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bench: platform drills, cutting-power lid-IR and expected-stop live drills, SIGTERM lifecycle case
- platform_drills.py (on the board, forgectrl stopped): dead-man trip readback, rmmod/modprobe with concurrent attr reads, decay/microstep readback, LED sequence. - live_fire_drills.py: ircut (S/F selectable characterization job), expstop (armed job + POST /controller/stop, controller left stopped), ctrlstart (separate, operator-approved resume); the token header is sent in exact case. - laser_lifecycle_test.py: sigterm-mid-job - SIGTERM during an armed job must stop it, relock the latch and exit promptly.
This commit is contained in:
ScottW514
@@ -22,6 +22,23 @@ Drills (pass a name):
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underrun (position no longer trusted), a subsequent armed
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job must refuse to cut at the stale origin - the sender
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alarms and re-home is required. Reads homed via /status.
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ircut Lid-IR fire characterization at cutting power: a 30 mm
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square at S<power> (default 1000 = full) and F<feed>
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(default 300) on scrap, sampled like `witness`. Prints the
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per-channel peak delta over the ambient baseline and the
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engine's own "run telemetry" line is the record. Run it
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>= 3 times on representative material; the highest peak
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delta sizes cool_fire_ir_delta.
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ircut [host] [S] [F] e.g. ircut 192.0.2.1 1000 300
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expstop Armed kill on the EXPECTED-stop path: start a mark job,
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then mid-burn POST /controller/stop (the supervisor stops
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the controller: SIGTERM, reap, exit safing). PASS: emission
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drops to 0 within a few samples of the stop and stays 0,
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the kernel is not running, and POST /controller/start
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is a SEPARATE step (`ctrlstart`, run after the operator has
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judged the stop). Needs the panel token in GF_TOKEN
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(cat /data/forgefirm/panel.token on the board).
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ctrlstart POST /controller/start after an expstop; no motion, no laser.
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The G-4 arm-refuses-when-a-fire-gate-is-active drill is operator-manual
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(kill the pump during the button wait); this harness prints the cue.
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@@ -339,13 +356,144 @@ def drill_faultpos(g):
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g.cmd('M5', timeout=1)
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def drill_ircut(g):
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power = int(sys.argv[3]) if len(sys.argv) > 3 else 1000
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feed = int(sys.argv[4]) if len(sys.argv) > 4 else 300
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print('=== lid-IR characterization: S%d F%d 30 mm square ===' % (power, feed))
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print('connect: %s' % prepare(g))
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base = sample_forgectrl()
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print('pre-fire: %s' % base)
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arm_cue()
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job = [
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'G91', 'G21', 'M4', 'S%d' % power,
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'G1 X30 F%d' % feed, 'G1 Y30 F%d' % feed,
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'G1 X-30 F%d' % feed, 'G1 Y-30 F%d' % feed,
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'M5', 'G90', 'M2',
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]
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samples = run_and_sample(g, job, overall_timeout=400)
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ir_peak = [0, 0, 0, 0]
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ir_min = [10 ** 6] * 4
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hv_vals = []
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emis = []
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fw = set()
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for s in samples:
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if s['ir'] and len(s['ir']) == 4:
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for i in range(4):
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ir_peak[i] = max(ir_peak[i], s['ir'][i])
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ir_min[i] = min(ir_min[i], s['ir'][i])
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if s['hv'] is not None:
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hv_vals.append(s['hv'])
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if s['emission'] is not None:
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emis.append(s['emission'])
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if s['fire_watch']:
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fw.add(s['fire_watch'])
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print('\n--- results ---')
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print('samples: %d emission peak=%s fire_watch states=%s'
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% (len(samples), max(emis) if emis else '-', sorted(fw)))
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delta = [round(ir_peak[i] - IR_BASELINE[i], 1) for i in range(4)]
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print('lid_ir min=%s peak=%s baseline=%s peak delta=%s'
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% (ir_min, ir_peak, IR_BASELINE, delta))
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print('hv_current range: %s..%s' % (min(hv_vals) if hv_vals else '-',
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max(hv_vals) if hv_vals else '-'))
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worst = max(delta)
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print('worst peak delta this job: %s counts -> cool_fire_ir_delta must sit '
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'above the worst across ALL jobs (>= 2x it, never < 15)' % worst)
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print('the engine logged its own "run telemetry: lid IR ..." line for this job')
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return samples
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def post_ctrl(action):
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# http.client preserves the header-name case exactly as given.
