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forgetest: the release acceptance tool and the bench diagnostics page

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A stdlib-only daemon on the dev image (HTTP :8090) that runs the acceptance
catalog against the machine from a self-contained page, keeps the append-only
result log under /data/forgetest, and exports the release artifact the gate
reads. Tests declare kind (auto / operator / live), hardware (api / takeover),
coverage globs, prerequisites, and core membership; a test's domain
fingerprint is the hash of the manifest files its globs select plus the
platform and its own implementation, so a PASS stays valid exactly while
nothing it covers changed. Campaign rules: a FAIL ends the campaign, the core
(image health, kernel latch and drills, one live emission witness) is never
inherited, invalidate-all forces a full campaign, no SKIP. Live tests need the
operator acknowledgment and the physical arm press through the controller;
takeover tests stop forgectrl for the duration with a crash-recoverable
marker; the tool never touches the laser latch.

Catalog v1: 24 tests ported from the proven bench drills with their recorded
pass criteria (image, kernel K1-K3 and fire A/B/U, forgectrl API and logs,
motion incl. dead-man, cooling, live laser, camera, update, cloud). The bench
tab lists every scripts/bench tool and runs the board-side ones as
subprocesses (takeover tools wrapped). 44 host unit tests, including the gate
verification fixtures. Installed only by forgefirm-image-dev, with the bench
scripts under /usr/share/forgetest/bench.
This commit is contained in:
ScottW514
2026-08-15 15:57:11 -04:00
parent 9b5558dfbc
commit c0f53a865f
35 changed files with 5508 additions and 2 deletions
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forgetest/forgetest/suite/cloud.py
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"""cloud.* - the controller mode switch and the optional Glowforge web-service
mode (gfcloud daemon, gfhome homing runner)."""
import json
import os
import socket
import time
from ..catalog import test
from .. import hw
_CLOUD_COVERS = [("forgefirm-app", "**"), ("python3-gfhardware", "**"), ("python3-gfutilities", "**"),
("forgectrl", "src/super.c"), ("forgectrl", "src/main.c")]
GF_LATEST = "/data/forgefirm/gf-latest.json"
def wait_mode(ctx, fc, want_mode, want_controller="running", timeout=90):
t0 = time.time()
last = None
while time.time() - t0 < timeout:
ctx.checkpoint()
st, m = fc.get("/mode")
if st == 200 and isinstance(m, dict):
last = m
if m.get("mode") == want_mode and m.get("controller") == want_controller:
return m
if m.get("controller") == "motion-fault":
break
time.sleep(1)
return last
def grbl_port_open(timeout=5):
try:
s = socket.create_connection((os.environ.get("GRBL_HOST") or "127.0.0.1",
int(os.environ.get("GRBL_PORT") or 23)), timeout=timeout)
s.close()
return True
except OSError:
return False
@test("cloud.mode-switch", title="Controller mode switch grbl -> cloud -> grbl", subsystem="cloud",
kind="auto", est_min=4,
covers=_CLOUD_COVERS, requires=["forgectrl.auth", "motion.pacing"],
steps=["Bed clear (the supervisor's liveness probe may jog the head a few mm on a "
"controller spawn). Cloud credentials configured; the machine on the network."],
description="POST /mode switches to the cloud controller: gfcloud comes up under "
"supervision and records its connect-time service probe (/status gfsvc); the "
"camera service survives the switch; switching back brings grblHAL up with the "
"Grbl port open and Idle.")
