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homing.manual and the host harness: the manual home jogs to an offset origin

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homing.manual runs two homes. With manual_home_x and _y unset, $H
plays no byte and declares X0 Y0 (the checks it had). With 5 and 3, $H
declares the head at minus them and jogs it to X0 Y0 before it answers:
the sender is told the declared position, the kernel plays the move,
Grbl and forgectrl read X0 Y0, and a jog behind the origin draws
error:15. The test restores homing_mode and both offsets as found, and
returns the head by what the machine read, so a move cut short still
comes home. The change stays inside the test's own function.

manual_home_test.py: case 7 is the offset's new meaning (declared at
minus the offset, the move dark under a modal M3, the port's home, the
clamps); a new case cancels the move with a jog cancel and expects it
to stop short with $H saying where; case 8 reads the declared position
from the sender's message. The bench README says so.

Proof: manual_home_test.py ALL PASS against the driver change (ten
cases), and its cancel case fails against a build with the driver's
cancel hook left out. On the bench reference, fx14 with the driver
change and this suite file in place of the image's, homing.manual PASS
in campaign c-20260926000059-e731: with no offset no byte and X0 Y0;
with 5 and 3 the sender was told X-5.002 Y-3.000, the kernel played
1067 and 640 steps, Grbl and forgectrl read X0 Y0, error:15 behind the
origin; settings restored and the baseline clean. The forgetest unit
tests pass.

