The grblHAL harnesses keep what only a running controller shows; the
cases a host unit test in grblHAL-glowforge proves, and the log and
reply wording, leave.
- laser_lifecycle_test: test_arm_waits_for_the_fans goes. laser_arm_test
case A4 (grblHAL-glowforge) proves the fan grace stretching the arm's
acknowledgment budget, on the same arm path. The docstring names it.
- xy_mode_test: case_x32, case_invalid and the log checks go; the
default, x16 and the low tick stay. xy_scale_test holds each mode's
tick and the not-a-mode parse.
- planner_blocks_test: one restart, at $398 1000; the 400 pass and the
fresh-store probe go.
- ctlport_test: test_poll_lf and test_crlf go (the CR LF poll stays); in
test_sender_out the network turn-away goes (serial_test holds it), and
the busy gating, the grant and the outlives-client part stay.
test_port_dark is whole.
- mcode_test: the timeout case runs on the host build's 5 s
GFMCODE_WAIT_S (grblHAL-glowforge's CI configures it; the image keeps
30 s) and still shows the hold, at 5.1 s; 5 s outlasts the 3 s
test_dark watches the wait; test_table refuses one form per
parser branch. test_timeout_holds and test_dark stay.
- envelope_test: test_unset and test_bounds go (lens_home_test holds the
clamp); test_armed and the open, apply and close cases stay.
- manual_home_test: the out-of-range offset block goes, a repeat of
gfhome_clamp_home_mm (lens_home_test); the modal-M3 FIRE check and
every release and energize case stay.
- cool_report_test: one non-hex secret and one CR LF injection stay;
runner-malformed and the exact header-set checks go. A bad secret is
never sent and a good one is.
- tray_test: test_offset keeps 20 mm; test_errors keeps a bad P and a
bad axis; the frame shift, envelope, barrier, persistence, port op,
unreferenced lens and camera home stay.
Proof: with grblHAL-glowforge's matching commit, the eleven harnesses
its CI runs pass under Linux against the null-sink build: nine on a
build with a 1 s M-code wait, and mcode_test and tray_test, the two
that wait at an M-code, on the 5 s build CI configures
(-DGFMCODE_WAIT_S=5.0). pyflakes reports nothing in the nine changed
files.
Push this before grblHAL-glowforge's commit.
Acceptance: none; host harnesses only.
The x32 default landed in forgetest/baseline.py and the driver, but two
callers still judged the machine at x8 and both failed on the host.
forgetest/tests/test_baseline.py: setUp seeded the fake machine from the x8
FIXED_SYSFS literals while enforce() compares against fixed_sysfs() of the
resolved mode, so x_mode, y_mode, step_freq and ramp_rate read as deviations
on a clean machine - 23 failures across BaselineTests and
TransientNotLeftoverTests. It seeds from fixed_sysfs() now, and the tick
expectations come from it (DEFAULT_TICK) rather than a typed 28160. The
xy_mode_of and ref_xy_mode unset/invalid cases expect 32, with an explicit
"8" case added that had no coverage. Two reference_preconfig dumps taken on
an x8 machine carry xy_microsteps = 8, because the markers are read at the
reference's own mode. wait_configured wrote the static CONFIGURED_MARKERS
where the function watches configured_markers() of the mode in force, and
the held-controller jog typed 221 steps for "4.144 mm", which is 1.036 mm at
x32; both derive from the mode now. 69 tests, all pass.
scripts/bench/laser_stream_test.py: STEPS_PER_MM was the x8 53.333, so the
X-peak check failed at 2133 steps against an expected 533. The whole harness
now derives from XY_MICROSTEPS_BASE/DEFAULT the way glowforge.h and
baseline.py do, which uncovered five more x8-only expectations behind the
first: the machine tick, the fire-gap limit (it grows as sqrt(k), not k - a
finer mode shortens the accel interval by sqrt(k) while speeding the tick by
k), the rung split in fire_spans, the density period and minimum burst
(laser_pulse_ticks is in x8 ticks and the stream scales it, so the config
keeps the x8 numbers and the measured lengths scale), and the decel/hold
budgets. Run against the null-sink build: all stream emission rules hold.
xy_mode_test.py's docstring still described the no-key case as x8 while its
own assertions had moved to x32.
No behavior change and no acceptance-catalog consequence: these are test
expectations and a bench harness, not image component sources. The coverage
lint is unchanged at 0 uncovered paths.
Acceptance baseline: XY_MODE_DEFAULT 8 -> 32, split out XY_MODE_BASE (8) for
the tick/ramp scaling, matching the driver. The mode-aware comparisons
(fixed_sysfs of the resolved mode) judge an unset machine at x32.
Host CI: xy_mode_test.py default and invalid cases expect x32/213.333/112640.
Bench tools: raster_dry.py and xy_pattern_accel.py set_mode() cleared the key
for mode 8, which relied on clear == the x8 default; clearing now yields x32,
so they set the mode explicitly and restore to x32. live_fire_drills
STREAM_RATE_HZ is the 28160 Hz laser reference tick, the same at every mode.
The baseline derives x/y_mode, step_freq, ramp_rate and the configured
markers from the xy_microsteps setting; ramp_rate joins the GRBL
controller's set (the driver writes it; the cloud client runs at the
module's). motion.microstep-modes cycles 8, 16 and 32: the save restarts
the idle controller, the kernel reads the mode with its tick and ramp,
$100/$101 are the mode's and a typed $100 is overwritten, a 40 mm jog at
top speed returns to Idle with the kernel counters over the mode agreeing
with the commanded travel and the accelerometer seeing the head move; the
setting is put back as found.
Bench tools: xy_mode_test.py (the null-sink harness the grblHAL CI runs),
raster_dry.py (a top-speed raster per mode), xy_pattern_accel.py (the
operator's pattern from home with the machine silent and the head
accelerometer listening), arc_tolerance_sweep.py (a $12 ladder on the 9
in circle: the chord rate the protocol loop feeds, about 300 a second, is
the ceiling, not the core), and the xymode and xycircle live drills.
BRINGUP carries the present state and the facts; CAMPAIGN-LOG the dated
record, including the planner-blocks spin (a $398 of 255 or more loops
forever at start, a core bug) and its recovery.
ScottW514