forgectrl f8ddb17 puts the lens frame in one place and writes the focus
window before the card's controller starts, after two commissioning
cards ended in ALARM:2 on a Z the wizard sent from one source while the
controller's Z limit stood on another. The acceptance run had passed
only because the bench's settings already held the stops from an
earlier focus run, so the run is now a fresh machine's.
commission.sheet clears the three lens settings inside its Restore
before the cards, checks that the frame runs in the fallback window,
and, after the focus card, that the settings hold the window the ladder
ran in (the stops found or the fallback), that every ladder height lies
in that window's reach, and that the program served now agrees with
/status. Every served program's Z is checked against the reach /status
reports before the card starts, so a stray Z fails the test with nothing
burned. The test covers src/lens.*. The host mock in
tests/test_commission_sheet.py mirrors the daemon (the /status lens block
from the settings, the ladder served from the settings, the window
written at the focus start); two regression tests reproduce the defects:
a focus result naming a window the settings do not hold, and a served
program with a Z beyond the reach. 10/10 green.
scripts/bench/z_envelope_test.py, the grblHAL CI harness, adds the
referenced-lens cases: with forgectrl's marker and the shared settings,
the fallback window and a 14/20 window run to the ends of their reach
and two half-steps past either end alarms, and a count of 41 falls back
on its side alone. Passed on the null-sink build. The bench page's
description of the harness follows.
The forgectrl pin moves to f8ddb17 (0.1.18); every test covering
forgectrl re-runs.
The Z soft limit belongs to the driver, not to $20. glowforge_homing.c
owns sys.work_envelope, sys.homed and sys.soft_limits for Z, because Z is
always referenced, to the lens hall edge or to where the lens stands, and
the core knows neither. The core recomputes both masks from the settings
and drops Z when it does: $20 clears the soft-limit mask inside its
setter, and a $13x write clears the homed bit for the axis as well.
z_envelope_test.py drives the null-sink controller over TCP and holds the
rule. It checks that an unreferenced Z is collapsed to where the lens
stands and refuses a move each way, that X and Y stay free so the
reassert is Z's alone, and that neither write frees Z. It restores $132.
The harness runs in the grblHAL repo's CI, next to the laser stream and
lifecycle harnesses.
ScottW514