Acceptance: homing.manual is the test; its covers are unchanged (the
driver's src/**, forgectrl's status and main.c).
This commit is contained in:
ScottW514
2026-09-26 10:02:10 -04:00
parent b2e0f91342
commit b494bbecb5
3 changed files with 194 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/bench/manual_home_test.py
+109 -25
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@@ -25,19 +25,23 @@ operator's own $ME or a manual $H energizes it:
6. the port's panel operations (release, energize, home) do the same with
a sender connected, and the sender's response count stays exact; home
is refused unless homing_mode = manual
7. manual_home_x and manual_home_y: the coordinate the stop blocks stand
for, the origin by default and never negative; the envelope starts at
the blocks, and an out-of-range offset is clamped
7. manual_home_x and manual_home_y: how far in front of the stop blocks
the origin lies, never negative. With an offset the head at the blocks
is declared at minus it and jogs to the origin, dark, before $H
answers, through the sender and through the port; the envelope starts
at the origin, and an out-of-range offset is clamped; a jog cancel
ends the move short of the origin and $H says where it stopped
9. a controller that starts over a released gantry (the marker in the
state directory) comes up locked and writes no current until $ME
8. each provider reads its own offsets and no other's: with both pairs set,
a manual home declares manual_home_* and a camera home declares
a manual home declares minus manual_home_* and a camera home declares
gfcloud_home_*, which may be negative, with the envelope reaching back
to it
Usage: manual_home_test.py [path/to/grblHAL_glowforge]
"""
import os
import re
import shutil
import signal
import subprocess
@@ -103,6 +107,15 @@ class Session:
return 0
return sum(1 for b in data if not b & 0x80 and b & 0x35)
def fire_ticks(self):
"""FIRE ticks shipped so far."""
try:
with open(self.dump, "rb") as f:
data = f.read()
except OSError:
return 0
return sum(1 for b in data if not b & 0x80 and b & 0x10)
def attr_writes(self):
"""The X and Y step-current writes the hardware would have got, in
order, as (x, y) pairs: ("0", "0") is a release, ("33", "5") the hold
@@ -150,6 +163,18 @@ class Session:
shutil.rmtree(self.workdir, ignore_errors=True)
def declared(s):
"""The position the last manual home with an offset told the sender the
head stood at, on the step grid, or None."""
with s.sender.lock:
lines = list(s.sender.other)
for line in reversed(lines):
m = re.search(r"Manual home: the head is at X(-?[0-9.]+) Y(-?[0-9.]+); moving it to the origin", line)
if m:
return float(m.group(1)), float(m.group(2))
return None
def refused(s, line):
"""Send a line that must be refused, and return its error. The core holds
a parser error against every g-code line that follows until an empty line
@@ -368,49 +393,107 @@ def test_restart_while_released(s):
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."""
"""manual_home_x and _y are how far in front of the stop blocks the origin
lies, never negative: the head at the blocks is declared at minus them and
jogs to the origin, dark, before $H answers, and the envelope starts at
the origin."""
s.sender.wait_state("Idle")
s.set_mode("manual", "manual_home_x = 12.5\nmanual_home_y = 8\n")
s.sender.send("M3 S100") # a modal beam the jog must not carry
ticks, fire = s.motion_ticks(), s.fire_ticks()
if s.sender.send("$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])
st = s.port.state() # $H answers once the head has stopped
s.sender.send("M5")
if st["state"] != "Idle" or st["mpos"][0] != 0 or st["mpos"][1] != 0:
fail("[offsets] the head was not idle at the origin when $H answered: %r" % st)
if st["homed"] & 3 != 3:
fail("[offsets] X and Y are not marked homed: %r" % st)
d = declared(s)
if d is None or abs(d[0] + 12.5) > 0.01 or abs(d[1] + 8.0) > 0.01:
fail("[offsets] the sender was told the head stood at %r, not (-12.5, -8)" % (d,))
if s.motion_ticks() == ticks:
fail("[offsets] the move to the origin shipped nothing")
if s.fire_ticks() != fire:
fail("[offsets] the move to the origin shipped %d FIRE ticks" % (s.fire_ticks() - fire))
if s.sender.send("$J=G91 X5 Y5 F3000") != "ok":
fail("[offsets] a jog from the blocks onto the bed was refused")
fail("[offsets] a jog from the origin onto the bed was refused")
s.sender.wait_state("Idle")
if s.sender.send("$J=G91 X-5 Y-5 F3000") != "ok":
fail("[offsets] the jog back to the blocks was refused")
fail("[offsets] the jog back to the origin was refused")
s.sender.wait_state("Idle")
for line in ("$J=G91 X-1 F600", "$J=G91 Y-1 F600"):
r = refused(s, line)
if r != "error:15":
fail("[offsets] %s, behind the blocks, got %r, not error:15" % (line, r))
fail("[offsets] %s, behind the origin, got %r, not error:15" % (line, r))
s.set_mode("manual", "manual_home_x = -10.3\nmanual_home_y = 1e9\n")
if s.sender.send("$H") != "ok":
if s.sender.send("$H", timeout=30.0) != "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])
if st["mpos"][0] != 0 or st["mpos"][1] != 0:
fail("[offsets] the head did not end at the origin: %r" % st["mpos"][:2])
d = declared(s)
if d is None or d[0] != 0 or abs(d[1] + 279.0) > 0.01:
fail("[offsets] a negative offset and an oversized one declared %r, not (0, -279)" % (d,))
# The panel's Set home here: the port answers once the head has stopped,
# and the sender's count stays exact.
s.set_mode("manual", "manual_home_x = 12.5\nmanual_home_y = 8\n")
s.quiet()
before = s.sender.count()
if s.port.request("home") != "ok":
fail("[offsets] the port's home with offsets was refused")
st = s.port.state()
if st["state"] != "Idle" or st["mpos"][0] != 0 or st["mpos"][1] != 0:
fail("[offsets] the head was not idle at the origin when the port's home answered: %r" % st)
if s.sender.count() != before:
fail("[offsets] the sender got %d responses for the port's home" % (s.sender.count() - before))
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")
print("PASS [offsets]: a manual home declared (-12.5, -8) and jogged to the origin before $H "
"answered, dark under a modal M3; the envelope started at the origin; a negative offset "
"became 0 and an oversized one the axis travel; the port's home answered at the origin")
def test_origin_jog_cancel(s):
"""A jog cancel during a manual home's move to the origin ends the move at
once, as it ends any jog, though the core's main loop is waiting for $H:
$H answers with the head short of the origin, and the sender is told
where it stopped."""
s.sender.wait_state("Idle")
s.set_mode("manual", "manual_home_y = 250\n")
n = s.sender.count()
s.sender.sock.sendall(("$H" + s.sender.eol).encode())
time.sleep(0.4) # into a move of about 1.6 s
s.sender.realtime(b"\x85")
end = time.time() + 5.0
while time.time() < end and s.sender.count() == n:
time.sleep(0.01)
with s.sender.lock:
r = s.sender.responses[n] if len(s.sender.responses) > n else None
st = s.port.state()
s.set_mode("manual")
if r != "ok":
fail("[origin-cancel] $H got %r" % r)
if st["state"] != "Idle" or st["mpos"][1] > -10.0:
fail("[origin-cancel] the jog cancel did not stop the move short of the origin: %r" % st)
if not s.sender.saw("Manual home: the move to the origin stopped at"):
fail("[origin-cancel] the sender was not told where the move stopped")
print("PASS [origin-cancel]: a jog cancel 0.4 s into the move to the origin stopped it at Y%.1f; "
"$H answered ok and said where it stopped" % st["mpos"][1])
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 pairs set at once: a manual home declares minus 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("$H") != "ok":
fail("[own-offsets] the manual home was refused")
st = s.port.state()
if abs(st["mpos"][0] - 7.0) > 0.01 or abs(st["mpos"][1] - 9.0) > 0.01:
fail("[own-offsets] a manual home declared %r, not its own (7, 9)" % st["mpos"][:2])
d = declared(s)
if d is None or abs(d[0] + 7.0) > 0.01 or abs(d[1] + 9.0) > 0.01:
fail("[own-offsets] a manual home declared %r, not its own (-7, -9)" % (d,))
s.set_mode("gfcloud", both)
if s.sender.send("$H", timeout=30.0) != "ok":
fail("[own-offsets] the camera home (stand-in runner) was refused")
@@ -431,7 +514,7 @@ def test_offsets_belong_to_their_provider(s):
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 "
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")
@@ -448,6 +531,7 @@ def main():
test_port_panel_ops(s)
test_restart_while_released(s)
test_stop_block_offsets(s)
test_origin_jog_cancel(s)
test_offsets_belong_to_their_provider(s)
finally:
s.close()