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https://github.com/openglow-org/forgefirm.git
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gfhome: one-shot Glowforge web-service homing runner
New recipe installing /usr/sbin/gfhome.py and /etc/gfhome.conf.sample (copied to /data/etc/gfhome.conf on first run). The runner signs the machine in with its fused identity, opens the WSS control channel with a held client reference (a clean disconnect is impossible through ws_connect), and drives the GFUIService dispatch table itself - minus print - so the service's camera homing sequence (settings -> hunt -> lid image -> corner move -> lid image) runs against the real hardware Machine. The service ends the sequence silently, so completion is a hunt plus at least one motion followed by a configurable quiet window; the lens is then re-referenced against the hall sensor for a deterministic Z. Lid/e-stop are checked before the session, print actions are refused, and exit codes distinguish configuration and connection failures from an incomplete homing. Installed in both images; invoked by the grblHAL controller for $H when homing_mode = gfcloud in /data/forgefirm.conf.
This commit is contained in:
ScottW514
@@ -0,0 +1,28 @@
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# gfhome - Glowforge web-service homing configuration.
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# Copied to /data/etc/gfhome.conf on first run; edit the copy.
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# Machine identity (serial/password) is read from the OCOTP fuses.
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[SERVICE]
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server_url: https://app.glowforge.com
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status_service_url: wss://status.glowforge.com
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[FACTORY_FIRMWARE]
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# Homing sessions never fetch factory firmware.
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check: False
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[LOGGING]
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file: /data/log/gfhome/gfhome.log
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level: INFO
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save_sent_images: False
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[THERMAL]
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# The heater stays off during homing; thermal policy belongs to the
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# motion controller.
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water_heater_percent: 0
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max_start_temp: 30
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[MOTION]
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# Extra lens half-steps applied after the hunt (0 = hall reference).
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z_home_offset: 0
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warm_up_delay: 0
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cool_down_delay: 0
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@@ -0,0 +1,221 @@
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#!/usr/bin/python3
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"""
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gfhome - one-shot Glowforge web-service homing for ForgeFIRM
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Connects the machine to the Glowforge web service just long enough for
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the service to run its camera-based homing sequence (settings report ->
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hunt (Z/lens) -> lid image -> move to the home corner -> lid image),
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then parks the lens at the hall-sensor reference, disconnects, and
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exits. All three axes end at the factory home position: X/Y at the
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back-left home corner, Z at the top-of-travel hall trigger.
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The grblHAL-glowforge controller invokes this for $H when
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homing_mode = gfcloud is set in /data/forgefirm.conf, releasing
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/dev/glowforge for the duration of the run. It can also be run by hand
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(with the controller stopped or its homing session active).
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The service ends the sequence silently - there is no completion
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message - so the run is considered homed once a hunt and at least one
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motion have completed and the service has been quiet for --quiet
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seconds.
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Exit codes: 0 = homed, 1 = configuration/connection failure,
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2 = homing did not complete.
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(C) Copyright 2026
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Scott Wiederhold, s.e.wiederhold@gmail.com
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SPDX-License-Identifier: MIT
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"""
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import argparse
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import json
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import logging
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import queue
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import shutil
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import signal
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import sys
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import time
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from pathlib import Path
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from queue import Queue
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from gfutilities.configuration import parse, get_cfg, log_level
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from gfutilities.service.authentication import authenticate_machine
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from gfutilities.service.websocket import get_session, WsClient
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CONF = '/data/etc/gfhome.conf'
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CONF_SAMPLE = '/etc/gfhome.conf.sample'
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logging.basicConfig(format='(%(levelname)s) %(module)s:%(funcName)s %(message)s')
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logger = logging.getLogger('openglow')
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def load_config(path: str) -> bool:
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if path == CONF and not Path(CONF).is_file() and Path(CONF_SAMPLE).is_file():
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Path(CONF).parent.mkdir(parents=True, exist_ok=True)
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shutil.copyfile(CONF_SAMPLE, CONF)
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if not Path(path).is_file():
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logger.error('config file %s not found', path)
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return False
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parse(path)
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if not get_cfg('SERVICE.SERVER_URL'):
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logger.error('config %s has no SERVICE section', path)
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return False
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if get_cfg('LOGGING.FILE'):
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Path(get_cfg('LOGGING.FILE')).parent.mkdir(parents=True, exist_ok=True)
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fh = logging.FileHandler(get_cfg('LOGGING.FILE'))
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fh.setLevel(log_level(get_cfg('LOGGING.LEVEL')))
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fh.setFormatter(logging.Formatter(
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'%(asctime)s (%(levelname)s) %(module)s:%(funcName)s %(message)s'))
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logger.addHandler(fh)
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logger.setLevel(logging.DEBUG)
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return True
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def dispatch(machine, msg: dict) -> str:
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"""Route one service action to the machine (the GFUIService dispatch
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table, minus print - a print must never run inside a homing session).
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Returns the action type if a puls action was accepted for run."""
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action = msg.get('action_type', '')
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if action == 'settings' and msg.get('status') == 'ready':
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machine.run_settings_report(msg)
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elif 'image' in action:
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machine.run_capture(msg)
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elif action in ('hunt', 'motion'):
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machine.run_puls(msg)
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if machine.running_action_id == msg.get('id'):
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return action
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elif action == 'print':
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logger.warning('ignoring print action during homing')
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else:
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logger.info('ignoring action %s', action)
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return ''
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def home(machine, args) -> int:
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q_rx: Queue = Queue()
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q_tx: Queue = Queue()
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session = get_session()
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if not authenticate_machine(session):
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logger.error('sign-in to %s failed', get_cfg('SERVICE.SERVER_URL'))
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return 1
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# ws_connect() discards the client object, which makes a clean
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# disconnect impossible - build the client directly instead.
