The init script consults controller_mode in /data/forgefirm.conf:
'cloud' (once that mode exists, with its own service reading the same
key) keeps grblHAL down; grbl, unset, or a missing config starts it.
Board-verified both ways: cloud in the conf leaves the controller
stopped with a clear message, grbl starts and serves normally.
forgectrl ad0b441: OpenGlow branding, operational /status dashboard.
grblHAL-glowforge c472a13: position anchor at homing for the status
readers. Runbook updated.
Non-empty gf_serial / gf_password / gf_hostname in /data/forgefirm.conf
(set from the forgectrl GF Cloud tab) are applied with set_cfg before
Machine() is built, so they beat the OCOTP fuse identity - Machine sets
its fuse values with keep_value. The --timeout default comes from
GFHOME_TIMEOUT_S when the controller provides it, so one GUI setting
governs the whole session. Docs: control-panel runbook notes.
The runner's Machine subclass fetches lid/head images from the
forgectrl snapshot endpoint - forgectrl owns the imx-media pipeline
whenever a stream client (LightBurn) is connected, so direct V4L2
grabs fail busy. Head captures request lamp=0 (the cloud's focus
analysis needs torch-off images); the HCil measure-laser LED is still
driven directly. Direct capture remains the fallback when the daemon
is unreachable.
The sample config gains the factory-board settings: the estop motion
gate stays off (the board's estop sense reads low during any motion),
and the forgectrl URL is configurable.
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.
gitsm-pinned build of the controller with a sysvinit script (defaults 92, after forgectrl), installed in both images. Reboot-verified on the bench: controller and forgectrl come up unattended and Grbl answers on TCP:23.
Sources live at github.com/ScottW514/forgectrl (history extracted, layout src/ + init/); the recipe pins SRCREV and installs the init script from the repo. Adds the build-forgectrl.sh bench cross-compile script.
NEON kernel for the YUV420 superpixel convert (vld2q deinterleave, rounding-halving greens, mlal/rshrn luma, pairwise-add chroma block sums), bit-identical to the scalar path and proven so on a live frame via the FORGECTRL_NEON_CHECK one-shot memcmp. Convert 75 to 18 ms; the stream now runs at the OV5648 frame rate. Motion coexistence re-proven at 15 fps (clamped 0).
Demosaic the superpixels straight to planar YUV420 and encode on the CODA960 (mainline coda V4L2 mem2mem, node found by personality); libjpeg stays as the automatic fallback and the snapshot path. All camera paths now demosaic from a cached bounce copy of the frame: the V4L2 MMAP capture buffers are uncached, and reading them in-place costs ~340 ms/frame vs 43 ms memcpy + 75 ms cached convert. Per-frame stats logged every 100 frames; /cam/status reports the encoder.
A stream request for the other camera kicks current stream clients via a generation counter (their streams end cleanly; viewers freeze on the last frame) and switches. The index page retry consults /cam/status first so a preempted view does not steal the camera back.
Snapshots of the non-streaming camera no longer fail 409: the worker borrows the mux for one frame (stream viewers see a short freeze). Stream switches wait up to 3 s for the previous pin to drain. Arbitration compares the engine home camera, not the transiently borrowed pipeline camera. Index page: single toggled stream with retry plus a head-peek button.
ulfius builds itself with -Werror -Wconversion; Yocto Scarthgap sets
-D_TIME_BITS=64 on arm32, making a long-long-to-long time conversion
in u_websocket.c fatal. Exclude conversion warnings from -Werror.
The dev image required the shared glowforge-image base directly, so it
was not a superset of forgefirm-image (it lacked v4l-utils, audit N12).
Require forgefirm-image and add forgectrl + debug tooling on top.
The ulfius recipe tracked AUTOREV master and could never build: master
requires orcania/yder versions that have no release tags, no recipe for
either existed in any layer, and curl (default-ON WITH_CURL) was
missing from DEPENDS (audit M10). Pin the coherent release set - ulfius
v2.7.15 + orcania v2.3.3 + yder v1.4.20 - add the two new recipes,
add curl, convert to SPDX LGPL-2.1-or-later, and rename the misspelled
recipes-extended/uflius directory.
v4l2-ctl (alongside the already-present media-ctl) configures the
imx-media pipeline and grabs raw frames from /dev/video4 while the
gfhardware capture path is ported off the factory NXP V4L2 model.
gfui-client connects to Glowforge's servers; ForgeFIRM replaces it with a
local grblHAL controller (forgectrl). Remove it from the image via an
override, leaving the shared glowforge-image base untouched.
ScottW514