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https://github.com/openglow-org/forgefirm.git
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tray_test.py and motion.tray: the crumb tray's mode on the null-sink controller and on the machine
- scripts/bench/tray_test.py, run by the driver's CI: M103 P1 and P0 move Z and its envelope by tray_offset_mm on the lens step grid, tell the sender, write and remove the marker beside the shared config, and ship no step; a missing P, P2, P0.5, P-1, and an axis word are errors that change nothing; the switch behind a move waits for the move; the port's tray op with a sender connected, its count exact, refused out of form, during a program, and at a package's M-code; the mode across a soft reset and a killed controller, a start over the marker taking the lens reference in the tray-out frame; the offset's range; an unreferenced lens; a camera home in both modes handing the runner the same park. The kernel-idle half of the barrier needs the pulse device: a null sink is always idle. - scripts/bench/ctlport_test.py: the dark case carries tray out and in under an open armed window. - forgetest: motion.tray in its own module, suite/tray.py, so no other test's fingerprint moves. It switches the mode both ways through the panel's route and through M103 from a Grbl client and judges each switch: /status's mode, Z, and reach moved by the offset's grid, the port's state, the marker, the reference and its source unchanged, the client told, the kernel's counters unmoved. A jog to the Z the lens read before a switch is refused in the other mode and taken back in the mode found; a setup card started with the tray out is refused in the operator's words; the panel page carries the switch. The mode goes back as found in a finally. It does not restart the controller, which would drop the X and Y reference: persistence is tray_test.py's. - The bench registry and README list tray_test.py. Proof: tray_test.py ALL PASS against the driver with the mode, and six driver copies each missing one part of it fail. The driver's whole CI harness list passes. The forgetest unit suite: 500 tests OK. The coverage lint over the working trees: nothing uncovered, 126 tests. On the bench reference, with the binaries hot-deployed on the fx18 image: motion.tray PASS, and FAIL against the driver whose anchor lost its source word on the second switch. Acceptance. motion.tray is new; the suite and bench files are in no other test's fingerprint.
This commit is contained in:
ScottW514
@@ -304,6 +304,17 @@ TOOLS = [
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"do the same with the sender's count exact. Imports its sender and port client from "
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"ctlport_test.py. A CI harness (the grblHAL repo): needs the host-built null-sink controller, "
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"not the machine, so it is not a bench-page tool."},
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{"id": "tray-test", "title": "Crumb tray mode harness", "script": "tray_test.py",
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"safety": "dry", "where": "host", "ported": False, "args": [],
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"desc": "The crumb tray's mode on the null-sink controller: M103 P1 and P0 move Z and its envelope by "
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"tray_offset_mm on the lens step grid, tell the sender, write and remove the marker beside the "
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"shared config, and ship no step; a missing P, a P other than 0 or 1 and an axis word are "
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"errors; the switch waits for the move before it; the port's tray op, and its refusals during "
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"a program and at a package's M-code; the mode survives a soft reset and a restart, and a start "
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"over the marker references Z in the tray-out frame; the offset's range; an unreferenced lens; "
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"and a camera home in both modes hands the runner the same park. Imports its sender and port "
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"client from ctlport_test.py. A CI harness (the grblHAL repo): needs the host-built null-sink "
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"controller, not the machine, so it is not a bench-page tool."},
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{"id": "raster-dry", "title": "Dry top-speed raster per XY microstep mode", "script": "raster_dry.py",
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"safety": "dry", "where": "board", "ported": True,
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"args": [_arg("modes", "choice", "8 16 32", "the modes to run, in order", ["8", "16", "32", "8 16 32"])],
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@@ -33,3 +33,4 @@ from . import updlock # noqa: F401,E402
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from . import homeoff # noqa: F401,E402
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from . import bedsize # noqa: F401,E402
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from . import extsender # noqa: F401,E402
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from . import tray # noqa: F401,E402
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@@ -0,0 +1,203 @@
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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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"""The crumb tray's mode, on the machine.
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Its own module, so that no other test's fingerprint moves. With the tray
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out, the GRBL controller's Z is the focal height above the floor of the cut
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area: its Z position and its Z range move up by tray_offset_mm on the lens
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step grid, and nothing moves. The mode persists as the controller's marker
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in the data directory. That it survives a controller restart is the
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driver's harness case (tray_test.py): a restart here would drop the X and
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Y reference, and the machine would not be handed back as it was found.
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"""
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import math
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import os
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import sys
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import time
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from ..catalog import test
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from .. import hw
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from .motion import (_kernel_position, _port_state, _words, clean_slate, drain_text, machine_idle)
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TRAY_MARKER = "/data/forgefirm/tray.out"
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LENS_SPM = 2.922 # $102: the lens screw's half-steps per mm
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SETUP_CARD = "sheet.place" # the first setup card: it asks before it moves anything
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def _grid_mm(offset_mm):
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"""The offset on the lens step grid, the controller's way (lroundf)."""