def mode_switch(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
st, m0 = fc.get("/mode")
ctx.check(st == 200 and isinstance(m0, dict), "GET /mode -> %s", st)
ev["mode_before"] = m0
ctx.log("mode before: %s", m0)
ctx.check(m0.get("mode") == "grbl", "start this test in grbl mode (now %s)", m0.get("mode"))
st, cam0 = fc.get("/cam/status")
ev["cam_before"] = cam0
probe_before = None
try:
probe_before = os.stat(GF_LATEST).st_mtime
except OSError:
pass
st, body = fc.post("/mode", data={"controller": "cloud"})
ctx.log("POST /mode controller=cloud -> %s %s", st, body)
ctx.check(st == 200, "mode switch to cloud refused: %s %s", st, body)
m = wait_mode(ctx, fc, "cloud", timeout=90)
ev["mode_cloud"] = m
ctx.log("mode after switch: %s", m)
ctx.check(m and m.get("mode") == "cloud" and m.get("controller") == "running",
"cloud controller did not come up: %s", m)
# the connect-time service probe is the evidence of a live cloud session
t0 = time.time()
probe = None
while time.time() - t0 < 120:
ctx.checkpoint()
try:
mt = os.stat(GF_LATEST).st_mtime
if probe_before is None or mt > probe_before:
with open(GF_LATEST) as f:
probe = json.load(f)
break
except (OSError, ValueError):
pass
time.sleep(2)
ev["gf_probe"] = probe
ctx.log("cloud service probe: %s", probe)
st, cam1 = fc.get("/cam/status")
ev["cam_during_cloud"] = cam1
ctx.check(st == 200 and isinstance(cam1, dict), "camera status lost during cloud mode (%s)", st)
st, body = fc.post("/mode", data={"controller": "grbl"})
ctx.log("POST /mode controller=grbl -> %s %s", st, body)
ctx.check(st == 200, "mode switch back to grbl refused: %s %s", st, body)
m = wait_mode(ctx, fc, "grbl", timeout=120)
ev["mode_after"] = m
ctx.log("mode after switch back: %s", m)
ctx.check(m and m.get("mode") == "grbl" and m.get("controller") == "running",
"grbl controller did not come back: %s", m)
ctx.check(m.get("motion") != "fault", "motion fault after the switch")
ctx.sleep(3)
ctx.check(grbl_port_open(), "Grbl port not open after the switch back")
with ctx.grbl() as g:
st = g.status_report()["state"]
ev["grbl_state"] = st
ctx.log("grbl state after: %s", st)
ctx.check(st.startswith("Idle") or st.startswith("Alarm"), "grbl reports %s", st)
ctx.check(probe is not None, "the cloud controller never recorded a service probe "
"(no credentials, no network, or the service refused) - cloud mode not proven")
st, cam2 = fc.get("/cam/status")
ev["cam_after"] = cam2
ctx.check(st == 200, "camera status lost after the switch back")
@test("cloud.gfhome-homing", title="Glowforge web-service homing ($H with homing_mode=gfcloud)",
subsystem="cloud", kind="operator", est_min=5,
covers=_CLOUD_COVERS + [("grblhal-glowforge", "src/**")], requires=["cloud.mode-switch"],
steps=["homing_mode = gfcloud and cloud credentials configured; bed clear, lid closed.",
"Watch the gantry: the service drives it to the corner with camera corrections."],
description="In grbl mode, $H runs gfhome: the web-service homing session with the "
"head-accelerometer motion witness. The controller returns to Idle with "
"homed:true within the session timeout, and the operator confirms the head "
"reached the home corner.")
def gfhome_homing(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
settings = fc.settings()
hm = settings.get("homing_mode")
ev["homing_mode"] = hm
ctx.check(hm == "gfcloud", "homing_mode is %r, this test needs gfcloud", hm)
ctx.instruct("Bed clear, lid closed, head anywhere. Watch the gantry during homing.")
with ctx.grbl() as g:
st = g.status_report()["state"]
ctx.check(st.startswith("Idle") or st.startswith("Alarm"), "controller is %s", st)
if st.startswith("Alarm"):
g.command("$X")
t0 = time.time()
g.send_raw(b"$H\n")
homed = False
state = None
while time.time() - t0 < 600:
ctx.checkpoint()
s = fc.status()
state = s.get("state")
try:
gs = g.status_report()["state"]
except hw.HwError:
gs = "?"
if s.get("homed") and gs.startswith("Idle"):
homed = True
break
if gs.startswith("Alarm"):
break
time.sleep(2)
ev["homing_s"] = round(time.time() - t0, 1)
ev["homed"] = homed
ctx.log("homing: homed=%s after %.1f s (kernel %s, grbl %s)", homed, ev["homing_s"], state, gs)
ctx.check(homed, "homing did not complete (grbl %s)", gs)
ctx.confirm("Did the head travel to the home corner under camera corrections and stop there?")