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ws = WsClient(q_rx, q_tx)
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ws.start()
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deadline = time.monotonic() + 16
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while not ws.ready and time.monotonic() < deadline:
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time.sleep(0.5)
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if not ws.ready:
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logger.error('web socket connection failed')
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ws.stop = True
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return 1
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result = 2
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try:
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machine.start(session, q_tx)
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from gfhardware._common import InputSwitch
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switches = machine._sw_thread.all_switches()
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if not switches[InputSwitch.SW_DOORS]:
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logger.error('lid is open - close it and re-home')
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return 2
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if not switches[InputSwitch.SW_ESTOP]:
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logger.error('e-stop is tripped')
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return 2
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t0 = time.monotonic()
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last_activity = t0
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in_flight = ''
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done = set()
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while True:
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now = time.monotonic()
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if now - t0 > args.timeout:
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logger.error('homing timed out after %ds (completed: %s)',
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args.timeout, sorted(done) or 'nothing')
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return 2
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if 'hunt' not in done and now - t0 > args.start_timeout:
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logger.error('service did not start homing within %ds',
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args.start_timeout)
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return 2
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busy = bool(machine.running_action_id)
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if busy:
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last_activity = now
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elif in_flight:
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logger.info('%s completed', in_flight)
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done.add(in_flight)
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in_flight = ''
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if ('hunt' in done and 'motion' in done and not busy
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and now - last_activity >= args.quiet):
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logger.info('homing complete (service quiet %.0fs)', args.quiet)
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result = 0
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break
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try:
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msg = json.loads(q_rx.get(timeout=0.5))
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except queue.Empty:
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continue
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except ValueError:
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logger.warning('unparseable service message')
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continue
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last_activity = time.monotonic()
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logger.info('service action: %s (%s)',
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msg.get('action_type'), msg.get('status'))
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started = dispatch(machine, msg)
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if started:
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in_flight = started
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finally:
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if result == 0:
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# Deterministic Z: the hunt file leaves the lens wherever its
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# pattern ends; re-reference against the hall sensor so the
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# controller can trust top-of-travel.
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try:
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from gfhardware.z_axis import ZAxis
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ZAxis.home()
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except Exception:
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logger.exception('final Z reference failed')
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result = 2
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ws.stop = True
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try:
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machine.stop()
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except Exception:
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logger.exception('machine shutdown failed')
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return result
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def main() -> int:
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ap = argparse.ArgumentParser(description='ForgeFIRM one-shot Glowforge cloud homing')
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ap.add_argument('-c', '--config', default=CONF, help='config file (default %s)' % CONF)
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ap.add_argument('--timeout', type=int, default=240,
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help='overall time budget in seconds (default 240)')
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ap.add_argument('--start-timeout', type=int, default=120,
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help='max seconds to wait for the service to begin homing (default 120)')
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ap.add_argument('--quiet', type=int, default=10,
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help='silence after the last action that means done (default 10)')
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args = ap.parse_args()
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signal.signal(signal.SIGTERM, lambda *_: sys.exit(2))
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if not load_config(args.config):
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return 1
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# Machine() reads the OCOTP identity and head info; it fails cleanly
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# when the controller still owns /dev/glowforge.
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try:
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from gfhardware import Machine
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machine = Machine()
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except Exception:
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logger.exception('machine init failed (is the motion controller '
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'still holding /dev/glowforge?)')
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return 1
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rc = home(machine, args)
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logger.info('exit %d (%s)', rc, 'homed' if rc == 0 else 'not homed')
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return rc
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if __name__ == '__main__':
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sys.exit(main())
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@@ -0,0 +1,21 @@
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DESCRIPTION = "One-shot Glowforge web-service homing for ForgeFIRM"
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HOMEPAGE = "https://github.com/ScottW514/forgefirm"
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LICENSE = "MIT"
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LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
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PV = "0.1.0"
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SRC_URI = " \
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file://gfhome.py \
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file://gfhome.conf.sample \
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"
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S = "${WORKDIR}"
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do_install() {
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install -Dm 0755 ${WORKDIR}/gfhome.py ${D}${sbindir}/gfhome.py
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install -Dm 0600 ${WORKDIR}/gfhome.conf.sample ${D}${sysconfdir}/gfhome.conf.sample
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}
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RDEPENDS:${PN} += "python3-core python3-gfhardware python3-gfutilities"
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@@ -12,6 +12,8 @@ IMAGE_INSTALL:remove = "gfui-client"
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# grblhal-glowforge: the grblHAL motion controller (Grbl over TCP:23).
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# forgectrl: the ForgeFIRM control daemon (camera MJPEG service on :8080).
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# gfhome: one-shot Glowforge web-service homing, invoked by the controller
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# for $H when homing_mode = gfcloud (/data/forgefirm.conf).
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# v4l-utils provides media-ctl / v4l2-ctl for the imx-media pipeline (also a
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# forgectrl runtime dependency, kept explicit here for bring-up use).
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IMAGE_INSTALL:append = " grblhal-glowforge forgectrl v4l-utils"
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IMAGE_INSTALL:append = " grblhal-glowforge forgectrl gfhome v4l-utils"
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