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return math.floor(offset_mm * LENS_SPM + 0.5) / LENS_SPM
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def _lens(fc):
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return fc.status().get("lens") or {}
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def _judge(ctx, fc, ev, key, mode, found, shift):
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"""The machine reads the tray `mode`, with Z and the reach moved by
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`shift` mm from what the test found."""
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s = fc.status()
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lens, pos = s.get("lens") or {}, s.get("pos") or {}
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port = _port_state(fc)
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rec = ev[key] = {"lens": lens, "pos_z": pos.get("z"), "port_tray": port.get("tray"),
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"port_z": port.get("mpos", [None] * 3)[2], "marker": os.path.exists(TRAY_MARKER),
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"home": [s.get("homed_axes"), s.get("home_source")]}
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ctx.log("%s: %s", key, rec)
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ctx.check(lens.get("tray") == mode and port.get("tray") == mode,
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"%s: the status says tray %s and the port %s, not %s", key, lens.get("tray"), port.get("tray"), mode)
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ctx.check(rec["marker"] == (mode == "out"), "%s: the marker %s is %s with the tray %s", key, TRAY_MARKER,
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"present" if rec["marker"] else "absent", mode)
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for k in ("reach_min", "reach_max"):
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ctx.check(lens.get(k) is not None and abs(lens[k] - (found["lens"][k] + shift)) < 0.011,
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"%s: %s reads %s, not %.2f", key, k, lens.get(k), found["lens"][k] + shift)
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ctx.check(pos.get("z") is not None and abs(pos["z"] - (found["pos_z"] + shift)) < 0.006,
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"%s: the status Z reads %s, not %.2f", key, pos.get("z"), found["pos_z"] + shift)
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ctx.check(rec["port_z"] is not None and abs(rec["port_z"] - (found["port_z"] + shift)) < 0.002,
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"%s: the controller's Z reads %s, not %.3f", key, rec["port_z"], found["port_z"] + shift)
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ctx.check(rec["home"] == found["home"], "%s: the reference changed across the switch: %s, not %s",
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key, rec["home"], found["home"])
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def _tray_route(fc, mode):
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st, body = fc.post("/motion/tray", params={"tray": mode})
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return st, _words(body)
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def _card_refused(ctx, fc, ev):
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"""A setup card is refused while the tray is out. The machine is idle a
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moment after the suite's Grbl client closes; until then the refusal is
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the idle rule's. A card that started anyway is ended at once: the first
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one asks before it moves anything."""
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path = "/wiz/%s/start" % SETUP_CARD
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deadline = time.time() + 20
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while True:
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st, body = fc.post(path)
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words = _words(body)
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if st == 200:
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fc.post("/wiz/%s/abort" % SETUP_CARD)
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ctx.wait_for(lambda: not (fc.get("/wiz/dark")[1] or {}).get("running"), 20, poll=0.5)
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if st != 409 or "not idle" not in words or time.time() > deadline:
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break
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ctx.sleep(0.5)
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ev["setup_card"] = [st, words]
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ctx.log("a setup card started with the tray out -> %s %s", st, words)
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ctx.check(st == 409 and "crumb tray" in words, "a setup card started with the tray out -> %s %s", st, words)
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@test("motion.tray", title="The crumb tray: tray out moves Z and its range up by the offset, and nothing moves",
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subsystem="motion", kind="auto", mode="grbl", est_min=2,
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covers=[("grblhal-glowforge", "src/glowforge_tray.*"), ("grblhal-glowforge", "src/glowforge_homing.*"),
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("grblhal-glowforge", "src/ctlport.*"), ("grblhal-glowforge", "src/glowforge_io.*"),
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("forgectrl", "src/tray.*"), ("forgectrl", "src/grblport.*"), ("forgectrl", "src/status.*"),
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("forgectrl", "src/main.c"), ("forgectrl", "src/wizdark.*"), ("forgectrl", "src/ui/panel.js"),
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("forgectrl", "src/ui/index.html")],
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requires=["motion.port-jog"],
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steps=["Nothing moves; the crumb tray can stay where it is."],
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description="The tray mode is switched to the other one and back, through the panel's route and "
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"through M103 from a Grbl client, both ways. Each switch changes the numbers and "
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"moves nothing: /status says the tray, its Z and the lens reach move by the offset on "
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"the lens step grid (1.35 in is 100 half-steps, 34.22 mm), the reference and what set it "
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"stand, the controller port's state "
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"agrees, the marker in the data directory follows, the client is told [MSG:Tray in] or "
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"[MSG:Tray out] and its next line draws ok, and the kernel's position and byte counters "
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"do not move. In the other mode, a jog to the Z the lens read before the switch is "
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"refused (error:15): the two Z ranges never overlap; back in the mode found, the same "
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"jog is taken. A setup card started with the tray out is refused in the operator's "
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"words, with nothing sent. The page "
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"the panel serves carries the switch. The tray mode is put back as found in a finally. "
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"The controller is not restarted: that would drop the X and Y reference. That the mode "
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"survives a restart, the errors of M103, and its wait for the move before it are the "
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"driver's harness cases.")