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import http.client
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tok = os.environ.get('GF_TOKEN', '')
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c = http.client.HTTPConnection(HOST, 8080, timeout=8)
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c.putrequest('POST', '/controller/' + action)
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c.putheader('X-ForgeFIRM-Token', tok)
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c.putheader('Content-Length', '0')
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c.endheaders()
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r = c.getresponse()
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body = r.read().decode()
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c.close()
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return r.status, body
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def drill_expstop(g):
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print('=== armed kill on the expected-stop path (POST /controller/stop) ===')
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if not os.environ.get('GF_TOKEN'):
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raise SystemExit('set GF_TOKEN to the panel token first')
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print('connect: %s' % prepare(g))
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arm_cue()
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job = ['G91', 'G21', 'M4', 'S400',
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'G1 X40 F200', 'G1 Y40 F200', 'G1 X-40 F200', 'G1 Y-40 F200',
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'M5', 'G90', 'M2']
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for ln in job:
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g.s.sendall(ln.encode() + b'\n')
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# Wait for the burn to be under way (emission > 0), then stop.
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t0 = time.time()
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seen = False
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while time.time() - t0 < 240:
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smp = sample_forgectrl()
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if smp and smp['emission'] and smp['emission'] > 0:
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seen = True
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break
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time.sleep(0.15)
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if not seen:
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print('no emission seen within the wait - operator did not arm? ABORT')
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return []
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print('emission live (%s) - stopping the controller NOW' % smp['emission'])
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t_stop = time.time()
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code, body = post_ctrl('stop')
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print('POST /controller/stop -> %s %s (%.2f s)' % (code, body.strip(), time.time() - t_stop))
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trail = []
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for _ in range(40): # ~5 s at 8 Hz
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smp = sample_forgectrl()
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if smp:
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trail.append((round(time.time() - t_stop, 2), smp['emission'], smp['kstate'], smp['armed']))
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time.sleep(0.12)
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print('post-stop trail (t, emission_samples, kstate, armed):')
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for t in trail:
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print(' %s' % (t,))
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zero_at = next((t for t, e, _, _ in trail if e == 0), None)
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tail_zero = all(e == 0 for _, e, _, _ in trail[-16:])
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not_running = all(k != 'running' for _, _, k, _ in trail[-16:])
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print('emission first 0 at +%s s; last 2 s all zero: %s; kernel not running: %s'
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% (zero_at, tail_zero, not_running))
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try:
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mode = get_json('/mode')
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except Exception as e:
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mode = str(e)
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print('/mode after stop: %s' % mode)
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ok = zero_at is not None and zero_at < 2.5 and tail_zero and not_running
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print('EXPSTOP %s' % ('PASS' if ok else 'REVIEW'))
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print('the controller is left STOPPED (supervision held); resume it with '
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'the ctrlstart step once the operator has judged the stop')
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return trail
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def drill_ctrlstart(g):
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"""Resume supervision after expstop: POST /controller/start, then
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report /mode. No motion, no laser."""
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code, body = post_ctrl('start')
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print('POST /controller/start -> %s %s' % (code, body.strip()))
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time.sleep(6)
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try:
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print('/mode after start: %s' % get_json('/mode'))
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except Exception as e:
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print('/mode after start: %s' % e)
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return []
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def main():
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drill = sys.argv[1] if len(sys.argv) > 1 else ''
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drills = {'witness': drill_witness, 'hold': drill_hold,
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'faultpos': drill_faultpos}
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'faultpos': drill_faultpos, 'ircut': drill_ircut,
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'expstop': drill_expstop, 'ctrlstart': drill_ctrlstart}
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if drill not in drills:
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print(__doc__)
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return 2
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if drill == 'ctrlstart':
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drills[drill](None)
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return 0
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g = Grbl(HOST, PORT)
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try:
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drills[drill](g)
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