")
|
||||
s.set_mode("manual", "manual_home_x = 12.5\nmanual_home_y = 8\n")
|
||||
if s.sender.send("$H") != "ok":
|
||||
fail("[offsets] $H under manual with offsets was refused")
|
||||
st = s.port.state()
|
||||
if abs(st["mpos"][0] - 12.5) > 0.01 or abs(st["mpos"][1] - 8.0) > 0.01:
|
||||
fail("[offsets] the home declared %r, not (12.5, 8)" % st["mpos"][:2])
|
||||
if s.sender.send("$J=G91 X5 Y5 F3000") != "ok":
|
||||
fail("[offsets] a jog from the blocks onto the bed was refused")
|
||||
s.sender.wait_state("Idle")
|
||||
if s.sender.send("$J=G91 X-5 Y-5 F3000") != "ok":
|
||||
fail("[offsets] the jog back to the blocks was refused")
|
||||
s.sender.wait_state("Idle")
|
||||
for line in ("$J=G91 X-1 F600", "$J=G91 Y-1 F600"):
|
||||
r = refused(s, line)
|
||||
if r != "error:15":
|
||||
fail("[offsets] %s, behind the blocks, got %r, not error:15" % (line, r))
|
||||
s.set_mode("manual", "manual_home_x = -10.3\nmanual_home_y = 1e9\n")
|
||||
if s.sender.send("$H") != "ok":
|
||||
fail("[offsets] $H with out-of-range offsets was refused")
|
||||
st = s.port.state()
|
||||
if st["mpos"][0] != 0 or st["mpos"][1] > 1000:
|
||||
fail("[offsets] a negative or oversized offset was not clamped: %r" % st["mpos"][:2])
|
||||
s.set_mode("manual")
|
||||
print("PASS [offsets]: a manual home declared (12.5, 8), the envelope started at the blocks, "
|
||||
"a negative offset became the origin and an oversized one the axis travel")
|
||||
|
||||
|
||||
def test_offsets_belong_to_their_provider(s):
|
||||
"""Both pairs set at once: a manual home declares manual_home_* and never
|
||||
looks at gfcloud_home_*, and a camera home (a stand-in runner that exits 0)
|
||||
declares gfcloud_home_* and never looks at manual_home_*. A camera home may
|
||||
lie behind the origin, and the envelope reaches back to it."""
|
||||
both = "manual_home_x = 7\nmanual_home_y = 9\ngfcloud_home_x = -4.5\ngfcloud_home_y = 3.25\n"
|
||||
s.sender.wait_state("Idle")
|
||||
s.set_mode("manual", both)
|
||||
if s.sender.send("$H") != "ok":
|
||||
fail("[own-offsets] the manual home was refused")
|
||||
st = s.port.state()
|
||||
if abs(st["mpos"][0] - 7.0) > 0.01 or abs(st["mpos"][1] - 9.0) > 0.01:
|
||||
fail("[own-offsets] a manual home declared %r, not its own (7, 9)" % st["mpos"][:2])
|
||||
s.set_mode("gfcloud", both)
|
||||
if s.sender.send("$H", timeout=30.0) != "ok":
|
||||
fail("[own-offsets] the camera home (stand-in runner) was refused")
|
||||
s.sender.wait_state("Idle")
|
||||
st = s.port.state()
|
||||
if abs(st["mpos"][0] + 4.5) > 0.01 or abs(st["mpos"][1] - 3.25) > 0.01:
|
||||
fail("[own-offsets] a camera home declared %r, not its own (-4.5, 3.25)" % st["mpos"][:2])
|
||||
if s.sender.send("$J=G91 X2 F3000") != "ok":
|
||||
fail("[own-offsets] a jog from a camera home behind the origin was refused")
|
||||
s.sender.wait_state("Idle")
|
||||
if s.sender.send("$J=G91 X-2 F3000") != "ok":
|
||||
fail("[own-offsets] the jog back to the camera home was refused")
|
||||
s.sender.wait_state("Idle")
|
||||
r = refused(s, "$J=G91 X-1 F600")
|
||||
if r != "error:15":
|
||||
fail("[own-offsets] a jog behind the camera home got %r, not error:15" % r)
|
||||
r = refused(s, "$J=G91 Y-4 F600")
|
||||
if r != "error:15":
|
||||
fail("[own-offsets] a jog to Y-0.75, off the bed, got %r, not error:15" % r)
|
||||
s.set_mode("manual")
|
||||
print("PASS [own-offsets]: with both pairs set, a manual home declared (7, 9) and a camera home "
|
||||
"(-4.5, 3.25); the envelope reached back to the camera home on X and stopped at the origin on Y")
|
||||
|
||||
|
||||
def main():
|
||||
if not os.path.exists(BIN):
|
||||
fail("no controller binary at %s" % BIN)
|
||||
s = Session()
|
||||
try:
|
||||
test_manual_home(s)
|
||||
test_home_refused_in_cycle(s)
|
||||
test_release_refused_armed(s)
|
||||
test_release_locks(s)
|
||||
test_energize(s)
|
||||
test_port_panel_ops(s)
|
||||
test_restart_while_released(s)
|
||||
test_stop_block_offsets(s)
|
||||
test_offsets_belong_to_their_provider(s)
|
||||
finally:
|
||||
s.close()
|
||||
print("ALL PASS")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user