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def tray(ctx):
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fc = ctx.forgectrl
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ev = ctx.evidence
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s0 = fc.status()
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found_mode = (s0.get("lens") or {}).get("tray")
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ctx.check(found_mode in ("in", "out"), "the status carries no tray mode: %s", s0.get("lens"))
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other = "out" if found_mode == "in" else "in"
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p_found = "P1" if found_mode == "out" else "P0"
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p_other = "P1" if other == "out" else "P0"
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shift = _grid_mm((s0.get("lens") or {}).get("tray_offset_mm") or 34.29) * (1 if other == "out" else -1)
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machine_idle(ctx)
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found = {"lens": s0.get("lens"), "pos_z": (s0.get("pos") or {}).get("z"),
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"port_z": _port_state(fc)["mpos"][2], "kernel": _kernel_position(),
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"home": [s0.get("homed_axes"), s0.get("home_source")]}
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ev["found"] = {"tray": found_mode, "shift_mm": round(shift, 4), **found}
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ctx.log("found the tray %s; switching to %s moves Z %+.3f mm", found_mode, other, shift)
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ctx.check(found["pos_z"] is not None, "the status carries no Z")
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st, page = fc.get("/", raw=True)
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text = page.decode("utf-8", "replace") if isinstance(page, bytes) else str(page)
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for want in ('id="traybtn"', "function trayToggle", "/motion/tray?tray="):
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ctx.check(st == 200 and want in text, "the panel page carries no %s", want)
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switched = False
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try:
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if found_mode == "out":
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_card_refused(ctx, fc, ev)
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with ctx.grbl() as g:
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clean_slate(ctx, g)
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ctx.sleep(0.6) # past the port's sender-quiet interval
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# Through the panel's route.
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st, words = _tray_route(fc, other)
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ctx.check(st == 200, "POST /motion/tray tray=%s -> %s %s", other, st, words)
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switched = True
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said = drain_text(g, 0.5)
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ctx.check("[MSG:Tray %s]" % other in said, "the client was not told the tray is %s: %r", other, said)
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_judge(ctx, fc, ev, "route_" + other, other, found, shift)
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r = g.command("G4 P0")
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ctx.check(r[-1:] == ["ok"], "the client's line after the switch drew %s", r)
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# The Z the lens read before the switch is outside this mode's range.
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jog = "$J=G90 G21 Z%.3f F200" % found["port_z"]
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r = g.command(jog)
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ev["jog_" + other] = [jog, r]
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ctx.check(r[-1:] == ["error:15"], "with the tray %s, %s drew %s, not error:15", other, jog, r)
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g.command("") # the empty line that acknowledges the error
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# Back through M103, from the client.
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r = g.command("M103 " + p_found)
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ev["m103_" + found_mode] = r
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ctx.check(r[-1:] == ["ok"] and "[MSG:Tray %s]" % found_mode in r,
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"M103 %s drew %s", p_found, r)
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switched = False
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_judge(ctx, fc, ev, "m103_" + found_mode, found_mode, found, 0.0)
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r = g.command(jog)
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ev["jog_" + found_mode] = [jog, r]
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ctx.check(r[-1:] == ["ok"], "with the tray %s again, %s drew %s", found_mode, jog, r)
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machine_idle(ctx)
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# And the other way: M103 out, the route back.
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r = g.command("M103 " + p_other)
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ev["m103_" + other] = r
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ctx.check(r[-1:] == ["ok"] and "[MSG:Tray %s]" % other in r, "M103 %s drew %s", p_other, r)
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switched = True
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_judge(ctx, fc, ev, "m103_" + other, other, found, shift)
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if other == "out":
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_card_refused(ctx, fc, ev)
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st, words = _tray_route(fc, found_mode)
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ctx.check(st == 200, "POST /motion/tray tray=%s -> %s %s", found_mode, st, words)
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switched = False
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_judge(ctx, fc, ev, "route_" + found_mode, found_mode, found, 0.0)
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finally:
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if switched:
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# The route is refused for a moment after the suite's Grbl client closes.
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first = sys.exc_info()[1]
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took = ctx.wait_for(lambda: _tray_route(fc, found_mode)[0] == 200 or None, 20, poll=0.5)
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ctx.log("put the tray back %s -> %s", found_mode, "taken" if took is not None else "not taken")
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ev["put_back"] = took is not None
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if first is None:
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ctx.check(took is not None, "the tray mode is left %s, not put back %s", other, found_mode)
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machine_idle(ctx)
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k1 = _kernel_position()
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ev["kernel"] = [found["kernel"], k1]
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ctx.check(k1 == found["kernel"], "the kernel moved across the switches: %s -> %s", found["kernel"], k1)
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ctx.log("PASS: the tray mode switched both ways through the route and through M103, Z and the reach "
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"moved by %.3f mm and back, nothing moved, and it is %s as found", abs(shift), found_mode)
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