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motion.interlock-cancel-home: drop the mid-park lid step it cannot honestly test

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In GRBL mode the return to the job start is a G0 rapid - a few tenths of a
second over the distance the job had travelled - so an operator cannot open
the lid during it, and a step that asks them to either races the cancel (with
the lid open at cancel time the reason reads "lid opened", not "interlock
open") or lands after the park is over and proves nothing.

The park's immunity to an open lid is covered where it is real: motion.lid-cancel-home
parks with the lid open from beginning to end, and cloud.interlock-abort-park
has a ~6 s park with room for a genuine mid-park lid edge. What is left here is
the interlock as its own trigger, with its own message, and the loop still open
when the head gets back.
This commit is contained in:
ScottW514
2026-08-17 08:13:53 -04:00
parent 0870a835c4
commit e48b2c8e62
1 changed files with 15 additions and 16 deletions
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forgetest/forgetest/suite/motion.py
+15 -16
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@@ -763,19 +763,21 @@ def lid_cancel_home(ctx):
"reset without alarm, head returned to the start both times", drift, hold_drift)
@test("motion.interlock-cancel-park", title="The interlock loop cancels a job like the lid, and the return "
"home ignores an open lid",
@test("motion.interlock-cancel-home", title="The interlock loop cancels a job like the lid and returns to "
"the job start",
subsystem="motion", kind="operator", est_min=4,
covers=_LID_COVERS, requires=["motion.lid-cancel-home"],
steps=["Bed clear; the head needs 60 mm of free +X travel. No laser is involved.",
"Be able to open the remote-interlock loop: unplug the Pro's interlock plug, or pull the "
"jumper at J8 on a Basic/Plus. Restore it at the end.",
"Open the interlock when told; then open the lid while the head is on its way back."],
"Open the interlock when told and leave it open until the head has come back."],
description="The remote-interlock loop is the lid's equal in the cancel policy: opening it mid-job "
"cancels the job with 'interlock open' named as the reason and sends the head back to "
"the job start. Opening the lid during that return changes nothing - the park hides the "
"door for exactly this reason and runs to completion, as the factory's does.")
def interlock_cancel_park(ctx):
"cancels the job with 'interlock open' named as the reason - the lid's own message would "
"be wrong here - and sends the head back to the job start with the loop still open. "
"(An open lid not stopping the park is the lid test's park, which runs with the lid open "
"throughout; in GRBL mode the park is a rapid too short to open a lid during, so the "
"mid-park lid edge is the cloud test's.)")
def interlock_cancel_home(ctx):
ev = ctx.evidence
policy = (ctx.forgectrl.settings() or {}).get("lid_policy") or "cancel"
ev["lid_policy"] = policy
@@ -799,17 +801,14 @@ def interlock_cancel_park(ctx):
ev["interlock_ok_after_pull"] = sw.get("interlock_ok")
ctx.check(sw.get("interlock_ok") is False,
"the interlock still reads closed - the loop was not opened (switches: %s)", sw)
# The head is now on its way back. The lid goes up during that park:
# nothing may stop it.
ctx.instruct("The job is cancelling and the head is returning. Open the LID now as well, then "
"click Done - leave both open until the head has stopped.")
drift = expect_cancel_and_return(ctx, g, ev, start, k0, "interlock open", "interlock")
sw = (ctx.forgectrl.status().get("switches") or {})
ev["switches_at_return"] = {"lid": sw.get("lid"), "interlock_ok": sw.get("interlock_ok")}
ctx.log("at the end of the park: %s", ev["switches_at_return"])
ctx.check(sw.get("lid") is False,
"the lid was not open at the end of the park - the park's immunity was not exercised")
ctx.instruct("Close the lid and restore the interlock loop (plug/jumper back in), then click Done.")
ctx.check(sw.get("interlock_ok") is False,
"the interlock was closed again before the park finished - the park ran with the loop "
"restored, not open")
ctx.instruct("Restore the interlock loop (plug/jumper back in), then click Done.")
ctx.sleep(1)
sw = (ctx.forgectrl.status().get("switches") or {})
ev["restored"] = {"lid": sw.get("lid"), "interlock_ok": sw.get("interlock_ok")}
@@ -821,8 +820,8 @@ def interlock_cancel_park(ctx):
wait_idle(ctx, g, 15)
g.command("G90")
machine_idle(ctx)
ctx.log("PASS: interlock open cancelled the job and the head returned to the start (drift %.3f mm) "
"with the lid opened mid-park", drift)
ctx.log("PASS: interlock open cancelled the job with its own reason and the head returned to the "
"start (drift %.3f mm) with the loop still open", drift)
@test("motion.lid-policy-hold", title="lid_policy=hold parks the job in Door and a cycle start resumes it",